JPH07184923A - Remote precise surgical operation supporting device - Google Patents

Abstract

PURPOSE:To provide the master/slave type remote precise surgical operation supporting device for enabling a precise surgical operation which requires various kinds of degrees of freedom for the fingers inside a narrow space. CONSTITUTION:This device is composed of a working environment information detecting means 104, presence control information generating means 101, operating command generating means 103, diseased part tissue operating means 102 and operating command input means 114.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical device, which is a remote microsurgery for assisting an operator to perform fine surgical treatment of the brain, nervous system, eyeball, etc. by remotely controlling an operating tool. Regarding the support device.

[0002]

2. Description of the Related Art Conventionally, as a device for cranial nerve surgery, there is a puncture manipulator for stereotactic brain surgery as disclosed in Japanese Patent Laid-Open No. 311064. Further, as a remote operation device, there is a device having a remotely operated operation manipulator in a double-tube probe as disclosed in Japanese Patent Laid-Open No. 4-146097. Further, as the micro handling device, for example, Robotics
Mechatronics Conference '93 Proceedings p. 693-p. As shown in 696, there is a manipulator and a stage in which the degrees of freedom of rotation and translation are separated.

[0003]

Of the above-mentioned conventional techniques,
The known example described in JP-A-3-21064 is for stereotactic brain surgery and can be performed only by puncturing, but some cerebral nerve diseases cannot perform sufficient surgical treatment by only puncturing,
Some require a large number of degrees of freedom to manipulate the affected tissue. Further, the matters described in the above-mentioned publicly known examples are only the portion related to the puncture manipulator, and the description regarding the other portions for operating the puncture manipulator is not described. Further, in the known example described in Japanese Patent Application Laid-Open No. 4-146097, the patient and the operator are completely separated from each other, so that there is a possibility that it is impossible to deal with an emergency or it may be considerably delayed. Also, the Japan Society of Mechanical Engineers Robotics and Mechatronics Conference '93 Proceedings p. 693-p. In the publicly known example described in 696, the work cannot be performed unless the work target is placed on the stage, which is unsuitable for surgical work.

One object of the present invention is to provide a master-slave type remote microsurgery assisting apparatus capable of performing microsurgery work requiring a great deal of freedom in the hand in a narrow space. is there.

Another object of the present invention is to provide a remote microsurgery assisting apparatus which compensates for a decrease in working skill of an operator due to deterioration of visual acuity and deterioration of hand resolution due to aging.

Still another object of the present invention is to provide a remote microsurgery support device for preventing blood infection between a patient and an operator.

Another object of the present invention is to provide a remote microsurgery assisting device which realizes surgery with low invasiveness by mainly utilizing tissue degeneration.

[0008]

According to the present invention, in the surgical operation of the brain, the nervous system, the eyeball, etc., a remote microsurgery support for assisting an operator to perform a fine work by remotely operating a surgical tool. The device is a visual sensor that detects the image of the affected area and its surroundings, a proximity sensor that detects the approach of the tip of the working machine to the affected area, and a force that detects the contact force when the tip of the working machine is in contact with the affected area. By means of a work environment information detecting means including a sense sensor, a sense of presence control information generating means for processing and presenting information detected by the work environment information detecting means to the operator, and a sense of presence control information generating means by the surgeon. An operation command generating means for transmitting the information detected by the force sensor of the work environment information detecting means to the operator at the same time as detecting the motion to be caused based on the presented information, and the operation of the operator input through the operating means. And a diseased part tissue operating means for controlling a plurality of working machines that drive a surgical instrument according to a command value generated by adjusting a constraint applied based on information detected by the work environment information detecting means. A remote microsurgery support device is provided.

Further, according to the present invention, there is provided a remote microsurgery assisting apparatus having the above-mentioned configuration, characterized in that a fine refrigeration element is provided at a tip of a working machine.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above structure, each joint of the working machine is driven by an actuator utilizing an electrostatic force acting between a large number of electrodes. An operation support device is provided.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above structure, the position and orientation of one or two slave manipulators operated by the operator via the operation command generating means, and other plural positions. By setting the relationship between the position and orientation of the slave manipulator group and the environment and automatically controlling the other slave manipulator groups so that the motion means always satisfies the set relationship, the operator can There is provided a remote microsurgery assisting device characterized in that a plurality of slave manipulator groups perform follow-up cooperative operation without operating the slave manipulator group.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-mentioned structure, the operating end master of the operation command generating means can directly operate the affected area, and the master and the slave can perform a cooperative work. A remote microsurgery support device is provided.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-mentioned structure, the conversion coefficient of each degree of freedom in the scale conversion when the position and orientation of the master and the slave are made to correspond to each other is set independently, and the conversion coefficient is set according to the operation content. Provided is a remote microsurgery assisting device, which is characterized by being switched over.

Further, according to the present invention, there is provided a remote microsurgery assisting apparatus having the above structure, wherein the attitude of the visual sensor and the attitude of the slave manipulator are interlocked.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above structure, the approach of the tip of the slave manipulator to the affected part is detected by using a combination of an infrared emitting element and an infrared receiving element. A microsurgery support device is provided.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-mentioned structure, the reaction force of the tip of the slave manipulator is controlled by the minute force sensor including the strain gauge and the processing circuit integrally manufactured by using the semiconductor manufacturing technology. There is provided a remote microsurgery assisting device, which is characterized by detecting

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above structure, the degree of freedom structure of the coarse movement mechanism for interlocking the positions of the slave manipulator and the visual sensor is a spherical coordinate system. Provided is a remote microsurgery support device.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-mentioned structure, a remote microsurgery assisting apparatus is provided which has a visual sensor capable of detecting infrared region wavelengths in addition to a normal optical image. Will be provided.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-mentioned configuration, when the image information detected by the visual sensor is presented, in addition to the usual optical image
The contact force at the tip of the slave manipulator detected by the force sensor ・ The distance between the affected area detected by the proximity sensor and the tip of the slave manipulator is converted to the type of color and brightness / saturation. There is provided a remote microsurgery assisting device having a presence control information generating means for presenting it as image information.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-mentioned structure, in addition to the above-mentioned image information, the magnitude of the contact force at the tip of the slave manipulator detected by the force sensor and the force sensor, and the proximity sensation. Provided is a remote microsurgery assisting device having a presence control information generating means for presenting, as acoustic information, information obtained by converting the distance between the affected area detected by a sensor and the tip of the slave manipulator into volume, pitch, and timbre. It

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-mentioned configuration, in addition to the above-mentioned image information, a figure / symbol for the operator to express the situation is edited and presented on the above-mentioned image information. There is provided a remote microsurgery assisting device, characterized in that it has a realistic control information generating means.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-mentioned configuration, the operation master of the operation command generating means is arranged below the image display section for presenting the image information. A microsurgery support device is provided.

