WO2018074081A1

WO2018074081A1 - Information processing device, information processing method, and information processing system

Info

Publication number: WO2018074081A1
Application number: PCT/JP2017/031721
Authority: WO
Inventors: 竜太堀江; 一生本郷; 長阪　憲一郎
Original assignee: ソニー株式会社
Priority date: 2016-10-18
Filing date: 2017-09-04
Publication date: 2018-04-26

Abstract

The present invention relates to an information processing device, an information processing method, and an information processing system, whereby a force acting on a predetermined object is detected with higher sensitivity. The present invention is provided with: an application unit for applying a gain corresponding to the difference (DC + AC) between a first force (DC' + DC + AC) detected by a force sensor supported by a support member and a second force (DC') acting on the support member, to the difference; and computation unit for calculating a third force acting in relative fashion on at least a portion of a series of structures including the support member, on the basis of the difference and the gain applied to the difference.

Description

Information processing apparatus, information processing method, and information processing system

The present disclosure relates to an information processing apparatus, an information processing method, and an information processing system.

Recently, a surgical system has been developed in which a medical instrument such as forceps is supported by an arm portion of a support arm device, and an operation is performed while an operator operates the arm portion and the medical instrument. In such a surgical system, in order to improve the operability of the operator and to improve the safety of the surgery, the force and moment (hereinafter referred to as the force and moment) generated when the tip of the medical instrument comes into contact with the patient's body tissue or the like. , Which is also referred to as contact force) is required to provide a technique capable of highly accurate feedback to the surgeon.

In this situation, many techniques for detecting the force acting on the tip of a medical instrument have been studied. For example, as an example of a related technique, Patent Literature 1 discloses an example of a technique for measuring tactile information at each measurement point by arranging a tactile sensor for each of a plurality of measurement points.

Japanese Patent No. 4471613

On the other hand, when a fine work such as so-called microsurgery is required, a technique for detecting a force applied to a predetermined target (for example, a medical instrument) with higher sensitivity may be required. . On the other hand, in the situation where the force acting on the object supported by the arm portion of the support arm device is detected, the detection result of the force sensor provided on the arm portion acts on the arm portion itself. The influence of the force (for example, gravity, inertial force, etc.) to be revealed becomes apparent, and it may be difficult to detect the force applied to the target with high sensitivity.

Therefore, the present disclosure proposes an information processing apparatus, an information processing method, and an information processing system capable of detecting a force acting on a predetermined target with higher sensitivity.

According to the present disclosure, the gain corresponding to the difference between the first force detected by the force sensor supported by the support member and the second force acting on the support member is set as the difference. A first portion that operates relative to at least a part of a series of structures including the support member based on the application unit applied to the difference, the difference, and the gain applied to the difference. And an arithmetic unit that calculates the force of 3 is provided.

Further, according to the present disclosure, the computer responds to a difference between the first force detected by the force sensor supported by the support member and the second force acting on the support member. Relative to at least a portion of a series of structures including the support member, based on applying a gain to the difference, the difference, and the gain applied to the difference. And calculating a third force acting on the information processing method.

In addition, according to the present disclosure, a support arm device having an arm portion having a support member that supports a force sensor, and a link structure configured by connecting a plurality of rigid bodies, and a first sensor detected by the force sensor. An application unit that applies a gain according to a difference between the first force and a second force acting on the support member to the difference, the difference, and an application to the difference An information processing system is provided that includes a calculation unit that calculates a third force that acts relatively on at least a portion of the arm unit based on the gain.

As described above, according to the present disclosure, an information processing apparatus, an information processing method, and an information processing system capable of detecting a force acting on a predetermined target with higher sensitivity are provided.

Note that the above effects are not necessarily limited, and any of the effects shown in the present specification, or other effects that can be grasped from the present specification, together with or in place of the above effects. May be played.

It is a figure showing an example of a schematic system configuration of an information processing system concerning one embodiment of this indication. It is a figure showing an example of 1 composition of a support arm device concerning the embodiment. It is explanatory drawing for demonstrating an example of the detection result by the force sensor supported by the arm part. It is explanatory drawing for demonstrating the operation principle of the information processing system which concerns on the embodiment. It is the block diagram which showed an example of the function structure of the control apparatus 100 which concerns on the same embodiment. It is the figure which showed an example of the circuit structure of a broken line gain characteristic circuit. It is the figure which showed an example of the broken line gain characteristic. It is the flowchart which showed an example of the flow of a series of processes of the control apparatus which concerns on embodiment. 10 is an explanatory diagram for describing an example of a configuration of a control device according to Modification Example 1. FIG. 10 is a block diagram illustrating an example of a functional configuration of a control device according to Modification Example 2. FIG. It is a functional block diagram showing an example of hardware constitutions of an information processor which constitutes an information processing system concerning one embodiment of this indication.

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

The description will be made in the following order.
1. System configuration 2. Configuration of support arm device Study on force detection Technical features 4.1. Principle of operation 4.2. Functional configuration 4.3. Configuration of broken line gain characteristic circuit 4.4. Processing 5. Modification 5.1. Modified example 1: Modified example of the broken line gain characteristic circuit 5.2. Modification 2: Dynamic gain control by AGC Hardware configuration Conclusion

<< 1. System configuration >>
First, an example of a schematic system configuration of an information processing system according to an embodiment of the present disclosure will be described with reference to FIG. FIG. 1 is a diagram illustrating an example of a schematic system configuration of an information processing system according to the present embodiment.

FIG. 1 shows an example in which the information processing system 1 according to the present embodiment is configured as a so-called bilateral system. A bilateral system is a system configured to control a device (master device) operated by a user and a device (slave device) that performs work so that the posture and the state of force are substantially matched. is there. As a specific example, the bilateral system performs posture control of the slave device based on a user operation on the master device, and feeds back the force detected by the slave device to the master device side.

For example, in the example shown in FIG. 1, a support arm device that supports a medical instrument such as forceps by an arm unit is applied as the master device and the slave device. That is, the information processing system 1 includes a support arm device 400a that operates as a master device, a support arm device 400b that operates as a slave device, and a control device 100 that controls operations of the

support arm devices

400a and 400b. In the example illustrated in FIG. 1, the control device 100 is provided, for example, inside the support arm device 400a. In addition, the information processing system 1 may include an imaging unit 480 and a monitor 490. In the following description, when the

support arm devices

400a and 400b are not particularly distinguished, they are also simply referred to as “support arm device 400”.

The support arm device 400a and the support arm device 400b are configured to be able to transmit and receive information to and from each other via a predetermined network N1. The type of the network N1 that connects the support arm device 400a and the support arm device 400b is not particularly limited. For example, the network N1 may be configured by the Internet, a dedicated line, a LAN (Local Area Network), a WAN (Wide Area Network), or the like. The network N1 may be configured by a wireless network or a wired network. The network N1 may include a plurality of networks, and at least a part of the network N1 may be configured as a wired network.

Based on such a configuration, in the information processing system 1 according to the present embodiment, for example, an image of Ub located at a remote place imaged by the imaging unit 480 is presented to the practitioner Ua via the monitor 490. Further, in the information processing system 1, the posture (that is, the position and orientation) of the arm portion 420a of the support arm device 400a and the posture of the arm portion 420b of the support arm device 400b are controlled so as to substantially coincide with each other.

