WO2025017922A1 - Robot system - Google Patents

Abstract

Provided is a surgery support robot system 100, a master device 1 of which includes: a grip part 113 provided in a right hand operation unit 11 and a grip part (not shown) provided in a left hand operation unit 12; and an output part 15 which, if a gripping operation applied to each grip part is not a predefined tightly gripping operation, outputs a grip signal (first grip signal) corresponding to the gripping force when said gripping operation is performed, or, if the gripping operation applied to each grip part is the predefined tightly gripping operation, outputs a grip signal (second grip signal) corresponding to a fully closed state. A first slave robot 21 and a second slave robot 22 include grip mechanisms 21A and 22A, respectively, which grip, if the grip signal (first grip signal) corresponding to the grip force is acquired from the master device 1, an object with a grip force based on the grip signal, or which keep gripping, if the grip signal (second grip signal) corresponding to the fully closed state is acquired, the object with a predefined gripping force.

Description

Robot System

This disclosure relates to a robot system.

　There is a known surgical support robot system that performs endoscopic surgery by moving robot-specific surgical instruments (e.g., forceps, scalpels, needle holders, etc.) operated by a doctor. Regarding this surgical support robot system, for example, Patent Document 1 discloses a system equipped with a haptic feedback function that feeds back the stress received from the surgical instruments to a master device (master grip input mechanism) that operates the surgical instruments.

JP 2020-39898 A

In the surgical support robot system disclosed in Patent Document 1, the wrist that connects the end effector gripping device and the shaft and one or more degrees of freedom of movement of the shaft are locked. However, the gripping force of the end effector gripping device is not locked in a constant state. For this reason, for example, when using a needle holder as a surgical instrument and wishing to grip the needle holder tightly, it is necessary to continue to grip the needle holder tightly in order to achieve both the tactile feedback function and the like, which may increase fatigue for the operator and deteriorate operability.

This disclosure was made in consideration of the above problems, and aims to provide a robot system that can reduce the operational burden on the operator and improve operability.

In order to solve the above problems, the robot system of the present disclosure includes:
A robot system including a master device for instructing an operation of a slave robot, and a slave device having the slave robot that operates in response to an instruction from the master device,
The master device is
A grip portion to be gripped by a user;
an output unit that outputs a first grip signal corresponding to a grip force when the grip operation on the grip portion is not a predetermined grip operation, and outputs a second grip signal when the grip operation on the grip portion is a predetermined grip operation;
Equipped with
The slave robot is
The gripping mechanism is configured to grip an object with a gripping force based on the first gripping signal when the first gripping signal is received from the master device, and to continue gripping the object with a predetermined gripping force when the second gripping signal is received.

This disclosure makes it possible to reduce the operational burden on the operator and improve operability.

FIG. 1 is a schematic diagram of a surgical support robot system. FIG. 2 is a block diagram showing the functional configuration of the surgery support robot system. 11 is a perspective view showing a grip portion of the right-hand operating unit that is held by an operator in his/her right hand. FIG. 13 is a flowchart showing a control procedure of a gripping signal output process. 13 is a flowchart showing a control procedure for a gripping operation process.

The following describes the embodiments with reference to the drawings. However, for the sake of convenience, the drawings referred to below show simplified versions of only the main components necessary to explain the embodiments.

[Configuration of surgical support robot system]
First, the configuration of this embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a schematic configuration diagram of a surgery support robot system 100 of this embodiment. Fig. 2 is a block diagram showing the functional configuration of the surgery support robot system 100.

As shown in Figures 1 and 2, the surgical support robot system 100 includes a master device 1 and a slave device 2.

The master device 1 is a device for instructing the operations of the first slave robot 21, the second slave robot 22, and the endoscope robot 23 that make up the slave device 2.

As shown in FIG. 2, the master device 1 includes a control unit 10, a right-hand operation unit 11, a left-hand operation unit 12, a foot operation unit 13, a display unit 14, and an output unit 15.

