WO2022210801A1 - Système de commande, dispositif de commande, procédé de commande et programme - Google Patents

Système de commande, dispositif de commande, procédé de commande et programme Download PDF

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Publication number
WO2022210801A1
WO2022210801A1 PCT/JP2022/015721 JP2022015721W WO2022210801A1 WO 2022210801 A1 WO2022210801 A1 WO 2022210801A1 JP 2022015721 W JP2022015721 W JP 2022015721W WO 2022210801 A1 WO2022210801 A1 WO 2022210801A1
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WIPO (PCT)
Prior art keywords
force
slave device
master device
input
control
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PCT/JP2022/015721
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English (en)
Japanese (ja)
Inventor
公平 大西
貴弘 溝口
伸 牧
能行 羽生
俊弘 藤井
Original Assignee
学校法人慶應義塾
モーションリブ株式会社
テルモ株式会社
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Priority claimed from JP2021058544A external-priority patent/JP2024081807A/ja
Application filed by 学校法人慶應義塾, モーションリブ株式会社, テルモ株式会社 filed Critical 学校法人慶應義塾
Publication of WO2022210801A1 publication Critical patent/WO2022210801A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • the present invention relates to a control system, control device, control method and program.
  • Patent Document 1 a configuration that compensates for frictional force is known (see Patent Document 1, for example).
  • the friction force acting on the slave device can change based on the state change of the slave device. In the case of compensating by simply eliminating the frictional force acting on the slave device, it becomes difficult for the user to perceive the state change of the slave device through the master device.
  • An object of the present invention is to reduce the burden on the user who operates the master device while making it easier for the user to perceive changes in the state of the slave device.
  • a control system includes: A control system including a master device to which an operator's operation is input and a slave device that operates according to the operation input to the master device, control means for controlling haptic transmission in the master device and the slave device; Amplifies the force input to the slave device by a set amplification factor, subtracts an offset amount of the force set based on the amplification factor from the amplified force, and transmits the result to the master device.
  • the present invention is characterized by comprising transmission condition setting means for causing the transmission to occur.
  • the present invention it is possible to reduce the load on the user who operates the master device while making it easier for the user to perceive the status change of the slave device.
  • FIG. 4 is a schematic diagram showing the basic principle of haptic transmission control executed by the control device 30.
  • FIG. 2 is a block diagram showing the hardware configuration of a control system in the control system 1;
  • FIG. 3 is a schematic diagram showing a hardware configuration of an information processing device that constitutes the control device 30;
  • FIG. 2 is a block diagram showing the functional configuration of the control system 1;
  • FIG. 4 is a flowchart for explaining the flow of haptic sensation transmission processing executed by the control device 30.
  • FIG. FIG. 4 is a schematic diagram showing temporal changes in the magnitude of force fed back from the slave device 20 to the master device 10 when only the external force input to the slave device 20 is amplified.
  • FIG. 4 is a schematic diagram showing temporal changes in the magnitude of force fed back from the slave device 20 to the master device 10 when the force input to the slave device 20 is amplified and the offset amount is reduced.
  • FIG. 3 is a schematic diagram showing the configuration of the control system 1 that performs force feedback after an operator manually inserts the catheter of the slave device 20.
  • FIG. 1 is a schematic diagram showing the overall configuration of a control system 1 according to one embodiment of the present invention.
  • a control system 1 according to this embodiment is configured as a master/slave system including a master device 10 and a slave device 20 that are mechanically separated.
  • the master device 10 constitutes a manipulator operated by a user
  • the slave device 20 constitutes a catheter system having an end effector inserted into a subject.
  • the control system 1 includes a master device 10, a slave device 20, and a control device 30.
  • the master device 10, the slave device 20, and the control device 30 are connected via a network 40. It is configured for wired or wireless communication.
  • control system 1 can include a display L and a plurality of cameras C as appropriate.
  • the camera C various imaging devices such as a video camera for imaging the exterior of the subject into which the slave device 20 is inserted, or an X-ray camera for imaging the interior of the subject with X-rays can be used.
  • the master device 10 receives an operation similar to that for a conventional mechanically configured catheter, and detects the position of a moving part (a movable member of a manipulator, etc.) that moves according to the input operation. Master device 10 transmits information representing the detected position of the movable part to control device 30 . In addition, the master device 10 outputs a reaction force from the actuator in accordance with an instruction from the control device 30 in response to the input operation. Specifically, the master device 10 performs an operation to move the catheter forward and backward (for example, an operation to insert the catheter into a blood vessel or an operation to slightly move the catheter to detect haptic sensations near the lesion), and rotate the catheter around its axis.
  • an operation to move the catheter forward and backward for example, an operation to insert the catheter into a blood vessel or an operation to slightly move the catheter to detect haptic sensations near the lesion
  • Manipulation e.g., changing the direction of the end effector
  • manipulating the end effector e.g., if the end effector is a balloon, expanding or contracting it, or if the end effector is forceps, etc.
  • opening and closing operations etc.
  • the slave device 20 drives an actuator according to instructions from the control device 30 to perform an action corresponding to the operation input to the master device 10, and a movable part (a mover of the actuator or the actuator moved by the action) that moves according to the action. (e.g., catheters, etc.).
  • a movable part a mover of the actuator or the actuator moved by the action
  • various external forces are input to the slave device 20 from the environment.
  • the position of the movable portion in the slave device 20 indicates the result of various external forces acting on the output of the actuator.
  • the slave device 20 transmits information representing the detected position of the movable portion to the control device 30 .
  • the various external forces that are input from the environment to the slave device 20 include a resistance force in the thrust direction that the catheter receives from the blood vessel.
