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WO2019039612A2 - Dumpling system - Google Patents

Dumpling system Download PDF

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Publication number
WO2019039612A2
WO2019039612A2 PCT/JP2018/031461 JP2018031461W WO2019039612A2 WO 2019039612 A2 WO2019039612 A2 WO 2019039612A2 JP 2018031461 W JP2018031461 W JP 2018031461W WO 2019039612 A2 WO2019039612 A2 WO 2019039612A2
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WO
WIPO (PCT)
Prior art keywords
rotary motor
torque
motor
forceps system
forceps
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/JP2018/031461
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French (fr)
Japanese (ja)
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WO2019039612A3 (en
Inventor
貴弘 溝口
誠通 下野
大西　公平
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Keio University
Yokohama National University NUC
Kanagawa Institute of Industrial Science and Technology
Original Assignee
Keio University
Yokohama National University NUC
Kanagawa Institute of Industrial Science and Technology
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Application filed by Keio University, Yokohama National University NUC, Kanagawa Institute of Industrial Science and Technology filed Critical Keio University
Publication of WO2019039612A2 publication Critical patent/WO2019039612A2/en
Publication of WO2019039612A3 publication Critical patent/WO2019039612A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery

Definitions

  • the present invention relates to a forceps system.
  • MIS minimally invasive surgery
  • Laparoscopic surgery which is a typical method of MIS, is performed by inserting a tool such as forceps from a hole formed in a patient's body.
  • a surgery support robot such as Intuitive Surgical's Da Vinci, which performs this laparoscopic surgery by remote control, has been developed.
  • an operation unit (master side) operated by the operator and a holding unit (slave side) installed at a remote place and actually holding the object are included.
  • a forceps system is described which controls the gripping part in response to the operation of the part.
  • remote operation type surgery support robots can dramatically improve the performance of the surgeon, they are generally expensive and expensive to install due to the complexity and size of the device. You need to ensure a large enough space for the Moreover, in order to master such a remote control type operation support robot, the operator had to build up a long-term operation training. For this reason, there is also a demand for a medical device that is simpler, can be used without special training, and is excellent in operability.
  • forceps for grasping and pulling tissues and organs etc. are routinely used in medical fields such as examinations and diagnoses other than surgery, so it is not limited to the remote control type and is simple and conventional. It is desirable that it can be used in the same sense as The present invention has been made in view of the above background, and an object thereof is to provide a forceps system which is simple, can be used in the same sense as conventional ones, and is excellent in operability.
  • a forceps system is pivotally supported by a head portion having a first rotation motor and a second rotation motor, and the head portion, and is coupled to the first rotation motor via a power transmission mechanism, and operated An operation unit operated by a user, and a shaft unit attached to the head unit;
  • a gripping portion disposed at the tip end of the shaft portion, which grips the object, penetrates the shaft portion, one end is connected to the gripping portion via a link mechanism, and the other end is power transmission with the second rotary motor
  • a control unit configured to control the first rotary motor and the second rotary motor, wherein the control unit is configured to control the first rotary motor by bilateral control based on acceleration;
  • the angular responses of the first and second rotary motors are controlled according to the angular deviation of the second rotary motor, and the torque responses of the first and second rotary motors are controlled according to the torque response of the first and second rotary motors.
  • the torque response of the first rotary motor and the second rotary motor is controlled.
  • FIG. 1 is a schematic view showing a schematic configuration of a forceps system according to the present embodiment.
  • FIG. 2 is a view showing the internal structure of the shaft in a region A indicated by a broken line in FIG.
  • FIG. 3 is a diagram showing a prototype of the forceps system according to the present embodiment.
  • FIG. 4 is a view showing the internal structure of the head in the prototype of the forceps system shown in FIG.
  • FIG. 5 is a view showing a state in which the prototype of the forceps system shown in FIG. 3 is held by the operator U.
  • FIG. 6 is a block diagram showing an outline of control in a control unit of the forceps system according to the present embodiment.
  • FIG. 1 is a schematic view showing a schematic configuration of a forceps system according to the present embodiment.
  • FIG. 2 is a view showing the internal structure of the shaft in a region A indicated by a broken line in FIG.
  • FIG. 3 is a diagram showing a prototype of the forceps system
  • FIG. 7 is a block diagram schematically showing control of DOB and RTOB in the block diagram shown in FIG.
  • FIG. 8 is a graph showing measurement results of torque response and angle response in the master and the slave when Experiment 1 was performed (without scaling).
  • FIG. 9 is a graph showing the measurement results of torque response and angle response in the master and the slave when Experiment 1 was performed (with scaling).
  • FIG. 10 is a diagram for explaining the experimental procedure in Experiment 2.
  • FIG. 11 is a diagram for explaining the experimental procedure in Experiment 2.
  • FIG. 12 is a diagram for explaining the experimental procedure in Experiment 2.
  • FIG. 13 is a diagram for explaining the experimental procedure in Experiment 2.
  • FIG. 14 is a graph showing measurement results for torque response and angular response at the master and slave during experiment 2.
  • FIG. 15 is a diagram showing an example of a screen on which data measured by the forceps system is displayed on a portable terminal.
  • FIG. 1 is a schematic view showing a schematic configuration of a forceps system 1 according to the present embodiment.
  • the forceps system 1 includes a shaft 2, a grip 3 (end effector), a head 4, and a controller 5.
  • the shaft portion 2 and the grip portion 3 provided at the tip of the shaft portion 2 are parts to be inserted into the patient's body, and the same ones as existing forceps can be used.
  • FIG. 2 is a view showing an internal structure of the shaft portion 2 in a region A indicated by a broken line in FIG. As shown in FIG.
  • the grip portion 3 is connected to an operation member 18 penetrating the inside of the shaft portion 2 via a link mechanism 19.
  • the link mechanism 19 is opened and the grip 3 is opened.
  • the link mechanism 19 is closed and the gripping portion 3 is closed.
  • the head unit 4 includes the operation unit 6, the grip unit 7, and the first rotation motor 8 and the second rotation motor 9.
  • the shaft 2 is attached to the head 4.
  • the operation unit 6 is a lever for the operator to operate the forceps system 1 and is rotatably supported by the rotating shaft 6 a in the head unit 4.
  • a hole 6b is formed for the operator to operate by putting a finger.
  • the operation unit 6 is connected to the first rotary motor 8 via gears as a power transmission mechanism housed in the head unit 4. That is, the pinion gear 13 a attached to the rotation shaft 6 a of the operation unit 6 is engaged with the pinion gear 13 b attached to the rotation shaft 8 a of the first rotation motor 8.
  • the operation force exerted on the operation unit 6 is transmitted to the first rotary motor 8.
  • the torque of the first rotary motor 8 is transmitted as a reaction force to the operator via the operation unit 6.
  • the invention is not limited to the case where the pinion gear 13a directly engages with the pinion gear 13b, and the pinion gear 13a may be engaged with the pinion gear 13b via some other pinion gears.
  • the operation member 18 is connected to the second rotary motor 9 through gears as a power transmission mechanism housed in the head unit 4. That is, in the operation member 18, the rack gear 14a attached to the other end opposite to the one end connected via the grip portion 3 and the link mechanism 19 (see FIG. 2) is the rotation shaft 9a of the second rotation motor 9. It is engaged with the attached pinion gear 14b.
  • the rack gear 14a and the pinion gear 14b convert the rotational motion of the second rotary motor 9 into a linear motion.
  • FIG. 3 is a diagram showing a prototype of the forceps system 1 according to the present embodiment.
  • the upper portion in FIG. 3 also shows the existing forceps 501 for comparison. As shown in FIG.
  • the external dimensions are larger than that of the conventional forceps by the size of the head portion 4 including the two rotating motors (the first rotating motor 8 and the second rotating motor 9). It has become.
  • the first rotary motor 8 and the second rotary motor 9 are connected to the control unit 5 (see FIG. 1) via the wiring 15.
  • the shaft 2 is detachably attached to the head 4 via the connection 12.
  • the operation member 18 shown in FIGS. 1 and 2 can be divided via a joint.
  • the gripping portions 3 having a shape according to the situation can be appropriately changed by replacing the shaft portions 2. It can be selected.
  • the existing forceps 501 like the forceps system 1, includes the shaft portion 502 and the grip portion 503, and further includes the handle portions 504 and 505 for opening and closing the grip portion 503.
  • the mechanism for opening and closing the gripping portion 503 is the same as the mechanism for opening and closing the gripping portion 3 of the forceps system 1 shown in FIG.
  • FIG. 4 is a view showing the internal structure of the head 4 in the prototype of the forceps system 1 shown in FIG. 4 shows the internal structure of the head 4 as viewed in the direction of arrow B in FIG.
  • the first rotary motor 8 and the second rotary motor 9 face each other across an imaginary plane parallel to a plane in which the operation unit 6 pivots, passing through a central axis in the longitudinal direction of the shaft portion 2.
  • the respective rotation axes are arranged coaxially, but they are not mechanically connected.
  • the first rotary motor 8 and the second rotary motor 9 it is difficult to apply an extra moment to the operator U who grips the grip portion 7, which improves operability, which is preferable.
  • the power transmission mechanism such as the pinion gear 13a and the pinion gear 13b coupled to the first rotation motor 8 and the power transmission mechanism such as the rack gear 14a and the pinion gear 14b coupled to the second rotation motor 9 have a small number of parts, and the head portion 4 can be stored compactly.
  • the first rotary motor 8 and the second rotary motor 9 occupy a large proportion in the total weight.
  • FIG. 5 is a view showing a state in which the prototype of the forceps system 1 is held by the operator U. As shown in FIG. 5, the user grips the grip portion 7 and operates by putting a finger on the hole formed in the operation portion 6. The grip 7 is sized to be gripped by the entire palm.
  • the operator U can hold the forceps system 1 stably, so the existing forceps 501 (see FIG. 3) can be recognized without being aware of the weight of the forceps system 1.
  • the forceps system 1 can be used in the same sense as in.
  • control of the first rotary motor 8 and the second rotary motor 9 in the control unit 5 shown in FIG. 1 will be described.
  • the first rotation motor 8 and the second rotation motor 9 are mutually controlled by the control unit 5 according to an acceleration-based bilateral control method.
  • the bilateral control is one of the general control methods, which responsively controls the position of the object and the force acting on the object to realize delicate work.
  • the operator can cause the slave (working side) to move according to the movement of the master by moving the master (operation side), and the slave receives the movement from the object.
  • the force can be fed back to the master operator.
  • the operation unit 6 actually operated by the operator and the first rotary motor 8 connected to the operation unit 6 via the power transmission mechanism are the master.
  • the grip 3 acting on the object and the second rotary motor 9 connected to the grip 3 via the power transmission mechanism, the operation member 18 and the like are slaves.
  • the acceleration reference means that angular acceleration, not torque, is used as a control amount.
  • a scaling function may be provided in the acceleration-based bilateral control applied to the control unit 5.
  • the scaling function is a function of enlarging or reducing the scale of the output position or force with respect to the input position or force.
  • a scaling gain is introduced to at least one of the torque and the angle, and scaling is applied to at least one of the torque and the angle between the first rotary motor 8 and the second rotary motor 9.
  • the scale of the torque or force output from the slave is reduced with respect to the torque or force input from the master by the operator. By doing this, operability can be further improved.
  • FIG. 6 is a block diagram showing an outline of control in the control unit 5 of the forceps system 1.
  • ⁇ is a scaling gain of the angular response
  • ⁇ is a scaling gain of the torque response
  • C p is a position controller
  • C f is a force controller.
  • the angular responses at the master and slave are denoted by ⁇ M res and ⁇ S res , respectively.
  • the reaction torque at the master and slave Represented by As shown in FIG. 6, the angles and torques of the first rotary motor 8 as the master and the second rotary motor 9 as the slave are disturbance observer (DOB: Disturbance Observer), and reaction torque estimation observer (RTOB: Reaction). Controlled using Torque Observer).
  • FIG. 7 is a block diagram showing an outline of control of DOB and RTOB.
  • ⁇ res is an angular response
  • I ref is a current reference
  • T reac is a reaction torque
  • T dis is a disturbance torque
  • K tn is a torque constant
  • g dis is a cut-off frequency of the low pass filter for the disturbance torque
  • g reac is a reaction The cutoff frequency of the low-pass filter with respect to torque
  • D is viscosity
  • J n is inertia
  • F c is coulomb friction.
  • DOBs are designed to quickly estimate and compensate for disturbances.
  • Robust acceleration control is achieved by DOB by estimating the sum of disturbance torques and performing compensation using the estimated disturbance torques. As shown in FIG.
  • RTOB is applied to estimate reaction torque without using a torque sensor.
  • the RTOB estimates the reaction torque applied to each rotary motor (the first rotary motor 8 and the second rotary motor 9) from the object based on the DOB. That is, in RTOB, the reaction torque is estimated by subtracting other forces such as internal friction that can be estimated in advance from the sum of disturbance torques estimated by DOB.
  • the bilateral control shown in FIG. 6 it is necessary to simultaneously satisfy two targets in order to transmit a clear sense of touch.
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents torque response [Nm].
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents angular response [rad].
  • a solid line indicates a torque response in the master, and a broken line indicates a torque response in the slave.
  • the solid line indicates the angular response at the master and the broken line indicates the angular response at the slave.
  • an open / close operation in which nothing is gripped by the grip unit 3 is performed between 0 seconds and 5 seconds.
  • the first rotary motor 8 as a master and the second rotary motor 9 as a slave rotate in accordance with the operation force acting on the master. For this reason, the torque response is small because nothing is gripped by the gripping unit 3 during the elapsed time from 0 seconds to 5 seconds. When the elapsed time is between 5 seconds and 10 seconds, the gripping portion 3 holds the sponge.
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents torque response [Nm].
  • the horizontal axis represents elapsed time [s], and the vertical axis represents angular response [rad].
  • the solid line indicates the torque response in the master, and the broken line indicates the torque response in the slave.
  • the solid line indicates the angular response at the master and the broken line indicates the angular response at the slave.
  • the torque response of the master and the angular response are respectively the torque response of the slave and the angular response. It has doubled. That is, in the forceps system 1, it was confirmed that scaling of force sense transmission was correctly realized.
  • FIGS. 10 to 13 are diagrams for explaining the experimental procedure in Experiment 2.
  • the forceps system 1 according to the present embodiment is used with the right hand (left side in FIG. 10) and the existing forceps 501 is used with the left hand (right side in FIG. 10).
  • the yarn 32 and the needle 33 were the same as those used in the actual surgery.
  • the pad 31 is a member that simulates the patient's organ and has appropriate softness.
  • the needle 33 is held by the gripping portion 3 in the forceps system 1, and the tip of the needle 33 is inserted into the pad 31. Subsequently, as shown in FIG.
  • the needle 33 is pulled out of the pad 31 by the gripping portion 3 in the forceps system 1.
  • the yarn 32 is held by the gripping portion 3 of the forceps system 1
  • the needle 33 is held by the existing forceps 501
  • the existing forceps 501 is moved, and the loop formed by the yarn 32 is Make and pass the needle 33 through the loop.
  • the yarn 32 held by the grip portion 3 of the forceps system 1 and the needle 33 held by the existing forceps 501 are pulled in opposite directions to form a knot.
  • FIG. 14 is a graph showing measurement results for torque response and angle at the master and slave during experiment 2.
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents torque response [Nm].
  • the horizontal axis represents elapsed time [s]
  • the vertical axis represents angular response [rad].
  • the solid line indicates the torque response in the master, and the broken line indicates the torque response in the slave.
  • the solid line indicates the angular response at the master, and the broken line indicates the angular response at the slave.
  • scaling gains ⁇ and ⁇ in bilateral control of the forceps system 1 were set to 1. That is, the torque response and the angular response are approximately equal for the master and the slave.
  • the periods indicated by (i), (ii), (iii) and (iv) in the graph correspond to the periods in which the procedures shown in FIG. 10, FIG. 11, FIG. 12 and FIG. Do. As shown in FIG. 14, in period (i) (during the procedure of FIG.
  • the torque response increases at an elapsed time of 8 seconds. This is because the operator strongly grips the needle 33 at the moment of inserting the needle 33 into the pad 31.
  • a large torque response of about 0.2 Nm is obtained at an elapsed time of 22 seconds. This indicates that a strong gripping force was required to pull out the needle 33 from the pad 31.
  • the forceps system 1 In period (iii) (during the procedure of FIG. 12), the forceps system 1 only holds the thread 32 and moves the existing forceps 501 to form a loop with the thread 32, and the needle 33 in the loop Through. For this reason, the torque response and the angular response in the forceps system 1 are constant.
  • the external analysis device is, for example, a personal computer or a portable terminal such as an iPhone (registered trademark) or an iPad (registered trademark).
  • the forceps system 1 further includes a transmitting unit, and the transmitting unit is from the controller 5 to each of the first rotation motor 8 and the second rotation motor 9. Data of torque and angle, and transmit the data to the portable terminal.
  • the transmission means may perform wired communication such as an electric wire and an optical fiber, or may perform wireless communication.
  • FIG. 15 is a view showing an example of a screen on which data measured by the forceps system 1 is displayed on the external analysis device. As for the display in the figure, Motor0 represents the first rotary motor 8 (see FIG.
  • Motor1 represents the second rotary motor 9 (see FIG. 1).
  • the position (Posisition), the velocity (Velocity) and the operating force (Force) of the first rotary motor 8 and the second rotary motor 9 may be confirmed in real time it can.
  • measurement data can be analyzed separately by recording measurement data by pressing the Start Record button. This makes it possible, for example, to quantify delicate force adjustments in the operation of the surgeon during surgery, and improve the skill of the surgeon.
  • the present invention is not limited to the above embodiment, and can be appropriately modified without departing from the scope of the present invention.
  • the forceps system of the present invention can be used as a medical device that is simpler, can be used in the same sense as conventional ones, and has excellent operability. In particular, it can be used as a forceps for grasping or pulling a tissue or an organ or the like by an operation etc., as well as an instrument for an inspection or a diagnosis. In addition, the forceps system of the present invention can quantify delicate force changes in the operation of the forceps during surgery and can also be used as a training tool for improving the skills of the surgeon.
  • This application claims priority based on Japanese Patent Application No. 2017-158330 filed on Aug. 21, 2017, the entire disclosure of which is incorporated herein.

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  • Life Sciences & Earth Sciences (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • Ophthalmology & Optometry (AREA)
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Abstract

Provided is a forceps system which is simple, can be used with the same sensation as conventional forceps systems, and has excellent operability. This forceps system is equipped with a head part having a first rotary motor and a second rotary motor, a manipulation part pivotally supported on the head part and coupled to the first rotary motor via a power transmission mechanism, a shaft part attached to the head part, a grasping part disposed on the distal end of the shaft part and for pinching a target, a manipulation member passing through the shaft part and having one end thereof coupled to the grasping part via a link mechanism and the other end thereof coupled to the second rotary motor via a power transmission mechanism, and a control unit controlling the first rotary motor and the second rotary motor. The control unit uses acceleration-based bilateral control to control the angular response of the first rotary motor and the second rotary motor in accordance with the angle deviation between the first rotary motor and the second rotary motor, and to control the torque response of the first rotary motor and the second rotary motor in accordance with the torque deviation between the first rotary motor and the second rotary motor.