Specifically, when the practitioner Ua operates the forceps 430a held by the arm portion 420a of the support arm device 400a to change the posture of the arm portion 420a, the posture of each portion of the arm portion 420a becomes indirect, etc. It is detected by a detection unit such as an encoder or a potentiometer provided in. The control device 100 calculates the posture of the arm unit 420a based on the detection result by the detection unit. And the control apparatus 100 controls operation | movement of the arm part 420b of the support arm apparatus 400b based on the calculation result of the attitude | position of the arm part 420a. Specifically, the control device 100 controls the posture of the arm unit 420b so that it substantially matches the posture of the arm unit 420 by driving an actuator provided in each of the arm units 420b indirectly or the like.

Further, a force sensor (not shown) is provided on at least a part of the arm portion 420b of the support arm device 400b, and a contact force applied to the forceps 430b held by the arm portion 420b by the force sensor. Detected. As a force sensor in the present disclosure, for example, a uniaxial or multiaxial (more specifically, 1 to 6 axis) force / moment sensor can be applied. Therefore, even when simply described as “force sensor”, it may include a uniaxial or multiaxial force / moment sensor. The detection result by the force sensor is fed back from the support arm device 400b to the control device 100 provided on the support arm device 400a side via the network N1. Based on the information fed back from the support arm device 400b, the control device 100 drives the actuator Ua that holds the forceps 430a, for example, by driving an actuator provided in each part of the arm portion 420a. The force sensation (that is, the contact force detected by the force sensor) is fed back.

With the above configuration, for example, the practitioner Ua confirms the state of the treatment target 540 via the monitor 490, and remotely operates the forceps 430b held by the arm portion 420b, thereby performing the operation on the treatment target Ub. It is possible to perform treatment. At this time, the practitioner Ua uses the force sense fed back from the support arm device 400a to sense the treatment target Ub by remote operation of the forceps 430b with the same feeling as when performing the treatment directly on the treatment target Ub. It becomes possible to perform a treatment on.

Also, in the bilateral system, the posture and force state may be scaled between the master device and the slave device. As a specific example, the detection result of the change in the posture of the arm unit 420a may be scaled to 1/10, and the posture of the arm unit 420b may be controlled based on the detection result after scaling. Further, after the contact force applied to the forceps 430b detected by the force sensor provided on the arm part 420b is scaled 10 times, the forceps 430a is attached to the practitioner Ua based on the detection result after scaling. The sense of force may be fed back through. With such a configuration, the procedure of the practitioner Ua is scaled to 1/10 and the forceps 430b is operated, and the fine force applied to the forceps 430b is scaled 10 times and fed back to the practitioner Ua. . Therefore, for example, the practitioner Ua can perform a treatment on a finer part with higher accuracy.

The example described with reference to FIG. 1 is merely an example, and the system configuration of the information processing system 1 according to the present embodiment is not necessarily limited to the example illustrated in FIG. As a specific example, the position where the control device 100 is provided is not limited as long as the control device 100 can control the operations of the

support arm devices

400a and 400b. For example, the control device 100 may be provided as an external device different from the support arm device 400a. As another example, the control device 100 may be provided on the support arm device 400b side, or may be incorporated in the support arm device 400b. As another example, the control device 100 may be configured as an information processing device such as a server, for example, and may be connected to each of the

support arm devices

400a and 400b via the network N1. Further, the control device 100 may be individually provided for each of the

support arm devices

400a and 400b. In this case, for example, the control devices 100 provided in the

support arm devices

400a and 400b may operate in conjunction with each other. The control device 100 that controls the operation of the

support arm devices

400a and 400b corresponds to an example of an “information processing device”.

Heretofore, an example of a schematic system configuration of the information processing system according to an embodiment of the present disclosure has been described with reference to FIG.

<< 2. Configuration of support arm device >>
Next, an example of the configuration of the support arm device according to an embodiment of the present disclosure will be described with reference to FIG. FIG. 2 is a diagram illustrating a configuration example of the support arm device according to the present embodiment.

Referring to FIG. 2, the support arm device 400 includes a base portion 410, an arm portion 420, and the control device 100. The support arm device 400 is a medical support arm device that supports medical instruments such as forceps during surgery.

The base portion 410 is a base of the support arm device 400, and the arm portion 420 is extended from the base portion 410. The base portion 410 is provided with casters, and the support arm device 400 is configured to be in contact with the floor surface via the casters and movable on the floor surface by the casters. However, the configuration of the support arm device 400 according to the present embodiment is not limited to such an example. For example, the base unit 410 is not provided, and the arm unit 420 is directly attached to the ceiling or wall surface of the operating room. May be configured. For example, when the arm unit 420 is attached to the ceiling, the support arm device 400 is configured with the arm unit 420 suspended from the ceiling.

Inside the base unit 410, a control device 100 that performs various types of information processing related to the control of the support arm device 400 is provided. The control device 100 may be a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). Alternatively, the control device 100 may be a control board or a microcomputer on which these processors and storage elements such as a memory are mounted. Various operations in the support arm device 400 are executed by the processor constituting the control device 100 executing various signal processing according to a predetermined program. Specifically, the arm unit 420 and the forceps 430 are driven by the control from the control device 100.

The arm portion 420 includes a plurality of

joint portions

421a, 421b, 421c, 421d, 421e, and 421f, a plurality of

links

422a, 422b, 422c, and 422d that are rotatably connected to each other by the joint portions 421a to 421e. And a forceps 430 provided at the tip of 420 so as to be rotatable via a joint portion 421f.

The links 422a to 422d are rod-shaped members, one end of the link 422a is connected to the base portion 410 via the joint portion 421a, the other end of the link 422a is connected to one end of the link 422b via the joint portion 421b, The other end of the link 422b is connected to one end of the link 422c via the

joint portions

421c and 421d. Furthermore, the other end of the link 422c is connected to one end of a substantially L-shaped link 422d via a joint portion 421e, and the other end of the link 422d and the forceps 430 are connected via a joint portion 421f. Thus, the ends of the plurality of links 422a to 422d are connected to each other by the joint portions 421a to 421f with the base portion 410 as a fulcrum, thereby forming an arm shape extending from the base portion 410.

The joint portions 421a to 421f are provided with actuators, and the joint portions 421a to 421f are configured to be rotatable about a predetermined rotation axis by the actuators. The actuator can be constituted by a motor, an encoder, a torque sensor, and the like. Driving of the motors of the actuators of the joint portions 421a to 421f is controlled by the control device 100, so that the driving of the arm portion 420, for example, extending or contracting (folding) the arm portion 420 is controlled. . In the present embodiment, various known control methods may be used as the control method of the arm unit 420, and a detailed description thereof will be omitted here.

When operating the arm unit 420, the surgeon instructs the support arm device 400 about the operation of the arm unit 420 via an input device (not shown) provided at a position away from the support arm device 400. May be given. An example of the input device is the support arm device 400a on the master device side shown in FIG. Specifically, a signal indicating an instruction input via the input device is transmitted to the control device 100. Based on the states of the joints 421a to 421f detected by the encoders and torque sensors of the actuators of the joints 421a to 421f, the control apparatus 100 determines the motors of the actuators of the actuators of the joints 421a to 421f according to the instructions. A control amount is calculated. By driving the motor of each actuator in accordance with the calculated control amount, the arm unit 420 operates in accordance with the operator's instruction. Note that the communication between the input device and the control device 100 may be performed by various known methods, wired or wireless.