  • the force detected by the slave device 20 is amplified by a predetermined amplification factor, and the force corresponding to the amplified resistance force is reduced and transmitted to the master device 10 . This reduces the burden on the user who operates the master device 10 and makes it easier for the user to perceive the status change of the slave device 20 .
  • the control device 30 is composed of, for example, an information processing device such as a PC (Personal Computer) or a server computer, and controls the master device 10, the slave device 20, the display L and the camera C. For example, the control device 30 acquires the positions of the movable parts of the master device 10 and the slave device 20 (the rotation angle of the actuator detected by a rotary encoder, the forward/backward position of the movable part detected by a linear encoder, etc.), and 10 and the slave device 20 to control the transmission of haptic sensations.
  • an information processing device such as a PC (Personal Computer) or a server computer
  • the control device 30 acquires the positions of the movable parts of the master device 10 and the slave device 20 (the rotation angle of the actuator detected by a rotary encoder, the forward/backward position of the movable part detected by a linear encoder, etc.), and 10 and the slave device 20 to control the transmission of haptic sensations.
  • the control device 30 uses information representing the position of the movable part (the position of the movable element of the actuator or the position of the member moved by the actuator).
  • the real space parameter (input vector) calculated based on the information representing the position and the like) is coordinate-transformed (transformed by a transformation matrix) into a virtual space in which position and force can be handled independently. That is, the input vector is coordinate-transformed from the real space of the oblique coordinate system in which the position and the force are related to each other to the virtual space of the orthogonal coordinate system in which the position and the force are mutually independent.
  • the parameters calculated by the coordinate transformation represent the position and force state values corresponding to the input vector in the virtual space.
  • the control device 30 converts the state values of the position and force calculated from the input vector to the position and force for controlling the position and force (in this case, transmitting the haptic sensation). , and performs inverse transformation (transformation using the inverse matrix of the transformation matrix) to return the computation result to the real space. Further, the control device 30 drives each actuator based on the real space parameters (current command value, etc.) acquired by the inverse transformation, thereby transmitting the haptic sensation between the master device 10 and the slave device 20. Realize a master-slave system that
  • the control device 30 in the present embodiment amplifies the force transmitted from the slave device 20 to the master device 10, is transmitted to the master device 10, reducing the load on the user operating the master device 10 and making it easier for the slave device 20 to perceive the state change.
  • the force transmitted from the slave device 20 to the master device 10 is amplified (that is, enlarged) by an amplification factor greater than 1
  • the force transmitted from the master device 10 to the slave device 20 is amplified by an amplification factor smaller than 1. (that is, reduction).
  • the positional information may be transmitted after amplification or directly transmitted without amplification. Both are possible.
  • position and velocity (or acceleration) or angle and angular velocity (or angular acceleration) are parameters that can be replaced by calculus, so when performing processing related to position or angle, replace them with velocity or angular velocity as appropriate. is possible.
  • FIG. 2 is a schematic diagram showing the basic principle of the haptic transmission control executed by the control device 30.
  • the basic principle shown in FIG. 2 determines the operation of the actuator by inputting information representing the position of the movable part (current position of the movable part) and performing calculations in at least one of the areas of velocity and force. be. That is, the basic principle of the present invention includes a system to be controlled S, a functional force/velocity assignment transformation block FT, at least one of an ideal force source block FC or an ideal velocity source block PC, and an inverse transformation block IFT. It is expressed as a control law.
  • the controlled system S is the master device 10 or the slave device 20 equipped with an actuator, and controls the actuator based on acceleration and the like.
  • acceleration, velocity, and position are physical quantities that can be mutually converted by calculus, any of acceleration, velocity, and position may be used for control.
  • the control law is mainly expressed using the velocity calculated from the position.
  • the function-specific force/velocity allocation conversion block FT is a block that defines the conversion of control energy into the velocity and force regions set according to the function of the controlled system S.
  • a coordinate transformation is defined in which a value (reference value) serving as a reference for the function of the controlled system S and the current position of the movable part are input.
  • This coordinate transformation generally converts an input vector whose elements are the reference value and the current velocity into an output vector composed of velocities for calculating the velocity control target value, and an input vector whose elements are the reference value and the current force. It converts the vector into an output vector consisting of force for calculating the force control target value.
  • the coordinate transformation in the functional force/velocity allocation transformation block FT is generalized as shown in the following equations (1) and (2).
  • x' 1 to x' n are velocity vectors for deriving the state value of velocity
  • x' a to x' m are 1 or more
  • ) is a vector whose elements are the reference value and the speed based on the action of the actuator (the speed of the mover of the actuator or the speed of the member moved by the actuator)
  • h 1a to h nm are the elements of the conversion matrix representing the function. be.
  • f′′ 1 to f′′ n are force vectors for deriving force state values
  • f′′ a to f′′ m is an integer equal to or greater than 1
  • f′′ a to f′′ m is an integer equal to or greater than 1 is a vector whose elements are the force based on the reference value and the action of the actuator (the force of the mover of the actuator or the force of the member moved by the actuator).
  • the coordinate transformation in the functional force/velocity allocation transformation block FT By setting the coordinate transformation in the functional force/velocity allocation transformation block FT according to the function to be realized, various operations can be realized and scaling can be performed. That is, in the basic principle of the present invention, in the function-specific force/velocity assignment conversion block FT, the variables of the actuator alone (variables in the real space) are converted to the variable group of the entire system (the virtual space variable) and assign the control energy to the control energy of velocity and the control energy of force. In other words, according to the basic principle of the present invention, a coordinate space in which velocity and force are related to each other is transformed into a coordinate space in which velocity and force are independent of each other, and then calculations related to velocity and force control are performed. Therefore, compared to the case where the control is performed with the variables of the actuator alone (variables in the real space), it is possible to independently apply the velocity control energy and the force control energy.
