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WO2025158956A1 - Système maître/esclave, procédé de commande de commutation synchrone et programme - Google Patents

Système maître/esclave, procédé de commande de commutation synchrone et programme

Info

Publication number
WO2025158956A1
WO2025158956A1 PCT/JP2025/000851 JP2025000851W WO2025158956A1 WO 2025158956 A1 WO2025158956 A1 WO 2025158956A1 JP 2025000851 W JP2025000851 W JP 2025000851W WO 2025158956 A1 WO2025158956 A1 WO 2025158956A1
Authority
WO
WIPO (PCT)
Prior art keywords
master
slave
robot
operation interface
working area
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/JP2025/000851
Other languages
English (en)
Japanese (ja)
Inventor
浩平 荻原
和仁 若菜
大輔 長尾
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.)
Sony Group Corp
Original Assignee
Sony Group Corp
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 Sony Group Corp filed Critical Sony Group Corp
Publication of WO2025158956A1 publication Critical patent/WO2025158956A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • 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 master-slave system, a synchronous switching control method, and a program.
  • a master-slave system has a master and a slave (hereafter also referred to as a "robot arm”).
  • the master is equipped with an input device that allows the operator to operate the robot arm.
  • the slave has a robot hand (hereafter also referred to as an "end effector") that is tailored to the target task.
  • the slave executes movements made by the user (operator) input from the master, either at the same magnification or scaled.
  • Position deviation In a master-slave system can impair operability, so it is essential to correct the position deviation.
  • Patent Document 1 outputs the position and orientation of the slave to a video output device such as a monitor in order to correct positional misalignment between the master and slave.
  • the user then operates the master, referring to the position and orientation of the slave output to the video output device, to align it with the slave.
  • the master does not move autonomously, so there is no need to install an actuator to operate it autonomously.
  • This disclosure was made in consideration of the above-mentioned circumstances, and aims to eliminate the misalignment between the master and slave that frequently occurs in master-slave systems, thereby improving the operability of the master-slave system.
  • the master-slave system of the present disclosure includes a determination unit that determines whether the operation interface of the master robot operated by the user has moved outside a predetermined working area during the operation of the master robot and slave robot, and a synchronization switching unit that switches the slave robot and master robot to cancel synchronization when the operation interface moves outside the predetermined working area.
  • FIG. 1 is a diagram showing a configuration of a master-slave system according to a first embodiment.
  • FIG. 2 is a diagram illustrating an example of the configuration of a master device and a slave device according to the first embodiment.
  • FIG. 10 is a side view for explaining a slave-side working area and a slave-side safety area.
  • FIG. 10 is a diagram for explaining the definition of a slave-side safety area in a robot model.
  • FIG. 2 is a diagram illustrating an example of the configuration of left and right master input devices of a master according to the first embodiment.
  • 10A and 10B are diagrams illustrating the left and right master input devices of the master according to the first embodiment when operated by a user.
  • FIG. 10A and 10B are diagrams illustrating states of the left and right master input devices of the master according to the first embodiment when a trigger is executed.
  • FIG. 10 is a top view of the holder and the master operation unit when using the holder-type trigger according to the first embodiment.
  • FIG. 10 is a side view of the holder and the master operating unit when using the holder-type trigger according to the first embodiment.
  • 4 is a flowchart for explaining the operation of the master-slave system according to the first embodiment.
  • FIG. 2 is a diagram showing the working area and safety area of a robot.
  • FIG. 10 is a diagram showing a state in which the holder on the right side of the master is automatically moved.
  • FIG. 10 is a diagram illustrating an example of calibration of a safety region according to the first embodiment.
  • FIG. 10 is a diagram illustrating an example of calibration of a safety region according to the first embodiment.
  • FIG. 10 is a diagram showing an example of the configuration of a left master input device and a right master input device of a master-slave system according to a second embodiment.
  • FIG. 11 is a diagram showing a state in which a trigger is executed by the right master input device of the master-slave system according to the second embodiment.
  • 10 is a flowchart illustrating the operation of the master-slave system according to the second embodiment.
  • 1 is a hardware configuration diagram showing an example of a computer that realizes an arithmetic unit of a master-slave system 1 that is an information processing device according to the first and second embodiments.
  • Embodiments 1-1 First embodiment 1-1-1. Definition of slave-side working area and slave-side safety area 1-1-2. Master operation interface 1-1-3. Relationship between holder and master operation unit 1-1-4. Operation 1-1-5. Example of calibration method 1-1-6. Effects of first embodiment 1-2. Second embodiment 1-2-1. Operation 1-2-2. Effects of second embodiment 2. Other embodiments 3. Effects 4. Hardware configuration 5. Supplementary notes
  • Fig. 1 is a diagram showing the configuration of the master-slave system 1 according to the first embodiment.
  • Fig. 2 is a diagram showing an example of the configuration of a master device 10 and a slave device 20 according to the first embodiment.
  • the master-slave system 1 is a system that uses a master-slave type robot (master-slave robot).
  • the master-slave system 1 includes a master device 10, a slave device 20, and a control device 30.
  • the control device 30 is connected to each of the master device 10 and the slave device 20 so that they can communicate with each other.
  • Various information is sent and received between the devices. This sending and receiving may be performed, for example, via various wireless and/or wired communication networks.
  • the master unit 10 includes a master robot 11, a robot control unit 12, a display unit 13, a communication unit 14, and a sensor unit 15.
  • the master unit 10 has a function of controlling the drive of the slave units 20 and a function of presenting information from the slave units 20 to the user.
  • the master robot 11 functions as an input device that allows a user, such as a surgeon, to remotely control the slave device 20, which is equipped with surgical tools such as forceps.
  • This master robot 11 has a configuration that is suitable for a user to remotely control the slave device 20.
