WO2025205060A1 - Input device, operation console device, and surgery assistance robot system - Google Patents

Abstract

Provided is an input device that can be used for operation of a remote robot or the like.　This input device comprises: an operation unit that is disposed at a distal end and that has a plurality of freedom degrees; a transmission unit that supports the operation unit at the distal end and that transmits, via a cable, the motion for each of the freedom degrees of the operation unit; and a measurement unit that supports the transmission unit in the vicinity of an end on the root side, and that measures the motion for each of the freedom degrees of the operation unit transmitted by the transmission unit. The operation unit and the measurement unit are configured to be mirror-symmetrical via the transmission unit. The transmission unit transmits the operation for each of the freedom degrees of the operation unit to the measurement unit by using a plurality of cables.

Description

Input device, operation console device, and surgical support robot system

The technology disclosed in this specification (hereinafter referred to as "the present disclosure") relates to an input device that can be used, for example, for operation in virtual space, remote robot operation, and robot teaching, as well as an operation console device and a surgical support robot system that use this input device.

Manipulator-type input devices are effective for operations in virtual space, remote robot operation, and robot teaching. For example, surgical support robot systems that assist doctors in surgery use a leader-follower remote control method in which an operator such as a doctor operates an input device (leader) to operate multiple robot arms (followers) that support surgical tools and imaging equipment. To realize a surgical support robot for microsurgery, the leader must be small and lightweight, as well as capable of accurate posture detection.

Japanese Patent Application Laid-Open No. 2023-81078 WO2023/145249

The purpose of this disclosure is to provide an input device that can be used, for example, for operation in virtual space, remote robot operation, and robot teaching, as well as an operation console device and a surgical support robot system that apply this input device.

The present disclosure has been made in consideration of the above problems, and a first aspect thereof is:
an operating unit having multiple degrees of freedom disposed at the distal end;
a transmission unit that supports the operation unit at a distal end and transmits the operation of each degree of freedom of the operation unit via a cable;
a measurement unit that supports the transmission unit near an end portion on a base side and measures the movement of the operation unit for each degree of freedom transmitted by the transmission unit;
It is an input device equipped with

The operating unit and the measuring unit are configured to be mirror images via the transmission unit. The transmission unit uses multiple cables to transmit the movement of each degree of freedom of the operating unit to the measuring unit. The measuring unit is equipped with a rotation sensor. The axis of the operating unit and the axis of the rotation sensor are connected by a cable, and the rotation sensor detects the rotation angle of the axis rotated by being pulled by the cable.

Furthermore, a second aspect of the present disclosure is
An input device;
an arm supporting the input device;
a hand rest for placing a user's hand on the input device while the user is operating the input device;
Equipped with
The input device is an input device according to any one of claims 1 to 9.
It is an operation console device.

The operation console device according to the second aspect further comprises an arm fixing device that fixes the arm, and a moving device that moves the arm fixing device depending on the usage state of the input device. The arm fixing device has an adapter that connects to the operation unit of the input device, and the adapter connects to the operation unit to fix the arm. Furthermore, when the input device is operated, the moving device moves the arm fixing device to a connecting position where it can be connected to the arm, and when the input device is not being operated, it retracts the arm fixing device to a storage position outside the range of motion of the input device and leader arm.

Furthermore, a third aspect of the present disclosure is
an operation unit including one or more followers to which surgical tools are attached;
a console unit including one or more readers operated by an operator;
a display device that displays an image of the affected area of the patient during surgery using a surgical tool;
a control device that controls the operation of the follower in accordance with the operation of the leader;
Equipped with
At least one of the readers includes an input device according to the first aspect.
It is a surgical assistance robot system.

However, the term "system" used here refers to a logical collection of multiple devices (or functional modules that realize specific functions), regardless of whether each device or functional module is contained within a single housing. In other words, both a single device made up of multiple parts or functional modules and a collection of multiple devices are considered "systems."

This disclosure makes it possible to provide an input device that has a small and lightweight handle operated by the user and detects posture with high accuracy using a cable transmission mechanism, as well as an operation console device and a surgical support robot system that use this input device.

Note that the effects described in this specification are merely examples, and the effects brought about by this disclosure are not limited to these. Furthermore, this disclosure may also bring about additional effects in addition to the effects described above.

Further objects, features, and advantages of the present disclosure will become apparent from the following detailed description of the embodiments and accompanying drawings.

FIG. 1 is a diagram showing the basic configuration of an input device 100 to which the present disclosure is applied. FIG. 2 is a diagram showing the basic configuration of an input device 100 to which the present disclosure is applied. FIG. 3 is a diagram showing an example of the degree of freedom configuration of a reader arm 300 that supports the input device 100. As shown in FIG. FIG. 4 is a diagram showing a specific configuration example of an input device 400 to which the present disclosure is applied. FIG. 5 is an enlarged view of the operation unit 410 and the measurement unit 430. As shown in FIG. FIG. 6 is a diagram showing the operation unit 410 disassembled into individual components. FIG. 7 is a diagram showing the state in which the cam portion 413 rotates when the handle portion 412 is opened or closed. FIG. 8 is a diagram showing the state in which the cam portion 413 rotates when the handle portion 412 is opened or closed. FIG. 9 is a diagram showing the state in which the cam portion 413 rotates when the handle portion 412 is opened or closed. FIG. 10 is a diagram showing the state in which the cam portion 413 rotates when the handle portion 412 is opened or closed. FIG. 11 is a diagram showing the measuring unit 430 disassembled into individual components. FIG. 12 is a side view of the input device 400. As shown in FIG. FIG. 13 is a diagram showing an example of the operation of the input device 400. In FIG. FIG. 14 is a diagram showing an example of the operation of the input device 400. FIG. 15 is a diagram showing an example of the operation of the input device 400. FIG. 16 is a diagram showing an example of the operation of the input device 400. In FIG. FIG. 17 is a diagram showing an example of the operation of the input device 400. In FIG. FIG. 18 is a diagram showing an example of the operation of the input device 400. FIG. 19 is a diagram showing an example of the operation of the input device 400. FIG. 20 is a diagram showing an example of the operation of the input device 400. FIG. 21 is a diagram showing an example of the operation of the input device 400. FIG. 22 is a diagram showing a mechanism for detecting the rotation angle around the pitch axis. FIG. 23 is a diagram showing a rotation transmission mechanism of the roll shaft and the cam shaft. FIG. 24 is a diagram showing the roll rotation operation in the transmission mechanism shown in FIG. FIG. 25 is a diagram showing the roll rotation operation in the transmission mechanism shown in FIG. FIG. 26 is a diagram showing the roll rotation operation in the transmission mechanism shown in FIG. 27A and 27B are diagrams showing the gripping operation in the transmission mechanism shown in FIG. 28A to 28C are diagrams showing the gripping operation in the transmission mechanism shown in FIG. 23. FIG. 29A to 29C are diagrams showing the gripping operation in the transmission mechanism shown in FIG. 23. FIG. FIG. 30 is a diagram for explaining the relationship between the difference in rotation angle between the cam shaft and the roll shaft and the opening and closing operation of the handle portion. FIG. 31 is a diagram for explaining the relationship between the difference in rotation angle between the cam shaft and the roll shaft and the grip angle. FIG. 32 is a diagram showing the appearance of the operation console device 3200. As shown in FIG. FIG. 33 is an enlarged view showing the vicinity of the hand rest of the operation console device 3200. FIG. 34 is a diagram showing the external configuration of the surgery support robot system 1000. FIG. 35 is a diagram showing the functional configuration of the surgery support robot system 1000. FIG. 36 shows a straight hand rest. FIG. 37 shows a curved hand rest. FIG. 38 is a side view of the operation console device 3200. FIG. 39 is a diagram showing the appearance of an operation console device 3900 using a non-flat hand rest 3910. FIG. 40 is an enlarged view showing the vicinity of the hand rest 3910 of the operation console device 3900 shown in FIG. FIG. 41 is a diagram showing a specific example (connection position) of a sliding arm fixing device. FIG. 42 is a diagram showing a specific example of a sliding arm fixing device (in a retracted position). FIG. 43 is a diagram showing a specific example (connection position) of a rotary arm fixing device. FIG. 44 is a diagram showing a specific example (storage position) of a rotary arm fixing device.

