WO2017038836A1 - Main de robot et maître pour son fonctionnement - Google Patents

Main de robot et maître pour son fonctionnement Download PDF

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Publication number
WO2017038836A1
WO2017038836A1 PCT/JP2016/075377 JP2016075377W WO2017038836A1 WO 2017038836 A1 WO2017038836 A1 WO 2017038836A1 JP 2016075377 W JP2016075377 W JP 2016075377W WO 2017038836 A1 WO2017038836 A1 WO 2017038836A1
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WO
WIPO (PCT)
Prior art keywords
joint
axis
finger
wire
robot hand
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Application number
PCT/JP2016/075377
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English (en)
Japanese (ja)
Inventor
龍 中楯
誠 橋爪
Original Assignee
国立大学法人九州大学
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Application filed by 国立大学法人九州大学 filed Critical 国立大学法人九州大学
Priority to JP2017538057A priority Critical patent/JPWO2017038836A1/ja
Publication of WO2017038836A1 publication Critical patent/WO2017038836A1/fr

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints

Definitions

  • the present invention relates to a robot hand and a master for measuring the movement of an operator's hand to operate the robot hand, and more particularly to a medical robot, in particular, a master-slave type laparoscopic surgery 15 that can be inserted into a body through a 12 mm port. It relates to the development of a five-fingered robot hand and a master.
  • the shape of the end effector of the forceps robot described above is a forceps composed of two claws, the affected area and the manipulation of the needle thread are in a form specialized for the forceps.
  • the present inventor considers that the form of the slave pursuing the intuitive operational feeling in the master-slave system to the limit is the same shape as a human hand, and the present invention verifies this in a robot for laparoscopic surgery.
  • the present invention is small enough to be inserted into the body by laparoscopic surgery, has a high degree of freedom, and has a finger part of a robot hand that is as close as possible to the shape of a human hand, and a glove that can detect the degree of freedom. It relates to trial production of a formula master.
  • Patent Document 2 Many previous studies of robot hands (for example, Patent Document 2 to Patent Document 5) have the same size as human hands. Even in the prior art, research on miniature robot hands exists (for example, Patent Document 6), but at most one degree of freedom per finger is the limit.
  • An object of the present invention is to provide the world's smallest master-slave robot hand having multiple degrees of freedom per finger. As a result, it can be expected that a surgical robot can be realized that feels as if the patient is operating with both hands in the abdominal cavity.
  • a robot hand includes a plurality of fingers having a palm, a proximal joint connected to the palm by a joint, and a terminal joint directly or indirectly connected to the fundamental joint by a joint.
  • a robot hand which is stretched along the palm and each finger, passes through a node connected to each other by the joint, and is fixed to a node located at the end of the joint.
  • a driving means for bending the joint by applying a tension to the wire is provided.
  • the robot hand according to the present invention is a robot hand including a palm, a thumb, and a finger other than the thumb, and the direction in which the finger other than the thumb extends in the plane of the palm is defined by the x-axis.
  • the thumb has a degree of freedom around the x-axis, y-axis, and z-axis with respect to the palm. It is preferable that fingers other than the thumb have a joint having degrees of freedom around the y-axis and the z-axis.
  • the thumb is driven by a CM joint having one degree of freedom around the x axis and one degree of freedom around the z axis, and the CM joint, each of which is around the y axis.
  • An IP joint having one degree of freedom and an MP joint, and the number of fingers other than the thumb is preferably four, and an MP joint having two degrees of freedom around the y axis and the z axis; It is preferable to include a PIP joint and a DIP joint that follow the MP joint and each have at least one degree of freedom around the y-axis.
  • the joint is formed by stacking arc-shaped irregularities.
  • the sensor glove according to the present invention is a device for measuring the movement of a human finger, and the palm of the glove and the tip of the wire stretched along each finger are placed at least on the base joint and the terminal joint for each finger. The movement of the finger is measured by fixing and fixing the wire.
  • a tube through which the wire is inserted is provided on the palm of the sensor glove and the upper part of each finger, and the plurality of wires stretched on the sensor glove are gathered into a camera. It is further preferable to detect the displacement of the wire from the obtained image.
  • the master according to the present invention includes any one of the above sensor gloves.
  • an extremely small robot hand having multiple degrees of freedom per finger was realized, and in addition, a low-cost, multi-degree-of-freedom globe-type sensor was realized.