The control unit (determination means) 10 is composed of a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), etc., and controls the overall processing operations of each part of the master device 1. Specifically, in the control unit 10, the CPU reads out various processing programs stored in the ROM, expands them into the RAM, and performs various processes in cooperation with the programs.

The right-hand operation unit 11 is used by an operator of the surgical support robot system 100 (e.g., an operator performing endoscopic surgery) to instruct the operation of the first slave robot 21 with his/her right hand. The right-hand operation unit 11 outputs an operation signal input by operating the right-hand operation unit 11 to the control unit 10.

FIG. 3 is a perspective view showing a grip portion 110 of the right-hand operation unit 11 that the operator holds with his/her right hand.
As shown in FIG. 3 , the grip portion 110 includes a base portion 111 , a grip 112 , a handle portion 113 , and a clutch lever 114 .

The grip 112 is held in the palm of the operator's right hand. The grip 112 is connected to the base 111 in a state in which it can slide in the forward and backward directions as shown in FIG. 3. This allows the position of the grip 112 relative to the base 111 to be adjusted, so that the grip 112 can be held in an appropriate position according to the size of the operator's right hand.

The gripping unit 113 is held by two fingers (e.g., index finger and thumb) of the operator's right hand and is used to instruct the opening and closing of the gripping mechanism 21A (e.g., a needle holder or forceps (surgical tool)) supported by the first slave robot 21.

The gripping unit 113 includes a slider 113A connected to the right side of the base 111 in a state in which it can slide in the left-right direction as shown in FIG. 3, a first ring-shaped fixing band 113B for fixing the index finger of the right hand of the operator to the slider 113A, a second ring-shaped fixing band (not shown) for fixing the thumb of the right hand to the left side of the base 111, and a gripping force sensor 113C (see FIG. 2) for detecting the gripping force of the operator. The gripping force sensor 113C measures the position of the slider 113A in the left-right direction as shown in FIG. 3, and derives a force estimate converted from the measured position as the gripping force of the operator. Note that the derivation of the gripping force is not limited to the above method, and the gripping force of the operator may be derived using, for example, a strain gauge, a force sensor, or the like.

The clutch lever 114 is used to block the output of the operation signal input by operating the right-hand operation unit 11 to the control unit 10. The clutch lever 114 is constantly biased in the forward direction shown in FIG. 3 by a biasing member (not shown). For example, by pulling the clutch lever 114 in the rearward direction shown in FIG. 3 with the index finger of the right hand, the output of the operation signal input by operating the right-hand operation unit 11 to the control unit 10 can be blocked.

The right-hand operation unit 11 is also provided with a force feedback mechanism 115. The force feedback mechanism 115 feeds back to the right-hand operation unit 11 the stress (force sensation) received from the surgical tool supported by the first slave robot 21. The force feedback mechanism 115 also turns off the feedback of the stress (force sensation) to the right-hand operation unit 11 when a predetermined gripping operation (described later) is performed in the gripping unit 113 and the gripping mechanism 21A of the first slave robot 21 continues to grip an object with a predetermined gripping force.

The left-hand operation unit 12 is used when the operator instructs the operation of the second slave robot 22 with his/her left hand. The left-hand operation unit 12 outputs an operation signal input by operating the left-hand operation unit 12 to the control unit 10. Note that the configuration of the left-hand operation unit 12 is substantially the same as the right-hand operation unit 11 described above, so a description of the configuration of the left-hand operation unit 12 will be omitted.

The foot operation unit 13 is used when the operator instructs the operation of the slave device 2 or operates a specific function using his/her foot. The foot operation unit 13 is a switch that is operated by the operator stepping on it with his/her foot, and outputs an operation signal input by operating the switch to the control unit 10.

