WO2016093049A1 - Manipulator system - Google Patents

Manipulator system Download PDF

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Publication number
WO2016093049A1
WO2016093049A1 PCT/JP2015/082850 JP2015082850W WO2016093049A1 WO 2016093049 A1 WO2016093049 A1 WO 2016093049A1 JP 2015082850 W JP2015082850 W JP 2015082850W WO 2016093049 A1 WO2016093049 A1 WO 2016093049A1
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WO
WIPO (PCT)
Prior art keywords
manipulator
information
sensor
sheet
holding member
Prior art date
Application number
PCT/JP2015/082850
Other languages
French (fr)
Japanese (ja)
Inventor
井上　慎太郎
Original Assignee
オリンパス株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オリンパス株式会社 filed Critical オリンパス株式会社
Priority to JP2016528259A priority Critical patent/JPWO2016093049A1/en
Publication of WO2016093049A1 publication Critical patent/WO2016093049A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

Definitions

  • the present invention relates to a manipulator system.
  • This application claims priority based on Japanese Patent Application No. 2014-249836 for which it applied to Japan on December 10, 2014, and uses the content here.
  • an input unit for operating an endoscope which is another medical instrument
  • an operation unit of a medical instrument such as a forceps.
  • a manipulator system that performs an operation in the body corresponding to an operation outside the body includes a sensor that can be attached to the operator's finger as disclosed in Patent Documents 3, 4, and 5, thereby It is known to convert the movement of an instrument into an operation command for a medical instrument.
  • Japanese Laid-Open Patent Publication No. 10-1118015 Japanese Unexamined Patent Publication No. 2003-126116 Japanese Unexamined Patent Publication No. 2008-32511 Japanese Unexamined Patent Publication No. 2006-239278 Japanese National Table 2013-510673
  • the present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a manipulator system that prevents malfunction based on erroneous operation.
  • the manipulator system holds information capable of specifying an operation command for the first manipulator and can be attached to a second manipulator different from the first manipulator, and the information holding
  • a sensor that detects that the member is close to or less than a predetermined distance from the member or has touched the information holding member, and an operation input to the first manipulator is permitted when the sensor detects that the member has approached or is in contact.
  • a control unit A control unit.
  • the information holding member may be detachable from the operation unit of the second manipulator.
  • the information holding member can be specified by the sensor as information that can specify an operation command for the first manipulator and is different from each other.
  • a plurality of pieces of information may be held at different positions.
  • the control unit receives an operation command corresponding to information specified by the sensor from a plurality of operation commands corresponding to the plurality of information. You may select and emit to the first manipulator.
  • the information holding member includes a detected surface having conductivity, and the detected surface. And a mounting surface for mounting on the second manipulator, and the sensor is disposed apart from each other so as to be conductive by contacting the detected surface. You may have a pair of electrode.
  • the information holding member may have a plurality of conductive portions that are spaced apart from each other and have different resistance values.
  • the control unit selects at least one operation command from a plurality of different operation commands corresponding to the resistance value as resistance values in the plurality of conductive units and issues them to the first manipulator. Also good.
  • the information holding member has a plurality of conductive surface patterns arranged apart from each other, and the patterns are different from each other.
  • the sensor may have a conductive part, and the sensor may have an electrode group in which a pair of electrodes that can conduct when contacting the conductive surfaces of the plurality of conductive parts are arranged in a lattice shape,
  • the control unit selects at least one operation command from a plurality of different operation commands corresponding to the electrode pattern and uses the electrode pattern that is conductive in the electrode group as the information to the first manipulator. May be issued.
  • the information holding member palpates positions of the plurality of conductive portions between the plurality of conductive portions. You may have the protrusion made to make.
  • the information holding member may have a magnetic sheet, and the sensor A Hall element may be used.
  • the information holding member has a light reflection characteristic corresponding to the information.
  • the sensor may include a photosensor that detects reflected light from the reflective material.
  • the information holding member can be specified by the photosensor, and the plurality of reflective materials having different reflectances can be positioned at different positions. You may have.
  • control unit may include a presentation unit that presents the presence or absence of the proximity or the contact.
  • FIG. 3 is a cross-sectional view taken along line AA in FIG. 2. It is explanatory drawing which shows the relationship between the position of each electroconductive part in the information holding member in the manipulator system which concerns on 1st Embodiment of this invention, and operation
  • FIG. 1 is a schematic diagram showing a manipulator system according to a first embodiment of the present invention.
  • FIG. 2 is a plan view showing a sheet-like member that is an information holding member in the manipulator system of the present embodiment.
  • 3 is a cross-sectional view taken along line AA in FIG.
  • FIG. 4 is an explanatory diagram showing the relationship between the position of each conductive portion in the information holding member of the present embodiment and the operation of the first manipulator in the manipulator system of the present embodiment.
  • FIG. 5 is a plan view showing another configuration example of a sheet-like member that is an information holding member in the manipulator system of the present embodiment.
  • FIG. 6 is an explanatory diagram illustrating an example of a contact state of the sensor with the sheet-like member of the present embodiment.
  • a manipulator system 1 according to this embodiment shown in FIG. 1 is a medical system used for, for example, a surgical operation.
  • the manipulator system 1 includes at least a first manipulator 2 and a second manipulator 42.
  • the manipulator system 1 of the present embodiment may further include other manipulators in addition to the first manipulator 2 and the second manipulator 42 described below.
  • the first manipulator 2 includes an endoscope 3, a remote input unit 15 for operating the endoscope 3, a control unit 30 for controlling the operation of the endoscope 3, and an image obtained by the endoscope 3. Is provided, and a support arm 38 that supports the endoscope 3 is provided. Thereby, the first manipulator 2 can observe the inside of the body.
  • the first manipulator 2 may not be a device for observing the inside of the body.
  • the first manipulator 2 may include a treatment instrument such as a grasping forceps or an electric knife.
  • the endoscope 3 includes an insertion unit 4, an operation unit (hereinafter referred to as “first operation unit 9”), and a drive unit 12.
  • the insertion portion 4 is a long portion whose distal end is inserted into the body.
  • the insertion unit 4 includes a tube unit 5, an active bending unit 7, and an imaging unit 8.
  • the tube portion 5 is a tubular member in which the active bending portion 7 is disposed at the distal end portion and the first operation portion 9 is disposed at the proximal end portion.
  • An angle wire 14 for operating the active bending portion 7 and a signal line 6 connected to the imaging portion 8 are arranged inside the tube portion 5.
  • the pipe part 5 of this embodiment is hard. In addition, the pipe part 5 may be flexible.
  • the active bending portion 7 is a cylindrical member that can bend in a predetermined direction when power is transmitted from the driving portion 12 via the angle wire 14.
  • the imaging unit 8 is disposed at the tip of the active bending portion 7.
  • the imaging unit 8 includes an optical system (not shown), an image sensor, and a control circuit for imaging a treatment target region.
  • the first operation unit 9 includes a housing 10 and a main input unit 11.
  • the housing 10 is attached to the proximal end portion of the pipe portion 5. A part of the main input unit 11 and the drive unit 12 are arranged inside the housing 10.
  • the main input unit 11 includes a switch arranged outside the casing 10 for operating the active bending section 7 and a contact circuit (not shown) arranged inside the casing 10.
  • a switch arranged outside the casing 10 for operating the active bending section 7
  • a contact circuit (not shown) arranged inside the casing 10.
  • the drive unit 12 includes a power source 13 and an angle wire 14.
  • the power source 13 includes an actuator (not shown) that operates the angle wire 14 based on an input from the main input unit 11 or the remote input unit 15.
  • the angle wire 14 is a wire that connects the power source 13 and the active bending portion 7.
  • the angle wire 14 transmits the power generated by the power source 13 to the active bending portion 7.
  • One or more angle wires 14 are connected to the drive unit 12 corresponding to the bending direction of the active bending unit 7.
  • the remote input unit 15 is provided at a position different from the main input unit 11 in order to perform an input for operating the active bending unit 7.
  • the remote input unit 15 includes a sheet-like member 16 and a detection device 21.
  • the sheet-like member 16 shown in FIG. 1 is a member assumed to be attached to a medical instrument used when the manipulator system 1 of the present embodiment is used.
  • the sheet-like member 16 of the present embodiment is attached to the second operation unit 43 of the second manipulator 42.
  • the sheet-like member 16 is provided on the other manipulator. It may be attached.
  • the sheet-like member 16 includes a detected surface 17 and an attachment surface 20.
  • the detected surface 17 includes a plurality of conductive portions 18 having conductivity and an insulating portion 19 that maintains the plurality of conductive portions 18 in an insulated state.
  • the plurality of conductive portions 18 are conductive members having different resistance values.
  • the plurality of conductive portions 18 are arranged side by side along the detected surface 17 of the sheet-like member 16 by sheet-like members having different resistance values being separated from each other and embedded in the insulating portion 19.
  • the manner in which the plurality of conductive portions 18 are arranged is not particularly limited.
  • the plurality of conductive portions 18 correspond to the bending operation direction (for example, up / down / left / right) of the active bending portion 7 of the first manipulator 2. That is, the plurality of conductive portions 18 hold information corresponding to the operation command for the drive unit 12 of the first manipulator 2.
  • the information corresponding to the operation command for the drive unit 12 of the first manipulator 2 is a resistance value specific to the plurality of conductive units 18.
  • a plane orthogonal to the center line X of the tube portion 5 and the detected surface 17 are associated with each other, and a coordinate system that defines the moving direction of the distal end of the active bending portion 7 with respect to the distal end of the tube portion 5 The orthogonal coordinate system extending in the surface direction of the detected surface 17 is associated.
  • the plurality of conductive portions 18 have predetermined vertical and horizontal directions (upward direction U, downward direction D, leftward in FIG. 4) on a plane orthogonal to the center line X of the tube portion 5.
  • Four conductive portions 18 (first conductive portion 18-1, second conductive portion 18-2, third conductive portion 18-3, and fourth conductive portion 18-4) respectively corresponding to direction L and right direction R) I have.
  • another conductive portion 18 corresponding to the upper left, lower left, upper right, and lower right may be further provided.
  • the plurality of conductive portions 18 need not correspond to the number of power sources 13 (see FIG. 1) in the drive unit 12. That is, at least one of the plurality of conductive portions 18 may hold information corresponding to an operation command for performing a cooperative operation of the plurality of power sources 13.
  • the sheet-like member 16 is a piece of information that can be specified by the sensor 23 shown in FIG.
  • the plurality of conductive portions 18 on 16 are held at different positions.
  • each conductive portion in the plurality of conductive portions 18 for example, the above-described first conductive portion 18-1, second conductive portion 18-2, third conductive portion 18-3, fourth conductive portion shown in FIG. 2). Since the resistance values 18-4) are all different from each other, the resistance value can be used as information that can specify an operation command for the first manipulator 2 (see FIG. 1).
  • the attachment surface 20 shown in FIG. 3 is a surface for attaching the sheet-like member 16 to the second manipulator 42 shown in FIG.
  • the mounting surface 20 is located on the opposite side to the detected surface 17.
  • the attachment surface 20 of the sheet-like member 16 can be attached to the operation part (second operation part 43 described later) of the second manipulator 42 shown in FIG.
  • the attachment surface 20 has adhesiveness in the present embodiment, and can be attached to the second operation portion 43 of the second manipulator 42.
  • the attachment surface 20 may be detachable by having slight adhesiveness.
  • the sheet-like member 16 of the present embodiment holds information that can specify an operation command for the first manipulator 2, and can be attached to a second manipulator 42 that is different from the first manipulator 2. It is a member.
  • another sheet-like member (not shown) attached to a medical instrument different from the second manipulator 42 is provided. Also good.
  • the other sheet-like member has the same configuration as that of the sheet-like member 16 attached to the second manipulator 42, so that it can be used for input to the first manipulator 2.
  • the detection device 21 shown in FIG. 1 includes a finger sack 22, a sensor 23, and a signal line 27.
  • the finger sack 22 is a bag-like or cylindrical member that can put an operator's finger.
  • the finger sack 22 is flexible so as not to obstruct the operator when operating the first manipulator 2, the second manipulator 42, or the like.
  • the sensor 23 includes a pair of electrodes 24 fixed to the finger sack 22 as schematically shown in FIG.
  • the pair of electrodes 24 includes a first electrode 25 and a second electrode 26 exposed on the outer surface of the finger sack 22.
  • the first electrode 25 and the second electrode 26 are conductors that are spaced apart from each other.
  • the first electrode 25 and the second electrode 26 are electrically connected to the input / output unit 32 (see FIG. 7) of the control unit 30 via the signal line 27, respectively.
  • the first electrode 25 and the second electrode 26 can simultaneously contact one of the plurality of conductive portions 18.
  • the first electrode 25 and the second electrode 26 Does not contact other conductive portions of the plurality of conductive portions 18. For this reason, according to the position of a pair of electrode 24, one electroconductive part can be arbitrarily selected from the some electroconductive part 18 by an operator.
  • the first electrode 25 and the second electrode 26 are in a conductive state when the sensor 23 comes into contact with any of the plurality of conductive portions 18 on the detected surface 17 of the sheet-like member 16.
  • the sensor 23 of the present embodiment is configured such that when the first electrode 25 and the second electrode 26 are in a conductive state when contacting the sheet-like member 16 that is an information holding member, the sensor 23 covers the sheet-like member 16. It is possible to detect that the sensor 23 is in contact with the detection surface 17.
  • connection means for electrically connecting the sensor 23 and the control unit 30.
  • FIG. 7 is a block diagram showing a configuration of a control unit in the manipulator system of the present embodiment.
  • the control unit 30 illustrated in FIG. 7 includes a drive system circuit 31 that operates the drive unit 12 to drive the active bending unit 7 (see FIG. 1) of the endoscope 3 and a video image acquired by the imaging unit 8. And an image pickup system circuit 36 for outputting to the camera 37.
  • the drive system circuit 31 includes an input / output unit 32, a determination unit 33, a signal generation unit 34, and a presentation unit 35.
  • the signal line 27 of the detection device 21 is connected to the input / output unit 32, and another signal line 28 for outputting a drive signal to the drive unit 12 is further connected.
  • the input / output unit 32 receives an input from the detection device 21 and outputs a drive signal corresponding to the input from the detection device 21 to the drive unit 12.
  • the determination unit 33 is connected to the input / output unit 32, and permits operation input to the first manipulator 2 when it is detected that the sensor 23 is in contact with the sheet-like member 16.
  • the state where the determination unit 33 permits the operation input to the first manipulator 2 is a state in which the drive signal can be generated by the signal generation unit 34.
  • the signal generation unit 34 of the present embodiment is provided so as to be connected to the determination unit 33 and the input / output unit 32.
  • the signal generation unit 34 of the present embodiment corresponds to the resistance value of one conductive unit selected by the detection device 21 among the plurality of conductive units 18 when the signal generation unit 34 can generate a drive signal.
  • a drive signal of the drive unit 12 corresponding to the operation command is generated.
  • the signal generation unit 34 generates a drive signal and then outputs the drive signal to the drive unit 12 via the input / output unit 32.
  • the signal generation unit 34 of the present embodiment also generates a drive signal corresponding to the operation input to the main input unit 11 of the first operation unit 9. Generation of the drive signal is controlled so as to avoid competition between the operation input to the remote input unit 15 and the operation input to the main input unit 11.
  • the presenting unit 35 presents the presence or absence of contact of the sensor 23 to the sheet-like member 16 by means (light, sound, vibration, etc.) perceivable by the operator according to the contact state of the sensor 23 to the sheet-like member 16. To do. That is, the presentation unit 35 presents to the operator whether or not the first manipulator 2 is operable in response to an input from the remote input unit 15. The presentation unit 35 causes the display device 37 to display whether or not the first manipulator 2 using the remote input unit 15 can be operated, for example.
  • the imaging system circuit 36 outputs a video signal that can be displayed by the display device 37 to the display device 37 based on the information of the video imaged by the imaging unit 8.
  • the imaging system circuit 36 receives a signal from the presentation unit 35 and receives the signal from the presentation unit 35. 8 may be output to the display device 37 together with the video imaged.
  • the display device 37 displays a video based on the video signal output from the imaging system circuit 36.
  • the support arm 38 shown in FIG. 1 includes a base 39, a movable part 40, and a connecting part 41.
  • the base 39 is a part fixed to a floor, a desk, or the like.
  • the movable part 40 includes a plurality of joints movably connected to the base 39.
  • the movable unit 40 may be configured to manually operate with respect to the base 39, or one or more joints may be electrically operated, for example, operated under the control of the control unit 30. There may be.
