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WO2025027718A1 - Dispositif de console - Google Patents

Dispositif de console Download PDF

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Publication number
WO2025027718A1
WO2025027718A1 PCT/JP2023/027867 JP2023027867W WO2025027718A1 WO 2025027718 A1 WO2025027718 A1 WO 2025027718A1 JP 2023027867 W JP2023027867 W JP 2023027867W WO 2025027718 A1 WO2025027718 A1 WO 2025027718A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint
control unit
drive unit
sensor
link
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/JP2023/027867
Other languages
English (en)
Japanese (ja)
Inventor
翔平 雜賀
紗佳 五十嵐
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/JP2023/027867 priority Critical patent/WO2025027718A1/fr
Priority to JP2024556220A priority patent/JP7662254B1/ja
Publication of WO2025027718A1 publication Critical patent/WO2025027718A1/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • This disclosure relates to a console device.
  • Patent Document 1 discloses a surgical system that includes a medical robot and a console device.
  • the medical robot has four multi-degree-of-freedom manipulators, two of which hold an endoscope, and the other two manipulators hold forceps.
  • the console device has a pair of left and right operating manipulator arms and a display monitor.
  • the display monitor displays images captured by the endoscope.
  • the operator operates the left and right operating manipulator arms with his left and right hands, respectively, while observing the affected area through the display monitor and the endoscope.
  • the manipulators of the medical robot then operate to follow the movements of the operating manipulator arms.
  • a console device includes a pair of left and right hand controllers, a pair of left and right joint link mechanisms, an angle sensor, a drive unit, and a control unit.
  • the hand controllers are held by the left and right hands of an operator, respectively, and are operated by the operator.
  • the joint link mechanisms are arranged on the left and right sides at a distance from each other and have rotatable proximal ends, and have distal ends to which the hand controllers are respectively connected, and support the hand controllers in a translatable manner.
  • the angle sensor detects the angle at each joint of the joint link mechanism.
  • the drive unit applies torque to each joint of the joint link mechanism.
  • the control unit calculates three-dimensional positions of representative points of distal links of the left and right joint link mechanisms based on the detection values of the angle sensor, the control unit determines whether or not there is a possibility of collision between the left and right joint link mechanisms based on the positions of the representative points, and when the control unit determines that there is a possibility of collision between the joint link mechanisms, the control unit controls the drive unit, and the drive unit applies resistance torque to each joint of the joint link mechanism.
  • the console device of one or more embodiments of the present disclosure prevents contact between the left joint link mechanism or hand controller and the right joint link mechanism or hand controller.
  • FIG. 1 shows a robot.
  • FIG. 2 shows the console device.
  • FIG. 3 shows the left and right consoles of the console device.
  • FIG. 4 shows the left and right consoles of the console device.
  • FIG. 5 shows the gimbal and hand controller mounted at the distal end of the right console.
  • FIG. 6 shows the control system of the robot and the console device.
  • ordinal numbers such as “first” and “second” are attached to a common name
  • the ordinal numbers are used only for the purpose of identifying the object to which they are attached. They do not limit the object to which they are attached to a specific object, nor do they specify the order, rank, sequence, hierarchy, priority, or subordination of the object to which they are attached.
  • Fig. 1 is a perspective view of a robot 1 of a remote-controlled robot system.
  • Fig. 2 is a perspective view of a console device 2 of the remote-controlled robot system.
  • Fig. 3 is a perspective view of left and right consoles 60 of the console device 2.
  • Fig. 4 is a plan view of the left and right consoles 60.
  • Fig. 5 is a perspective view of the distal end of the right console 60.
  • Fig. 6 is a block diagram of the control system of the robot 1 and the console device 2.
  • the remote-controlled robot system includes a robot 1 and a console device 2.
  • the console device 2 is the master and the robot 1 is the slave, and the remote-controlled robot system employs a bilateral control system.
  • the robot 1 moves in accordance with the operation of the console device 2, and when the robot 1 receives a load such as a reaction force due to the operation of the robot 1, the console device 2 applies the load to the operator.
  • the position of the robot 1 is controlled based on the difference between the detection value of the position sensor of the console device 2 and the detection value of the position sensor of the robot 1, so that the robot 1 moves in accordance with the movement of the console device 2.
  • the bilateral control system employed in the remote-controlled robot system is a symmetric bilateral control method
  • the position of the console device 2 is controlled based on the difference between the detection value of the position sensor of the console device 2 and the detection value of the position sensor of the robot 1, so that the console device 2 applies a load to the operator.
  • the load of the console device 2 is controlled based on the detection value of the load sensor of the robot 1, so that the console device 2 applies a load to the operator.
  • the bilateral control system employed in the remote-controlled robot system is a force-feedback bilateral control method
  • the load of the console device 2 is controlled based on the difference between the detection value of the load sensor of the robot 1 and the detection value of the load sensor of the console device 2, so that the console device 2 applies a load to the operator.