  • the master robot 11 operates based on drive signals from the robot control unit 12.
  • the robot control unit 12 controls the position of the master robot 11 according to the value of a position command specified by the user using the master robot 11, etc.
  • An example of a controlled position is the position of the tip of the master robot 11 (hand position). This control is performed according to information specifying the position of the tip (hand position command).
  • the hand position command is generated according to user operation, or by the control device 30 during bilateral control.
  • the robot control unit 12 controls, for example, the rotation of the joints (rotational speed, rotational angular velocity, torque, etc.) so that the tip of the master robot 11 is positioned in accordance with the hand position command.
  • the display unit 13 displays various images.
  • the display unit 13 mainly presents information about the work being performed by the slave device 20 to the user operating the master robot 11 based on image information acquired by the slave device 20.
  • the display unit 13 may be, for example, a stationary display or an HMD (Head Mounted Display) worn on the user's head.
  • HMD Head Mounted Display
  • the communication unit 14 enables communication of various types of information with the control device 30.
  • the communication unit 14 transmits input information for the master robot 11 and sensor information obtained from the sensor unit 15 to the control device 30.
  • the communication unit 14 also receives information transmitted from the control device 30 (for example, control information and various types of information from the slave device 20).
  • the sensor unit 15 detects the state of the master robot 11.
  • detected states include the torque reference value, angle (joint angle), and angular velocity (joint angular velocity) of the joints, and this information is used as sensor information.
  • the torque reference value substantially corresponds to the current value input to the master robot 11 and can be detected by the master device 10.
  • the joint angle is obtained, for example, from an encoder in an actuator provided at the joint of the master robot 11.
  • the joint angular velocity is obtained by differentiating the joint angle with respect to time.
  • Other examples of detected states include the acceleration reference value, position, and velocity of the tip input to the master robot 11.
  • the acceleration reference value is the value that forms the basis of the above-mentioned torque reference value and can be detected by the master device 10.
  • the position and velocity of the tip can be determined from, for example, the above-mentioned joint angle, joint angular velocity, etc. and can therefore be detected.
  • the slave unit 20 has a slave robot 21, a robot control unit 22, an imaging unit 23, a communication unit 24, and a sensor unit 25.
  • the slave unit 20 has a mechanism driven by an actuator such as a motor, and moves according to drive control from the master unit 10.
  • the slave unit 20 also has a function of notifying the master unit 10 of the force and vibration that occur when a part of the slave unit 20 that comes into contact with an object of work comes into contact with the object.
  • the slave robot 21 is a robot that is remotely controlled by a user such as a surgeon.
  • the slave robot 21 is an arm-type robot with a multi-joint link structure, and is equipped with a working unit as an end effector at the tip of the robot.
  • the slave robot 21 operates based on a drive signal from the robot control unit 22.
  • the robot control unit 22 controls the position of the slave robot 21 according to the value of the position command specified by the user.
  • An example of a controlled position is the position of the tip of the slave robot 21 (hand position). This control is performed according to information specifying the position of the tip (hand position command).
  • the hand position command is generated according to user operation, or by the control device 30 during bilateral control.
  • the robot control unit 22 controls, for example, the rotation of the joints (rotational speed, rotational angular velocity, torque, etc.) so that the tip of the slave robot 21 is positioned in accordance with the hand position command.
  • the imaging unit 23 captures an image of the working range of the object by capturing an image.
  • the imaging unit 23 has a zoom mechanism and is able to change the imaging magnification (zoom magnification).
  • the zoom magnification of the imaging unit 23 can be controlled by the control device 30.
  • the imaging unit 23 is provided on the slave robot 21.
  • the imaging unit 23 is supported, for example, by a robot arm other than the slave arm 212, and the angle of the joint of the robot arm is controlled by the robot control unit 22. This allows the position and posture of the imaging unit 23 to be changed.
  • an RGB camera or a stereo camera is used as the imaging unit 23.
  • the communication unit 24 enables communication of various information with the control device 30.
  • the communication unit 24 receives information transmitted from the control device 30 (e.g., control information and various information from the master device 10).
  • the communication unit 24 also transmits sensor information obtained from the sensor unit 25 to the control device 30.
  • the control device 30 includes a control unit 31, a storage unit 32, and a communication unit 33.
  • the control unit 31 includes a drive control unit 311, a display control unit 312, an area setting unit 313, a determination unit 314, and a synchronization switching unit 315.
  • the drive control unit 311 controls each drive-related unit included in the master-slave system 1. For example, the drive control unit 311 acquires sensor information sent from the master device 10, and acquires the master position, which is the position of the master robot 11, based on the acquired sensor information. The drive control unit 311 then controls the slave position, which is the position of the slave robot 21, based on the acquired information such as the master position.
  • the drive control unit 311 controls the master robot 11 and the slave robot 21 so that the position of the master robot 11 and the position of the slave robot 21 correspond to each other.
  • Positional correspondence means that the positions of corresponding parts of the master robot 11 and the slave robot 21 correspond to each other.
  • the master robot 11 and the slave robot 21 are controlled so that the position of the tip of the master robot 11 and the position of the tip of the slave robot 21 correspond to each other.
  • the drive control unit 311 also controls the master robot 11 and the slave robot 21 so that the external force of the master robot 11 corresponds to the external force of the slave robot 21.
  • Correspondence of external forces here means that there is a correspondence between the external forces of corresponding parts of the master robot 11 and the slave robot 21.
  • the master robot 11 and the slave robot 21 are controlled so that the external force of the tip of the master robot 11 and the external force of the tip of the slave robot 21 correspond to each other.
  • the display control unit 312 mainly controls the various video-related units included in the master-slave system 1. For example, the display control unit 312 acquires image information sent from the slave device 20, and controls the display unit 13 of the master device 10 based on the acquired image information. At this time, the display control unit 312 generates various images based on the image information and sends the generated images to the display unit 13.