  • the connecting part 41 connects the support arm 38 and the endoscope 3 by holding the insertion part 4 of the endoscope 3.
  • the second manipulator 42 shown in FIG. 1 is a treatment tool for treating a treatment target site in the body.
  • the second manipulator 42 includes an operation unit (hereinafter referred to as “second operation unit 43”), a cylindrical body 46, a treatment unit 47, and a transmission member 48.
  • the second operation unit 43 is an operation unit different from the first operation unit 9 described above, and an operation for operating the treatment unit 47 of the second manipulator 42 is input.
  • the second operation unit 43 includes a main body 44 that is held by an operator and an input member 45 attached to the main body 44.
  • the main body 44 is fixed to the base end of the cylindrical body 46. An operator can operate the second manipulator 42 by holding a part of the main body 44.
  • the input member 45 is a member attached to the main body 44 so as to be movable with respect to the main body 44 in order to operate the treatment portion 47.
  • the input member 45 is connected to the transmission member 48.
  • the cylindrical body 46 is a cylindrical member in which a transmission member 48 is arranged.
  • the cylindrical portion is hard.
  • the treatment unit 47 is a member that is connected to the transmission member 48 and operates in response to an operation on the input member 45.
  • the transmission member 48 is a wire for operating the treatment unit 47, for example.
  • the second manipulator 42 can be configured to include, for example, a pair of jaws that grip a living tissue as the treatment portion 47, and the input member 45 is a manipulator that operates the pair of jaws via the transmission member 48. Further, the second manipulator 42 includes an electrode or a heater for heating or incising the living tissue as the treatment portion 47 so that the input member 45 is a manipulator that supplies power to the treatment portion 47 via the transmission member 48. Can be configured.
  • the configuration of the second manipulator 42 is not particularly limited as long as a part including the treatment unit 47 is disposed inside the body and the other part is disposed outside the body during use.
  • the operator of the manipulator system 1 operates the first manipulator 2 and the second manipulator 42, while watching the video acquired using the first manipulator 2.
  • a treatment for a living tissue is performed using the treatment unit 47 of the manipulator 42.
  • the first manipulator 2 takes an image of the treatment target region and displays it on the display device 37.
  • the treatment target region may move out of the imaging field of the imaging unit 8 of the first manipulator 2.
  • the operator In order to operate the first manipulator 2 using the first operation unit 9 of the first manipulator 2, the operator operates the first operation unit 9 with a hand opposite to the hand holding the second manipulator 42. Just operate. However, when the first manipulator 2 and the second manipulator 42 cannot reach the first operation unit 9 due to the positional relationship between the first manipulator 2 and the second manipulator 42, or other manipulators different from the first manipulator 2 and the second manipulator 42 are used. An operator who is operating the second manipulator 42 may not be able to operate the first operation unit 9 of the first manipulator 2 in some cases, for example, when both hands are occupied with the second manipulator 42 being used.
  • the sensor 23 of the detection device 21 is brought into contact with the sheet-like member 16 attached to the second operation unit 43 of the second manipulator 42.
  • the same input as the operation input to the first operation unit 9 can be performed via the remote input unit 15.
  • first electrode 25 and the second electrode 26 are not in contact with any of the conductive portions 18 of the sheet-like member 16, an operator's finger or other medical instrument is in contact with the sheet-like member 16, Even if an operator's finger or another medical instrument comes into contact with the sensor 23 of the detection device 21, input from the remote input unit 15 to the first manipulator 2 does not occur.
  • a hand holding the second manipulator 42 in advance a hand holding the second manipulator 42 in advance.
  • the finger sack 22 of the detection device 21 is attached to the device.
  • the operator operates the second manipulator 42 with the finger sack 22 attached to the finger.
  • the operator makes the sensor 23 attached to the finger sack 22 come into contact with a desired one of the plurality of conductive portions 18 as shown in FIG. 6. Move your finger.
  • the plurality of conductive portions 18 have different resistance values. Each resistance value is information for specifying an operation command for operating the first manipulator 2 in the control unit 30. For this reason, when the operator moves the finger so that the sensor 23 attached to the finger sack 22 is in contact with a desired one of the plurality of conductive portions 18, a plurality of operations for operating the first manipulator 2 are performed. One desired operation command is specified from the command.
  • the 7 uses the signal generator 34 to select an operation command corresponding to information specified using the sensor 23 from a plurality of operation commands and generate a drive signal.
  • the plurality of operation commands are held in the control unit 30 as resistance values of the plurality of conductive portions 18 corresponding to each piece of information held in the sheet-like member 16. Further, the control unit 30 outputs a drive signal generated according to the operation command selected corresponding to the information specified by the sensor 23 to the drive unit 12 of the first manipulator 2.
  • the operator can operate the first manipulator 2 using the hand operating the second manipulator 42 while operating the second manipulator 42.
  • the sensor 23 attached to the finger sack 22 is brought into contact with any one of the plurality of conductive portions 18 of the sheet-like member 16, so that the sensor among the plurality of conductive portions 18.
  • the active bending portion 7 of the first manipulator 2 operates in accordance with the resistance value of the conductive portion with which 23 is in contact. For this reason, in the manipulator system 1 of the present embodiment, imaging is performed by operating the active bending portion 7 of the first manipulator 2 using the hand operating the second manipulator 42 while operating the second manipulator 42.
  • the imaging field of view of the unit 8 can be moved.
  • the sheet-like member 16 can be attached to the second manipulator 42, and the plurality of conductive portions 18 provided on the sheet-like member 16 (see FIG. 2). Is detected via the sensor 23 of the detection device 21 shown in FIG. As a result, the wiring which connects the sheet-like member 16 and the control part 30 is unnecessary. For this reason, for example, even when a plurality of medical device sheet-like members 16 are attached when a plurality of medical devices are used, the wiring does not interfere with the operation.
  • the sheet-like member 16 having the plurality of conductive portions 18 is attached to the second manipulator 42, compared with a case where a switch or the like for operating the first manipulator 2 is attached to the second manipulator 42.
  • the member attached to the second manipulator 42 is light.
  • the weight increase due to the attachment of the sheet-like member 16 to the second manipulator 42 is slight, and the influence on the operational feeling of the second manipulator 42 due to the attachment of the sheet-like member 16 to the second manipulator 42 is Few.
  • the sheet-like member 16 having the detected surface 17 and the attachment surface 20 is flexible, and can be easily attached even if the second operation portion 43 of the second manipulator 42 has irregularities or curved surfaces. It is.
  • the remote input unit 15 operates the active bending unit 7 of the endoscope 3 .
  • the input from the remote input unit 15 is an input to the first manipulator 2
  • the input for the operation of the active bending portion 7 is not limited.
  • FIG. 8 is a plan view showing a sheet-like member in this modification.
  • FIG. 9 is a plan view showing a state in which an index is formed on the protrusion of the sheet-like member of the present modification.
  • the sheet-like member 16 includes protrusions 50 that make the positions of the plurality of conductive portions 18 tactile between the plurality of conductive portions 18.
  • the protrusions 50 of the sheet-like member 16 have a relative positional relationship with respect to the plurality of conductive portions 18, the positions of the plurality of conductive portions 18 in the sheet-like member 16 can be presented to the operator by touch. it can.
  • the shape of the protrusion 50 is a shape that allows the position on the sheet-like member 16 to be a reference and the direction relative to the reference position to be touched.
  • the protrusion 50 in the present modification is formed with a plurality of linear ridges that intersect at the center of the sheet-like member 16.
  • the protrusion 50 has an index 50 a formed at a position corresponding to one of the plurality of conductive portions 18 in order to make the positional relationship between the plurality of conductive portions 18 tactile. May be.
  • the operator can know the positions of the plurality of conductive portions 18 by touching the protrusion 50 provided on the sheet-like member 16 with a finger via the detection device 21.
  • the sensor 23 is preferably brought into contact with a desired conductive portion based on the position of the index 50a regardless of the mounting direction of the sheet-like member 16 with respect to the second manipulator 42. Can be made.
  • FIG. 10 is a schematic diagram showing a configuration of a manipulator system according to a second embodiment of the present invention.
  • FIG. 11A to FIG. 13 are schematic views showing the contact state between the conductive portion of the sheet-like member and the electrode of the sensor in the manipulator system of this embodiment.
  • the manipulator system 1A of the present embodiment includes a sheet-like member 16A (information holding member) instead of the sheet-like member 16 disclosed in the first embodiment. ing.
  • the sheet-like member 16A has a different configuration from the sheet-like member 16 (see FIG. 2) that is the information holding member disclosed in the first embodiment.
  • the manipulator system 1A of the present embodiment includes a sensor 23A including an electrode group 52 instead of the sensor 23 disclosed in the first embodiment.
  • 11A includes a plurality of conductive portions 51 having a pattern of a plurality of conductive surfaces 51a (see FIG. 11B) that are spaced apart from each other.
  • the pattern of each conductive surface 51 a in the plurality of conductive portions 51 is different for each conductive portion 51.
  • the first conductive portion 51-1 having the conductive surface with the pattern shown in FIG. 11B will be described, and description of the other conductive portions 51 will be omitted.
  • the electrode group 52 provided in the sensor 23A of the present embodiment includes a plurality of pairs of electrodes 53 that can conduct when contacting the conduction surfaces 51a of the plurality of conductive portions 51.
  • the pair of electrodes 53 are arranged in a lattice shape.
  • the pattern of the electrode 53 that is conductive in the electrode group 52 is determined according to the pattern of the conductive surface of the conductive portion 51 disposed on the sheet-like member 16A. That is, in the present embodiment, the information that can specify the operation command for the first manipulator 2 is defined by the positional relationship of the conductive surfaces arranged in the conductive portion 51 of the sheet-like member 16A.
  • the sheet-like member 16A which is the information holding member of the present embodiment, holds a plurality of pieces of information at different positions by the plurality of electrode groups 52 having different arrangement patterns.
  • the plurality of pieces of information can be specified by the sensor 23A as information that can specify an operation command for the first manipulator 2, and are different from each other.
  • the manipulator system 1A of the present embodiment when the number of electrodes 53 that are conductive in the electrode group 52 is equal to or larger than a predetermined number, or a predetermined area in a region where the electrode group 52 is disposed.
  • the electrode 53 of the electrode group 52 is conducting in a range exceeding the range, that is, when there is conduction exceeding a predetermined threshold with respect to the plurality of electrodes 53 (see, for example, FIG. 12), the sheet shape shown in FIG.
  • the determination unit 33 (see FIG. 7) of the control unit 30 determines that the sensor 23A shown in FIG. 10 is in contact with the member 16A, that is, the operation input to the first manipulator 2 can be permitted.
  • the signal generator 34 (see FIG. 7) operates based on a pattern constituted by the conductive electrode 53a and the non-conductive electrode 53b among the plurality of electrodes 53.
  • a drive signal is generated with reference to the command in the same manner as in the first embodiment, and is output to the drive unit 12 (see FIGS. 1 and 7).
  • the operation command corresponds to the resistance value of one conductive portion selected by the sensor 23 ⁇ / b> A of the detection device 21 among the plurality of conductive portions 51.
  • the senor 23A attached to the finger sack 22 can be bent slightly following the shape of the finger. That is, when the operation input to the first manipulator 2 is intended, the detection device 21 is pressed against the sheet-like member 16A so that the sensor 23A follows the shape of the detected surface 17 of the sheet-like member 16A. Deformed. Therefore, compared with the case where the sensor 23A and the sheet-like member 16A are simply touching without intention of the operation input to the first manipulator 2 (see FIG. 13), more electrodes 53 are in contact with the sheet-like member 16A and become conductive. The number of electrodes 53 in the state is also large (see FIG. 12).
  • a part of the sensor 23A of the detection device 21 is brought into contact with the sheet-like member 16A by, for example, an erroneous operation, and there is very little conduction (not exceeding a predetermined threshold) among the plurality of electrodes 53.
  • an unintentional erroneous input is prevented from occurring.
  • the sheet-like member 16A may have the protrusion 50 disclosed in the modification of the first embodiment.
  • FIG. 14 is a schematic diagram showing a configuration of a manipulator system according to a third embodiment of the present invention.
  • a manipulator system 1B of the present embodiment shown in FIG. 14 is a sheet-like structure that is different from the sheet-like member 16 disclosed in the first embodiment, instead of the sheet-like member 16 disclosed in the first embodiment.
  • a member 16B is provided.
  • the sheet-like member 16 ⁇ / b> B of this embodiment includes a magnetic sheet 60 instead of the plurality of conductive portions 18.
  • the direction of the magnetic pole of the magnetic sheet 60 and the strength of the magnetic force are not particularly limited.
  • the sheet-like member 16 ⁇ / b> B of the present embodiment has a configuration in which an adhesive is applied to one surface of the magnetic sheet 60.
  • the sensor 23B has a Hall element 61 instead of the pair of electrodes 24.
  • the Hall element 61 of this embodiment is a unit in which a plurality of elements (four elements 61-1, 61-2, 61-3, 61-4 in this embodiment) are arranged in a predetermined positional relationship. .
  • the hall element 61 is attached to the finger sack 22. In the present embodiment, the Hall element 61 may be exposed on the outer surface of the finger sack 22 or may not be exposed on the outer surface of the finger sack 22.
  • the Hall element 61 detects the position of the Hall element 61 relative to the magnetic sheet 60 in the control unit 30 by detecting a change in the magnetic field generated by the magnetic sheet 60.
  • the Hall element 61 detects the position of the magnetic sheet 60 with respect to the Hall element 61 from the difference in magnetic field intensity detected by the plurality of elements 61-1, 61-2, 61-3, 61-4.
  • the Hall element 61 when the Hall element 61 approaches the magnetic sheet 60 within a predetermined distance or less, the Hall element 61 detects a magnetic field change equal to or greater than a threshold value, thereby detecting that the sensor 23B has approached the sheet-like member 16B. It can be detected. Specifically, when the average value of the voltage that fluctuates in accordance with the magnetic field from the magnetic sheet 60 exceeds a predetermined threshold value in the four elements 61-1, 61-2, 61-3, 61-4, the sheet shape It is determined that the sensor 23B is close to the member 16B.
  • the determination unit 33 of the present embodiment permits an operation input to the first manipulator 2 when the Hall element 61 detects a magnetic field change that is equal to or greater than a threshold value.
  • Each of the above conditions uses a voltage difference in each element 61-1, 61-2, 61-3, 61-4. It should be noted that the positional relationship between the Hall element 61 and the magnetic sheet 60 can be detected using the voltage ratios of the elements 61-1, 61-2, 61-3, 61-4 in the same manner as the above conditions. Good.
  • Information on the direction obtained from the Hall element 61 based on each of the above conditions according to the positional relationship of the Hall element 61 with respect to the magnetic sheet 60 is obtained from a plurality of operation commands for operating the first manipulator 2. It is used in the control unit 30 as information for specifying. For this reason, in this embodiment, when the operator who attached the detection device 21 provided with the Hall element 61 to the finger moves the detection device 21 while approaching the magnetic sheet 60, the control unit 30 performs the operation A drive signal is generated based on an operation command corresponding to the direction in which the person moves the detection device 21, and is output to the drive unit 12 of the first manipulator 2.
  • the sheet-like member 16B which is the information holding member of the present embodiment, can specify a plurality of pieces of information that can be specified by the sensor 23B and can be specified by the sensor 23B as information that can specify an operation command for the first manipulator 2, and the magnetic sheet 60 and the sensor 23B. It can be said that they are held at different positions determined according to the positional relationship.
  • the difference or ratio between the voltage (HE1) and the voltage (HE4), the voltage (HE2) and the voltage (HE3) is monitored, and the difference or ratio is equal to or greater than a predetermined value. That is, when the finger (finger to which the sensor 23B is attached) is moved in a desired direction with respect to the magnetic sheet 60 by a sufficient distance, the determination unit 33 indicates that the operator has instructed an operation in that direction. to decide. Thereby, the operation while the finger is brought close to the magnetic sheet 60 does not become an input to the first manipulator 2.
  • the remote input unit 15 is used.
  • the determination unit 33 cancels permission of the operation input to the first manipulator.
  • an operation input is possible if the magnetic field change exceeding the threshold is sufficiently close to be detected. is there.
  • an operation input to the first manipulator 2 via the remote input unit 15 is possible. That is, according to the manipulator system 1B of the present embodiment, suitable operation input via the remote input unit 15 is possible while preventing the detection device 21 from being contaminated by body fluid such as blood during surgery with rubber gloves or the like.