  • the ideal force source block FC is a block that performs calculations in the force domain according to the coordinate transformation defined by the functional force/velocity assignment transformation block FT.
  • a target value is set for the force when performing calculations based on the coordinate transformation defined by the functional force/velocity assignment transformation block FT.
  • This target value is set as a fixed value or a variable value depending on the function to be implemented. For example, when realizing a function similar to the function indicated by the reference value, set the target value to zero, or when performing scaling, set a value obtained by expanding or reducing the information indicating the function to be realized. can.
  • the ideal velocity source block PC is a block that performs calculations in the velocity domain according to the coordinate transformation defined by the functional force/velocity assignment transformation block FT.
  • the ideal velocity source block PC there are set target values relating to velocity when performing calculations based on the coordinate transformation defined by the functional force/velocity assignment transformation block FT.
  • This target value is set as a fixed value or a variable value depending on the function to be implemented. For example, when realizing a function similar to the function indicated by the reference value, set the target value to zero, or when performing scaling, set a value obtained by expanding or reducing the information indicating the function to be realized. can.
  • the inverse transform block IFT is a block that transforms values in the domain of velocity and force into values in the domain of inputs to the controlled system S (for example, voltage values or current values).
  • the functional force/velocity assignment conversion block FT when the positional information of the actuators of the controlled system S is input to the functional force/velocity assignment conversion block FT, the velocity and force information obtained based on the positional information is used to , in the function-specific force/velocity assignment conversion block FT, the control law for each of the position and force regions according to the function is applied.
  • the ideal force source block FC force calculation is performed according to the function
  • the ideal velocity source block PC velocity calculation is performed according to the function, and control energy is distributed to force and velocity respectively.
  • the calculation results in the ideal force source block FC and the ideal velocity source block PC become information indicating the control target of the controlled system S, and these calculation results are used as input values for the actuators in the inverse transformation block IFT, and the controlled system S is entered in As a result, the actuators of the controlled system S perform operations according to the functions defined by the functional force/velocity assignment conversion block FT, and the intended operation of the device is realized.
  • x'p is the velocity for deriving the state value of velocity
  • x'f is the velocity related to the state value of force
  • x'm is the speed of the reference value (input from the master device 10) (differential value of the current position of the master device 10)
  • x's is the current speed of the slave device 20 (differential value of the current position).
  • f p is the force related to the state value of velocity
  • f f is the force for deriving the state value of force
  • f m is the force of the reference value (input from the master device 10 )
  • f s is the current force of the slave device 20 .
  • the position of the slave device 20 is multiplied by ⁇ ( ⁇ is a positive number)
  • the force of the slave device 20 is multiplied by ⁇ ( ⁇ is a positive number)
  • the master It will be transmitted to the device 10 .
  • FIG. 3 is a block diagram showing the hardware configuration of the control system in the control system 1.
  • the control system 1 includes, as a hardware configuration of a control system, a control device 30 configured by an information processing device such as a PC or a server computer, a control unit 101 of the master device 10, and a communication unit 102. , an insertion actuator 103 , a detection actuator 104 , a rotation actuator 105 , an operation actuator 106 , linear encoders 107 and 108 , rotary encoders 109 and 110 , drivers 111 to 114 , and slave device 20 .
  • a control unit 201 a communication unit 202, an insertion actuator 203, a detection actuator 204, a rotation actuator 205, an operation actuator 206, linear encoders 207 and 208, rotary encoders 209 and 210, and a driver 211.
  • a display L and a camera C.
  • a control unit 101 of the master device 10 is composed of a microcomputer including a processor, memory, etc., and controls the operation of the master device 10 .
  • the control unit 101 controls the driving of the insertion actuator 103 , the detection actuator 104 , the rotation actuator 105 and the manipulation actuator 106 of the master device 10 according to control parameters transmitted from the control device 30 .
  • Communication unit 102 controls communication between master device 10 and other devices via network 40 .
  • the insertion actuator 103 is composed of, for example, a direct-acting motor, and according to instructions from the control unit 101, the operator inputs the operation to the master device 10 to move the catheter forward and backward in order to insert it into the blood vessel. Gives a reaction force.
  • the detection actuator 104 is composed of, for example, a voice coil motor, and applies a reaction force to an operator's input to the master device 10 in accordance with instructions from the control unit 101 to advance and retract the catheter near the lesion for treatment. Give.
  • the insertion actuator 103 has a longer stroke than the detection actuator 104, while the detection actuator 104 performs more precise position and force control than the insertion actuator 103. It is possible.
  • the rotation actuator 105 is composed of, for example, a rotary motor, and applies a reaction force to the operator's operation to rotate the master device 10 around the rotation axis along the advancing/retreating direction according to instructions from the control unit 101 .
  • the operation actuator 106 is configured by, for example, a rotary motor, and applies a reaction force to an operation input by the operator to a lever (grip) or the like for operating the end effector, according to instructions from the control unit 101. .
  • the linear encoder 107 detects the position of the mover of the insertion actuator 103 (advance/retreat position on the linear motion axis).
  • the linear encoder 108 detects the position of the mover of the detection actuator 104 (advance/retreat position on the linear motion axis).
  • a rotary encoder 109 detects the position (rotational angle) of the mover of the rotary actuator 105 .
  • the rotary encoder 110 detects the position (rotational angle) of the mover of the operating actuator 106 .