  • the area setting unit 313 sets an interference avoidance area for the slave robot 21.
  • the interference avoidance area is, for example, an area in which it is possible to avoid the tip of the slave robot 21 interfering with the surrounding environment, such as the user or the bed.
  • the interference avoidance area is set in advance. Such interference avoidance areas will be described in detail later.
  • the determination unit 314 determines whether the operation interface (input device) of the master robot operated by the user has moved outside the specified working area during the operation of the master-slave robot. The specific operation of the determination unit 314 will be described later.
  • the synchronization switching unit 315 switches to cancel synchronization between the slave robot and the master robot.
  • the specific operation of the synchronization switching unit 315 will be described later.
  • the memory unit 32 stores various types of information.
  • the memory unit 32 stores various types of information such as control information, sensor information, and image information. This information is, for example, information transmitted from one or both of the master device 10 and the slave device 20.
  • the memory unit 32 also stores various types of information (for example, programs) required for processing executed by the control device 30.
  • the communication unit 33 enables communication of various types of information with the master device 10 and the slave device 20.
  • the communication unit 33 receives information transmitted from the master device 10 and the slave device 20 (e.g., various types of information from the master device 10 and various types of information from the slave device 20).
  • the communication unit 33 also transmits various types of information (e.g., control information, sensor information, image information, etc.) to the master device 10 and the slave device 20.
  • Such a master-slave system 1 is used, for example, in surgery, as shown in Figure 2.
  • the surgeon such as a doctor
  • the patient undergoing the surgery is shown as user U2.
  • User U2 is lying on a bed U2a, for example.
  • master device 10 includes a master robot 11 operated by user U1.
  • Slave device 20 includes a slave robot 21 remotely controlled by user U1.
  • master robot 11 and slave robot 21 are medical robots, but in industrial fields other than the medical field, they may also be industrial robots.
  • the master robot 11 has a configuration suitable for user U1 to remotely control the slave robot 21.
  • the illustrated master robot 11 holds a master arm 111, a display unit 13, and the like.
  • the master arm 111 is an arm operated by user U1.
  • the content of the operation of the master robot 11 by user U1 (user operation) is transmitted as control information (input information) from the master device 10 to the slave device 20 via the control device 30.
  • the master robot 11 also has a configuration corresponding to, for example, the slave robot 21 so as to communicate the state of the slave robot 21 to user U1.
  • the master robot 11 may have, for example, an arm similar to that of the slave robot 21.
  • User U1 can recognize the state of the slave robot 21 via the master robot 11.
  • a foot switch 112 may be provided on the floor near the master robot 11. When the foot switch 112 is pressed, a signal is transmitted from the master device 10 to the control device 30.
  • the master arm 111 is operated, for example, by both the right and left hands of user U1.
  • User U1 places both arms or elbows on a support table and grasps the master arm 111 with each of their right and left hands. In this state, user U1 operates the master arm 111 while looking at the display unit 13, which displays the surgical field.
  • user U1 can, for example, remotely control the position or orientation of surgical tools attached to the slave device 20, or remotely control the grasping action of each surgical tool.
  • the master arm 111 can convey to user U1 the sensation felt when the surgical tool of the slave device 20 comes into contact with the patient's affected area, etc.
  • the slave robot 21 is configured to include, for example, an arm.
  • the illustrated slave robot 21 includes multiple surgical tool units 211A, 211B, a slave arm 212, and a base arm 213.
  • the slave robot 21 has, for example, six degrees of freedom in terms of tip position and orientation, but the number of degrees of freedom of the robot is not particularly limited.
  • Each surgical tool unit 211A, 211B is held by the slave arm 212. In the example of FIG. 2, there are two surgical tool units.
  • Each of the slave arm 212 and base arm 213 has, for example, multiple link sections and multiple joint sections.
  • the base arm 213 holds, for example, the slave arm 212 and the imaging unit 23.
  • examples of the individual surgical tools of each surgical tool unit 211A, 211B include forceps, a surgical suction cup, scissors, an insufflation tube, an energy treatment device, a retractor, etc.
  • operation commands for remotely controlling the slave robot 21 are input to the master device 10 via the master robot 11.
  • Operation commands include, for example, panning and tilting of the slave arm 212 of the slave robot 21, rotational movements around the longitudinal axis (or roll axis) of each of the surgical tool units 211A, 211B, and movements of the tips of the individual surgical tools of each of the surgical tool units 211A, 211B.
  • the control device 30 generates control commands based on the received operation commands and transmits them to the slave device 20.
  • the slave device 20 controls the drive of the slave robot 21 so as to realize movements of the slave robot 21 according to the received control commands.
  • the master device 10 instructs the slave robot 21 and surgical tool movements (e.g., yaw and pitch movements of forceps, opening and closing movements, etc.) via the master robot 11.
  • surgical tool movements e.g., yaw and pitch movements of forceps, opening and closing movements, etc.
  • the control device 30 receives an operation command instructing the yaw, pitch, or opening and closing movements of forceps, it calculates the rotation angle of each motor of the slave robot 21 and generates angle commands for each motor to achieve the target forceps movement.
  • a control command including this angle command, etc., is sent to the slave device 20.
  • the master-slave system 1 of the embodiment eliminates the positional misalignment between the master and slave that frequently occurs in the master-slave system 1, thereby improving the operability of the master-slave system 1.
