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WO2025182007A1 - Robot et procédé d'apprentissage - Google Patents

Robot et procédé d'apprentissage

Info

Publication number
WO2025182007A1
WO2025182007A1 PCT/JP2024/007532 JP2024007532W WO2025182007A1 WO 2025182007 A1 WO2025182007 A1 WO 2025182007A1 JP 2024007532 W JP2024007532 W JP 2024007532W WO 2025182007 A1 WO2025182007 A1 WO 2025182007A1
Authority
WO
WIPO (PCT)
Prior art keywords
probe
control device
robot
point
registered
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/JP2024/007532
Other languages
English (en)
Japanese (ja)
Inventor
赳之 山本
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.)
Fuji Corp
Original Assignee
Fuji 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 Fuji Corp filed Critical Fuji Corp
Priority to PCT/JP2024/007532 priority Critical patent/WO2025182007A1/fr
Publication of WO2025182007A1 publication Critical patent/WO2025182007A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators

Definitions

  • This disclosure relates to a robot and a teaching method.
  • one robot of this type has been proposed that includes a robot arm that holds an ultrasound probe and moves the ultrasound probe along the surface of the subject's body, a memory unit that stores instruction trajectory information for moving the ultrasound probe by the robot arm, and a robot arm control unit that controls the drive of the robot arm to move the ultrasound probe in accordance with the stored instruction trajectory information (see, for example, Patent Document 1).
  • the robot arm is controlled to move the ultrasound probe according to the instruction trajectory information stored in the memory unit. If the patient moves while the ultrasound probe is being moved according to the instruction trajectory information to perform treatment, the object being photographed will move out of the range shown in the ultrasound image. In this case, the operator must adjust the position of the robot arm holding the ultrasound probe.
  • This disclosure was made in consideration of the above-mentioned problems, and aims to provide a robot and teaching method that can adjust the position of a probe during playback based on registration points.
  • this specification discloses a robot that includes an arm that can hold a probe of an ultrasound device and a control device that controls the operation of the arm, wherein the control device performs a storage process that changes the position of the probe in response to an operation by an operator and stores the changed position of the probe in a storage unit as a registered point, a playback process that moves the probe to the position of the registered point stored in the storage unit by the storage process, and an adjustment process that accepts the change in the position of the probe by a teaching operation that manually moves the arm during the playback process.
  • the contents of the present disclosure are not limited to implementation as a robot, but are also extremely useful when implemented as a teaching method for a robot.
  • the robot and teaching method disclosed herein allow manual teaching operations to be performed during playback in accordance with the registered points stored through memory processing. Teaching can be performed by manually changing the position of the probe at the registered points or on the path between registered points. This allows the operator to change the position during playback.
  • FIG. 1 is an external perspective view of a robot system according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of a robot. An enlarged view of the robot's hand. An enlarged view of the robot's hand.
  • FIG. 2 is a block diagram showing the electrical connections of the robot system.
  • FIG. 3 is an explanatory diagram showing the direction of movement of an ultrasonic probe.
  • FIG. 4 is an explanatory diagram showing an example of an operation mode screen displayed on an operation panel.
  • 10A to 10C are diagrams showing screen transitions when a registration point is registered.
  • 10A to 10C are diagrams showing screen transitions when a teaching operation is performed during playback processing.
  • 10A to 10C are diagrams showing screen transitions when a teaching operation is performed during playback processing.
  • 10A to 10C are diagrams showing screen transitions when a teaching operation is performed during playback processing.
  • FIG. 1 is an external perspective view of the robot system 10 of this embodiment.
  • FIG. 2 is a schematic diagram of the robot 20.
  • FIGS. 3 and 4 are enlarged partial views of the robot 20 including the hand unit 60.
  • FIG. 5 is a block diagram showing the electrical connections of the robot system 10.
  • the direction as seen by the operator operating the operation panel 90 of the robot 20 will be used as the reference, and the front-to-back direction will be referred to as the X-axis direction, the left-to-right direction as the Y-axis direction, and the up-to-down direction as the Z-axis direction.
  • the robot system 10 of this embodiment includes a robot 20 having an articulated robot arm 21, a foot switch 91, an ESR controller 92, a tablet terminal 93, and an emergency stop switch 94.
  • the robot system 10 holds an ultrasound probe 101 of an ultrasound device 100 at the tip of the robot arm 21, and controls the robot 20 to move while pressing the ultrasound probe 101 against the surface of the human body, thereby causing the ultrasound device 100 to acquire ultrasound echo images of the human body.
  • the robot system 10 is used as an ultrasound echo guide during surgery, such as catheter surgery.
  • the operator surgeon
  • the catheter guidewire manually operates the robot arm 21 and holds the ultrasound probe 101 held by the robot arm 21 against the patient.
  • the operator determines the points (images) to be reproduced during surgery and performs direct teaching to register these points as registered points in the robot 20 (robot control device 80).
  • the points to be reproduced here refer to the desired position and orientation of the robot 20, i.e., the position and orientation of the ultrasound probe 101 relative to the patient.
  • the operator instructs the robot 20 to move to the registered points, presses the ultrasound probe 101 against the surface of the human body (patient), and advances the guidewire while recognizing the positional relationship between the tip of the guidewire and the blood vessel from the acquired ultrasound echo image. This allows the guidewire to accurately pass through the center of the occluded or narrowed area of the blood vessel.
  • the ultrasound device 100 comprises an ultrasound probe 101 and an ultrasound device main body 110 connected to the ultrasound probe 101 via a cable 102.
  • the ultrasound device main body 110 comprises an ultrasound diagnosis control unit 111 that controls the entire device, an image processing unit 112 that processes signals received from the ultrasound probe 101 to generate ultrasound echo images, an image display unit 113 that displays the ultrasound echo images, and various operation switches (not shown).
  • the ultrasound probe 101 can be a one-dimensional linear type, a convex type, or a two-dimensional or three-dimensional probe, or a probe of another shape such as an H-type.
  • the robot 20 comprises a base 25, a housing 29 installed on the base 25, a robot arm 21 supported by the housing 29, a hand 60 attached to the tip of the robot arm 21, a robot control device 80 that controls the robot arm 21, and an operation panel 90.
  • Casters 26 are attached to the base 25.
  • the base 25 also has a locking section 28 that protrudes vertically downward when a lever 27 is pressed down, locking (fixing) the robot 20 so that it cannot move.
  • the robot arm 21 is, for example, a seven-axis articulated arm, and includes a first arm 22, a second arm 23, a base 24, a first arm driver 35, a second arm driver 36, an attitude holding device 37, a three-axis rotation mechanism 50, and a brake lever 65 (see Figure 4).
  • the base end of the first arm 22 is connected to the base 24 via a first joint axis 31 extending in the vertical direction (Z-axis direction).
  • the first arm driver 35 includes a motor 35a, an encoder 35b, and an amplifier 35c (see Figure 5).
  • the rotation axis of the motor 35a is connected to the first joint axis 31 via a reducer (not shown).
  • the first arm driver 35 drives the motor 35a to rotate the first joint axis 31, causing the first arm 22 to rotate (pivot) along the horizontal plane (XY plane) around the first joint axis 31 as a fulcrum.
  • Encoder 35b is, for example, a rotary encoder that uses a rotating body attached to the rotation shaft of motor 35a to detect the amount of rotational displacement of motor 35a.