Embodiments of the present disclosure will be described below in the following order, with reference to the drawings.

A. Overview B. Basic configuration of the input device C. Specific configuration of the input device C-1. Overall configuration C-2. Configuration of the operation unit C-3. Configuration of the measurement unit D. Transmission mechanism and angle detection principle D-1. Transmission mechanism for tilt operation D-2. Transmission mechanism for pan operation D-3. Transmission mechanism for gripping operation D-4. Angle detection principle and input/output relationship D-5. Summary E. Leader-follower type surgical support robot system E-1. Operation input device E-1-1. Appearance of the operation input device E-1-2. Hand rest E-1-3. Fixing the arm when not in operation E-1-3-1. Arm fixing device E-1-3-2. Movement device E-1-3-3. Connection between the arm fixing device and leader arm E-1-3-4. Specific example of arm fixing device E-2. System configuration

A. Overview Leader-follower surgical robots use a controller to control the robot's movements. For example, in microsurgery applications, an arm-type controller with a lightweight and compact operating handle is required. For example, the handle of the controller needs to be compact so that the operator can operate it with their fingertips while resting their hands on a hand rest or by bringing both hands close together. Furthermore, the arm needs to be lightweight to operate it with light fingertip pressure, and an arm with a rotation angle sensor is effective in detecting slight fingertip movements.

For example, in robots used for laparoscopic surgery, it is common to use a gimbal mechanism in the arm-type controller (see, for example, Patent Document 1), but a gimbal mechanism is considered unsuitable for microsurgery because it does not allow operation with the hand resting on a hand rest, and the arm becomes heavy.

Furthermore, an operation input device has been proposed that is applicable to surgical support robots, and has roll, pitch, yaw, and grip rotation axes located near the gripper, with the drive motor located at the base (or proximal end) of the arm rather than in the gripper at the tip of the arm, and a cable transmission mechanism used to transmit motor torque, thereby miniaturizing the tip gripper and achieving a wide range of motion (see Patent Document 2). This operation input device is equipped with a rotation angle sensor (encoder) that measures the rotational position of each rotation axis, has the function of detecting the attitude of the gripper, and is equipped with motors that drive each rotation axis, so has the function of presenting a sense of force to the operator using the operation input device and maintaining the attitude of the gripper at the distal end.

In contrast, this disclosure proposes an input device that has a posture detection function in the operating section at the distal end, but does not include a force feedback function or posture maintenance function, thereby achieving further miniaturization and weight reduction. As will be described later, the input device according to this disclosure is small and lightweight, and is capable of accurate posture detection, making it suitable for microsurgery applications.

B. Basic Configuration of Input Device Figures 1 and 2 schematically show the basic configuration of an input device 100 to which the present disclosure is applied. The input device 100 includes an operation unit 110 disposed at the distal end thereof and having multiple degrees of freedom (e.g., three degrees of freedom), a transmission unit 120 that transmits the movement of each degree of freedom of the operation unit 110 via a cable (not shown in Figures 1 and 2), and a measurement unit 130 that measures the movement of each degree of freedom within the operation unit 110 via the cable. Note that Figure 1 is a schematic diagram of the input device 100 drawn with the operation unit 110 on the distal end side disposed at the front of the page, while Figure 2 is a schematic diagram of the input device 100 drawn with the measurement unit 130 on the base side disposed at the front of the page.

The operating unit 110 is equipped with a handle unit 111 that supports a pair of grip units 111a and 111b near the upper end so that they can be opened and closed freely around a grip axis 111c, and can be gripped. The handle unit 111 is attached to the tip of the transmission unit 120 so that it can rotate around a pitch axis 112 and a roll axis 113. Therefore, the input device 100 has three degrees of freedom: pitch rotation, roll rotation, and gripping (opening and closing of the grip units 111a and 111b) of the handle unit 110.

The transmission unit 120 is composed of a hollow cylindrical shaft through which cables are inserted that transmit the three degrees of freedom of movement of the handle unit 110 - pitch rotation, roll rotation, and gripping - to the measurement unit 130. Although the cables are not shown in Figures 1 and 2, as will be described later, it is assumed that the transmission unit 120 is connected to three axes by four cables. There are no particular limitations on the length of the transmission unit 120. The length of the transmission unit 120 may be determined taking into account the operability of the operator and the environment around the device.

The measurement unit 130 measures the displacement of each cable via the transmission unit 120, and based on the results, calculates the grip angle of the handle unit 111 within the operation unit 110, the rotation angle around the pitch axis, and the rotation angle around the roll axis. The measurement unit 130 may wind each cable around a capstan on the rotation axis of a rotation angle sensor (encoder), convert the linear displacement of the cable into the rotational displacement of the pulley, and use the encoder to measure the grip angle of the handle unit 111, the rotation angle around the pitch axis, and the rotation angle around the roll axis.

One possible use of the input device 100 is for it to be supported by a reader arm. Figure 3 shows an example of the degree of freedom configuration of a reader arm 300 that supports the input device 100 shown in Figures 1 and 2. For ease of explanation, the reader arm main body 301 is assumed to be suspended from the ceiling, which is the mechanical ground (MG). In reality, the reader arm 300 is attached to the device main body of a console unit (described below) operated by an operator such as a doctor or medical professional.

The reader arm 300 comprises a reader arm main body 301, a device holder section 310 that holds the input device 100, two tilt links 303 and 304 that support the device holder section 310 at two points, and a counterbalance (not shown in Figure 3) that is attached to the reader arm main body 301 on the side opposite the device holder section 310 and balances the weight of the entire reader arm 300.

The device holder part 310 supports the input device 100 near the center of the transmission part 120, which is made up of a hollow shaft. The device holder part 310 may be supported so that it can rotate around the yaw axis (or the longitudinal axis of the transmission part 120). In addition, the reader arm main body 301 supports the device holder part 310 at two locations via two tilt links 303 and 304.

The leader arm 300 supports the input device 100 via a driven link 305 of a parallel link mechanism, which uses the device holder section 310 as the driven link and two tilt links 303 and 304 as intermediate links. The input device 100 is connected to the parallel link mechanism (or leader arm 300) by rotation axes 306 and 307 at both ends of the driven link 305.

The leader arm 300 also includes a first axis (pan axis) 311 that rotates the leader arm main body 301 around a vertical pan axis relative to the mechanical ground, a second axis (first tilt axis) 312 that tilts the input device 100 including the parallel link mechanism (two tilt links 303 and 304), and a third axis (second tilt axis) 313 that drives the driving link 302 of the parallel link mechanism including the tilt links 303 and 304 to tilt the input device 100. The first axis 311, second axis 312, and third axis 313 of the leader arm 300 are all passive joints, and the joints of the parallel link mechanism other than the third axis 313 are also passive joints. By making each joint of the leader arm 300 a passive joint and further removing motors and brakes from the leader arm 300, it is possible to achieve a lightweight and smooth movement with little friction.

The entire input device 100 can be panned around the first axis 311, or tilted around the second axis 312 (including the parallel link mechanism including tilt links 303 and 304). Furthermore, when the driving link 304 is rotated around the third axis 313, the driven link 305 rotates in response, allowing the input device 100 alone to be tilted around the third axis 313 while the reader arm 300 remains fixed.

C. Specific configuration of the input device
C-1. Overall Configuration Fig. 4 shows a specific configuration example of an input device 400 to which the present disclosure is applied. The input device 400 includes an operation unit 410, a transmission unit 420, and a measurement unit 430. The operation unit 410 is attached to the distal end side of the transmission unit 420, and the measurement unit 430 is attached to the base end side of the transmission unit 420.

The operating unit 410 includes a pitch link 411 supported at the distal end of the transmission unit 420 so as to be rotatable around a pitch axis 414, and a handle unit 412 and a cam unit 413 supported at the distal end of the pitch link 411 so as to be rotatable around a roll axis 415. The roll axis 415 is spaced slightly (by a few millimeters) from the pitch axis 414 toward the distal end, and is perpendicular to the pitch axis 414. The handle unit 412 and cam unit 413 rotate about the roll axis 415 independently of each other.