In the example shown in the figure, the support arm device 400 has six joint portions 421a to 421f, and six degrees of freedom for driving the arm portion 420 is realized. By configuring the arm portion 420 to have six degrees of freedom, the forceps 430 can be freely moved within the movable range of the arm portion 420. Accordingly, the forceps 430 can be inserted into the patient from various angles, and the degree of freedom when operating the forceps 430 is improved.

However, the configuration of the arm part 420 is not limited to the example shown in the figure, and the number and arrangement of the joint parts 421a to 421f and the links 422a to 422d, the direction of the drive shaft of the joint parts 421a to 421f, etc. It may be set as appropriate to have a degree of freedom. However, in consideration of the degree of freedom of the position and posture of the forceps 430, the arm unit 420 can be preferably configured to have a degree of freedom of 6 degrees or more.

The forceps 430 includes a drive unit 431 provided at the proximal end and a long tubular portion 433 extending from the drive unit 431. An end effector is provided at the distal end of the tubular portion 433, and a region having a predetermined length including the distal end is inserted into the body cavity of the patient during surgery. The end effector includes a pair of openable and closable blades. The blades can grasp and cut a living tissue of a patient or grasp a medical device such as a needle at the time of suturing the living tissue. When performing the operation, the position and posture of the arm unit 420 and the forceps 430 are controlled by the control device 100 so that the forceps 430 can take a desired position and posture with respect to the living tissue of the patient.

The driving unit 431 includes, for example, a motor and a driver IC (Integrated Circuit) for driving the motor, and drives the tubular unit 433. For example, the opening / closing operation of the end effector of the tubular portion 433 is performed by the drive portion 431. Further, if the tubular portion 433 has a joint portion (bending portion), the driving portion 431 may perform a bending operation at the bending portion.

In addition, the drive part 431 belongs to a non-clean area | region, and the tubular part 433 belongs to a clean area | region. The forceps 430 can be configured such that the drive portion 431 and the tubular portion 433 are detachable so that only the tubular portion 433 can be easily cleaned and sterilized.

The forceps 430 is a so-called robot forceps that can be remotely operated by an operator. When operating the forceps 430, the operator inputs an instruction regarding the operation of the forceps 430 to the control device 100 of the support arm device 400, for example, via the input device for remotely operating the arm unit 420 described above. To do. Based on the instruction, the control amount of the motor of the drive unit 431 for operating the tubular portion 433 is calculated by the control device 100, and the motor is driven in accordance with the calculated control amount, so that the operator The forceps 430 operates according to the instruction.

In FIG. 2, for the sake of simplicity, the specific shape of the tubular portion 433 is not shown and is simply illustrated as a rod-shaped member.

A force sensor 450 for detecting a force acting on the end effector is provided at the proximal end portion of the end effector of the tubular portion 433. In addition, among each part which comprises the arm part 420, the member in which the force sensor 450 was provided (namely, member which supports the force sensor 450) is equivalent to an example of a "support member." In addition, the support arm device 400 has a function of feeding back the force acting on the end effector to the operator based on the detection value of the force sensor 450.

For example, an input device for operating the arm unit 420 and the forceps 430 may be provided with a function of presenting a force acting on the end effector to the operator. For example, the input device may be provided with a mechanism for driving a lever or the like constituting the input device so as to give resistance to an operation by the surgeon according to a force acting on the end effector.

Since the force acting on the end effector can be a reaction force received from the living tissue when the end effector comes into contact with the patient's living tissue, the force acting on the end effector is fed back to the operator. Thus, the surgeon can obtain a feeling as if he / she is directly holding the forceps with his / her hand, and the operability is improved. In addition, since an excessive force can be prevented from being applied to the living tissue, a safer operation can be realized.

It should be noted that various known configurations may be applied as a specific configuration for feeding back the force detected by the force sensor 450 to the operator. Further, the method for feeding back the force to the operator is not limited to the above example, and various methods may be used. For example, the force may be fed back to the surgeon by vibrating a lever or the like held by the surgeon in the input device. Further, for example, when a force of a predetermined value or more is detected, for example, via a display device visually recognized by the surgeon during operation, this may be visually warned to the surgeon. . Alternatively, if a sound output device such as a speaker is mounted on the input device, the warning may be made audibly.

Further, when the control method of the arm unit 420 is force control, the force acting on the end effector detected by the force sensor 450 may be used for controlling the arm unit 420. For example, when a force of a predetermined value or more is detected while the arm unit 420 is moved, the driving of the arm unit 420 is controlled so that the arm unit 420 does not move further in that direction. Also good. Thereby, it is possible to more reliably prevent an excessive force from being applied to the living tissue.

The configuration of the support arm device 400 according to the present embodiment has been described above with reference to FIG.

<< 3. Study on force detection >>
Subsequently, in the case where a force sensor is provided for a part of the arm portion of the support arm device, the influence on the detection result of the force by the force sensor is examined, and then the information processing system according to the present embodiment Organize technical issues 1

When fine work such as so-called microsurgery is required, a technique for detecting a force applied to a predetermined target such as a medical instrument with higher sensitivity may be required. On the other hand, for example, in a situation where a force acting on a target (for example, a medical instrument such as a forceps) supported by the arm portion is detected, the force sensor provided in the arm portion is used to detect the force. On the other hand, in addition to the force acting relatively, a force such as gravity or inertia force acting on the arm portion may be detected.

For example, FIG. 3 is an explanatory diagram for explaining an example of the detection result by the force sensor supported by the arm portion. In this description, it is assumed that the force acting on the forceps supported by the arm portion is detected. Further, in this description, in order to simplify the description, it is assumed that an inertial force does not act on the arm portion, for example, when the arm portion is stationary.

In FIG. 3, reference symbol DC indicates a DC component of a force acting on the forceps such as an external force acting on the forceps supported by the arm portion. Reference sign AC corresponds to a force acting on the forceps when the forceps contacts the treatment target (so-called tactile force detected), and indicates an AC component of the force acting on the forceps. Yes. Reference sign DC ′ indicates a force component detected by the force sensor in accordance with the force acting on the arm portion. Here, when the arm portion is stationary, DC ′ indicates a component based on the weight of the arm portion. When the arm portion is moving, the inertial force acting on the arm portion is also detected as DC ′. Thus, the detection result by the force sensor includes the DC ′ component acting on the arm portion in addition to the DC component and AC component acting on the forceps.

On the other hand, the DC ′ component tends to be extremely large as compared with the AC component and the DC component under a situation where a fine force acting on the forceps is detected. That is, as shown in FIG. 3, when an analog signal based on a detection result by a force sensor is A / D converted into a digital signal, a gain is applied to the detection result in accordance with the dynamic range of the A / D converter. In such a case, the influence of the DC ′ component becomes more dominant. Therefore, under the situation shown in FIG. 3, it is difficult to apply a higher gain to the detection result of the force sensor, and as a result, a fine DC component and an AC component are higher than the DC ′ component. It becomes difficult to detect with high sensitivity and high resolution.

As an approach to such a problem, it is possible to apply a technique for adjusting the sensitivity of the force sensor by canceling the unbalanced component of the circuit. As an example of such a technique, for example, in the case of a strain gauge type strain amplifier, a technique based on a mechanical auto balance method, a memory operation method (core memory method), a CTS (Capacitance Self Tracing) method, etc. is mentioned. It is done.

However, in a situation where the posture of the arm unit can change in real time, as in the support arm device according to an embodiment of the present disclosure, a force (for example, a force acting on the arm unit with a change in the posture of the arm unit) , Gravity, inertial force, etc.) may change in real time. For this reason, the DC ′ component described above of the force detected by the force sensor changes dynamically, and the technique exemplified above can cancel the influence of the DC ′ component that changes dynamically as described above. Have difficulty.