  • the master-slave system 1 determines whether the operation interface of the master robot 11 operated by the user has moved outside the predetermined working area, and if the operation interface has moved outside the predetermined working area, switches to desynchronize the slave robot and master robot. After desynchronizing the slave robot and master robot, the master-slave system 1 moves the slave robot to the slave-side safety area. When the master-slave system 1 receives an operation to restore synchronization, it aligns the slave robot with the slave robot located in the slave-side safety area and initiates synchronization between the master robot and slave robot. In this way, the master-slave system 1 of this embodiment switches to desynchronize the slave robot with the master robot when the operation interface moves outside the predetermined working area to address frequently occurring misalignments between the master and slave. When the master-slave system 1 receives an operation to restore synchronization, it aligns the slave robot with the slave robot located in the slave-side safety area, allowing for improved operability and correction compared to conventional technology.
  • Figure 3 is a side view for explaining the slave-side working area 404 and the slave-side safety area 405.
  • the master-side working area and safety area will be explained in Figure 10.
  • a slave-side working area 404 where the slave 401 performs work on a target object 403 in real space in response to user operation.
  • the slave-side working area 404 is the range in which the robot can come into contact with the target object 451.
  • the slave-side working area 404 is the range in which parts can be touched, and in the case of a surgical support robot, it is the range in which surgical tools can be attached and the affected area can be touched.
  • the slave-side working area 404 is the same even in the case of a robot that has wheels on its legs and can move autonomously while the operator works.
  • slave-side working area 404 the area outside the sphere where the robot arm 402 cannot come into contact with the target object 403 is defined as the slave-side safety area 405, which is a safe and distant area.
  • FIG. 4 is a diagram used to explain the definition of the slave-side safety area in a robot model.
  • the slave-side working area 452 is a hemispherical area with a diameter extending from the center 458 of the stage 450 on which the target object 451 is placed to the edge of the stage 450.
  • the slave-side working area 452 is the range within which the robot can come into contact with the target object, as described above.
  • the slave-side safety area is within the robot's operating range, where the robot cannot touch the target object 451.
  • the arm range of motion 453 is the range within which the arm in the robot model can operate, and is the slave-side safety area. Within the slave-side safety area, the robot can operate but cannot touch the target object 451.
  • the maximum arm range of motion is a fixed value defined from the robot model information
  • the slave-side working area 452 is a variable that changes depending on the size of the target object 451. It is also assumed that no people or objects enter the robot's arm range of motion 453, and there is no risk of contact.
  • the master's operation interface is a terminal for transmitting user input operations to the slaves, regardless of whether or not an actuator is installed.
  • the operation command is sent to the slave via the control unit 31.
  • FIG. 6 is a diagram showing the left master input device 412-1 and the right master input device 412-2 of the master according to the first embodiment when operated by a user. As shown in FIG. 6, during user operation, the right master input device 412-1 and the left master input device 412-2 are freely moved by the user.
  • FIG. 7 is a diagram showing the state of the left master input device 412-1 and the right master input device 412-2 of the master according to the first embodiment when a trigger is executed. When a trigger is executed, the left master input device 412-1 is attached to the left holder 411-1, or the right master input device 412-2 is attached to the right holder 411-2. FIG. 7 shows an example in which the right master input device 412-2 is attached to the right holder 411-2.
  • the left holder 411-1 and the right holder 411-2 are equipped with, for example, magnets and contact sensors.
  • the determination unit 314 detects that the left master input device 412-1 has been loaded into the left holder 411-1.
  • the right master input device 412-2 approaches, the right holder 411-2 is attracted by magnetic force, and the determination unit 314 detects that the right input device 412-2 has been loaded into the right holder 411-2.
  • the synchronization switching unit 315 switches between synchronous and asynchronous states while keeping the position and orientation fixed, triggered by the loading of the left master input device 412-1 into the left holder 411-1.
  • the synchronization switching unit 315 switches between synchronous and asynchronous states while keeping the position and posture fixed, triggered by the loading of the right master input device 412-2 into the right holder 411-2. Therefore, the slave can maintain the same position and posture in the safety zone before and after the switching.
  • FIG. 8 is a top view of the holder 421 and master operation unit 423 when using the holder-type trigger according to the first embodiment.
  • FIG. 9 is a side view of the holder 421 and master operation unit 423 when using the holder-type trigger according to the first embodiment.
  • the master console is equipped with a holder 421 for loading the master.
  • This holder 421 has a hole for loading the master, and inside this hole is a magnet 422 for fixing the position and orientation of the master when it is loaded.
  • the master operation unit 423 also has a magnet (not shown). Furthermore, a switch 424 is attached to the point where the master operation unit 423 and holder 421 come into contact. The switch 424 detects that a part of the master operation unit 423, including the switch 424, of the master has been loaded into the holder 421.
  • the synchronization switching unit 315 can switch between synchronous and asynchronous states when triggered by the master being loaded into the holder 421.
  • Fig. 10 is a flowchart for explaining the operation of the master-slave system 1 according to the first embodiment.
  • the control unit 31 accepts operations from the master during synchronization and controls the slave in accordance with the operations (step S11).
  • the determination unit 314 determines whether the master's input device is loaded into the holder (step S12). In other words, the determination unit 314 determines whether the operation interface of the master robot operated by the user has moved outside the specified working area.
  • the "predetermined working area” refers to the master-side working area that corresponds to the area where the slave robot can touch the target object.
  • the master-slave system 1 stores the correspondence between the position of the slave-side working area and the position of the master-side working area.
  • the master-slave system 1 also stores the correspondence between the position of the slave-side safety area and the safety position of the master safety area.
  • the master-slave system 1 determines whether or not the robot has left the predetermined working area based on whether or not the operation interface is attached to the holder.
  • the "predetermined working area” refers to the area of the master-side working area that corresponds to the area where the slave robot can touch the target object, excluding the location where the holder is installed.
  • the "predetermined work area" on the master side corresponds to the positions other than the left holder 411-1 and the right holder 411-2.
  • the area outside the "predetermined work area” on the master side corresponds to the position of the left holder 411-1.