  • the remote-controlled robot system may employ a bilateral control system other than the symmetric bilateral control system, the force-reverse bilateral control system, and the force-feedback bilateral control system.
  • the remote-controlled robot system may employ a non-bilateral control system.
  • the robot 1 moves in accordance with the operation of the console device 2, and even if the robot 1 receives a load such as a reaction force due to the operation of the robot 1, the console device 2 does not have to apply the load to the operator.
  • the robot 1 includes a base 10 , a mast 11 , a main arm 12 , a stage 13 , two manipulators 15 , two end effectors 16 , an auxiliary manipulator 17 , a scope 18 , and a control unit 3 .
  • the control unit 3 is one or more computers having a CPU (Central Processing Unit), RAM (Random Access Memory), a bus, a bus controller, an interface circuit, a drive circuit, and communication equipment, etc.
  • CPU Central Processing Unit
  • RAM Random Access Memory
  • the base 10 is installed on the floor of a work area such as an operating room.
  • the base 10 may be a self-propelled cart that runs on the power of a driving machine such as a motor, hydraulic equipment, or pneumatic equipment, or may be a manual cart that runs manually.
  • the mast 11 is provided in an upright state on the base 10.
  • the mast 11 may be an automatic elevator that rises and lowers using power such as a motor, or a manual elevator that rises and lowers manually.
  • the mast 11 may also be a fixed type that does not rise and lower.
  • the main arm 12 is connected to the upper part of the mast 11.
  • the main arm 12 extends forward from the upper part of the mast 11.
  • the main arm 12 may slide back and forth relative to the mast 11 by the power of a driving machine such as a motor, hydraulic equipment, or pneumatic equipment, or may swing up and down relative to the mast 11 by the power of a driving machine such as a motor, hydraulic equipment, or pneumatic equipment.
  • the main arm 12 may be of a fixed type that is fixed to the mast 11.
  • the stage 13 is mounted on the distal end of the main arm 12.
  • the stage 13 may rotate about a vertical axis relative to the main arm 12 by the power of a driving machine such as a motor, hydraulic equipment, or pneumatic equipment, or may be fixed to the main arm 12.
  • manipulators 15 are connected to the stage 13 , and one auxiliary manipulator 17 is connected to the stage 13 between the two manipulators 15 .
  • the manipulators 15 are vertical articulated robots with six degrees of freedom.
  • Each manipulator 15 has links 21 to 25, joints 26 to 31, and rotational drive units 41 to 46.
  • the first link 21 is rotatably connected to the stage 13 by a first joint 26.
  • the first joint 26 is a joint for rotating the first link 21.
  • the first rotation drive unit 41 applies torque to the first joint 26 to rotate the first link 21 relatively to the stage 13 around a first rotation axis perpendicular to the extension direction of the main arm 12.
  • the second link 22 is rotatably connected to the first link 21 by a second joint 27.
  • the second joint 27 is a bending joint.
  • the second rotation drive unit 42 applies torque to the second joint 27 to swing the second link 22 up and down relative to the first link 21 around a second rotation axis perpendicular to the first rotation axis.
  • the third link 23 is rotatably connected to the second link 22 via a third joint 28.
  • the third joint 28 is a bending joint.
  • the third rotation drive unit 43 applies torque to the third joint 28 to swing the third link 23 up and down relative to the second link 22 around a third rotation axis parallel to the second rotation axis.
  • the fourth link 24 is rotatably connected to the third link 23 by a fourth joint 29.
  • the fourth joint 29 is a joint for twisting.
  • the fourth rotation drive unit 44 applies torque to the fourth joint 29 to rotate the fourth link 24 relative to the third link 23 around a fourth rotation axis along the extension direction of the third link 23 and the fourth link 24.
  • the fifth link 25 is rotatably connected to the fourth link 24 by a fifth joint 30.
  • the fifth joint 30 is a bending joint.
  • the fifth rotation drive unit 45 applies torque to the joint 30 to swing the fifth link up and down relative to the fourth link 24 around a fifth rotation axis perpendicular to the extension direction of the fourth link 24.
  • At least one of the first link 21 to the fifth link 25 may be configured by a link mechanism such as a parallel link mechanism.
  • the second link 22 or the third link 23, or both of them may be configured by a link mechanism.
  • the links 21 to 23 and the joints 26 to 28 may form a link mechanism that translates parts distal to them.
  • the end effector 16 is rotatably connected to the fifth link 25 by the sixth joint 31.
  • the sixth joint 31 is a joint for twisting.
  • the sixth rotation drive unit 46 applies torque to the sixth joint 31 to rotate the end effector 16 relative to the fifth link 25 around a sixth rotation axis perpendicular to the direction in which the fifth link 25 extends.
  • the end effector 16 extends along the sixth axis of rotation.
  • the end effector 16 has a working tool 16a at its distal end.