Description

鉗子システムDumpling system

　本発明は、鉗子システムに関する。 The present invention relates to a forceps system.

　近年、医療分野において患者への負担が比較的少ない低侵襲手術（ＭＩＳ）が注目されている。ＭＩＳの典型的な方法である腹腔鏡手術は、患者の体に形成された穴から鉗子などの器具を挿入することによって行われる。この腹腔鏡手術を遠隔操作によって行う、Ｉｎｔｕｉｔｉｖｅ　Ｓｕｒｇｉｃａｌ社製のダビンチなどの手術支援ロボットが開発されている。例えば、特許文献１や特許文献２には、操作者が操作する操作部（マスター側）と、遠隔地に設置され実際に対象物を把持する把持部（スレーブ側）と、から構成され、操作部の操作に応じて把持部を制御する鉗子システムが記載されている。 In recent years, minimally invasive surgery (MIS), which has a relatively low burden on patients in the medical field, has attracted attention. Laparoscopic surgery, which is a typical method of MIS, is performed by inserting a tool such as forceps from a hole formed in a patient's body. A surgery support robot such as Intuitive Surgical's Da Vinci, which performs this laparoscopic surgery by remote control, has been developed. For example, in Patent Document 1 and Patent Document 2, an operation unit (master side) operated by the operator and a holding unit (slave side) installed at a remote place and actually holding the object are included. A forceps system is described which controls the gripping part in response to the operation of the part.

国際公開第２００５／１０９１３９号WO 2005/109139 国際公開第２０１５／０４１０４６号WO 2015/041046

　しかしながら、遠隔操作型の手術支援ロボットは、外科医のパフォーマンスを飛躍的に向上させることができるものの、一般的に、装置が複雑で大型であることから、導入のために多くの費用がかかるとともに設置のための十分に広いスペースを確保する必要がある。また、このような遠隔操作型の手術支援ロボットを使いこなすには、操作者は長期にわたる操作トレーニングを積む必要があった。このため、より簡易で、特別なトレーニングをしなくても使用でき、かつ操作性に優れた医療器具に対する要望も多い。特に、組織や臓器などをつかんだり牽引したりするための鉗子は、手術以外にも検査や診断など、医療現場において日常的に使用されることから、遠隔操作型に限らず、簡易で、従来のものと同じ感覚で使用できることが望まれる。
　本発明は、以上の背景に鑑みなされたものであり、簡易で、従来のものと同じ感覚で使用でき、かつ操作性に優れた鉗子システムを提供することを目的とする。 However, although remote operation type surgery support robots can dramatically improve the performance of the surgeon, they are generally expensive and expensive to install due to the complexity and size of the device. You need to ensure a large enough space for the Moreover, in order to master such a remote control type operation support robot, the operator had to build up a long-term operation training. For this reason, there is also a demand for a medical device that is simpler, can be used without special training, and is excellent in operability. In particular, forceps for grasping and pulling tissues and organs etc. are routinely used in medical fields such as examinations and diagnoses other than surgery, so it is not limited to the remote control type and is simple and conventional. It is desirable that it can be used in the same sense as
The present invention has been made in view of the above background, and an object thereof is to provide a forceps system which is simple, can be used in the same sense as conventional ones, and is excellent in operability.

　本発明の一態様にかかる鉗子システムは、第１回転モータおよび第２回転モータを有するヘッド部と、前記ヘッド部に軸支され、前記第１回転モータと動力伝達機構を介して連結され、操作者によって操作される操作部と、前記ヘッド部に取り付けられた軸部と、
　前記軸部の先端に配設され、対象物を挟む把持部と、前記軸部を貫通し、一端がリンク機構を介して前記把持部と連結され、他端が前記第２回転モータと動力伝達機構を介して連結された操作部材と、前記第１回転モータおよび前記第２回転モータを制御する制御部と、を備え、前記制御部は、加速度基準のバイラテラル制御により、前記第１回転モータと前記第２回転モータの角度偏差に応じて、前記第１回転モータと前記第２回転モータの角度応答を制御し、前記第１回転モータと前記第２回転モータのトルク偏差に応じて、前記第１回転モータと前記第２回転モータのトルク応答を制御するものである。 A forceps system according to an aspect of the present invention is pivotally supported by a head portion having a first rotation motor and a second rotation motor, and the head portion, and is coupled to the first rotation motor via a power transmission mechanism, and operated An operation unit operated by a user, and a shaft unit attached to the head unit;
A gripping portion disposed at the tip end of the shaft portion, which grips the object, penetrates the shaft portion, one end is connected to the gripping portion via a link mechanism, and the other end is power transmission with the second rotary motor A control unit configured to control the first rotary motor and the second rotary motor, wherein the control unit is configured to control the first rotary motor by bilateral control based on acceleration; And the angular responses of the first and second rotary motors are controlled according to the angular deviation of the second rotary motor, and the torque responses of the first and second rotary motors are controlled according to the torque response of the first and second rotary motors. The torque response of the first rotary motor and the second rotary motor is controlled.

　本発明によれば、簡易で、従来のものと同じ感覚で使用でき、かつ操作性に優れた鉗子システムを提供することができる。 According to the present invention, it is possible to provide a forceps system which is simple, can be used in the same sense as conventional ones, and is excellent in operability.

　図１は、本実施の形態にかかる鉗子システムの概略構成を示す模式図である。
　図２は、図１の破線で示す領域Ａにおける軸部の内部構造を示す図である。
　図３は、本実施の形態にかかる鉗子システムのプロトタイプを示す図である。
　図４は、図３に示す鉗子システムのプロトタイプにおけるヘッド部の内部構造を示す図である。
　図５は、図３に示す鉗子システムのプロトタイプが操作者Ｕによって保持された状態を示す図である。
　図６は、本実施の形態にかかる鉗子システムの制御部における制御の概略を示すブロック図である。
　図７は、図６に示すブロック図における、ＤＯＢおよびＲＴＯＢの制御の概略を示すブロック図である。
　図８は、実験１を行ったときの、マスターとスレーブにおける、トルク応答と角度応答についての測定結果を示すグラフである（スケーリングなし）。
　図９は、実験１を行ったときの、マスターとスレーブにおける、トルク応答と角度応答についての測定結果を示すグラフである（スケーリングあり）。
　図１０は、実験２における実験手順について説明する図である。
　図１１は、実験２における実験手順について説明する図である。
　図１２は、実験２における実験手順について説明する図である。
　図１３は、実験２における実験手順について説明する図である。
　図１４は、実験２を行っている間の、マスターおよびスレーブにおける、トルク応答と角度応答についての測定結果を示すグラフである。
　図１５は、鉗子システムによって測定されたデータを携帯端末において表示させた画面の一例を示す図である。 FIG. 1 is a schematic view showing a schematic configuration of a forceps system according to the present embodiment.
FIG. 2 is a view showing the internal structure of the shaft in a region A indicated by a broken line in FIG.
FIG. 3 is a diagram showing a prototype of the forceps system according to the present embodiment.
FIG. 4 is a view showing the internal structure of the head in the prototype of the forceps system shown in FIG.
FIG. 5 is a view showing a state in which the prototype of the forceps system shown in FIG. 3 is held by the operator U.
FIG. 6 is a block diagram showing an outline of control in a control unit of the forceps system according to the present embodiment.
FIG. 7 is a block diagram schematically showing control of DOB and RTOB in the block diagram shown in FIG.
FIG. 8 is a graph showing measurement results of torque response and angle response in the master and the slave when Experiment 1 was performed (without scaling).
FIG. 9 is a graph showing the measurement results of torque response and angle response in the master and the slave when Experiment 1 was performed (with scaling).
FIG. 10 is a diagram for explaining the experimental procedure in Experiment 2.
FIG. 11 is a diagram for explaining the experimental procedure in Experiment 2.
FIG. 12 is a diagram for explaining the experimental procedure in Experiment 2.
FIG. 13 is a diagram for explaining the experimental procedure in Experiment 2.
FIG. 14 is a graph showing measurement results for torque response and angular response at the master and slave during experiment 2.
FIG. 15 is a diagram showing an example of a screen on which data measured by the forceps system is displayed on a portable terminal.