The handle portion 412 holds the pair of grip portions 412a and 412b so that they can be opened and closed around a gripping axis 412c near the upper end of each. The cam portion 413 has the role of converting the linear motion of the pair of grip portions 412a and 412b, which changes the distance between them as they open and close, into rotational motion around its own roll axis 415. Therefore, the opening and closing angle (i.e., the gripping angle) between the grip portions 412a and 412b is determined based on the difference in the rotation angles of the handle portion 412 and the cam portion 413 around the roll axis 415.

As will be described later, a pitch axis input capstan with the pitch axis 414 as its rotation axis is fixed to the pitch link 411, a roll axis input capstan with the roll axis 415 as its rotation axis is fixed to the handle portion 412, and a cam axis input capstan with the roll axis 415 as its rotation axis is fixed to the cam portion 413. Two cables are wound around the pitch axis input capstan, one for each rotation direction. In addition, one cable is wound around each of the roll axis input capstan and the cam axis input capstan, in opposite directions around the roll axis 415.

The transmission unit 420 is composed of a hollow cylindrical shaft, and the four cables wound around each input capstan of the operating unit 410 are inserted into the cylinder. These four cables each have the role of transmitting the rotational movement of the pitch link 411 on the operating unit 410 side about the pitch axis 414, and the rotational movement of the handle unit 412 and cam unit 413 about the roll axis 415, to the measurement unit 430 on the base side. The length of the transmission unit 420 is not particularly limited. The length of the transmission unit 420 may be determined taking into account the operability of the operator and the environment around the device.

The measurement unit 430 is located at the other end of the transmission unit 420 and has a pitch axis 434 and a roll axis 435 that are mirror images of the pitch axis 414 and roll axis 415 on the operation unit 410 side. The roll axis 435 is spaced away from the pitch axis 434 in the proximal end direction and is perpendicular to the pitch axis 434. The measurement unit 430 is equipped with a first encoder 431 that measures the angle of rotation around the pitch axis 434, a pitch link 440 that is supported at the other end of the transmission unit 420 so as to be rotatable around the pitch axis 434, and a second encoder 432 and a third encoder 433 that each measure the angle of rotation around the roll axis 435.

On the measurement unit 430 side, the linear motion of the four cables inserted into the transmission unit 420 reproduces the rotational motion of the pitch link 411 around the pitch axis on the operation unit 410 side, and the rotational motion of the handle unit 412 and cam unit 413 around the roll axis 415.

Specifically, the first encoder 431 measures the rotation angle around the pitch shaft 434 of a pitch shaft output capstan (described later) that is mounted rotatably about the pitch shaft 434. The two cables (described above) that are wound around the pitch shaft input capstan on the operation unit 410 side are similarly wound around this pitch shaft output capstan in the forward and reverse rotation directions via the transmission unit 420. Therefore, the first encoder 431 can measure the rotation angle θ _E1 that corresponds to the rotation of the pitch link 411 around the pitch shaft 414.

The second encoder 432 also measures the rotation angle of a roll shaft output capstan (described later) that is mounted rotatably around the roll shaft 435. The cable (described above) that is wound around the roll shaft input capstan on the operation unit 410 side is wound around this roll output capstan via the transmission unit 420. Therefore, the second encoder 432 can measure the rotation angle θ _E2 that corresponds to the rotation of the handle unit 412 around the roll shaft 415.

Furthermore, the third encoder 433 measures the rotation angle of a camshaft output capstan (described later) that is mounted rotatably around the roll shaft 435. The cable (described above) that is wound around the camshaft input capstan on the operation unit 410 side is wound around this camshaft output capstan via the transmission unit 420. Therefore, the third encoder 433 can measure the rotation angle θ _E3 that corresponds to the rotation of the cam unit 413 around the roll shaft 415.

Then, the rotation angle θ _pitch of the pitch link 411 on the operation unit 410 side about the pitch _{axis 414} , the rotation angle θ _roll of the handle unit 412 about the roll axis 415, and the grip angle θ grasp of the handle unit 412 can be derived from these three rotation angles θ _E1 , θ E2, and _{θ E3} measured by the measurement unit 430. However, the input/output relationship between the rotation angles θ _pitch , θ _roll , and _{θ grasp} on the operation unit 411 side and the rotation angles θ _E1 , θ _E2 , and θ _E3 measured by the measurement unit 430 side will be described in detail later.

In the input device 400 according to the present disclosure, rotation angle sensors for detecting the rotation angle of the pitch link 411 of the operating unit 410 about the pitch axis 414 and the rotation of the handle unit 412 and cam unit 413 about the roll axis 415 are not located within the operating unit 410. This allows the operating unit 410 to be made small and lightweight, improving operability. Furthermore, these rotational movements of the operating unit 410 are transmitted using a cable transmission mechanism inserted into the transmission unit 420, allowing the posture of the handle unit 412 to be detected accurately (high resolution, low noise, no drift) on the measuring unit 430 side. Therefore, the input device 400 according to the present disclosure can be suitably applied to, for example, microsurgery applications.

C-2. Configuration of the Operation Unit In Fig. 5, the central portion of the transmission unit 420 is omitted, and the operation unit 410 and measurement unit 430 at both ends are shown enlarged. The right side of Fig. 5 shows an enlarged view of the operation unit 410. Furthermore, Fig. 6 shows an exploded view of each component of the operation unit 410.

Referring to the right of Figure 5 and Figure 6, the operating unit 410 includes a pitch link 411, a handle portion 412, and a cam portion 413.

The pitch link 411 is supported at the distal end of the transmission unit 420 via a pair of joints 604 (see Figure 6) so that it can rotate around the pitch axis 414. Therefore, the handle unit 412 and cam unit 413 mounted on the distal end of the pitch link 411 are structured to be rotatable around the pitch axis 414 together with the pitch link 411.

The pitch link 411 is integral with a pitch axis input capstan 601 (see Figure 6), which rotates around the pitch axis 414. Two cables 511 and 512 are wound around the pitch axis input capstan 601 in the forward and reverse rotation directions. These cables 511 and 512 are inserted into the transmission unit 420 and transmit the rotation of the pitch axis input capstan 601 (i.e., the pitch link 411) around the pitch axis 414 to the measurement unit 430.

The handle portion 412 is supported by the pitch link 411 at the distal end of the pitch link 411 so as to be rotatable around the roll axis 415 relative to the pitch link 411. The cam portion 413 is supported by the pitch link 411 via a bearing portion 606 so as to be rotatable around the roll axis 415 independently of the handle portion 412.

The handle portion 412 consists of a roll shaft portion 611 in the lower half, a gripper support portion 612 in the upper half, and a stylus portion 613 connected to the upper end of the gripper support portion 612. The roll shaft portion 611 is inserted from below via a bearing portion 603 into an opening coaxial with the roll shaft 415 formed at the distal end of the pitch link 411, and is integrally connected to the upper gripper support portion 612. It is supported by the pitch link 411 via the bearing portion 603 so that it can rotate around the roll shaft 415 relative to the pitch link 411. A pair of grip portions 412a and 412b are attached to the gripper support portion 612 near their respective upper ends so that they can be opened and closed around a gripping shaft 412c. The stylus portion 613 connected to the upper end of the gripper support portion 612 is, for example, rod-shaped so that the user can hold it like a pen.

The handle section 412 (specifically, the lower half of the roll axis section 611) is integrated with a roll axis input capstan 614 (see Figure 6), which rotates around the roll axis 415. One end of a single one-way cable 513 is wound around the roll axis input capstan 614. This cable 513 undergoes layout adjustment using a pulley 523 coaxial with the pitch axis 414 and a pulley 524 positioned adjacent to the pulley 523 and having an axis of rotation parallel to the pitch axis 414. After that, the cable 513 is inserted into the transmission section 420 and transmits the rotation of the handle section 412 around the roll axis 415 to the measurement section 430. The pulleys 523 and 524 are rotatably supported on one of the joints 604.