  • the driver 111 outputs drive current to the insertion actuator 103 according to instructions from the control unit 101 .
  • the driver 112 outputs a drive current to the detection actuator 104 according to instructions from the control unit 101 .
  • the driver 113 outputs drive current to the rotation actuator 105 according to the instruction from the control unit 101 .
  • the driver 114 outputs drive current to the operating actuator 106 in accordance with instructions from the control unit 101 .
  • a control unit 201 of the slave device 20 is configured by a microcomputer having a processor, memory, etc., and controls the operation of the slave device 20 .
  • the control unit 201 controls driving of the insertion actuator 203 , the detection actuator 204 , the rotation actuator 205 and the operation actuator 206 of the slave device 20 according to control parameters transmitted from the control device 30 .
  • the communication unit 202 controls communication between the slave device 20 and other devices via the network 40 .
  • the insertion actuator 203 is composed of, for example, a direct-acting motor, and according to instructions from the control unit 201, the operator inputs the operation to the master device 10 to move the catheter forward and backward in order to insert it into the blood vessel.
  • the catheter of the slave device 20 is advanced and retracted.
  • the detection actuator 204 is composed of, for example, a voice coil motor, and according to instructions from the control unit 201, the slave device 20 responds to an operation input by the operator to the master device 10 to advance and retract the catheter near the lesion for treatment. advance and retract the catheter.
  • the insertion actuator 203 has a longer stroke than the detection actuator 204, while the detection actuator 204 performs more precise position and force control than the insertion actuator 203. It is possible.
  • the rotation actuator 205 is configured by, for example, a rotary motor, and rotates the catheter of the slave device 20 around a rotation axis along the advancing/retreating direction in accordance with instructions from the control unit 201 and in accordance with operations input to the master device 10 by the operator.
  • the operation actuator 206 is composed of, for example, a rotary motor, and operates the end effector (expansion, contraction, opening/closing, etc.) according to the operation input to the master device 10 by the operator according to instructions from the control unit 201. .
  • the linear encoder 207 detects the position of the mover of the insertion actuator 203 (advance/retreat position on the linear motion axis).
  • a linear encoder 208 detects the position of the mover of the detection actuator 204 (advance/retreat position on the linear motion axis).
  • a rotary encoder 209 detects the position (rotational angle) of the mover of the rotary actuator 205 .
  • a rotary encoder 210 detects the position (rotational angle) of the mover of the operating actuator 206 .
  • the driver 211 outputs drive current to the insertion actuator 203 according to instructions from the control unit 201 .
  • the driver 212 outputs a drive current to the detection actuator 204 according to instructions from the control unit 201 .
  • the driver 213 outputs a drive current to the rotation actuator 205 according to instructions from the control unit 201 .
  • a driver 214 outputs a drive current to the operation actuator 206 according to an instruction from the control unit 201 .
  • the display L is installed in a place where the operator of the master device 10 can visually recognize the screen, and displays an image instructed to be displayed by the control device 30 (visible light image or X-ray image of the subject captured by the camera C). indicate.
  • the camera C is installed in a place where the slave device 20 can capture images of the subject into which the catheter is to be inserted, captures images of the subject (visible light images, X-ray images, etc.), and transmits the captured images to the control device 30. do.
  • FIG. 4 is a schematic diagram showing a hardware configuration of an information processing device that constitutes the control device 30.
  • the control device 30 includes a CPU (Central Processing Unit) 311, a ROM (Read Only Memory) 312, a RAM (Random Access Memory) 313, a bus 314, an input section 315, and an output section. 316 , a storage unit 317 , a communication unit 318 and a drive 319 .
  • CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the CPU 311 executes various processes according to programs recorded in the ROM 312 or programs loaded from the storage unit 317 to the RAM 313 .
  • the RAM 313 also stores data necessary for the CPU 311 to execute various processes.
  • the CPU 311 , ROM 312 and RAM 313 are interconnected via a bus 314 .
  • An input unit 315 , an output unit 316 , a storage unit 317 , a communication unit 318 and a drive 319 are connected to the bus 314 .
  • the input unit 315 is composed of various buttons and the like, and inputs various information according to instruction operations.
  • the output unit 316 includes a display, a speaker, and the like, and outputs images and sounds. Note that when the control device 30 is configured as a smartphone or a tablet terminal, the display of the input unit 315 and the display of the output unit 316 may be overlapped to configure a touch panel.
  • the storage unit 317 is composed of a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various data managed by each server.
  • the communication unit 318 controls communication between the control device 30 and other devices via the network.
  • a removable medium 331 consisting of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately mounted in the drive 319 .
  • a program read from the removable medium 331 by the drive 319 is installed in the storage unit 317 as required.
  • FIG. 5 is a block diagram showing the functional configuration of the control system 1.
  • the control device 30 executes various processes to cause the CPU 311 to operate a transmission condition setting unit 351, a sensor information acquisition unit 352, a tactile sensation transmission unit 353, and a physical quantity acquisition unit. 354 and , function.
  • a control parameter storage unit 371 is also formed in the storage unit 317 .
  • the control parameter storage unit 371 stores, in chronological order, the control parameters acquired in the control of the control device 30 transmitting the haptic sensation between the master device 10 and the slave device 20 .
  • the information stored as the control parameters can be various parameters acquired in haptic transmission control, and can include various types of information that can reproduce the haptic transmission control.
  • sensor information acquired by the master device 10 and the slave device 20 state values obtained by coordinate transformation of these sensor information, current command values to each actuator, or set in the control device 30 for tactile transmission control
  • Various set values and the like can be stored as control parameters.