  • Amplifier 35c is a drive unit that drives motor 35a by switching on and off switching elements.
  • the base end of the second arm 23 is connected to the tip end of the first arm 22 via a second joint shaft 32 extending in the vertical direction.
  • the second arm driver 36 includes a motor 36a, an encoder 36b, and an amplifier 36c (see Figure 5). Note that in describing the second arm driver 36, the same components as those of the first arm driver 35 will not be described.
  • the second arm driver 36 drives the motor 36a to rotate the second joint shaft 32, causing the second arm 23 to rotate along a horizontal plane around the second joint shaft 32 as a fulcrum.
  • the first arm 22 and the second arm 23 form a horizontal joint arm.
  • the robot 20 has two arm postures: a right arm posture mode in which the robot arm 21 operates in a right arm posture, and a left arm posture mode in which the robot arm 21 operates in a left arm posture.
  • an elevator device 40 is provided within the housing 29.
  • the elevator device 40 is installed on the base 25.
  • the base 24 is provided at the base end of the robot arm 21 and is movable up and down relative to the base 25 by the elevator device 40.
  • the elevator device 40 includes a first slider 41, a first guide member 42, a first ball screw shaft 43 (elevation shaft), a motor 44a, an encoder 44b, and an amplifier 44c (see FIG. 5).
  • the base 24 is fixed to the first slider 41.
  • the first guide member 42 extends in the vertical direction to guide the movement of the first slider 41.
  • the first ball screw shaft 43 extends in the vertical direction and is threadedly engaged with a ball screw nut (not shown) fixed to the first slider 41.
  • the motor 44a rotates the first ball screw shaft 43.
  • the amplifier 44c drives the motor 44a.
  • the lifting device 40 moves the base 24 fixed to the first slider 41 up and down along the first guide member 42 by rotating the first ball screw shaft 43 using the motor 44a.
  • the encoder 44b is, for example, a linear encoder that detects the vertical position (lift position) of the first slider 41 (base 24).
  • the three-axis rotating mechanism 50 is connected to the tip of the second arm 23 via an attitude-maintaining shaft 33 extending in the vertical direction.
  • the three-axis rotating mechanism 50 comprises a first rotation shaft 51, a second rotation shaft 52, and a third rotation shaft 53 that are perpendicular to one another, a first rotation device 55 that rotates the first rotation shaft 51, a second rotation device 56 that rotates the second rotation shaft 52, and a third rotation device 57 that rotates the third rotation shaft 53.
  • the first rotation shaft 51 is supported in an orientation perpendicular to the attitude-maintaining shaft 33.
  • the second rotation shaft 52 is supported in an orientation perpendicular to the first rotation shaft 51.
  • the third rotation shaft 53 is supported in an orientation perpendicular to the second rotation shaft 52.
  • the first rotation device 55 includes a motor 55a that rotates the first rotating shaft 51, an encoder 55b attached to the rotating shaft of the motor 55a and detecting the rotational displacement of the motor 55a, and an amplifier 55c that drives the motor 55a (see FIG. 5).
  • the second rotation device 56 includes a motor 56a that rotates the second rotating shaft 52, an encoder 56b attached to the rotating shaft of the motor 56a and detecting the rotational displacement of the motor 56a, and an amplifier 56c that drives the motor 56a (see FIG. 5).
  • the third rotation device 57 includes a motor 57a that rotates the third rotating shaft 53, an encoder 57b attached to the rotating shaft of the motor 57a and detecting the rotational displacement of the motor 57a, and an amplifier 57c that drives the motor 57a (see FIG. 5).
  • the third rotation device 57 includes a housing 54 to which the second rotation shaft 52 is connected and which rotatably supports the third rotation shaft 53 so that it extends perpendicular to the second rotation shaft 52, a motor 57a that rotates the third rotation shaft 53, a force sensor 68, and the like (see Figure 5).
  • the housing 54 is, for example, a box-shaped member having a first surface 54b, a second surface 54t, a third surface 54r, and a fourth surface 54f that are connected in the circumferential direction (direction along the outer periphery).
  • the second rotation shaft 52 is connected to the third surface 54r.
  • the third rotation shaft 53 is rotatably supported on the housing 54 so that it extends outward from the first surface 54b that is perpendicular to the third surface 54r, and is rotationally driven by the motor 57a.
  • the second surface 54t of the housing 54 is provided with an operating handle 66 that is held by the operator when manually operating the ultrasound probe 101 held by the robot arm 21 during direct teaching, and a stop switch 67 that the operator can operate to temporarily stop the operation of the robot arm 21 if an unexpected movement occurs in the robot arm 21.
  • the force sensor 68 is provided inside the housing 54 and attached to the third rotation shaft 53.
  • the force sensor 68 transmits power from the motor 57a provided inside the housing 54 to the third rotation shaft 53 (hand end portion 60), and detects force components acting in the axial directions of the X-axis, Y-axis, and Z-axis as external forces applied to the hand end portion 60 and operating handle 66, as well as torque components acting around the Ra, Rb, and Rc axes.
  • the hand unit 60 is attached to the tip of the third rotation shaft 53.
  • the hand unit 60 has a base 601, a holding unit 602 that holds the ultrasound probe 101 so that it is coaxial with the third rotation shaft 53, and a gripping unit 603 that is held by the operator.
  • the base 601 is a plate-shaped member that is detachably attached to the third rotation shaft 53 with a snap lock 64.
  • the hand unit 60 (base 601) may also be attached to the third rotation shaft 53 with other fasteners (e.g., ratchet-type fasteners, screws, etc.).
  • the holding unit 602 is provided on one surface of the base 601 and holds the ultrasonic probe 101.
  • the holding unit 602 includes, for example, a pair of support walls that support the ultrasonic probe 101 from both sides, and a plate-shaped pressing member that spans from one support wall to the other and presses the ultrasonic probe 101 against the base 601.
  • One side of this pressing member is rotatably attached to one support wall via a hinge, and the other side is detachably fixed to the other support wall with a fixing device (e.g., a snap lock). Therefore, the pressing member can be opened and closed relative to the pair of support walls, and can be switched between a closed state in which the ultrasonic probe 101 is held, and an open state in which the ultrasonic probe 101 can be attached and detached.
  • the holding unit 602 can be attached in either orientation, for example, by flipping the front and back of the linear ultrasonic probe 101.
  • the gripping portion 603 is gripped by an operator when the operator manually moves the ultrasound probe 101 held by the robot arm 21 during direct teaching, for example.
  • the gripping portion 603 is provided on the surface of the base 601 opposite the surface on which the holding portion 602 is provided, and is formed so as to protrude convexly outward from the other surface.
  • the gripping portion 603 is formed with a convex curved surface as shown in Figures 3 and 4.
  • the gripping portion 603 may be formed in any shape that can be gripped by the operator, such as a tapered shape, rod shape, hemispherical shape, rectangular parallelepiped shape, or cube shape.
  • a direct teaching switch 61 is provided at the top of the convex portion (convex curved surface portion) of the gripping portion 603 to allow the operator to manually operate the robot arm 21 during direct teaching.
  • the location of the direct teaching switch 61 is not limited to the position shown in Figures 3 and 4.
  • the direct teaching switch 61 may be provided on the surface of the gripping portion 603 on the side of the snap lock 64 (cable guide 63, described later).