The cam section 413 is supported by the pitch link 411 via the bearing section 606 so that it can rotate around the roll axis 415 independently of the handle section 412. The cam section 413 is integrated with a camshaft input capstan 615 (see Figure 6), which rotates around the roll axis 415. One end of a single unidirectional cable 514 is wound around the camshaft input capstan 615 in the opposite direction to the cable 513. This cable 514 undergoes layout adjustment using a pulley 525 coaxial with the pitch axis 414 and a pulley 526 positioned adjacent to the pulley 525 and having a rotation axis parallel to the pitch axis 414. After that, the cable 514 is inserted into the transmission section 420 and transmits the rotation of the cam section 413 around the roll axis 415 to the measurement section 430. The pulleys 525 and 526 are rotatably supported by the other joint 604.

The cam portion 413 has the role of converting linear motion, which changes the distance between the pair of grip portions 412a and 412b in response to the user's opening and closing operations, into rotational motion around its own roll axis 415. A pair of protrusions 621 and 622 (see Figure 6) are protruding from the upper surface of the cam portion 413 at positions symmetrical with respect to the roll axis 415. Annular abutment members 623 and 624 are attached to each of the protrusions 621 and 622, respectively. When the handle portion 412 is gripped, one protrusion 621 abuts against the inner surface of the grip portion 412a via the abutment member 623, and the other protrusion 622 abuts against the inner surface of the grip portion 412b via the abutment member 623. Furthermore, ribs 625 and 626 are formed on the outer peripheral edges of each of the protrusions 621 and 622 of the cam portion 413. The rib 625 regulates the opening and closing angle of the grip portion 412a to prevent it from opening too far when the handle portion 412 is opened or closed. The rib 626 regulates the opening and closing angle of the grip portion 412b to prevent it from opening too far when the handle portion 412 is opened or closed.

For reference, Figures 7 to 10 show an enlarged view of the area around the roll axis 415 of the operating unit 410, illustrating the rotational movement of the cam portion 413 when the handle portion 412 is opened or closed. Figures 7 to 10 show the gradual closing of the handle portion 412 from an open state. The spacing between the pair of grip portions 412a and 412b changes in accordance with the opening and closing movement of the handle portion 412. In response to this, the cam portion 413 rotates counterclockwise on the page so that the distance D between the protrusions 621 and 622 in the opening and closing direction of the handle portion 412 falls within the spacing between the grip portions 412a and 412b. As shown in Figure 10, when the handle portion 412 is fully closed, the protrusions 621 and 622 are aligned in a direction perpendicular to the opening and closing direction of the handle portion 412, and the distance D is at its minimum. While the handle portion 412 is being opened or closed in this manner, the rotational movement of the cam portion 413 causes the camshaft input capstan 615 to rotate around the roll axis 415, and the rotation angle at this time is transmitted to the measurement portion 430 via the cable 514. As can be seen from Figures 7 to 10, in either state of the opening or closing operation of the handle portion 412, the range of motion of the grip portions 412a and 412b is kept within the area of the cam portion 413 by the ribs 625 and 626, respectively.

In the input device 400 according to the present disclosure, a rotation angle sensor for detecting the rotation angle of the pitch link 411 of the operating unit 410 about the pitch axis 414 and the rotation of the handle unit 412 and cam unit 413 about the roll axis 415 is not located within the operating unit 410. Therefore, the operating unit 410 can be made small and lightweight, improving operability.

C-3. Configuration of the Measuring Unit The left side of Fig. 5 shows an enlarged view of the measuring unit 430. Furthermore, Fig. 11 shows an exploded view of each component of the measuring unit 430.

The measurement unit 430 is located at the other end of the transmission unit 420 and has a pitch axis 434 and a roll axis 435 that are mirror images of the pitch axis 414 and roll axis 415 on the operation unit 410 side. Referring to Figure 5 (left) and Figure 11, the measurement unit 430 is equipped with a first encoder 431 that measures the angle of rotation around the pitch axis 434, a pitch link 440 that is supported at the other end of the transmission unit 420 so as to be rotatable around the pitch axis 434, and a second encoder 432 and a third encoder 433 that are held by the pitch link 440 and each measure the angle of rotation around the roll axis 435.

The pitch link 440 is supported at the other end of the transmission section 420 via a pair of joints 1101 (see Figure 11) so that it can rotate around the pitch axis 434. Therefore, the second encoder 432 and third encoder 433 mounted on the pitch link 440 are structured to be rotatable around the pitch axis 434 together with the pitch link 440. The pitch link 440 is a U-shaped member, with the pitch axis 434 located at the bottom of the U.

A pitch shaft output capstan, which rotates around the pitch shaft 434, is integrated into the bottom of the U-shape of the pitch link 440. In Figure 5 (left) and Figure 11, the pitch shaft output capstan is hidden by other components and is difficult to see. Figure 12 shows a side view of the input device 400 in which the transmission unit 420 and other components have been appropriately cross-sectioned to make the pitch shaft output capstan 1201 more visible.

Referring to Figure 12, two cables 511 and 512 are wound around the pitch axis input capstan 601 and pitch axis output capstan 1201 at either end of the transmission unit 420, in the forward and reverse rotation directions. These cables 511 and 512 are inserted through the transmission unit 420 and transmit the rotation of the pitch axis input capstan 601 (i.e., pitch link 411) about the pitch axis 414 to the pitch axis output capstan 1201.

The pitch link 440 on the measurement unit 430 side is mirror-symmetrical to the pitch link 411 on the operation unit 410 side. Therefore, when the rotation of the pitch axis input capstan 601 on the operation unit 410 side is transmitted to the pitch axis output capstan 1201 via cables 511 and 512, the pitch link 440 on the measurement unit 430 side tilts mirror-symmetrically to the pitch link 411 on the operation unit 410 side (see Figures 13 to 15).

The first encoder 431 is attached via a joint 1101 (see FIG. 11 ) opposite the pitch shaft output capstan 1201 so as to be coaxial with the pitch shaft 434. The pitch link 440 rotates about the pitch shaft 434 in response to the rotation of the pitch link 411 about the pitch shaft 414. The first encoder 431 measures the rotation angle θ _E1 of the pitch shaft output capstan 1201 corresponding to the rotation of the pitch link 440 about the pitch shaft 434.

The roll shaft output capstan 1202 and the camshaft output capstan 1203 are mounted inside the U-shape of the pitch link 440 so that they can both rotate around the roll shaft 435. As shown in FIG. 11, the roll shaft output capstan 1202 and the camshaft output capstan 1203 are connected via a torsion spring 1204. This is equivalent to the ends of cables 513 and 514 being joined together by the torsion spring 1204. The torsion spring 1204 applies pretension to cables 513 and 514.

The roll axis output capstan 1202 is journaled on one leg (the lower side of the drawing) of the U-shape of the pitch link 440 via bearings 1111 and 1112. A cable 513, which is wound around the roll axis input capstan 614 on the operation unit 410 side, is wound around the roll axis output capstan 1202. This cable 513 is inserted into the transmission unit 420, passes through several pulleys (some not shown) for layout adjustment, and is then wound around the roll axis output capstan 1202 on the operation unit 410 side. This cable 513 transmits the rotation of the roll axis input capstan 614 around the roll axis 415 to the roll axis output capstan 1202.

A second encoder 432 is attached via a pair of joints 1103 (see FIG. 11 ) to the outside (lower side of the drawing) of the relevant leg of the U-shape of the pitch link 440, facing the roll axis output capstan 1202 with the relevant leg of the U in between, and coaxial with the roll axis 435. The second encoder 432 can measure the rotation angle θ _E2 of the roll axis output capstan 1202 corresponding to the rotation of the handle unit 412 (or the roll axis input capstan 614) about the roll axis 415.