　以下、図面を参照して本発明の実施の形態について説明する。
　まず、図１を参照して本実施の形態にかかる鉗子システムの概略構成について説明する。図１は、本実施の形態にかかる鉗子システム１の概略構成を示す模式図である。図１に示すように、鉗子システム１は、軸部（シャフト）２と、把持部（エンドエフェクタ）３と、ヘッド部４と、制御部５と、を備えている。
　軸部２および軸部２の先端に設けられた把持部３は、患者の体内に挿入される部分で、既存の鉗子と同様のものを用いることができる。図２は、図１の破線で示す領域Ａにおける軸部２の内部構造を示す図である。図２に示すように、把持部３は、軸部２内を貫通する操作部材１８とリンク機構１９を介して接続されている。図２の上段に示すように、操作部材１８を把持部３の方に移動させるとリンク機構１９が開いて把持部３が開く。また、図２の下段に示すように、操作部材１８を把持部３とは反対の方に移動させるとリンク機構１９が閉じて把持部３が閉じる。
　図１に戻り、ヘッド部４は、操作部６と、グリップ部７と、第１回転モータ８および第２回転モータ９と、を有する。また、軸部２はヘッド部４に取り付けられている。
　操作部６は、操作者が鉗子システム１を操作するためのレバーであり、ヘッド部４において、回転軸６ａにより回転可能に軸支されている。また、操作部６には、操作者が指を掛けて操作するための穴６ｂが形成されている。操作部６は、ヘッド部４に収容された動力伝達機構としてのギヤ類を介して第１回転モータ８と連結されている。すなわち、操作部６の回転軸６ａに取り付けられたピニオンギヤ１３ａが、第１回転モータ８の回転軸８ａに取り付けられたピニオンギヤ１３ｂに係合している。
　操作者が操作部６を回動すると、第１回転モータ８には操作部６に及ぼされた操作力が伝達される。反対に、操作者には、操作部６を介して第１回転モータ８のトルクが反力として伝達される。なお、当然のことながら、ピニオンギヤ１３ａがピニオンギヤ１３ｂと直接係合する場合に限らず、ピニオンギヤ１３ａが幾つかの他のピニオンギヤを介してピニオンギヤ１３ｂと係合するように構成してもよい。
　操作部材１８は、ヘッド部４に収容された動力伝達機構としてのギヤ類を介して第２回転モータ９と連結されている。すなわち、操作部材１８において、把持部３とリンク機構１９（図２参照）を介して連結された一端と反対側の他端に取り付けられたラックギヤ１４ａが、第２回転モータ９の回転軸９ａに取り付けられたピニオンギヤ１４ｂに係合している。ラックギヤ１４ａおよびピニオンギヤ１４ｂは、第２回転モータ９の回転運動を直線運動に変換する。すなわち、第２回転モータ９が回転すると操作部材１８が直線運動し、この直線運動によりリンク機構１９が駆動して把持部３を開閉させる。
　第２回転モータ９は、第１回転モータ８とは機械的に接続されていない。第１回転モータ８および第２回転モータ９は、それぞれ、制御部５に電気的に接続されている。第１回転モータ８と第２回転モータ９とは、制御部５において相互に制御される。制御部５における第１回転モータ８と第２回転モータ９の制御の詳細については後述する。
　図３は、本実施の形態にかかる鉗子システム１のプロトタイプを示す図である。なお、図３における上段には、比較のため、既存の鉗子５０１についても併せて示す。図３に示すように、鉗子システム１のプロトタイプでは、２つの回転モータ（第１回転モータ８、第２回転モータ９）を含むヘッド部４の大きさだけ、従来の鉗子よりも外形寸法が大きくなっている。第１回転モータ８および第２回転モータ９は、配線１５を介して制御部５（図１参照）と接続されている。
　軸部２は、ヘッド部４に接続部１２を介して着脱可能に取り付けられている。なお、ヘッド部４に対して軸部２を着脱可能に構成する場合、図１および図２に示す操作部材１８は継ぎ手を介して分割できるようにする。このように構成すると、鉗子システム１において、形状の異なる把持部３が設けられた軸部２を複数用意すれば、軸部２を付け替えすることにより、状況にあった形状の把持部３を適宜選択することができる。
　一方、既存の鉗子５０１は、鉗子システム１と同様に、軸部５０２と、把持部５０３と、を備え、さらに、把持部５０３を開閉操作するための取手部５０４，５０５を備えている。把持部５０３を開閉するための機構は、図２に示した、鉗子システム１の把持部３を開閉するための機構と同様である。既存の鉗子５０１では、軸支された取手部５０５を操作者が動かして軸部５０２の内部の操作部材を直線運動させることにより把持部５０３を開閉する。
　図４は、図３に示す鉗子システム１のプロトタイプにおけるヘッド部４の内部構造を示す図である。なお、図４には、図３の矢印Ｂの方向から見たヘッド部４の内部構造を示している。図４に示すように、第１回転モータ８と第２回転モータ９とは、軸部２の長手方向の中心軸を通り、操作部６の回動する平面と平行な仮想面を隔てて対向し、夫々の回転軸が同軸線上になるように配置されているが、機械的には接続されていない。このように、第１回転モータ８と第２回転モータ９を配置することにより、グリップ部７を握る操作者Ｕに余分なモーメントが加わりにくくなるために操作性が向上して好ましいが、これに限定されず、他の配置とすることも可能である。第１回転モータ８に連結されたピニオンギヤ１３ａやピニオンギヤ１３ｂなどの動力伝達機構、および、第２回転モータ９に連結されたラックギヤ１４ａやピニオンギヤ１４ｂなどの動力伝達機構は、部品点数も少なく、ヘッド部４においてコンパクトに収納することができる。
　図３および図４に示すように、鉗子システム１のプロトタイプでは、第１回転モータ８および第２回転モータ９が、総重量において大きな割合を占めている。しかしながら、鉗子システム１のプロトタイプの総重量は、約０．６２５ｋｇで、実際の医療現場において大きな支障なく使用できるレベルに抑えられている。本プロトタイプでは、第１回転モータ８および第２回転モータ９として、Ｍｉｃｒｏｔｅｃｈ　Ｌａｂｏｒａｔｏｒｙ製のＭＤＨ−４００６を用いている。今後、第１回転モータ８および第２回転モータ９の軽量化を進めていくことなどにより、鉗子システム１のさらなる軽量化が可能である。
　図５は、鉗子システム１のプロトタイプが操作者Ｕによって保持された状態を示す図である。図５に示すように、グリップ部７を握り、操作部６に形成された穴に指をかけて操作する。グリップ部７は手のひら全体で握ることができる大きさにする。グリップ部７をこのように構成することで、操作者Ｕは、鉗子システム１を安定して保持することができるため、鉗子システム１の重量を意識することなく、既存の鉗子５０１（図３参照）と同様の感覚で鉗子システム１を使用することができる。
　次に、図１に示した制御部５における、第１回転モータ８と第２回転モータ９の制御について説明する。
　第１回転モータ８と第２回転モータ９とは、制御部５において、加速度基準のバイラテラル制御方式により相互に制御される。ここで、バイラテラル制御とは、一般的な制御方式の１つであり、対象物の位置と対象物に作用する力を応答性良く制御し、繊細な作業を実現するものである。すなわち、加速度基準のバイラテラル制御では、操作者がマスター（操作側）を動かすことによってスレーブ（作業側）にマスターの動きに対応する動きをさせることができるとともに、スレーブが対象物から受けた反力をマスターの操作者にフィードバックすることができる。本実施の形態にかかる鉗子システム１では、操作者が実際に操作する操作部６と、動力伝達機構を介して操作部６に連結された第１回転モータ８と、がマスターである。また、対象物に作用する把持部３と、動力伝達機構や操作部材１８などを介して把持部３に連結された第２回転モータ９と、がスレーブである。また、加速度基準とは、トルクではなく角加速度を制御量として用いることを意味する。
　制御部５に適用される加速度基準のバイラテラル制御において、スケーリング機能を有していてもよい。ここで、スケーリング機能とは、入力された位置や力に対して、出力される位置や力のスケールを拡大または縮小する機能である。制御部５に適用されるバイラテラル制御において、トルクおよび角度の少なくとも一方にスケーリングゲインを導入し、第１回転モータ８と第２回転モータ９との間において、トルクおよび角度の少なくとも一方にスケーリングを生じさせる。例えば、繊細な作業を行う場合には、操作者がマスターから入力したトルクや力に対し、スレーブで出力されるトルクや力のスケールを縮小する。このようにすることで、操作性をより向上させることができる。
　図６は、鉗子システム１の制御部５における制御の概略を示すブロック図である。ここで、αは角度応答のスケーリングゲイン、βはトルク応答のスケーリングゲイン、Ｃｐは位置制御器、Ｃｆは力制御器を表す。マスター、スレーブにおける角度応答を、それぞれ、θＭ ｒｅｓ、θＳ ｒｅｓで表す。また、マスター、スレーブにおける反作用トルクを、