  • the left master input device 412-1 is attached to the left holder 411-1
  • the left master input device 412-1 is determined to be outside the predetermined work area.
  • the right master input device 412-2 is attached to the right holder 411-2, it is determined to be outside the predetermined work area.
  • step S12 if the master input device is not attached to a holder (No in step S12), the process returns to step S11.
  • step S12 if the master's input device is loaded into the holder (Yes in step S12), the synchronization switching unit 315 moves the slave robot to a preset position within the slave-side safety area (step S13).
  • step S16 If the master input device has been removed from the holder in step S15 (Yes in step S15), an operation during asynchronous operation (such as a clutch operation) is performed (step S16). Next, the determination unit 314 determines whether the master input device has been reloaded into the holder (step S17). If the master input device has not been reloaded into the holder in step S17 (No in step S17), the process returns to step S16.
  • asynchronous operation such as a clutch operation
  • step S17 if the master input device is reinserted into the holder (Yes in step S17), the master and slave are synchronized and reconnected (step S18).
  • the synchronization switching unit 315 performs distal positioning of the master and slave based on the holder position and the preset position (step S19).
  • the display unit 13 may use a GUI (Graphical User Interface) to notify the user that slave positioning has been completed.
  • GUI Graphic User Interface
  • step S20 determines whether the master input device has been removed from the holder. If the master input device has not been removed from the holder in step S20 (No in step S20), the process returns to step S19.
  • Figure 11 shows the slave-side working area 501 and slave-side safety area 503 of the robot 500.
  • Figure 12 shows the state after the holder 601-2 on the right side of the master has been automatically moved.
  • Figure 12 shows an example in which the position of the holder 601-2 has been adjusted so that the slave is positioned within the slave-side safety area 503.
  • the synchronization switching unit 315 moves the position of the arm to adjust the target object position so that it can touch the target within the movable range (step S22). Specifically, the synchronization switching unit 315 moves the arm until it reaches the slave-side working area 501.
  • the synchronization and asynchronous state between the master and slave are switched when the operator approaches or touches a proximity sensor or switch mounted at the distal end of the console.
  • the second embodiment we will explain a positioning method in which the position and orientation are not fixed distally, based on a user interface using switches.
  • the master input device used is similar in configuration to that described in the first embodiment, so details will be omitted.
  • the master-slave system 1 determines whether it has "left the predetermined working area” based on the position and orientation information of the operation interface, without using a holder. For example, the master-slave system 1 determines that it has "left the predetermined working area” based on whether the operation interface has come close to an arbitrary object. As one example, the master-slave system 1 determines that it has "left the predetermined working area” when it comes closer than a predetermined distance to a switch or proximity sensor installed on the master side. In this case, the "predetermined working area” refers to "the area of the master side working area corresponding to the area where the slave robot can touch the target object, excluding the area where the switch is installed or the area within the sensing distance of the proximity sensor.”
  • FIG. 14 is a diagram showing an example configuration of the left master input device 701-1 and the right master input device 701-2 of the master-slave system 1 according to the second embodiment.
  • FIG. 14 shows the state when the user is operating the master.
  • FIG. 15 is a diagram showing the state when a trigger is executed on the right master input device 701-2 of the master-slave system 1 according to the second embodiment.
  • FIG. 15 shows the state in which the user is holding the left master input device 701-1 and the right master input device 701-2 and pressing the right switch 702-2 with their right hand.
  • the interface configuration is equipped with a left switch 702-1 that moves the slave to the safety area (distal). Also, a right switch 702-2 that moves the slave to the right safety area (distal). Note that proximity sensors may be installed in place of the left switch 702-1 and the right switch 702-2.
  • the left switch 702-1 and the right switch 702-2 are located outside the "predetermined working area" on the master side.
  • the user While holding the left master input device 701-1 and the right master input device 701-2, the user presses the left switch 702-1 or the right switch 702-2 (or proximity sensor). This causes the determination unit 314 of the master-slave system 1 to detect a trigger, and the synchronization switching unit 315 can switch between the synchronous and asynchronous states between the master and slave.
  • a proximity sensor is installed instead of switches 702-1 and 702-2, the user brings the left master input device 701-1 or the right master input device 701-2 closer to the proximity sensor. This causes the determination unit 314 of the master-slave system 1 to detect a trigger, and the synchronization switching unit 315 can switch between synchronous and asynchronous states.
  • the detection of whether the user is holding the left master input device 701-1 or the right master input device 701-2 may be detected by a sensor (not shown) on the left master input device 701-1 or the right master input device 701-2.
  • the pressing of switches 702-1 and 702-2 may be conditional on the sensor detecting that the user is holding the left master input device 701-1 and the right master input device 701-2.
  • the master-slave system 1 may issue a warning message when the sensor on the left master input device 701-1 detects that the user is not holding the left master input device 701-1 and switch 702-1 is pressed.
  • the master-slave system 1 may issue a warning message when the sensor on the right master input device 701-2 detects that the user is not holding the right master input device 701-2 and switch 702-2 is pressed.
  • the master-slave system 1 may perform calibration in the same manner as in the first embodiment. At this time, the master-slave system 1 may also display a message to the user informing them that calibration is required.
  • the second embodiment eliminates the need to place the left master input device 701-1 and the right master input device 701-2 in their designated positions in the holders. This means that the user can simply touch switch 702-1 or switch 702-2 without having to search for the holders or being concerned about their posture, making operation more intuitive.
  • the control unit 31 accepts operations during synchronization from the master and controls the slave in accordance with the operations (step S31).
  • the determination unit 314 determines whether a switch has been pressed (step S32). In other words, the determination unit 314 determines whether the operation interface of the master robot operated by the user has moved outside the specified working area. If the switch has not been pressed in step S32 (No in step S32), the process returns to step S31.