The display unit 14 displays information to those involved in the surgery, including the operator, and is equipped with a monitor such as an LCD (Liquid Crystal Display). The display unit 14 displays images captured by the endoscopic robot 23 (images of the area that is the subject of surgery) according to the instructions of a display signal input from the control unit 10.

The output unit 15 outputs control signals such as a grip signal and a release signal generated in the control unit 10. The output unit 15 is connected to the slave device 2 so that the above control signals can be output.

As shown in Figures 1 and 2, the slave device 2 supports surgical instruments used in endoscopic surgery, and controls the position, posture, and predetermined movements of the surgical instruments according to the operation of the right-hand operation unit 11 and the left-hand operation unit 12, etc.

The slave device 2 includes a first slave robot 21, a second slave robot 22, and an endoscope robot 23. In the following, an example will be described in which both the first slave robot 21 and the second slave robot 22 support gripping mechanisms 21A, 22A (e.g., needle holders) that can be opened and closed.

The first slave robot 21 is an articulated slave robot that operates according to the operation of the right-hand operation unit 11. The first slave robot 21 is provided with at least a gripping mechanism 21A, a cartridge 21B (see FIG. 1), a shaft 21C (see FIG. 1), and a joint (not shown).

The gripping mechanism 21A is a surgical tool that grips an object present in a patient's body cavity with a gripping force based on a control signal (gripping signal) output from the output unit 15 under the control of the control unit 10.

Cartridge 21B supports shaft 21C, a joint portion (not shown), and gripping mechanism 21A. Shaft 21C is a cylindrical or columnar member extending from cartridge 21B. Shaft 21C is arranged to be rotatable around its own central axis relative to cartridge 21B. The joint portion supports gripping mechanism 21A and controls the position and attitude of gripping mechanism 21A by bending. The joint portion is located between shaft 21C and gripping mechanism 21A.

The second slave robot 22 is an articulated slave robot that operates according to the operation of the left-hand operation unit 12. The second slave robot 22 is provided with at least a gripping mechanism 22A, a cartridge 22B (see FIG. 1), a shaft 22C (see FIG. 1), and a joint (not shown). Note that the configuration of the second slave robot 22 is substantially the same as that of the first slave robot 21 described above, and therefore a description of the configuration of the second slave robot 22 will be omitted.

As shown in Figures 1 and 2, the endoscopic robot 23 is a slave robot for acquiring images used in performing endoscopic surgery. Specifically, it is a slave robot that acquires images of the area within the patient's body cavity that is the subject of surgery. The endoscopic robot 23 outputs information about the acquired images to the control unit 10.

[Operation of the surgical robot system]
Next, the operation of the surgery support robot system 100 will be described with reference to FIGS.
4 is a flowchart showing a control procedure of the gripping signal output process executed by the master device 1. This gripping signal output process is started, for example, when the master device 1 switches to a mode in which the first slave robot 21 and the second slave robot 22 can be operated by an instruction from the master device 1 (hereinafter referred to as a surgery support mode).
In the following, the grip signal output process will be described taking as an example a case where a grip operation is performed on grip portion 113 (see FIG. 3) of right-hand operation portion 11. As shown in FIG.

[Grip signal output processing]
As shown in FIG. 4, when the grip signal output process is started, the control unit 10 of the master device 1 determines whether or not a grip operation has been performed on the grip unit 113 of the right-hand operation unit 11 (step S101).

If it is determined in step S101 that a gripping operation has been performed (step S101; YES), the control unit 10 determines whether the gripping operation is a gripping operation (step S102). Specifically, if the gripping force value detected by the gripping force sensor 113C of the gripping unit 113 exceeds a predetermined value and the state in which the gripping force exceeds the predetermined value is maintained for a predetermined time, the control unit 10 determines that the gripping operation is a gripping operation. On the other hand, if the condition that the gripping force value detected by the gripping force sensor 113C of the gripping unit 113 exceeds a predetermined value and the state in which the gripping force exceeds the predetermined value is maintained for a predetermined time is not satisfied, the control unit 10 determines that the gripping operation is not a gripping operation. Note that, when the gripping unit 113 is gripped, for example, if a special operation such as pressing a predetermined switch (not shown) provided on the grip unit 110 twice is performed, the gripping operation may be determined to be a gripping operation.