  • a known magnetic sensor can be applied in place of the Hall element 61.
  • FIG. 15 is a schematic diagram illustrating a configuration of a manipulator system according to a fourth embodiment of the present invention.
  • a manipulator system 1C of the present embodiment shown in FIG. 15 includes a sheet-like member 16C (information holding member) instead of the sheet-like member 16 disclosed in the first embodiment.
  • the sheet-like member 16C has a different configuration from the sheet-like member 16 that is the information holding member disclosed in the first embodiment.
  • a photo sensor 66 is provided instead of the sensor 23 disclosed in the first embodiment.
  • the sheet-like member 16 ⁇ / b> C of the present embodiment includes a plurality of reflectors 65.
  • the plurality of reflectors 65 have different reflection characteristics (for example, reflectivity) and are arranged at positions separated from each other.
  • the reflection characteristics of each reflecting material in the plurality of reflecting materials 65 are associated with information that can specify an operation command for the first manipulator 2. That is, the plurality of reflectors 65 holds information that can specify different operation commands for the first manipulator 2 in a distinguishable manner as a difference in reflection characteristics.
  • the reflection characteristics are different from those of the reflective material 65 except for the portion where the reflective material 65 is provided.
  • the reflectance of the sheet-like member 16C is lower than that of any of the plurality of reflecting materials 65 except for the portion where the reflecting material 65 is provided.
  • the photo sensor 66 emits predetermined detection light L1, and detects the reflected light L2 reflected by the reflecting material 65.
  • the sheet-like member 16C which is an information holding member of the present embodiment, can specify a plurality of pieces of information that can be specified by the photosensor 66 as the information that can specify the operation command for the first manipulator 2 and that are different from each other. , Are held at different positions.
  • the photosensor 66 can detect the reflected light from the plurality of reflective members 65 even if the sheet-like member 16C and the detection device 21 are not in reliable contact. If they are close to each other, an operation input to the first manipulator 2 via the remote input unit 15 is possible, so that it is not necessary for the operator to continue pressing the detection device 21 against the sheet-like portion, and the operation is easy.

Abstract

Provided is a manipulator system equipped with a plurality of medical apparatuses, said manipulator system eliminating occurrence of malfunction due to an erroneous operation. This manipulator system is provided with: an information holding member (16), which holds information capable of specifying an operation command with respect to a first manipulator (2), and which can be attached to a second manipulator (42) different from the first manipulator; a detection sensor (23) which detects proximity at a predetermined distance or closer with respect to the information holding member or a contact to the information holding member; and a control unit (30) that allows operation input to the first manipulator when the sensor detects that there is the proximity or the contact.

Description

マニピュレータシステムManipulator system
　本発明は、マニピュレータシステムに関する。
　本願は、２０１４年１２月１０日に、日本国に出願された特願２０１４―２４９８３６号に基づき優先権を主張し、その内容をここに援用する。 The present invention relates to a manipulator system.
This application claims priority based on Japanese Patent Application No. 2014-249836 for which it applied to Japan on December 10, 2014, and uses the content here.
　従来、複数の医療器具が体内に挿入されて各医療器具により体内で手術が行われる場合、ある医療器具を操作している操作者が、自分では手に持つことができない他の医療器具を動作させて手術を行う必要が生じる場合がある。このような動作をさせることができる技術として、たとえば特許文献１，２には、鉗子等の医療器具の操作部に、他の医療器具である内視鏡を動作させるための入力手段を設けることが開示されている。
　また、体外における操作に対応して体内で手術を行うマニピュレータシステムに、特許文献３，４，５に開示されているように操作者の指に取り付け可能なセンサを備えることで、操作者の指の動きを医療器具の操作指令に変換することが知られている。 Conventionally, when multiple medical devices are inserted into the body and surgery is performed in the body by each medical device, an operator operating a certain medical device operates other medical devices that cannot be held by hand It may be necessary to perform surgery. As a technique capable of such an operation, for example, in Patent Documents 1 and 2, an input unit for operating an endoscope, which is another medical instrument, is provided in an operation unit of a medical instrument such as a forceps. Is disclosed.
In addition, a manipulator system that performs an operation in the body corresponding to an operation outside the body includes a sensor that can be attached to the operator's finger as disclosed in Patent Documents 3, 4, and 5, thereby It is known to convert the movement of an instrument into an operation command for a medical instrument.
日本国特開平１０－１１８０１５号公報Japanese Laid-Open Patent Publication No. 10-1118015 日本国特開２００３－１２６１１６号公報Japanese Unexamined Patent Publication No. 2003-126116 日本国特開２００８－３２５１１号公報Japanese Unexamined Patent Publication No. 2008-32511 日本国特開２００６－２３９２７８号公報Japanese Unexamined Patent Publication No. 2006-239278 日本国特表２０１３－５１０６７３号公報Japanese National Table 2013-510673
　複数の医療器具を備えたマニピュレータシステムにおいて各医療器具を適切に動作させるためには、各医療器具を動作させる必要が生じたときにその医療器具を操作者が動作させる必要がある。しかしながら、特許文献１から５に開示された技術では、操作者が誤って触れることで動作させる必要がない場合でも医療器具が動作する場合がある。 In order to properly operate each medical instrument in a manipulator system including a plurality of medical instruments, it is necessary for an operator to operate each medical instrument when it becomes necessary to operate each medical instrument. However, in the techniques disclosed in Patent Documents 1 to 5, there are cases where the medical instrument operates even when the operator does not need to operate it by touching it by mistake.
　本発明は、上述した事情に鑑みてなされたものであって、その目的は、誤操作に基づいた誤動作が起こることを防ぐマニピュレータシステムを提供することである。 The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a manipulator system that prevents malfunction based on erroneous operation.
　本発明の第一態様によれば、マニピュレータシステムは、第一マニピュレータに対する操作指令を特定可能な情報を保持し前記第一マニピュレータとは異なる第二マニピュレータに取り付け可能な情報保持部材と、前記情報保持部材に対して所定距離以下に近接あるいは前記情報保持部材に接触したことを検出するセンサと、前記近接あるいは前記接触があることを前記センサが検出した時に前記第一マニピュレータへの操作入力を許可する制御部と、を備える。 According to the first aspect of the present invention, the manipulator system holds information capable of specifying an operation command for the first manipulator and can be attached to a second manipulator different from the first manipulator, and the information holding A sensor that detects that the member is close to or less than a predetermined distance from the member or has touched the information holding member, and an operation input to the first manipulator is permitted when the sensor detects that the member has approached or is in contact. A control unit.
　本発明の第二態様によれば、上記第一態様に係るマニピュレータシステムにおいては、前記情報保持部材が前記第二マニピュレータの操作部に対して着脱可能であってもよい。 According to the second aspect of the present invention, in the manipulator system according to the first aspect, the information holding member may be detachable from the operation unit of the second manipulator.
　本発明の第三態様によれば、上記第二態様に係るマニピュレータシステムにおいては、前記情報保持部材が、前記第一マニピュレータに対する操作指令を特定可能な情報として、前記センサにより特定可能であり互いに異なる複数の情報を互いに異なる位置に保持していてもよい。 According to a third aspect of the present invention, in the manipulator system according to the second aspect, the information holding member can be specified by the sensor as information that can specify an operation command for the first manipulator and is different from each other. A plurality of pieces of information may be held at different positions.
　本発明の第四態様によれば、上記第三態様に係るマニピュレータシステムにおいては、前記複数の情報に対応する複数の操作指令から前記センサにより特定された情報に対応する操作指令を前記制御部が選択して前記第一マニピュレータに対して発してもよい。 According to the fourth aspect of the present invention, in the manipulator system according to the third aspect, the control unit receives an operation command corresponding to information specified by the sensor from a plurality of operation commands corresponding to the plurality of information. You may select and emit to the first manipulator.
　本発明の第五態様によれば、上記第一態様から第四態様のいずれか一つの態様に係るマニピュレータシステムにおいては、前記情報保持部材が、導電性を有する被検出面と、前記被検出面と反対側に位置し前記第二マニピュレータに取り付けるための取付面と、を有するシート状であってもよく、前記センサが、前記被検出面に接触することで導通する互いに離間して配された一対の電極を有していてもよい。 According to a fifth aspect of the present invention, in the manipulator system according to any one of the first aspect to the fourth aspect, the information holding member includes a detected surface having conductivity, and the detected surface. And a mounting surface for mounting on the second manipulator, and the sensor is disposed apart from each other so as to be conductive by contacting the detected surface. You may have a pair of electrode.
　本発明の第六態様によれば、上記第五態様に係るマニピュレータシステムにおいては、前記情報保持部材が、互いに離間して配され互いに抵抗値が異なる複数の導電部を有していてもよく、前記制御部が、前記複数の導電部における抵抗値を前記情報として、前記抵抗値に対応して互いに異なる複数の操作指令から少なくとも一の操作指令を選択して前記第一マニピュレータに対して発してもよい。 According to the sixth aspect of the present invention, in the manipulator system according to the fifth aspect, the information holding member may have a plurality of conductive portions that are spaced apart from each other and have different resistance values. The control unit selects at least one operation command from a plurality of different operation commands corresponding to the resistance value as resistance values in the plurality of conductive units and issues them to the first manipulator. Also good.
　本発明の第七態様によれば、上記第五態様に係るマニピュレータシステムにおいては、前記情報保持部材が、互いに離間して配される複数の導通面のパターンを有し前記パターンが互いに異なる複数の導電部を有していてもよく、前記センサが、前記複数の導電部の導通面に接触した時に導通可能な一対の電極が格子状に配された電極群を有していてもよく、前記制御部が、前記電極群において導通している電極のパターンを前記情報として、前記電極のパターンに対応して互いに異なる複数の操作指令から少なくとも一の操作指令を選択して前記第一マニピュレータに対して発してもよい。 According to a seventh aspect of the present invention, in the manipulator system according to the fifth aspect, the information holding member has a plurality of conductive surface patterns arranged apart from each other, and the patterns are different from each other. The sensor may have a conductive part, and the sensor may have an electrode group in which a pair of electrodes that can conduct when contacting the conductive surfaces of the plurality of conductive parts are arranged in a lattice shape, The control unit selects at least one operation command from a plurality of different operation commands corresponding to the electrode pattern and uses the electrode pattern that is conductive in the electrode group as the information to the first manipulator. May be issued.
　本発明の第八態様によれば、上記第六態様または第七態様に係るマニピュレータシステムにおいては、前記情報保持部材が、前記複数の導電部の間に、前記複数の導電部の位置を触知させる突起を有していてもよい。 According to an eighth aspect of the present invention, in the manipulator system according to the sixth aspect or the seventh aspect, the information holding member palpates positions of the plurality of conductive portions between the plurality of conductive portions. You may have the protrusion made to make.
　本発明の第九態様によれば、上記第一態様から第四態様のいずれか一つの態様に係るマニピュレータシステムにおいては、前記情報保持部材が、磁性シートを有していてもよく、前記センサが、ホール素子であってもよい。 According to a ninth aspect of the present invention, in the manipulator system according to any one of the first aspect to the fourth aspect, the information holding member may have a magnetic sheet, and the sensor A Hall element may be used.
　本発明の第十態様によれば、上記第一態様から第四態様のいずれか一つの態様に係るマニピュレータシステムにおいては、前記情報保持部材が、前記情報に対応した光の反射特性を有する反射材を有していてもよく、前記センサは前記反射材からの反射光を検出するフォトセンサを有していてもよい。 According to a tenth aspect of the present invention, in the manipulator system according to any one of the first to fourth aspects, the information holding member has a light reflection characteristic corresponding to the information. The sensor may include a photosensor that detects reflected light from the reflective material.
　本発明の第十一態様によれば、上記第十態様に係るマニピュレータシステムにおいては、前記情報保持部材が、前記フォトセンサにより特定可能であり互いに反射率が異なる複数の前記反射材を互いに異なる位置に有していてもよい。 According to an eleventh aspect of the present invention, in the manipulator system according to the tenth aspect, the information holding member can be specified by the photosensor, and the plurality of reflective materials having different reflectances can be positioned at different positions. You may have.
　本発明の第十二態様によれば、上記第一態様に係るマニピュレータシステムにおいては、前記近接あるいは前記接触の有無を提示する提示部を前記制御部が有していてもよい。 According to the twelfth aspect of the present invention, in the manipulator system according to the first aspect, the control unit may include a presentation unit that presents the presence or absence of the proximity or the contact.
　上記各態様に係るマニピュレータシステムによれば、誤操作に基づいた誤動作が起こることを防ぐマニピュレータシステムを提供することができる。 According to the manipulator system according to each aspect described above, it is possible to provide a manipulator system that prevents a malfunction based on an erroneous operation.
本発明の第１実施形態に係るマニピュレータシステムを示す模式図である。It is a mimetic diagram showing the manipulator system concerning a 1st embodiment of the present invention. 本発明の第１実施形態に係るマニピュレータシステムにおける情報保持部材であるシート状部材を示す平面図である。It is a top view which shows the sheet-like member which is an information holding member in the manipulator system which concerns on 1st Embodiment of this invention. 図２のＡ－Ａ線における断面図である。FIG. 3 is a cross-sectional view taken along line AA in FIG. 2. 本発明の第１実施形態に係るマニピュレータシステムにおける情報保持部材における各導電部の位置と、第１実施形態に係るマニピュレータシステムにおける第一マニピュレータの動作との関係を示す説明図である。It is explanatory drawing which shows the relationship between the position of each electroconductive part in the information holding member in the manipulator system which concerns on 1st Embodiment of this invention, and operation | movement of the 1st manipulator in the manipulator system which concerns on 1st Embodiment. 本発明の第１実施形態に係るマニピュレータシステムにおける情報保持部材であるシート状部材の他の構成例を示す平面図である。It is a top view which shows the other structural example of the sheet-like member which is an information holding member in the manipulator system which concerns on 1st Embodiment of this invention. 本発明の第１実施形態に係るマニピュレータシステムにおけるシート状部材に対するセンサの接触状態の一例を示す説明図である。It is explanatory drawing which shows an example of the contact state of the sensor with respect to the sheet-like member in the manipulator system which concerns on 1st Embodiment of this invention. 本発明の第１実施形態に係るマニピュレータシステムにおける制御部の構成を示すブロック図である。It is a block diagram which shows the structure of the control part in the manipulator system which concerns on 1st Embodiment of this invention. 本発明の第１実施形態の変形例におけるシート状部材を示す平面図である。It is a top view which shows the sheet-like member in the modification of 1st Embodiment of this invention. 本発明の第１実施形態の上記変形例のシート状部材の突起に指標が形成されている状態を示す平面図である。It is a top view which shows the state in which the parameter | index is formed in protrusion of the sheet-like member of the said modification of 1st Embodiment of this invention. 本発明の第２実施形態に係るマニピュレータシステムの検出デバイスを示す模式図である。It is a schematic diagram which shows the detection device of the manipulator system which concerns on 2nd Embodiment of this invention. 本発明の第２実施形態に係るマニピュレータシステムにおけるシート状部材を示す平面図である。It is a top view which shows the sheet-like member in the manipulator system which concerns on 2nd Embodiment of this invention. 本発明の第２実施形態に係るシート状部材における導電部の一部の拡大図である。It is a one part enlarged view of the electroconductive part in the sheet-like member which concerns on 2nd Embodiment of this invention. 本発明の第２実施形態に係るマニピュレータシステムにおけるシート状部材の導電部とセンサの電極との接触状態を示す模式図である。It is a schematic diagram which shows the contact state of the electroconductive part of a sheet-like member and the electrode of a sensor in the manipulator system which concerns on 2nd Embodiment of this invention. 本発明の第２実施形態に係るマニピュレータシステムにおけるシート状部材の導電部とセンサの電極との接触状態を示す模式図である。It is a schematic diagram which shows the contact state of the electroconductive part of a sheet-like member and the electrode of a sensor in the manipulator system which concerns on 2nd Embodiment of this invention. 本発明の第３実施形態に係るマニピュレータシステムの構成を示す模式図である。It is a schematic diagram which shows the structure of the manipulator system which concerns on 3rd Embodiment of this invention. 本発明の第４実施形態に係るマニピュレータシステムの構成を示す模式図である。It is a schematic diagram which shows the structure of the manipulator system which concerns on 4th Embodiment of this invention.