  • a desired shape and grip were possible regardless of the minimum size.
  • a high-degree-of-freedom robot hand application that can be inserted into the abdominal cavity, for example, as a surgical instrument, functions such as an electric knife, a thread trimmer, and a fingertip for holding a needle can be assigned to different fingers.
  • functions such as an electric knife, a thread trimmer, and a fingertip for holding a needle can be assigned to different fingers.
  • the degree of freedom of the grip shape increases, it is possible to try palpation by adding a sensor.
  • FIG. 1 is a diagram showing a degree of freedom arrangement of slave fingers.
  • FIG. 2 is an exploded perspective view showing the structure of the slave index finger.
  • FIG. 3 is an overall external view of a slave robot according to an embodiment of the present invention.
  • FIG. 4 is a diagram showing a 15-degree-of-freedom globe-type master according to an embodiment of the present invention.
  • FIG. 5 is a conceptual view of the mechanism showing the wire wiring of the master.
  • FIG. 6 is an imaging image diagram of a camera showing an image of a wire break.
  • FIG. 7: is a figure which shows the specific structure of a glove, FIG. 7A is a top view, FIG. 7B is a side view of FIG. 7A.
  • FIG. 8 is a diagram showing a state where rice grains are gripped by a 15-degree-of-freedom slave robot according to an embodiment of the present invention.
  • FIG. 9 is a flowchart showing a specific method of calculating data instructed to the motor from the displacement of the marker position.
  • FIG. 10 (FIGS. 10-1 to 10-3): FIG. 10 is a diagram showing a gesture and gripping experiment of a slave robot according to an embodiment of the present invention.
  • 10A to 10C are Janken gestures
  • D to E of FIG. 10-1 are operating the MP joint and the PIP + DIP joint independently
  • F of FIG. 10-2 is inserted into a cylinder having an inner diameter of 12 mm.
  • 10G, G and J in FIG. 10-2 and K and L in FIG. 10-3 are realizing the Schlesinger grip 6 form
  • M through O in FIG. 10-3 are the threads behind the fingers. The movements of hooking and pulling each are shown.
  • a preferred embodiment of the medical robot according to the present invention will be described as a robot hand 1 serving as a slave that is a mechanism operated in accordance with the movement of the operator and a master 3 that controls the operation of the robot hand 1.
  • the robot hand of the present invention and its operation are not limited to those of the above-described embodiments, and are not limited to those related to the robot hand of a medical robot.
  • a pipe called a trocar is installed on the body surface, and this is the entrance for the forceps.
  • the general size of the trocar at the time of this application has a maximum inner diameter of 12 mm. Therefore, in this embodiment, as a size requirement specification of the robot hand serving as a slave, the cross section is set within a circle having a diameter of 12 mm.
  • the robot hand of this example is provided with five fingers in order to resemble the shape and movement of a human hand as much as possible.
  • 1 and 2 show the external appearance of the slave robot according to the present invention
  • FIG. 3 shows the external appearance of the master (control means).
  • the robot hand 1 serving as a slave in this embodiment places a minimum degree of freedom. It was decided.
  • the target is a knot that is representative of complex operations that occur during the operation in the medium term
  • the tip of each finger is arbitrarily placed in a three-dimensional space.
  • Each finger has 3 degrees of freedom, which is the degree of freedom that can be positioned, and a total of 15 degrees of freedom.
  • An example of the degree of freedom arrangement is shown in FIG.
  • the thumb 1A has one degree of freedom around the x-axis (inner rotation) and z-axis of the CM joint, and the IP joint and the MP joint are driven, each with one degree of freedom, for a total of four degrees of freedom and three active degrees of freedom.
  • the four fingers 1B to 1E from the index finger to the little finger are provided with a hinge that can be bent in the y- and z-axes at the MP joint, with two active degrees of freedom, and the PIP and DIP joints are driven, each with one degree of freedom. And 3 active degrees of freedom.
  • the finger diameter is as small as 2.3 mm, a complicated mechanism cannot be mounted.
  • the driving by the wire W is adopted, and the hinge used for the joint has a shape in which arc-shaped irregularities are stacked. That is, in this embodiment, as shown in FIG. 2 as an example, the MP joint, the PIP joint, and the DIP joint are one of the nodes connected to each other by the joint (the hinge located on the palm side on the terminal node side).
  • a concave groove 1a extending in the y direction is formed on the surface), and a convex portion 1b that engages with the concave groove 1a is formed on the other (hinge surface located on the terminal node side on the palm side). Further, one end Wa of the wire W is fixed to the terminal node, and the other end of the wire W is connected to a motor M provided independently as shown in FIG. In this way, by driving the motor M, a tension can be applied to the wire W without providing a pin at the center of rotation.