  • the "predetermined work area" on the master side corresponds to a position other than the left switch 702-1 or the right switch 702-2. Leaving the "predetermined work area” on the master side corresponds to a switch being pressed, for example, pressing the left switch 702-1 or the right switch 702-2. In other words, when the left switch 702-1 or the right switch 702-2 is pressed, it is determined that the left master input device 701-1 or the right master input device 701-2 has moved out of the predetermined work area.
  • step S32 If the switch is pressed in step S32 (Yes in step S32), the synchronization switching unit 315 moves the slave robot to a preset position within the slave-side safety area (step S33). Note that the switch is pressed by the user while holding the left master input device 701-1 and the right master input device 701-2.
  • the user while the master and slave are working in a synchronized state, the user triggers the master by pressing a switch located distal to the master while moving the master, thereby switching between synchronized and asynchronous states.
  • step S35 if the switch has finished being pressed (Yes in step S35), an operation during asynchronous operation (such as a clutch operation) is performed (step S36).
  • asynchronous operation such as a clutch operation
  • step S36 when synchronization between the master and slave is lost, the slave stops at a safe distance outside the working area, so it is in a safe state and the operator can perform any operation during asynchronous operation.
  • step S37 determines whether the switch has been pressed. If the switch has not been pressed in step S37 (No in step S37), the process returns to step S36.
  • step S37 If the switch is pressed in step S37 (Yes in step S37), the master and slave are synchronized and reconnected (step S38).
  • the proximity sensor is placed outside the "predetermined working area" on the master side. Leaving the "predetermined working area” on the master side corresponds to the user's hand while holding the master input device, or holding the master input device so that it can be detected by the proximity sensor. If the user's hand while holding the master input device, or the master input device, is detected by the proximity sensor, it is determined that the user has left the predetermined working area.
  • the position and orientation of the left master input device 701-1 or the right master input device 701-2 are not fixed but are indefinite. Therefore, the position and orientation when the user first presses the switch (hereinafter also referred to as the "master position and orientation during synchronization") differ from the position and orientation when the switch is triggered again (hereinafter also referred to as the "master position and orientation during asynchronous operation"). Therefore, the master-slave system 1 must acquire the position and orientation of the master when transitioning from an asynchronous state to a synchronous state.
  • step S38 the synchronization switching unit 315 acquires the master position and attitude during asynchronous operation.
  • the synchronization switching unit 315 compares the acquired master position and attitude with the position and attitude of the stopped slave to calculate the positional deviation that occurred during asynchronous operation. After calculating the positional deviation, the synchronization switching unit 315 moves the position and attitude of the slave to eliminate the positional deviation, thereby aligning them.
  • the master position and attitude are acquired, for example, using a gyro sensor, position sensor, etc.
  • the synchronization switching unit 315 aligns the position and orientation of the slave with the position and orientation of the master in the safety area (distal) (step S39).
  • the display unit 13 may use a GUI to notify the user that the alignment of the slave has been completed.
  • the left master input device 701-1 or the right master input device 701-2 may be vibrated.
  • the vibration of the master input device 701-1 or the right master input device 701-2 may provide feedback to the user that the slave robot has reached the slave-side safety area.
  • Various feedback methods are possible. For example, when the slave robot reaches the slave-side safety area, a sound may be output from the left master input device 701-1 or the right master input device 701-2.
  • the volume of the vibration or sound generated from the left master input device 701-1 or the right master input device 701-2 may be increased as the slave robot approaches the slave-side safety area.
  • control device 30 calculates the distance between the position of the left master input device 701-1 or the right master input device 701-2 of the slave and the position of the slave-side safety area, and outputs the vibration or sound volume from the left master input device 701-1 or the right master input device 701-2 according to the calculated distance. This allows the user to check when the clutch will be engaged.
  • pressing the switch on the master console again initiates synchronization of the positions and attitudes between the master and slave in the distal safety area.
  • step S40 determines whether pressing of the switch has finished. If pressing of the switch has not finished in step S40 (No in step S40), the process returns to step S40.
  • step S40 If the switch has been pressed in step S40 (Yes in step S40), the process returns to step S31. This allows the user to continue the synchronization process without performing alignment.
  • a switch can be used when returning from asynchronous to synchronous, so the user's work is not interrupted. Also, unlike a holder, a switch does not have a fixed position, so the initial position can be set in any position.
  • each device shown in the figure are functional concepts and do not necessarily have to be physically configured as shown.
  • the specific form of distribution and integration of each device is not limited to that shown, and all or part of them can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc.
  • the master-slave system includes a determination unit (determination unit 314 in the embodiment) that determines whether the operation interface of the master robot operated by the user has moved outside a predetermined working area during the operation of the master robot and the slave robot, and a synchronization switching unit (synchronization switching unit 315 in the embodiment) that switches to cancel synchronization between the slave robot and the master robot when the operation interface (master input devices 412-1 and 412-2 in the embodiment) has moved outside the predetermined working area.
  • the master-slave system according to the present disclosure cancels synchronization between the slave robot and the master robot when the operation interface moves out of the specified working area, thereby eliminating any misalignment between the master and slave robots. Furthermore, because the master-slave system according to the present disclosure does not require the master robot to actively align the positions, there is no longer any restriction on the master-slave system being equipped with an actuator. As a result, the design cost and size of the master-slave system according to the present disclosure can be reduced.
  • the synchronization switching unit moves the slave robot into the slave-side safety area and switches to cancel synchronization.
  • the master-slave system disclosed herein moves the slave robot to the slave-side safety area, allowing for safe alignment of the master robot and slave robot.
  • the determination unit determines that the master robot's operation interface has left the specified work area when the master robot's operation interface is attached to a holder installed outside the work area.
  • the synchronization switching unit determines that the master robot's operation interface has left the specified work area, it controls the slave robot to move to a preset position within the slave-side safety area.