Further, according to the present invention, there is provided a remote microsurgery assisting apparatus having the above-mentioned configuration, wherein the affected tissue operation means is separated into coarse and fine movements.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-described structure, each joint of the operation command inputting means is driven by using the actuator utilizing the electrostatic force acting between the plurality of electrodes. There is provided a remote microsurgery assisting device characterized by generating force.

Further, according to the present invention, in the remote microsurgery assisting apparatus having the above-mentioned configuration, a portion gripped by an operator and a portion which generates a reaction force at the time of inputting an operation command are coupled by the magnetic force of the electromagnet, so that an excessive input is applied. There is provided a remote microsurgery assisting device characterized in that the above-mentioned coupling is released by cutting off the electric current to the electromagnet in the abnormal state.

Further, according to the present invention, in the operation command input means according to claim 18, a fixing means is provided in the coupling portion,
There is provided a remote microsurgery assisting device characterized by changing the number of position / orientation degrees of freedom that an operator can input by operating a grip portion.

Further, according to the present invention, in the remote microsurgery support device having the above-mentioned configuration, in addition to the image information according to claim 12, a figure / symbol for explaining the situation to the operator is superimposed on the image information. There is provided a remote microsurgery support device characterized by having a presence control information generation unit to be presented.

[0028]

According to the present invention, it is possible to realize a master-slave type remote microsurgery assisting apparatus capable of performing a microsurgery operation requiring a great deal of freedom for the hand in a narrow space.

Further, according to the present invention, it is possible to realize a remote microsurgery assisting apparatus which compensates for a decrease in the working skill of an operator due to deterioration of visual acuity due to aging, deterioration of hand resolution, and the like.

Further, according to the present invention, it is possible to realize a remote microsurgery support device for preventing blood infection between a patient and an operator.

Further, according to the present invention, it is possible to realize a remote microsurgery assisting apparatus which realizes surgery with low invasiveness by mainly utilizing the degeneration of tissues.

[0032]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows the structure of the device of the present invention. In FIG.
Is affected tissue operation means, 103 is operation command generation means, 104 is work environment information detection means, 105 is force sensor information, 106 is proximity sensor information, 107 is visual sensor information, 108 is virtual reaction force information, 109 is Composite processed image, 110 virtual sound field, 111 operation command information, 112 synthetic reaction force, 113 operation command, 114 operation command input means, 115 slave manipulator position information, 1
Reference numeral 16 represents magnification information.

The work environment information detecting means 104 detects the affected part and its surrounding environment by means of a visual sensor, a force sensor and a proximity sensor at the tip of the manipulator. The presence control information generation means 101 processes the information detected by the work environment information detection means 104 and the slave manipulator position information 115 to generate an image, a sound and a virtual reaction force. With this, the condition of the affected area is shown to the operator. Information on the force sensor and the proximity sensor is also transmitted to the operation command generating means 103. The actual reaction force detected by the force sensor is converted into a range that the operator can feel.

The virtual reaction force generated by the realistic control information generating means 101 is added to the range-converted actual reaction force and transmitted to the operator via the motion command input means 114. The operator inputs an operation command to the affected part tissue operating means 102 via the operation command inputting means 114 based on the information indicated by the presence control information generating means 101. The input operation command is converted into operation command information 111 by the operation command generation means 102. The affected tissue operation means interprets and executes the operation command information 111 using the magnification information 116 as a parameter to operate the affected tissue.

Next, each means described above will be explained.

First, the presence control information generating means 101 will be described.

FIG. 2 shows an example of the configuration of the realistic control information generating means 101 and a part of the operation command generating means 102. In the figure, 201 is a work environment information processor, 202 is a binocular visual field operator, 203 is a display for displaying a processed image, 210 is a virtual sound field reproduction generated by 201 based on the information of 105 to 107 and 115. Numeral 211, synthetic image information obtained by synthesizing processed virtual sensor information which is a real image and virtual image information generated based on the information of 105 to 107 by 201, 213 is control of the binocular vision operator 202 Represents a signal. Seen from above in Figure 2 is Figure 14
Is. From the surgeon's wrist, it appears to be the tip of the slave manipulator 1401 in the surgical environment.

Next, the operation of the work environment information processor 201 will be described with reference to FIGS. 15 to 24. First, generation of image information will be described with reference to FIGS.

In FIG. 15, first, the force sensor information 105 and the proximity sensor information 106 detect / determine the presence or absence of contact of the tip of the slave manipulator (steps 1501 and 1502). When the slave manipulator is not in contact, its distance is calculated based on the visual sensor information 107 and the proximity sensor information 106.
(Step 1505), the size of the distance is the color type (large distance: red → small distance: purple), the brightness of the color (large distance: high brightness → small distance: low brightness),
Expressed with color saturation (large distance: high saturation → small distance: low saturation)
(Step 1506).

Further, when in contact, visual sensor information
The stress distribution in the affected area is estimated based on 107 and proximity information 106.
(Step 1503), the magnitude of stress at each point in the image is determined by the color type
Expressed as (high stress: red → low stress: purple), color lightness (high stress: high lightness → low stress: low lightness), color saturation (high stress: high saturation → low stress: low saturation) Yes (step 1504). After performing 1504 or 1506, this is displayed overlaid on the original image (step 1507).
That is, the place where the affected part and the slave manipulator are close to each other, or the place where the force is applied, becomes brighter, brighter, or has a specific color.
Alternatively, as shown in FIG. 16, it is also possible to associate the movement of the tip of the slave manipulator with the color type, lightness, and saturation.

First, the position deviation / speed / acceleration of the manipulator is calculated from the tip position information 115 of the slave manipulator (this includes the target value and the response) (step 1601). Next, the magnitude of the position deviation / velocity / acceleration is determined by the type of color (large: red → small: purple) and the brightness of the color (large: high brightness → small:
Expressed in terms of color saturation (large: high saturation → small: low saturation)
(Step 1602). At this time, the correspondence between the position deviation / velocity / acceleration and the type of color / brightness / saturation is arbitrary and many variations are possible. The finally expressed color is superimposed and displayed near the tip of the manipulator of the original image (step 1603). It is also conceivable to temporarily superimpose images obtained by converting images in the infrared wavelength region into the visible light region. This will be described with reference to FIG.

First, the infrared wavelength region component of each point in the original image is extracted from the visual sensor information (step 1701). With respect to the data at each point, only the wavelength is shifted to the visible region while the light intensity of that component remains unchanged (step 1702). Finally, the original image is displayed overlaid (step 1703). In general, the temperature of a bad part of the tissue is different from that of the surroundings, so that the position of the affected area can be easily identified by visualizing a temperature distribution that is originally invisible.