  • FIG. 2 shows the links separated for the sake of explanation.
  • the MP joint has two degrees of freedom in the y and z axes by making one of the hinge surfaces arc-shaped around the z axis.
  • the wire W of the same line type shown in FIG. 2 makes a pair of antagonistic driving.
  • bending of the PIP and DIP joints and two degrees of freedom around the z axis of the MP joint are driven by two sets of wires indicated by a broken line and a solid line, and one degree of freedom around the y axis of the MP joint is driven by a wire indicated by a one-dot chain line.
  • Driving degrees is driven by a wire indicated by a broken line and a solid line.
  • the thumb internal rotation mechanism constituted a hinge with a pin, and the direction of the wire was changed to a right angle through a hole provided on the front and back of the palm. If the pin pulling force with 2 degrees of freedom of the thumb tip is supported by the internal rotation hinge, the pin hinge is not rigid enough. Yes.
  • the material used was resin (PEEK) instead of metal for ease of cutting.
  • the wire must have a small diameter, bend with a very small radius, have low elongation, and have low friction. While metal ropes are less stretched, they do not become familiar with finger bending radii. For this reason, in the present Example, the high intensity
  • Master Glove-type sensors that measure the movement of fingers with multiple degrees of freedom are called data gloves, and many are commercially available (for example, D. Laura et al .: “A survey of globe-based systems and therair applications.” (See IEEE Transactions on Systems, Man, and Cybernetics, Part C, vol. 38, no. 4, pp. 461-482, 2008).
  • Conventional data gloves include optical fibers that leak light from the side when bent, and measure the decrease in light quantity at each joint, and those that use a semiconductor pressure sensor whose resistance value changes due to bending. Those capable of sensing with a high degree of freedom per finger necessary for implementing the invention are very expensive. In addition, it is impossible to determine whether a finger is bent or deflected with a semiconductor pressure sensor.
  • FIG. 5 shows the configuration of the index finger as an example.
  • the wire W (2) (shown by a broken line) has a stump fixed to the end node, and passes through a guide pipe (hatched) fixed to the middle node and the base node.
  • the stump of the wire W (1) (shown by the alternate long and short dash line) is fixed to the base joint.
  • Each of these wires enters a flexible tube secured to the back of the palm and protrudes from the opposite end of the flexible tube.
  • the displacement of the wire W (2) depends on the three total angles of the DIP, PIP, and MP joints. Since wire W (1) depends only on the indirect angle of MP, the angle of MP is obtained, and the total angle of the DIP and PIP joints can be obtained by subtracting the displacement of wire W (1) from the displacement of wire W (2). Can be separated.
  • the wire W (3) (shown by a solid line) is fixed to the side surface of the base joint. The angle around the z-axis of the MP joint is obtained from the difference in displacement between the wires W (1) and W (3), and this difference is constant regardless of the angle around the y-axis of the joint.
  • the wire arrangement of the middle finger, ring finger, and little finger is the same as that of the index finger.
  • the thumb extends the beam from the palm toward the thumb and fixes the flexible tube stump.
  • the three-axis wires of the thumb are arranged so as to minimize interference.
  • a Ni-Ti alloy wire called superelasticity was used for the wire.
  • the one with low bending rigidity such as thread and rope will buckle when compressed unless it is pulled on the base end (wrist) side, but the Ni-Ti wire is pulled out from the tube T without buckling due to moderate rigidity. ⁇ Pushback was possible.
  • flexible PTFE with little friction was used for the tube T.
  • the glove 5 is preferably made of leather with less stretch so as not to damage the wire W and the like, and is preferably thin so as to reflect the surface shape of the hand. In this example, a baseball leather batting glove was employed.
  • a 15-wire W displacement measurement method may be a pulley-type encoder or a linear variable resistance.
  • the required specifications are to eliminate frictional resistance as much as possible and to reduce costs.
  • FIG. 6 an image of a point moving on a straight line of 15 wires W is obtained by constraining both ends of the wire W coming out of the flexible tube T with the tube T and coloring one point of the wire. This is obtained, and the displacement of the wire can be obtained by photographing them together with a camera.
  • the advantage is that the cost does not change even if the number of wires increases, and that all the components are easy to obtain and process, and the prototype can be improved immediately at the laboratory level.
  • the camera specifications are 60 fps, a fisheye lens, and a USB 2.0 connection
  • the image size captured on a PC is 640 ⁇ 480.