The camshaft output capstan 1203 is journaled on the other leg (upper side of the page) of the U-shape of the pitch link 440 via bearings 1113 and 1114. A cable 514, which is wound around the camshaft input capstan 615 on the operating unit 410 side, is wound around the camshaft output capstan 1203. This cable 514 is inserted into the transmission unit 420, passes through pulleys 527 and 528 for layout adjustment (pulley 528 is coaxial with the pitch axis 434, and pulley 527 has an axis of rotation parallel to the pitch axis 434), and is then wound around the camshaft output capstan 1203. This cable 514 transmits the rotation of the camshaft input capstan 615 around the roll axis 415 to the roll axis output capstan 1202.

Note that the roll shaft output capstan 1202 and the cam shaft output capstan 1203 are connected via a torsion spring 1204, which is equivalent to the ends of cables 513 and 514 being connected together by a torsion spring 1204 (as described above).

A third encoder 433 is attached via a pair of joints 1104 (see FIG. 11 ) to the outside of the leg of the U-shape of the pitch link 440 (upper side of the paper), facing the camshaft output capstan 1203 with the leg of the U in between, and coaxial with the roll shaft 435. The third encoder 433 can measure the rotation angle θ _E3 of the roll shaft output capstan 1202, which corresponds to the rotation of the cam portion 413 (or the camshaft input capstan 615) about the roll shaft 415.

Then, the rotation angle θ _pitch of the pitch link 411 on the operation unit 410 side about the pitch _{axis 414} , the rotation angle θ _roll of the handle unit 412 about the roll axis 415, and the grip angle θ grasp of the handle unit 412 can be derived from these three rotation angles θ _E1 , θ E2, _{θ E3} measured by the measurement unit 430. However, the input/output relationship between the rotation angles θ _pitch , θ _roll , _{θ grasp} on the operation unit 411 side and the rotation angles θ _E1 , θ _E2 , θ _E3 measured by the measurement unit 430 side will be described in detail later.

The rotational movements of the pitch link 411 on the operating unit 410 side, the rotation angle around the pitch axis 414, and the rotation of the handle unit 412 and cam unit 413 around the roll axis 415, are transmitted using a cable transmission mechanism inserted into the transmission unit 420. Therefore, the measurement unit 430 side can accurately detect the position of the handle unit 412 (high resolution, low noise, no drift). Therefore, the input device 400 according to the present disclosure can be suitably applied to, for example, microsurgery applications.

A brief explanation of the terminology used in this specification will be provided. "Capstan" and "idler pulley" are both pulleys. A pulley used to adjust cable layout or apply tension to a cable is referred to as an "idler pulley" or simply as a "pulley" in this specification. A pulley used to apply power to a cable or, conversely, to convert force from the cable into axial force is referred to as a "capstan" in this specification, and both the input capstan and the output capstan are pulleys used for this purpose. The capstan located on the operating unit 410 is referred to as the input capstan, and the capstan on the measuring unit 430 side, to which power is transmitted via the cable, is referred to as the output capstan.

D. Transmission Mechanism and Angle Detection Principle Next, the transmission mechanism and angle detection principle between the operation unit 410 and the measurement unit 430 using a cable will be described. However, it is assumed that the user holds the stylus unit 613 like a pen and rotates the operation unit 410 around the pitch axis 414 (tilt operation), rotates the operation unit 410 around the roll axis 415 (pan operation), or grips the handle unit 412. The operation unit 410 is the input side that applies power based on the user's operation, and the measurement unit 430 is the output side to which power is supplied via cable transmission.

D-1. Tilt Operation Transmission Mechanism On the operation unit 410 side, a pitch axis input capstan 601 (see FIG. 6 ), which has the pitch axis 414 as its rotation center, is integrated with the pitch link 411. Two cables 511 and 512 are wound around the pitch axis input capstan 601, one for each direction of rotation. These cables 511 and 512 are inserted into the transmission unit 420. Therefore, when the operation unit 410 is rotated around the pitch axis 414 (tilt operation), the pitch axis input capstan 601 (i.e., the pitch link 411) rotates around the pitch axis 414, and this rotational motion is transmitted to the measurement unit 430 side via the two cables 511 and 512 inserted into the transmission unit 420.

Meanwhile, on the measurement unit 430 side, the pitch link 440 is supported at the other end of the transmission unit 420 via a pair of joints 1101 (see Figure 11) so that it can rotate around the pitch axis 434. Two cables 511 and 512 are wound around the pitch axis output capstan 1201, each in opposite rotation directions. Therefore, the rotation of the pitch axis input capstan 601 (i.e., the pitch link 411) on the operation unit 410 side about the pitch axis 414 is transmitted to the pitch axis output capstan 1201 on the measurement unit 430 side via these cables 511 and 512. As a result, the pitch link 440 tilts about the pitch axis 434 in response to the tilt movement of the pitch link 411.

Figures 13 to 15 show, as an example of the operation of the input device 400, how the pitch link 440 on the measurement unit 430 side also tilts around the pitch axis 434 in response to the tilting of the pitch link 411 on the operation unit 410 side around the pitch axis 414. The operation unit 410 and measurement unit 430 have mirror-symmetrical structures with respect to a plane perpendicular to the longitudinal direction of the transmission unit 420, so that when the pitch link 411 rotates clockwise, the pitch link 440 also rotates clockwise, and when the pitch link 411 rotates counterclockwise, the pitch link 440 also rotates counterclockwise.

D-2. Panning Operation Transmission Mechanism On the operation unit 410 side, the handle unit 412 (specifically, the lower half of the roll axis unit 611) is integrated with a roll axis input capstan 614 (see FIG. 6) that rotates around the roll axis 415. One end of a single one-way cable 513 is wound around the roll axis input capstan 614. This cable 513 is inserted into the transmission unit 420. Therefore, the rotation of the handle unit 412 around the roll axis 415 is transmitted to the measurement unit 430 side via the cable 513.

Furthermore, on the operating unit 410 side, the cam unit 413 is journaled so as to be rotatable around the roll axis 415 independently of the handle unit 412. The cam unit 413 is integrated with a cam shaft input capstan 615, which rotates around the roll axis 415. One end of a single one-way cable 514 is wound around the cam shaft input capstan 615 in the opposite direction to the cable 513. This cable 514 is inserted into the transmission unit 420. Therefore, the rotation of the cam unit 413 around the roll axis 415 is transmitted to the measurement unit 430 side via the cable 514.

On the other hand, on the measurement unit 430 side, the roll axis output capstan 1202 and the cam shaft output capstan 1203 are each supported on each leg of the U-shape of the pitch link 440 so that they can rotate around the roll axis 435. A cable 513, which is wound around the roll axis input capstan 614 on the operation unit 410 side, is wound around the roll axis output capstan 1202. In addition, a cable 514, which is wound around the cam shaft input capstan 615 on the operation unit 410 side, is wound around the cam shaft output capstan 1203. The ends of the cables 513 and 514 are connected to each other by a torsion spring 1204. Therefore, the rotations of the handle unit 412 and the cam unit 413 around the roll axis 415 in opposite directions are transmitted via these cables 513 and 514 to the roll axis output capstan 1202 and cam shaft output capstan 1203 on the measurement unit 430 side, respectively. As a result, the roll axis output capstan 1202 and the cam shaft output capstan 1203 rotate in the same direction around the roll axis 435, following the panning movement of the roll axis input capstan 614.

As an example of the operation of the input device 400, Figures 16 to 18 sequentially show how the roll axis output capstan 1202 and cam shaft output capstan 1203 on the measurement unit 430 side rotate around the roll axis 435 in response to the panning movement around the roll axis 415 of the handle unit 412 on the operation unit 410 side.

D-3. Grip Motion Transmission Mechanism On the operating unit 410 side, the handle 412 holds the pair of grip portions 412a and 412b so that they can be opened and closed around a grip axis 412c near the upper end of each. The cam 413 converts the linear motion of the pair of grip portions 412a and 412b, which changes the distance between them as they open and close, into rotational motion around its own roll axis 415. In other words, the cam 413 rotates in response to the opening and closing of the handle 412 so that the distance D between the protrusions 621 and 622 of the handle 412 in the opening and closing direction is within the distance between the grip portions 412a and 412b (see FIGS. 7 to 10).