  • the direct teaching switch 61 may also be provided on a member other than the gripping portion 603.
  • the direct teaching switch 61 may be provided on the second surface 54t of the housing 54.
  • the direct teaching switch 61 may also be provided on a member other than the robot arm 21.
  • the direct teaching switch 61 may be provided on the housing 29.
  • the direct teaching switch 61 may be provided on a member capable of wireless communication with the robot control device 80.
  • the direct teaching switch 61 is configured as a three-position enable switch.
  • One end of a cable 62 is connected to a terminal of the direct teaching switch 61.
  • a cable guide 63 that guides one end of the cable 62 to the direct teaching switch 61 is fixed to the other surface of the base 601 of the hand 60, closer to the housing 54 than the gripping portion 603.
  • the other end of the cable 62 is connected to wiring that runs from the housing 54 along the robot arm 21 to the robot control device 80.
  • a connector 621 is provided at the other end of the cable 62, and is removably connected to a connector provided on the housing 54. Therefore, by unlocking the snap lock 64 and pulling out the connector 621, the hand 60 can be easily detached from the housing 54, improving maintainability.
  • the robot 20 operates the robot arm 21 by a combination of translational motion in three directions, the X-axis, Y-axis, and Z-axis directions, performed by the first arm driver 35, the second arm driver 36, and the elevator 40, and rotational motion in three directions, the X-axis (pitching) Rb, the Y-axis (rolling) Ra, and the Z-axis (yawing) Rc, performed by the three-axis rotation mechanism 50.
  • the X-axis pitching
  • the Y-axis (rolling) Ra the Z-axis (yawing) Rc
  • the robot 20 can move the ultrasonic probe 101 in each of the X-axis, Y-axis, and Z-axis directions (both forward and reverse directions) and rotate it around the Ra, Rb, and Rc axes (both forward and reverse rotation directions).
  • the X-axis direction is the direction that moves the ultrasonic probe 101 away from the housing 29 or moves the ultrasonic probe 101 closer to the housing 29.
  • the direction that moves the ultrasonic probe 101 away from the housing 29 is the positive direction
  • the direction that moves the ultrasonic probe 101 closer to the housing 29 is the negative direction.
  • the positive direction in the X-axis direction which points forward from the housing 29, is aligned with the positive direction Ra around the Y-axis, which rotates the ultrasonic probe 101 forward (forward rotation), thereby aligning the directions intuitively recognized by the operator and improving operability.
  • the definitions of directions and positive/negative signs shown in FIG. 6 are merely examples.
  • the direction around the X-axis may be defined as the rotation direction Ra.
  • the center of rotation is set so that the holder 602 rotates around the center 123 (see FIG. 6) of the tip of the ultrasonic probe 101 held by the holder 602.
  • the attitude holding device 37 holds the attitude of the three-axis rotation mechanism 50 (the orientation of the first rotation axis 51) in a fixed direction regardless of the attitudes of the first arm 22 and the second arm 23.
  • the attitude holding device 37 includes a motor 37a, an encoder 37b, and an amplifier 37c (see Figure 5).
  • the rotation axis of the motor 37a is connected to the attitude holding axis 33 via a reducer (not shown).
  • the attitude holding device 37 sets a target rotation angle for the attitude holding axis 33 based on the rotation angles of the first joint axis 31 and the second joint axis 32 so that the axial direction of the first rotation axis 51 is always in the left-right direction (Y-axis direction), and drives and controls the motor 37a so that the attitude holding axis 33 reaches the target rotation angle. This makes it possible to control the translational movement in three directions and the rotational movement in three directions independently, making control easier.
  • mechanical brakes e.g., disc brakes
  • first joint axis 31, second joint axis 32, and attitude maintaining axis 33 are attached to each axis of the robot arm 21 except for the horizontally rotating axis (first joint axis 31, second joint axis 32, and attitude maintaining axis 33).
  • the operator can release the activation of these mechanical brakes by operating the brake lever 65 shown in Figure 4. This allows the operator to manually release the mechanical brakes even if the power supply is cut off due to some abnormality in the robot 20.
  • the operation panel 90 is, for example, provided on the top surface of the housing 29, and is a touch panel display that displays various information related to the robot system 10 and allows various instructions to be input to the robot system 10.
  • the foot switch 91 shown in FIG. 1 is a pedal switch that is turned on when the operator steps on it, and is connected to the robot control device 80 of the robot 20 via a cable.
  • the foot switch 91 has four switches (first to fourth switches 911, 912, 913, 914) lined up horizontally.
  • the ESR controller 92 is an operation controller that is pressed by the operator while held with both hands, and is connected wirelessly to the robot control device 80 of the robot 20. Note that the ESR controller 92 may also be connected to the robot control device 80 of the robot 20 via a wired connection.
  • the ESR controller 92 has a directional key button 921, a push button 922, a button 923, a button 924, and push buttons 925 and 926.
  • the directional key button 921 has buttons (up button, down button, left button, and right button) that can be operated with the thumb of the left hand.
  • the push button 922 has four buttons (A button, B button, X button, and Y button) arranged in a diamond shape that can be operated with the thumb of the right hand.
  • the button 923 has an L1 button and an L2 button that can be operated with the index finger and middle finger of the left hand, respectively.
  • the buttons 924 include an R1 button and an R2 button that can be operated with the index finger and middle finger of the right hand, respectively.
  • Multiple push buttons 925 and 926 are arranged between the directional key button 921 and the four push buttons 922.
  • the tablet terminal 93 is equipped with a control device including a CPU, ROM, RAM, and storage (SSD), a touch panel display that displays various information and allows the operator to input operations, and a communication unit.
  • the tablet terminal 93 is connected to the robot control device 80 of the robot 20 via wireless communication so that it can communicate with it.
  • the tablet terminal 93 has a remote desktop function that allows the operation panel 90 to be remotely controlled from the tablet terminal 93 via wireless communication.
  • the emergency stop switch 94 is a button that forcibly stops the robot 20 in an emergency, and is connected to the robot control device 80 via a cable.
  • the emergency stop switch 94 may also be provided on the robot arm 21, the housing 29, etc.
  • the robot control device 80 comprises a robot control unit 81, a communication unit 84, and a memory unit 85.
  • the robot control unit 81 is configured as a processor including a CPU, ROM, RAM, peripheral circuits, etc.
  • the robot control unit 81 performs various processes related to the control of the robot arm 21 (motors 35a-37a, 44a, 55a-57a).
  • the communication unit 84 communicates via wire or wireless between the robot control device 80 and external devices (foot switch 91, ESR controller 92, tablet terminal 93, emergency stop switch 94, etc.) and exchanges various signals and data.
  • the memory unit 85 is a storage device such as RAM, ROM, HDD, or SSD.
  • Each of the amplifiers 35c-37c, 44c, and 55c-57c includes a motor control unit 71 and a drive power supply unit 72.
  • the drive power supply unit 72 includes, for example, an inverter circuit that supplies the power necessary to drive the motors 35a-37a, 44a, and 55a-57a.
  • the motor control unit 71 controls each of the motors 35a-37a, 44a, and 55a-57a by, for example, feedback control (switching control) of the switching elements of the inverter circuit of the drive power supply unit 72 based on encoder information from the encoders 35b-37b, 44b, and 55b-57b, etc.
  • Figure 7 shows an example of an operation screen displayed on the operation panel 90.