Therefore, in the present disclosure, an influence of a force (that is, gravity, inertial force, etc.) acting on another member (for example, an arm portion) different from the predetermined target object is obvious on the detection result of the force sensor. An example of a technique that enables detection of the force applied to the object with higher sensitivity even under such circumstances is proposed.

<< 4. Technical features >>
Subsequently, technical features of the information processing system according to an embodiment of the present disclosure will be described.

<4.1. Principle of operation>
First, the operation principle of the information processing system according to the present embodiment will be described with reference to FIG. FIG. 4 is an explanatory diagram for explaining an operation principle of the information processing system according to the present embodiment.

As shown in FIG. 4, in the information processing system 1 according to the present embodiment, the control device 100 calculates a force (that is, a DC ′ component) that acts on the arm unit 420 of the support arm device 400.

Specifically, the control device 100 determines the arm based on detection results from various sensors (for example, an encoder, a potentiometer, etc.) provided in each unit (for example, indirect) of the arm unit 420 of the support arm device 400. A change in the position and orientation (ie, posture) of each unit of the unit 420 is calculated. More specific examples of the various sensors include an absolute encoder, an incremental encoder, a potentiometer, and the like.

Further, the control device 100 calculates a force due to the dynamics of the arm unit 420 itself, which is applied to the force sensor 450, based on the calculation result of the posture change in each unit of the arm unit 420. For example, the dynamics of a so-called arm such as the arm unit 420 is expressed by a relational expression shown as (Equation 1) below.

... (Formula 1)

In the above (Formula 1), the left side represents each joint torque. The first term on the right side represents the inertial force acting on each joint with translational motion. The second term on the right side represents the centrifugal force and Coriolis force acting on each joint with the rotational motion. The third term on the right side represents the gravity acting on each joint. Θ represents the angle of each joint. The dynamic terms of each part of the arm unit 420 (for example, each link corresponding to each joint) can be calculated based on, for example, the method (dynamic calculation) disclosed in Japanese Patent Application Laid-Open No. 2007-108955. It is.

Then, the calculation result of the dynamic term of each part of the arm unit 420 is converted into a value seen from the position where the force sensor 450 is provided, thereby resulting in the dynamics of the arm unit 420 added to the force sensor 450. It is possible to calculate the force to be applied (that is, the force acting on the arm portion 420).

Next, the control device 100 subtracts the calculation result of the force (that is, the DC ′ component) resulting from the dynamics of the arm unit 420 from the detection result of the force sensor 450, so that a predetermined target such as the forceps 430 is obtained. Then, a relatively applied force (that is, DC + AC component) is calculated. Then, the control device 100 amplifies the analog signal based on the subtraction result (that is, the DC + AC component), and performs A / D conversion to a digital signal.

With such a configuration, the control device 100 removes the influence of the force acting on the arm unit 420 from the detection result of the force sensor 450 and calculates a weak force relatively applied to a predetermined target such as the forceps 430. It becomes possible to do. Therefore, when the analog signal based on the calculation result of the force applied to the target is A / D converted into a digital signal, the control device 100 applies a higher gain to the analog signal before the A / D conversion. It becomes possible. That is, according to the information processing system 1 according to the present embodiment, an analog signal based on a calculation result of a force applied to a predetermined target can be A / D converted into a digital signal with higher resolution, and thus It becomes possible to detect the force applied to the object with higher sensitivity.

The operation principle of the information processing system according to the present embodiment has been described above with reference to FIG.

<4.2. Functional configuration>
Subsequently, regarding an example of the functional configuration of the control device 100 according to the present embodiment, in particular, the force that the control device 100 acts on a predetermined target such as the forceps 430 based on the detection result of the force by the force sensor 450. The description will be given focusing on the process of calculating the moment (that is, the contact force). For example, FIG. 5 is a block diagram illustrating an example of a functional configuration of the control device 100 according to the present embodiment.

As illustrated in FIG. 5, the control device 100 according to the present embodiment includes

amplifiers

101, 105, and 111, a subtraction unit 103, an A / D conversion unit 107, a D / A conversion unit 109, and a calculation unit 130. And a broken line gain characteristic circuit 150. In addition, the calculation unit 130 includes a force moment calculation unit 131 and a dynamics calculation unit 133.

In FIG. 5, the arm part 420 and the force sensor 450 correspond to the arm part 420 and the force sensor 450 in the support arm device 400 described with reference to FIG. When the bilateral system shown in FIG. 1 is assumed, the arm unit 420 and the force sensor 450 shown in FIG. 5 correspond to the arm unit 420 and the force sensor 450 in the support arm device 400b corresponding to the slave device. The detection unit 460 schematically illustrates an encoder, a potentiometer, and the like for detecting the posture of each part of the arm unit 420.

As shown in FIG. 5, the analog signal based on the force detection result by the force sensor 450 is amplified by the amplifier 101 (strain amplifier) and input to the subtracting unit 103. In the following description, the force detected by the force sensor 450 is also referred to as “first force”. The analog signal corresponds to the analog signal based on the DC ′ + DC + AC component described with reference to FIG.

Further, the dynamics calculation unit 133 acquires the detection result from the detection unit 460 provided in each part of the arm unit 420, and based on the detection result, the posture (that is, the position and orientation) of each part of the arm unit 420 is obtained. Calculate the change. Next, the dynamics calculation unit 133 calculates the force due to the dynamics of the arm unit 420 acting on the force sensor 450 based on the calculation result of the change in posture in each unit of the arm unit 420. Then, the dynamics operation unit 133 outputs a digital signal based on the calculation result of the force due to the dynamics of the arm unit 420 to the D / A conversion unit 109. In the following description, a force that acts on the force sensor 450 and is caused by the dynamics of the arm unit 420 is also referred to as a “second force”.

A digital signal based on the calculation result of the force resulting from the dynamics of the arm unit 420 is D / A converted into an analog signal by the D / A conversion unit 109, amplified by the amplifier 111, and then input to the subtraction unit 103. . The analog signal corresponds to the DC ′ component described with reference to FIG.

As described above, the analog signal based on the detection result of the first force by the force sensor 450 and the analog signal based on the calculation result of the second force by the dynamics calculation unit 133 are input to the subtraction unit 103. . The subtracting unit 103 subtracts the analog signal based on the second force calculation result from the analog signal based on the first force detection result, and obtains the analog signal obtained as the subtraction result (hereinafter also referred to as “difference signal”). ) Is output to the amplifier 105 (gain amplifier) located in the subsequent stage. Here, the difference signal output from the subtraction unit 103 removes the influence of the force (DC ′ component) resulting from the dynamics of the arm unit 420 from the force detection result (DC ′ + DC + AC component) by the force sensor 450. Component (DC + AC component), that is, a force acting relatively on a predetermined target such as the forceps 430 is shown. Note that the force acting relatively on the predetermined target is also referred to as a “third force”.

The differential signal output from the subtraction unit 103 (that is, an analog signal corresponding to the third force calculation result) is amplified by the amplifier 105 and then passed to the A / D conversion unit 107 via the broken line gain characteristic circuit 150. Entered.

