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WO2022102073A1 - Dispositif d'actionnement - Google Patents

Dispositif d'actionnement Download PDF

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Publication number
WO2022102073A1
WO2022102073A1 PCT/JP2020/042389 JP2020042389W WO2022102073A1 WO 2022102073 A1 WO2022102073 A1 WO 2022102073A1 JP 2020042389 W JP2020042389 W JP 2020042389W WO 2022102073 A1 WO2022102073 A1 WO 2022102073A1
Authority
WO
WIPO (PCT)
Prior art keywords
grip
operating device
holding portion
pinch
respect
Prior art date
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
Application number
PCT/JP2020/042389
Other languages
English (en)
Japanese (ja)
Inventor
耕太郎 只野
ソルモン 鄭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Riverfield Inc
Original Assignee
Riverfield Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Riverfield Inc filed Critical Riverfield Inc
Priority to PCT/JP2020/042389 priority Critical patent/WO2022102073A1/fr
Priority to JP2022516150A priority patent/JP7289578B2/ja
Publication of WO2022102073A1 publication Critical patent/WO2022102073A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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—Leader-follower 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
    • B25J13/02—Hand grip control means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers

Definitions

  • the present invention relates to an operating device used for a manipulator.
  • a pinch grip type that is pinched with the thumb and index finger
  • a power grip type that is gripped with the entire palm.
  • the pinch grip type is suitable for delicate work, but the burden on the fingers is large.
  • the power grip type is inferior to the pinch grip type for delicate work, but the burden on the operator is small.
  • Patent Document 1 discloses an operation handle for operating a master machine.
  • This operation handle is provided with a pair of operation parts that open and close the elongated master operation main body using two fingers of the operator, and by opening and closing the pair of operation parts, opening and closing operations such as gripping forceps are provided.
  • the surgical instruments that can be opened and closed are operated.
  • a grip portion gripped by the palm of the operator is detachably attached to the end portion of the master operation main body portion. Then, by moving the entire operation handle within the three-dimensional operation area, the position and posture of the surgical instrument of the slave manipulator of the slave machine are controlled.
  • the above-mentioned operation handle is entirely moved by the operator's hand or finger when controlling the position and posture of the surgical instrument of the slave manipulator of the slave machine. Therefore, if the grip portion is removed and the position and posture of the surgical instrument of the slave manipulator are controlled only by the fingers, the burden on the operator's fingers becomes large as in the conventional pinch grip type. On the other hand, if an attempt is made to control the position and posture of the surgical instrument of the slave manipulator with the entire palm while the grip portion is attached, delicate work becomes difficult as in the conventional power grip type.
  • the present invention has been made in view of such a situation, and one of its exemplary purposes is to reduce the burden on the operator's operation and to provide a new operation unit capable of delicate work. be.
  • the operation device of a certain aspect of the present invention is an operation device used for remote control, and has a grip portion mainly gripped by the palm of the operator and mainly the operator. It has a pinch part that can be pinched by a finger. The pinch portion is configured to rotate with respect to the grip portion and slide with respect to the grip portion.
  • the entire operating device can be moved as a power grip type, but also the pinch portion can be rotated or slid while gripping the grip portion with the palm of the hand. Therefore, both the power grip type and the pinch grip type functions can be combined, the burden on the operator's operation can be reduced, and delicate work becomes possible.
  • the grip portion may have a first holding portion that is directly held by the palm and a rotating portion that is rotatable relative to the first holding portion.
  • the pinch portion may have a second holding portion that is directly held by a finger and a guide portion that guides the second holding portion so as to be separated from or close to the grip portion.
  • the rotating portion can rotate with the first holding portion of the grip portion fixed by the palm of the hand.
  • the second holding portion can be separated or brought close to the grip portion while being pinched by a finger.
  • the rotating portion is a rotating shaft provided inside the first holding portion, and the guide portion has a guide rail that is coupled to the rotating shaft and extends in a direction intersecting the rotating shaft. You may. As a result, the second holding portion can be moved in a predetermined direction with respect to the grip portion.
  • the second holding portion may be guided by the guide rail so as to move ⁇ 5 mm or more with respect to the rotation axis.
  • a gimbal portion that is rotatably configured around three axes that intersect each other and that movably supports the second holding portion may be further provided.
  • the movement information of the operating device can be used for controlling the position and posture of the manipulator of the slave machine, for example, via the gimbal unit.
  • the second holding portion may slide with respect to the grip portion with reference to the point where the three axes of the gimbal portion intersect.
  • the operating device is used to operate the master-side manipulator in the master-slave type surgery support robot.
  • the surgical support robot include those that operate forceps used in endoscopic surgery.
  • the application of the operating device is not limited to the surgery support robot.
  • it may be used as an input device for remote control of a robot used in a distribution factory or a manufacturing factory.
  • it is suitable as an operating device for remotely executing a process that requires delicate work for a long time via a robot.
  • remote is not only when the distance between the operator and the operation target is physically remote, but also when the master machine operated by the operator and the slave machine to be operated are mechanically separated. Is also included. In this case, even if the master machine and the slave machine are located close to each other, there is no difference in remote control.
  • FIG. 1 is a side view showing a schematic configuration of an operating device according to the present embodiment.
  • FIG. 2 is a top view showing a schematic configuration of an operating device according to the present embodiment.