  • the robot control device 80 displays various buttons and a registration point display section 131 on the operation screen.
  • the robot control device 80 displays an image 133 simulating a human body, as well as registration points P and paths L, which will be described later, on the registration point display section 131. Note that the robot control device 80 does not have to display the image 133 on the registration point display section 131.
  • the robot control device 80 allows a wireless connection between the tablet terminal 93 and the robot control device 80.
  • the tablet terminal 93 is wirelessly connected to the robot control device 80, it uses the remote desktop function to display the same screen as that displayed on the operation panel 90, and can accept the same operations as those on the operation panel 90. Therefore, the operations using the operation panel 90 described below can also be performed using the tablet terminal 93.
  • the operation button B2, maintenance button B3, and setting button B4 are buttons for switching between operation mode, maintenance mode, and setting mode, respectively.
  • Operation mode is a mode used during surgery, etc.
  • the various functions in operation mode include direct teaching, point registration, point display, point sorting, point deletion, point replay, 90-degree rotation, fine adjustment, moving to storage position, moving to origin position, etc.
  • the robot control device 80 executes these functions based on operations on the operation panel 90, tablet terminal 93, foot switch 91, ESR controller 92, etc.
  • Direct teaching is a function that allows the operator to directly operate the robot arm 21 by grasping the gripping portion 603 of the hand portion 60 or the operating handle 66 and applying force.
  • the robot control device 80 When the direct teaching function is executed, the robot control device 80 generates an assist force from the motors of each axis in the direction of the applied force so that the operator can operate the robot with less force.
  • the robot control device 80 may also accept user selections and change the magnitude of this assist force for each selected user.
  • the robot control device 80 enables the direct teaching function only while the direct teaching switch 61 is on.
  • the direct teaching switch 61 in this embodiment is a three-position enable switch.
  • the robot control device 80 enables the direct teaching function, for example, from the time the user presses the direct teaching switch 61 until they release their finger, or from the time the user presses the direct teaching switch 61 until they press the switch further.
  • the robot control device 80 stops motor assistance. This makes it difficult for the operator to manually operate the robot arm 21.
  • Point registration is a function that registers a point to which the robot 20 is to be moved during point playback.
  • the robot control device 80 changes the position of the ultrasonic probe 101 in response to operator operation and stores the changed position of the ultrasonic probe 101 in the memory unit 85 as a registered point P (an example of the storage process of the present disclosure).
  • the operator operates the direct teaching switch 61 to manually operate the robot arm 21, and while checking the ultrasound echo image acquired by placing the ultrasonic probe 101 held by the robot arm 21 against the patient, places the ultrasonic probe 101 at the position of the registered point P that is to be reproduced during surgery.
  • the robot control device 80 stores information such as the position of the ultrasonic probe 101 as a registered point P in the memory unit 85, i.e., registers the registered point P.
  • the registered point information stored in the memory unit 85 includes, for example, the position and orientation of the ultrasound probe 101 (X, Y, and Z coordinate values and the Ra, Rb, and Rc angle values), the position of each axis of the robot arm 21 (angle values and elevation coordinate values), etc.
  • the robot control device 80 registers a registered point P based on the operation of a foot switch 91 (e.g., the first switch 911).
  • the robot control device 80 can also accept registration of a registered point P during surgery.
  • the robot control device 80 can also accept changes to the position and orientation of the ultrasound probe 101 and registration of a registered point P while executing the fine-tuning function described below.
  • the robot control device 80 displays the stored (registered) registered point P on the registered point display unit 131 and uses it when replaying points, etc.
  • Point display is a function that displays the three-dimensional position of the robot 20, for example, the current three-dimensional position of the tip (e.g., center 123) of the ultrasonic probe 101, as a two-dimensional position viewed from a specified direction, and displays the registered point P on the operation panel 90.
  • the robot control device 80 performs operations such as zooming in and out and changing the viewpoint based on operations on the operation panel 90.
  • the registered point display unit 131 in Figure 7 and Figures 8 to 11 described below shows, as an example, the current position PA of the ultrasonic probe 101 and the registered point P displayed as two-dimensional positions in the X and Y axis directions.
  • Point sorting is a function that rearranges registered points P.
  • the robot control device 80 arranges the points in the playback order from the base of the patient's foot toward the toes.
  • the robot control device 80 rearranges the registered points P when registering a new registered point P or deleting a registered point P, based on sorting conditions previously received from the operator.
  • the robot control device 80 displays multiple images showing different combinations of the robot 20, patient, and ultrasound device 100 on the operation panel 90 and accepts selection of an image that matches the installation situation from the multiple images.
  • the robot control device 80 sets sorting conditions according to the configuration of the selected image.
  • the sorting conditions here include, for example, the priority of sorting in the three X, Y, and Z axial directions, and the sorting direction in one axial direction (e.g., ascending in the positive direction, ascending in the negative direction).
  • the robot control device 80 sets a path L connecting each of the registered registered points P according to the sorted order for the multiple registered points P. Note that the path L may also be set manually by the operator.
  • Point deletion is a function for deleting a registered point P.
  • the robot control device 80 deletes the selected registered point P.
  • the robot control device 80 deletes all registered points P.
  • Point playback is a function that moves the ultrasound probe 101 in sorted order based on the registered points P and the paths L between the registered points P.
  • the robot control device 80 switches the point playback mode based on the operation of the playback mode button B9. By using point playback during surgery, the operator can obtain ultrasound echo images for each point and operate the catheter while viewing the images. The operator can move the ultrasound probe 101 from its current position to the next or previous registered point P by operating the movement button B10 on the operation panel 90 or by stepping on the foot switch 91.
  • the robot control device 80 displays the current position PA of the moving ultrasound probe 101 on the registered point display unit 131 (see Figures 8 and 9).
  • a "move previous” button and a “move next” button are provided as the movement buttons B10.
  • the robot control device 80 moves the ultrasonic probe 101 from the current position to the previous registered point P
  • the "move next” button is operated, the robot control device 80 moves the ultrasonic probe 101 from the current position to the previous registered point P.
  • the second switch 912 of the foot switch 91 is depressed, the robot control device 80 moves the ultrasonic probe 101 from the current position to the previous registered point P
  • the third switch 913 is depressed, the robot control device 80 moves the ultrasonic probe 101 from the current position to the next registered point P.
  • the playback mode button B9 has a button for switching between three modes: normal movement mode, continuous movement mode, and interpolation movement mode.
  • Normal movement mode is a mode in which the registered points P are advanced or reverted one by one.
  • the robot control device 80 moves the ultrasonic probe 101 to the next or previous registered point P when a movement button B10 or the like is operated once, and stops the ultrasonic probe 101.
  • continuous movement mode the robot control device 80 continues to operate while the operator is touching the movement button B10 or the like or stepping on the foot switch 91, and stops the robot arm 21 at that position when the touch or stepping is released.
  • Interpolation movement mode is a mode in which an arbitrary movement distance is set and the ultrasonic probe 101 is moved to that position.
  • the robot control device 80 automatically calculates an interpolated position from the registered point P based on the set movement distance.
  • the robot control device 80 moves the ultrasound probe 101 to the interpolated position based on the operation of the movement button B10, etc. Note that linear interpolation or circular interpolation can be used as the interpolation method.
  • the robot control device 80 also displays a selection position movement button B17 and a point selection button B18 above it.