  • the image processing after distortion correction and binarization, the right end of the marker is detected in the ROI for each wire. No false detection was experienced by assigning a 10 pixel width on the imaging surface per wire. Therefore, simultaneous measurement of at least 48 wires is possible.
  • the total time delay due to the latency due to image capture, the frame rate of image processing, etc. was 190 ms at the maximum. Most of the cost of the master is the cost of the camera, and an inexpensive multi-degree-of-freedom data glove has been realized.
  • FIG. 7A is a plan view and FIG. 7B is a side view of FIG. 7A.
  • the wire W is fixed to the globe 5 at the wire end fixing portion 1 at the end, and is inserted into the guide tube T.
  • the guide tube T is fixed to the globe 5.
  • the opposite end of the wire W1 protrudes from the guide tube T bundled near the wrist and extends to the displacement detector.
  • the end of the wire W is fixed to the terminal node, and the wire length changes depending on the total bending angle of the DIP joint, the PIP joint, and the MP joint.
  • the end of the wire W6 is fixed to the instep side of the proximal joint, and the wire length changes only from the bending angle of the MP joint.
  • the total bending angle of the DIP joint and the PIP joint is obtained from the difference in length between the wires W5 and W6.
  • the end of the wire W4 is fixed at a location apart from the end of the wire W6 of the base node. While the lengths of the wires W4 and W6 change the same depending on the bending angle of the MP joint, the lengths of the wires W4 and W6 change in the opposite direction due to the bending of the joint in the horizontal direction.
  • the bending angle to the left and right of the finger is determined by the difference in height.
  • the arrangement of the four fingers from the index finger to the little finger is the same as that of the index finger.
  • the wire W1 is fixed to the terminal node, and the wire length changes depending on the total bending angle of the IP joint and the MP joint.
  • the opening angle of the thumb is determined by the length of the wire W3 whose end is fixed on the metacarpal bone.
  • the 14 wires W and the corresponding tube T except for the wire W2 are all arranged in the back surface of the hand.
  • the wire W2 protrudes from the tube T fixed at a position away from the back of the hand by a beam fixed to the back of the hand, and is fixed to the metacarpal bone in order to measure the inward angle of the thumb.
  • Middle finger to little finger is similar to index finger Thumb inversion angle k2 ⁇ x2 Total bending angle of thumb IP joint and MP joint ... k1 x1 Opening angle of thumb ... k3 x3 k1 to 15 are conversion coefficients from the wire length displacement to the joint angle.
  • the robot joint is converted from the detected 15 joint angles of the glove as described above, and the command value to each motor is set. Can be requested.
  • the overall processing flow is shown in FIG.
  • FIGS. 10A to 10C show the Janken gesture
  • FIGS. 10D to E show that the MP joint and the PIP + DIP joint of the index finger can be operated independently.
  • FIG. 10F shows that it can pass through a laparoscopic surgical port having an inner diameter of 12 mm.
  • FIGS. 10G to 10L show a state in which all of the 6 types of Schlesinger grips frequently used in hand evaluation (Cylindrical Grasp, Tip, Hook, Palmar, Spiral Grasp, Lateral) are realized. Finally, in the operation of surgical ligation, there is a frequent appearance of hooking a thread with a finger without moving the palm, but FIGS. 10M to O show that it is possible to hook the thread behind the finger and pull it back. It seems to have been verified.
  • the present invention relates to a robot hand and a master that measures the movement of an operator's hand to operate the robot hand, and in particular, a medical robot, particularly a master slave that can be inserted into a body from a 12 mm port. Development of 15-degree-of-freedom 5-finger robot hand and master for laparoscopic surgery.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une main de robot comportant une pluralité de doigts dont chacun présente une phalange proximale reliée par une articulation à une paume et une phalange distale reliée directement ou indirectement à la phalange proximale par l'intermédiaire d'une articulation, la main de robot comportant : un fil, qui est étiré le long de la paume et de chaque doigt, qui passe à travers des nœuds reliés l'un à l'autre par l'articulation de chaque doigt et qui est fixé au nœud positionné sur l'extrémité des articulations ; un moyen de commande pour courber les articulations par application d'une tension sur le fil. L'invention concerne également un maître qui mesure le mouvement de la main d'un opérateur pour faire fonctionner cette main de robot, le maître mesurant le mouvement de la main de l'opérateur par l'intermédiaire du déplacement du fil par ancrage de l'extrémité distale du fil étiré le long de la paume et de chaque doigt au moins jusqu'à la phalange distale et la phalange proximale de chaque doigt.
PCT/JP2016/075377 2015-08-28 2016-08-24 Main de robot et maître pour son fonctionnement WO2017038836A1 (fr)

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JP2017538057A JPWO2017038836A1 (ja) 2015-08-28 2016-08-24 ロボットハンド及びこれを操作するためのマスタ

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US201562211558P 2015-08-28 2015-08-28
US62/211,558 2015-08-28

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WO2017038836A1 true WO2017038836A1 (fr) 2017-03-09

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108789482A (zh) * 2017-04-26 2018-11-13 株式会社安川电机 机器人
WO2020105504A1 (fr) * 2018-11-20 2020-05-28 株式会社メルティンＭｍｉ Dispositif de main de robot
US10690155B2 (en) 2018-08-28 2020-06-23 Kabushiki Kaisha Toshiba Actuator
CN111546312A (zh) * 2020-04-24 2020-08-18 天津大学 一种具有三级放大机构的二自由度折展立体微机械手
KR20200098940A (ko) * 2019-02-13 2020-08-21 한국기술교육대학교 산학협력단 커플링와이어를 포함하는 로봇 손가락 어셈블리
WO2021110060A1 (fr) * 2019-12-02 2021-06-10 深圳忆海原识科技有限公司 Main robotique de type endosquelette flexible bionique à 32 degrés de liberté
KR102362574B1 (ko) 2020-09-14 2022-02-15 성균관대학교산학협력단 로봇손 및 로봇손의 손가락 기구
KR102550237B1 (ko) * 2022-08-25 2023-06-30 성균관대학교산학협력단 터치패드 기반의 손가락 벤딩 센서 장치 및 이를 이용한 로봇 핸드 파지 제스처 제어 방법

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JP2013510672A (ja) * 2009-11-13 2013-03-28 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 遠隔操作される低侵襲スレーブ手術器具の手による制御のための方法およびシステム

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JP2013510672A (ja) * 2009-11-13 2013-03-28 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 遠隔操作される低侵襲スレーブ手術器具の手による制御のための方法およびシステム
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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108789482B (zh) * 2017-04-26 2022-03-01 株式会社安川电机 机器人
CN108789482A (zh) * 2017-04-26 2018-11-13 株式会社安川电机 机器人
US10690155B2 (en) 2018-08-28 2020-06-23 Kabushiki Kaisha Toshiba Actuator
JP7087224B2 (ja) 2018-11-20 2022-06-21 株式会社メルティンMmi ロボットハンド装置
WO2020105504A1 (fr) * 2018-11-20 2020-05-28 株式会社メルティンＭｍｉ Dispositif de main de robot
CN112955289A (zh) * 2018-11-20 2021-06-11 梅尔廷人机界面株式会社 机械手装置
JPWO2020105504A1 (ja) * 2018-11-20 2021-09-27 株式会社メルティンＭｍｉ ロボットハンド装置
EP3878609A4 (fr) * 2018-11-20 2022-01-19 Meltin MMI Co., Ltd. Dispositif de main de robot
JP7506703B2 (ja) 2018-11-20 2024-06-26 株式会社メルティンMmi ロボットハンド装置
KR102167373B1 (ko) 2019-02-13 2020-10-19 한국기술교육대학교 산학협력단 커플링와이어를 포함하는 로봇 손가락 어셈블리
KR20200098940A (ko) * 2019-02-13 2020-08-21 한국기술교육대학교 산학협력단 커플링와이어를 포함하는 로봇 손가락 어셈블리
WO2021110060A1 (fr) * 2019-12-02 2021-06-10 深圳忆海原识科技有限公司 Main robotique de type endosquelette flexible bionique à 32 degrés de liberté
CN111546312B (zh) * 2020-04-24 2022-07-01 天津大学 一种具有三级放大机构的二自由度折展立体微机械手
CN111546312A (zh) * 2020-04-24 2020-08-18 天津大学 一种具有三级放大机构的二自由度折展立体微机械手
KR102362574B1 (ko) 2020-09-14 2022-02-15 성균관대학교산학협력단 로봇손 및 로봇손의 손가락 기구
KR102550237B1 (ko) * 2022-08-25 2023-06-30 성균관대학교산학협력단 터치패드 기반의 손가락 벤딩 센서 장치 및 이를 이용한 로봇 핸드 파지 제스처 제어 방법
WO2024043684A1 (fr) * 2022-08-25 2024-02-29 성균관대학교산학협력단 Dispositif de capteur de flexion de doigt basé sur un pavé tactile et procédé de commande de geste de saisie de main de robot l'utilisant

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