When the level (input voltage) of the input signal exceeds the threshold value, the broken line gain characteristic circuit 150 controls the level of the signal by applying a gain to the signal. As described above, the broken line gain characteristic circuit 150 is provided in the preceding stage of the A / D conversion unit 107, so that the broken line gain characteristic circuit 150 serves as a so-called limiter. That is, even if an excessive force is applied to a predetermined target and an analog signal with a level exceeding the dynamic range of the A / D converter 107 is input, the level of the analog signal is changed by the broken line gain characteristic circuit 150. It is possible to limit in accordance with the dynamic range of the A / D converter 107. Therefore, for example, it is possible to prevent the occurrence of saturation due to an excessive signal input. An example of the configuration of the broken line gain characteristic circuit 150 will be described later in detail. The broken line gain characteristic circuit 150 corresponds to an example of an “applying unit” that applies a gain to a differential signal.

Further, the broken line gain characteristic circuit 150 notifies information (hereinafter also referred to as “gain information”) related to the gain applied to the input analog signal (that is, the differential signal) to the force moment calculation unit 131 described later. To do.

The A / D conversion unit 107 A / D converts the input analog signal into a digital signal, and outputs the converted digital signal to the force moment calculation unit 131 located at the subsequent stage.

The force / moment calculation unit 131 receives an output of the digital signal from the A / D conversion unit 107, and analyzes the digital signal based on the gain information notified from the broken line gain characteristic circuit 150, thereby obtaining a predetermined forceps 430 or the like. Calculate the force and moment applied relatively to the object. Specifically, the force / moment calculator 131 calculates the magnitude (absolute value) of the force and moment actually applied to the force sensor 450 based on the level of the digital signal and the notified gain information. It is possible. Further, when the position where the predetermined object such as the forceps 430 is held and the position where the force sensor 450 is supported are separated from each other, the force moment calculation unit 131 is based on the above-described dynamic calculation. What is necessary is just to calculate the force and moment (that is, contact force) applied to the predetermined object.

Note that the functional configuration of the control device 100 described above is merely an example, and the functional configuration of the control device 100 is not necessarily limited to the example illustrated in FIG. 5 as long as the above-described series of processing can be realized. . As a specific example, some of the components illustrated in FIG. 5 may be provided outside the control device 100.

As described above, with reference to FIG. 5, with respect to an example of the functional configuration of the control device 100 according to the present embodiment, in particular, the control device 100 determines a predetermined target such as the forceps 430 based on the force detection result by the force sensor 450. The description has been given focusing on the process of calculating the force and moment acting on the.

<4.3. Configuration of broken line gain characteristic circuit>
Next, an example of the configuration of the broken line gain characteristic circuit will be described with reference to FIGS. For example, FIG. 6 is a diagram illustrating an example of a circuit configuration of a broken line gain characteristic circuit. Since the broken line gain characteristic circuit shown in FIG. 6 is generally known, it will be described by focusing on the point portion, and detailed description of the other portion will be omitted. FIG. 7 is a diagram illustrating an example of a polygonal line gain characteristic.

The broken line gain characteristic circuit controls the gain applied by the operational amplifier U1 for each section of the input voltage defined by the broken point by setting one or more break points in the voltage range input to the operational amplifier U1. It is a mechanism for this. For example, in the example shown in FIG. 7, reference signs p11 and p12 correspond to an example of a break point. In FIG. 7, the horizontal axis represents the input voltage Vin to the operational amplifier U1, and the vertical axis represents the output voltage Vout of the operational amplifier U1. In other words, in the example shown in FIG. 7, the gain of the operational amplifier U1 is controlled with the input voltage Vin using the voltages V11 and V12 corresponding to the break points p11 and p12 as threshold values.

The voltage V11 corresponding to the break point p11 shown in FIG. 7 is determined based on the voltage condition for applying the forward bias to the diode D1 in the circuit shown in FIG. That is, the voltage V11 is defined based on the potential of the node n11. Further, the voltage V12 corresponding to the break point p12 shown in FIG. 7 is determined based on the voltage condition for applying the forward bias to the diode D2 in the circuit shown in FIG. That is, the voltage V12 is defined based on the potential of the node n12. Therefore, the break points p11 and p12 can be set based on, for example, the power supply voltage V4 and the resistors R14 to R17.

Here, for example, when the input voltage Vin to the operational amplifier U1 is V12 ≦ Vin ≦ V11, a reverse bias is applied to the diodes D1 and D2, respectively, and the diodes D1 and D2 are open. It becomes the same. In this case, the gain Av of the operational amplifier U1 is expressed by, for example, Av = Vout / Vin = R12 / R11.

On the other hand, when the input voltage Vin swings to the positive side and the input voltage Vin exceeds the voltage V11, a forward bias is applied to the diode D1, so that the portion of the diode D1 is conductive. It will be the same. As a result, the system including the diode D1, the node n11, and the resistor R15 acts on the operational amplifier U1, and the gain Av of the operational amplifier U1 changes with the break point p11 as a base point as shown in FIG. .

Similarly, when the input voltage Vin swings to the negative side and the input voltage Vin becomes less than the voltage V12, a forward bias is applied to the diode D2, so that the portion of the diode D2 is conductive. It will be the same. As a result, a system including the diode D2, the node n12, and the resistor R16 acts on the operational amplifier U1, and the gain Av of the operational amplifier U1 changes with the break point p12 as a base point as shown in FIG. .

Further, the input voltage Vin inverted and amplified by the operational amplifier U1 is inverted again by the operational amplifier U2 located at the subsequent stage and output. That is, in the example shown in FIG. 6, the output of the operational amplifier U2 corresponds to the output of the broken line gain characteristic circuit. The gain of the operational amplifier U2 is determined based on, for example, the resistors R21 and R22.

The configuration of the broken line gain characteristic circuit shown in FIG. 6 is merely an example, and is not necessarily limited to the example shown in FIG. As a specific example, in addition to the nodes n11 and n12, a configuration corresponding to the diodes D1 and D2 and the resistors R14 to R17 is added so that additional nodes can be added, thereby further setting the break points. It is also possible to do. With such a configuration, for example, the gain applied to the input signal can be controlled stepwise.

The example of the configuration of the broken line gain characteristic circuit has been described above with reference to FIGS. 6 and 7.

<4.4. Processing>
Subsequently, with reference to FIG. 8, in particular, an example of a flow of a series of processes of the information processing system 1 according to the present embodiment, the control device 100 performs forceps 430 and the like based on a force detection result by the force sensor 450. A description will be given focusing on the process of calculating the force acting on the predetermined target. FIG. 8 is a flowchart illustrating an example of a flow of a series of processes of the control device 100 according to the present embodiment.

As illustrated in FIG. 8, the control device 100 acquires a detection result from a detection unit 460 (for example, an encoder or a potentiometer) provided in each part of the arm unit 420 of the support arm device 400, and based on the detection result. Then, a change in posture in each part of the arm part 420 is calculated. Next, the control device 100 calculates the force due to the dynamics of the arm unit 420 acting on the force sensor 450 based on the calculation result of the posture change in each unit of the arm unit 420 (S101).

Next, the control device 100 converts the digital signal based on the calculation result of the force due to the dynamics of the arm unit 420 into an analog signal. In addition, the control device 100 calculates a difference signal by subtracting an analog signal based on a force calculation result caused by the dynamics of the arm unit 420 from an analog signal based on a force detection result by the force sensor 450 ( S103).

Next, the control device 100 applies a gain corresponding to the level of the difference signal to the calculated difference signal (S105), and A / D converts the analog difference signal to which the gain is applied into a digital signal ( S107). Note that the gain applied to the differential signal at this time is controlled according to the level of the differential signal and the characteristics of the broken line gain characteristic circuit 150, for example.