Figure JPOXMLDOC01-appb-M000001
で表す。
　図６に示すように、マスターとしての第１回転モータ８およびスレーブとしての第２回転モータ９における角度、トルクは、外乱オブザーバ（ＤＯＢ：Ｄｉｓｔｕｒｂａｎｃｅ　Ｏｂｓｅｒｖｅｒ）、および、反力トルク推定オブザーバ（ＲＴＯＢ：Ｒｅａｃｔｉｏｎ　Ｔｏｒｑｕｅ　Ｏｂｓｅｒｖｅｒ）を用いて制御される。
　図７は、ＤＯＢおよびＲＴＯＢの制御の概略を示すブロック図である。ここで、θｒｅｓは角度応答、Ｉｒｅｆは電流リファレンス、Ｔｒｅａｃは反作用トルク、Ｔｄｉｓは外乱トルク、Ｋｔｎはトルク定数、ｇｄｉｓは外乱トルクに対するローパスフィルタのカットオフ周波数、ｇｒｅａｃは反作用トルクに対するローパスフィルタのカットオフ周波数、Ｄは粘性、Ｊｎは慣性、Ｆｃはクーロン摩擦を表す。
　ＤＯＢは、外乱を、迅速に推定し補償を行うように設計されている。ロバストな加速度制御は、ＤＯＢによって、外乱トルクの総和を推定し、推定された外乱トルクを用いた補償を行うことにより達成される。図７に示すように、推定される外乱トルクの総和は、電流リファレンスおよび角加速度応答によって得られる。また、角加速度応答は、通常、エンコーダによって得られた角度応答の二次微分によって計算される。すなわち、外乱トルクの総和は以下の式で表される。
Figure JPOXMLDOC01-appb-M000002
 　ＲＴＯＢは、トルクセンサを用いないで反作用トルクを推定するために適用される。ＲＴＯＢは、ＤＯＢに基づいて対象物から各回転モータ（第１回転モータ８、第２回転モータ９）に加えられる反作用トルクを推定する。すなわち、ＲＴＯＢでは、ＤＯＢにより推定された外乱トルクの総和から、予め推定できる内部摩擦などの他の力を差し引くことにより反作用トルクを推定する。
　図６に示したバイラテラル制御では、鮮明な触覚を伝達するために２つの目標を同時に満たす必要がある。一つは、マスターとスレーブの位置応答を互いに追跡することである。もう一つは、マスターとスレーブとの間における作用反作用の法則を人工的に達成することである。これらの目標は、以下の式で表される。
　θＭ ｒｅｓ−θＳ ｒｅｓ＝０・・・（式２）
　ＴＭ ｒｅａｃ＋ＴＳ ｒｅａｃ＝０・・・（式３）
すなわち、第１回転モータ８と第２回転モータ９の角度偏差に応じて、第１回転モータ８と第２回転モータ９の角度応答を制御する。また、第１回転モータ８と第２回転モータ９のトルク偏差に応じて第１回転モータ８と第２回転モータ９のトルク応答を制御する。モードの概念に基づく加速度基準のバイラテラル制御によれば、（式２）および（式３）を同時に実現することができる。
　さらに、加速度基準のバイラテラル制御により動きのスケーリングが実現される。バイラテラル制御のスケーリングの目標は次のように表される。
　θＭ ｒｅｓ−αθＳ ｒｅｓ＝０・・・（式４）
　ＴＭ ｒｅａｃ＋βＴＳ ｒｅａｃ＝０・・・（式５）
これらの目標は、斜交座標で記述することができる。バイラテラル制御は、斜交座標制御によって実現される。環境インピーダンスの再現性は、スケーリングゲインα、βを変更することにより任意に設定することができる。
　次に、本実施の形態にかかる鉗子システム１の力覚伝達の機能を評価する実験について以下に説明する。なお、以下の説明では、鉗子システム１の構成については図１を、鉗子システム１の制御については図６および図７を適宜参照する。
　図３に示した鉗子システム１のプロトタイプを用いて、力覚伝達の機能を評価するために２つの実験（実験１、実験２）を行った。バイラテラル制御の位置制御器Ｃｐ（ｓ）＝Ｋｐ＋Ｋｖｓ、力制御器Ｃｆ＝Ｋｆにおいて、各パラメータは、Ｋｐ＝２５００、Ｋｖｓ＝１００．０、Ｋｆ＝０．８０００、ｇｄｉｓ＝４７２．１、ｇｒｅａｃ＝４７２．１にそれぞれ設定した。
　＜実験１＞
　まず、本実施の形態にかかる鉗子システム１の環境の剛性を認識する能力を検証するために行った実験について説明する。
　実験１では、鉗子システム１を用いて、何も把持しない開閉動作、柔らかい対象物（低剛性の環境）の把持、硬い対象物（高剛性の環境）の把持の順に操作される。柔らかい対象物としてスポンジを、硬い対象物としてアルミニウム製ブロックを使用した。
　把持部３で何も把持しない場合に対し、把持部３で対象物を把持する場合には、対象物から受ける反力によってトルク応答が大きくなるはずである。また、対象物としてのスポンジを把持部３でつかんだ場合には、対象物がつぶれるのに対し、対象物としてのアルミニウムブロックを把持部３でつかんだ場合には、対象物が非常に硬くほとんどつぶれない。このため、把持部３により、硬い対象物であるアルミニウムブロックをつかんだ場合には、柔らかい対象物であるスポンジをつかんだ場合よりも角度応答は小さくなるはずである。
　図８は、バイラテラル制御でスケーリングをせず（α＝１、β＝１）に実験１を行ったときの、マスターとしての第１回転モータ８およびスレーブとしての第２回転モータ９における、トルク応答と角度応答についての測定結果を示すグラフである。ここで、図８（ａ）では、横軸は経過時間［ｓ］、縦軸はトルク応答［Ｎｍ］を表す。図８（ｂ）では、横軸は経過時間［ｓ］、縦軸は角度応答［ｒａｄ］を表す。また、図８（ａ）において、実線はマスター（Ｍａｓｔｅｒ）におけるトルク応答を、破線はスレーブ（Ｓｌａｖｅ）におけるトルク応答を示す。同様に、図８（ｂ）において、実線はマスター（Ｍａｓｔｅｒ）における角度応答を、破線はスレーブ（Ｓｌａｖｅ）における角度応答を示す。
　図８に示すように、経過時間が０秒から５秒の間においては、把持部３で何も把持しない開閉動作が行われる。マスターとしての第１回転モータ８、スレーブとしての第２回転モータ９は、マスターに作用する操作力に応じて回転する。このため、経過時間が０秒から５秒の間は、把持部３で何も把持していないためトルク応答は小さい。経過時間が５秒から１０秒の間においては、把持部３でスポンジをつかむ。スポンジからの反力のため、何も把持しない開閉動作の場合よりもトルク応力が大きくなっている。経過時間が１２秒から１８秒の間においては、把持部３でアルミニウムブロックをつかむ。トルク応答はスポンジをつかんだ場合とほぼ同じだが、角度応答はスポンジをつかんだ場合よりも小さくなっている。
　図９は、バイラテラル制御でスケーリングをして（α＝２、β＝２）実験１を行ったときの、マスターとしての第１回転モータ８およびスレーブとしての第２回転モータ９における、トルク応答と角度応答についての測定結果を示すグラフである。ここで、図９（ａ）では、横軸は経過時間［ｓ］、縦軸はトルク応答［Ｎｍ］を表す。図９（ｂ）では、横軸は経過時間［ｓ］、縦軸は角度応答［ｒａｄ］を表す。また、図９（ａ）において、実線はマスター（Ｍａｓｔｅｒ）におけるトルク応答を、破線はスレーブ（Ｓｌａｖｅ）におけるトルク応答を示す。同様に、図９（ｂ）において、実線はマスター（Ｍａｓｔｅｒ）における角度応答を、破線はスレーブ（Ｓｌａｖｅ）における角度応答を示す。
　図９（ａ）に示すように、角度応答のスケーリングゲインα、トルク応答のスケーリングゲインβをともに２に設定したので、マスターのトルク応答、角度応答は、それぞれ、スレーブのトルク応答、角度応答の約２倍になっている。すなわち、鉗子システム１において、力覚伝達のスケーリングが正しく実現されていることが確認できた。また、図９に示したスケーリングを行った場合のトルク応答、角度応答の挙動は、図８に示したスケーリングをしなかった場合のトルク応答、角度応答の挙動とほぼ同じである。
　以上より、スケーリングをした場合、スケーリングをしなかった場合のいずれについても、鉗子システム１を介して、環境の剛性の違いを操作者が認識できることが確認できた。
　＜実験２＞
　次に、本実施の形態にかかる鉗子システム１が既存の鉗子と同じように使用できるかどうかを確認するための実験２について説明する。実験２では、実際のＭＩＳを模擬するために、器官を模擬したパッドに糸のついた針を挿入し、結び目を作る動作を行った。
　図１０から図１３は、実験２における実験手順について説明する図である。実験２では、図１０から図１３に示すように、右手（図１０では左側）で本実施の形態にかかる鉗子システム１を使用し、左手（図１０では右側）で既存の鉗子５０１を使用した。糸３２と針３３は、実際の手術で使用されるものと同じものを用いた。また、パッド３１は、患者の器官を模擬したもので、適度な柔らかさを有する部材である。
　まず、図１０に示すように、鉗子システム１における把持部３で針３３を保持し、針３３の先端をパッド３１に挿入する。続いて、図１１に示すように、鉗子システム１における把持部３によりパッド３１から針３３を引き出す。続いて、図１２に示すように、鉗子システム１の把持部３で糸３２を保持し、既存の鉗子５０１で針３３を保持し、既存の鉗子５０１を動かして、糸３２で作ったループを作り、そのループに針３３を通す。最後に、図１３に示すように、鉗子システム１の把持部３に保持された糸３２と、既存の鉗子５０１に保持された針３３を互いに反対方向に引っ張って結び目を作る。
　本実施の形態にかかる鉗子システム１で結び目を作る動作を行ったときの操作者の使用感は、既存の鉗子５０１で当該動作を行ったときのものとほぼ同様であった。すなわち、本実施の形態にかかる鉗子システム１をＭＩＳなどの実際の医療行為に使用可能であることが確認できた。
　図１４は、実験２を行っている間の、マスターおよびスレーブにおける、トルク応答と角度についての測定結果を示すグラフである。図１４（ａ）では、横軸は経過時間［ｓ］、縦軸はトルク応答［Ｎｍ］を表す。図１４（ｂ）では、横軸は経過時間［ｓ］、縦軸は角度応答［ｒａｄ］を表す。また、図１４（ａ）において、実線はマスター（Ｍａｓｔｅｒ）におけるトルク応答を、破線はスレーブ（Ｓｌａｖｅ）におけるトルク応答を示す。同様に、図１４（ｂ）において、実線はマスター（Ｍａｓｔｅｒ）における角度応答を、破線はスレーブ（Ｓｌａｖｅ）における角度応答を示す。なお、実験２では、鉗子システム１のバイラテラル制御におけるスケーリングゲインα、βを１とした。すなわち、マスターとスレーブとで、トルク応答および角度応答はほぼ等しくなる。さらに、グラフ中において（ｉ）、（ｉｉ）、（ｉｉｉ）、（ｉｖ）で示された期間は、それぞれ、図１０、図１１、図１２、図１３に示す手順を行っている期間に対応する。
　図１４に示すように、期間（ｉ）（図１０の手順の期間）では、経過時間８秒においてトルク応答が増加している。これは、操作者がパッド３１に針３３を挿入する瞬間に針３３を強く把持したためである。期間（ｉｉ）（図１１の手順の期間）では、経過時間２２秒において約０．２Ｎｍの大きなトルク応答になっている。これは、パッド３１から針３３を引き出すために強い把持力が必要とされたことを示している。
　期間（ｉｉｉ）（図１２の手順の期間）では、鉗子システム１では糸３２を保持しているだけであり、既存の鉗子５０１の方を動かして糸３２でループを作り、そのループに針３３を通した。このため、鉗子システム１におけるトルク応答および角度応答は一定となっている。期間（ｉｖ）（図１３の手順の期間）では、経過時間６４秒においてトルク応答が約０．１Ｎｍに増加している。これは、作業者が、鉗子システム１の把持部３にて保持された糸３２を引っ張って結び目を作ったためである。このように、実験２において鉗子システム１により取得したデータは、一連の挙動と一致していることが確認できた。
　実験１および実験２の間に鉗子システム１によって測定された結果は、メモリなどの記憶媒体に保存することができる。記憶媒体は、鉗子システム１に設けられていても、鉗子システム１とは別体の外部解析装置に設けられていてもよい。外部解析装置は、例えば、パーソナルコンピュータ、ｉＰｈｏｎｅ（登録商標）やｉＰａｄ（登録商標）などの携帯端末である。記憶媒体が鉗子システム１とは別体として設けられている場合、鉗子システム１は、送信手段をさらに備え、送信手段が、制御部５から、第１回転モータ８および第２回転モータ９のそれぞれにおける、トルクおよび角度のデータを取得し、当該データを携帯端末に送信する。送信手段は、電線及び光ファイバ等の有線通信を行うものであっても、無線通信を行うものであってもよい。
　図１５は、鉗子システム１によって測定されたデータを外部解析装置において表示させた画面の一例を示す図である。図中の表示について、Ｍｏｔｏｒ０は第１回転モータ８（図１参照）を、Ｍｏｔｏｒ１は第２回転モータ９（図１参照）を表している。図１５に示すように、鉗子システム１の操作中に、第１回転モータ８および第２回転モータ９における、位置（Ｐｏｓｉｓｉｔｉｏｎ）、速度（Ｖｅｌｏｃｉｔｙ）、操作力（Ｆｏｒｃｅ）をリアルタイムで確認することができる。また、Ｓｔａｒｔ　Ｒｅｃｏｒｄボタンを押して測定データを記録すれば、測定データを別途解析することもできる。これにより、例えば、手術中の外科医の鉗子操作における繊細な力加減を定量化することなどが可能になり、外科医のスキルを向上させることができる。
　なお、本発明は上記実施の形態に限られたものではなく、趣旨を逸脱しない範囲で適宜変更することが可能である。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, a schematic configuration of a forceps system according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic view showing a schematic configuration of a forceps system 1 according to the present embodiment. As shown in FIG. 1, the forceps system 1 includes a shaft 2, a grip 3 (end effector), a head 4, and a controller 5.
The shaft portion 2 and the grip portion 3 provided at the tip of the shaft portion 2 are parts to be inserted into the patient's body, and the same ones as existing forceps can be used. FIG. 2 is a view showing an internal structure of the shaft portion 2 in a region A indicated by a broken line in FIG. As shown in FIG. 2, the grip portion 3 is connected to an operation member 18 penetrating the inside of the shaft portion 2 via a link mechanism 19. As shown in the upper part of FIG. 2, when the operation member 18 is moved toward the grip 3, the link mechanism 19 is opened and the grip 3 is opened. Further, as shown in the lower part of FIG. 2, when the operation member 18 is moved in the opposite direction to the gripping portion 3, the link mechanism 19 is closed and the gripping portion 3 is closed.
Returning to FIG. 1, the head unit 4 includes the operation unit 6, the grip unit 7, and the first rotation motor 8 and the second rotation motor 9. The shaft 2 is attached to the head 4.
The operation unit 6 is a lever for the operator to operate the forceps system 1 and is rotatably supported by the rotating shaft 6 a in the head unit 4. Further, in the operation unit 6, a hole 6b is formed for the operator to operate by putting a finger. The operation unit 6 is connected to the first rotary motor 8 via gears as a power transmission mechanism housed in the head unit 4. That is, the pinion gear 13 a attached to the rotation shaft 6 a of the operation unit 6 is engaged with the pinion gear 13 b attached to the rotation shaft 8 a of the first rotation motor 8.
When the operator rotates the operation unit 6, the operation force exerted on the operation unit 6 is transmitted to the first rotary motor 8. On the contrary, the torque of the first rotary motor 8 is transmitted as a reaction force to the operator via the operation unit 6. As a matter of course, the invention is not limited to the case where the pinion gear 13a directly engages with the pinion gear 13b, and the pinion gear 13a may be engaged with the pinion gear 13b via some other pinion gears.
The operation member 18 is connected to the second rotary motor 9 through gears as a power transmission mechanism housed in the head unit 4. That is, in the operation member 18, the rack gear 14a attached to the other end opposite to the one end connected via the grip portion 3 and the link mechanism 19 (see FIG. 2) is the rotation shaft 9a of the second rotation motor 9. It is engaged with the attached pinion gear 14b. The rack gear 14a and the pinion gear 14b convert the rotational motion of the second rotary motor 9 into a linear motion. That is, when the second rotary motor 9 rotates, the operation member 18 linearly moves, and the link mechanism 19 is driven by the linear movement to open and close the grip portion 3.
The second rotary motor 9 is not mechanically connected to the first rotary motor 8. The first rotation motor 8 and the second rotation motor 9 are each electrically connected to the control unit 5. The first rotation motor 8 and the second rotation motor 9 are mutually controlled by the control unit 5. Details of control of the first rotary motor 8 and the second rotary motor 9 in the control unit 5 will be described later.
FIG. 3 is a diagram showing a prototype of the forceps system 1 according to the present embodiment. The upper portion in FIG. 3 also shows the existing forceps 501 for comparison. As shown in FIG. 3, in the prototype of the forceps system 1, the external dimensions are larger than that of the conventional forceps by the size of the head portion 4 including the two rotating motors (the first rotating motor 8 and the second rotating motor 9). It has become. The first rotary motor 8 and the second rotary motor 9 are connected to the control unit 5 (see FIG. 1) via the wiring 15.
The shaft 2 is detachably attached to the head 4 via the connection 12. When the shaft portion 2 is configured to be detachable from the head portion 4, the operation member 18 shown in FIGS. 1 and 2 can be divided via a joint. According to this configuration, if a plurality of shaft portions 2 provided with gripping portions 3 having different shapes in the forceps system 1 are prepared, the gripping portions 3 having a shape according to the situation can be appropriately changed by replacing the shaft portions 2. It can be selected.
On the other hand, the existing forceps 501, like the forceps system 1, includes the shaft portion 502 and the grip portion 503, and further includes the handle portions 504 and 505 for opening and closing the grip portion 503. The mechanism for opening and closing the gripping portion 503 is the same as the mechanism for opening and closing the gripping portion 3 of the forceps system 1 shown in FIG. In the existing forceps 501, the operator moves the pivotally supported handle portion 505 to linearly move the operation member inside the shaft portion 502, thereby opening and closing the grip portion 503.
FIG. 4 is a view showing the internal structure of the head 4 in the prototype of the forceps system 1 shown in FIG. 4 shows the internal structure of the head 4 as viewed in the direction of arrow B in FIG. As shown in FIG. 4, the first rotary motor 8 and the second rotary motor 9 face each other across an imaginary plane parallel to a plane in which the operation unit 6 pivots, passing through a central axis in the longitudinal direction of the shaft portion 2. The respective rotation axes are arranged coaxially, but they are not mechanically connected. Thus, by arranging the first rotary motor 8 and the second rotary motor 9, it is difficult to apply an extra moment to the operator U who grips the grip portion 7, which improves operability, which is preferable. There is no limitation, and other arrangements are possible. The power transmission mechanism such as the pinion gear 13a and the pinion gear 13b coupled to the first rotation motor 8 and the power transmission mechanism such as the rack gear 14a and the pinion gear 14b coupled to the second rotation motor 9 have a small number of parts, and the head portion 4 can be stored compactly.
As shown in FIGS. 3 and 4, in the prototype of the forceps system 1, the first rotary motor 8 and the second rotary motor 9 occupy a large proportion in the total weight. However, the total weight of the prototype of the forceps system 1 is about 0.625 kg, which is suppressed to a level that can be used without any major problems in actual medical practice. In this prototype, MDH-4006 manufactured by Microtech Laboratory is used as the first rotation motor 8 and the second rotation motor 9. Further weight reduction of the insulator system 1 is possible by, for example, promoting weight reduction of the first rotation motor 8 and the second rotation motor 9 in the future.
FIG. 5 is a view showing a state in which the prototype of the forceps system 1 is held by the operator U. As shown in FIG. 5, the user grips the grip portion 7 and operates by putting a finger on the hole formed in the operation portion 6. The grip 7 is sized to be gripped by the entire palm. By configuring the grip portion 7 in this manner, the operator U can hold the forceps system 1 stably, so the existing forceps 501 (see FIG. 3) can be recognized without being aware of the weight of the forceps system 1. The forceps system 1 can be used in the same sense as in.
Next, control of the first rotary motor 8 and the second rotary motor 9 in the control unit 5 shown in FIG. 1 will be described.
The first rotation motor 8 and the second rotation motor 9 are mutually controlled by the control unit 5 according to an acceleration-based bilateral control method. Here, the bilateral control is one of the general control methods, which responsively controls the position of the object and the force acting on the object to realize delicate work. That is, in the bilateral control based on acceleration, the operator can cause the slave (working side) to move according to the movement of the master by moving the master (operation side), and the slave receives the movement from the object. The force can be fed back to the master operator. In the forceps system 1 according to the present embodiment, the operation unit 6 actually operated by the operator and the first rotary motor 8 connected to the operation unit 6 via the power transmission mechanism are the master. In addition, the grip 3 acting on the object and the second rotary motor 9 connected to the grip 3 via the power transmission mechanism, the operation member 18 and the like are slaves. The acceleration reference means that angular acceleration, not torque, is used as a control amount.
A scaling function may be provided in the acceleration-based bilateral control applied to the control unit 5. Here, the scaling function is a function of enlarging or reducing the scale of the output position or force with respect to the input position or force. In the bilateral control applied to the control unit 5, a scaling gain is introduced to at least one of the torque and the angle, and scaling is applied to at least one of the torque and the angle between the first rotary motor 8 and the second rotary motor 9. Make it happen. For example, when performing delicate work, the scale of the torque or force output from the slave is reduced with respect to the torque or force input from the master by the operator. By doing this, operability can be further improved.
FIG. 6 is a block diagram showing an outline of control in the control unit 5 of the forceps system 1. Here, α is a scaling gain of the angular response, β is a scaling gain of the torque response, C p is a position controller, and C f is a force controller. The angular responses at the master and slave are denoted by θ M res and θ S res , respectively. Also, the reaction torque at the master and slave
Figure JPOXMLDOC01-appb-M000001
 Represented by
As shown in FIG. 6, the angles and torques of the first rotary motor 8 as the master and the second rotary motor 9 as the slave are disturbance observer (DOB: Disturbance Observer), and reaction torque estimation observer (RTOB: Reaction). Controlled using Torque Observer).
FIG. 7 is a block diagram showing an outline of control of DOB and RTOB. Here, θ res is an angular response, I ref is a current reference, T reac is a reaction torque, T dis is a disturbance torque, K tn is a torque constant, g dis is a cut-off frequency of the low pass filter for the disturbance torque, and g reac is a reaction The cutoff frequency of the low-pass filter with respect to torque, D is viscosity, J n is inertia, and F c is coulomb friction.
DOBs are designed to quickly estimate and compensate for disturbances. Robust acceleration control is achieved by DOB by estimating the sum of disturbance torques and performing compensation using the estimated disturbance torques. As shown in FIG. 7, the sum of the estimated disturbance torques is obtained by the current reference and the angular acceleration response. Also, the angular acceleration response is usually calculated by the second derivative of the angular response obtained by the encoder. That is, the total sum of disturbance torques is expressed by the following equation.
Figure JPOXMLDOC01-appb-M000002
 RTOB is applied to estimate reaction torque without using a torque sensor. The RTOB estimates the reaction torque applied to each rotary motor (the first rotary motor 8 and the second rotary motor 9) from the object based on the DOB. That is, in RTOB, the reaction torque is estimated by subtracting other forces such as internal friction that can be estimated in advance from the sum of disturbance torques estimated by DOB.
In the bilateral control shown in FIG. 6, it is necessary to simultaneously satisfy two targets in order to transmit a clear sense of touch. One is to track the master and slave position responses from one another. The other is to artificially achieve the law of action and reaction between the master and the slave. These goals are expressed by the following equation.
θ M res −θ S res = 0 (Equation 2)
T M reac + T S reac = 0 (Equation 3)
That is, according to the angular deviation of the first rotary motor 8 and the second rotary motor 9, the angular response of the first rotary motor 8 and the second rotary motor 9 is controlled. Further, the torque response of the first rotary motor 8 and the second rotary motor 9 is controlled according to the torque deviation between the first rotary motor 8 and the second rotary motor 9. According to the acceleration-based bilateral control based on the concept of the mode, it is possible to realize (Equation 2) and (Equation 3) simultaneously.
Furthermore, motion scaling is realized by acceleration-based bilateral control. The goal of scaling bilateral control is expressed as follows.
θ M res −αθ S res = 0 (Equation 4)
T M reac + βT S reac = 0 (equation 5)
These goals can be described in oblique coordinates. Bilateral control is realized by oblique coordinate control. The reproducibility of the environmental impedance can be arbitrarily set by changing the scaling gains α and β.
Next, an experiment for evaluating the function of force sense transmission of the forceps system 1 according to the present embodiment will be described below. In the following description, FIG. 1 will be appropriately referred to for the configuration of the forceps system 1, and FIGS. 6 and 7 will be appropriately referred to for control of the forceps system 1.
Using the prototype of forceps system 1 shown in FIG. 3, two experiments (Experiment 1, Experiment 2) were performed to evaluate the function of force sense transmission. In the position controller Cp (s) = Kp + Kvs for bilateral control, and the force controller Cf = Kf, each parameter is Kp = 2500, Kvs = 100.0, Kf = 0.8000, g dis = 472.1, g Each was set to reac = 472.1.
<Experiment 1>
First, an experiment conducted to verify the ability to recognize the rigidity of the environment of the forceps system 1 according to the present embodiment will be described.
In Experiment 1, using the forceps system 1, operations are performed in the following order: open / close operation without gripping anything, gripping of a soft target (a low rigidity environment), and gripping of a hard target (a high rigidity environment). A sponge was used as a soft object and an aluminum block was used as a hard object.
In the case where the object is gripped by the gripping portion 3 as opposed to the case where nothing is gripped by the gripping portion 3, the torque response should be increased by the reaction force received from the object. In addition, the object is crushed when the sponge as the object is grasped by the grasping part 3, whereas the object is very hard and almost fixed when the aluminum block as the object is grasped by the grasping part 3 It does not go wrong. For this reason, when grasping the aluminum block which is a hard object by the grasping part 3, the angular response should be smaller than when grasping the sponge which is a soft object.
FIG. 8 shows torques of the first rotation motor 8 as a master and the second rotation motor 9 as a slave when experiment 1 is performed without scaling in bilateral control (α = 1, β = 1). It is a graph which shows the measurement result about a response and an angle response. Here, in FIG. 8A, the horizontal axis represents elapsed time [s], and the vertical axis represents torque response [Nm]. In FIG. 8B, the horizontal axis represents elapsed time [s], and the vertical axis represents angular response [rad]. Further, in FIG. 8A, a solid line indicates a torque response in the master, and a broken line indicates a torque response in the slave. Similarly, in FIG. 8B, the solid line indicates the angular response at the master and the broken line indicates the angular response at the slave.
As shown in FIG. 8, an open / close operation in which nothing is gripped by the grip unit 3 is performed between 0 seconds and 5 seconds. The first rotary motor 8 as a master and the second rotary motor 9 as a slave rotate in accordance with the operation force acting on the master. For this reason, the torque response is small because nothing is gripped by the gripping unit 3 during the elapsed time from 0 seconds to 5 seconds. When the elapsed time is between 5 seconds and 10 seconds, the gripping portion 3 holds the sponge. Because of the reaction force from the sponge, the torque stress is greater than in the case of the open / close operation where nothing is gripped. While the elapsed time is between 12 seconds and 18 seconds, the gripping portion 3 grips the aluminum block. The torque response is about the same as grabbing a sponge, but the angular response is smaller than when grabbing a sponge.
FIG. 9 shows torque response in the first rotary motor 8 as a master and the second rotary motor 9 as a slave when scaling is performed with bilateral control (α = 2, β = 2) and experiment 1 is performed. And a graph showing the measurement results for the angular response. Here, in FIG. 9A, the horizontal axis represents elapsed time [s], and the vertical axis represents torque response [Nm]. In FIG. 9B, the horizontal axis represents elapsed time [s], and the vertical axis represents angular response [rad]. Further, in FIG. 9A, the solid line indicates the torque response in the master, and the broken line indicates the torque response in the slave. Similarly, in FIG. 9B, the solid line indicates the angular response at the master and the broken line indicates the angular response at the slave.
As shown in FIG. 9A, since both the scaling gain α of the angular response and the scaling gain β of the torque response are set to 2, the torque response of the master and the angular response are respectively the torque response of the slave and the angular response. It has doubled. That is, in the forceps system 1, it was confirmed that scaling of force sense transmission was correctly realized. Further, the behavior of the torque response and the angular response when the scaling shown in FIG. 9 is performed is substantially the same as the behavior of the torque response and the angular response when the scaling shown in FIG. 8 is not performed.
From the above, it has been confirmed that the operator can recognize the difference in the rigidity of the environment through the forceps system 1 in any case where scaling is performed and when scaling is not performed.
<Experiment 2>
Next, Experiment 2 for confirming whether the forceps system 1 according to the present embodiment can be used in the same manner as existing forceps will be described. In Experiment 2, in order to simulate an actual MIS, a needle with a thread was inserted into a pad simulating an organ, and an operation was performed to make a knot.
10 to 13 are diagrams for explaining the experimental procedure in Experiment 2. In Experiment 2, as shown in FIGS. 10 to 13, the forceps system 1 according to the present embodiment is used with the right hand (left side in FIG. 10) and the existing forceps 501 is used with the left hand (right side in FIG. 10). . The yarn 32 and the needle 33 were the same as those used in the actual surgery. The pad 31 is a member that simulates the patient's organ and has appropriate softness.
First, as shown in FIG. 10, the needle 33 is held by the gripping portion 3 in the forceps system 1, and the tip of the needle 33 is inserted into the pad 31. Subsequently, as shown in FIG. 11, the needle 33 is pulled out of the pad 31 by the gripping portion 3 in the forceps system 1. Subsequently, as shown in FIG. 12, the yarn 32 is held by the gripping portion 3 of the forceps system 1, the needle 33 is held by the existing forceps 501, the existing forceps 501 is moved, and the loop formed by the yarn 32 is Make and pass the needle 33 through the loop. Finally, as shown in FIG. 13, the yarn 32 held by the grip portion 3 of the forceps system 1 and the needle 33 held by the existing forceps 501 are pulled in opposite directions to form a knot.
The feeling of use of the operator when the operation of making a knot is performed by the forceps system 1 according to the present embodiment is substantially the same as that when the operation is performed by the existing forceps 501. That is, it has been confirmed that the forceps system 1 according to the present embodiment can be used for actual medical practice such as MIS.
FIG. 14 is a graph showing measurement results for torque response and angle at the master and slave during experiment 2. In FIG. 14A, the horizontal axis represents elapsed time [s], and the vertical axis represents torque response [Nm]. In FIG. 14B, the horizontal axis represents elapsed time [s], and the vertical axis represents angular response [rad]. Further, in FIG. 14A, the solid line indicates the torque response in the master, and the broken line indicates the torque response in the slave. Similarly, in FIG. 14 (b), the solid line indicates the angular response at the master, and the broken line indicates the angular response at the slave. In Experiment 2, scaling gains α and β in bilateral control of the forceps system 1 were set to 1. That is, the torque response and the angular response are approximately equal for the master and the slave. Furthermore, the periods indicated by (i), (ii), (iii) and (iv) in the graph correspond to the periods in which the procedures shown in FIG. 10, FIG. 11, FIG. 12 and FIG. Do.
As shown in FIG. 14, in period (i) (during the procedure of FIG. 10), the torque response increases at an elapsed time of 8 seconds. This is because the operator strongly grips the needle 33 at the moment of inserting the needle 33 into the pad 31. In period (ii) (during the procedure of FIG. 11), a large torque response of about 0.2 Nm is obtained at an elapsed time of 22 seconds. This indicates that a strong gripping force was required to pull out the needle 33 from the pad 31.
In period (iii) (during the procedure of FIG. 12), the forceps system 1 only holds the thread 32 and moves the existing forceps 501 to form a loop with the thread 32, and the needle 33 in the loop Through. For this reason, the torque response and the angular response in the forceps system 1 are constant. In period (iv) (during the procedure of FIG. 13), the torque response increases to about 0.1 Nm at an elapsed time of 64 seconds. This is because the worker pulled a thread 32 held by the gripping portion 3 of the forceps system 1 to form a knot. Thus, it could be confirmed that the data acquired by the forceps system 1 in Experiment 2 was consistent with a series of behaviors.
The results measured by the forceps system 1 during Experiment 1 and Experiment 2 can be stored in a storage medium such as a memory. The storage medium may be provided in the forceps system 1 or in an external analyzer separate from the forceps system 1. The external analysis device is, for example, a personal computer or a portable terminal such as an iPhone (registered trademark) or an iPad (registered trademark). When the storage medium is provided separately from the forceps system 1, the forceps system 1 further includes a transmitting unit, and the transmitting unit is from the controller 5 to each of the first rotation motor 8 and the second rotation motor 9. Data of torque and angle, and transmit the data to the portable terminal. The transmission means may perform wired communication such as an electric wire and an optical fiber, or may perform wireless communication.
FIG. 15 is a view showing an example of a screen on which data measured by the forceps system 1 is displayed on the external analysis device. As for the display in the figure, Motor0 represents the first rotary motor 8 (see FIG. 1) and Motor1 represents the second rotary motor 9 (see FIG. 1). As shown in FIG. 15, during operation of the forceps system 1, the position (Posisition), the velocity (Velocity) and the operating force (Force) of the first rotary motor 8 and the second rotary motor 9 may be confirmed in real time it can. Also, measurement data can be analyzed separately by recording measurement data by pressing the Start Record button. This makes it possible, for example, to quantify delicate force adjustments in the operation of the surgeon during surgery, and improve the skill of the surgeon.
The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the scope of the present invention.