If it is determined in step S102 that the gripping operation is not a squeeze operation (step S102; NO), the control unit 10 determines whether the lock flag is set to OFF (step S103).

If it is determined in step S103 that the lock flag is set to OFF (step S103; YES), the control unit 10 outputs a gripping signal (first gripping signal) corresponding to the gripping force detected by the gripping force sensor 113C of the gripping unit 113 via the output unit 15 (step S104). Then, the control unit 10 advances the process to step S110.

Also, if it is determined in step S103 that the lock flag is not set to OFF, i.e., that the lock flag is set to ON (step S103; NO), the control unit 10 advances the process to step S110.

If it is determined in step S102 that the gripping operation is a squeeze operation (step S102; YES), the control unit 10 determines whether the lock flag is set to OFF (step S105).

If it is determined in step S105 that the lock flag is set to OFF (step S105; YES), the control unit 10 outputs a gripping signal (second gripping signal) corresponding to the fully closed state via the output unit 15 (step S106). Next, the control unit 10 sets the lock flag to ON (step S107). The control unit 10 then advances the process to step S110.

Also, in step S105, if it is determined that the lock flag is not set to OFF, i.e., that the lock flag is set to ON (step S105; NO), the control unit 10 outputs a release signal via the output unit 15 (step S108). Next, the control unit 10 sets the lock flag to OFF (step S109). Then, the control unit 10 advances the process to step S110.

If it is determined in step S101 that the gripping operation has not been performed (step S101; NO), the control unit 10 advances the process to step S110.

The control unit 10 then determines whether or not a specific operation has been performed to end the above-mentioned surgical assistance mode (step S110).

If it is determined in step S110 that a specific operation has been performed to end the surgical assistance mode (step S110; YES), the control unit 10 ends the gripping signal output process.

If it is determined in step S110 that the specified operation to end the surgery support mode has not been performed (step S110; NO), the control unit 10 returns the process to step S101 and repeats the subsequent processes.

[Grasp operation processing]
Next, the gripping operation process executed by the slave device 2 will be described with reference to FIG.

5 is a flowchart showing a control procedure for the gripping operation process, which is started when the mode is changed to the surgery assistance mode.
In the following, the gripping operation process will be described using as an example a case where a gripping signal or release signal is output by a gripping operation of the grip portion 113 of the right-hand operation unit 11 in the above-mentioned gripping signal output process (see Figure 4).

As shown in FIG. 5, when the gripping operation process is started, the first slave robot 21 of the slave device 2 determines whether or not it has acquired a gripping signal (a gripping signal resulting from a gripping operation of the gripping unit 113 of the right-hand operation unit 11) from the master device 1 (step S201).

If it is determined in step S201 that a gripping signal has been acquired from the master device 1 (step S201; YES), the first slave robot 21 determines whether the gripping signal is a gripping signal corresponding to a fully closed state (second gripping signal) (step S202).

If it is determined in step S202 that the gripping signal is not a gripping signal corresponding to the fully closed state, i.e., that the gripping signal is a gripping signal corresponding to the gripping force detected by the gripping force sensor 113C of the gripping unit 113 (step S202; NO), the first slave robot 21 grips the object with a gripping force based on the gripping signal by the gripping mechanism 21A (needle holder) supported by the first slave robot 21 (step S203). The first slave robot 21 then advances the process to step S206.

If it is determined in step S202 that the gripping signal is a gripping signal (second gripping signal) corresponding to the fully closed state (step S202; YES), the first slave robot 21 continues to grip the object with the gripping mechanism 21A (needle holder) supported by the first slave robot 21 at the maximum output that the first slave robot 21 can output (step S204). Then, the first slave robot 21 advances the process to step S205.

If it is determined in step S201 that a gripping signal has not been received from the master device 1 (step S201; NO), the first slave robot 21 advances the process to step S205.

Then, the first slave robot 21 determines whether or not it has received a release signal (a release signal resulting from a gripping operation (gripping operation) of the grip portion 113 of the right-hand operation unit 11) from the master device 1 (step S205).

If it is determined in step S205 that a release signal has been received from the master device 1 (step S205; YES), the first slave robot 21 releases the gripping state (a state in which the first slave robot 21 continues to grip the object with the gripping mechanism 21A (needle holder) at the maximum output that the first slave robot 21 can output) (step S206). Then, the first slave robot 21 advances the process to step S207.

If it is determined in step S205 that a release signal has not been received from the master device 1 (step S205; NO), the first slave robot 21 advances the process to step S207.

The first slave robot 21 then determines whether or not a specific operation has been performed to end the above-mentioned surgical assistance mode (step S207).

If it is determined in step S207 that a predetermined operation to end the surgical assistance mode has been performed (step S207; YES), the first slave robot 21 ends the grasping operation process.

If it is determined in step S207 that the specified operation to end the surgery support mode has not been performed (step S207; NO), the first slave robot 21 returns the process to step S201 and repeats the subsequent processes.

〔effect〕
As described above, the master device 1 of the surgical support robot system 100 according to this embodiment includes the gripping unit 113 provided on the right-hand operation unit 11 and the gripping unit (not shown) provided on the left-hand operation unit 12, and the output unit 15 that outputs a gripping signal (first gripping signal) corresponding to the gripping force when the gripping operation on each gripping unit is not a predetermined gripping operation, and outputs a gripping signal (second gripping signal) corresponding to a fully closed state when the gripping operation on each gripping unit is a predetermined gripping operation. The first slave robot 21 and the second slave robot 22 each include a gripping mechanism 21A, 22A that grips an object with a gripping force based on a gripping signal (first gripping signal) corresponding to the gripping force when the first slave robot 21 acquires the gripping signal from the master device 1, and continues to grip the object with a predetermined gripping force when the second slave robot 22 acquires a gripping signal (second gripping signal) corresponding to the fully closed state.
As a result, for example, by performing a gripping operation once on the gripping portion 113 provided on the right-hand operation unit 11, the gripping mechanism 21A of the first slave robot 21 can continue to grip the object with a predetermined gripping force. Therefore, when performing an operation in which the gripping mechanism 21A of the first slave robot 21 continues to grip the object with a predetermined gripping force, the operator of the master device 1 does not need to continue to grip the gripping portion 113, and the operational burden on the operator can be reduced. In addition, since the gripping mechanism 21A can continue to grip the object with a predetermined gripping force, operability can be improved.

The master device 1 also includes force feedback mechanisms 115, 125 that feed back the force sense when an object is gripped by each of the gripping mechanisms 21A, 22A of the first slave robot 21 and the second slave robot 22, and when the gripping mechanisms 21A, 22A continue to grip the object with a predetermined gripping force, the force feedback mechanisms 115, 125 turn off the feedback of the force sense when the object is gripped by the gripping mechanisms 21A, 22A.
As a result, for example, when the gripping mechanism 21A of the first slave robot 21 continues to grip an object with a predetermined gripping force, the force feedback when the object is gripped by the gripping mechanism 21A can be turned off, thereby reducing power consumption in the master device 1.

The master device 1 also includes a grip force sensor 113C that detects the grip force when the grip portion 113 of the right-hand operation unit 11 is gripped, a grip force sensor 123C that detects the grip force when the grip portion (not shown) of the left-hand operation unit 12 is gripped, and a control unit (determination means) 10 that determines whether or not a gripping operation has been performed on the corresponding grip portion based on the values detected by the grip force sensors 113C, 123C. When the control unit 10 determines that a gripping operation has been performed on the grip portion, the output unit 15 of the master device 1 outputs a grip signal (second grip signal) corresponding to a fully closed state.
As a result, for example, when it is determined that a gripping operation has been performed on the gripping unit 113 of the right-hand operation unit 11, the gripping mechanism 21A of the first slave robot 21 continues to grip the object with a predetermined gripping force, eliminating the need to continue the gripping operation of the gripping unit 113. This reduces the operator's fatigue caused by continuing the gripping operation of the gripping unit 113. In addition, it is possible to prevent the gripping force from becoming unstable due to the continued gripping operation of the gripping unit 113.

In addition, when the value detected by each grip force sensor 113C, 123C exceeds a predetermined value and the state in which the value exceeds the predetermined value is maintained for a predetermined period of time, the control unit 10 of the master device 1 determines that a gripping operation has been performed on the corresponding grip portion.
In this way, by using the condition for determining whether a gripping operation has been performed that the value detected by each grip force sensor 113C, 123C has exceeded a predetermined value and that the state where the value has exceeded the predetermined value has continued for a predetermined period of time as a determination condition for determining whether a gripping operation has been performed, it is possible to appropriately determine whether a gripping operation has been performed. As a result, it is possible to prevent the gripping mechanisms 21A, 22A from continuing to grip the object with a predetermined gripping force by mistake.

Furthermore, when the gripping mechanisms 21A, 22A receive a gripping signal (second gripping signal) corresponding to the fully closed state, they grip the object with the maximum output that can be output by the mechanisms 21A, 22A, so that the gripped state of the object can be maintained in an optimal manner.

In addition, the surgical support robot system 100 is equipped with a release means for releasing the state in which the gripping mechanisms 21A and 22A continue to grip the object with a predetermined gripping force, thereby improving the convenience of the function of gripping the object with the gripping mechanisms 21A and 22A.

In addition, when the control unit 10 determines that a gripping operation has been performed again on the corresponding gripping portion while the gripping mechanisms 21A, 22A are continuing to grip the object with a predetermined gripping force, the release means releases the state in which the gripping mechanisms 21A, 22A are continuing to grip the object with a predetermined gripping force, making the release easy.

〔others〕
The description of the above embodiment is merely an example of the surgical support robot system 100 according to the present disclosure, and is not limited thereto.
For example, the grip signal output processing (see Figure 4) of the above embodiment has been explained using an example in which a grip operation is performed in the grip portion 113 of the right-hand operating unit 11 (see Figure 3), but it goes without saying that the grip signal output processing is also performed when a grip operation is performed in the grip portion of the left-hand operating unit 12 (not shown).

Furthermore, the gripping action processing (see FIG. 5) of the above embodiment has been described using an example in which a gripping signal or release signal is output by a gripping operation of the gripping portion 113 of the right-hand operation unit 11, but it goes without saying that the gripping action processing is also performed when a gripping signal or release signal is output by a gripping operation of the gripping portion (not shown) of the left-hand operation unit 12.

In the above embodiment, in step S102 of the grip signal output process (see FIG. 4), if the grip force value detected by the grip force sensor 113C of the grip unit 113 exceeds a predetermined value and the state where the grip force value exceeds the predetermined value is maintained for a predetermined time, the control unit 10 determines that the grip operation is a gripping operation. However, if the grip force value detected by the grip force sensor 113C exceeds the predetermined value, the control unit 10 may determine that the grip operation is a gripping operation.

In addition, in the above embodiment, if it is determined in step S202 of the gripping operation process (see FIG. 5) that the acquired gripping signal is a gripping signal corresponding to the fully closed state (step S202; YES), the first slave robot 21 grips the object with the maximum output that the first slave robot 21 can output using the gripping mechanism 21A (needle holder) supported by the first slave robot 21 (step S204). However, gripping the object with the maximum output is merely one example, and the object may be gripped with a preset gripping force other than the maximum output.