Then, the control device 100 analyzes the digital difference signal based on the gain applied to the difference signal, so that a force applied relatively to a predetermined target such as the forceps 430 held by the arm unit 420 is obtained. And the moment are calculated (S109).

As described above, with reference to FIG. 8, with regard to an example of a series of processing flows of the information processing system 1 according to the present embodiment, in particular, the control device 100 determines the forceps 430 and the like based on the force detection result by the force sensor 450. Description has been given focusing on the process of calculating the force acting on a predetermined target.

<< 5. Modification >>
Subsequently, a modification of the information processing system according to an embodiment of the present disclosure will be described.

<5.1. Modified example 1: Modified example of the broken line gain characteristic circuit>
First, as Modification 1, a modification of the configuration corresponding to the broken line gain characteristic circuit 150 according to the above-described embodiment will be described with reference to FIG. FIG. 9 is an explanatory diagram for explaining an example of the configuration of the control device according to the first modification, and shows another example of the configuration corresponding to the polygonal line gain characteristic circuit 150. In the present description, a configuration corresponding to the broken line gain characteristic circuit 150 shown in FIG. 9 is also referred to as a “folded line gain characteristic control unit 160”.

As described above, in the broken line gain characteristic circuit 150 described with reference to FIG. 6, the setting of the break point is determined according to the power supply voltage and the elements (for example, resistors) constituting the circuit. Therefore, the position of the break point is fixedly set, and it is difficult to change the threshold value that triggers gain switching and the gain itself applied to the input signal.

On the other hand, the broken line gain characteristic control unit 160 according to the modified example 1 is configured to be able to change the threshold value that is a trigger for switching the gain and the gain itself applied to the input signal.

Specifically, as shown in FIG. 9, the broken line gain characteristic control unit 160 includes a variable amplifier 161 and a gain control unit 163. The gain control unit 163 is configured to control the gain of the variable amplifier 161. Specifically, the signal input to the broken line gain characteristic control unit 160 is amplified by the variable amplifier 161 and output. At this time, the gain control unit 163 controls the gain applied to the signal input by the variable amplifier 161 according to the output signal amplified by the variable amplifier 161.

Here, the configuration of the gain control unit 163 will be described in more detail. As shown in FIG. 9, the gain control unit 163 includes a threshold detection unit 165 and a polygonal line characteristic control unit 167.

The threshold value detection unit 165 compares the level of the output signal from the variable amplifier 161 with a preset threshold value, and when the level exceeds the threshold value, the value of the gain of the variable amplifier 161 with respect to the polygonal line characteristic control unit 167. Direct control. The threshold used by the threshold detection unit 165 for the comparison is configured to be updateable based on an instruction from a predetermined control unit, for example. With such a configuration, the broken line gain characteristic control unit 160 according to the first modification can change the setting of the break point based on software control.

Upon receiving an instruction from the threshold detection unit 165, the broken line characteristic control unit 167 controls the gain of the variable amplifier 161 based on a preset control table (hereinafter also referred to as “folded line characteristic table”). The broken line characteristic table is configured to be updatable based on an instruction from a predetermined control unit, for example. With such a configuration, the polygonal line gain characteristic control unit 160 according to the first modification causes the gain applied to the input signal when the level of the output signal from the variable amplifier 161 (and hence the level of the input signal) exceeds the threshold value Can be changed based on software control.

Note that a plurality of threshold values used by the threshold detection unit 165 for the comparison may be set. In this case, the gain setting of the variable amplifier 161 may be associated with the threshold value characteristic table for each threshold value. With such a configuration, it is possible to set a plurality of break points, and for example, it is possible to control the gain applied to the input signal in stages.

As described above, the first modification has been described with reference to FIG. 9 and the modification corresponding to the broken line gain characteristic circuit 150 according to the above-described embodiment.

<5.2. Modification 2: Dynamic Gain Control by AGC>
Subsequently, as Modification 2, by applying AGC (automatic gain control) instead of the broken line gain characteristic circuit, the gain applied to the differential signal output from the subtraction unit 103 via the amplifier 105 is An example in the case of dynamic control according to the level of the difference signal will be described. For example, FIG. 10 is a block diagram illustrating an example of a functional configuration of a control device according to the second modification. In the following description, the control device according to Modification 2 may be referred to as “control device 200” in order to distinguish it from the control device according to the above-described embodiment (see FIG. 5).

As shown in FIG. 10, the control device 200 according to the modification 2 is different from the control device 100 according to the above-described embodiment in that an AGC 170 is provided instead of the broken line gain characteristic circuit 150. Therefore, in the following description, the functional configuration of the control device 200 according to the modified example 2 will be described by focusing on portions different from the control device 100 according to the above-described embodiment, and the same portions as the control device 100 will be described in detail. The detailed explanation is omitted.

The AGC 170 amplifies and outputs the input signal by adaptively applying a gain so that the level of the input signal is in a predetermined range. That is, the AGC 170 limits the level of the output signal by decreasing the gain when the level of the input signal increases, and increases the level of the output signal by increasing the gain when the level of the input signal decreases. With such a configuration, for example, the level of the differential signal can be controlled in real time so that the level of the difference signal is within a predetermined range regardless of the magnitude of the force and moment applied relatively to the predetermined target such as the forceps 430. It becomes possible. That is, according to the control device 200 according to the modified example 2, the force and the moment can be detected in a more preferable manner according to the magnitude of the force and the moment applied relatively to the predetermined target. Thus, it becomes possible to adaptively control the sensitivity and resolution.

Also, the AGC 170 notifies the force moment calculation unit 131 of gain information related to the gain applied to the input differential signal. With such a configuration, even if the gain applied to the differential signal by the AGC 170 changes, the force / moment calculation unit 131 actually applies force / moment applied to the force sensor 450 based on the notified gain information. Can be calculated (absolute value).

As described above, as Modification 2, with reference to FIG. 10, the gain applied to the differential signal output from the subtraction unit 103 via the amplifier 105 by applying AGC instead of the polygonal line gain characteristic circuit, An example in the case of dynamically controlling according to the level of the difference signal has been described.

<< 6. Hardware configuration >>
Next, the hardware configuration of the information processing apparatus 900 configuring the information processing system according to an embodiment of the present disclosure will be described in detail with reference to FIG. FIG. 11 is a functional block diagram illustrating an example of a hardware configuration of an information processing apparatus that configures an information processing system according to an embodiment of the present disclosure.

The information processing apparatus 900 constituting the information processing system according to the present embodiment mainly includes a CPU 901, a ROM 903, and a RAM 905. The information processing apparatus 900 further includes a host bus 907, a bridge 909, an external bus 911, an interface 913, an input device 915, an output device 917, a storage device 919, a drive 921, and a connection port 923. And a communication device 925.

The CPU 901 functions as an arithmetic processing unit and a control unit, and controls all or a part of the operation in the information processing apparatus 900 according to various programs recorded in the ROM 903, the RAM 905, the storage apparatus 919, or the removable recording medium 927. The ROM 903 stores programs used by the CPU 901, calculation parameters, and the like. The RAM 905 primarily stores programs used by the CPU 901, parameters that change as appropriate during execution of the programs, and the like. These are connected to each other by a host bus 907 constituted by an internal bus such as a CPU bus. Note that the arithmetic unit 130 described above with reference to FIG. 3 can be realized by the CPU 901, for example.