　本発明の鉗子システムは、より簡易で、従来のものと同じ感覚で使用でき、かつ操作性に優れた医療器具として利用することができる。特に、手術等で組織や臓器などをつかんだり牽引したりするための鉗子として、それ以外にも検査や診断などの器具として使用することができる。また、本発明の鉗子システムは、手術中の外科医の鉗子操作における繊細な力加減を定量化することなどが可能であり、外科医のスキル向上のためのトレーニング・ツールに利用することもできる。
　本出願は、２０１７年８月２１日に出願された日本国特許出願２０１７−１５８３３０を基礎とする優先権を主張し、その開示の全てをここに取り込む。 The forceps system of the present invention can be used as a medical device that is simpler, can be used in the same sense as conventional ones, and has excellent operability. In particular, it can be used as a forceps for grasping or pulling a tissue or an organ or the like by an operation etc., as well as an instrument for an inspection or a diagnosis. In addition, the forceps system of the present invention can quantify delicate force changes in the operation of the forceps during surgery and can also be used as a training tool for improving the skills of the surgeon.
This application claims priority based on Japanese Patent Application No. 2017-158330 filed on Aug. 21, 2017, the entire disclosure of which is incorporated herein.

１　鉗子システム
２　軸部
３　把持部
４　ヘッド部
５　制御部
６　操作部
６ａ、８ａ、９ａ　回転軸
６ｂ　穴
７　グリップ部
８　第１回転モータ
９　第２回転モータ
１２　接続部
１３ａ、１３ｂ、１４ｂ　ピニオンギヤ
１４ａ　ラックギヤ
１５　配線
１８　操作部材
１９　リンク機構 Reference Signs List 1 forceps system 2 shaft portion 3 grip portion 4 head portion 5 control portion 6 operation portion 6a, 8a, 9a rotation shaft 6b hole 7 grip portion 8 first rotation motor 9 second rotation motor 12 connection portion 13a, 13b, 14b pinion gear 14a Rack gear 15 Wiring 18 Operation member 19 Link mechanism