In addition, in the above embodiment, when the gripping mechanisms 21A, 22A are continuing to grip the object with a predetermined gripping force, if the control unit 10 determines that a gripping operation has been performed again on the corresponding gripping portion, the gripping mechanisms 21A, 22A are released from the state in which the object is being gripped with the predetermined gripping force. However, the above state may also be released when, for example, a predetermined switch is pressed.

In addition, in the above embodiment, the robot system disclosed herein is described as a surgical support robot system 100, but the robot system can also be used in other industrial fields. For example, the robot system disclosed herein can be used as a remote-operated robot system used for work at construction sites.

In addition, the specific details of the surgical support robot system 100 shown in the above embodiment can be modified as appropriate without departing from the spirit of this disclosure.

This disclosure can be used in robotic systems.

100 Surgery support robot system 1 Master device 10 Control unit 11 Right hand operation unit 110 Grip unit 113 Grip unit 113C Grip force sensor 115 Force feedback mechanism 12 Left hand operation unit 123C Grip force sensor 125 Force feedback mechanism 13 Foot operation unit 14 Display unit 15 Output unit 2 Slave device 21 First slave robot 21A Grip mechanism 22 Second slave robot 22A Grip mechanism 23 Endoscope robot

Claims (10)

A robot system including a master device for instructing an operation of a slave robot, and a slave device having the slave robot that operates in response to an instruction from the master device,
The master device
A grip portion to be gripped by a user;
an output unit that outputs a first grip signal corresponding to a grip force when the grip operation on the grip portion is not a predetermined grip operation, and outputs a second grip signal when the grip operation on the grip portion is a predetermined grip operation;
Equipped with
The slave robot is
a gripping mechanism that, when receiving the first gripping signal from the master device, grips an object with a gripping force based on the first gripping signal, and, when receiving the second gripping signal, continues to grip the object with a predetermined gripping force;
Robot system. The master device
a force feedback mechanism that feeds back a force sense when the object is gripped by the gripping mechanism,
The force feedback mechanism includes:
turning off the force feedback when the gripping mechanism continues to grip the object with a predetermined gripping force;
The robot system of claim 1 . The master device
A sensor for detecting a gripping force when the gripping portion is gripped;
a determination means for determining whether or not the predetermined gripping operation has been performed on the grip portion based on a value detected by the sensor;
Preparation,
The output unit is
When the determination means determines that the predetermined gripping operation has been performed on the grip portion, the second gripping signal is output.
The robot system according to claim 1 or 2. The determination means is
When the value detected by the sensor exceeds a predetermined value, it is determined that the predetermined gripping operation has been performed on the grip portion.
The robot system according to claim 3 . The determination means is
When the value detected by the sensor exceeds a predetermined value and the state where the value exceeds the predetermined value is maintained for a predetermined period of time, it is determined that the predetermined gripping operation has been performed on the grip portion.
The robot system according to claim 3 . The gripping mechanism includes:
When the second gripping signal is acquired, the object is gripped with a maximum output that can be output by the mechanism.
The robot system according to any one of claims 3 to 5. A release means is provided for releasing the state in which the gripping mechanism continues to grip the object with a predetermined gripping force.
The robot system according to any one of claims 3 to 6. The release means is
When the determination means determines that the predetermined gripping operation has been performed on the gripping portion again in a state in which the gripping mechanism continues to grip the object with a predetermined gripping force, the state in which the object is gripped with the predetermined gripping force is released.
The robot system according to claim 7. The release means is
When a predetermined switch is pressed, the gripping mechanism releases the state in which the object is gripped with a predetermined gripping force.
The robot system according to claim 7 or 8. The robot system is a surgical assistance robot system.
The robot system according to any one of claims 1 to 9.

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