Further, it is also possible to superimpose and display arrows and effect lines for making the movement of the slave manipulator in the environment easy to understand, and superimposed characters of onomatopoeia and mimetic words for explaining the situation. FIG. 18 shows an example. First, a time derivative of the tip position vector or a variation vector between sample times is calculated from the tip position information 115 of the slave manipulator (step 1801). After expressing the magnitude and direction of the vector with semi-transparent arrows (step 1802),
An arrow is drawn starting from the tip of the manipulator of the original image (step 1803). The image information generated or combined as described above is presented to the operator as a stereoscopic image by driving the binocular visual field control means 202 and the combined image display 203 in synchronization. This may be a method of alternately blocking the view of the left and right eyes and displaying the images for the left eye and the right eye in synchronization with it, or dividing the screen into the left and right and displaying an image with a slight parallax A method of looking through a lens may be used. With the algorithms shown in FIGS. 15 to 18, it is possible to add a more realistic sensation to the actual image, and increase the operability of the operator.

Next, generation of sound field information will be described with reference to FIGS. 19 to 22. In FIG. 19, first the force sensor information 10
5. The proximity sensor information 106 is used to detect and determine whether or not the tip of the slave manipulator is in contact (steps 1901 and 190).
2). When the slave manipulator is non-contact, the distance is calculated based on the visual sensor information 107 and the proximity sensor information 106 (step 1905), and the magnitude of the distance is changed to the volume (volume of sound).
(Large distance: Large volume → Small distance: Purple), Sound quality (Volume change over time) (Large distance: Large change → Small distance: Small change), Pitch (Pitch)
(Large distance: high pitch → Small distance: Low pitch), tone color (fundamental wave and harmonic component distribution) (large distance: few components → small distance: many components) (step 1906).

Further, when the contact is made, the visual sensor information
The stress distribution in the affected area is estimated based on 107 and proximity information 106.
(Step 1903), the volume of the stress at a point on the tissue closest to the tip of the manipulator is changed to the volume (sound volume) (stress: large volume → low stress: purple), sound quality (temporal change of volume) ( High stress:
Large change → small stress: small change), pitch (sound pitch) (stress large: high pitch → low stress: low pitch), timbre (fundamental and harmonic component distribution) (large stress: small component → stress) Small: many components) (step 1904). After performing 1904 or 1906, this is reproduced by the virtual sound field reproducing means 210 (step 1907). That is, when the affected part and the slave manipulator are close to each other, or when a force is applied, the sound becomes loud, the pitch becomes high, the sound quality becomes bright, and the kind of the sound becomes metallic. Alternatively, as shown in FIG. 20, the movement of the tip of the slave manipulator can be associated with the volume, sound quality, pitch, and timbre. First, the position deviation / velocity / acceleration of the manipulator is calculated from the tip position information 115 (which includes the target value and the response) of the slave manipulator (step 2001). Next, change the magnitude of the position deviation, velocity, and acceleration values to the volume (loudness) (loud:
Volume high → low: purple, sound quality (volume change over time) (high: high change → low: low change), pitch (pitch) (high: high pitch → low: low pitch), timbre ( It is expressed by (component distribution of fundamental wave and harmonics) (large: small number of components → small: large number of components) (step 2002). At this time, the correspondence between the position deviation / speed / acceleration and the volume / sound quality / tone / tone is arbitrary, and many variations are possible. The finally expressed sound is reproduced by the virtual sound field reproducing means 210 (step 200
3). It is also possible to make the temperature distribution obtained from the image in the infrared wavelength region correspond to the change in sound.

This will be described with reference to FIG. First, the infrared wavelength region component of each point in the original image is extracted from the visual sensor information (step 2101). The light intensity at the closest point from the slave manipulator is interpreted as the temperature and made to correspond to any of the volume, sound quality, pitch, and timbre (step 2102). Finally, the virtual sound field reproducing means reproduces the sound (step 2103). Since the temperature of the diseased tissue generally differs from that of the surroundings, it is easy to identify the position of the affected area by making the temperature distribution that is originally undetectable audible. In addition, sound effects that make it easier to understand the movement of the slave manipulator in the environment, and onomatopoeia and mimetic words that explain the situation are also pronounced at the same time. An example is shown in FIG. First, the time differential of the tip position vector or the variation vector between sample times is calculated from the tip position information 115 of the slave manipulator (step 220).
1). The volume and direction of the vector are the volume and sound quality of the wind noise.
After expressing by pitch, tone color and sound image localization (Step 2
202) and finally, the virtual sound field reproducing means reproduces the sound (step 2203). The sound field generated as described above is presented to the operator by the virtual sound field reproducing means 210. This makes it possible to add a more realistic sensation using the sound field, and increase the ease of operation by the operator.

Next, generation of virtual reaction force information will be described with reference to FIGS.

FIG. 23 shows an example. First, force sensor information 10
5. The proximity sensor information 106 detects / determines whether or not the tip of the slave manipulator is in contact (steps 2301, 230).
2). If the slave manipulator is not in contact, nothing is done (step 2303). If they are in contact with each other, the distance r between the affected part and the tip position and its nth-order differential value or difference value are calculated based on the slave manipulator position information 115, the visual sensor information 107, and the proximity information 106 (step 2304). ,
Virtual reaction force Fv acting between the tip of the manipulator and the affected area
Calculate (r, dr / dt, d (dr / dt) / dt, ... tn)
(Step 2305). After that, the virtual reaction force information 106 is transmitted to the operation command generating means 103 (step 2306). For example, a potential is set such that a large virtual repulsive force is generated when the affected part and the slave manipulator are close to each other. In this way, the discontinuity of the reaction force between the contact state and the non-contact state for the operator can be avoided, so that the operator can operate without being aware of the contact / non-contact state transition, and the operability is improved. Next, the generation of the virtual reaction force according to the temperature distribution will be described with reference to FIG. First, the light intensity distribution in the infrared region is extracted from the visual sensor information (step 2401). Assuming that the intensity distribution is equal to the temperature distribution, the virtual reaction force Fv ′ in the opposite direction in the depth direction corresponding to the light intensity at each point of the image is calculated (step 2402), and this is transmitted to the operation command generation means 103. As a result, a non-contact palpation method in which the temperature rise and fall are felt by the reaction force becomes possible.