The host bus 907 is connected to an external bus 911 such as a PCI (Peripheral Component Interconnect / Interface) bus via a bridge 909. In addition, an input device 915, an output device 917, a storage device 919, a drive 921, a connection port 923, and a communication device 925 are connected to the external bus 911 via an interface 913.

The input device 915 is an operation means operated by the user, such as a mouse, a keyboard, a touch panel, a button, a switch, a lever, and a pedal. Further, the input device 915 may be, for example, remote control means (so-called remote control) using infrared rays or other radio waves, or an external connection device such as a mobile phone or a PDA corresponding to the operation of the information processing device 900. 929 may be used. Furthermore, the input device 915 includes an input control circuit that generates an input signal based on information input by a user using the above-described operation means and outputs the input signal to the CPU 901, for example. A user of the information processing apparatus 900 can input various data and instruct a processing operation to the information processing apparatus 900 by operating the input device 915.

The output device 917 is a device that can notify the user of the acquired information visually or audibly. Examples of such devices include CRT display devices, liquid crystal display devices, plasma display devices, EL display devices, display devices such as lamps, audio output devices such as speakers and headphones, printer devices, and the like. For example, the output device 917 outputs results obtained by various processes performed by the information processing apparatus 900. Specifically, the display device displays results obtained by various processes performed by the information processing device 900 as text or images. On the other hand, the audio output device converts an audio signal composed of reproduced audio data, acoustic data, and the like into an analog signal and outputs the analog signal. The monitor 490 described above with reference to FIG. 1 can be realized by the output device 917, for example.

The storage device 919 is a data storage device configured as an example of a storage unit of the information processing device 900. The storage device 919 includes, for example, a magnetic storage device such as an HDD (Hard Disk Drive), a semiconductor storage device, an optical storage device, or a magneto-optical storage device. The storage device 919 stores programs executed by the CPU 901 and various data.

The drive 921 is a reader / writer for a recording medium, and is built in or externally attached to the information processing apparatus 900. The drive 921 reads information recorded on a removable recording medium 927 such as a mounted magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, and outputs the information to the RAM 905. The drive 921 can also write a record to a removable recording medium 927 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory that is mounted. The removable recording medium 927 is, for example, a DVD medium, an HD-DVD medium, a Blu-ray (registered trademark) medium, or the like. Further, the removable recording medium 927 may be a compact flash (registered trademark) (CF: CompactFlash), a flash memory, an SD memory card (Secure Digital memory card), or the like. Further, the removable recording medium 927 may be, for example, an IC card (Integrated Circuit card) on which a non-contact IC chip is mounted, an electronic device, or the like.

The connection port 923 is a port for directly connecting to the information processing apparatus 900. Examples of the connection port 923 include a USB (Universal Serial Bus) port, an IEEE 1394 port, a SCSI (Small Computer System Interface) port, and the like. As another example of the connection port 923, there are an RS-232C port, an optical audio terminal, an HDMI (registered trademark) (High-Definition Multimedia Interface) port, and the like. By connecting the external connection device 929 to the connection port 923, the information processing apparatus 900 acquires various data directly from the external connection device 929 or provides various data to the external connection device 929.

The communication device 925 is a communication interface configured with, for example, a communication device for connecting to a communication network (network) 931. The communication device 925 is, for example, a communication card for wired or wireless LAN (Local Area Network), Bluetooth (registered trademark), or WUSB (Wireless USB). The communication device 925 may be a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), a modem for various communication, or the like. The communication device 925 can transmit and receive signals and the like according to a predetermined protocol such as TCP / IP, for example, with the Internet or other communication devices. Further, the communication network 931 connected to the communication device 925 is configured by a wired or wireless network, and may be, for example, the Internet, a home LAN, infrared communication, radio wave communication, satellite communication, or the like. .

Heretofore, an example of a hardware configuration capable of realizing the functions of the information processing apparatus 900 that configures the information processing system according to the embodiment of the present disclosure has been shown. Each component described above may be configured using a general-purpose member, or may be configured by hardware specialized for the function of each component. Therefore, it is possible to change the hardware configuration to be used as appropriate according to the technical level at the time of carrying out this embodiment. Although not illustrated in FIG. 11, various configurations corresponding to the information processing apparatus 900 configuring the information processing system according to the present embodiment are naturally provided.

It should be noted that a computer program for realizing each function of the information processing apparatus 900 constituting the information processing system according to the present embodiment as described above can be produced and mounted on a personal computer or the like. In addition, a computer-readable recording medium storing such a computer program can be provided. The recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. Further, the above computer program may be distributed via a network, for example, without using a recording medium. The number of computers that execute the computer program is not particularly limited. For example, the computer program may be executed by a plurality of computers (for example, a plurality of servers) in cooperation with each other. A single computer or a combination of a plurality of computers is also referred to as a “computer system”.

<< 7. Conclusion >>
As described above, in the information processing system 1 according to the present embodiment, the control device 100 is caused by the detection result by the force sensor 450 supported by at least a part of the arm unit 420 and the dynamics of the arm unit 420. A difference signal indicating a difference between the force and the force to be calculated is calculated. In addition, the control device 100 applies a gain corresponding to the calculated difference signal to the difference signal. Such control can be realized, for example, by applying the above-described broken line gain characteristic circuit 150. Then, the control device 100 acts on a predetermined target (for example, a medical instrument such as the forceps 430) held by the arm unit 420 based on the difference signal to which the gain is applied and the gain. Calculate the force to do.

With such a configuration, the control device 100 removes the influence of the force acting on the arm unit 420 (that is, the force due to the dynamics of the arm unit 420) from the detection result of the force sensor 450, and the predetermined force such as the forceps 430 is determined. It is possible to calculate a weak force applied relatively to the target. Therefore, when the analog signal based on the calculation result of the force applied to the target is A / D converted into a digital signal, the control device 100 applies a higher gain to the analog signal before the A / D conversion. It becomes possible. That is, according to the information processing system 1 according to the present embodiment, an analog signal based on a calculation result of a force applied to a predetermined target can be A / D converted into a digital signal with higher resolution, and thus It becomes possible to detect the force applied to the object with higher sensitivity.

Especially in the medical field, there are many situations where micro work like microsurgery is required. Even in such a situation, according to the information processing system 1 according to the present embodiment, the force applied to the medical instrument can be detected with high sensitivity. For example, an operator (user) It is possible to perform feedback of force sense with respect to. In addition, since it is possible to detect the force applied to the medical instrument with high sensitivity, it is possible to more precisely control the operation of the arm part of the support arm device and the medical instrument held by the arm part. It becomes possible.

In the above, as an example of the system configuration of the information processing system 1 according to the present embodiment, an example in which the information processing system 1 is configured as a bilateral system has been described with reference to FIG. On the other hand, if the system detects a force applied to a predetermined target such as the forceps 430 held by the arm unit 420, the system configuration of the information processing system 1 according to the present embodiment is not necessarily illustrated in FIG. It is not limited to the bilateral system as shown. As a specific example, the information processing system 1 according to the present embodiment detects a force applied to a medical instrument held by an arm unit operated by a user, and controls the operation of the arm unit based on the detection result. It may be configured to assist. Needless to say, the application destination of the information processing system according to the present embodiment is not necessarily limited to a medical device or system.