  • the robot control device 80 accepts operation of the point selection button B18 and accepts the selection of an arbitrary registered point P from among the registered registered points P. Then, when the selection position movement button B17 is operated with an arbitrary registered point P selected, the robot control device 80 moves the ultrasound probe 101 to the selected registered point P.
  • the robot control device 80 disables operation of the direct teaching switch 61 while the ultrasonic probe 101 is being moved using the point replay function described above. Even if the direct teaching switch 61 is operated while the ultrasonic probe 101 is being moved to a destination registered point P or the like, the robot control device 80 does not stop the robot arm 21 or perform the motor-assisted control described above.
  • the fine adjustment function allows for fine position adjustments, such as from the stop position during point playback. Even if the ultrasound probe 101 is moved to a registered point P or along the path L between registered points P using point playback, the acquired ultrasound echo image may not completely match the ultrasound echo image acquired during prior direct teaching. This is because the relationship between the position and posture of the ultrasound probe 101 at the registered point P, etc., and the patient's position and posture changes due to the patient moving during playback. Note that "playback in progress" refers to the state in which the ultrasound probe 101 is being moved using the point playback function or is stopped at a specified position.
  • Multiple fine adjustment function buttons B12 are provided, corresponding to the positive and negative directions along each of the X-axis, Y-axis, and Z-axis, and the positive and negative directions around each of the rotational directions Ra around the Y-axis, Rb around the X-axis, and Rc around the Z-axis.
  • the directions are arranged in order from left to right: X-axis, Y-axis, Z-axis, Ra, Rb, and Rc, with plus and minus buttons arranged vertically for each direction.
  • the robot control device 80 moves or rotates the ultrasonic probe 101 in the corresponding direction in response to the operation of the fine adjustment function button B12.
  • the robot control device 80 has two modes when each button of the fine adjustment function button B12 is operated: a step operation mode in which the ultrasonic probe 101 is moved by a preset step amount in response to a single press, and a continue operation mode in which control of the movement of the ultrasonic probe 101 continues while the button is being operated (pressed).
  • the robot control device 80 rotates the ultrasonic probe 101 in the plus direction in the rotation direction Ra around the Y axis, and when the A push button 922 is pressed, the robot control device 80 rotates the ultrasonic probe 101 in the minus direction in the rotation direction Ra around the Y axis.
  • the robot control device 80 rotates the ultrasonic probe 101 in the plus direction in the rotation direction Rb around the X axis, and when the X push button 922 is pressed, the robot control device 80 rotates the ultrasonic probe 101 in the minus direction in the rotation direction Rb around the X axis.
  • the upper Y button and the lower A button are opposite in the rotation direction Ra
  • the left X button and the right B button are opposite in the rotation direction Rb.
  • the direction of movement when the directional key buttons 921 and 922 are pressed is aligned with the arrangement of the device as seen by the operator. Specifically, by aligning the arrangement of the up button of the directional key button 921, which moves in the positive direction along the X-axis facing forward from the housing 29, and the Y button of the button 922, which moves in the positive direction around the Y-axis Ra, rotating the ultrasound probe 101 forward (forward roll), the operator intuitively recognizes the same direction, improving operability.
  • the robot control device 80 rotates the ultrasound probe 101 in the positive direction in the rotation direction Rc around the Z-axis, and when the R2 button 924 is pressed, it rotates in the negative direction in the rotation direction Rc.
  • the button arrangement and movement directions described above are examples and may be changed as appropriate.
  • the robot control device 80 places the robot arm 21 in the folded storage position, and when the origin position movement button B14 is operated, the robot arm 21 is placed in a predetermined origin position.
  • the X-axis inversion button B15 and the Y-axis inversion button B16 are buttons that invert the operation direction.
  • the robot control device 80 inverts the positive and negative directions in the X-axis direction (positive and negative movement directions) and the positive and negative directions in the rotation direction Ra (positive and negative rotation directions). This makes it possible to invert the direction in which the ultrasound probe 101 (robot 20) actually moves, in relation to the fine adjustment function button B12 and the operation buttons of the ESR controller 92.
  • the robot control device 80 stops the operation that is currently being performed. For example, when the "Next Move" movement button B10 is operated in normal movement mode and the robot is moving to the next registered point P, the robot control device 80 stops the robot 20 on the path L that it is moving on.
  • the maintenance mode is a mode in which information regarding the maintenance of the robot system 10 can be confirmed.
  • the setting mode is a mode in which various settings can be changed, for example, the function assignment of the foot switch 91 and the stop switch 67 can be changed.
  • the first switch 911, second switch 912, third switch 913, and fourth switch 914 of the foot switch 91 are assigned the following functions: point registration, moving to the previous registered point P for point regeneration, moving to the next registered point P for point regeneration, and enabling the ESR controller 92.
  • the robot control device 80 allows operation of the ESR controller 92 only while the fourth switch 914 is pressed, for example.
  • the positive direction of the Y-axis will be explained as the direction from the base of the patient's foot to the toes.
  • the order after registration and sorting according to specified sorting conditions e.g., ascending order along the Y-axis
  • the sort order the registered point P immediately before the previous one will be referred to as the front point
  • the registered point P immediately after the previous one will be referred to as the back point.
  • Figure 8 shows the registered point display unit 131 of the operation panel 90, and illustrates the screen transitions when a registered point P is registered.
  • registered points will be referred to collectively as registered point P, and each registered point P will be referred to individually as registered point P1, etc., with a number added. The same applies to route L. Furthermore, in the following Figures 8 to 11, the image 133 (see Figure 7) in the registered point display unit 131 will be omitted.
  • the operator registers the first registration point P1 at a desired position.
  • the operator changes the position of the ultrasonic probe 101 while pressing the direct teaching switch 61.
  • the robot control device 80 displays the current position of the ultrasonic probe 101 as the current position PA on the registration point display unit 131.
  • the dashed arrow in the diagram is a schematic representation of the trajectory of movement of the ultrasonic probe 101, and is not actually displayed.
  • the robot control device 80 may display a trajectory like the dashed arrow.
  • the operator registers registration point P1, for example, by stepping on the first switch 911 of the foot switch 91 at a predetermined position.
  • the robot control device 80 stores information on the position and orientation (X, Y, Z coordinate values and angle values of Ra, Rb, Rc) of the ultrasound probe 101 at current position PA and the position of each axis of the robot arm 21 (angle values and elevation coordinate values) in the memory unit 85 as information on registration point P1 (an example of the storage process and storage step disclosed herein).
  • the robot control device 80 changes the display of current position PA to registration point P1 and displays the number "1" at registration point P1, indicating that it is the first registration.
  • the operator moves the ultrasound probe 101 while pressing the direct teaching switch 61, and then depresses the first switch 911 at a predetermined position to register registration point P2.
  • the robot control device 80 receives the depression of the first switch 911, i.e., the registration operation, it sets a path L between the two registration points P.
  • the robot control device 80 sorts the order of the already registered registration point P1 and the newly registered registration point P of the current position PA according to the sorting conditions. For example, as shown in the second diagram from the bottom left of Figure 8, the current position PA is located on the positive side (left side) of the registration point P1 in the ascending order of the Y axis.
  • the robot control device 80 places the registration point P of the current position PA second in the order and registers it as registration point P2 (see the bottom left diagram of Figure 8).