By appropriately combining the above virtual reaction force generating methods and giving them to the operator, a more realistic feeling can be added and the operability of the operator can be increased. As shown above, the information processing generation means 201
~ 107, 115 information is processed, based on these, the quality of the information is converted and new information is generated (converted into a physical quantity that the human sense organs cannot originally grasp.・ ・ Conversion of quality); Modify physical quantities that are out of the detectable area of human sensory organs to be values within the area (range optimization); It is possible to intuitively detect a certain sensory organ The amount that is difficult to understand is converted into an amount that can be detected by another sensory organ and is easier to understand (sensory organ replacement). This makes it possible to control the realistic sensation of the surgery and increase the operability of the operator.

Next, the operation command generating means 103 will be described with reference to FIG.
Will be described.

In the figure, 307 is a virtual contact for controlling the transmission of the operation command, and 308 is a force for performing recursive calculation corresponding to amplification and noise removal so as to convert the force sensor information 105 into an appropriate range. Sense sensor information calculation unit, 309 is actual reaction force information processed by 308, 310 is a command converter that sets the operation mode / control mode from the operation command 113 and takes in each joint data of the operation command input means, 316 is an operation command Information, 317 represents synthetic reaction force information.

Next, the operation of the force sensor information calculation unit 308 will be described with reference to FIG. First, the magnitude of the value of the force sensor information is converted into an appropriate level for human muscle strength (step 2501). Next, recursive calculation processing equivalent to that of a low-pass filter is performed to remove noise (step 2502). After weighting each degree of freedom (step 2503), the value of the virtual reaction force information is added (step 2505), and the result is transmitted to 114. That is, the actual reaction force information 309 is combined with the virtual reaction force information 108 generated by the presence control information generating means 101 to become combined reaction force information, and as shown in FIG.
It is converted into each joint torque value of the reaction force generation part of 4 (Step 26
01) The analog amount is converted by the D / A converter 318 (step 2602). This is transmitted to 114 and becomes a torque command to the driver of each joint actuator (step 2603).

Next, the operation of the command converter 310 will be described with reference to FIG. Since the mode selection signal is included in the signal from 114, it is read (step 2701). Based on this, the operation mode is set (step 2702) and the operation mode is output to 102 (step 2703). Next, the control mode is determined based on the operation mode (step 2704) and the control mode data is output to 102 (step 2705). After that, A
Each joint angle data is fetched via the / D converter 318 (step 2706) and converted into the work coordinate system (step 270).
7). After outputting the manipulator tip position target value data to the 102 (step 2708), monitor the operation mode (step 2
709), if the operation mode is stop, transition to the stop mode is not likely to occur, and the process returns to 2706. The structure of the data string sent to 102 at this time is as shown in FIG. That is, the header 2801, the operation mode 2802, the control mode 2803, and the position / orientation data sequence 2804 up to an arbitrary time tn are sequentially transmitted to the 102.

Next, the operation of the virtual contact 307 will be described.
FIG. 29 illustrates the algorithm. First, the distance between the tip position and the affected area is detected (step 2901), and it is checked whether it is below a certain value.
(Step 2902). If not, return to 2901. If so, the proximity sensor detects the tip position / speed of the manipulator near the affected area (step 2903). Next, the magnitude of velocity vector, the magnitude of each component, the magnitude of virtual reaction force,
Magnitude of each component ・ When the control mode is speed servo, check the magnitude of the speed command vector and the magnitude of each component, and if all are below a certain value, return to 2901, and control even if one of the conditions is not satisfied The mode is set to position control and the current position is set as the command value (steps 2904-2910). As a result, the command value does not change in the event of an abnormality, so the work safety can be improved.

Next, the operation command input means 114 is shown in FIG.
Will be explained. In the figure, 3001 is a gripping part-reaction force generating part connecting electromagnet, 3002 is a gripping part restraining solenoid control signal, 3003 is a connecting electromagnet current control signal, 3004 is a gripping part restraining solenoid, and 3005 is an operation mode setting signal. , 3006
Is an operation mode changeover switch, 3007 is a gripping part, 3008 is a spherical coupling part, 3009 is a spherical joint, 3010 is a direct acting cylindrical electrostatic actuator, 3011 is an actuator control input, and 3012 is a displacement sensor output. Reference numeral 112 is a control input for each actuator. Each actuator is driven by this and as a whole generates a required reaction force. The operator holds the grip 30
Hold 07, move it while feeling the reaction force, and input motion data. Mode switching is done with the root operation mode switch. At this time, the spherical coupling portion 3006 between the grip portion 3007 and the reaction force generating portion is coupled by the magnetic force of the electromagnet. This coupling part is controlled by the magnetic force control means 3001 according to the operation mode and the magnitude of the input, and has a structure capable of changing the constraint regarding the degree of freedom. The operation of the magnetic force control means 3001 is shown in FIG. The operation mode switch is read (step 3501), and if the operation mode is the mode for commanding only the position (step 3502), only the magnetic force of the electromagnet is applied (step 3503). In this case, since this joint is spherical, the posture is free. In other words, only the three degrees of freedom of position can be commanded by operating the gripper. On the other hand, when commanding all 6 degrees of freedom of position and orientation, the gripper base is solenoid 3004
You can also command a posture change by clipping with (Step 3
504). If an excessive force or moment is applied while the joint is fixed, the constraint will be released. As a result, it is possible to prevent the input of an excessive force command, and the operational safety is improved. The direct acting laminated electrostatic actuator will be described later. As a result, the command value is not transmitted to the affected tissue operating means in the event of an abnormality, so that the safety of work can be improved.

Next, referring to FIG. 4, work environment information detecting means
104 will be explained. In the figure, 401 is a force / proximity sensor signal preprocessing circuit control means and parallax angle adjustment actuator control means and lighting control means, 402 is a visual sensor, 403 is a visual sensor mounting portion, and 404 is 402 and 403. Passive rotary joint to be connected, 405 is a parallax angle adjusting linear actuator, 406 is a right-eye image signal, 407 is a left-eye image signal, 408 is a linear actuator control signal, 409 is a lighting control signal, and 410 is illumination for illuminating an affected area. , 411 is an enlarged view of the tip of the slave manipulator, 412 is a force sensor and force signal preprocessing circuit, 413 is a proximity sensor and proximity signal preprocessing circuit, 414 is a force sensor signal, and 415 is a force signal. A control signal of the preprocessing circuit, 416 represents a proximity sensor signal, and 417 represents a control signal of the proximity signal preprocessing circuit. The visual sensor 402 captures the affected part image and outputs a right-eye image signal 406 and a left-eye image signal 407. The visual sensor 402 is connected to the mounting portion 403 via a passive rotary joint 404. The 401 controls various parts and controls signals. Image signal 406 at 401,
407 is digitized and becomes visual sensor information 107. Further, the force sensor signal 414 and the proximity sensor signal 416 are also converted into digital values, and the force sensor information 105 and the proximity sensor information 106.
Becomes The 401 also controls each part by the following algorithm.