  • the position and orientation of the operation interface are uniquely determined when the operation interface is attached to the holder. Therefore, the master robot and slave robot can be aligned without any processing to acquire position and orientation information for the operation interface. Furthermore, since there is no need for active alignment by the master robot, the user's work is not interrupted. Furthermore, since alignment is performed at a safe, distant position, alignment can be performed safely.
  • the synchronization switching unit when it receives an operation from the user to restore synchronization, it aligns the master robot and slave robot based on the position of the holder and a preset position within the slave-side safety area, and begins synchronizing the master robot and slave robot.
  • the master-slave system disclosed herein uses the holder position to align the master robot and slave robot, allowing the holder position to be a fixed value and simplifying alignment calculations.
  • the determination unit also acquires position and orientation information for the master robot's operation interface, and determines whether the master robot's operation interface has moved outside the specified working area based on that position and orientation information. If it is determined that the master robot's operation interface has moved outside the specified working area, the synchronization switching unit controls the slave robot to move into the slave-side safety area.
  • the master-slave system disclosed herein performs alignment based on the position and orientation information of the master robot's operation interface, eliminating the need for the master robot to actively perform alignment. This means that the user's work is not interrupted. Furthermore, because the slave robot is moved into the slave-side safety area, alignment between the master robot and slave robot can be performed safely.
  • the synchronization switching unit receives an operation from the user to restore synchronization, it aligns the master robot with the slave robot located in the safety area based on the position and orientation information of the master robot's operation interface, and begins synchronization between the master robot and the slave robot.
  • the master-slave system disclosed herein can restore synchronization within a safe area.
  • the master-slave system also has a display that indicates when the position of the slave robot has been aligned with the position of the master robot.
  • the master-slave system disclosed herein allows the user to confirm that alignment is complete and continue working.
  • the operation interface of the master robot has a first magnet, and inside the holder there is a second magnet that attracts the first magnet.
  • the master-slave system can improve the connection between the operation interface and the holder by using the first magnet and the second magnet.
  • the holder has a switch where the operation interface is attached, and when the switch is pressed, the determination unit determines that the operation interface of the master robot has moved out of the specified working area.
  • the master-slave system can reliably determine when the master robot's operation interface has left the specified working area.
  • the master robot also has a switch installed outside the working area, and when the switch is pressed, the synchronization switching unit determines that the operation interface has moved outside the specified working area, and desynchronizes the master robot and slave robot.
  • the master-slave system disclosed herein allows the user to desynchronize the master robot and slave robot in any position and posture by using a switch.
  • the synchronization switching unit synchronizes the master robot and slave robot when the switch is pressed after the master robot and slave robot have been desynchronized.
  • the master-slave system disclosed herein can use a switch even when returning from asynchronous to synchronous, so the user's work is not interrupted. Also, unlike a holder, a switch does not have a fixed position, so the initial position can be started in any position.
  • the judgment unit provides feedback to the user when the slave robot reaches the slave-side safety area.
  • the master-slave system disclosed herein allows users to recognize its safety.
  • the judgment unit increases the vibration or sound emitted from the operation interface as the slave robot approaches the slave-side safety area.
  • the master-slave system disclosed herein provides users with a strong sense of safety.
  • the judgment unit also performs calibration on the slave robot to determine the slave-side safety area.
  • the master-slave system can perform calibration so that the determination unit can determine whether the operation interface has moved outside the specified working area, even when the operation interface is in a specific position (for example, vertically).
  • the synchronization switching unit receives an operation to restore synchronization, it acquires position and orientation information of the master robot's operation interface.
  • the master-slave system disclosed herein can use the acquired position and orientation information for alignment when using a switch or the like to determine whether the system has moved outside a specified area.
  • FIG. 17 is a hardware configuration diagram showing an example of a computer 1000 that realizes the arithmetic unit of the master-slave system 1 that is an information processing device according to the first and second embodiments.
  • Computer 1000 has a CPU 1100, RAM 1200, ROM (Read Only Memory) 1300, HDD (Hard Disk Drive) 1400, communication interface 1500, and input/output interface 1600. Each part of computer 1000 is connected by bus 1050.
  • the CPU 1100 operates based on programs stored in the ROM 1300 or HDD 1400 and controls each component. For example, the CPU 1100 loads programs stored in the ROM 1300 or HDD 1400 into the RAM 1200 and executes processing corresponding to the various programs.
  • BIOS Basic Input Output System
  • HDD 1400 is a computer-readable recording medium that non-temporarily records programs executed by CPU 1100 and data used by such programs.
  • HDD 1400 is a recording medium that records application programs related to the present disclosure, which are an example of program data 1450.
  • the communication interface 1500 is an interface that allows the computer 1000 to connect to an external network 1550 (e.g., the Internet).
  • an external network 1550 e.g., the Internet
  • the CPU 1100 receives data from other devices and transmits data generated by the CPU 1100 to other devices via the communication interface 1500.
  • the input/output interface 1600 is an interface for connecting the input/output device 1650 and the computer 1000.
  • the CPU 1100 receives data from input devices such as a keyboard or mouse via the input/output interface 1600.
  • the CPU 1100 also transmits data to output devices such as a display, speaker, or printer via the input/output interface 1600.
  • the input/output interface 1600 may also function as a media interface that reads programs and the like recorded on a specified recording medium. Examples of media include optical recording media such as DVDs (Digital Versatile Discs) and PDs (Phase Change Rewritable Disks), magneto-optical recording media such as MOs (Magneto-Optical Disks), tape media, magnetic recording media, or semiconductor memory.
  • the CPU 1100 reads and executes the program data 1450 from the HDD 1400, but as another example, it may also obtain these programs from another device via the external network 1550.