Claims (4)

　第１回転モータおよび第２回転モータを有するヘッド部と、
　前記ヘッド部に軸支され、前記第１回転モータと動力伝達機構を介して連結され、操作者によって操作される操作部と、
　前記ヘッド部に取り付けられた軸部と、
　前記軸部の先端に配設され、対象物を挟む把持部と、
　前記軸部を貫通し、一端がリンク機構を介して前記把持部と連結され、他端が前記第２回転モータと動力伝達機構を介して連結された操作部材と、
　前記第１回転モータおよび前記第２回転モータを制御する制御部と、を備え、
　前記制御部は、加速度基準のバイラテラル制御により、前記第１回転モータと前記第２回転モータの角度偏差に応じて、前記第１回転モータと前記第２回転モータの角度応答を制御し、前記第１回転モータと前記第２回転モータのトルク偏差に応じて、前記第１回転モータと前記第２回転モータのトルク応答を制御する、鉗子システム。 A head portion having a first rotation motor and a second rotation motor;
An operation unit axially supported by the head unit, coupled to the first rotary motor via a power transmission mechanism, and operated by an operator;
A shaft attached to the head;
A gripping portion disposed at the tip of the shaft and sandwiching the object;
An operation member which penetrates the shaft, one end is connected to the grip through a link mechanism, and the other end is connected to the second rotary motor through a power transmission mechanism;
A control unit configured to control the first rotation motor and the second rotation motor;
The control unit controls angular responses of the first rotary motor and the second rotary motor according to an angular deviation of the first rotary motor and the second rotary motor by bilateral control based on acceleration, and A forceps system for controlling the torque response of the first rotary motor and the second rotary motor in accordance with the torque deviation of the first rotary motor and the second rotary motor. 　前記制御部は、前記第１回転モータと前記第２回転モータとの間において、トルクおよび角度の少なくとも一方にスケーリングを生じさせる、請求項１に記載の鉗子システム。 The forceps system according to claim 1, wherein the control unit causes scaling in at least one of a torque and an angle between the first rotation motor and the second rotation motor. 　前記軸部は、前記ヘッド部に対して着脱可能に構成されている、請求項１または請求項２に記載の鉗子システム。 The forceps system according to claim 1, wherein the shaft portion is configured to be attachable to and detachable from the head portion. 　送信手段をさらに備え、前記送信手段は、前記制御部から、前記第１回転モータおよび前記第２回転モータのそれぞれにおける、トルクおよび角度のデータを取得し、当該データを外部解析装置に送信する、請求項１から３のいずれか一項に記載の鉗子システム。 The information processing apparatus further includes transmission means, and the transmission means acquires torque and angle data of each of the first rotation motor and the second rotation motor from the control unit, and transmits the data to an external analysis device. The forceps system according to any one of claims 1 to 3.
PCT/JP2018/031461 2017-08-21 2018-08-20 Dumpling system Ceased WO2019039612A2 (en)

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