  • the transmission condition setting unit 351 sets an amplification factor when transmitting the force input to the slave device 20 to the master device 10 .
  • the transmission condition setting unit 351 also ensures that the physical quantity of the catheter acquired by the physical quantity acquiring unit 354 meets the condition set for switching between the insertion mode and the detection mode (hereinafter referred to as “mode switching condition”). It is determined whether or not they match, and if it is determined that they match the mode switching conditions, the insertion mode and the detection mode are switched.
  • the “insertion mode” is a mode in which the insertion actuator 203 is used to move the catheter forward and backward in the slave device 20 and haptic transmission is performed with the insertion actuator 103 of the master device 10 .
  • the "insertion mode” is, for example, a mode that is set until the tip of the catheter reaches the vicinity of the lesion after the operator inserts the catheter into the subject.
  • the “sensing mode” is a mode in which the sensing actuator 204 is used to move the catheter forward and backward in the slave device 20 and haptic sensation is transmitted between the slave device 20 and the sensing actuator 104 in the master device 10 .
  • the “detection mode” is, for example, a mode that is set after the operator inserts a catheter into the subject and the tip of the catheter reaches the vicinity of the lesion. As described above, in the present embodiment, the insertion actuators 103 and 203 have longer strokes than the detection actuators 104 and 204, while the detection actuators 104 and 204 have longer strokes than the insertion actuators 103 and 203.
  • the "sensing mode" is used in situations where the operator needs to sense a minute external force input to the slave device 20, as opposed to the "insertion mode".
  • a section such as the vicinity of a lesion where it is judged necessary for the operator to sense a minute external force input to the slave device 20 will be appropriately referred to as a "specific section”.
  • the amplification factors set in the "insertion mode” and “detection mode” are measured according to, for example, the configuration of the catheter, the physical characteristics of the subject (thickness of the blood vessel, etc.), the length of the catheter to be inserted, etc. It can be set based on a value, a statistical value, an estimated value obtained by simulation, or the like.
  • the mode switching condition is, for example, that the mode switching is manually instructed by the user's operation, or that the physical quantity for determining the mode switching condition matches the set condition (input to the catheter It is possible to set the fact that the resistance force applied has changed by more than a threshold value, or that the distance between the tip of the catheter and the lesion has become within a threshold value, etc.).
  • the mode switching condition when it is determined that the distance between the distal end of the catheter of the slave device 20 and the lesion is within a threshold value in the insertion mode, it is possible to switch to the detection mode.
  • the detection mode when it is determined that the distance between the distal end of the catheter of the slave device 20 and the lesion is greater than or equal to the threshold value, the mode can be switched to the insertion mode.
  • the sensor information acquisition unit 352 acquires information (sensor information) detected by various sensors installed in the master device 10 and slave devices 20 .
  • the sensor information acquisition unit 302 acquires information indicating the position (forward/backward position or rotation angle) of the mover of each actuator detected by the linear encoders 107, 108, 207, 208 and the rotary encoders 109, 110, 209, 210. get. Further, the sensor information acquisition unit 352 stores the acquired sensor information in the control parameter storage unit 371 as time-series data.
  • the haptic transmission unit 353 controls haptic transmission in the master device 10 and the slave device 20 according to the control algorithm shown in FIG. For example, in the haptic transmission process, the haptic transmission unit 353 performs control to transmit haptic sensations between the actuators for corresponding actions of the master device 10 and the slave device 20 . At this time, haptic transmission section 353 amplifies the external force detected by slave device 20 with the amplification factor set by transmission condition setting section 351 and transmits the amplified external force to master device 10 . As described above, positional information (position, speed, etc.) can be amplified and transmitted from the slave device 20 to the master device 10, or can be transmitted directly without amplification.
  • the physical quantity acquisition unit 354 acquires a physical quantity (such as the resistance input to the catheter or the distance between the tip of the catheter and the lesion) for determining the condition (mode switching condition) regarding the mode in the haptic transmission process. For example, the physical quantity acquisition unit 354 reads the time-series control parameters stored in the control parameter storage unit 371 and calculates the resistance input to the catheter of the slave device 20 from the outside. When a catheter is inserted into a subject, the resistance changes between, for example, when the catheter is advanced through an artery and when it reaches a lesion site such as a constricted heart. The physical quantity acquisition unit 354 can determine the insertion state of the catheter by calculating the resistance input to the catheter of the slave device 20 from the outside.
  • a physical quantity such as the resistance input to the catheter or the distance between the tip of the catheter and the lesion
  • the physical quantity acquisition unit 354 can acquire an instantaneous value, a value obtained by arithmetic operation such as a moving average, or the like as the physical quantity. Further, the physical quantity acquisition unit 354 may perform filtering (band-limiting filter) on the waveform of the instantaneous value of the physical quantity, and then acquire the physical quantity for determining the mode switching condition.
  • filtering band-limiting filter
  • the physical quantity acquisition unit 354 calculates the distance between the tip of the catheter and the lesion based on the image captured by the camera C. By calculating the distance between the tip of the catheter and the lesion from the image captured by the camera C, it is possible to determine the approach of the catheter to the lesion based on the same criteria as when a human makes a visual determination.
  • Various sensors can be used to obtain the distance between the tip of the catheter and the lesion. may be detected to obtain the distance to the lesion.
  • a sensor for detecting the position of the tip of the catheter may be installed in advance inside the subject, and the sensor may detect the position of the tip of the catheter to obtain the distance from the lesion.