  • the working tool 16a may be a medical instrument such as forceps, scissors, tweezers, or a scalpel. In this embodiment, the working tool 16a is a forceps.
  • the end effector 16 may have one or more joints between the sixth joint 31 and the working tool 16a, and the joints perform bending, twisting, or pivoting movements.
  • the end effector 16 may have an extension mechanism or a sliding mechanism that changes the distance from the sixth joint 31 to the working tool 16a.
  • the auxiliary manipulator 17 is configured in the same manner as the manipulator 15. In the same way that the end effector 16 is connected to the distal end of the manipulator 15, the scope 18 is detachably held at the distal end of the auxiliary manipulator 17.
  • the scope 18 has a camera 18a and an illuminator at its distal end. The image captured by the camera 18a is transferred from the robot 1 to the console device 2 and is displayed on the console device 2 in real time.
  • the console device 2 includes a cart 50, a base 51, a seat 52, a first display unit 53, a second display unit 54, a foot switch 55, two consoles 60, and a control unit 3.
  • the control unit 3 not only controls the robot 1, but also the console device 2.
  • the control unit 3 may have a master control unit and a slave control unit that can communicate via a network or the like, and the master control unit may control the console device 2 and the slave control unit may control the robot 1.
  • the cart 50 has casters with stoppers on its lower part and can be moved by the casters.
  • the base 51 is fixed to the rear of the cart 50 and stands upright from the rear of the cart 50 .
  • the seat 52 is fixed to the front part of the cart 50 and stands up from the front part of the cart 50. An operator sits on the seat 52 and operates the console 60 and the foot switch 55.
  • the first display unit 53 and the second display unit 54 are full-color display devices such as a liquid crystal display device and an organic EL display device.
  • the first display unit 53 and the second display unit 54 are mounted on the base 51 in a vertically arranged state.
  • the display surfaces of the first display unit 53 and the second display unit 54 face forward.
  • the first display unit 53 displays an image captured by the camera 18a of the scope 18.
  • the second display unit 54 displays the status of the robot 1, more specifically, the status of the manipulator 15, the auxiliary manipulator 17, the end effector 16, and the scope 18.
  • the foot switch 55 is attached to the bottom of the base 51. When the operator steps on the foot switch 55, the foot switch 55 is turned on, and when the operator releases the foot switch 55, the foot switch 55 is turned off. The foot switch 55 outputs an on/off signal to the control unit 3. The foot switch 55 is used to turn on/off the tracking of the manipulator 15 and end effector 16 relative to the console 60.
  • the two consoles 60 are connected to the top of the base 51 and are lined up on the left and right with a gap between them. These consoles 60 extend forward from the base 51, and the operator grasps the left and right consoles 60 with their left and right hands, respectively. When the operator moves the left console 60 with his left hand, one of the manipulators 15 and end effector 16 moves in response to the movement of the left console 60, and when the operator moves the right console 60 with his right hand, the other manipulator 15 and end effector 16 moves in response to the movement of the right console 60.
  • the console 60 includes a joint link mechanism 79, a gimbal 80, and a hand controller 90.
  • the console 60 has actuators 67-69 and sensors 70-75 used to control the joint link mechanism 79.
  • the console 60 has actuators 91-93 and sensors 94-96 used to control the gimbal 80.
  • the console 60 also has a pinch actuator 97 and a swing angle sensor 98 used to control the hand controller 90.
  • proximal end of the joint link mechanism 79 is connected to the base 51
  • distal end of the joint link mechanism 79 is connected to the gimbal 80
  • hand controller 90 is connected to the gimbal 80.
  • proximal refers to the side closer to the base 51
  • distal refers to the side farther from the base 51.
  • the joint link mechanism 79 supports the gimbal 80 and hand controller 90 so that they can move in a translational manner with three degrees of freedom.
  • the left and right joint link mechanisms 79 can be operated so that they cross each other.
  • the gimbal 80 supports the hand controller 90 so that it can rotate with three degrees of freedom. When an operator grasps the hand controller 90 and moves it, the attitude and direction of the hand controller 90 are changed by the gimbal 80, and the hand controller 90 and gimbal 80 are translated by the joint link mechanism 79.
  • the joint link mechanism 79 has a rotating part 61, a proximal link 62, a distal link 63, a first joint 64, a second joint 65, and a third joint 66.
  • the swivel unit 61 is rotatably connected to the upper part of the base 51 by the first joint 64.
  • the swivel unit 61 is arranged to rotate relative to the base 51 around a vertical pivot axis by the first joint 64.
  • the swivel unit 61 and the first joint 64 correspond to the proximal end of the joint link mechanism 79.
  • a rotation angle sensor 70 such as a rotary encoder is provided on the base 51, and a first drive unit 67 such as a motor is provided on the base 51.
  • the rotation angle sensor 70 and the first drive unit 67 are connected to the first joint 64.
  • the rotation angle sensor 70 detects the rotation angle of the rotating unit 61 around the rotation axis and outputs the detected value to the control unit 3.