First, as shown in FIG. 32, when the amount of movement in the depth direction of the affected part by the coarse movement part 503 of the affected part tissue operating means is detected (step 3201), the parallax angle of the left and right visual sensors becomes equal to the value at the reference position. Then, the control signal 408 is sent to the linear actuator 405 (step 3202). Linear actuator 405 expands and contracts, and the left and right visual sensors of 402 are 40
The parallax angle can be kept constant because it makes a minute rotation about the center of 4.

On the other hand, the brightness of the illumination 410 is controlled by the control signal of 401. As shown in FIG. 33, first, the distance from the visual sensor to the affected area is detected (step 3301), and n
= (Distance to affected area) / (reference distance) is calculated (step 33
02). Next, m = (current magnification) / (reference magnification) is obtained (step 3303) and finally the light quantity is controlled to a value proportional to m × m × n × n (step 3304). As a result, the parallax angle and the brightness of the affected area can be adaptively adjusted when the distance or magnification from the affected area to the visual sensor changes.

Next, the force sensor and its preprocessing circuit 412 and the proximity sensor and its preprocessing circuit 413 are attached to the tip portion 411 of the slave manipulator. It is known that a minute force / proximity sensor and its signal processing circuit can be manufactured by micromachining technology. 412 outputs a force sensor signal 414 and 413 outputs a proximity sensor signal 416, respectively.At this time, 401 sends control signals 415 and 417 to each processing circuit according to the signal level to change the amplification factor. Let As the control signal, a digital signal of several bits by High-Low having a voltage higher than the noise level expected there is used. As shown in FIG. 31, first, the sensor signal is sampled and held in the zero order (step 310
1). This is A / D converted (step 3102) to obtain n = (reference value of sensor signal) / (value of sensor signal) (step 310
3), command the signal preprocessing circuit to multiply the amplification factor by n
(Step 3104). The processing time between 3101 and 3103 is very short, and the value of the signal does not change during this period.
After that, the sample-zero-order hold is performed again (step 310
5) After A / D conversion (step 3106), the digitized one is expressed as a real number and divided by n (step 3107). That is, when the signal level is low, the amplification factor of the processing circuit is increased to
It prevents from being buried in the noise mixed between 3 and 401, and when it is large, it lowers the amplification factor to prevent the signal from being saturated.

This makes it possible to reduce the influence of noise from the surrounding environment and the actuator. In addition, this processing can reduce the influence of quantization due to digital sampling.

Next, the affected area tissue operating means 102 will be described.

The overall structure of the affected area tissue manipulating means 102 is shown in FIG.
As shown in FIG. 7, it comprises an operation command interpreting means and a diseased part operating motion mechanism control means 502, a coarse moving part 503, a fine moving part 505, and an ultrafine moving part 508. 502 is operation command interpreting means and affected part operating motion mechanism control means, 503 is coarse movement section, 504 is displacement (angle or translational movement amount) sensor information of each joint of coarse movement section, 505 is fine movement section, and 506 is each fine movement section. Control input to the joint, 507 is displacement sensor information from each joint of the fine movement part, 5
Reference numeral 08 represents the ultrafine-motion unit, 509 represents control input to each joint and end effector of the ultrafine-motion unit, and 510 represents displacement sensor information from each joint of the ultrafine-motion unit.

The operation command 501 is a highly abstract command and control mode such as “grasp” and a time-series motion command data string of one manipulator tip. The operation command interpreting means and the affected part operating motion mechanism control means 502 receive and interpret the received command to obtain motion commands for each joint of the fine motion part and a plurality of manipulators of the ultra fine motion part from the motion command value and the motion command value of one unit. At the same time as generating, it also controls the servo-level primitive control. The control inputs 506 and 509 to the fine movement part and the ultra fine movement part are the above-mentioned motion command, the displacement sensor information 504, 507 and 510 of each part and the force sensor information 105.
Is determined using.

First, the operation of the operation command interpreting means and the affected part operating motion mechanism control means 502 will be described with reference to FIG. Data is sent from the operation command generating means 103 in the sequence shown in FIG.

First, the control mode / operation mode is read (steps 3401 and 3402), and the process branches according to the operation mode.
(Step 3403). The processing procedure shown in 1 is as follows. Interpret position / orientation data sequence based on control mode
(Step 3411). As the control mode, a control method such as position control / speed control / impedance control, the number of degrees of freedom instructed, and the presence or absence of anisotropy regarding the degrees of freedom are designated.

Next, this is regarded as the tip position / orientation command value of the specific single manipulator, and is converted into each joint angle command value of the fine movement part / superfine movement part (step 3412). In addition, here, the displacement amount of the linear motion joint is also referred to as an angle. Joint servo control of the specific manipulator is performed based on this command value. The processing procedure of 2 is as follows. A virtual attractive force acting between the specific manipulator (the manipulator to be operated with the position and orientation data string) and the tip of another manipulator is set (step 3407).

Next, the equilibrium point of the potential (the point where the attractive force becomes zero) is set inside the space defined by the tips of the manipulators (step 3408). After that, the other manipulator decomposes the force virtually acting on the tip into each joint torque to perform torque control (step 3409). The processing procedure of 3 is basically the same as that of 2, except that the equilibrium point of the potential is set outside the space (step 3410). If only 1 is executed, it can be moved, if 1 and 2, it can be gripped, and if 1 and 3 are executed, the opposite can be executed. Although only three kinds of operation modes are given here as an example, actually, several kinds of basic operation modes are required.

Next, the coarse moving section will be described with reference to FIGS. 6 and 36. 6 is a side view and FIG. 36 is a front view. 6
01 is the base, 602 is the first link, 603 is the first joint, 604
Is a second link, 605 is a second joint, 606 is a third link, 607 is a third joint, and 608 is a fine movement part. The pedestal 601 and the first link 602 are connected by a linear rail, and the mechanism after the first link can be moved horizontally with the pedestal. The degree of freedom of this part is manual, and a mechanical lock is provided so that it can be fixed at any position. By making this part manual, it is possible to promptly deal with an emergency such as a power failure and to improve safety.

The shape of the first link does not necessarily have to be a semicircle as long as it does not mechanically interfere with the second and subsequent links. The second link 604 is the first via the first joint 603.
Combined with link 602. The second link 604 is the first on both sides
Rotate around the center line of the joint 603. The first joint 603 also has a structure in which it is manually rotated and locked for the same reason that the linear motion rail is manually operated. No. 2
The shape of the link is semicircular. The third link 606 is coupled to the second link 604 via the second joint 605. number 3
The link 606 rotates about the center line of the second joint 605. This also has a structure with manual and mechanical locks to enhance safety. The shape of the third link is also semicircular. Fine movement part 6
08 is connected to the third link 606 via the third joint 607. The 3-joint 607 has a structure that linearly moves in the normal direction of the third link 606. Displacement sensor information for each joint 504
Is sent to 502 above.