  • the force input to the slave device 20 is amplified, and the force corresponding to the amplified resistance force input to the slave device 20 is used as an offset amount (hereinafter referred to as a "friction compensation amount" as appropriate. ) to be subtracted from the force transmitted by the slave device 20 to the master device 10 .
  • a “friction compensation amount” as appropriate.
  • the offset amount (friction compensation amount) is ( k1-1 ) ⁇ F
  • the amplification factor k1 is, for example, a measured value, a statistical value, or a It can be set based on an estimated value or the like obtained by simulation.
  • FIG. 6 is a flowchart for explaining the flow of the haptic sensation transmission process executed by the control device 30.
  • the haptic sensation transmission process is started in response to an instruction to execute the haptic sensation transmission process via the input unit 315 or the communication unit 318 .
  • the operator who assists the operation of the slave device 20 manually or remotely operates the master device 10 so that the tip of the catheter is moved to the subject by a predetermined distance. It is assumed that it starts in a state where it is inserted into the body (for example, a state where it is inserted by about 1 to 10 [cm]). As a result, it is possible to prevent the control of the control device 30 from becoming unstable in a state where the change in the external force at the initial stage of insertion is large.
  • step S1 the transmission condition setting unit 351 sets the amplification factor and mode for transmitting the haptic sensation.
  • the mode for transmitting the haptic sensation is set to the insertion mode.
  • step S ⁇ b>2 the transmission condition setting unit 351 sets the offset amount (friction compensation amount) of the force transmitted from the slave device 20 to the master device 10 .
  • step S ⁇ b>3 the sensor information acquisition unit 352 acquires information (sensor information) detected by various sensors installed in the master device 10 and the slave device 20 . The sensor information acquired in step S3 is stored in the control parameter storage unit 371 as time-series data.
  • step S4 the haptic transmission unit 353 amplifies the external force detected by the slave device 20 with the set amplification factor, and transmits the haptic sensation based on the sensor information while reducing the offset amount (friction compensation amount). Execute control.
  • step S5 the physical quantity acquisition unit 354 acquires a physical quantity (such as the resistance input to the catheter or the distance between the tip of the catheter and the lesion) for determining the mode switching condition.
  • step S6 the transmission condition setting unit 351 determines whether or not the acquired physical quantity matches the mode switching condition set for switching between the insertion mode and the detection mode. Specifically, the transmission condition setting unit 351 determines whether or not the mode switching is manually instructed by the user's operation, or whether or not the physical quantity for determining the mode switching condition matches the set condition. (Whether or not the resistance input to the catheter has changed by a threshold value or more, or whether or not the distance between the tip of the catheter and the lesion is within a threshold value, etc.) is determined. If the acquired physical quantity does not match the mode switching condition set for switching between the insertion mode and the detection mode, NO is determined in step S6, and the process proceeds to step S8. On the other hand, if the acquired physical quantity matches the mode switching condition set for switching between the insertion mode and the detection mode, YES is determined in step S6, and the process proceeds to step S7.
  • step S7 the transmission condition setting unit 351 switches between the insertion mode and the detection mode. That is, the transmission condition setting unit 351 switches to the detection mode when the insertion mode has been set, and switches to the insertion mode when the detection mode has been set.
  • step S8 the haptic transmission section 353 determines whether or not an instruction to end the haptic transmission process has been issued. If the end of the haptic sensation transmission process has not been instructed, NO is determined in step S8, and the process proceeds to step S3. On the other hand, if the end of the haptic sense transmission process is instructed, YES is determined in step S8, and the haptic sense control process ends.
  • FIG. 7 is a schematic diagram showing temporal changes in the magnitude of the force fed back from the slave device 20 to the master device 10 when only the external force input to the slave device 20 is amplified.
  • the external force double-dot chain line
  • the magnitude of the force solid line
  • the amplification factor for amplifying the external force (resistive force) detected by the slave device 20 is k1 (constant).
  • the horizontal axis represents time
  • the vertical axis represents the magnitude of force fed back to the operator.
  • the catheter begins to move as the operation starts, and the external force (resistance force) detected by the slave device 20 increases.
  • the catheter of the slave device 20 advances through a stationary environment (inside an artery, etc.) within the subject, and the resistance force including the dynamic friction force from the inner wall of the blood vessel, etc., has a substantially constant magnitude Fb . is working.
  • the force fed back from slave device 20 to master device 10 is expressed as F b ⁇ k1.
  • the catheter of the slave device 20 contacts a lesion or the like in the subject, causing acceleration (increasing resistance).
  • the maximum value of force input to the slave device 20 is Fp
  • the maximum value of force fed back from the slave device 20 to the master device 10 is expressed as Fp *k1.
  • the resistance input to the slave device 20 has a substantially constant magnitude Fb, whereas the magnitude of the force fed back to the master device 10 is F p ⁇ k1.
  • the user will feel a resistance greater than the resistance that is actually input to the slave device 20, increasing the load on the operation.
  • the change in the force actually input to the slave device 20 is F p ⁇ F b .
  • the change in force fed back to the master device 10 is (F p ⁇ F b ) ⁇ k1, which is a relatively large difference. Therefore, if the amplification factor is set low in order to reduce the load on the user during the period P2, the change in the force fed back to the master device 10 during the period P3 will be small, making it difficult for the user to feel the haptic sensation.
  • FIG. 8 is a schematic diagram showing temporal changes in the magnitude of the force fed back from the slave device 20 to the master device 10 when the force input to the slave device 20 is amplified and the offset amount is reduced.
  • the gain is set to be the same as the gain k1 in FIG. It shows the magnitude of the force (double-dot chain line) when the applied force is subtracted as an offset amount and the force is fed back to the master device 10 .