In the above description, an example in which the forceps 430 is held by the arm unit 420 of the support arm device 400 and the force applied to the forceps 430 is detected has been described. However, the instrument held by the arm unit 420 is not necessarily limited to the forceps 430. For example, the instrument held by the arm unit 420 may be, for example, a medical observation apparatus such as a medical microscope or an endoscope, or may be another instrument or apparatus that is not limited to medical use. .

Further, in the above, when the force sensor 450 is supported on at least a part of a link structure formed by connecting a plurality of rigid bodies, like the arm portion 420 of the support arm device 400 shown in FIG. An example has been described. On the other hand, based on the same method as in the above embodiment, a force that acts relative to at least a part of a series of structures on which the force sensor 450 is supported using the detection result of the force sensor 450. If it is possible to calculate, the configuration of the series of structures is not particularly limited. As a specific example, in a configuration in which a probe is translated along a predetermined axis, such as a semiconductor inspection apparatus, a force sensor 450 is provided for a member that holds the probe. It is good also as a structure which calculates the force added relatively with respect to it. In this case, the force applied relatively to the probe may be calculated based on the difference between the detection result of the force sensor 450 and the gravity or inertial force acting on the member holding the probe.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field of the present disclosure can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that it belongs to the technical scope of the present disclosure.

In addition, the effects described in this specification are merely illustrative or illustrative, and are not limited. That is, the technology according to the present disclosure can exhibit other effects that are apparent to those skilled in the art from the description of the present specification in addition to or instead of the above effects.

The following configurations also belong to the technical scope of the present disclosure.
(1)
Application in which a gain corresponding to a difference between a first force detected by a force sensor supported by a support member and a second force acting on the support member is applied to the difference And
An arithmetic unit that calculates a third force that operates relative to at least a part of the series of structures including the support member based on the difference and the gain applied to the difference. ,
An information processing apparatus comprising:
(2)
The second force is a force acting on the support member based on at least one of an inertial force acting on the support member and gravity acting on the support member (1 ).
(3)
The inertial force is at least one of a first inertial force acting on the support member as the support member translates and a second inertial force acting on the support member as the support member rotates. The information processing apparatus according to (2), including any one of them.
(4)
The calculation unit according to any one of (1) to (3), wherein the calculation unit calculates the second force based on a detection result of an attitude of at least a part of members constituting the series of structures. Information processing device.
(5)
The information processing apparatus according to any one of (1) to (4), wherein the support member is at least a part of a link structure configured by connecting a plurality of rigid bodies.
(6)
The information processing apparatus according to any one of (1) to (5), wherein the application unit determines the gain based on a comparison result between the calculated difference and a predetermined threshold value.
(7)
The information processing apparatus according to (6), wherein the application unit updates the threshold based on a predetermined instruction.
(8)
The information processing apparatus according to (6) or (7), wherein the application unit updates a setting for determining the gain to be applied to the difference according to the threshold value based on a predetermined instruction.
(9)
The information processing apparatus according to any one of (1) to (5), wherein the application unit determines the gain according to a level of the difference.
(10)
The support member holds a medical device at least in part,
The computing unit calculates the third force acting relatively to the medical device;
The information processing apparatus according to any one of (1) to (9).
(11)
The information processing apparatus according to (10), wherein the medical device is forceps.
(12)
The information processing apparatus according to (10), wherein the medical device is a medical observation apparatus.
(13)
The information processing apparatus according to any one of (1) to (12), wherein the calculation unit outputs information based on the third force to an external device via a network.
(14)
A conversion unit that converts an analog signal to which the gain is applied to the difference into a digital signal;
The calculation unit calculates the third force based on the digital signal and the gain.
The information processing apparatus according to any one of (1) to (13).
(15)
Computer
Applying a gain corresponding to the difference between the first force detected by the force sensor supported by the support member and the second force acting on the support member to the difference. When,
Calculating a third force acting relative to at least a part of the series of structures including the support member based on the difference and the gain applied to the difference;
Including an information processing method.
(16)
A support arm device comprising an arm portion having a support member for supporting a force sensor, comprising a link structure configured by connecting a plurality of rigid bodies;
An application unit that applies a gain according to the difference between the first force detected by the force sensor and the second force acting on the support member to the difference;
An arithmetic unit that calculates a third force that acts relative to at least a part of the arm unit based on the difference and the gain applied to the difference;
An information processing system comprising:

DESCRIPTION OF SYMBOLS 1 Information processing system 100

Control apparatus

101, 111 Amplifier 103 Subtraction part 107 A / D conversion part 109 D / A conversion part 130 Calculation part 131 Force moment calculation part 133 Dynamics calculation part 150 Polygonal line gain characteristic circuit 160 Polygonal line gain characteristic control part 161 Variable Amplifier 163 Gain Control Unit 165 Threshold Value Detection Unit 167 Polygonal Line Characteristic Control Unit 200 Control Device 400 Support Arm Device 410 Base Unit 420 Arm Unit 430 Forceps 440 Support Arm Device 450 Force Sensor 460 Detection Unit

Claims

Application in which a gain corresponding to a difference between a first force detected by a force sensor supported by a support member and a second force acting on the support member is applied to the difference And
An arithmetic unit that calculates a third force that operates relative to at least a part of the series of structures including the support member based on the difference and the gain applied to the difference. ,
An information processing apparatus comprising:
2. The second force is a force acting on the support member based on at least one of an inertial force acting on the support member and a gravity acting on the support member. The information processing apparatus described in 1.
The inertial force is at least one of a first inertial force acting on the support member as the support member translates and a second inertial force acting on the support member as the support member rotates. The information processing apparatus according to claim 2, including any one of them.
The information processing apparatus according to claim 1, wherein the calculation unit calculates the second force based on a detection result of an attitude of at least a part of members constituting the series of structures.
The information processing apparatus according to claim 1, wherein the support member is at least a part of a link structure configured by connecting a plurality of rigid bodies.
The information processing apparatus according to claim 1, wherein the application unit determines the gain based on a comparison result between the calculated difference and a predetermined threshold value.
The information processing apparatus according to claim 6, wherein the application unit updates the threshold based on a predetermined instruction.
The information processing apparatus according to claim 6, wherein the application unit updates a setting for determining the gain to be applied to the difference according to the threshold value based on a predetermined instruction.
The information processing apparatus according to claim 1, wherein the application unit determines the gain according to the level of the difference.
The support member holds a medical device at least in part,
The computing unit calculates the third force acting relatively to the medical device;
The information processing apparatus according to claim 1.
The information processing apparatus according to claim 10, wherein the medical device is a forceps.
The information processing apparatus according to claim 10, wherein the medical device is a medical observation apparatus.
The information processing apparatus according to claim 1, wherein the calculation unit outputs information based on the third force to an external device via a network.
A conversion unit that converts an analog signal to which the gain is applied to the difference into a digital signal;
The calculation unit calculates the third force based on the digital signal and the gain.
The information processing apparatus according to claim 1.
Computer
Applying a gain corresponding to the difference between the first force detected by the force sensor supported by the support member and the second force acting on the support member to the difference. When,
Calculating a third force acting relative to at least a part of the series of structures including the support member based on the difference and the gain applied to the difference;
Including an information processing method.
A support arm device comprising an arm portion having a support member for supporting a force sensor, comprising a link structure configured by connecting a plurality of rigid bodies;
An application unit that applies a gain according to the difference between the first force detected by the force sensor and the second force acting on the support member to the difference;
An arithmetic unit that calculates a third force that acts relative to at least a part of the arm unit based on the difference and the gain applied to the difference;
An information processing system comprising: