JPH08150578A - Master arm device - Google Patents

Abstract

PURPOSE: To prevent damage to an operational objective by unexpected motion of the slave side by careless contact with an operation part of a master arm device and especially, to improve workability and safety in case of working by way of operating a plural number of master arms. CONSTITUTION: This is a master arm device having a reaction force generating means 1 to present reaction force to an operator, an operation part 2 connected to the reaction force generating means 1 and held by the operator to operate and a control means 3 to control motion of the reaction force generating means 1, and it has a contact detection means 21 to detect that the operation part 2 is held by a hand of the operator and a motion changeover means to change motion and stop in accordance with a signal of the contact detection means 21. It is made possible to move in the case when the hand of the operator holds the operation part 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a master / slave manipulator device and a master arm device used in a simulation device capable of operating computer graphics with reaction force.

[0002]

2. Description of the Related Art A master-slave manipulator device is
For example, it is described in JP-A-63-28580.
Further, a master arm device used in a simulation device capable of performing operation processing of computer graphics with reaction force is disclosed in, for example, Japanese Patent Laid-Open No. 123327/1993.
No., published in Japanese Unexamined Patent Publication No.

[0003]

In the above-mentioned prior art, when the operator changes the operating part in order to further improve the operability, or when the operator has a plurality of master arm devices of three or more, each master arm is provided. No consideration is given to the operability and safety when performing machining or moving the operation target while alternately operating the device.

For example, in the prior art, once the operation is started, even if the operator does not hold the operation portion with his / her hand, the master arm moves if touched unintentionally,
The slave arm may act accordingly, resulting in unexpected damage to the operated object.

In particular, when operating a plurality of master arm devices, while operating a certain master arm device, another master arm device may come into contact with the other master arm device and an unexpected operation may occur. This becomes a serious problem especially in surgery using a surgery simulator and a master-slave device.

An object of the present invention is to prevent the slave side from performing an unexpected operation and damaging the operation target due to an inadvertent contact with the operation part of the master arm device.

In particular, it is to improve the operability and safety when working by operating a plurality of master arms.

[0008]

In order to achieve the above object, the present invention provides a reaction force generating means for presenting a reaction force to an operator, and an operator connected to the reaction force generating means for performing an operation. A contact detection unit for detecting that an operator's hand is grasping the operation unit, and a contact detection unit for a master arm device having an operation unit grasped by the operator and a control unit controlling the operation of the reaction force generation unit. It can be realized by having operation switching means for switching between operation and stop according to a signal from the means, and enabling operation when the operator's hand is grasping the operation section.

[0009]

The contact detecting means detects that the operator's hand is grasping the operating section. When it is detected by the contact detection means that the operator is grasping the operation portion, the operation switching means enables the reaction force generation means of the master arm device to operate.

When the operator's hand is grasping the operation section,
That is, by allowing the operation only when the user intentionally operates it, it is possible to prevent an unexpected operation of the master arm device due to careless contact.

Further, while the counting means counts an arbitrary time, the control means limits the operating speed of the reaction force generating means of the master arm device to an arbitrary speed or less. This allows
Even if the operator applies an inadvertent direction or force to the operation part at the moment of gripping the operation part, there is no sudden movement of the master arm.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a master arm device 6 according to an embodiment of the present invention.
The block diagram of is shown.

First, an outline will be described. The reaction force generating means 1 includes an arm 16 to which the operating section 2 is attached, an operating section 2
Reaction force detecting means 11 for detecting reaction force acting on the arm 1, arm 1
6, the operation unit 2 is moved three-dimensionally to cause the operator 100 to feel a reaction force, a brake 15 for preventing unnecessary rotation of the motor 14, and the motor 14 and the brake 15 for controlling the brake 15. Motor controller 12 and position detecting means 13 for detecting the tip position of the operating portion.

In the present embodiment, the operating section 2 has three degrees of freedom capable of moving in three axial directions as indicated by arrows in the figure, and the motor 14, the brake 15, and the motor controller 12 are provided in three sets.

In the present invention, there are no restrictions on the degrees of freedom, and rotation around three axes may be added to provide six degrees of freedom.

The position detecting means 13 comprises an encoder or the like attached to the rotary shaft of the motor 14. The operation unit 2 is
The operator 100 performs a grip position input operation with his / her hand, and also transmits a reaction force to the operator. The operation unit 2 has a contact detection means 21 and detects whether or not the operator 100 is gripping the operation unit 2. The operation unit 2 is pen-shaped in this embodiment, and is versatile and facilitates detailed work. The shape can be changed depending on the work content. For example, in the case of surgery simulation, operability can be improved by simulating a surgical tool.

The control means 3 has an operation instruction means 31 for instructing the operation and stop of the reaction force generator 1 in response to a signal from the contact detection means 21, and for providing a time interval when shifting from the stop state to the operation state. Counting means 32, speed instructing means 33 for limiting the speed during which the counting means 3 gives an instruction when moving from the stopped state to the operating state, and the position detecting means 1
Position calculation means 37 and position calculation means for calculating the position of the operation part 2 from 3 and further calculating so as to match the coordinate system of the reaction force generation means 1 with the coordinate system of the slave arm device 4 or the simulator device 5. The reaction force calculating means 36 for calculating the reaction force from the signal of 37, the value of the reaction force calculating means 36 and the value of the reaction force detecting means 11, or the reaction force of the reaction force generating means 1 and the reaction force of the slave device 4 side are compared. The reaction force comparing means 35 and the reaction force instructing means 34 for sending a motor control signal to the motor controller 12 according to the result of the reaction force comparing means 35.

Next, the operation will be described. Operator 10
In response to the operation of the operation unit 2 of 0, the arm 16 moves and
The direction position detecting means 13 detects the amount of movement. The output of the position detection means 13 is converted by the position calculation means 37 of the control means 3 so as to correspond to the coordinate system of the slave arm device 4 and the simulator device 5.

The operation of the operation unit 2, that is, the operation of the master arm device is projected on the slave arm device. Alternatively, it is projected on the image of the simulator device.

In the reaction force comparing means 35, the reaction force received by the slave arm device 4 from the operation target and the master arm device 6 are compared.
The reaction forces applied to the operation unit 2 of will be compared.

Based on the result, the reaction force instructing means 34 gives an instruction to the motor controller 12 to present the operator 100 with a reaction force opposite to the reaction force received by the slave arm device 4.

In the case of the simulator device 5, the operation target is not a real object but a virtual object constructed in a computer, and the master arm device 6 is different.
The relationship with is similar to that of the slave arm device 4.

In the case of a system in which a plurality of master arm devices 6 are operated to operate the slave arm device 4 and the simulator device 5, a plurality of master arm devices 6 shown in FIG. 1 may be connected as they are.

The contact detecting means 21 detects that the hand of the operator 100 is grasping the operating section 2. Operator 100
When the contact detection means 21 detects that the user is holding the operating portion 2, the operation instruction means 31 enables the reaction force generation device 1 to operate.

By allowing the operator 100 to operate only when the hand of the operator 100 is grasping the operation section 2, that is, when the user intentionally operates the operation section 2, it is possible to expect the master arm device 6 from accidental contact. It is possible to prevent unintended movements and prevent the slave arm from operating accordingly, resulting in unexpected damage to the operation target.

In particular, when operating a plurality of master arm devices, there is a possibility that, while operating a certain master arm device, another master arm device may come into contact with it and an unexpected operation may occur. This becomes a serious problem especially in surgery using a surgery simulator and a surgery master / slave device. The present invention is a useful device that prevents such problems.

Further, when the operator 100 is not gripping the operating portion 2, the brake attached to the motor 14 is actuated to stop the operation of the reaction force generating means 1, so that the master arm device can be operated more reliably. Unnecessary operation can be prevented.

Other means stop reading the value of the position detecting means 13 or stop updating the value of the position calculating means 37 according to the instruction of the operation instructing means 31, and the operating section 2 moves. Also has the same effect by stopping the operation of the slave arm device 4 and the simulator device 5 corresponding to the master arm side.

Further, while the counting means 32 counts an arbitrary time, the speed instruction means 33 limits the operating speed of the reaction force generating means 1 to an arbitrary speed or less. As a result, even when the operator applies an inadvertent direction or force to the operation section at the moment when the operation section 2 is gripped, the operation section 2 does not move suddenly. Therefore, prevent sudden movement of the slave arm at the start of operation,
It is possible to prevent unexpected damage to the operation target.

FIG. 2 shows an operating section of an embodiment of the present invention.

The operation unit 2 is pen-shaped so that fine work can be easily performed.

A push switch 211 is arranged near the side where the user points with the pen and near the grip position of the index finger. The push switch 211 corresponds to the contact detection means 21 in FIG.

By pushing the push switch 211 in the direction of the arrow, the operation state is set. It is possible to switch between operation and stop while holding the operation unit 2 with the thumb and the middle finger, prevent the operation unit 2 from slightly moving when switching the operation, and enable the operation of stopping the operation unit 2 at a more accurate position. Become.

For example, when the tissue is pressed by the koushi during surgery using the master-slave device, the slave arm can be stopped at an accurate position.

FIG. 3 is a cross-sectional view of the operating portion of one embodiment of the present invention, in which the operator's finger 101 pinches the operating portion 2.

The pressure-sensitive sensor 212 is arranged so that the circumference of the operating portion 2 is divided into three parts, and detects contact of a finger.

As shown in the figure, if the fingers 101 are in contact with each other at three places, the operating rod 2 can be regarded as being grasped by the operator 100. Then, when contact at three places is confirmed, the operation instructing means 31 enables the operation.

Since the operator's conscious grasping motion can be detected, it is not necessary to press a switch. Further, by disposing the pressure-sensitive sensor 212 on the entire operation unit 2, the position where the operator 100 grips can be freely selected, and the position with the highest operability can be selected and operated, and the operation efficiency and operation accuracy can be improved. Will increase.

The pressure sensor 212 is composed of a conductive rubber 214 sandwiched between a pair of electrodes 213. Electrode 213
The resistance value changes due to the pressure applied to, and the contact is judged by detecting it.

Since the amount of force can be detected, it is possible to prevent the operation unless the user continues to hold it for a certain period of time with an arbitrary force or more. Can be prevented.

The pressure-sensitive sensor 212 is also a piezoelectric element, a capacitance-variable element composed of a pair of electrodes and an insulating film sandwiched between them, and the same effect is obtained.

It is preferable that the pressure sensitive sensor 212 is arranged at least in three or more parts of the outer circumference and has a width of 10 mm or less. When contact is confirmed by at least three or more sensors, it can be considered that the operator 100 is conscious of the operation and surely holds the operation unit 2.

[0043]

EFFECTS OF THE INVENTION By allowing the operator's hand to operate only when the operator's hand is grasping the operation section, that is, when the operator intentionally operates the operation section, the master arm device of the master arm device can be operated by careless hand contact. It is possible to prevent unexpected operation.

Further, by limiting the operation speed of the master arm from the moment when the operator grips the operating portion in a stopped state, when the operator applies an inadvertent direction or force to the operating portion, the operation is suddenly started. Prevents the master arm from moving.

This prevents damage to the operation target on the slave side.

[Brief description of drawings]

FIG. 1 is a block diagram of a master arm device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of an operation unit according to an embodiment of the present invention.

FIG. 3 is a cross-sectional view of an operation unit according to an embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Reaction force generation means, 2 ... Operation part, 3 ... Control means, 4 ... Slave arm device, 5 ... Simulator device, 11 ... Reaction force detection means, 12 ... Motor controller, 13 ... Position detection means, 14 ... Motor, 15 ... Brake, 21 ... Contact detection means, 31 ... Operation instruction means, 32 ... Counting means, 33
... speed instruction means, 34 ... reaction force instruction means, 35 ... reaction force comparison means, 36 ... reaction force calculation means, 37 ... position calculation means.

Claims (12)

[Claims] 1. A reaction force generation means for presenting a reaction force to an operator,
In the master arm device, which is connected to the reaction force generation unit and has an operation unit that the operator grips to perform an operation, and a control unit that controls the operation of the reaction force generation unit, the operator's hand is The operator has a contact detection unit for detecting that the operation unit is grasped, and an operation instruction unit for instructing the operation or stop of the reaction force generation unit in response to a signal from the contact detection unit. A master arm device, wherein the master arm device is operable when a hand is grasping the operation unit. 2. The master arm device according to claim 1, wherein the operation section has a plurality of contact detection means and is operable when contact of a plurality of fingers of the operator is confirmed. 3. The contact detection means according to claim 1,
A master arm device comprising a pair of electrodes and a conductive rubber sandwiched between the electrodes. 4. The master arm device according to claim 1, wherein the operation unit is pen-shaped, has a push switch on the operation unit, and is operable when the operator presses the push switch. . 5. The operation unit according to claim 1, wherein the operation unit is pen-shaped, and a plurality of contact detection means are provided on an outer periphery of the operation unit so as to be divided in a circumferential direction, and a plurality of contact detection units are provided. A master arm device that is operable when contact with a finger is confirmed. 6. The counting means for counting an arbitrary time from a time point when the reaction force generating means switches from a stopped state to an operating state according to claim 1, 2, 3, 4 or 5, and an operating speed of the master arm device. And a speed instruction means for limiting the operation speed of the reaction force generation means while the counting means counts an arbitrary time from the time of switching from the stopped state to the operating state. Master arm device limited to: 7. A reaction force generating means for presenting a reaction force to an operator, a brake device for stopping fluctuation of the position when the reaction force generating means is stopped, and an operation connected to the reaction force generating means for performing an operation. In order to perform the operation, in a master arm device having an operation unit grasped by the operator and a control unit controlling the operation of the reaction force generation unit, it is detected that the operator's hand is grasping the operation unit. A master arm device which has a contact detection means, and when the hand is separated from the operation part, the brake device is activated to stop the operation of the reaction force generation device. 8. A reaction force generation means for presenting a reaction force to an operator,
An operation unit that is connected to the reaction force generation unit and is operated by an operator to perform an operation, a position detection unit that detects a position of the operation unit, and a control unit that controls the operation of the reaction force generation unit. The master arm device has a contact detection unit that detects that the operator's hand is grasping the operation unit, and when the hand is separated from the operation unit, the position is updated by a signal from the position detection unit. A master arm device characterized by stopping. 9. A master-slave device having a plurality of master arm devices operable by one operator and a slave arm device corresponding to the master arm device, wherein the master arm device applies a reaction force to the operator. A reaction force generation means to be presented, an operation unit which is connected to the reaction force generation means and which is gripped by an operator to perform an operation, a control means which controls the operation of the reaction force generation means, and a hand of the operator. The operator has a contact detection means for detecting that the operator is grasping the operation part, and an operation instruction means for instructing the operation or stop of the reaction force generation means in response to a signal from the contact detection means. A master-slave device, wherein the master-slave device is operable when one's hand is grasping the operation unit. 10. An image generating means for generating an image, an image displaying means for displaying the image, a plurality of master arm devices operable by one operator, and a screen according to the operation of the master arm device. In a simulation device having a cursor that moves inside, and a reaction force calculation means that calculates the reaction force that the master arm device should present to the operator from the positional relationship between the cursor and the image displayed on the screen, The master arm device is connected to the reaction force generation means for presenting a reaction force to the operator, an operation unit gripped by the operator for performing the operation, and the reaction force generation. Control means for controlling the operation of the means, contact detection means for detecting that the operator's hand is holding the operation part, operation of the reaction force generation means in response to a signal from the contact detection means, And a operation instruction means for instructing a stop, the simulation device, characterized in that the operable when the hand of the operator grips the operation portion. 11. A reaction force generation means for presenting a reaction force to an operator, and a reaction force generation means connected to the reaction force generation means for performing an operation.
In a master arm device having an operation section that the operator grips and a control section that controls the operation of the reaction force generation section, a contact detection section that detects that the operator's hand is grasping the operation section. An operation instructing means for instructing an operation or stop of the reaction force generating means in response to a signal from the contact detecting means, and a counting means for counting an arbitrary time from a time point when the reaction force generating means switches from a stopped state to an operating state. And a speed instructing means for instructing the operating speed of the reaction force generating means to be equal to or less than an arbitrary speed while the counting means counts. 12. A reaction force generation means for presenting a reaction force to an operator,
An operation unit that is connected to the reaction force generation unit and is operated by an operator to perform an operation, a control unit that controls the operation of the reaction force generation unit, and that the operator's hand is grasping the operation unit. In a master arm device having contact detection means for detecting and operation instruction means for instructing operation or stop of the reaction force generation means in response to a signal from the contact detection means, the operator's hand grabs the operation part. A master arm control method, wherein the master arm control method is operable when the master arm is out.