　（第１実施形態）
　本発明の第１実施形態について説明する。
　図１は、本発明の第１実施形態のマニピュレータシステムを示す模式図である。図２は、本実施形態のマニピュレータシステムにおける情報保持部材であるシート状部材を示す平面図である。図３は、図２のＡ－Ａ線における断面図である。図４は、本実施形態の情報保持部材における各導電部の位置と、本実施形態のマニピュレータシステムにおける第一マニピュレータの動作との関係を示す説明図である。図５は、本実施形態のマニピュレータシステムにおける情報保持部材であるシート状部材の他の構成例を示す平面図である。図６は、本実施形態のシート状部材に対するセンサの接触状態の一例を示す説明図である。 (First embodiment)
A first embodiment of the present invention will be described.
FIG. 1 is a schematic diagram showing a manipulator system according to a first embodiment of the present invention. FIG. 2 is a plan view showing a sheet-like member that is an information holding member in the manipulator system of the present embodiment. 3 is a cross-sectional view taken along line AA in FIG. FIG. 4 is an explanatory diagram showing the relationship between the position of each conductive portion in the information holding member of the present embodiment and the operation of the first manipulator in the manipulator system of the present embodiment. FIG. 5 is a plan view showing another configuration example of a sheet-like member that is an information holding member in the manipulator system of the present embodiment. FIG. 6 is an explanatory diagram illustrating an example of a contact state of the sensor with the sheet-like member of the present embodiment.
　図１に示す本実施形態のマニピュレータシステム１は、たとえば外科手術に使用される医療用のシステムである。 A manipulator system 1 according to this embodiment shown in FIG. 1 is a medical system used for, for example, a surgical operation.
　図１に示すように、マニピュレータシステム１は、第一マニピュレータ２と第二マニピュレータ４２とを少なくとも備える。本実施形態のマニピュレータシステム１は、以下に説明する第一マニピュレータ２及び第二マニピュレータ４２に加えてさらに他のマニピュレータを備えていてもよい。 As shown in FIG. 1, the manipulator system 1 includes at least a first manipulator 2 and a second manipulator 42. The manipulator system 1 of the present embodiment may further include other manipulators in addition to the first manipulator 2 and the second manipulator 42 described below.
　第一マニピュレータ２は、内視鏡３と、内視鏡３を動作させるための遠隔入力部１５と、内視鏡３の動作を制御する制御部３０と、内視鏡３によって得られた映像を表示する表示装置３７と、内視鏡３を支持する支持アーム３８とを備えている。これにより、第一マニピュレータ２は、体内を観察することができる。
　本実施形態では、第１マニピュレータ２が内視鏡３を備えた例が示されているが、第１マニピュレータ２は、体内を観察するための装置でなくてもよい。たとえば、第１マニピュレータ２は、把持鉗子や電気メスなどの処置具を備えていてもよい。 The first manipulator 2 includes an endoscope 3, a remote input unit 15 for operating the endoscope 3, a control unit 30 for controlling the operation of the endoscope 3, and an image obtained by the endoscope 3. Is provided, and a support arm 38 that supports the endoscope 3 is provided. Thereby, the first manipulator 2 can observe the inside of the body.
In the present embodiment, an example in which the first manipulator 2 includes the endoscope 3 is shown, but the first manipulator 2 may not be a device for observing the inside of the body. For example, the first manipulator 2 may include a treatment instrument such as a grasping forceps or an electric knife.
　内視鏡３は、挿入部４と、操作部（以下、「第一操作部９」という。）と、駆動部１２とを備えている。 The endoscope 3 includes an insertion unit 4, an operation unit (hereinafter referred to as “first operation unit 9”), and a drive unit 12.
　挿入部４は、先端側が体内に挿入される長尺部である。
　挿入部４は、管部５と、能動湾曲部７と、撮像部８とを備えている。 The insertion portion 4 is a long portion whose distal end is inserted into the body.
The insertion unit 4 includes a tube unit 5, an active bending unit 7, and an imaging unit 8.
　管部５は、先端部分に能動湾曲部７が配され基端部分に第一操作部９が配された管状部材である。管部５の内部には、能動湾曲部７を動作させるためのアングルワイヤ１４と、撮像部８に接続された信号線６とが配されている。本実施形態の管部５は硬質である。なお、管部５が柔軟であってもよい。 The tube portion 5 is a tubular member in which the active bending portion 7 is disposed at the distal end portion and the first operation portion 9 is disposed at the proximal end portion. An angle wire 14 for operating the active bending portion 7 and a signal line 6 connected to the imaging portion 8 are arranged inside the tube portion 5. The pipe part 5 of this embodiment is hard. In addition, the pipe part 5 may be flexible.
　能動湾曲部７は、駆動部１２からアングルワイヤ１４を介して動力が伝達することで所定の方向に湾曲動作可能な筒状部材である。 The active bending portion 7 is a cylindrical member that can bend in a predetermined direction when power is transmitted from the driving portion 12 via the angle wire 14.
　撮像部８は、能動湾曲部７の先端部分に配されている。撮像部８は、処置対象部位を撮像するための不図示の光学系，イメージセンサ，及び制御回路を備えている。 The imaging unit 8 is disposed at the tip of the active bending portion 7. The imaging unit 8 includes an optical system (not shown), an image sensor, and a control circuit for imaging a treatment target region.
　第一操作部９は、筐体１０と、主入力部１１とを備えている。 The first operation unit 9 includes a housing 10 and a main input unit 11.
　筐体１０は、管部５の基端部分に取り付けられている。筐体１０の内部には主入力部１１の一部と駆動部１２とが配されている。 The housing 10 is attached to the proximal end portion of the pipe portion 5. A part of the main input unit 11 and the drive unit 12 are arranged inside the housing 10.
　主入力部１１は、能動湾曲部７を動作させるための筐体１０の外部に配されたスイッチと、筐体１０の内部に配された不図示の接点回路とを備えている。
　本実施形態では、内視鏡３が主入力部１１を備えることは必須ではない。すなわち、本実施形態では、内視鏡３の操作が全て遠隔入力部１５を介して行われるようになっていてもよい。 The main input unit 11 includes a switch arranged outside the casing 10 for operating the active bending section 7 and a contact circuit (not shown) arranged inside the casing 10.
In the present embodiment, it is not essential that the endoscope 3 includes the main input unit 11. That is, in the present embodiment, all operations of the endoscope 3 may be performed via the remote input unit 15.
　駆動部１２は、動力源１３と、アングルワイヤ１４とを備えている。 The drive unit 12 includes a power source 13 and an angle wire 14.
　動力源１３は、主入力部１１又は遠隔入力部１５からの入力に基づいてアングルワイヤ１４を動作させる不図示のアクチュエータ等を備えている。 The power source 13 includes an actuator (not shown) that operates the angle wire 14 based on an input from the main input unit 11 or the remote input unit 15.
　アングルワイヤ１４は、動力源１３と能動湾曲部７とを連結するワイヤである。アングルワイヤ１４は、動力源１３が発する動力を能動湾曲部７へと伝達する。１つ以上のアングルワイヤ１４が、能動湾曲部７の湾曲方向に対応して駆動部１２に接続されている。 The angle wire 14 is a wire that connects the power source 13 and the active bending portion 7. The angle wire 14 transmits the power generated by the power source 13 to the active bending portion 7. One or more angle wires 14 are connected to the drive unit 12 corresponding to the bending direction of the active bending unit 7.
　遠隔入力部１５は、能動湾曲部７を動作させるための入力をするために、主入力部１１とは異なる位置に設けられている。
　遠隔入力部１５は、シート状部材１６と、検出デバイス２１とを備えている。 The remote input unit 15 is provided at a position different from the main input unit 11 in order to perform an input for operating the active bending unit 7.
The remote input unit 15 includes a sheet-like member 16 and a detection device 21.
　図１に示すシート状部材１６は、本実施形態のマニピュレータシステム１の使用時に使用される医療器具に取り付けることが想定された部材である。たとえば、本実施形態のシート状部材１６は、第二マニピュレータ４２の第二操作部４３に取り付けられる。なお、本実施形態において、たとえば、第一マニピュレータ２及び第二マニピュレータ４２とは異なる他のマニピュレータが第一マニピュレータ２及び第二マニピュレータ４２とともに使用される場合、当該他のマニピュレータにシート状部材１６が取り付けられてもよい。 The sheet-like member 16 shown in FIG. 1 is a member assumed to be attached to a medical instrument used when the manipulator system 1 of the present embodiment is used. For example, the sheet-like member 16 of the present embodiment is attached to the second operation unit 43 of the second manipulator 42. In the present embodiment, for example, when another manipulator different from the first manipulator 2 and the second manipulator 42 is used together with the first manipulator 2 and the second manipulator 42, the sheet-like member 16 is provided on the other manipulator. It may be attached.
　図２及び図３に示すように、シート状部材１６は、被検出面１７と、取付面２０とを備えている。 As shown in FIGS. 2 and 3, the sheet-like member 16 includes a detected surface 17 and an attachment surface 20.
　被検出面１７は、導電性を有する複数の導電部１８と、複数の導電部１８を絶縁状態で維持する絶縁部１９とを備えている。 The detected surface 17 includes a plurality of conductive portions 18 having conductivity and an insulating portion 19 that maintains the plurality of conductive portions 18 in an insulated state.
　複数の導電部１８は、抵抗値が互いに異なる導電性の部材である。
　複数の導電部１８は、互いに抵抗値が異なるシート状の部材が互いに離間して絶縁部１９に埋め込まれることにより、シート状部材１６の被検出面１７に沿って並べて配されている。
　複数の導電部１８の並べられ方は特に限定されない。たとえば、複数の導電部１８は、第一マニピュレータ２の能動湾曲部７の湾曲操作方向（たとえば上下左右）に対応している。すなわち、複数の導電部１８は、第一マニピュレータ２の駆動部１２に対する操作指令に対応した情報を保持している。第一マニピュレータ２の駆動部１２に対する操作指令に対応した情報とは、本実施形態では、複数の導電部１８に固有の抵抗値である。
　本実施形態では、管部５の中心線Ｘに直交する平面と被検出面１７とが対応付けられており、管部５の先端に対する能動湾曲部７の先端の移動方向を規定する座標系と、被検出面１７の面方向に延びる直交座標系とが対応付けられている。 The plurality of conductive portions 18 are conductive members having different resistance values.
The plurality of conductive portions 18 are arranged side by side along the detected surface 17 of the sheet-like member 16 by sheet-like members having different resistance values being separated from each other and embedded in the insulating portion 19.
The manner in which the plurality of conductive portions 18 are arranged is not particularly limited. For example, the plurality of conductive portions 18 correspond to the bending operation direction (for example, up / down / left / right) of the active bending portion 7 of the first manipulator 2. That is, the plurality of conductive portions 18 hold information corresponding to the operation command for the drive unit 12 of the first manipulator 2. In the present embodiment, the information corresponding to the operation command for the drive unit 12 of the first manipulator 2 is a resistance value specific to the plurality of conductive units 18.
In the present embodiment, a plane orthogonal to the center line X of the tube portion 5 and the detected surface 17 are associated with each other, and a coordinate system that defines the moving direction of the distal end of the active bending portion 7 with respect to the distal end of the tube portion 5 The orthogonal coordinate system extending in the surface direction of the detected surface 17 is associated.
　一例を挙げると、複数の導電部１８は、図４に示すように、管部５の中心線Ｘに直交する平面において、所定の上下左右（図４において、上方向Ｕ，下方向Ｄ，左方向Ｌ，右方向Ｒ）にそれぞれ対応した４つの導電部１８（第一導電部１８－１，第二導電部１８－２，第三導電部１８－３，第四導電部１８－４）を備えている。また、図５に示すように、上下左右に加えて、左上，左下，右上，右下にそれぞれ対応した別の導電部１８（第五導電部１８－５，第六導電部１８－６，第七導電部１８－７，第八導電部１８－８）をさらに備えていてもよい。
　複数の導電部１８は、駆動部１２における動力源１３（図１参照）の数と対応している必要はない。すなわち、複数の導電部１８のうちの少なくとも１つが、複数の動力源１３の協調動作を行う操作指令に対応した情報を保持していてもよい。 For example, as shown in FIG. 4, the plurality of conductive portions 18 have predetermined vertical and horizontal directions (upward direction U, downward direction D, leftward in FIG. 4) on a plane orthogonal to the center line X of the tube portion 5. Four conductive portions 18 (first conductive portion 18-1, second conductive portion 18-2, third conductive portion 18-3, and fourth conductive portion 18-4) respectively corresponding to direction L and right direction R) I have. Further, as shown in FIG. 5, in addition to the upper, lower, left, and right, another conductive portion 18 corresponding to the upper left, lower left, upper right, and lower right (fifth conductive portion 18-5, sixth conductive portion 18-6, A seventh conductive portion 18-7 and an eighth conductive portion 18-8) may be further provided.
The plurality of conductive portions 18 need not correspond to the number of power sources 13 (see FIG. 1) in the drive unit 12. That is, at least one of the plurality of conductive portions 18 may hold information corresponding to an operation command for performing a cooperative operation of the plurality of power sources 13.
　このように、シート状部材１６（図２参照）は、第一マニピュレータ２に対する操作指令を特定可能な情報として、図１に示すセンサ２３により特定可能であり互いに異なる複数の情報を、シート状部材１６上の複数の導電部１８によって、互いに異なる位置に保持している。本実施形態では、複数の導電部１８における各導電部（たとえば図２に示す上記の第一導電部１８－１，第二導電部１８－２，第三導電部１８－３，第四導電部１８－４）の抵抗値は全て互いに異なっているので、第一マニピュレータ２（図１参照）に対する操作指令を特定可能な情報として抵抗値を用いることができる。 As described above, the sheet-like member 16 (see FIG. 2) is a piece of information that can be specified by the sensor 23 shown in FIG. The plurality of conductive portions 18 on 16 are held at different positions. In the present embodiment, each conductive portion in the plurality of conductive portions 18 (for example, the above-described first conductive portion 18-1, second conductive portion 18-2, third conductive portion 18-3, fourth conductive portion shown in FIG. 2). Since the resistance values 18-4) are all different from each other, the resistance value can be used as information that can specify an operation command for the first manipulator 2 (see FIG. 1).
　図３に示す取付面２０は、シート状部材１６を図１に示す第二マニピュレータ４２に取り付けるための面である。取付面２０は、被検出面１７とは反対側に位置している。本実施形態では、シート状部材１６の取付面２０は、図１に示す第二マニピュレータ４２の操作部（後述する第二操作部４３）に取り付けることができる。取付面２０は、本実施形態では粘着性を有しており、第二マニピュレータ４２の第二操作部４３に貼り付けることができる。なお、取付面２０は、微粘着性を有していることによって着脱可能であってもよい。 The attachment surface 20 shown in FIG. 3 is a surface for attaching the sheet-like member 16 to the second manipulator 42 shown in FIG. The mounting surface 20 is located on the opposite side to the detected surface 17. In the present embodiment, the attachment surface 20 of the sheet-like member 16 can be attached to the operation part (second operation part 43 described later) of the second manipulator 42 shown in FIG. The attachment surface 20 has adhesiveness in the present embodiment, and can be attached to the second operation portion 43 of the second manipulator 42. In addition, the attachment surface 20 may be detachable by having slight adhesiveness.
　このように、本実施形態のシート状部材１６は、第一マニピュレータ２に対する操作指令を特定可能な情報を保持し、さらに、第一マニピュレータ２とは異なる第二マニピュレータ４２に取り付け可能な、情報保持部材である。
　また、本実施形態では、第二マニピュレータ４２に取り付けられる上述のシート状部材１６に加えて、第二マニピュレータ４２とは異なる医療器具に取り付けられる別のシート状部材（不図示）が設けられていてもよい。この場合、当該別のシート状部材は、第二マニピュレータ４２に取り付けられるシート状部材１６と同一の構成を有していることにより、第一マニピュレータ２に対する入力を行うために使用することができる。 Thus, the sheet-like member 16 of the present embodiment holds information that can specify an operation command for the first manipulator 2, and can be attached to a second manipulator 42 that is different from the first manipulator 2. It is a member.
In the present embodiment, in addition to the above-described sheet-like member 16 attached to the second manipulator 42, another sheet-like member (not shown) attached to a medical instrument different from the second manipulator 42 is provided. Also good. In this case, the other sheet-like member has the same configuration as that of the sheet-like member 16 attached to the second manipulator 42, so that it can be used for input to the first manipulator 2.
　図１に示す検出デバイス２１は、指サック２２と、センサ２３と、信号線２７とを備えている。 The detection device 21 shown in FIG. 1 includes a finger sack 22, a sensor 23, and a signal line 27.