  • the first drive unit 67 applies torque around the rotation axis to the first joint 64 and the rotating unit 61.
  • the detection value of the rotation angle sensor 70 is used by the control unit 3 for bilateral control of the first rotation drive unit 41 and the first drive unit 67 of the first joint 26 of the robot 1. For such bilateral control, the detection value of the position sensor or load sensor at the first joint 64 is also used.
  • the sensor 73 detects the state of the first joint 64. If the sensor 73 is an angle sensor, the rotation angle sensor 70 may be used as the sensor 73. Details of the sensor 73 will be described later.
  • the proximal end of the proximal link 62 is rotatably connected to the swivel unit 61 by the second joint 65.
  • the proximal link 62 is arranged so that it can be swung up and down relative to the swivel unit 61 around a horizontal first swing axis extending left and right by the second joint 65.
  • the proximal link 62 may be formed by a link mechanism such as a parallel link mechanism.
  • a first swing angle sensor 71 such as a rotary encoder is provided on the rotating part 61, and a second drive part 68 such as a motor is provided on the rotating part 61.
  • the second drive part 68 and the first swing angle sensor 71 are connected to the second joint 65.
  • the first swing angle sensor 71 detects the first swing angle of the proximal link 62 around the first swing axis and outputs the detected value to the control part 3.
  • the second drive part 68 applies torque around the first swing axis to the second joint 65 and the proximal link 62.
  • the sensor 73 detects the state of the second joint 65. If the sensor 73 is an angle sensor, the first swing angle sensor 71 may be used as the sensor 73. Details of the sensor 73 will be described later.
  • the proximal end of the distal link 63 is rotatably connected to the distal end of the proximal link 62 by a third joint 66.
  • the distal link 63 is arranged so as to swing up and down relative to the proximal link 62 around a second swing axis parallel to the first swing axis by the third joint 66.
  • the distal link 63 may be configured by a link mechanism such as a parallel link mechanism.
  • a second swing angle sensor 72 such as a rotary encoder is provided on the rotating part 61
  • a third drive unit 69 such as a motor is provided on the rotating part 61.
  • the second swing angle sensor 72 and the third drive unit 69 are connected to the third joint 66 via a link mechanism or the like.
  • the second swing angle sensor 72 detects the second swing angle of the distal link 63 around the second swing axis and outputs the detection value to the control unit 3.
  • This third drive unit 69 imparts torque around the second swing axis to the third joint 66 and the distal link 63.
  • the detection values of the first swing angle sensor 71 and the second swing angle sensor 72 are used by the control unit 3 for bilateral control of the rotation drive units 42, 43 and the drive units 68, 69 of the joints 27, 28 of the robot 1.
  • the detection values of the position sensors or load sensors in the joints 27, 28 of the robot 1 are also used.
  • the sensor 75 detects the state of the third joint 66. If the sensor 75 is an angle sensor, the second swing angle sensor 72 may be used as the sensor 75. Details of the sensor 75 will be described later.
  • the distal end of the distal link 63 corresponds to the distal end of the joint link mechanism 79, and the gimbal 80 is attached to the distal end of the distal link 63.
  • the gimbal 80 has a connecting arm 81, a first rotating arm 82, a second rotating arm 83, and joints 84 to 86.
  • the hand controller 90 has a tab 87, a handle 88, and a lever 89.
  • the proximal end of the connecting arm 81 is attached to the distal end of the distal link 63.
  • the connecting arm 81 is bent in an L-shape from the proximal end to the distal end of the connecting arm 81 in the plane in which the distal link 63 swings up and down.
  • the proximal end of the first rotating arm 82 is rotatably connected to the distal end of the connecting arm 81 by a joint 84.
  • the first rotating arm 82 is rotatably provided relative to the connecting arm 81 around the yaw axis at the joint 84.
  • the yaw axis is aligned with the plane along which the distal link 63 swings up and down.
  • a yaw angle sensor 94 such as a rotary encoder is connected to the joint 84, and a yaw drive unit 91 such as a motor is connected to the joint 84.
  • the yaw angle sensor 94 detects the yaw angle of the first rotating arm 82 around the yaw axis and outputs the detected value to the control unit 3.
  • the yaw drive unit 91 applies torque around the yaw axis to the joint 84 and the first rotating arm 82.
  • the proximal end of the second rotating arm 83 is rotatably connected to the distal end of the first rotating arm 82 by a joint 85.
  • the second rotating arm 83 is rotatably arranged relative to the first rotating arm 82 around the pitch axis at the joint 85.
  • the pitch axis is perpendicular to the yaw axis.
  • a pitch angle sensor 95 such as a rotary encoder is connected to the joint 85, and a pitch drive unit 92 such as a motor is connected to the joint 85.
  • the pitch angle sensor 95 detects the pitch angle of the first rotating arm 82 around the pitch axis and outputs the detected value to the control unit 3.
  • the pitch drive unit 92 applies torque around the pitch axis to the joint 85 and the second rotating arm 83.
  • the detection values of the yaw angle sensor 94 and pitch angle sensor 95 are used by the control unit 3 for bilateral control of the rotational drive units 44, 45 and drive units 91, 92 of the joints 29, 30 of the robot 1.
  • the detection values of the position sensors or load sensors in the joints 29, 30 are also used.
  • the tab 87 is rotatably connected to the distal end of the second rotating arm 83 by the joint 86.
  • the tab 87 is rotatably arranged relative to the second rotating arm 83 around the roll axis at the joint 86.
  • the roll axis is perpendicular to the pitch axis.
  • the roll axis, pitch axis, and yaw axis intersect with each other at a common intersection.
  • the tab 87 extends from the joint 86 toward the common intersection.
  • a roll angle sensor 96 such as a rotary encoder is connected to the joint 86, and a roll drive unit 93 such as a motor is connected to the joint 86.
  • the roll angle sensor 96 detects the roll angle of the tab 87 around the roll axis and outputs the detected value to the control unit 3.
  • the roll drive unit 93 applies torque around the roll axis to the joint 86 and the tab 87.
  • the detection value of the roll angle sensor 96 is used by the control unit 3 for bilateral control of the sixth rotation drive unit 46 and the roll drive unit 93 of the sixth joint 31 of the robot 1.
  • the detection value of the position sensor or load sensor in the sixth joint 31 is also used.
  • the handle 88 is attached to the tab 87 by a slide mechanism.
  • the handle 88 is movable by the slide mechanism so as to move toward and away from the end of the tab 87 along the roll axis.
  • the slide mechanism has a stopper that sets the range of movement of the handle 88 from the position closest to the end of the tab 87 to the position farthest from the end of the tab 87.
  • a lever 89 is swingably connected to the side of the tab 87.
  • a swing angle sensor 98 such as a rotary encoder, detects the swing angle of the lever 89 and outputs the detected value to the control unit 3.
  • a pinch drive unit 97 such as a motor, applies torque to the lever 89.
  • the detection value of the swing angle sensor 98 is used by the control unit 3 for bilateral control of the work tool 16a of the end effector 16 and the pinch drive unit 97. For such bilateral control, the detection value of a position sensor or load sensor in the work tool 16a is also used.
  • the operator places his palm on handle 88, grips handle 88 with his palm, and pinches tab 87 and lever 89 with his fingers. While gripping handle 88, the operator moves his wrist, arm, shoulder and upper body to operate the swivel unit 61, proximal link 62, distal link 63 and gimbal 80.
  • the control unit 3 bilaterally controls the first rotation drive unit 41 and first drive unit 67 of the first joint 26 of the robot 1, so that the first link 21 follows the rotation of the swivel unit 61, and the swivel unit 61 and first joint 64 receive torque from the first drive unit 67.
  • control unit 3 performs bilateral control of the rotation drive units 42, 43 and drive units 68, 69 of the joints 27, 28 of the robot 1, so that the second link 22 and the third link 23 follow the up-and-down swing of the proximal link 62 and the distal link 63, the proximal link 62 and the distal link 63 receive torque from the second drive unit 68 and the third drive unit 69, respectively, and the second joint 65 and the third joint 66 receive torque from the second drive unit 68 and the third drive unit 69, respectively.
  • control unit 3 performs bilateral control of the rotation drive units 44, 45 and drive units 91, 92 of the joints 29, 30 of the robot 1, so that the fourth link 24 and the fifth link 25 follow the first rotating arm 82 and the second rotating arm 83, the first rotating arm 82 and the second rotating arm 83 receive torque from the yaw drive unit 91 and the pitch drive unit 92, respectively, and the joints 84, 85 receive torque from the yaw drive unit 91 and the pitch drive unit 92, respectively. Furthermore, the control unit 3 bilaterally controls the sixth rotation drive unit 46 and the roll drive unit 93 of the sixth joint 31 of the robot 1, so that the end effector 16 follows the tab 87, and the tab 87 and the joint 86 receive torque. This allows the operator to remotely control the manipulator 15 and the end effector 16 using the console 60, and to feel the reaction force generated by the operation of the manipulator 15 and the end effector 16 from the console 60.
  • the control unit 3 bilaterally controls the work tool 16a of the end effector 16 and the pinch drive unit 97, so that the work tool 16a follows the swing of the lever 89 and the lever 89 receives torque from the pinch drive unit 97.
  • the control unit 3 calculates the three-dimensional position of at least one representative point 100 of the distal link 63 based on the detection values of the turning angle sensor 70, the first swing angle sensor 71, and the second swing angle sensor 72 of the left console 60.
  • the representative point 100 refers to, for example, the distal end of the distal link 63, but the representative point 100 may be set at a point other than the distal end of the distal link 63, or the representative point 100 may be set away from the distal link 63.
  • the position of the representative point 100 in the three-dimensional coordinate system is calculated from the length and distance, the turning angle of the turning unit 61 detected by the turning angle sensor 70, the first swing angle of the proximal link 62 detected by the first swing angle sensor 71, and the second swing angle of the distal link 63 detected by the second swing angle sensor 72.
  • the representative point 100 is set at the distal end of the distal link 63
  • the distance from the distal end of the proximal link 62 to the representative point 100 corresponds to the length of the distal link 63 .
  • the control unit 3 similarly calculates the three-dimensional position of at least one representative point 100 of the distal link 63 of the right console 60.
  • the three-dimensional coordinate system representing the position of the representative point 100 of the distal link 63 of the right console 60 is common to the three-dimensional coordinate system representing the position of the representative point 100 of the distal link 63 of the left console 60.
  • the position of the right representative point 100 in the three-dimensional coordinate system is calculated from the length of the right proximal link 62, the distance from the distal end of the right proximal link 62 to the right representative point 100, the rotation angle of the right rotating part 61 detected by the right rotation angle sensor 70, the first swing angle of the right proximal link 62 detected by the right first swing angle sensor 71, and the second swing angle of the right distal link 63 detected by the right second swing angle sensor 72.
  • the representative points 100 may be set on the proximal links 62 of the left and right consoles 60, particularly on their distal ends.
  • the control unit 3 calculates the three-dimensional position of the left representative point 100 based on the detection values of the turning angle sensor 70 and the first swing angle sensor 71 of the left console 60, and calculates the three-dimensional position of the right representative point 100 based on the detection values of the turning angle sensor 70 and the first swing angle sensor 71 of the right console 60.
  • one representative point 100 may be set on the proximal link 62 of either the left or right console 60, particularly on their distal ends, and the other representative point 100 may be set on the distal link 63 of the other console 60.
  • the control unit 3 determines the possibility of collision between the left and right joint link mechanisms 79 based on the positions of the representative points 100 of the left and right distal links 63.
  • the control unit 3 determines the possibility of collision between the left and right joint link mechanisms 79 for each combination of the representative points 100 of the left distal link 63 and the representative points 100 of the right distal link 63.
  • the control unit 3 calculates the distance between the representative points 100 of the left and right distal links 63 from the positions of these representative points 100, and determines whether the distance is less than a predetermined distance. If the distance between the representative points 100 is less than the predetermined distance, the control unit 3 determines that there is a possibility of collision between the left and right joint link mechanisms 79. On the other hand, if the distance between the representative points 100 exceeds the predetermined distance, the control unit 3 determines that there is no possibility of collision between the left and right joint link mechanisms 79.
  • control unit 3 determines the presence or absence of a possibility of collision between the left and right joint link mechanisms 79 based on the control unit 3 determining the presence or absence of a collision between the virtual spheres 101.
  • the control unit 3 determines that there is a possibility of collision between the left and right joint link mechanisms 79, and if the distance between the representative points 100 exceeds the sum of the radii of the virtual sphere 101, the control unit 3 determines that there is no possibility of collision between the left and right joint link mechanisms 79.
  • the radius of the virtual sphere 101 may be set to a diameter such that the gimbal 80 and the hand controller 90 fit inside the virtual sphere 101.
  • the control unit 3 may also determine whether or not there is a collision between virtual ellipsoids 102 centered on the representative points 100 of the left and right distal links 63 based on the positions of these representative points 100.
  • the control unit 3 determines that there is a possibility of collision between the left and right joint link mechanisms 79, the control unit 3 temporarily suspends the bilateral control. Then, the control unit 3 controls the first drive unit 67, so that the first drive unit 67 generates a resistance torque in the first joint 64 and the rotation unit 61 that is balanced with the torque applied by the operator to the rotation unit 61. Similarly, the control unit 3 controls the second drive unit 68, so that the second drive unit 68 generates a resistance torque in the second joint 65 and the proximal link 62 that is balanced with the torque applied by the operator to the proximal link 62.
  • the control unit 3 controls the third drive unit 69, so that the third drive unit 69 generates a resistance torque in the third joint 66 and the distal link 63 that is balanced with the torque applied by the operator to the distal link 63. Therefore, even if the operator tries to move the left and right hand controllers 90, the operator receives a repulsive force based on the resistance torque at the joints 64 to 66 from the left and right hand controllers 90, and is unable to move the hand controllers 90. Therefore, contact between the left joint link mechanism 79 or hand controller 90 and the right joint link mechanism 79 or hand controller 90 is prevented.
  • control unit 3 performs the following processes (3-1) to (3-3).
  • the sensor 73 detects the state of the first joint 64, and the control unit 3 feedback controls the first drive unit 67 based on the amount of change in the detected value of the sensor 73 so as to maintain the mechanical impedance of the swivel unit 61 based on the inertia, viscosity, and rigidity of the swivel unit 61 at a constant target value.
  • the swivel angle sensor 70 may be used as the sensor 73.