The cam unit 413 is journaled so that it can rotate around the roll axis 415 independently of the handle unit 412. The cam unit 413 is integrated with a cam shaft input capstan 615, which rotates around the roll axis 415. One end of a single one-way cable 514 is wound around the cam shaft input capstan 615 in the opposite direction to the cable 513. This cable 514 is inserted into the transmission unit 420. Therefore, the rotation of the cam unit 413 around the roll axis 415 is transmitted to the measurement unit 430 via the cable 514. However, when the handle unit 412 is gripped, the handle unit 412 does not rotate around the roll axis 415, and the roll axis input capstan 614 does not rotate (or the gripping of the handle unit 412 is performed independently of the panning movement of the handle unit 412 around the roll axis 415).

Meanwhile, on the measurement unit 430 side, the camshaft output capstan 1203 is journaled on the U-shaped leg of the pitch link 440 so that it can rotate around the roll axis 435. A single cable 514, which is itself wound around the camshaft input capstan 615 on the operation unit 410 side, is wound around the camshaft output capstan 1203. The ends of cables 513 and 514 are connected to each other by a torsion spring 1204. Therefore, the rotation of the cam unit 413 around the roll axis 415 is transmitted via cable 514 to the camshaft output capstan 1203 on the measurement unit 430 side. As a result, the camshaft output capstan 1203 rotates in the same direction around the roll axis 435, following the gripping action of the handle unit 412.

Figures 19 to 21 show an example of the operation of the input device 400, showing the sequential gripping of the handle portion 412 on the operation unit 410. Following the gripping of the handle portion 412, the camshaft output capstan 1203 on the measurement unit 430 rotates around the roll axis 435.

Note that Figures 13 to 15 show the pitch (tilt) movement of the operation unit 410, Figures 16 to 18 show the roll (pan) movement of the operation unit 410, and Figures 19 to 21 show the gripping movement of the operation unit 410. These three movements can be performed independently. However, in actual use cases, it is expected that the user will operate the operation unit 410 by simultaneously combining two or more movements from the pitch movement, roll movement, and gripping movement.

D-4. Angle Detection Principle and Input/Output Relationship FIG. 22 shows a schematic diagram of a mechanism for detecting the rotation angle of the operating unit 410 (or pitch link 410) around the pitch axis 414 in the input device 400.

The pitch axis input capstan 601 on the operating unit 410 side is rotatable around the pitch axis 414. The pitch axis output capstan 1201 on the measuring unit 430 side is rotatable around the pitch axis 434. Two cables 511 and 512 are wound around the pitch axis input capstan 601 and the pitch axis output capstan 1201. The rotation of the pitch axis input capstan 601 is transmitted to the pitch axis output capstan 1201 via the cables 511 and 512. The rotation angle θ _pitch of the pitch axis input capstan 601 corresponds to the rotation angle of the operating unit 410 (or the pitch link 410) around the pitch axis 414. Here, if the pitch axis input capstan 601 and the pitch axis output capstan 1201 have the same radius, the rotation angle θ _E1 of the pitch axis output capstan 1201 measured by the first encoder 431 will be the same as the rotation angle θ _pitch of the pitch axis input capstan 601. Therefore, the input/output relationship regarding the pitch axis is expressed by the following equation (1).

Figure 23 schematically shows the transmission mechanism between the roll axis input capstan 614 and the roll axis output capstan 1202, and the transmission mechanism between the cam shaft input capstan 615 and the cam shaft output capstan 1203. With reference to Figure 23, we will explain how the input device 400 detects the rotation angle of the handle portion 412 of the operation unit 410 around the roll axis 415, as well as the opening and closing angles of the grip portions 412a and 412b. However, to simplify the drawing, pulleys for adjusting the layout have been omitted from Figure 23.

The roll shaft input capstan 614 and the cam shaft input capstan 615 are both arranged coaxially with the roll shaft 415 as their axis of rotation. On the other hand, the roll shaft output capstan 1202 and the cam shaft output capstan 1203 both have axes of rotation parallel to the roll shaft 435. As can be seen from Figures 5, 11, 12, etc., the roll shaft output capstan 1202 and the cam shaft output capstan 1203 are both arranged coaxially with the roll shaft 435 as their axis of rotation, but in Figures 23 to 29, for the convenience of making it easier to visually observe the rotational movement of the roll shaft output capstan 1202 and the cam shaft output capstan 1203, the roll shaft output capstan 1202 and the cam shaft output capstan 1203 are depicted as having axes of rotation parallel to and spaced apart from the roll shaft 435.

A single cable 513 is wound around the roll shaft input capstan 614 and the roll shaft output capstan 1202. In addition, one end of a single cable 514 is wound around the cam shaft input capstan 615 and the cam shaft output capstan 1203 in the opposite direction to cable 513. The ends of cable 513 and cable 514 are connected to each other by a torsion spring 1204, forming a cable loop and providing pretension.

The rotation of the roll axis input capstan 614 is transmitted to the roll axis output capstan 1202 via the cable 513. If the radius of the roll axis input capstan 614 and the radius of the roll axis output capstan 1202 are the same, the rotation angle θ _E2 of the roll axis output capstan 1202 measured by the second encoder 432 will be the same as the rotation angle θ _roll of the roll axis input capstan 614.

Furthermore, the rotation of the camshaft input capstan 615 is transmitted to the camshaft output capstan 1203 via the cable 514. If the camshaft input capstan 615 and the camshaft output capstan 1203 have the same radius, the rotation angle θ _E3 of the camshaft output capstan 1203 measured by the third encoder 433 will be the same as the rotation angle θ _cum of the camshaft input capstan 615.

Figures 24 to 26 show in sequence how each capstan rotates when the handle unit 412 rotates in a roll direction in the transmission mechanism shown in Figure 23. However, the handle unit 412 is not gripped simultaneously with the roll rotation. In this case, on the operating unit 410 side, the roll axis input capstan 614 and cam shaft input capstan 615 rotate by the same rotation angle. Therefore, the input/output relationship regarding the roll axis is expressed by the following equation (2).

Figures 27 to 29 show, in sequence, how each capstan rotates when the handle portion 412 is gripped in the transmission mechanism shown in Figure 23.

The camshaft input capstan 615 rotates around the roll axis 415 integrally with the cam section 413, which includes protrusions 621 and 622 (contact members 623 and 624). The cam section 413 has the role of converting linear motion, which changes the spacing between the pair of grip sections 412a and 412b as they open and close, into rotational motion around its own roll axis 415. When the spacing between the grip sections 412a and 412b changes in response to the opening and closing of the handle section 412, the camshaft input capstan 615, which is integral with the cam section 413, rotates around the roll axis 415 so that the distance D between the protrusions 621 and 622 in the opening and closing direction of the handle section 412 fits within the spacing between the grip sections 412a and 412b. On the other hand, the roll axis input capstan 614 does not rotate.

The roll shaft input capstan 614 and the cam shaft input capstan 615 rotate independently around the roll shaft 415. Therefore, the distance D between the protrusions 621 and 622 (contact members 623 and 624) in the opening/closing direction of the handle portion 412 is determined by the radius of rotation r of the protrusions 621 and 622 and the difference Δθ (= θ _cum - θ _roll = θ _E3 - θ _E2 ) between the rotation angles of the cam shaft input capstan 615 and the roll shaft input capstan 614, as shown in Figure 30, and is given by the following equation (3):

31 shows the relationship between the distance D between the protrusions 621 and 622 (contact members 623 and 624) in the opening/closing direction of the grip portions 412a and 412b and the grip angle θ _grasp of the handle portion 412. Therefore, the grip angle θ _grasp is expressed as in the following equation (4) using the difference Δθ in the rotation angles described above. In the following equation (4), the constant L is the length of the grip portions 412a and 412b.

Therefore, the grip angle θ _grasp of the handle portion 412 can be measured based on the difference Δθ (=θ _E3 −θ _E2 ) between the measurement values of the third encoder 433 and the second encoder 432 on the measuring portion 430 side.