  • the solid line indicates the magnitude of the force when the force input to the slave device 20 is amplified by the amplification factor k1.
  • the horizontal axis represents time
  • the vertical axis represents the magnitude of force fed back to the operator.
  • the catheter begins to move as the operation starts, and the external force (resistance force) detected by the slave device 20 increases.
  • the catheter of the slave device 20 advances through a stationary environment (inside an artery, etc.) within the subject, and the resistance force including the dynamic friction force from the inner wall of the blood vessel, etc., has a substantially constant magnitude Fb . is working.
  • the catheter of the slave device 20 contacts a lesion or the like in the subject, causing acceleration (increasing resistance).
  • the change in force actually input to the slave device 20 is F p ⁇ F b
  • a catheter may be manually inserted to the vicinity of the lesion, and force may be fed back from the slave device 20 to the master device 10 in a specific section near the lesion.
  • the operator manually inserts the catheter of the slave device 20 to the vicinity of the lesion, and in the vicinity of the lesion, the force input to the slave device 20 is amplified, and the resistance input to the slave device 20 is amplified.
  • the force can be subtracted from the force transmitted by the slave device 20 to the master device 10 as an offset quantity (friction compensation quantity).
  • FIG. 9 is a schematic diagram showing the configuration of the control system 1 that performs force feedback after the operator manually inserts the catheter of the slave device 20 .
  • the catheter of the slave device 20 is provided with an operating lever (grasping portion) or the like so that manual operation by the operator is possible.
  • the control system 1 of this modified example includes only the detection actuators 104 and 204 among the direct acting actuators included in the control system 1 of the first embodiment shown in FIG. not
  • the catheter is released from movement control by sensing actuator 204 and rotation actuator 205 and can be manipulated like a conventional catheter. At this time, it is assumed that the operator inserts the catheter to a position short of the vicinity of the lesion, and with this state as the initial state, the haptic transmission processing is started.
  • the catheter is held for movement control by the sensing actuator 204 and the rotation actuator 205, and the slave device 20 moves the catheter according to the operation of the master device 10, and the catheter is moved. is fed back from the slave device 20 to the master device 10 .
  • the force input to the slave device 20 is amplified by a predetermined amplification factor, and the resistance input to the slave device 20 is amplified by the same amount. is subtracted from the force transmitted from the slave device 20 to the master device 10 as an offset amount (friction compensation amount).
  • the distance over which the catheter is moved by the actuator is relatively short, it is sufficient to provide an actuator with a short stroke such as a voice coil motor.
  • the force input to the slave device 20 is amplified by a predetermined amplification factor, similarly to the control system 1 of the first embodiment.
  • a predetermined amplification factor similarly to the control system 1 of the first embodiment.
  • the force in the thrust direction (advancing and retreating direction) of the catheter is transmitted between the master device 10 and the slave device 20 by haptic sensation, but the present invention is not limited to this.
  • haptic transmission may be performed between the master device 10 and the slave device 20 for rotation about a rotation axis along the advancing/retreating direction or for operating an end effector.
  • the force input to the slave device 20 may be amplified by a predetermined amplification factor and transmitted to the master device 10 after reducing the offset amount.
  • the amplification factor of the force fed back from the slave device 20 to the master device 10 is set to a constant value, but the present invention is not limited to this. That is, when the haptic sensation is transmitted between the master device 10 and the slave device 20, it is possible to perform control to change the amplification factor. As an example, at the beginning of the period P2 in FIGS.
  • the initial value of the amplification factor is set to transmit the haptic sensation between the master device 10 and the slave device 20, and in the period P2, the physical quantity acquisition unit 354 detects a steady resistance force (steady frictional force) input to the catheter, it changes the amplification factor in accordance with the steady frictional force and calculates an offset amount (friction compensation amount) can be set.
  • a steady resistance force steady frictional force
  • an offset amount frequency compensation amount
  • the amplification factor of the force fed back from the slave device 20 to the master device 10 is a function reflecting changes in the resistance force input to the catheter during periods P1 and P2 in FIGS. It may be set. Further, the offset amount (friction compensation amount) subtracted from the force fed back from the slave device 20 to the master device 10 may also be set according to the amplification factor set as a function. As a result, it is possible to adaptively reflect changes in the resistance input to the catheter, feed back the force from the slave device 20 to the master device 10, and reduce the offset amount (friction compensation amount) from the feedback force.
  • the force transmitted from the slave device 20 to the master device 10 is amplified, and then the force corresponding to the amplified resistance force is reduced before being transmitted to the master device 10.
  • this is the case. is not limited to That is, it is possible to reduce only a certain percentage (for example, reduce 90[%]) without reducing all of the force corresponding to the amplification of the resistance force.
  • the amplification factor of the force fed back from the slave device 20 to the master device 10 is set so that the rate of change in force is equal to or greater than a set threshold, or the amount of change in force is set. It can be set to be equal to or higher than the threshold.
  • the case where the actuators provided in the master device 10 and the actuators provided in the slave device 20 are associated one-to-one to transmit the haptic sensation has been described as an example.
  • a plurality of actuators of the master device 10 are associated with one actuator of the slave device 20 to transmit haptic sensations, or one actuator of the master device 10 is associated with a plurality of actuators of the slave device 20 to transmit haptic sensations. It is possible to communicate It is also possible to associate the plurality of actuators of the master device 10 with the plurality of actuators of the slave device 20 to transmit the haptic sensation.
  • the insertion actuator 203 and the detection actuator 204 of the slave device 20 shown in FIG. 3 can be associated with the insertion actuator 103 of the master device 10 to transmit the haptic sensation.