  • the detected value of the sensor 73 may be converted not only into an angle but also into an angular velocity.
  • the sensor 74 detects the state of the second joint 65, and the control unit 3 feedback controls the second drive unit 68 based on the amount of change in the detection value of the sensor 74 so that the mechanical impedance of the proximal link 62, which is based on the inertia, viscosity, and rigidity of the proximal link 62, is maintained at a constant target value.
  • the sensor 74 is an angular acceleration sensor, an angular velocity sensor, an angle sensor, or a combination of two or more of these. In the case of an angle sensor, the first swing angle sensor 71 may be used as the sensor 74.
  • the sensor 75 detects the state of the third joint 66, and the control unit 3 feedback controls the third drive unit 69 based on the amount of change in the detection value of the sensor 75 so that the mechanical impedance of the distal link 63 based on the inertia, viscosity, and rigidity of the distal link 63 is maintained at a constant target value.
  • the sensor 75 is an angular acceleration sensor, an angular velocity sensor, an angle sensor, or a combination of two or more of these.
  • the sensors 73, 74, and 75 are, for example, angular acceleration sensors, and examples of the angular acceleration sensor include a rotary encoder, a gyro sensor, a torque sensor, and a load sensor.
  • the control unit 3 feedback-controls the first drive unit 67 based on the detection value of the sensor 73 so that the torque applied by the operator to the swivel unit 61 is equal to the resistance torque applied by the first drive unit 67 to the swivel unit 61.
  • control unit 3 feedback-controls the second drive unit 68 based on the detection value of the sensor 74 so that the torque applied by the operator to the proximal link 62 is equal to the resistance torque applied by the second drive unit 68 to the proximal link 62.
  • control unit 3 feedback-controls the third drive unit 69 based on the detection value of the sensor 74 so that the torque applied by the operator to the distal link 63 is equal to the resistance torque applied by the third drive unit 69 to the distal link 63.
  • the sensors 73, 74, and 75 are, for example, angle sensors, and examples of angle sensors include rotary encoders, displacement sensors, and position sensors.
  • the control unit 3 feedback-controls the first driving unit 67 based on the detection value of the sensor 73 so as to reduce the change in the rotation angle of the rotating unit 61 at the first joint 64 to zero.
  • the control unit 3 feedback-controls the second driving unit 68 based on the detection value of the sensor 74 so as to reduce the change in the swing angle of the proximal link 62 at the second joint 65 to zero.
  • the control unit 3 feedback-controls the third driving unit 69 based on the detection value of the sensor 75 so as to reduce the change in the swing angle of the distal link 63 at the third joint 66 to zero.
  • the control unit 3 controls the first drive unit 67, the second drive unit 68, and the third drive unit 69 as described above, thereby preventing the operator from accidentally touching the left and right consoles 60.
  • control unit 3 resumes bilateral control, and the process of the control unit 3 returns to (1) above.
  • the control unit 3 then repeatedly executes the same process. In other words, the control unit 3 executes the same process, for example, at the sampling period of the turning angle sensor 70, the first swing angle sensor 71, and the second swing angle sensor 72 or an integer multiple thereof.
  • control unit 3 may calculate the distance between the representative points 100 of the left and right distal links 63 from their positions, and determine whether or not the distance is equal to or less than a second predetermined distance.
  • the second predetermined distance is greater than the predetermined distance, i.e., the sum of the radii of the phantom sphere 101.
  • the control unit 3 determines in the above judgment process (2) that there is no possibility of collision between the left and right joint link mechanisms 79, and the control unit 3 returns to the above processing (1) as in the above judgment process (4). If the distance between the representative points 100 is less than the predetermined distance, the control unit 3 determines in the above judgment process (2) that there is a possibility of collision between the left and right joint link mechanisms 79, and the control unit 3 executes the above processing (3). If the distance between the representative points 100 is less than the second predetermined distance, and the control unit 3 determines in the above judgment process (2) that there is no possibility of collision between the left and right joint link mechanisms 79, the control unit 3 executes the following processing.
  • the control unit 3 temporarily suspends the bilateral control, calculates the distance between the representative points 100, and controls the first drive unit 67, the second drive unit 68, and the third drive unit 69 according to the distance.
  • the sensors 73, 74, and 75 are, for example, angular acceleration sensors, and the control unit 3 feedback-controls the first drive unit 67 based on the detection value of the sensor 73 while taking into account the distance between the representative points 100.
  • the first drive unit 67 applies to the rotating unit 61 a resistance torque that is equal to or less than the torque applied to the rotating unit 61 by the operator and resists the torque.
  • the control unit 3 feedback-controls the second drive unit 68 based on the detection value of the sensor 74 while taking into consideration the distance between the representative points 100, so that the shorter the distance between the representative points 100, the greater the resistance torque that the second drive unit 68 applies to the proximal link 62.
  • control unit 3 feedback-controls the third drive unit 69 based on the detection value of the sensor 75 while taking into consideration the distance between the representative points 100, so that the shorter the distance between the representative points 100, the greater the resistance torque that the third drive unit 69 applies to the distal link 63. Thereafter, the control unit 3 resumes the bilateral control, and the process of the control unit 3 returns to the above (1). Then, the control unit 3 repeatedly executes the same process.
  • the operator can move the left and right consoles 60 closer to each other while receiving resistance from these consoles 60.
  • the distance between the representative points 100 reaches a predetermined distance, the operator cannot move the left and right controllers any closer.
  • the first drive unit 67 generates a torque in the rotating unit 61 that is equal to the resistance torque applied to the rotating unit 61 by the operator
  • the second drive unit 68 generates a torque in the proximal link 62 that is equal to the torque applied to the proximal link 62 by the operator
  • the third drive unit 69 generates a torque in the distal link 63 that is equal to the torque applied to the distal link 63 by the operator.
  • Console device 3 Control unit 60: Console 61: Swivel unit 62: Proximal link 63: Distal link 64: First joint 65: Second joint 66: Third joint 67: First drive unit 68: Second drive unit 69: Third drive unit 70: Swivel angle sensor 73, 74, 75: Sensor 79: Joint link mechanism 80: Gimbal 90: Hand controller 100: Representative point 101: Virtual sphere 102: Virtual ellipsoid

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

Abstract

L'objectif d'un ou de plusieurs modes de réalisation de la présente divulgation est d'empêcher un contact mutuel entre des mécanismes de liaison d'articulation droite et gauche.　Un dispositif de console selon la présente invention comprend une paire de dispositifs de commande manuelle droite et gauche, une paire de mécanismes de liaison d'articulation droite et gauche, un capteur d'angle, une unité d'entraînement et une unité de commande. Les dispositifs de commande manuelle sont respectivement saisis par la main gauche et la main droite d'un opérateur et actionnés par l'opérateur. Les mécanismes de liaison d'articulation ont respectivement des extrémités proximales qui sont aptes à tourner, ont respectivement des extrémités distales auxquelles les dispositifs de commande manuelle sont respectivement raccordés, et supportent respectivement les dispositifs de commande manuelle de façon à permettre un mouvement de translation. Le capteur d'angle détecte les angles des articulations respectives des mécanismes de liaison d'articulation. L'unité de commande détermine s'il existe une possibilité de collision entre les mécanismes de liaison d'articulation droite et gauche sur la base de la position d'un point représentatif obtenu à partir d'une valeur de détection du capteur d'angle. Lorsque l'unité de commande a déterminé qu'il existe une possibilité de collision entre les mécanismes de liaison d'articulation, l'unité de commande commande l'unité d'entraînement de telle sorte que l'unité d'entraînement applique un couple résistif à chacune des articulations des mécanismes de liaison d'articulation.
PCT/JP2023/027867 2023-07-28 2023-07-28 Dispositif de console Pending WO2025027718A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2023/027867 WO2025027718A1 (fr) 2023-07-28 2023-07-28 Dispositif de console
JP2024556220A JP7662254B1 (ja) 2023-07-28 2023-07-28 コンソール装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/027867 WO2025027718A1 (fr) 2023-07-28 2023-07-28 Dispositif de console

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WO2025027718A1 true WO2025027718A1 (fr) 2025-02-06

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017148913A (ja) * 2016-02-26 2017-08-31 セイコーエプソン株式会社 ロボット、制御装置及びロボットの制御方法
WO2017221367A1 (fr) * 2016-06-23 2017-12-28 オリンパス株式会社 Système médical
JP2018198750A (ja) * 2017-05-26 2018-12-20 ソニー株式会社 医療用システム、医療用支持アームの制御装置、および医療用支持アームの制御方法
JP2021171863A (ja) * 2020-04-23 2021-11-01 キヤノン株式会社 ロボットシステム、治具、位置測定システム、ロボットシステムを用いた物品の製造方法、ロボットシステムの制御方法、位置測定方法、制御プログラム及び記録媒体

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6894954B2 (ja) * 2018-10-05 2021-06-30 川崎重工業株式会社 医療用マニピュレータおよびこれを備えた外科手術システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017148913A (ja) * 2016-02-26 2017-08-31 セイコーエプソン株式会社 ロボット、制御装置及びロボットの制御方法
WO2017221367A1 (fr) * 2016-06-23 2017-12-28 オリンパス株式会社 Système médical
JP2018198750A (ja) * 2017-05-26 2018-12-20 ソニー株式会社 医療用システム、医療用支持アームの制御装置、および医療用支持アームの制御方法
JP2021171863A (ja) * 2020-04-23 2021-11-01 キヤノン株式会社 ロボットシステム、治具、位置測定システム、ロボットシステムを用いた物品の製造方法、ロボットシステムの制御方法、位置測定方法、制御プログラム及び記録媒体

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