  • the robot control device 80 sets a path L1 from registration point P1 to registration point P2 according to the sorting order.
  • the robot control device 80 displays an image of the path L1, which is an arrow pointing from the registered point P1 to the registered point P2, i.e., an arrow indicating the sort order (playback order).
  • the robot control device 80 sets the path L1 as a straight line connecting the registered point P1 and the registered point P2 in the XYZ coordinate system, i.e., the path with the shortest distance.
  • the robot control device 80 moves the ultrasound probe 101 along this path L1.
  • the path L1 is not limited to the shortest distance connecting the registered points P1 and P2.
  • the path L1 may be a curve with a predetermined curvature.
  • the robot control device 80 also sorts the registration points P when registering the registration points P or at periodic intervals, changing the order of the registration points P and setting the route L. As a result, from the operator's perspective, sorting appears to be performed automatically throughout the operation.
  • the robot control device 80 sets, for example, route L2 from registration point P2 to registration point P3, and route L3 from registration point P3 to registration point P4. In this way, the robot control device 80 sorts the points including the newly registered point each time a registration operation is performed, and sets the route L according to the sort order.
  • the robot control device 80 may also sort the registration points P or change the route L when the user operates an update button, etc.
  • the robot control device 80 of this embodiment uses a fine adjustment function to accept changes to the current position PA of the ultrasound probe 101, and performs operations such as acquiring echo images, registering new registered points P, and deleting registered registered points P. Furthermore, the robot control device 80 of this embodiment uses a direct teaching function to be able to accept changes to the position of the ultrasound probe 101 (robot 20) through manual operation by the operator during the playback process of the registered point P.
  • Figure 9 shows the registration point display unit 131 when the position and posture of the ultrasound probe 101 are changed by a teaching operation during the playback process of a registered point P.
  • the operator operates the selected position movement button B17 to coincide with the start of treatment, moving the ultrasound probe 101 to registered point P1 (top diagram in Figure 9).
  • the robot control device 80 displays the current position PA at registered point P1.
  • the operator plays back the registered point P while operating the catheter.
  • the robot control device 80 moves the ultrasound probe 101 along paths L1 to L3, in the order of registered points P1 to P4.
  • the robot control device 80 moves the ultrasound probe 101 from registered point P1 along path L1 while also changing the position of the displayed current position PA.
  • the current position PA is moving along path L1 from registered point P1 toward registered point P2. Note that when the robot control device 80 receives an operation to return to a specified registered point P or a forward point along path L, it executes control to return the ultrasound probe 101 (current position PA).
  • the robot control device 80 when the robot control device 80 starts movement from registered point P1, it changes the arrow of path L1 to point not only to the destination registered point P2 but also to the source registered point P1, i.e., to an arrow pointing in both directions. This makes it easy to see not only the destination but also to which registered point the robot will return to when a return operation is performed. Furthermore, the robot control device 80 uses different colors and shapes for the arrow pointing from the current position PA to registered point P2 and the arrow pointing from the current position PA to registered point P1. That is, the arrow pointing from the current position PA to the forward point and the arrow pointing from the current position PA to the backward point are different arrows.
  • the arrow pointing from the current position PA to the backward point is a thick red arrow (hereinafter referred to as a thick arrow), and the arrow pointing from the current position PA to the forward point (registered point P1) is a thin white arrow (hereinafter referred to as a thin arrow).
  • the robot control device 80 moves the current position PA along the path L1 in accordance with the position of the ultrasound probe 101, moving it between the registered points P1 and P2.
  • the display method described above is an example and can be modified as appropriate.
  • the arrow pointing from the current position PA to the forward point and the arrow pointing to the backward point may be the same arrow.
  • the arrow being played back does not have to be a bidirectional arrow.
  • the robot control device 80 displays the current position PA superimposed on registered point P2 and stops the movement of the ultrasound probe 101.
  • the operator performs similar operations while checking the echo image and operating the catheter.
  • the operator operates the movement button B10, etc., to move the ultrasound probe 101 to the next registered point P3.
  • the robot control device 80 stops the ultrasound probe 101 on path L2 based on the operation of the operation stop button B19.
  • the robot control device 80 disables operation of the direct teaching switch 61 while the ultrasonic probe 101 is being moved using the point replay function. While the robot 20 is operating to move the ultrasonic probe 101, the robot control device 80 will not stop the operation of the robot 20 or perform assist control, even if the direct teaching switch 61 is operated. Furthermore, after the robot control device 80 stops the movement of the ultrasonic probe 101 by operating the operation stop button B19 or by reaching the next registered point P, the robot control device 80 enables operation of the direct teaching switch 61. The robot control device 80 performs motor-assisted control in accordance with the operation of the direct teaching switch 61, and allows the operator to manually operate the robot 20, i.e., direct teaching.
  • the robot control device 80 may stop the movement of the robot 20, start assist control, and allow a teaching operation. That is, the robot control device 80 may accept an operation to start teaching even while the ultrasonic probe 101 is moving. Furthermore, the conditions for the robot 20 to stop in order to allow a teaching operation are not limited to the above-mentioned condition of reaching the next registration point P or the condition of operating the operation stop button B19. As described above, when the stop switch 67 is operated, the robot control device 80 stops the operation of the robot 20 and stops the ultrasonic probe 101. In this case, too, the robot control device 80 may enable operation of the direct teaching switch 61 after stopping the operation and accept a teaching operation.
  • the robot control device 80 may accept a teaching operation after stopping the operation of the robot 20 or after retracting and stopping the ultrasonic probe 101. Additionally, when the 90-degree rotation button B11 is operated, the robot control device 80 may stop operation after rotating 90 degrees and accept a teaching operation.
  • the robot control device 80 rearranges the order of the already registered registration points P1 to P4, including the current position PA of the ultrasonic probe 101, based on the sorting conditions.
  • the position of the ultrasonic probe 101 whose movement has been stopped can be changed by a teaching operation, or by operating the fine adjustment function button B12 on the operation panel 90 or the ESR controller 92. Therefore, the teaching operation can be performed by operating the direct teaching switch 61 after operating the fine adjustment function button B12 or the ESR controller 92, or the ultrasonic probe 101 can be moved by operating the fine adjustment function button B12 or the like after performing a teaching operation.
  • the sort order after rearrangement is the same as the state before rearrangement. That is, the current position PA is after registered point P2 and before registered point P3. Therefore, the robot control device 80 sets a route between the current position PA and registered points P2 and P3, which are adjacent to the current position PA in the sort order. For example, the robot control device 80 moves the current position PA in accordance with the movement of the ultrasonic probe 101, and sets a new route L2 from the current position PA to registered point P2 and a new route L3 from the current position PA to registered point P3, and moves route L3 between registered points P3 and P4 down to route L4.
  • the robot control device 80 displays a thin arrow pointing to the front point (registered point P2) and a thick arrow pointing to the rear point (registered point P3) as arrows for routes L2 and L3.
  • This allows new routes L2 and L3 to be set if the ultrasonic probe 101 is moved to a position deviating from the already set route L2.
  • paths L2 and L3 can be made to follow the current position PA, and can be changed so that paths L2 and L3 connect the current position PA to the front and rear points, respectively.