  • the present technology can also be configured as follows. (1) a determination unit that determines whether or not an operation interface of the master robot operated by a user has moved out of a predetermined working area during operation of the master robot and the slave robot; a synchronization switching unit that switches the slave robot and the master robot to cancel synchronization when the operation interface moves out of a predetermined working area; A master-slave system comprising: (2) The synchronization switching unit When the operation interface is out of a predetermined working area, the slave robot is moved to a slave-side safety area and the synchronization is cancelled.
  • the master-slave system according to (1) above.
  • the determination unit determining that the operation interface of the master robot has deviated from a predetermined working area when the operation interface of the master robot is attached to a holder installed outside the working area;
  • the synchronization switching unit When it is determined that the operation interface of the master robot has moved out of a predetermined working area, the slave robot is controlled to move to a preset position within the slave-side safety area.
  • the master-slave system according to (2) above.
  • the synchronization switching unit When an operation for restoring synchronization is received from the user, the positioning unit aligns the master robot and the slave robot based on the position of the holder and a preset position in the slave-side safety area, and starts synchronization between the master robot and the slave robot.
  • the master-slave system according to (3) above.
  • the determination unit acquiring position and orientation information of the operation interface of the master robot, and determining whether or not the operation interface of the master robot has moved out of a predetermined working area based on the position and orientation information;
  • the synchronization switching unit When it is determined that the operation interface of the master robot has deviated from a predetermined working area, the slave robot is controlled to move to the slave-side safety area.
  • the master-slave system according to any one of (2) to (4) above.
  • the synchronization switching unit When an operation for restoring synchronization is received from the user, the master robot aligns with the slave robot located in the slave-side safety area based on position and orientation information of the operation interface of the master robot, and starts synchronization between the master robot and the slave robot.
  • the master-slave system according to (5) above. (7) a display unit that displays that the position of the slave robot has been aligned with the position of the master robot; The master-slave system according to any one of (4) to (6) above. (8) the operation interface of the master robot has a first magnet; The holder has a second magnet inside for attracting the first magnet. The master-slave system according to any one of (3) to (7) above. (9) the holder has a switch at a portion where the operation interface is attached; The determination unit When the switch is pressed, it is determined that the operation interface of the master robot has moved out of a predetermined working area. The master-slave system according to any one of (3) to (8) above.
  • the master robot includes a switch installed outside the predetermined working area; The synchronization switching unit When the switch is pressed, it is determined that the operation interface has moved out of a predetermined working area, and the master robot and the slave robot are desynchronized.
  • the master-slave system according to (5) or (6) above.
  • the synchronization switching unit After the master robot and the slave robot are desynchronized, when the switch is pressed, the master robot and the slave robot are synchronized.
  • the master-slave system according to (11) above.
  • the determination unit When the slave robot reaches the slave-side safety area, feedback is given to the user from the operation interface.
  • the determination unit increasing the vibration or sound generated from the operation interface as the slave robot approaches the slave-side safety area;
  • the determination unit performing calibration on the slave robot to determine the slave-side safety area;
  • the synchronization switching unit When an operation for restoring synchronization is received, position and orientation information of the operation interface of the master robot is acquired.
  • the master-slave system according to any one of (6) to (15) above.
  • a control device a control device; a master device connected to the control device; a slave device connected to the control device; In a master-slave system having The slave device a slave robot that performs surgery on a patient;
  • the control device a determination unit that determines whether or not an operation interface of a master robot operated by a user has moved out of a predetermined working area; a synchronization switching unit that switches the slave robot and the master robot to cancel synchronization when the operation interface moves out of a predetermined working area;
  • the master device is an operation interface for a master robot operated by a user; a holder installed outside the working area; Equipped with The determination unit of the control device When the operation interface is attached to the holder installed outside the work area, it is determined that the operation interface has moved out of the predetermined work area.
  • the computer In the operation of the master robot and the slave robot, determining whether or not the operation interface of the master robot operated by the user has moved out of a predetermined working area; When the operation interface is moved out of a predetermined working area, the slave robot is switched to be desynchronized with the master robot; A method for controlling synchronous switching in a master-slave system. (19) a determination unit that determines whether or not an operation interface of the master robot operated by a user has moved out of a predetermined working area during the operation of the master robot and the slave robot; a synchronization switching unit that switches the slave robot and the master robot to cancel synchronization when the operation interface moves out of a predetermined working area; A program to function as a

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

Abstract

Un système maître/esclave selon la présente divulgation comprend : une unité de détermination qui détermine si une interface de manipulation d'un robot maître manipulé par un utilisateur a dévié d'une zone de travail prescrite pendant le fonctionnement du robot maître et d'un robot esclave ; et une unité de commutation de synchronisation qui, si l'interface de manipulation a dévié de la zone de travail prescrite, effectue une commutation de façon à libérer une synchronisation entre le robot esclave et le robot maître.
PCT/JP2025/000851 2024-01-26 2025-01-14 Système maître/esclave, procédé de commande de commutation synchrone et programme Pending WO2025158956A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001150368A (ja) * 1999-11-24 2001-06-05 Olympus Optical Co Ltd マニピュレータ制御装置
JP2002253574A (ja) * 2001-03-01 2002-09-10 Hitachi Ltd 手術支援装置
WO2016136614A1 (fr) * 2015-02-26 2016-09-01 オリンパス株式会社 Dispositif d'entrée d'opération et système de manipulateur médical

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001150368A (ja) * 1999-11-24 2001-06-05 Olympus Optical Co Ltd マニピュレータ制御装置
JP2002253574A (ja) * 2001-03-01 2002-09-10 Hitachi Ltd 手術支援装置
WO2016136614A1 (fr) * 2015-02-26 2016-09-01 オリンパス株式会社 Dispositif d'entrée d'opération et système de manipulateur médical

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