  • the configuration including the insertion actuator 203 and the detection actuator 204 as actuators for advancing and retracting the catheter of the slave device 20 has been described as an example, but the configuration is not limited to this. That is, the catheter of the slave device 20 may be advanced and retracted with a single actuator as long as the actuator satisfies the required performance in stroke and accuracy of operation.
  • the control system 1 includes the master device 10 , the slave device 20 and the control device 30 .
  • the control device 30 also includes a transmission condition setting section 351 and a haptic transmission section 353 .
  • the haptic transmission unit 353 controls haptic transmission between the master device 10 and the slave device 20 .
  • the transmission condition setting unit 351 amplifies the force input to the slave device 20 by the set amplification factor, and subtracts the force offset amount set based on the amplification factor from the amplified force. , to the master device 10 .
  • the force input to the slave device 20 is amplified by a predetermined amplification factor and transmitted to the master device 10 with a reduced offset amount. Changes can be easily perceived. Therefore, it is possible to reduce the load on the user who operates the master device 10 and make it easier for the user to perceive the state change of the slave device 20 .
  • the offset amount is set based on the amount of change in the force due to the amplification of the stationary force component input to the slave device 20. do. As a result, steady resistance and the like are amplified, and an increase in the burden on the operator during operation can be suppressed.
  • An amplification factor is set based on the force input to the slave device 20, and an offset amount is set based on the set amplification factor.
  • an offset amount is set based on the set amplification factor.
  • the force to be input to the slave device 20 is calculated based on the control parameters for controlling the transmission of the haptic sensation in the master device 10 and the slave device 20.
  • the force to be input to the slave device 20 is transmitted by transmitting the haptic sensation. Since the applied force can be detected, it is possible to set the transmission condition of the haptic sensation according to the environment without detecting the force by a force sensor or the like.
  • the present invention is not limited to the above-described embodiments, and includes modifications, improvements, and the like within the scope of achieving the object of the present invention.
  • the present invention can be implemented as the control system 1 in the above-described embodiment, as well as a control device that controls the control system 1, a control method configured by each step executed in the control system 1, or a control system It can be implemented as a program executed by a processor to implement one function.
  • the configuration in which the control device 30 is implemented as an independent device has been described as an example. It can be implemented in one or distributed in both of them.
  • the processing in the above-described embodiments can be executed by either hardware or software. That is, the control system 1 only needs to have a function capable of executing the above-described processing, and the functional configuration and hardware configuration for realizing this function are not limited to the above example.
  • a program that constitutes the software is installed in the computer from a network or a storage medium.
  • the storage medium that stores the program consists of a removable medium that is distributed separately from the device main body, or a storage medium that is pre-installed in the device main body.
  • Removable media are composed of, for example, a semiconductor memory, a magnetic disk, an optical disk, or a magneto-optical disk.
  • Optical discs are composed of, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), Blu-ray (registered trademark) Discs, and the like.
  • the magneto-optical disk is composed of an MD (Mini-Disk) or the like.
  • the storage medium pre-installed in the device main body is composed of, for example, a ROM (Read Only Memory) storing programs, a hard disk, or a semiconductor memory.
  • control system 10 master device, 20 slave device, 30 control device, 40 network, L display, C camera, FT functional force/velocity allocation conversion block, FC ideal force source block, PC ideal velocity (position) source block, IFT Inverse transform block, S controlled system, 101, 201 control unit, 102, 202 communication unit, 103, 203 insertion actuator, 104, 204 detection actuator, 105, 205 rotation actuator, 106, 206 operation actuator, 107, 108, 207, 208 linear encoder, 109, 110, 209, 210 rotary encoder, 111 to 114, 211 to 214 driver, 311 processor, 312 ROM, 313 RAM, 314 bus, 315 input section, 316 output section, 317 Storage unit, 318 communication unit, 319 drive, 331 removable media, 351 transmission condition setting unit, 352 sensor information acquisition unit, 353 haptic transmission unit, 354 physical quantity acquisition unit, 371 control parameter storage unit

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Manipulator (AREA)

Abstract

L'invention concerne un système de commande (1) qui comprend un dispositif maître (10), un dispositif esclave (20) et un dispositif de commande (30). Le dispositif de commande (30) comprend une unité de réglage de condition de transmission (351) et une unité de transmission haptique (353). L'unité de transmission haptique (353) commande la transmission d'informations haptiques entre le dispositif maître (10) et le dispositif esclave (20). L'unité de réglage de condition de transmission (351) amplifie, à un facteur d'amplification défini, la force à entrer dans le dispositif esclave (20) et soustrait une quantité de décalage de force définie sur la base du facteur d'amplification à partir de la force amplifiée, et amène le dispositif maître (10) à transmettre la force.
PCT/JP2022/015721 2021-03-30 2022-03-29 Système de commande, dispositif de commande, procédé de commande et programme WO2022210801A1 (fr)

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JP2021-058544 2021-03-30
JP2021058544A JP2024081807A (ja) 2021-03-30 制御システム、制御装置、制御方法及びプログラム

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59115172A (ja) * 1982-12-22 1984-07-03 三菱重工業株式会社 マスタ−スレ−ブマニプレ−タの制御方式
JPH06138945A (ja) * 1992-10-26 1994-05-20 Toshiba Corp マスタスレーブマニピュレータの制御装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59115172A (ja) * 1982-12-22 1984-07-03 三菱重工業株式会社 マスタ−スレ−ブマニプレ−タの制御方式
JPH06138945A (ja) * 1992-10-26 1994-05-20 Toshiba Corp マスタスレーブマニピュレータの制御装置

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