　指サック２２は、操作者の指を入れることができる袋状あるいは筒状の部材である。指サック２２は、操作者が第一マニピュレータ２や第二マニピュレータ４２等を操作する際の邪魔にならないように、柔軟である。 The finger sack 22 is a bag-like or cylindrical member that can put an operator's finger. The finger sack 22 is flexible so as not to obstruct the operator when operating the first manipulator 2, the second manipulator 42, or the like.
　センサ２３は、図６に模式的に示すように、指サック２２に固定された一対の電極２４を備えている。 The sensor 23 includes a pair of electrodes 24 fixed to the finger sack 22 as schematically shown in FIG.
　一対の電極２４は、指サック２２の外面に露出された第一電極２５と第二電極２６とを備えている。
　第一電極２５と第二電極２６とは互いに離間して配された導体である。第一電極２５及び第二電極２６は、それぞれ信号線２７を介して制御部３０の入出力部３２（図７参照）と電気的に接続される。第一電極２５と第二電極２６とは、図６に示すように複数の導電部１８のうちの１つの導電部に同時に接触することができ、この時に第一電極２５と第二電極２６とは複数の導電部１８のうちの他の導電部に接触しない。このため、一対の電極２４の位置に応じて、複数の導電部１８から一つの導電部を操作者の任意で選択することができる。 The pair of electrodes 24 includes a first electrode 25 and a second electrode 26 exposed on the outer surface of the finger sack 22.
The first electrode 25 and the second electrode 26 are conductors that are spaced apart from each other. The first electrode 25 and the second electrode 26 are electrically connected to the input / output unit 32 (see FIG. 7) of the control unit 30 via the signal line 27, respectively. As shown in FIG. 6, the first electrode 25 and the second electrode 26 can simultaneously contact one of the plurality of conductive portions 18. At this time, the first electrode 25 and the second electrode 26 Does not contact other conductive portions of the plurality of conductive portions 18. For this reason, according to the position of a pair of electrode 24, one electroconductive part can be arbitrarily selected from the some electroconductive part 18 by an operator.
　本実施形態では、シート状部材１６の被検出面１７のうち、複数の導電部１８のいずれかにセンサ２３が接触した場合に、第一電極２５と第二電極２６とは導通状態となる。このように、本実施形態のセンサ２３は、情報保持部材であるシート状部材１６に接触したときに第一電極２５と第二電極２６とが導通状態となることにより、シート状部材１６の被検出面１７にセンサ２３が接触したことを検出可能としている。 In the present embodiment, the first electrode 25 and the second electrode 26 are in a conductive state when the sensor 23 comes into contact with any of the plurality of conductive portions 18 on the detected surface 17 of the sheet-like member 16. As described above, the sensor 23 of the present embodiment is configured such that when the first electrode 25 and the second electrode 26 are in a conductive state when contacting the sheet-like member 16 that is an information holding member, the sensor 23 covers the sheet-like member 16. It is possible to detect that the sensor 23 is in contact with the detection surface 17.
　図１及び図６に示す信号線２７は、センサ２３と制御部３０とを電気的に接続するための接続手段である。 1 and 6 is a connection means for electrically connecting the sensor 23 and the control unit 30. The signal line 27 shown in FIG.
　図７は、本実施形態のマニピュレータシステムにおける制御部の構成を示すブロック図である。
　図７に示す制御部３０は、内視鏡３の能動湾曲部７（図１参照）を駆動するために駆動部１２を動作させる駆動系回路３１と、撮像部８が取得した映像を表示装置３７へ出力する撮像系回路３６とを備えている。
　駆動系回路３１は、入出力部３２と、判定部３３と、信号生成部３４と、提示部３５とを備えている。 FIG. 7 is a block diagram showing a configuration of a control unit in the manipulator system of the present embodiment.
The control unit 30 illustrated in FIG. 7 includes a drive system circuit 31 that operates the drive unit 12 to drive the active bending unit 7 (see FIG. 1) of the endoscope 3 and a video image acquired by the imaging unit 8. And an image pickup system circuit 36 for outputting to the camera 37.
The drive system circuit 31 includes an input / output unit 32, a determination unit 33, a signal generation unit 34, and a presentation unit 35.
　入出力部３２には、検出デバイス２１の信号線２７が接続され、さらに、駆動部１２に対して駆動信号を出力するための別の信号線２８が接続されている。入出力部３２は、検出デバイス２１からの入力を受け付け、検出デバイス２１からの入力に対応する駆動信号を駆動部１２へと出力する。 The signal line 27 of the detection device 21 is connected to the input / output unit 32, and another signal line 28 for outputting a drive signal to the drive unit 12 is further connected. The input / output unit 32 receives an input from the detection device 21 and outputs a drive signal corresponding to the input from the detection device 21 to the drive unit 12.
　判定部３３は、入出力部３２に接続され、シート状部材１６にセンサ２３が接触したことが検出された時に第一マニピュレータ２への操作入力を許可する。本実施形態において判定部３３が第一マニピュレータ２への操作入力を許可した状態とは、信号生成部３４における駆動信号の生成が可能な状態である。 The determination unit 33 is connected to the input / output unit 32, and permits operation input to the first manipulator 2 when it is detected that the sensor 23 is in contact with the sheet-like member 16. In the present embodiment, the state where the determination unit 33 permits the operation input to the first manipulator 2 is a state in which the drive signal can be generated by the signal generation unit 34.
　本実施形態の信号生成部３４は、判定部３３及び入出力部３２に接続されるように設けられる。本実施形態の信号生成部３４は、信号生成部３４における駆動信号の生成が可能であるときに、複数の導電部１８のうち検出デバイス２１によって選択された一つの導電部の抵抗値に対応する操作指令を参照し、この操作指令に対応する駆動部１２の駆動信号を生成する。信号生成部３４は、駆動信号を生成後、入出力部３２を介して駆動信号を駆動部１２へと出力する。本実施形態の信号生成部３４は、第一操作部９の主入力部１１に対する操作入力に応じた駆動信号の生成も行う。遠隔入力部１５への操作入力と主入力部１１への操作入力との競合を回避するように駆動信号の生成は制御される。 The signal generation unit 34 of the present embodiment is provided so as to be connected to the determination unit 33 and the input / output unit 32. The signal generation unit 34 of the present embodiment corresponds to the resistance value of one conductive unit selected by the detection device 21 among the plurality of conductive units 18 when the signal generation unit 34 can generate a drive signal. With reference to the operation command, a drive signal of the drive unit 12 corresponding to the operation command is generated. The signal generation unit 34 generates a drive signal and then outputs the drive signal to the drive unit 12 via the input / output unit 32. The signal generation unit 34 of the present embodiment also generates a drive signal corresponding to the operation input to the main input unit 11 of the first operation unit 9. Generation of the drive signal is controlled so as to avoid competition between the operation input to the remote input unit 15 and the operation input to the main input unit 11.
　提示部３５は、シート状部材１６に対するセンサ２３の接触状態に応じて、操作者に知覚可能な手段（光，音，振動等）により、シート状部材１６へのセンサ２３の接触の有無を提示する。すなわち、提示部３５は、第一マニピュレータ２が遠隔入力部１５からの入力に応じて動作可能となっているか否かを、操作者に提示する。提示部３５は、たとえば、遠隔入力部１５を用いた第一マニピュレータ２の動作の可否を表示装置３７に表示させる。 The presenting unit 35 presents the presence or absence of contact of the sensor 23 to the sheet-like member 16 by means (light, sound, vibration, etc.) perceivable by the operator according to the contact state of the sensor 23 to the sheet-like member 16. To do. That is, the presentation unit 35 presents to the operator whether or not the first manipulator 2 is operable in response to an input from the remote input unit 15. The presentation unit 35 causes the display device 37 to display whether or not the first manipulator 2 using the remote input unit 15 can be operated, for example.
　撮像系回路３６は、撮像部８が撮像した映像の情報に基づいて、表示装置３７により表示可能な映像信号を表示装置３７へ出力する。また、撮像系回路３６は、遠隔入力部１５を用いた第一マニピュレータ２の動作の可否を提示部３５が表示装置３７に表示させる構成の場合、提示部３５からの信号を受けて、撮像部８が撮像した映像とともに表示装置３７へ出力してもよい。 The imaging system circuit 36 outputs a video signal that can be displayed by the display device 37 to the display device 37 based on the information of the video imaged by the imaging unit 8. In the case where the presentation unit 35 displays on the display device 37 whether the operation of the first manipulator 2 using the remote input unit 15 is possible, the imaging system circuit 36 receives a signal from the presentation unit 35 and receives the signal from the presentation unit 35. 8 may be output to the display device 37 together with the video imaged.
　表示装置３７は、撮像系回路３６から出力された映像信号に基づいて映像を表示する。 The display device 37 displays a video based on the video signal output from the imaging system circuit 36.
　図１に示す支持アーム３８は、基部３９と、可動部４０と、連結部４１とを備えている。 The support arm 38 shown in FIG. 1 includes a base 39, a movable part 40, and a connecting part 41.
　基部３９は、床や机等に固定される部分である。
　可動部４０は、基部３９に対して移動可能に連結された複数の関節を備えている。本実施形態では、可動部４０は、手動で基部３９に対して動作する構成であってもよいし、１つ以上の関節が電動で、たとえば制御部３０の制御の下で、動作する構成であってもよい。 The base 39 is a part fixed to a floor, a desk, or the like.
The movable part 40 includes a plurality of joints movably connected to the base 39. In the present embodiment, the movable unit 40 may be configured to manually operate with respect to the base 39, or one or more joints may be electrically operated, for example, operated under the control of the control unit 30. There may be.
　連結部４１は、内視鏡３の挿入部４を保持することで、支持アーム３８と内視鏡３とを連結する。 The connecting part 41 connects the support arm 38 and the endoscope 3 by holding the insertion part 4 of the endoscope 3.
　図１に示す第二マニピュレータ４２は、体内で処置対象部位に対して処置をするための処置具である。
　第二マニピュレータ４２は、操作部（以下、「第二操作部４３」という。）と、筒体４６と、処置部４７と、伝達部材４８とを備えている。 The second manipulator 42 shown in FIG. 1 is a treatment tool for treating a treatment target site in the body.
The second manipulator 42 includes an operation unit (hereinafter referred to as “second operation unit 43”), a cylindrical body 46, a treatment unit 47, and a transmission member 48.
　第二操作部４３は、上述の第一操作部９とは別の操作部であり、第二マニピュレータ４２の処置部４７を動作させるための操作が入力される。
　第二操作部４３は、操作者によって把持される本体部４４と、本体部４４に取り付けられた入力部材４５とを備えている。 The second operation unit 43 is an operation unit different from the first operation unit 9 described above, and an operation for operating the treatment unit 47 of the second manipulator 42 is input.
The second operation unit 43 includes a main body 44 that is held by an operator and an input member 45 attached to the main body 44.
　本体部４４は、筒体４６の基端に固定されている。操作者は、本体部４４の一部を把持して第二マニピュレータ４２を操作することができる。 The main body 44 is fixed to the base end of the cylindrical body 46. An operator can operate the second manipulator 42 by holding a part of the main body 44.
　入力部材４５は、処置部４７を動作させるために本体部４４に対して移動可能に本体部４４に取り付けられた部材である。入力部材４５は、伝達部材４８と連結されている。 The input member 45 is a member attached to the main body 44 so as to be movable with respect to the main body 44 in order to operate the treatment portion 47. The input member 45 is connected to the transmission member 48.
　筒体４６は、伝達部材４８が内部に配された筒状部材である。本実施形態では筒部は硬質である。 The cylindrical body 46 is a cylindrical member in which a transmission member 48 is arranged. In the present embodiment, the cylindrical portion is hard.
　処置部４７は、伝達部材４８と連結され、入力部材４５への操作に応じて動作する部材である。 The treatment unit 47 is a member that is connected to the transmission member 48 and operates in response to an operation on the input member 45.
　伝達部材４８は、たとえば、処置部４７を動作させるためのワイヤである。 The transmission member 48 is a wire for operating the treatment unit 47, for example.
　第二マニピュレータ４２は、たとえば、生体組織を把持する一対のジョーを処置部４７として備え、入力部材４５が伝達部材４８を介して一対のジョーを動作させるマニピュレータとなるように構成することができる。また、第二マニピュレータ４２は、生体組織に対して加熱や切開をする電極やヒータを処置部４７として備え、入力部材４５が伝達部材４８を介して処置部４７に電力を供給するマニピュレータとなるように構成することができる。第二マニピュレータ４２は、その使用時に処置部４７を含む一部が体内に配され、他の一部が体外に配されるものであれば、その構成は特に限定されない。 The second manipulator 42 can be configured to include, for example, a pair of jaws that grip a living tissue as the treatment portion 47, and the input member 45 is a manipulator that operates the pair of jaws via the transmission member 48. Further, the second manipulator 42 includes an electrode or a heater for heating or incising the living tissue as the treatment portion 47 so that the input member 45 is a manipulator that supplies power to the treatment portion 47 via the transmission member 48. Can be configured. The configuration of the second manipulator 42 is not particularly limited as long as a part including the treatment unit 47 is disposed inside the body and the other part is disposed outside the body during use.
　本実施形態のマニピュレータシステム１の作用について説明する。
　図１に示すマニピュレータシステム１の使用時には、マニピュレータシステム１の操作者は、第一マニピュレータ２及び第二マニピュレータ４２を操作することで、第一マニピュレータ２を用いて取得した映像を見ながら、第二マニピュレータ４２の処置部４７を用いて生体組織に対する処置を行う。基本的に、第一マニピュレータ２は、処置対象部位の映像を撮像して表示装置３７に表示させている。しかし、第二マニピュレータ４２や他の医療器具を用いた作業によっては、第一マニピュレータ２の撮像部８の撮像視野の外に処置対象部位が移動する場合がある。この場合、処置を好適に継続するためには、撮像部８の撮像視野内に処置対象部位が位置するように、操作者が第一マニピュレータ２を操作する必要がある。 The operation of the manipulator system 1 of the present embodiment will be described.
When using the manipulator system 1 shown in FIG. 1, the operator of the manipulator system 1 operates the first manipulator 2 and the second manipulator 42, while watching the video acquired using the first manipulator 2. A treatment for a living tissue is performed using the treatment unit 47 of the manipulator 42. Basically, the first manipulator 2 takes an image of the treatment target region and displays it on the display device 37. However, depending on the work using the second manipulator 42 or other medical instruments, the treatment target region may move out of the imaging field of the imaging unit 8 of the first manipulator 2. In this case, in order to continue the treatment suitably, it is necessary for the operator to operate the first manipulator 2 so that the treatment target region is located within the imaging field of view of the imaging unit 8.
　第一マニピュレータ２の第一操作部９を用いて第一マニピュレータ２を動作させるためには、操作者が第二マニピュレータ４２を把持している手とは反対側の手で第一操作部９を操作すればよい。しかしながら、第一マニピュレータ２と第二マニピュレータ４２との位置関係により第一マニピュレータ２の第一操作部９に手が届かない場合や、第一マニピュレータ２及び第二マニピュレータ４２とは異なる他のマニピュレータを第二マニピュレータ４２と同時に使用していて両手がふさがっている場合等、第二マニピュレータ４２を操作している操作者が第一マニピュレータ２の第一操作部９を操作しにくい場合がある。 In order to operate the first manipulator 2 using the first operation unit 9 of the first manipulator 2, the operator operates the first operation unit 9 with a hand opposite to the hand holding the second manipulator 42. Just operate. However, when the first manipulator 2 and the second manipulator 42 cannot reach the first operation unit 9 due to the positional relationship between the first manipulator 2 and the second manipulator 42, or other manipulators different from the first manipulator 2 and the second manipulator 42 are used. An operator who is operating the second manipulator 42 may not be able to operate the first operation unit 9 of the first manipulator 2 in some cases, for example, when both hands are occupied with the second manipulator 42 being used.
　本実施形態のマニピュレータシステム１では、図６に示すように、第二マニピュレータ４２の第二操作部４３に取り付けられたシート状部材１６に対して、検出デバイス２１のセンサ２３を接触させることで、第一操作部９への操作入力と同様の入力を、遠隔入力部１５を介して行うことができる。 In the manipulator system 1 of the present embodiment, as shown in FIG. 6, the sensor 23 of the detection device 21 is brought into contact with the sheet-like member 16 attached to the second operation unit 43 of the second manipulator 42. The same input as the operation input to the first operation unit 9 can be performed via the remote input unit 15.
　また、本実施形態では、図６に示す検出デバイス２１のセンサ２３に設けられた第一電極２５と第二電極２６とがシート状部材１６の各導電部１８のどこにも接触していないときには、遠隔入力部１５から第一マニピュレータ２への入力は発生しない。 In the present embodiment, when the first electrode 25 and the second electrode 26 provided on the sensor 23 of the detection device 21 shown in FIG. 6 are not in contact with any of the conductive portions 18 of the sheet-like member 16, No input from the remote input unit 15 to the first manipulator 2 occurs.
　たとえば、第一電極２５と第二電極２６とがシート状部材１６の各導電部１８のどこにも接触していないときには、シート状部材１６に操作者の指や他の医療器具が接触したり、検出デバイス２１のセンサ２３に操作者の指や他の医療器具が接触したりしても、遠隔入力部１５から第一マニピュレータ２への入力は発生しない。 For example, when the first electrode 25 and the second electrode 26 are not in contact with any of the conductive portions 18 of the sheet-like member 16, an operator's finger or other medical instrument is in contact with the sheet-like member 16, Even if an operator's finger or another medical instrument comes into contact with the sensor 23 of the detection device 21, input from the remote input unit 15 to the first manipulator 2 does not occur.
　すなわち、検出デバイス２１とシート状部材１６とが離間している状態では、第一マニピュレータ２への意図しない誤入力が防止されている。センサ２３の第一電極２５と第二電極２６とを各導電部１８のうちの１つに接触させるためには、センサ２３を導電部１８へ向け、且つセンサ２３を導電部１６に近づける動きが必要である。そのため、センサ２３を各導電部１８のうちの１つに接触させる意図を持っていない場合には、偶然第一マニピュレータ２への意図しない誤入力が起こる可能性は低い。すなわち、意図せずに操作者の手が各導電部１８のどれかに接触したとしても、第一マニピュレータ２への操作入力とはならない可能性が高い。その結果、本実施形態では、誤操作に基づいた誤動作が発生する可能性を低く抑えることができる。 That is, when the detection device 21 and the sheet-like member 16 are separated from each other, unintentional erroneous input to the first manipulator 2 is prevented. In order to bring the first electrode 25 and the second electrode 26 of the sensor 23 into contact with one of the conductive portions 18, the movement of moving the sensor 23 toward the conductive portion 18 and bringing the sensor 23 closer to the conductive portion 16 is performed. is necessary. For this reason, if the sensor 23 is not intended to contact one of the conductive portions 18, there is a low possibility that an unintentional erroneous input to the first manipulator 2 will occur by accident. That is, even if the operator's hand unintentionally contacts any one of the conductive portions 18, there is a high possibility that the operation input to the first manipulator 2 will not occur. As a result, in the present embodiment, it is possible to reduce the possibility of malfunctions based on erroneous operations.
　本実施形態のマニピュレータシステム１の使用時に、第二マニピュレータ４２を操作している手で第一マニピュレータ２を動作させるためには、あらかじめ、図１に示すように、第二マニピュレータ４２を把持する手に検出デバイス２１の指サック２２を付ける。操作者は、指サック２２が指に付けられた状態で、第二マニピュレータ４２を操作する。第一マニピュレータ２を動作させる必要が生じた場合、操作者は、図６に示すように、指サック２２に取り付けられたセンサ２３が複数の導電部１８のうちの所望の一つに接するように指を動かす。 In order to operate the first manipulator 2 with the hand operating the second manipulator 42 when using the manipulator system 1 of the present embodiment, as shown in FIG. 1, a hand holding the second manipulator 42 in advance. The finger sack 22 of the detection device 21 is attached to the device. The operator operates the second manipulator 42 with the finger sack 22 attached to the finger. When it is necessary to operate the first manipulator 2, the operator makes the sensor 23 attached to the finger sack 22 come into contact with a desired one of the plurality of conductive portions 18 as shown in FIG. 6. Move your finger.
　複数の導電部１８は互いに異なる抵抗値を有する。各抵抗値は、制御部３０において、第一マニピュレータ２を動作させるための操作指令を特定するための情報である。このため、指サック２２に取り付けられたセンサ２３が複数の導電部１８のうちの所望の一つに接するように操作者が指を動かすことは、第一マニピュレータ２を動作させるための複数の操作指令から所望の一つの操作指令を特定する。 The plurality of conductive portions 18 have different resistance values. Each resistance value is information for specifying an operation command for operating the first manipulator 2 in the control unit 30. For this reason, when the operator moves the finger so that the sensor 23 attached to the finger sack 22 is in contact with a desired one of the plurality of conductive portions 18, a plurality of operations for operating the first manipulator 2 are performed. One desired operation command is specified from the command.
　図７に示す制御部３０は、信号生成部３４により、複数の操作指令から、センサ２３を用いて特定された情報に対応する操作指令を選択して駆動信号を生成する。複数の操作指令は、複数の導電部１８の抵抗値として、シート状部材１６に保持された各情報に対応して制御部３０内に保持される。さらに、制御部３０は、センサ２３により特定された情報に対応して選択された操作指令に応じて生成された駆動信号を、第一マニピュレータ２の駆動部１２へと出力する。これにより、操作者は、第二マニピュレータ４２を操作しながら、第二マニピュレータ４２を操作している手を用いて第一マニピュレータ２を操作することができる。 7 uses the signal generator 34 to select an operation command corresponding to information specified using the sensor 23 from a plurality of operation commands and generate a drive signal. The plurality of operation commands are held in the control unit 30 as resistance values of the plurality of conductive portions 18 corresponding to each piece of information held in the sheet-like member 16. Further, the control unit 30 outputs a drive signal generated according to the operation command selected corresponding to the information specified by the sensor 23 to the drive unit 12 of the first manipulator 2. Thus, the operator can operate the first manipulator 2 using the hand operating the second manipulator 42 while operating the second manipulator 42.
　本実施形態では、図６に示すように指サック２２に取り付けられたセンサ２３をシート状部材１６の複数の導電部１８のいずれか一つに接触させることで、複数の導電部１８のうちセンサ２３が接触している導電部の抵抗値に対応して、第一マニピュレータ２の能動湾曲部７が動作する。このため、本実施形態のマニピュレータシステム１では、第二マニピュレータ４２を操作しながら、第二マニピュレータ４２を操作している手を用いて第一マニピュレータ２の能動湾曲部７を動作させることにより、撮像部８の撮像視野を移動させることができる。 In this embodiment, as shown in FIG. 6, the sensor 23 attached to the finger sack 22 is brought into contact with any one of the plurality of conductive portions 18 of the sheet-like member 16, so that the sensor among the plurality of conductive portions 18. The active bending portion 7 of the first manipulator 2 operates in accordance with the resistance value of the conductive portion with which 23 is in contact. For this reason, in the manipulator system 1 of the present embodiment, imaging is performed by operating the active bending portion 7 of the first manipulator 2 using the hand operating the second manipulator 42 while operating the second manipulator 42. The imaging field of view of the unit 8 can be moved.
　また、本実施形態では、図１に示すようにシート状部材１６が第二マニピュレータ４２に対して取付可能であり、かつ、シート状部材１６に設けられた複数の導電部１８（図２参照）の抵抗値を図１に示す検出デバイス２１のセンサ２３を介して検出する。その結果、シート状部材１６と制御部３０とを繋ぐ配線が不要である。このため、たとえば複数の医療器具が使用されているときにいくつかの医療器具のシート状部材１６を取り付けても、配線が操作の邪魔になることがない。 Moreover, in this embodiment, as shown in FIG. 1, the sheet-like member 16 can be attached to the second manipulator 42, and the plurality of conductive portions 18 provided on the sheet-like member 16 (see FIG. 2). Is detected via the sensor 23 of the detection device 21 shown in FIG. As a result, the wiring which connects the sheet-like member 16 and the control part 30 is unnecessary. For this reason, for example, even when a plurality of medical device sheet-like members 16 are attached when a plurality of medical devices are used, the wiring does not interfere with the operation.
　また、本実施形態では、複数の導電部１８を有するシート状部材１６が第二マニピュレータ４２に取り付けられるので、第一マニピュレータ２を動作させるためのスイッチ等を第二マニピュレータ４２に取り付ける場合と比較して、第二マニピュレータ４２に取り付ける部材が軽い。本実施形態では、第二マニピュレータ４２にシート状部材１６が取り付けられることによる重量増はわずかであり、第二マニピュレータ４２にシート状部材１６を取り付けることによる第二マニピュレータ４２の操作感への影響は少ない。 Further, in the present embodiment, since the sheet-like member 16 having the plurality of conductive portions 18 is attached to the second manipulator 42, compared with a case where a switch or the like for operating the first manipulator 2 is attached to the second manipulator 42. Thus, the member attached to the second manipulator 42 is light. In this embodiment, the weight increase due to the attachment of the sheet-like member 16 to the second manipulator 42 is slight, and the influence on the operational feeling of the second manipulator 42 due to the attachment of the sheet-like member 16 to the second manipulator 42 is Few.
　また、本実施形態では、被検出面１７と取付面２０とを有するシート状部材１６は柔軟であり、第二マニピュレータ４２の第二操作部４３に凹凸や湾曲面があっても容易に取り付け可能である。 Further, in the present embodiment, the sheet-like member 16 having the detected surface 17 and the attachment surface 20 is flexible, and can be easily attached even if the second operation portion 43 of the second manipulator 42 has irregularities or curved surfaces. It is.
　なお、本実施形態では遠隔入力部１５が内視鏡３の能動湾曲部７を動作させる例が開示されているが、遠隔入力部１５からの入力は、第一マニピュレータ２に対する入力であれば、能動湾曲部７の動作のための入力には限られない。 In this embodiment, an example in which the remote input unit 15 operates the active bending unit 7 of the endoscope 3 is disclosed. However, if the input from the remote input unit 15 is an input to the first manipulator 2, The input for the operation of the active bending portion 7 is not limited.
（変形例）
　上記実施形態の変形例について説明する。図８は、本変形例におけるシート状部材を示す平面図である。図９は、本変形例のシート状部材の突起に指標が形成されている状態を示す平面図である。 (Modification)
A modification of the above embodiment will be described. FIG. 8 is a plan view showing a sheet-like member in this modification. FIG. 9 is a plan view showing a state in which an index is formed on the protrusion of the sheet-like member of the present modification.
　図８に示すように、本変形例では、シート状部材１６が、複数の導電部１８の間に、複数の導電部１８の位置を触知させる突起５０を備えている。 As shown in FIG. 8, in the present modification, the sheet-like member 16 includes protrusions 50 that make the positions of the plurality of conductive portions 18 tactile between the plurality of conductive portions 18.
　シート状部材１６の突起５０は、複数の導電部１８に対して相対的な位置関係が決まっているので、シート状部材１６における複数の導電部１８の位置を操作者に触覚により提示することができる。 Since the protrusions 50 of the sheet-like member 16 have a relative positional relationship with respect to the plurality of conductive portions 18, the positions of the plurality of conductive portions 18 in the sheet-like member 16 can be presented to the operator by touch. it can.
　突起５０の形状は、シート状部材１６における基準となる位置と、この基準位置に対する方向とを触知可能な形状である。たとえば、本変形例における突起５０は、シート状部材１６の中央で交差する複数の直線状の凸条部が形成されている。また、図９に示すように、突起５０には、複数の導電部１８の位置関係を触知させるために、複数の導電部１８のうちの一つに対応した位置に指標５０ａが形成されていてもよい。 The shape of the protrusion 50 is a shape that allows the position on the sheet-like member 16 to be a reference and the direction relative to the reference position to be touched. For example, the protrusion 50 in the present modification is formed with a plurality of linear ridges that intersect at the center of the sheet-like member 16. Further, as shown in FIG. 9, the protrusion 50 has an index 50 a formed at a position corresponding to one of the plurality of conductive portions 18 in order to make the positional relationship between the plurality of conductive portions 18 tactile. May be.
　本変形例では、シート状部材１６に設けられた突起５０を操作者が検出デバイス２１を介して指で触れることにより、複数の導電部１８の位置を知ることができる。また、突起５０に指標５０ａが形成されている場合、第二マニピュレータ４２に対するシート状部材１６の取付け方向とは関係なく、指標５０ａの位置を基準にして好適に所望の導電部にセンサ２３を接触させることができる。 In this modification, the operator can know the positions of the plurality of conductive portions 18 by touching the protrusion 50 provided on the sheet-like member 16 with a finger via the detection device 21. In addition, when the index 50a is formed on the protrusion 50, the sensor 23 is preferably brought into contact with a desired conductive portion based on the position of the index 50a regardless of the mounting direction of the sheet-like member 16 with respect to the second manipulator 42. Can be made.
　また、本変形例では、突起５０を用いて、複数の導電部１８の位置を容易に知ることができるので、複数の導電部１８に対して第一電極２５と第二電極２６とのいずれか一方のみが接触した不完全な接触状態を防ぐことができる。 In the present modification, since the positions of the plurality of conductive portions 18 can be easily known using the protrusions 50, any one of the first electrode 25 and the second electrode 26 with respect to the plurality of conductive portions 18. It is possible to prevent an incomplete contact state in which only one side is in contact.
　（第２実施形態）
　本発明の第２実施形態について説明する。なお、以下に説明する各実施形態において、上述した第１実施形態と構成を共通とする箇所には同一符号が付され、重複する説明は省略されている。図１０は、本発明の第２実施形態のマニピュレータシステムの構成を示す模式図である。図１１Ａから図１３までは、本実施形態のマニピュレータシステムにおけるシート状部材の導電部とセンサの電極との接触状態を示す模式図である。 (Second Embodiment)
A second embodiment of the present invention will be described. Note that, in each embodiment described below, portions having the same configuration as those of the first embodiment described above are denoted by the same reference numerals, and redundant description is omitted. FIG. 10 is a schematic diagram showing a configuration of a manipulator system according to a second embodiment of the present invention. FIG. 11A to FIG. 13 are schematic views showing the contact state between the conductive portion of the sheet-like member and the electrode of the sensor in the manipulator system of this embodiment.
　図１０，図１１Ａ，及び図１１Ｂに示すように、本実施形態のマニピュレータシステム１Ａは、第１実施形態に開示されたシート状部材１６に代えて、シート状部材１６Ａ（情報保持部材）を備えている。シート状部材１６Ａは、第１実施形態に開示された情報保持部材であるシート状部材１６（図２参照）とは構成が異なる。また、本実施形態のマニピュレータシステム１Ａは、第１実施形態に開示されたセンサ２３に代えて、電極群５２を備えたセンサ２３Ａを備えている。 As shown in FIGS. 10, 11A, and 11B, the manipulator system 1A of the present embodiment includes a sheet-like member 16A (information holding member) instead of the sheet-like member 16 disclosed in the first embodiment. ing. The sheet-like member 16A has a different configuration from the sheet-like member 16 (see FIG. 2) that is the information holding member disclosed in the first embodiment. In addition, the manipulator system 1A of the present embodiment includes a sensor 23A including an electrode group 52 instead of the sensor 23 disclosed in the first embodiment.
　図１１Ａに示す本実施形態のシート状部材１６Ａは、互いに離間して配される複数の導通面５１ａのパターン（図１１Ｂ参照）を有する複数の導電部５１を備えている。複数の導電部５１における各導通面５１ａのパターンは、導電部５１毎に互いに異なる。以下では、複数の導電部５１の一例として、図１１Ｂに示すパターンの導通面を有する第一導電部５１－１について説明し、他の導電部５１についての説明は省略される。 11A includes a plurality of conductive portions 51 having a pattern of a plurality of conductive surfaces 51a (see FIG. 11B) that are spaced apart from each other. The pattern of each conductive surface 51 a in the plurality of conductive portions 51 is different for each conductive portion 51. Hereinafter, as an example of the plurality of conductive portions 51, the first conductive portion 51-1 having the conductive surface with the pattern shown in FIG. 11B will be described, and description of the other conductive portions 51 will be omitted.
　本実施形態のセンサ２３Ａに設けられた電極群５２は、複数の導電部５１の導通面５１ａに接触した時に導通可能な一対の電極５３を複数対備えている。一対の電極５３は、格子状に配されている。 The electrode group 52 provided in the sensor 23A of the present embodiment includes a plurality of pairs of electrodes 53 that can conduct when contacting the conduction surfaces 51a of the plurality of conductive portions 51. The pair of electrodes 53 are arranged in a lattice shape.
　電極群５２において導通している電極５３のパターンは、シート状部材１６Ａに配された導電部５１の導通面のパターンに応じて決まる。すなわち、本実施形態では、第一マニピュレータ２に対する操作指令を特定可能な情報は、シート状部材１６Ａの導電部５１に配された導通面の位置関係によって規定されている。 The pattern of the electrode 53 that is conductive in the electrode group 52 is determined according to the pattern of the conductive surface of the conductive portion 51 disposed on the sheet-like member 16A. That is, in the present embodiment, the information that can specify the operation command for the first manipulator 2 is defined by the positional relationship of the conductive surfaces arranged in the conductive portion 51 of the sheet-like member 16A.
　このように、本実施形態の情報保持部材であるシート状部材１６Ａは、複数の情報を、配置パターンが互いに異なる複数の電極群５２によって、互いに異なる位置に保持している。複数の情報は、第一マニピュレータ２に対する操作指令を特定可能な情報として、センサ２３Ａにより特定可能であり互いに異なる。 As described above, the sheet-like member 16A, which is the information holding member of the present embodiment, holds a plurality of pieces of information at different positions by the plurality of electrode groups 52 having different arrangement patterns. The plurality of pieces of information can be specified by the sensor 23A as information that can specify an operation command for the first manipulator 2, and are different from each other.
　本実施形態のマニピュレータシステム１Ａの使用時には、電極群５２において導通している電極５３の数が所定の数以上となっているとき、あるいは、電極群５２が配されている領域内における所定の面積を超える範囲で電極群５２の電極５３が導通しているときに、すなわち、複数の電極５３に対して所定の閾値を超える導通があるときに（たとえば図１２参照）、図１１Ａに示すシート状部材１６Ａに対して図１０に示すセンサ２３Ａが接触している、すなわち、第一マニピュレータ２への操作入力を許可可能であると制御部３０の判定部３３（図７参照）が判定する。 When the manipulator system 1A of the present embodiment is used, when the number of electrodes 53 that are conductive in the electrode group 52 is equal to or larger than a predetermined number, or a predetermined area in a region where the electrode group 52 is disposed. When the electrode 53 of the electrode group 52 is conducting in a range exceeding the range, that is, when there is conduction exceeding a predetermined threshold with respect to the plurality of electrodes 53 (see, for example, FIG. 12), the sheet shape shown in FIG. The determination unit 33 (see FIG. 7) of the control unit 30 determines that the sensor 23A shown in FIG. 10 is in contact with the member 16A, that is, the operation input to the first manipulator 2 can be permitted.
　続いて、図１２に示すように、複数の電極５３のうち導通している電極５３ａと導通していない電極５３ｂとによって構成されるパターンに基づいて、信号生成部３４（図７参照）が操作指令を参照して上記第１実施形態と同様に駆動信号を生成して駆動部１２（図１及び図７参照）へと出力する。操作指令は、複数の導電部５１のうち検出デバイス２１のセンサ２３Ａによって選択された一つの導電部の抵抗値に対応する。 Subsequently, as shown in FIG. 12, the signal generator 34 (see FIG. 7) operates based on a pattern constituted by the conductive electrode 53a and the non-conductive electrode 53b among the plurality of electrodes 53. A drive signal is generated with reference to the command in the same manner as in the first embodiment, and is output to the drive unit 12 (see FIGS. 1 and 7). The operation command corresponds to the resistance value of one conductive portion selected by the sensor 23 </ b> A of the detection device 21 among the plurality of conductive portions 51.
　このように、本実施形態においても、上記第１実施形態と同様に、検出デバイス２１とシート状部材１６Ａとが離間している状態では、第一マニピュレータ２への意図しない誤入力が防止されている。 As described above, also in the present embodiment, as in the first embodiment, when the detection device 21 and the sheet-like member 16A are separated from each other, unintentional erroneous input to the first manipulator 2 is prevented. Yes.
　また、本実施形態では、指サック２２に取り付けられるセンサ２３Ａは、指の形状に倣って僅かに湾曲可能である。すなわち、第一マニピュレータ２に対する操作入力の意図を持っている時はシート状部材１６Ａに対して検出デバイス２１を押し付けることにより、センサ２３Ａがシート状部材１６Ａの被検出面１７の形状に倣うように変形される。そのため、第一マニピュレータ２に対する操作入力の意図を持たず単にセンサ２３Ａとシート状部材１６Ａとが触れている場合（図１３参照）と比較して多くの電極５３がシート状部材１６Ａに接し、導通状態にある電極５３の数も多く（図１２参照）なる。その結果、本実施形態では、第一マニピュレータ２に対する操作入力の意図を持たずに操作者が検出デバイス２１をシート状部材１６Ａに接触させているのか、それとも第一マニピュレータ２に対する操作入力の意図を持って操作者が検出デバイス２１をシート状部材１６Ａに接触させているのかを区別可能である。 Further, in the present embodiment, the sensor 23A attached to the finger sack 22 can be bent slightly following the shape of the finger. That is, when the operation input to the first manipulator 2 is intended, the detection device 21 is pressed against the sheet-like member 16A so that the sensor 23A follows the shape of the detected surface 17 of the sheet-like member 16A. Deformed. Therefore, compared with the case where the sensor 23A and the sheet-like member 16A are simply touching without intention of the operation input to the first manipulator 2 (see FIG. 13), more electrodes 53 are in contact with the sheet-like member 16A and become conductive. The number of electrodes 53 in the state is also large (see FIG. 12). As a result, in the present embodiment, whether the operator has made the detection device 21 contact the sheet-like member 16 </ b> A without the intention of the operation input to the first manipulator 2, or the intention of the operation input to the first manipulator 2. The operator can distinguish whether the detection device 21 is in contact with the sheet-like member 16A.
　本実施形態では、シート状部材１６Ａに対して検出デバイス２１のセンサ２３Ａの一部がたとえば誤操作によって接触して複数の電極５３のうちのごくわずかな（所定の閾値を超えない）導通があっても、第一マニピュレータ２への操作入力とはならないので、意図しない誤入力が起こることが防止されている。 In the present embodiment, a part of the sensor 23A of the detection device 21 is brought into contact with the sheet-like member 16A by, for example, an erroneous operation, and there is very little conduction (not exceeding a predetermined threshold) among the plurality of electrodes 53. However, since it does not become an operation input to the first manipulator 2, an unintentional erroneous input is prevented from occurring.
　なお、本実施形態においても、上記第１実施形態の変形例に開示された突起５０をシート状部材１６Ａが有していてもよい。 In this embodiment as well, the sheet-like member 16A may have the protrusion 50 disclosed in the modification of the first embodiment.
　（第３実施形態）
　本発明の第３実施形態について説明する。図１４は、本発明の第３実施形態のマニピュレータシステムの構成を示す模式図である。
　図１４に示す本実施形態のマニピュレータシステム１Ｂは、上記の第１実施形態に開示されたシート状部材１６に代えて、第１実施形態に開示されたシート状部材１６とは構成が異なるシート状部材１６Ｂを備えている。
　本実施形態のシート状部材１６Ｂは、複数の導電部１８ではなく、磁性シート６０を備えている。磁性シート６０の磁極の向きや磁力の強さは特に限定されない。本実施形態のシート状部材１６Ｂは磁性シート６０の一方の面に粘着剤が塗布された構成を有する。 (Third embodiment)
A third embodiment of the present invention will be described. FIG. 14 is a schematic diagram showing a configuration of a manipulator system according to a third embodiment of the present invention.
A manipulator system 1B of the present embodiment shown in FIG. 14 is a sheet-like structure that is different from the sheet-like member 16 disclosed in the first embodiment, instead of the sheet-like member 16 disclosed in the first embodiment. A member 16B is provided.
The sheet-like member 16 </ b> B of this embodiment includes a magnetic sheet 60 instead of the plurality of conductive portions 18. The direction of the magnetic pole of the magnetic sheet 60 and the strength of the magnetic force are not particularly limited. The sheet-like member 16 </ b> B of the present embodiment has a configuration in which an adhesive is applied to one surface of the magnetic sheet 60.
　センサ２３Ｂは、一対の電極２４に代えて、ホール素子６１を有している。本実施形態のホール素子６１は、複数の素子（本実施形態では４つの素子６１－１，６１－２，６１－３，６１－４）が所定の位置関係をなして配列されたユニットである。ホール素子６１は、指サック２２に取り付けられている。本実施形態において、ホール素子６１は、指サック２２の外面に露出していてもよいし、指サック２２の外面に露出していなくてもよい。ホール素子６１は、磁性シート６０が発生させる磁界の変化を検知することで、制御部３０において、磁性シート６０に対するホール素子６１の位置を検出させる。ホール素子６１は、複数の素子６１－１，６１－２，６１－３，６１－４において検出された磁界の強度の差から、ホール素子６１に対する磁性シート６０の位置を検出する。 The sensor 23B has a Hall element 61 instead of the pair of electrodes 24. The Hall element 61 of this embodiment is a unit in which a plurality of elements (four elements 61-1, 61-2, 61-3, 61-4 in this embodiment) are arranged in a predetermined positional relationship. . The hall element 61 is attached to the finger sack 22. In the present embodiment, the Hall element 61 may be exposed on the outer surface of the finger sack 22 or may not be exposed on the outer surface of the finger sack 22. The Hall element 61 detects the position of the Hall element 61 relative to the magnetic sheet 60 in the control unit 30 by detecting a change in the magnetic field generated by the magnetic sheet 60. The Hall element 61 detects the position of the magnetic sheet 60 with respect to the Hall element 61 from the difference in magnetic field intensity detected by the plurality of elements 61-1, 61-2, 61-3, 61-4.
　本実施形態では、ホール素子６１が磁性シート６０に対して所定距離以下に近接した時に、ホール素子６１が閾値以上の磁界変化を検知することにより、シート状部材１６Ｂにセンサ２３Ｂが近接したことを検出可能である。具体的には、４つの素子６１－１，６１－２，６１－３，６１－４において磁性シート６０からの磁界に応じて変動する電圧の平均値が所定の閾値を上回った時に、シート状部材１６Ｂにセンサ２３Ｂが近接したと判定する。 In the present embodiment, when the Hall element 61 approaches the magnetic sheet 60 within a predetermined distance or less, the Hall element 61 detects a magnetic field change equal to or greater than a threshold value, thereby detecting that the sensor 23B has approached the sheet-like member 16B. It can be detected. Specifically, when the average value of the voltage that fluctuates in accordance with the magnetic field from the magnetic sheet 60 exceeds a predetermined threshold value in the four elements 61-1, 61-2, 61-3, 61-4, the sheet shape It is determined that the sensor 23B is close to the member 16B.
　本実施形態の判定部３３は、ホール素子６１が閾値以上の磁界変化を検出したときに、第一マニピュレータ２への操作入力を許可する。 The determination unit 33 of the present embodiment permits an operation input to the first manipulator 2 when the Hall element 61 detects a magnetic field change that is equal to or greater than a threshold value.
　素子６１－１における電圧（ＨＥ１），素子６１－２における電圧（ＨＥ２），素子６１－３における電圧（ＨＥ３），及び素子６１－４における電圧（ＨＥ４）が次の各条件を満たすか否かにより、ホール素子６１と磁性シート６０との位置関係の変化を判定することができる。
条件１（図１４に示す方向Ｄ１）：電圧(HE1)＞電圧(HE4)かつ電圧(HE2)＞電圧(HE3)
条件２（図１４に示す方向Ｄ２）：電圧(HE1)＜電圧(HE4)かつ電圧(HE2)＜電圧(HE3)
条件３（図１４に示す方向Ｄ３）：電圧(HE1)＞電圧(HE4)かつ電圧(HE2)＜電圧(HE3)
条件４（図１４に示す方向Ｄ４）：電圧(HE1)＜電圧(HE4)かつ電圧(HE2)＞電圧(HE3) Whether voltage (HE1) in element 61-1, voltage (HE2) in element 61-2, voltage (HE3) in element 61-3, and voltage (HE4) in element 61-4 satisfy the following conditions: Thus, the change in the positional relationship between the Hall element 61 and the magnetic sheet 60 can be determined.
Condition 1 (direction D1 shown in FIG. 14): Voltage (HE1)> Voltage (HE4) and Voltage (HE2)> Voltage (HE3)
Condition 2 (direction D2 shown in FIG. 14): Voltage (HE1) <Voltage (HE4) and Voltage (HE2) <Voltage (HE3)
Condition 3 (direction D3 shown in FIG. 14): Voltage (HE1)> Voltage (HE4) and Voltage (HE2) <Voltage (HE3)
Condition 4 (direction D4 shown in FIG. 14): Voltage (HE1) <Voltage (HE4) and Voltage (HE2)> Voltage (HE3)
　上記の各条件は、各素子６１－１，６１－２，６１－３，６１－４における電圧の差を利用している。なお、各素子６１－１，６１－２，６１－３，６１－４における電圧の比を利用して上記の各条件と同様にホール素子６１と磁性シート６０との位置関係を検知してもよい。 Each of the above conditions uses a voltage difference in each element 61-1, 61-2, 61-3, 61-4. It should be noted that the positional relationship between the Hall element 61 and the magnetic sheet 60 can be detected using the voltage ratios of the elements 61-1, 61-2, 61-3, 61-4 in the same manner as the above conditions. Good.
　磁性シート６０に対するホール素子６１の位置関係に応じてホール素子６１から上記の各条件に基づいて得られる方向の情報は、第一マニピュレータ２を動作させるための複数の操作指令から一つの操作指令を特定するための情報として制御部３０に使用される。このため、本実施形態では、ホール素子６１を備えた検出デバイス２１を指に取り付けた操作者が磁性シート６０に対して検出デバイス２１を近接させつつ移動させた場合に、制御部３０は、操作者が検出デバイス２１を移動させた方向に対応する操作指令に基づいて駆動信号を生成して第一マニピュレータ２の駆動部１２へと出力する。 Information on the direction obtained from the Hall element 61 based on each of the above conditions according to the positional relationship of the Hall element 61 with respect to the magnetic sheet 60 is obtained from a plurality of operation commands for operating the first manipulator 2. It is used in the control unit 30 as information for specifying. For this reason, in this embodiment, when the operator who attached the detection device 21 provided with the Hall element 61 to the finger moves the detection device 21 while approaching the magnetic sheet 60, the control unit 30 performs the operation A drive signal is generated based on an operation command corresponding to the direction in which the person moves the detection device 21, and is output to the drive unit 12 of the first manipulator 2.
　本実施形態の情報保持部材であるシート状部材１６Ｂは、第一マニピュレータ２に対する操作指令を特定可能な情報として、センサ２３Ｂにより特定可能であり互いに異なる複数の情報を、磁性シート６０とセンサ２３Ｂとの位置関係に対応して定まる互いに異なる位置に保持していると言える。 The sheet-like member 16B, which is the information holding member of the present embodiment, can specify a plurality of pieces of information that can be specified by the sensor 23B and can be specified by the sensor 23B as information that can specify an operation command for the first manipulator 2, and the magnetic sheet 60 and the sensor 23B. It can be said that they are held at different positions determined according to the positional relationship.
　また、本実施形態では、上記の電圧(HE1)と電圧(HE4)、電圧(HE2)と電圧(HE3)の差又は比をそれぞれモニタして、それらの差又は比が所定の値以上のとき、すなわち、磁性シート６０に対して所望の方向に指（センサ２３Ｂが取り付けられている指）が十分な距離動かされたとき、判定部３３は、操作者がその方向への動作を指示したと判断する。これにより、磁性シート６０に対して指を近づけている最中の動作は第一マニピュレータ２への入力とはならない。また、指（センサ２３Ｂが取り付けられている指）を磁性シート６０から離していってホール素子６１における各素子の電圧の平均値が所定の値以下となったとき、遠隔入力部１５を用いた第一マニピュレータへの操作入力の許可を判定部３３が取り消す。 In the present embodiment, the difference or ratio between the voltage (HE1) and the voltage (HE4), the voltage (HE2) and the voltage (HE3) is monitored, and the difference or ratio is equal to or greater than a predetermined value. That is, when the finger (finger to which the sensor 23B is attached) is moved in a desired direction with respect to the magnetic sheet 60 by a sufficient distance, the determination unit 33 indicates that the operator has instructed an operation in that direction. to decide. Thereby, the operation while the finger is brought close to the magnetic sheet 60 does not become an input to the first manipulator 2. Further, when the finger (finger to which the sensor 23B is attached) is separated from the magnetic sheet 60 and the average value of the voltage of each element in the Hall element 61 becomes a predetermined value or less, the remote input unit 15 is used. The determination unit 33 cancels permission of the operation input to the first manipulator.