By adopting the above-mentioned configuration, this coarse movement system has a mechanism / degree-of-freedom configuration corresponding to the lying patient's skull shape with one degree of freedom of translation and three degrees of freedom of the spherical coordinate system. Make coarse positioning and emergency removal quick and easy.

Next, the fine movement part will be described with reference to FIG. 70
4 is a base link, 705 is a first joint, 706 is a second link, 707 is a second joint, 708 is a third link, 709 is a third joint, and 712 is a fine movement part base. The first to third joints are all rotating, and here only the posture of the entire ultrafine movement part 508 changes. It has been pointed out that posture changes are not scaled for fine work. Therefore, the degree of freedom of the position and the posture can be separated, and the same driving method and mechanism as the normal scale can be used for the posture.
Further, the posture change of the ultrafine movement part is configured to be linked with the visual sensor 402. As a result, the focus of the visual sensor 402 is generally located in the working space of the manipulator of the ultrafine movement part. Although a gimbal structure is used in FIG. 7, a mechanism such as a Stewart platform may be used.

Next, the ultrafine movement part will be described with reference to FIG. 8
Reference numeral 01 is a column supporting the ultrafine movement part, 802 is a ring rail, 803 is a first joint, 804 is a first link, 805 is a second joint, 806 is a second link, and 809 is a micro refrigeration element.
The first joint 803 performs a two-degree-of-freedom motion with respect to a cylinder, which is a minute portion of the ring rail 802, as shown in the figure, linear motion in the direction of the center line and rotation about the center line. The second joint 805 has a cylindrical shape and rotates about its center line.

With such a structure, the manipulator as a whole can be made compact. Although the configuration has three degrees of freedom here, the first link 804 and the second link 806 are
It is possible to increase the degree of freedom by replacing it with the same structure as the two joint 805. A total of 6 degrees of freedom are realized by combining the degrees of freedom of this part and the 3 degrees of freedom of rotation of the fine movement part.
A micro refrigeration element 809 is attached to the tip of the manipulator. This is an element that realizes electronic cooling by the Peltier effect realized by micromachining technology. It is extremely dangerous to apply a mechanical force capable of destroying living tissues (brain tissue, nerves, blood vessels, etc.) to the manipulator itself that performs minute work, assuming an accident such as runaway. In microsurgery, it is necessary to replace the cutting and stripping of the affected tissue, which was conventionally performed by mechanical force, with an operating subject that denatures the tissue by controlling the flow of energy. Reducing the required mechanical force is very advantageous because it also has the design advantage that the manipulator and the actuator that drives it can be made smaller, or the specifications required for them can be relaxed. Conventionally, an ultrahigh temperature (laser scalpel, etc.) method has been used as a tissue modification method by energy control, but the influence of radiation to the surroundings is large, and there is some concern about application to microsurgery.

On the other hand, if the tissue is denatured / destroyed by freezing, heat transfer (almost) does not occur unless it comes into contact with the tissue, so that only the operated portion is surely denatured. Moreover, since the temperature difference with the environment is not so large as compared with a laser or the like, it is not necessary to consider the problem of radiation (in this case, the temperature difference is opposite).

The figure showing the first joint of FIG. 8 taken out.
Is 9. In the figure, 901 is an inner stator, that is, a minute portion of the ring rail 802, 902 is a multi-degree-of-freedom mover, 903 is an outer stator to which the first link is rigidly coupled, and 904 is an electrode voltage of the outer stator 903. Drive circuit 1, 905 for controlling the outer peripheral surface electrode voltage of 902, drive circuit 2 for controlling the outer peripheral surface electrode voltage of 902, drive circuit 3 for controlling the inner peripheral surface electrode voltage of the multi-degree-of-freedom moving element 902, and 906 for the multi-degree-of-freedom moving element. Driving circuit 4, 90 for controlling the electrode voltage of 901
Reference numeral 8 represents a main controller of this actuator which gives commands to 904 to 907. The materials of the mover and the stator are polyimide and adhesive. Copper is used for the electrodes. On the outer circumference of the inner stator cylinder 901, an annular electrode is arranged perpendicular to the axis of the cylinder. 901 is provided on the inner circumference of the multi-degree-of-freedom mover cylinder 902.
Electrodes are arranged in parallel with, and a large number of linear electrodes are arranged perpendicular to 901 on the outer circumference. Further, although not shown here, collar-shaped parts are attached to both sides of the multi-degree-of-freedom cylinder 902, and the degree of freedom of the outer stator 903 is restricted only to the rotation around the center line of the cylinder. On the inner circumference of the outer stator 903, a large number of linear electrodes parallel to the electrodes on the outer circumference of 902 are arranged.

FIG. 10 is a sectional view of the actuator of FIG. 9 taken along a plane including the central axis and a plane orthogonal to the plane. In the figure, 1001 is an outer stator, 1002 is a multi-degree-of-freedom mover, and 1003 is an inner stator.

FIG. 11 shows an enlarged view of a cross section of the portion A.
FIG. 12 shows an enlarged view of a cross section of the B part.

In FIG. 11, 1101 is a cross section of the outer stator,
1102 is a cross section of the multi-degree-of-freedom mover, 1103 is a cross section of the inner stator, 1104 is an inner peripheral cover film of the inner stator, 11
05 is a copper electrode, 1106 is an adhesive, 1107 is an outer peripheral cover film of the inner stator, 1108 and 1109 are insulating liquids, 1110 is an inner peripheral cover film of the outer stator, 1111 is a copper electrode, 1112 is an adhesive,
Reference numeral 1113 represents an outer peripheral cover film of the outer stator. In the cross section 1101 of the outer stator, the arrangement of the copper electrodes is a line of intersection between the cylinder and a plane perpendicular to the center axis of the cylinder, which are arranged at equal intervals. On the other hand, in the cross section 1103 of the inner stator, the copper electrode is a line of intersection between the cylinder and a plane including the central axis of the cylinder, and since the copper electrodes are arranged at equal intervals, the cross section becomes a chain line. Regarding the structure of the cross section 1102 of the multi-degree-of-freedom mover, the outer peripheral portion is equal to the cross section 1101 of the outer stator, and the inner peripheral portion is equal to the cross section 1103 of the inner stator.