  • the operating device 10 is used for remote control, and includes a grip portion 12 that is mainly gripped by the palm of the operator and a pinch portion 14 that is mainly pinched by the fingers of the operator.
  • the pinch portion 14 is configured to rotate with respect to the grip portion 12 (direction of arrow R1) and slide with respect to the grip portion 12 (direction of arrow S1).
  • the grip portion 12 has a cylindrical first holding portion 12a that is directly held by the palm of the hand, and a rotating portion 12b that is rotatable relative to the first holding portion 12a.
  • the first holding portion 12a is provided with a columnar hole in the center, and the columnar rotating portion 12b is rotatably housed in the hole.
  • the pinch portion 14 has a second holding portion 14a that is directly held by a finger, and a guide portion 14b that guides the second holding portion 14a so as to be separated or approached from the grip portion 12. ..
  • the rotating portion 12b can rotate with the first holding portion 12a of the grip portion 12 fixed by the palm of the hand. Further, the second holding portion 14a can be separated from or brought close to the grip portion 12 while being pinched by a finger.
  • the rotating portion 12b is a rotating shaft provided inside the first holding portion 12a.
  • the guide portion 14b is coupled to and fixed to a rotating shaft which is a rotating portion 12b. Further, the guide portion 14b has a linear guide rail 14c extending in a direction intersecting the axis A of the rotating shaft.
  • the second holding portion 14a can be moved in a predetermined direction (arrow S1 direction) with respect to the grip portion 12.
  • the angle formed by the axis A and the extending direction of the guide rail 14c is described as 90 °, but the angle does not have to be 90 ° and is 90 ° ⁇ . It may be set in the range of 45 °, may be set in the range of 90 ° ⁇ 30 °, or may be set in the range of 90 ° ⁇ 15 °.
  • the second holding portion 14a is guided by the guide rail 14c so as to move ⁇ 5 mm or more about the reference point P with respect to the rotation axis.
  • the second holding portion 14a is configured to be able to move along the guide rail 14c within a range of at least 10 mm.
  • FIG. 3 is a side view for explaining a schematic configuration of a gimbal portion included in the operating device according to the present embodiment
  • FIG. 4 is for explaining a schematic configuration of a gimbal portion included in the operating device according to the present embodiment. It is a top view of.
  • the second holding portion 14a of the operating device 10 is movably supported by the gimbal portion 20.
  • the gimbal portion 20 is configured to be rotatable around three rotation axes that intersect (orthogonally) each other.
  • the gimbal portion 20 is rotatable about the X-axis Ax, the Y-axis Ay, and the Z-axis Az.
  • the end portion of the second holding portion 14a in the Z-axis direction is connected to the Z-axis portion 22, and the Z-axis portion 22 is rotatable with respect to the L-shaped first arm 24. It is being held.
  • the first arm 24 holds the Y-axis portion 26 rotatably, and is rotatably provided with respect to the second arm 28 connected to the Y-axis portion 26.
  • the second arm 28 has an L-shape and rotatably holds the X-axis portion 30 at the end opposite to the end holding the Y-axis portion 26.
  • the X-axis portion 30 is connected to a translation mechanism such as an XYZ stage or an XYZ link mechanism for moving in a three-dimensional direction.
  • the movement information of the operating device 10 can be used to control the position and posture of the manipulator of the slave machine via the gimbal unit 20 and the translation mechanism.
  • the operation support robot capable of operating the forceps is a slave machine
  • the operator moves the entire operation device 10 in a desired direction or rotates it in a desired direction while grasping the grip portion 12.
  • the movement of the operating device 10 is detected by a sensor (not shown) that acquires information (movement information) of the rotation angles of the Z-axis portion 22, the Y-axis portion 26, and the X-axis portion 30.
  • the movement information detected by the sensor is transmitted to the surgery support robot.
  • the surgery support robot controls to move the position of the forceps based on the transmitted movement information.
  • the second holding portion 14a has a grip portion 12 based on a point (C shown in FIGS. 3 and 4) where the three axes (X-axis Ax, Y-axis Ay, Z-axis Az) of the gimbal portion 20 intersect. It is configured to slide against. As a result, the movement of the manipulator of the slave machine at a specific position can be made to correspond to the slide of the grip portion 12.
  • the operating device 10 according to the present embodiment is operated in a state where the grip portion 12 and the pinch portion 14 are gripped by the entire palm when the whole is largely moved. As a result, it is possible to move the slave unit without imposing a heavy burden on the operator even with a large movement.
  • the operating device 10 according to the present embodiment can independently operate the pinch portion 14 with a finger while holding the grip portion 12 with the palm of the hand. The movable range that can be realized by the relative movement of the pinch portion 14 with respect to the grip portion 12 will be described below.
  • FIG. 5 (a) to 5 (d) are schematic views for explaining the movable range of the operating device.
  • the state of the operating device 10 shown in FIG. 5A is a state in which the pinch portion 14 is closest to the grip portion 12. From this state, as shown in FIG. 5B, the pinch portion 14 can be slid with respect to the grip portion 12 by moving the second holding portion 14a pinched by the fingers to the left side of the figure. ..
  • the pinch portion 14 becomes the grip portion 12.
  • the operating device 10 according to the present embodiment can be delicately moved only by the movement of the pinch portion 14 in the range of the fan-shaped region D shown in FIG. 5 (d). Become.
  • the present invention has been described above with reference to the above-described embodiment, the present invention is not limited to the above-described embodiment, and the present invention is not limited to the above-described embodiment, and the present invention may be a combination or substitution of the configurations of the embodiments as appropriate. It is included in the present invention. Further, it is also possible to appropriately rearrange the combinations and the order of processing in the embodiment based on the knowledge of those skilled in the art, and to add modifications such as various design changes to the embodiments, and such modifications are added. The embodiments described above may also be included in the scope of the present invention.
  • the present invention can be used as a manipulator of a master machine.

