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WO2025017922A1 - Système de robot - Google Patents

Système de robot Download PDF

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Publication number
WO2025017922A1
WO2025017922A1 PCT/JP2023/026661 JP2023026661W WO2025017922A1 WO 2025017922 A1 WO2025017922 A1 WO 2025017922A1 JP 2023026661 W JP2023026661 W JP 2023026661W WO 2025017922 A1 WO2025017922 A1 WO 2025017922A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
grip
predetermined
force
signal
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.)
Pending
Application number
PCT/JP2023/026661
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English (en)
Japanese (ja)
Inventor
翔平 雜賀
悠太 中井
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/JP2023/026661 priority Critical patent/WO2025017922A1/fr
Priority to JP2024558971A priority patent/JPWO2025017922A1/ja
Publication of WO2025017922A1 publication Critical patent/WO2025017922A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

Definitions

  • This disclosure relates to a robot system.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • CPU Central Processing Unit
  • RAM Random Access Memory
  • ROM Read Only Memory
  • 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.
  • 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 mechanism 21A e.g., a needle holder or forceps (surgical tool) supported by the first slave robot 21.
  • 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 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • step S102 determines whether the gripping operation is not a squeeze operation (step S102; NO). 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).
  • 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.
  • a gripping signal first gripping signal
  • step S102 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).
  • 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.
  • a gripping signal second gripping signal
  • 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.
  • the control unit 10 determines whether or not a specific operation has been performed to end the above-mentioned surgical assistance mode (step S110).
  • 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.
  • step S110 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.
  • 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.
  • 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).
  • 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).
  • 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).
  • 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.
  • step S202 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.
  • the gripping signal is a gripping signal (second gripping signal) corresponding to the fully closed state (step S202; YES
  • step S201 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.
  • 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).
  • 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.
  • 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 S205 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 determines whether or not a specific operation has been performed to end the above-mentioned surgical assistance mode (step S207).
  • 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.
  • step S207 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.
  • the master device 1 of the surgical support robot system 100 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.
  • first gripping signal first 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.
  • first gripping signal corresponding to the gripping force when the first slave robot 21 acquires the gripping signal from the master device 1
  • second gripping signal corresponding to the fully closed state.
  • 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.
  • 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.
  • 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.
  • the output unit 15 of the master device 1 outputs a grip signal (second grip signal) corresponding to a fully closed state.
  • 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.
  • 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.
  • 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.
  • a gripping signal second gripping signal
  • 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.
  • 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.
  • 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.
  • step S102 of the grip signal output process 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.
  • step S202 of the gripping operation process 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).
  • 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.
  • 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.
  • the above state may also be released when, for example, a predetermined switch is pressed.
  • 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.
  • the robot system disclosed herein can be used as a remote-operated robot system used for work at construction sites.
  • This disclosure can be used in robotic systems.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de robot de support chirurgical 100, un dispositif maître 1 de ce dernier comprenant : une partie de préhension 113 disposée dans une unité d'opération de main droite 11 et une partie de préhension (non représentée) disposée dans une unité d'opération de main gauche 12; et une partie de sortie 15 qui, si une opération de préhension appliquée à chaque partie de préhension n'est pas une opération de préhension ferme prédéfinie, délivre un signal de préhension (premier signal de préhension) correspondant à la force de préhension lorsque ladite opération de préhension est effectuée ou, si l'opération de préhension appliquée à chaque partie de préhension est l'opération de préhension ferme prédéfinie, délivre un signal de préhension (second signal de préhension) correspondant à un état complètement fermé. Un premier robot esclave 21 et un second robot esclave 22 comprennent des mécanismes de préhension 21A et 22A, respectivement, qui saisissent, si le signal de préhension (premier signal de préhension) correspondant à la force de préhension est acquis à partir du dispositif maître 1, un objet avec une force de préhension basée sur le signal de préhension, ou qui continuent à saisir, si le signal de préhension (second signal de préhension) correspondant à l'état complètement fermé est acquis, l'objet avec une force de préhension prédéfinie.
PCT/JP2023/026661 2023-07-20 2023-07-20 Système de robot Pending WO2025017922A1 (fr)

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PCT/JP2023/026661 WO2025017922A1 (fr) 2023-07-20 2023-07-20 Système de robot
JP2024558971A JPWO2025017922A1 (fr) 2023-07-20 2023-07-20

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/026661 WO2025017922A1 (fr) 2023-07-20 2023-07-20 Système de robot

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63196389A (ja) * 1987-02-12 1988-08-15 株式会社東芝 マスタスレ−ブマニピユレ−タ制御装置
WO2022201312A1 (fr) * 2021-03-23 2022-09-29 リバーフィールド株式会社 Dispositif de notification de sensation de force et procédé de notification de sensation de force
JP2022184961A (ja) * 2018-10-03 2022-12-13 シーエムアール サージカル リミテッド 自動内視鏡ビデオ拡張

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Publication number Priority date Publication date Assignee Title
JP2006321027A (ja) * 2005-05-20 2006-11-30 Hitachi Ltd マスタ・スレーブ式マニピュレータシステム及びその操作入力装置
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
JP2021529014A (ja) * 2018-06-15 2021-10-28 バーブ サージカル インコーポレイテッドＶｅｒｂ Ｓｕｒｇｉｃａｌ Ｉｎｃ． グリップリンクを有するユーザインターフェース装置
CN115916096B (zh) * 2020-07-08 2024-05-31 瑞德医疗机器股份有限公司 医疗用操作器械

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63196389A (ja) * 1987-02-12 1988-08-15 株式会社東芝 マスタスレ−ブマニピユレ−タ制御装置
JP2022184961A (ja) * 2018-10-03 2022-12-13 シーエムアール サージカル リミテッド 自動内視鏡ビデオ拡張
WO2022201312A1 (fr) * 2021-03-23 2022-09-29 リバーフィールド株式会社 Dispositif de notification de sensation de force et procédé de notification de sensation de force

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