A further note should be made regarding the effect on measurement of the torsion spring 1204 (described above) inserted between cables 513 and 514. When a cable is driven by a motor to present a reaction force, etc., the spring stretches due to backdrive when a torque greater than the spring force is applied, which could result in erroneous detection. In contrast, the input device 400 disclosed herein does not use a motor for force feedback, and only has an encoder for detecting position and orientation. This means that the cable has high sliding properties and does not present the problem of erroneous detection differences due to backdrive.

D-5. Summary The input device 400 according to the present disclosure can measure pitch (tilt) movements of the operation unit 410 as shown in Figures 13 to 15, roll (pan) movements as shown in Figures 16 to 18, and grip movements as shown in Figures 19 to 21 with a remotely located measurement unit 430 via a transmission unit 420. The main features and effects of the input device 400 according to the present disclosure are summarized below.

(1) The operation unit 410 and the measurement unit 430 have a mirror-symmetrical structure with respect to a plane perpendicular to the longitudinal direction of the transmission unit 420. When operations such as those shown in Figures 13 to 21 are performed on the operation unit 410 side, the measurement unit 430 acts as a counterweight for the operation unit 410, making it easier to balance the center of gravity.

(2) The layout of the cable passing through the transmission unit 420 is simple. Therefore, the sliding resistance of the cable can be kept small, allowing the operation unit 410 to operate smoothly with low friction. By using a cable transmission mechanism, the rotation angle of each joint during tilting, panning, and gripping operations of the operation unit 410 can be detected with high accuracy using a rotation angle sensor.

(3) The measurement unit 430 is placed at a location separated from the operation unit 410 via the transmission unit 420. The operation unit 410 at the distal end does not include a rotation angle sensor, so it can be made compact, and since it does not include electrical wiring, it is safe for the user. Note that there is also a design proposal to make the operation unit 410 more compact by using an IMU (Inertial Measurement Unit) or magnetic sensor, but this has inferior detection accuracy compared to when a cable transmission mechanism and rotation angle sensor are combined.

E. Leader-follower type surgical robot system
E-1. Operation input device
E-1-1. Appearance of the Operation Input Device The input device 400 according to the present disclosure can be applied to an operation console device operated by an operator (such as a surgeon) on the leader side of a leader-follower type surgical support robot system. In the above description, the input device 400 has been described as having a configuration in which the measurement unit 430 includes only encoders for measuring each axis, but it may also be configured such that at least one of the axes includes a motor or further includes a brake mechanism for braking the motor.

Figure 32 shows the external appearance of the operation console device 3200. The operation console device 3200 is a structure that is roughly L-shaped when viewed from the side, and has a bottom part 3201 at its lowest end that is U-shaped when viewed from above, with a base part 3202 connected to the center of the bottom part 3201 in a roughly vertical direction.

A T-shaped support portion 3203 is attached near the middle of the base portion 3202. The support portion 3203 is at approximately the same height as the elbows of an operator sitting in a chair 3204. However, the height of the chair 3204 may be adjusted so that the support portion 3203 is at approximately the same height as the elbows of the operator.

Left-handed and right-handed input devices 3210L and 3210R are supported on the upper end of the base unit 3202 via reader arms 3211L and 3211R, respectively. The input devices 3210L and 3210R have substantially the same configuration as the input device 400 described above, and detailed description thereof will be omitted here. Each reader arm 3211L and 3211R has a multi-degree-of-freedom configuration that supports the input device 3210 via a parallel link mechanism, similar to the reader arm 300 shown in FIG. 3, for example, and includes a first axis (pan axis) that rotates the reader arm 3211 body about a vertical pan axis relative to the upper end of the base unit 3202, a second axis (first tilt axis) that tilts the input device 3210 including the parallel link mechanism, and a third axis (second tilt axis) that finely tilts the operation console device 3200 using the parallel link mechanism.

The surgeon can use the tip of the T-shape of the support part 3203 as a hand rest 3205 to operate the input devices 3210L and 3210R with both hands. Figure 33 shows an enlarged view of the hand rest 3205 at the tip of the T-shape of the support part 3203, and the input devices 3210L and 3210R supported by the reader arms 3211L and 3211R.

Furthermore, a display device 1014 is attached to the upper end of the base portion 3202. In the example shown in FIG. 32, the display device 1014 is an immersive type 2D and 3D viewer that the operator looks into. Therefore, the operator can use their left and right hands to operate the input devices 3210L and 3210R while looking into the screen of the display device 1014 and observing a 2D or 3D image of the surgical field.

E-1-2. Hand Rest The left-hand and right-hand input devices 3210L and 3210R are controllers supported by leader arms 3211L and 3211R, respectively, and capable of detecting position commands with high sensitivity. The input devices 3210L and 3210R have almost the same configuration as the input device 400 described above. The distal operation unit 410 does not include a rotation angle sensor, so it can be configured to be compact. The operation unit 110 has no protruding shape other than the handle unit 111 that is gripped and operated, so the operation unit 110 is less likely to interfere with the environment. This allows the user to grip the operation unit 110 with their fingertips and operate it with their hands in contact with the environment.

Here, the "environment" where the user places their hands on the ground specifically refers to the hand rest 3205. As can be seen from Figure 33, the user operates input devices 3210L and 3210R with their left and right hands on the hand rest 3205. Therefore, in microsurgery, which involves delicate surgery using a microscope or the like, plastic surgeons can operate input devices 3210L and 3210R while suppressing tremors by placing their hands on the hand rest 3205. It is preferable that the top surface of the hand rest, which comes into contact with the hands, is made of a cushioned material to reduce contact with the hands.

Although Figures 32 and 33 show a straight hand rest, it may also be curved. For example, it may be curved so that the left and right wrists of the user operating input devices 3210L and 3210R do not move unnaturally. It is necessary to use a hand rest with an appropriate shape and material according to the user's preferences and the surgery. For this reason, it is preferable that the hand rest be detachable and replaceable from the operation console device.

Figures 36 and 37 show operation console device 3200 fitted with different types of hand rests, viewed from above, with the area around the hand rests enlarged. In the example shown in Figure 36, a straight-shaped hand rest 3601 is attached to operation console device 3200. On the other hand, in the example shown in Figure 37, a curved hand rest 3701 is attached to operation console device 3200. Hand rest 3701 shown in Figure 37 has a curved shape to prevent unnatural movements of the left and right wrists of the user operating input devices 3210L and 3210R. The top surfaces of both hand rests 3601 and 3701 that come into contact with the hands are made of a cushioned material to reduce contact with the hands.

The hand rest may be equipped with one or more buttons, such as mechanical switches. Hand rest 3601 shown in FIG. 36 has buttons 3611 and 3612 located at the left and right ends of its top surface. Similarly, hand rest 3701 shown in FIG. 37 has buttons 3711 and 3712 located at the left and right ends of its top surface. The user can operate these buttons by pressing them with the sides of their hands while holding input devices 3210L and 3210R and keeping their hands on the hand rest. Therefore, the user can operate the buttons located at the left and right ends of the hand rest in this way, relying solely on the sensations in their left and right hands, without using their eyes. Note that the functions assigned to these buttons on the hand rest are arbitrary.

38 shows a side view of the operation console device 3200. However, the input device 3210 and the hand rest 3205 are shown enlarged. To avoid cluttering the drawing, the reader arm 3211 is depicted in a simplified form in FIG. 38. The input device 3210 has substantially the same configuration as the input device 400 described above, and the hand rest 3205 is positioned so that the hand holding the distal end of the operation unit 110 can be placed on the ground when the elongated transmission unit 420 is in a substantially horizontal position. The hand rest 3205 may be straight as shown in FIG. 36, curved as shown in FIG. 37, or any other type of hand rest, but all have a flat shape. It is desirable that the hand rest 3205 and the input device 400 (or operation unit 110) be positioned in a manner that prevents unnatural movements of the user's wrist when holding the input device 400. In the example shown in FIG. 38, the user's hand can grasp the operation unit 110 at the distal end of the input device 3211 when placed on the hand rest 3205. The support unit 3203 that supports the hand rest 3205 may be equipped with a height adjustment unit (not shown) that adjusts the height of the hand rest 3205.