Landscapes

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

Abstract

Un dispositif d'actionnement (10) est utilisé pour une commande à distance et comprend : une partie de préhension (12) qui est principalement saisie par la paume d'un opérateur; et une partie de pincement (14) qui est principalement pincée par les doigts de l'opérateur. La partie de pincement (14) est configurée pour tourner par rapport à la partie de préhension (12) et coulisser par rapport à la partie de préhension (12).
PCT/JP2020/042389 2020-11-13 2020-11-13 Dispositif d'actionnement Ceased WO2022102073A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2020/042389 WO2022102073A1 (fr) 2020-11-13 2020-11-13 Dispositif d'actionnement
JP2022516150A JP7289578B2 (ja) 2020-11-13 2020-11-13 操作装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/042389 WO2022102073A1 (fr) 2020-11-13 2020-11-13 Dispositif d'actionnement

Publications (1)

Publication Number Publication Date
WO2022102073A1 true WO2022102073A1 (fr) 2022-05-19

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ID=81600947

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/042389 Ceased WO2022102073A1 (fr) 2020-11-13 2020-11-13 Dispositif d'actionnement

Country Status (2)

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JP (1) JP7289578B2 (fr)
WO (1) WO2022102073A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7605551B1 (ja) * 2023-07-13 2024-12-24 リバーフィールド株式会社 コンソール装置

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001276091A (ja) * 2000-03-29 2001-10-09 Toshiba Corp 医療用マニピュレータ
JP2012131014A (ja) * 2010-11-30 2012-07-12 Olympus Corp マスタ操作入力装置及びマスタスレーブマニピュレータ
JP2015116660A (ja) * 2013-11-13 2015-06-25 パナソニックＩｐマネジメント株式会社 マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブ装置
WO2017022307A1 (fr) * 2015-07-31 2017-02-09 オリンパス株式会社 Système de manipulateur
JP2017104964A (ja) * 2015-12-11 2017-06-15 川崎重工業株式会社 マスターアーム入力装置
WO2019026654A1 (fr) * 2017-07-31 2019-02-07 株式会社メディカロイド Dispositif d'entrée de commande maître et manipulateur maître-esclave
WO2019093020A1 (fr) * 2017-11-07 2019-05-16 リバーフィールド株式会社 Unité de manipulation médicale
WO2019163359A1 (fr) * 2018-02-20 2019-08-29 ソニー株式会社 Dispositif de présentation de sensation tactile et système de présentation de sensation tactile
CN209734152U (zh) * 2018-12-29 2019-12-06 苏州康多机器人有限公司 一种全被动型主操作手

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001276091A (ja) * 2000-03-29 2001-10-09 Toshiba Corp 医療用マニピュレータ
JP2012131014A (ja) * 2010-11-30 2012-07-12 Olympus Corp マスタ操作入力装置及びマスタスレーブマニピュレータ
JP2015116660A (ja) * 2013-11-13 2015-06-25 パナソニックＩｐマネジメント株式会社 マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブ装置
WO2017022307A1 (fr) * 2015-07-31 2017-02-09 オリンパス株式会社 Système de manipulateur
JP2017104964A (ja) * 2015-12-11 2017-06-15 川崎重工業株式会社 マスターアーム入力装置
WO2019026654A1 (fr) * 2017-07-31 2019-02-07 株式会社メディカロイド Dispositif d'entrée de commande maître et manipulateur maître-esclave
WO2019093020A1 (fr) * 2017-11-07 2019-05-16 リバーフィールド株式会社 Unité de manipulation médicale
WO2019163359A1 (fr) * 2018-02-20 2019-08-29 ソニー株式会社 Dispositif de présentation de sensation tactile et système de présentation de sensation tactile
CN209734152U (zh) * 2018-12-29 2019-12-06 苏州康多机器人有限公司 一种全被动型主操作手

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7605551B1 (ja) * 2023-07-13 2024-12-24 リバーフィールド株式会社 コンソール装置

Also Published As

Publication number Publication date
JPWO2022102073A1 (fr) 2022-05-19
JP7289578B2 (ja) 2023-06-12

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