  • the robot control device 80 will sort the already registered registered points P1 to P4, including the new registered point P (current position PA), and set the order of the registered points P and the route L, etc., according to the sort order. If the current position PA is the second from the bottom in Figure 9, the robot control device 80 will register the current position PA as registered point P3, and move the registered points P3 and P4 before registration down to registered points P4 and P5, respectively. This makes it possible to register a new registered point P and set a route L connecting the registered points P through a teaching operation during playback processing.
  • the robot control device 80 sets a path L1 from the current position PA to the front point (registered point P1) and a path L2 from the current position PA to the back point (registered point P2) according to the sorting order after rearrangement.
  • the robot control device 80 also sets a path L3 connecting the registered points P2 and P3.
  • the robot control device 80 resets paths L2 to L4, etc.
  • the bottom diagram in Figure 9 also shows a state in which, after the teaching operation is completed at the current position PA in the second diagram from the bottom and the robot 20 is stopped, playback is performed from the changed current position PA toward the rear point, i.e., the ultrasonic probe 101 is moved.
  • the robot control device 80 moves the ultrasonic probe 101 along the path L3 toward the registered point P3.
  • the robot control device 80 sets the position before the movement as a temporary point PB and displays it differently from the current position PA (with a different color or shape).
  • the temporary point PB is a point after the position has been changed by the teaching operation, and is a temporary point that serves as the starting point after the change.
  • the temporary point PB is also a point to which the operator has moved the ultrasonic probe 101, deviating from the set path L, and can also be said to be a point to which the operation to register it as a registered point P has not been performed.
  • the robot control device 80 When the ultrasonic probe 101 (current position PA) starts moving from the temporary point PB, the robot control device 80 maintains the arrow pointing from the current position PA to the registered point P3 as a thick arrow, while changing the arrow pointing from the current position PA to the temporary point PB to a thin arrow. The robot control device 80 also maintains the arrow pointing from the temporary point PB to the registered point P2 as a thin arrow. Therefore, the robot control device 80 displays the arrows forward and backward of the current position PA while moving from the temporary point PB to the rear point in the same way as when the previously set route is being moved, while maintaining the arrow pointing from the temporary point PB to the front point as a thin arrow.
  • the robot control device 80 also performs similar display processing when the ultrasonic probe 101 moves from the temporary point PB to the front point (registered point P2). That is, the robot control device 80 maintains the arrow pointing from the current position PA on the path L2 to the registered point P2 as a thin arrow, while changing the arrow pointing from the current position PA to the temporary point PB to a thick arrow. The robot control device 80 also maintains the arrow pointing from the temporary point PB to the registered point P3 as a thick arrow.
  • the robot control device 80 accepts teaching operations to change the position and posture of the ultrasonic probe 101 during the point regeneration process, which moves the ultrasonic probe 101 according to the registered point P.
  • the operator can adjust the position of the ultrasonic probe 101 by manually moving the hand unit 60 while operating the direct teaching switch 61, enabling intuitive position adjustment through direct manual operation.
  • the robot control device 80 of this embodiment provides support for the operator's teaching operations through assist control, smoothing the movement of the robot arm 21. This allows the operator to smoothly adjust the position and register a new registered point P.
  • the robot control device 80 may erase the temporary point PB when the ultrasonic probe 101 reaches the registered point P3 after moving the ultrasonic probe 101 toward the registered point P3.
  • the robot control device 80 erases information about the temporary point PB from the memory unit 85 when the ultrasonic probe 101 reaches the registered point P3, and hides the temporary point PB and the path L connecting the temporary points PB.
  • the robot control device 80 displays the path L2 from the registered point P2 to the registered point P3, and moves the path from the registered point P3 to the registered point P4 to the path L3.
  • the robot control device 80 may stop midway from temporary point PB to registered point P3, and if the teaching operation is performed again, erase the temporary point PB. Then, as shown in the second diagram from the bottom of Figure 9, the robot control device 80 may connect the changed current position PA to registered point P2 with a thin arrow, and connect the current position PA to registered point P3 with a thick arrow.
  • the operation panel 90 displays multiple fine adjustment function buttons B12 (see Figure 7).
  • the ESR controller 92 is also provided with a directional key button 921, and buttons 922, 923, and 924 that accept instructions to change the position of the ultrasound probe 101 using the fine adjustment function.
  • the robot control device 80 adjusts the position of the ultrasound probe 101 based on the operation of the fine adjustment function button B12, directional key button 921, etc.
  • the operation of the fine adjustment function button B12 can be performed on either the operation panel 90 or the tablet terminal 93.
  • the robot control device 80 moves the ultrasonic probe 101 in the operation direction by a preset step amount (movement amount) when each button is operated.
  • a preset step amount movement amount
  • the robot control device 80 can change the current position PA and then fine-tune the position and posture of the ultrasonic probe 101 by operating the fine adjustment function button B12, etc.
  • the robot control device 80 moves the ultrasonic probe 101 in the positive direction of the X axis by the movement amount indicated by the step amount.
  • the robot control device 80 rotates the ultrasonic probe 101 in the positive direction of the rotation direction Ra by the movement amount indicated by the step amount.
  • the step amount is set to an amount that is difficult to adjust by manual operation such as teaching operation (a fine movement amount of a few millimeters or a few degrees)
  • fine adjustments that are difficult to adjust by manual operation can be performed.
  • fine adjustment function button B12, etc. fine adjustments can be made in fixed movement increments. For example, if the target blood vessel has moved outside the echo image, a large position adjustment can be made using manual teaching operations. Also, if the target blood vessel is displayed within the echo image, fine adjustments can be made in increments of movement using the fine adjustment function. In other words, the direct teaching function and fine adjustment function can be used together to make quick position adjustments.
  • the robot control device 80 accepts a change in the position of the ultrasonic probe 101 through a teaching operation when the direct teaching switch 61 is operated after the movement of the ultrasonic probe 101 has stopped. Specifically, the robot control device 80 disables operation of the direct teaching switch 61 while the ultrasonic probe 101 is being moved based on the registered point P and path L. This allows the start condition for a teaching operation during playback to be expanded to include the robot 20 being stopped in operation, in addition to the operation of the direct teaching switch 61. This prevents the ultrasonic probe 101 from moving in an unintended direction due to a teaching operation while it is moving toward the registered point P. Note that the robot control device 80 may enable operation of the direct teaching switch 61 while the ultrasonic probe 101 is being moved, and accept a teaching operation in accordance with the operation of the direct teaching switch 61.
  • the robot control device 80 permits teaching operations while the direct teaching switch 61 is operated, and restricts teaching operations when the direct teaching switch 61 is not operated. Specifically, while the direct teaching switch 61 is in the on state, the robot control device 80 executes assist control, applying an assist force from the motor to support the operator in easily operating the robot 20. For example, the robot control device 80 drives a motor (such as motor 57a) to apply a support force that makes it easier for the ultrasonic probe 101 (hand part 60) to move in the direction pressed by the operator. On the other hand, when the direct teaching switch 61 is in the off state, the robot control device 80 turns off the above-mentioned assist control.
  • a motor such as motor 57a
  • the method of restricting teaching operations when the direct teaching switch 61 is in the off state is not limited to the method of turning off the assist control described above.
  • the robot control device 80 may restrict the robot 20 from moving by turning off the power supplied to each motor.
  • the robot control device 80 may regulate rotation by controlling the brakes of each motor.
  • the robot control device 80 displays multiple registration points P and the current position PA of the ultrasonic probe 101 on the registration point display section 131 of the operation panel 90.