Further, in FIG. 12, 1201 is a cross section of the outer stator, 1202 is a cross section of the multi-degree-of-freedom mover, 1203 is a cross section of the inner stator, 1204 is an inner peripheral cover film of the inner stator, and 1205.
Is an adhesive, 1206 is a copper electrode, 1207 is an outer peripheral cover film of the inner stator, 1208 and 1209 are insulating liquids, 1210 is an inner peripheral cover film of the outer stator, 1211 is a copper electrode, 1212 is an adhesive, 12
Reference numeral 13 represents an outer peripheral cover film of the outer stator. 1201 ~ 12
In 03, the cross-sectional direction of FIG. 12 is orthogonal to that of FIG. 11, and thus the cross-sectional shape is such.

Next, the basic operation principle of this actuator will be described with reference to FIG.

FIG. 13 is a sectional view showing a combination of the outer stator and the outer peripheral portion of the multi-degree-of-freedom mover. In the figure, 1301
Is the wiring to the electrodes of the outer stator, 1302 is the outer stator, 1303
Is an outer peripheral part of the multi-degree-of-freedom mover, 1304 is wiring to the outer peripheral part of the multi-degree-of-freedom mover, 1305 is a drive circuit 2 for generating a voltage to be applied to the outer-side electrode of the multi-degree-of-freedom mover, and 1306 is an outer stator. 1 shows a drive circuit 1 that generates a voltage applied to electrodes. 130
A three-phase AC voltage is applied to both 2 and 1303 with one set of three electrodes. At this time, if the voltages of 1302 and 1303 have opposite phases or different frequencies, a driving force is generated between the moving element and the stator, and the moving element translates in the axial direction of the cylinder. The same thing is done for the combination of the inner peripheral part of the multi-degree-of-freedom mover and the inner stator. Since the electrode set of the inner part is orthogonal to the electrode set of the outer part, microscopically, the electrode set of the inner part generates a driving force in a tangential direction of a circular cross section perpendicular to the axis of the cylinder. . If this is integrated in the circumferential direction, it becomes a rotational force around the axis, and the multi-degree-of-freedom mover rotates. The movements in the two directions are orthogonal to each other, and movements caused by one combination do not change the positional relationship of the electrodes in the other combination.

Therefore, the present actuator can simultaneously translate the cylinder in the axial direction and rotate about the axis. The second joint 805 is equivalent to the combination of the multi-degree-of-freedom moving element 902 and the outer stator 903 in FIG.

With the above configuration, it is possible to realize a remote microsurgery assisting apparatus having a superfine movement part that is relatively minimally invasive and suppresses the influence on the surroundings.

[0084]

As described above, according to the present invention,
It is possible to realize a master-slave type remote microsurgery assisting device capable of performing microsurgery work requiring a great deal of freedom in the hand in a narrow space.

Further, according to the present invention, it is possible to realize a remote microsurgery assisting apparatus which compensates for a decrease in working skill of an operator due to deterioration of visual acuity due to aging, deterioration of hand resolution, and the like.

Further, according to the present invention, it is possible to realize a remote microsurgery support device which prevents blood infection between a patient and an operator.

Further, according to the present invention, it is possible to realize a remote microsurgery assisting apparatus which realizes surgery with low invasiveness by mainly utilizing the degeneration of tissues.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of an apparatus of the present invention.

FIG. 2 is a diagram showing an example of the configuration of the presence control information generating means that is included in the device of the present invention.

FIG. 3 is a diagram showing an example of the configuration of an operation command generating means that constitutes the device of the present invention.

FIG. 4 is a diagram showing a configuration example of a work environment information detection unit that is included in the device of the present invention.

FIG. 5 is a diagram showing an overall structure of a diseased part tissue operating means included in the device of the present invention.

FIG. 6 is a side view of an example of the configuration of a coarse movement unit included in the device of the present invention.

FIG. 7 is a diagram showing an example of the configuration of a fine movement unit included in the device of the present invention.

FIG. 8 is a diagram showing an example of the configuration of the ultrafine movement part constituting the device of the present invention.

FIG. 9 is a view showing a first joint of the ultrafine movement part which constitutes the device of the present invention.

FIG. 10 is a cross-sectional view of the actuator of the ultrafine movement part included in the device of the present invention shown in FIG.

11 is an enlarged view of a cross section taken along the line A in FIG.

12 is an enlarged view of a cross section taken along the line B in FIG.

FIG. 13 is a diagram showing a basic operation principle of the actuator of the ultrafine movement part included in the device of the present invention shown in FIG. 9.

14 is a plan view of the device of the present invention shown in FIG. 2. FIG.

FIG. 15 is a flow chart showing an example of a stress distribution or distance visualization data generation algorithm in the device of the present invention.

FIG. 16 is a flowchart showing an example of an algorithm for converting manipulator movement into color information in the apparatus of the present invention.

FIG. 17 is a flowchart showing an example of an algorithm for converting manipulator motion into graphic information in the device of the present invention.

FIG. 18 is a flow chart showing an example of a visualization data generation algorithm of the temperature distribution of the affected area in the device of the present invention.

FIG. 19 is a flowchart showing an example of an algorithm for generating audible data of stress distribution or distance in the device of the present invention.

FIG. 20 is a flowchart showing an example of an algorithm for converting manipulator motion into sound field information in the device of the present invention.

FIG. 21 is a flowchart showing an example of an algorithm for generating audible data of the temperature distribution of the affected area in the device of the present invention.

FIG. 22 is a flowchart showing an example of an algorithm for converting manipulator movement into sound effects in the device of the present invention.

FIG. 23 is a flowchart showing an example of an algorithm for generating a virtual reaction force from a distance in the device of the present invention.

FIG. 24 is a flowchart showing an example of an algorithm for generating a virtual reaction force from the temperature distribution in the device of the present invention.

FIG. 25 is a flowchart showing the operation algorithm of the force sensor information calculation unit that constitutes the device of the present invention.

FIG. 26 is a flowchart showing a conversion algorithm of a synthetic reaction force in the device of the present invention.

FIG. 27 is a flowchart showing an operation algorithm of a command conversion unit which constitutes the device of the present invention.

FIG. 28 is a diagram showing a data sequence of operation command information in the device of the present invention.

FIG. 29 is a flowchart showing an operation algorithm of virtual contacts in the device of the present invention.

FIG. 30 is a diagram showing an example of the configuration of operation command input means that constitutes the device of the present invention.

FIG. 31 is a flowchart showing a force sensor signal processing algorithm in the force / proximity sensor signal preprocessing circuit control means, the parallax angle adjusting linear actuator control means, and the illumination control means 401, which constitute the device of the present invention. It is a chart.

FIG. 32 is a flowchart showing a control algorithm of the parallax angle control actuator which constitutes the device of the present invention.

FIG. 33 is a flowchart showing an illumination control algorithm in the device of the present invention.