　このように、本実施形態においても、上記第１実施形態と同様に、検出デバイス２１とシート状部材１６Ｂとが十分に離間している状態では、第一マニピュレータ２への意図しない誤入力が防止されている。また、本実施形態では第１実施形態とは異なりシート状部材１６Ｂと検出デバイス２１とが確実に接触してなくても、閾値を超える磁界変化が検知できる程度に近接していれば、第一マニピュレータ２に対する遠隔入力部１５を介した操作入力が可能となるので、操作者が検出デバイス２１をシート状部に押し付け続ける必要はなく、操作が楽である。
　さらに、本実施形態では、シート状部材１６と検出デバイス２１との間に手術用手袋等があっても、閾値を超える磁界変化が検知できる程度に十分に近接していれば操作入力が可能である。たとえば、本実施形態では、検出デバイス２１が装着された手を覆うようにゴム手袋が取り付けられていても、第一マニピュレータ２に対する遠隔入力部１５を介した操作入力が可能である。すなわち、本実施形態のマニピュレータシステム１Ｂによれば、手術中の血液等の体液による検出デバイス２１の汚染をゴム手袋等によって防ぎつつ、遠隔入力部１５を介した好適な操作入力が可能である。 As described above, in this embodiment, similarly to the first embodiment, when the detection device 21 and the sheet-like member 16B are sufficiently separated from each other, unintentional erroneous input to the first manipulator 2 is prevented. Has been. In the present embodiment, unlike the first embodiment, even if the sheet-like member 16B and the detection device 21 are not in reliable contact with each other, if the magnetic field change exceeding the threshold is close enough to be detected, the first Since operation input to the manipulator 2 via the remote input unit 15 is possible, it is not necessary for the operator to keep pressing the detection device 21 against the sheet-like part, and the operation is easy.
Furthermore, in this embodiment, even if there are surgical gloves or the like between the sheet-like member 16 and the detection device 21, an operation input is possible if the magnetic field change exceeding the threshold is sufficiently close to be detected. is there. For example, in this embodiment, even if rubber gloves are attached so as to cover the hand on which the detection device 21 is mounted, an operation input to the first manipulator 2 via the remote input unit 15 is possible. That is, according to the manipulator system 1B of the present embodiment, suitable operation input via the remote input unit 15 is possible while preventing the detection device 21 from being contaminated by body fluid such as blood during surgery with rubber gloves or the like.
　なお、本実施形態では、ホール素子６１に代えて、公知の磁気センサを適用することができる。 In the present embodiment, a known magnetic sensor can be applied in place of the Hall element 61.
　（第４実施形態）
　本発明の第４実施形態について説明する。図１５は、本発明の第４実施形態のマニピュレータシステムの構成を示す模式図である。 (Fourth embodiment)
A fourth embodiment of the present invention will be described. FIG. 15 is a schematic diagram illustrating a configuration of a manipulator system according to a fourth embodiment of the present invention.
　図１５に示す本実施形態のマニピュレータシステム１Ｃは、第１実施形態に開示されたシート状部材１６に代えて、シート状部材１６Ｃ（情報保持部材）を備えている。シート状部材１６Ｃは、第１実施形態に開示された情報保持部材であるシート状部材１６とは構成が異なる。また、本実施形態では、第１実施形態に開示されたセンサ２３に代えて、フォトセンサ６６を備えている。 A manipulator system 1C of the present embodiment shown in FIG. 15 includes a sheet-like member 16C (information holding member) instead of the sheet-like member 16 disclosed in the first embodiment. The sheet-like member 16C has a different configuration from the sheet-like member 16 that is the information holding member disclosed in the first embodiment. In the present embodiment, a photo sensor 66 is provided instead of the sensor 23 disclosed in the first embodiment.
　本実施形態のシート状部材１６Ｃは、複数の反射材６５を備えている。
　複数の反射材６５は、互いに反射特性（たとえば反射率）が異なり、互いに離間した位置に配されている。複数の反射材６５における各反射材の反射特性は、第一マニピュレータ２に対する操作指令を特定可能な情報に対応付けられている。すなわち、複数の反射材６５は、第一マニピュレータ２に対してそれぞれ異なる操作指令を特定可能な情報を、反射特性の違いとして区別可能に保持している。
　本実施形態のシート状部材１６Ｃにおいて反射材６５が設けられている部位以外は、反射材６５とは反射特性が異なる。たとえば、シート状部材１６Ｃにおいて反射材６５が設けられている部位以外は、複数の反射材６５のどれと比較しても反射率が低い。 The sheet-like member 16 </ b> C of the present embodiment includes a plurality of reflectors 65.
The plurality of reflectors 65 have different reflection characteristics (for example, reflectivity) and are arranged at positions separated from each other. The reflection characteristics of each reflecting material in the plurality of reflecting materials 65 are associated with information that can specify an operation command for the first manipulator 2. That is, the plurality of reflectors 65 holds information that can specify different operation commands for the first manipulator 2 in a distinguishable manner as a difference in reflection characteristics.
In the sheet-like member 16C of the present embodiment, the reflection characteristics are different from those of the reflective material 65 except for the portion where the reflective material 65 is provided. For example, the reflectance of the sheet-like member 16C is lower than that of any of the plurality of reflecting materials 65 except for the portion where the reflecting material 65 is provided.
　フォトセンサ６６は、所定の検出光Ｌ１を発し、この検出光が反射材６５に反射した反射光Ｌ２を検出する。 The photo sensor 66 emits predetermined detection light L1, and detects the reflected light L2 reflected by the reflecting material 65.
　本実施形態の情報保持部材であるシート状部材１６Ｃは、第一マニピュレータ２に対する操作指令を特定可能な情報として、フォトセンサ６６により特定可能であり互いに異なる複数の情報を、複数の反射材６５によって、互いに異なる位置に保持している。 The sheet-like member 16C, which is an information holding member of the present embodiment, can specify a plurality of pieces of information that can be specified by the photosensor 66 as the information that can specify the operation command for the first manipulator 2 and that are different from each other. , Are held at different positions.
　本実施形態では、フォトセンサ６６が複数の反射材６５からの反射光を検知できる程度にシート状部材１６Ｃと検出デバイス２１とが近接した時に、第一マニピュレータ２に対する操作の入力が可能となる。このため、本実施形態においても、上記第１実施形態と同様に、検出デバイス２１とシート状部材１６Ｃとが十分に離間していれば、第一マニピュレータ２への意図しない誤入力が防止されている。また、本実施形態では第１実施形態とは異なりシート状部材１６Ｃと検出デバイス２１とが確実に接触してなくても、フォトセンサ６６が複数の反射材６５からの反射光を検知できる程度に近接していれば、第一マニピュレータ２に対する遠隔入力部１５を介した操作入力が可能となるので、操作者が検出デバイス２１をシート状部に押し付け続ける必要はなく、操作が楽である。 In the present embodiment, when the sheet-like member 16C and the detection device 21 are close enough to allow the photosensor 66 to detect the reflected light from the plurality of reflecting members 65, an operation can be input to the first manipulator 2. For this reason, also in the present embodiment, as in the first embodiment, if the detection device 21 and the sheet-like member 16C are sufficiently separated from each other, unintentional erroneous input to the first manipulator 2 is prevented. Yes. Further, in the present embodiment, unlike the first embodiment, the photosensor 66 can detect the reflected light from the plurality of reflective members 65 even if the sheet-like member 16C and the detection device 21 are not in reliable contact. If they are close to each other, an operation input to the first manipulator 2 via the remote input unit 15 is possible, so that it is not necessary for the operator to continue pressing the detection device 21 against the sheet-like portion, and the operation is easy.
　なお、フォトセンサ６６と反射材との組み合わせに代えて、所定の色に塗り分けられたシート状部材１６Ｃと、色の違いを検知するセンサとの組み合わせであっても、本実施形態と同様の効果を奏する。 Note that, in place of the combination of the photo sensor 66 and the reflective material, a combination of the sheet-like member 16C that is separately applied in a predetermined color and a sensor that detects a difference in color is the same as in the present embodiment. There is an effect.
　以上、本発明の実施形態について図面を参照して詳述したが、具体的な構成はこの実施形態に限られるものではなく、本発明の要旨を逸脱しない範囲の設計変更等も含まれる。
　例えば、上記各実施形態に例示された情報保持部材は、検出デバイスの接触又は近接を検知するために必要な情報のみを有していてもよい。
　また、上述の各実施形態において示した構成要素は適宜に組み合わせて構成することが可能である。 As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.
For example, the information holding member exemplified in each of the above embodiments may have only information necessary for detecting contact or proximity of the detection device.
In addition, the constituent elements shown in the above-described embodiments can be combined as appropriate.
　上記実施形態によれば、誤操作に基づいた誤動作が起こることを防ぐマニピュレータシステムを提供できる。 According to the above embodiment, it is possible to provide a manipulator system that prevents a malfunction based on an erroneous operation from occurring.
　１，１Ａ，１Ｂ，１Ｃ　マニピュレータシステム
　２　第一マニピュレータ
　９　第一操作部
　１６，１６Ａ，１６Ｂ，１６Ｃ　シート状部材
　１７　被検出面
　１８，５１　導電部
　１８－１　第一導電部
　１８－２　第二導電部
　１８－３　第三導電部
　１８－４　第四導電部
　１８－５　第五導電部
　１８－６　第六導電部
　１８－７　第七導電部
　１８－８　第八導電部
　２０　取付面
　２３，２３Ａ，２３Ｂ　センサ
　２４，５３　電極
　２５　第一電極
　２６　第二電極
　３０　制御部
　４２　第二マニピュレータ
　４３　第二操作部
　５０　突起
　５２　電極群
　６０　磁性シート
　６０－１　第一磁性シート
　６０－２　第二磁性シート
　６０－３　第三磁性シート
　６０－４　第四磁性シート
　６１　ホール素子
　６５　反射材
　６６　フォトセンサ 1, 1A, 1B, 1C Manipulator system 2 First manipulator 9 First operation section 16, 16A, 16B, 16C Sheet-like member 17 Detected surface 18, 51 Conductive section 18-1 First conductive section 18-2 Second conductive Part 18-3 Third conductive part 18-4 Fourth conductive part 18-5 Fifth conductive part 18-6 Sixth conductive part 18-7 Seventh conductive part 18-8 Eighth conductive part 20 Mounting surface 23, 23A, 23B sensor 24, 53 electrode 25 first electrode 26 second electrode 30 control unit 42 second manipulator 43 second operation unit 50 projection 52 electrode group 60 magnetic sheet 60-1 first magnetic sheet 60-2 second magnetic sheet 60- 3 Third magnetic sheet 60-4 Fourth magnetic sheet 61 Hall element 65 Reflective material 66 Photo sensor

Claims (12)

  1. 　第一マニピュレータに対する操作指令を特定可能な情報を保持し前記第一マニピュレータとは異なる第二マニピュレータに取り付け可能な情報保持部材と、
    　前記情報保持部材に対して所定距離以下に近接あるいは前記情報保持部材に接触したことを検出するセンサと、
    　前記近接あるいは前記接触があることを前記センサが検出した時に前記第一マニピュレータへの操作入力を許可する制御部と、
    　を備えるマニピュレータシステム。     An information holding member that holds information capable of specifying an operation command for the first manipulator and can be attached to a second manipulator different from the first manipulator,
    A sensor that detects proximity to the information holding member or less than a predetermined distance or contact with the information holding member;
    A control unit that permits an operation input to the first manipulator when the sensor detects the proximity or the contact;
    A manipulator system comprising:
  2. 　前記情報保持部材が前記第二マニピュレータの操作部に対して着脱可能である
    　請求項１に記載のマニピュレータシステム。     The manipulator system according to claim 1, wherein the information holding member is detachable from an operation unit of the second manipulator.
  3. 　前記情報保持部材が、前記第一マニピュレータに対する操作指令を特定可能な情報として、前記センサにより特定可能であり互いに異なる複数の情報を互いに異なる位置に保持している
    　請求項２に記載のマニピュレータシステム。     The manipulator system according to claim 2, wherein the information holding member holds a plurality of pieces of information that can be specified by the sensor and are different from each other as information that can specify an operation command for the first manipulator.
  4. 　前記複数の情報に対応する複数の操作指令から前記センサにより特定された情報に対応する操作指令を前記制御部が選択して前記第一マニピュレータに対して発する
    　請求項３に記載のマニピュレータシステム。     The manipulator system according to claim 3, wherein the control unit selects an operation command corresponding to information specified by the sensor from a plurality of operation commands corresponding to the plurality of information, and issues the operation command to the first manipulator.
  5. 　前記情報保持部材が、
    　　導電性を有する被検出面と、
    　　前記被検出面と反対側に位置し前記第二マニピュレータに取り付けるための取付面と、
    　　を有するシート状部材であり、
    　前記センサが、
    　　前記被検出面に接触することで導通する互いに離間して配された一対の電極を有する
    　請求項１から請求項４のいずれか一項に記載のマニピュレータシステム。     The information holding member is
    A surface to be detected having conductivity;
    A mounting surface for mounting on the second manipulator located on the opposite side of the detected surface;
    A sheet-like member having
    The sensor is
    The manipulator system according to any one of claims 1 to 4, further comprising a pair of electrodes arranged to be spaced apart from each other and brought into conduction by contacting the surface to be detected.
  6. 　前記情報保持部材が、互いに離間して配され互いに抵抗値が異なる複数の導電部を有し、
    　前記制御部が、前記複数の導電部における抵抗値を前記情報として、前記抵抗値に対応して互いに異なる複数の操作指令から少なくとも一の操作指令を選択して前記第一マニピュレータに対して発する
    　請求項５に記載のマニピュレータシステム。     The information holding member has a plurality of conductive parts arranged apart from each other and having different resistance values,
    The control unit selects at least one operation command from a plurality of different operation commands corresponding to the resistance value and issues the same to the first manipulator using resistance values in the plurality of conductive units as the information. Item 6. The manipulator system according to Item 5.
  7. 　前記情報保持部材が、互いに離間して配される複数の導通面のパターンを有し前記パターンが互いに異なる複数の導電部を有し、
    　前記センサが、前記複数の導電部の導通面に接触した時に導通可能な一対の電極が格子状に配された電極群を有し、
    　前記制御部が、前記電極群において導通している電極のパターンを前記情報として、前記電極のパターンに対応して互いに異なる複数の操作指令から少なくとも一の操作指令を選択して前記第一マニピュレータに対して発する
    　請求項５に記載のマニピュレータシステム。     The information holding member has a plurality of conductive surface patterns spaced apart from each other, and the patterns have a plurality of conductive portions different from each other;
    The sensor has an electrode group in which a pair of electrodes that can conduct when contacting the conduction surfaces of the plurality of conductive parts are arranged in a grid pattern;
    The control unit selects at least one operation command from a plurality of different operation commands corresponding to the electrode pattern as the information, using the electrode pattern that is conductive in the electrode group as the information. The manipulator system according to claim 5.
  8. 　前記情報保持部材が、前記複数の導電部の間に、前記複数の導電部の位置を触知させる突起を有する
    　請求項６または請求項７に記載のマニピュレータシステム。     8. The manipulator system according to claim 6, wherein the information holding member has a protrusion between the plurality of conductive portions to make the positions of the plurality of conductive portions feel.
  9. 　前記情報保持部材が、磁性シートを有し、
    　前記センサが、ホール素子である
    　請求項１から請求項４のいずれか一項に記載のマニピュレータシステム。     The information holding member has a magnetic sheet;
    The manipulator system according to any one of claims 1 to 4, wherein the sensor is a Hall element.
  10. 　前記情報保持部材が、前記情報に対応した光の反射特性を有する反射材を有し、
    　前記センサは前記反射材からの反射光を検出するフォトセンサを有する
    　請求項１から請求項４のいずれか一項に記載のマニピュレータシステム。     The information holding member has a reflective material having a light reflection characteristic corresponding to the information,
    The manipulator system according to any one of claims 1 to 4, wherein the sensor includes a photosensor that detects reflected light from the reflecting material.
  11. 　前記情報保持部材が、前記フォトセンサにより特定可能であり互いに反射率が異なる複数の前記反射材を互いに異なる位置に有している
    　請求項１０に記載のマニピュレータシステム。     The manipulator system according to claim 10, wherein the information holding member has a plurality of the reflecting materials that can be specified by the photosensor and have different reflectances from each other.
  12. 　前記近接あるいは前記接触の有無を提示する提示部を前記制御部が有する
    　請求項１に記載のマニピュレータシステム。     The manipulator system according to claim 1, wherein the control unit has a presentation unit that presents the presence or absence of the proximity or the contact.
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