  • the robot control device 80 changes the display position of the current position PA to the new position. This allows the operator to check the positions of the registration points P and the current position PA together on a single screen, and to check changes in the position of the ultrasonic probe 101 in real time. The operator can determine the destination of the ultrasonic probe 101 while checking its positional relationship with already registered registration points P, and can register new registration points P while performing teaching operations.
  • the robot control device 80 displays multiple registration points P1 to P4 and routes L1 to L3 connecting the multiple registration points P1 to P4 on the registration point display unit 131.
  • the robot control device 80 sets and displays a route L connecting the already registered registration point P with the new registration point P (see Figure 8).
  • the robot control device 80 displays the current position PA on the registration point display unit 131 in addition to the multiple registration points P1 to P4 and routes L1 to L3, and changes the position where the current position PA is displayed as the ultrasound probe 101 moves (see Figure 9).
  • the robot control device 80 accepts operations for registering a registration point P, point reproduction, and changing the current position PA through teaching operations while the registration point display unit 131 is displayed. Therefore, the robot control device 80 accepts operations for registering, reproducing, and teaching a registration point P on the same screen, and also displays each piece of information. This allows the operator to smoothly perform registration, playback, and teaching operations. It also eliminates mistakes such as mistaking the position when registering the registration point P, misunderstanding the playback order, and misunderstanding the direction of movement during teaching operations.
  • the robot control device 80 can also execute a registration process that registers the position of the ultrasound probe 101 after it has been changed by a teaching operation as a new registration point P. This makes it possible to address situations where the patient's body moves and the position at which the desired echo image can be acquired changes by performing a teaching operation during the playback process and registering a new registration point P.
  • the robot control device 80 can also execute a movement process to move the ultrasonic probe 101 from the position (temporary point PB) of the ultrasonic probe 101 after it has been changed by the teaching operation to the registered registration point P. This allows the echo image to be confirmed at the new position, and then the probe can be returned to the rear or front point that was originally registered. If the position change is temporary, the robot control device 80 can continue to operate based on the previously registered registration point P without registering a new registration point P.
  • the robot control device 80 may be configured to be able to execute either the registration process or the movement process described above, or it may be configured not to be able to execute both processes.
  • the robot control device 80 may accept a position adjustment of an already registered registration point P through a teaching operation.
  • the robot control device 80 may set the position where the robot stopped after the movement as the position of the changed registration point P and accept a change to the position of the registered point P.
  • the robot control device 80 may change the current position PA and display a temporary point PB without changing the position of the stopped registration point P, as in the case where the robot control device 80 stops on the path L described above.
  • the robot arm 21 in this embodiment is an example of an arm.
  • the direct teaching switch 61 is an example of a teaching unit.
  • the robot control device 80 is an example of a control device.
  • the operation panel 90 and ESR controller 92 are examples of a user interface.
  • the ultrasound probe 101 is an example of a probe disclosed herein.
  • the operation screen and registration point display unit 131 of the operation panel 90 are examples of a display screen.
  • the fine adjustment function button B12, directional key button 921, and buttons 922, 923, and 924 are examples of an operation unit.
  • the robot control device 80 which is one aspect of this embodiment, changes the position of the ultrasonic probe 101 in response to an operator's operation and stores the changed position of the ultrasonic probe 101 in the storage unit 85 as a registered point P ( FIG. 8 , an example of a storage process or storage step).
  • the robot control device 80 moves the ultrasonic probe 101 to the position of the registered registered point P ( FIG. 9 , an example of a playback process or playback step).
  • the robot control device 80 accepts a change in the position of the ultrasonic probe 101 through a teaching operation in which the ultrasonic probe 101 is manually moved (the second diagram from the bottom in FIG.
  • the configuration of the robot system 10 in the above embodiment is an example.
  • the ESR controller 92 may be configured to be connected to the robot 20 by wire.
  • the storage unit 85 that stores the registration points P1 to P4 may be a device separate from the robot system 10, such as cloud storage on a network.
  • the teaching unit of the present disclosure employs the direct teaching switch 61, which is a three-position enable switch, but this is not limited thereto.
  • the teaching unit may employ a two-position push button or a button (software key) displayed on a touch panel.
  • the fine-tuning function button B12 which is an example of an operation unit, is a button on a touch panel, but this is not limited thereto.
  • the fine-tuning function button B12 may be a hardware key such as a push button.
  • the teaching unit and operation unit of the present disclosure may employ a user interface other than the above-described configuration, such as a slide switch, rotary switch, lever, or other user interface capable of inputting instructions. Therefore, various configurations capable of inputting instructions from the user may be employed as the configuration of the user interface of the teaching unit, etc.
  • the robot 20 is configured as a seven-axis articulated robot capable of translational movement in three directions and rotational movement in three directions.
  • the number of axes may be any number.
  • the robot 20 may also be configured as a so-called vertical articulated robot, horizontal articulated robot, or the like.
  • the ultrasound device of the present disclosure is not limited to a device that captures echo images, but may also be a device that captures echo images and performs treatment, such as high intensity focused ultrasound (HIFU) therapy, etc. In other words, the purpose of use of the ultrasound emitted from the probe can be changed as appropriate.
  • HIFU high intensity focused ultrasound

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Abstract

L'invention concerne un robot et un procédé d'apprentissage permettant de régler une position d'une sonde pendant la reproduction sur la base d'un point d'enregistrement.　Ce robot comprend : un bras qui peut maintenir une sonde d'un dispositif à ultrasons ; et un dispositif de commande qui commande le fonctionnement du bras. Le dispositif de commande exécute : un processus de stockage pour modifier la position de la sonde en fonction de l'opération d'un opérateur et pour stocker la position modifiée de la sonde comme point d'enregistrement dans l'unité de stockage ; un processus de reproduction pour déplacer la sonde vers la position du point d'enregistrement stocké dans l'unité de stockage par le processus de stockage ; et un processus de réglage pour recevoir une modification de la position de la sonde par une opération d'apprentissage pour déplacer manuellement le bras dans le processus de reproduction.
PCT/JP2024/007532 2024-02-29 2024-02-29 Robot et procédé d'apprentissage Pending WO2025182007A1 (fr)

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PCT/JP2024/007532 WO2025182007A1 (fr) 2024-02-29 2024-02-29 Robot et procédé d'apprentissage

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Application Number Priority Date Filing Date Title
PCT/JP2024/007532 WO2025182007A1 (fr) 2024-02-29 2024-02-29 Robot et procédé d'apprentissage

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WO2025182007A1 true WO2025182007A1 (fr) 2025-09-04

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010142910A (ja) * 2008-12-19 2010-07-01 Yaskawa Electric Corp ロボットシステム
WO2017033356A1 (fr) * 2015-08-25 2017-03-02 川崎重工業株式会社 Système robotique
WO2023248327A1 (fr) * 2022-06-21 2023-12-28 株式会社Fuji Dispositif de robot et procédé d'aide à l'enseignement direct

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010142910A (ja) * 2008-12-19 2010-07-01 Yaskawa Electric Corp ロボットシステム
WO2017033356A1 (fr) * 2015-08-25 2017-03-02 川崎重工業株式会社 Système robotique
WO2023248327A1 (fr) * 2022-06-21 2023-12-28 株式会社Fuji Dispositif de robot et procédé d'aide à l'enseignement direct

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