FIG. 34 is a flowchart showing an example of an interpretation execution algorithm in the operation command interpreting means and the affected part operating motion mechanism controlling means constituting the device of the present invention.

FIG. 35 is a flowchart showing an algorithm example of the magnetic force control means constituting the device of the present invention.

FIG. 36 is a front view of a configuration example of a coarse movement unit that constitutes the device of the present invention.

[Explanation of Codes] 101 ... Reality control information generation means, 102 ... Affected part tissue operation means, 103 ... Operation command generation means, 104 ... Work environment information detection means, 114 ... Operation command input means.

Claims (20)

[Claims] 1. A remote microsurgery assisting device for assisting an operator in performing a minute work by remotely operating an operation tool in a surgical operation on the brain, nervous system, eyeball, etc., comprising a work environment information detecting means, It is a remote microsurgery assisting device consisting of presence control information generating means, operation command generating means, diseased part tissue operating means, and motion command inputting means, and work environment information detecting means is an image of the affected part and its periphery and affected part tissue. Presence control information generating means for detecting force sensor information, proximity sensor information and visual sensor information by detecting the contact force when the tip of the slave manipulator for operation approaches the affected area and the tip of the working machine is in contact with the affected area In addition, the force sensor information and the proximity sensor information are transmitted to the operation command generation means, and the magnification at the time of image detection is transmitted to the affected tissue operation means, and the presence control information generation means operates the affected tissue operation. The slave manipulator tip position information transmitted from the step and each information detected by the work environment information detection means for the operator are processed to generate image, sound field, virtual reaction force information, and the image and sound are presented to the operator. This is presented and the virtual reaction force information is transmitted to the operation command generating means, and the motion command inputting means synthesizes the synthetic processed image presented by the operator by the realistic control information generating means with the virtual sound field and the operation command generating means. The motion generated based on the generated combined reaction force is detected and transmitted to the operation command generation means, and the operation command generation means generates the force sensor information detected by the force sensor of the work environment information detection means and the presence control information generation means. The composite of the virtual reaction force information presented by the operator is transmitted to the operator as a combined reaction force, and the operation command transmitted from the operation command input means is converted into operation command information, which is affected Say to the operating means, the diseased tissue manipulating means remote microsurgical support device and controls a plurality of working machine for driving a surgical instrument on the basis of the operation command information and the magnification information. 2. The remote microsurgery support apparatus according to claim 1, wherein a fine refrigeration element is provided at the tip of the working machine. 3. The remote microsurgery assisting apparatus according to claim 1, wherein each joint of the working machine is driven by an actuator utilizing electrostatic force acting between a large number of electrodes. 4. The remote microsurgery assisting apparatus according to claim 1, wherein the position and orientation of one or two slave manipulators operated by the operator via the operation command generating means, and other slave manipulator groups. By setting the relationship between the position and posture and the environment and automatically controlling the other slave manipulator groups so that the affected tissue operation means always satisfies the set relationship, the operator can operate all slave manipulators. A remote microsurgery assisting device characterized in that a plurality of slave manipulator groups perform a follow-up cooperative operation without operating the group. 5. The remote microsurgery support device according to claim 4, wherein the grasping portion of the operation command input means, which is the master, can directly operate the affected area, and the master and the slave can perform cooperative work. Remote microsurgery support device. 6. The remote microsurgery support apparatus according to claim 1, wherein the conversion coefficient of each degree of freedom in scale conversion when the position and orientation of the master and slave are made to correspond to each other is independently set and switched according to the operation content. Characteristic remote microsurgery support device. 7. The remote microsurgery assisting apparatus according to claim 1, wherein the attitude of the visual sensor and the attitude of the slave manipulator are interlocked with each other. 8. The remote microsurgery support apparatus according to claim 1, wherein the approach of the tip of the slave manipulator to the affected area is detected by using a combination of an infrared light emitting element and a light receiving element. . 9. The remote microsurgery assisting apparatus according to claim 1, wherein a reaction force at the tip of the slave manipulator is detected by a micro force sensor composed of a strain gauge and a processing circuit integrally manufactured by using semiconductor manufacturing technology. A remote microsurgery support device characterized by: 10. The remote microsurgery apparatus according to claim 1, wherein the coarse movement mechanism for interlocking the positions of the slave manipulator and the visual sensor has a spherical coordinate system. Support device. 11. The remote microsurgery assisting apparatus according to claim 1, further comprising a visual sensor capable of detecting a wavelength in an infrared region in addition to a normal optical image. 12. The remote manipulator tip according to claim 1, wherein when presenting image information detected by a visual sensor, a slave manipulator tip detected by a high / low temperature / force sensor in addition to a normal optical image. Presence / absence control information generation that presents as image information a combination of the distance between the affected area detected by the proximity sensor and the tip of the slave manipulator, converted to color type and brightness / saturation A remote microsurgery support device comprising means. 13. The remote microsurgery assisting apparatus according to claim 1, wherein in addition to the image information according to claim 12, the magnitude of the contact force at the tip of the slave manipulator detected by the temperature sensor / force sensor and the proximity sensor. Remote microsurgery support characterized by having presence control information generating means for presenting as sound information information obtained by converting the distance between the affected area detected by the robot and the tip of the slave manipulator into sound volume, sound quality, pitch, tone color and sound image localization apparatus. 14. The remote microsurgery support apparatus according to claim 1, wherein, in addition to the image information according to claim 12, a figure / symbol for the operator to express the situation is edited and presented on top of the image information. A remote microsurgery support device, characterized in that it has a presence control information generation means. 15. The remote microsurgery support apparatus according to claim 1, wherein an operation command input means is arranged below the image display section for presenting the image information. 16. The remote microsurgery support apparatus according to claim 1, wherein the affected tissue operation means is separated into coarse movement and fine movement. 17. The remote microsurgery support device according to claim 1, wherein each joint of the operation command input means is driven by using an actuator utilizing electrostatic force acting between a large number of electrodes to generate a reaction force. A remote microsurgery support device characterized by the above. 18. The remote microsurgery support apparatus according to claim 1, wherein a portion gripped by an operator when a motion command is input and a portion which generates a reaction force are coupled by a magnetic force of an electromagnet, and when an abnormal input such as an excessive input occurs. A remote microsurgery assisting device, characterized in that the above-mentioned coupling is released by cutting off a current to the device. 19. The operation command inputting means according to claim 18, wherein the connecting portion is provided with a fixing means, and the number of degrees of freedom of position and orientation that can be input by operating the gripping portion is changed. Remote microsurgery support device. 20. In the remote microsurgery support apparatus according to claim 1, in addition to the image information according to claim 12, a realistic sensation of presenting a figure / symbol for explaining a situation to an operator in superimposition on the image information. A remote microsurgery support device comprising control information generation means.