Although Figures 36 and 37 show hand rests with different contours, both have a flat shape as shown in Figure 38. However, the hand rest does not have to be flat. For example, the hand rest may have a shape other than flat as long as it meets the following requirements:
- The user's wrist does not move unnaturally when operating the input device.
- You can operate the buttons without using your eyes, relying solely on the sensation of your hands.

Figure 39 shows the appearance of an operation console device 3900 that uses a non-flat hand rest 3910. Figure 40 also shows an enlarged view of the area around the hand rest 3910. The components other than the hand rest 3910 are the same as those in the configuration example shown in Figure 32, so individual explanations will be omitted.

The hand rest 3910 shown in Figures 39 and 40 is roughly U-shaped when viewed from the front, with the buttons 3912 and 3913 on both the left and right ends positioned higher than the contact area 3911 where the user places their hands. With this configuration of the hand rest 3910, the buttons 3912 and 3913 are positioned in places where the user's hands will not touch them while operating the input devices 3210L and 3210R. This prevents the buttons 3912 and 3913 from being accidentally operated with hands that are in contact with the contact area 3911.

Each button 3912 and 3913 may be positioned at a height that allows the user to press it with the side of their hand while gripping input devices 3210L and 3210R and with their hand still in contact with ground contact portion 3911. Alternatively, each button 3912 and 3913 may be positioned at a height that the user cannot reach with the side of their hand while in contact with ground contact portion 3911. In the latter case, the user must remove their hand from input device 3210L or 3210R when they want to press button 3912 or 3913. In this case, safe operation can be ensured by assigning each button 3912 and 3913 a function that cannot (or must not be) executed simultaneously with the operation of input devices 3210L and 3210R.

E-1-3. Fixing the arm when not in operation
E-1-3-1. Arm Fixing Device By making each joint of the leader arm that supports the input device a passive joint and further removing the motor and brake from the leader arm, it is possible to achieve a lightweight and smooth movement of the input device with little friction (as mentioned above).

However, if at least some of the joints included in the leader arm do not have actuators such as motors or brakes, there is a problem in that the leader arm's posture cannot be maintained when the user releases the input device and is not operating it. Furthermore, it is necessary to determine the initial position and posture of the leader arm when starting to operate the input device, which is cumbersome.

To address the above issues, the operation console device may be equipped with an arm fixing device that fixes the reader arm when not in use.

E-1-3-2. For the purpose of efficiently starting the operation of the mobile device input device and for safely fixing the leader arm when the operation is completed, it is desirable that the arm fixing device be able to fix the leader arm in a position where the user can operate it safely and stably. Without such measures, interference between the leader arm and the arm fixing device will occur when operating the input device, which will not only limit the range of motion of the input device and the leader arm but also be dangerous.

Therefore, the operation console device may be further equipped with a movement device that moves the arm fixing device, so that the arm fixing device can be moved depending on the usage state of the input device.

When the input device is not being operated (i.e., at the end of surgery or when surgery is not being performed), the moving device moves the arm fixing device to a coupling position where it can be coupled with the leader arm, thereby fixing the leader arm. Furthermore, when the input device is being operated (i.e., during surgery), the moving device retracts the arm fixing device to a storage position outside the range of motion of the input device and leader arm, ensuring the range of motion and safety of the input device and leader arm.

The storage position where the arm fixing device is retracted needs to be a safe place where it will not interfere with the user's hands or the input device when operating the input device. It is also preferable that the storage position be as close to the connected position as possible so that it can be quickly moved to the connected position when operation of the input device is finished. For example, the storage position for the arm fixing device may be located below the hand rest.

The movement device may be triggered by a change in the operating state of the input device, and may electrically move the arm fixing device using an actuator such as a motor. Of course, the movement device may also be configured to move the arm fixing device through manual operation by the user.

There are no particular limitations on the method of inputting the trigger to move the arm fixing device from the retracted position to the connected position. However, to avoid the risk of the arm fixing device unintentionally colliding with the input device or the user's hand while moving, it is preferable that the trigger be input while the user's hand is in a safe position. For example, if the buttons on both ends of the hand rest (described above) are pressed simultaneously, the arm fixing device is moved from the retracted position to the connected position, and the user's hand is in a safe position, thereby avoiding the risk of the arm fixing device unintentionally colliding with the input device or the user's hand while moving.

E-1-3-3. Connection between arm fixing device and leader arm The arm fixing device includes an adapter unit that connects to the operation unit at the distal end of the input device, and the reader arm is fixed by connecting this adapter unit to the operation unit. The method for connecting the adapter unit to the operation unit is not particularly limited. For example, the adapter unit may be connected to the operation unit of the input device using a mechanical locking mechanism that utilizes magnetic attraction or claw engagement.

The adapter unit may be equipped with a sensor that can detect the connection status with the operation unit. Examples of methods for detecting the connection status using a sensor include the following:

- A method in which electrical contacts are shorted when connected, and detection is performed.
- A method in which a photointerrupter is detected by being either open or closed when the connector is connected.
- A method in which connection is detected by a mechanical sensor, or by the activation of a mechanical switch due to connection.

E-1-3-4. Specific Example of Arm Fixing Device Figures 41 and 42 show a specific example of an arm fixing device that moves in a sliding manner. Figure 41 shows the arm fixing device 4100 in the coupled position, and Figure 42 shows the arm fixing device 4100 in the retracted position below the hand rest.

The moving device 4110 consists of a slider that slides on a guide rail, and the slider equipped with the arm fixing device 4100 can be moved linearly using the power of a linear actuator or the like to move it between the connected position and the retracted position.

The position where the arm fixing device 4100 is at one end of the guide rail is the connected position (see Figure 41). In this connected position, the adapter part 4101 at the tip of the arm fixing device 4100 connects to the bottom end of the operation part of the input device 3210, thereby fixing the reader arm 3211. The adapter part 4101 connects to the bottom end of the operation part of the input device 3210 using a mechanical locking mechanism that utilizes magnetic attraction or claw engagement. The adapter part 4101 may be equipped with a sensor that can detect the connection status with the operation part of the input device 3210.

Furthermore, the position where the arm fixing device 4100 is retracted to the other end of the guide rail below the hand rest is the storage position (see Figure 42). Figure 42 shows the user in this state gripping and operating the operating section of the input device 3210. As the arm fixing device 4100 is retracted to the storage position, it does not interfere with the user's hand or the input device 3210, so it is safe.

The moving device 4110 is triggered by a change in the operating state of the input device 3210, and causes the slider carrying the arm fixing device 4100 to move in a straight line on a guide rail, thereby moving the arm fixing device 4100 from the storage position to the connected position, and conversely, from the connected position to the storage position.

Figures 43 and 44 show a specific example of a rotating, movable arm fixing device. Figure 43 shows the arm fixing device 4300 in the connected position, and Figure 44 shows the arm fixing device 4300 in the retracted position below the hand rest.

The moving device 4310 can be moved between the connected position and the retracted position by rotating the arm fixing device 4300 around a rotation axis set in the hand rest 3205.

The connected position (see Figure 43) is when the arm fixing device 4300 appears prominently in the user's work area in front of the hand rest 3205 due to the rotation of the moving device 4310. In this connected position, the adapter unit 4301 at the tip of the arm fixing device 4300 connects to the bottom end of the operation unit of the input device 3210, thereby fixing the reader arm 3211. The adapter unit 4301 connects to the bottom end of the operation unit of the input device 3210 using a mechanical locking mechanism that utilizes magnetic attraction or claw engagement. The adapter unit 4301 may be equipped with a sensor that can detect the connection status with the operation unit of the input device 3210.

Furthermore, the position where the arm fixing device 4300 is retracted below the hand rest due to the rotational movement of the moving device 4310 is the storage position (see Figure 44). Figure 44 shows the user in this state gripping and operating the operating section of the input device 3210. As the arm fixing device 4300 is retracted to the storage position, it does not interfere with the user's hand or the input device 3210, so it can be seen that it is safe.

The movement device 4310 can be triggered by a change in the operating state of the input device 3210, and can move the arm fixing device 4300 from the storage position to the connected position, or conversely from the connected position to the storage position, by rotating the movement device 4310.

E-2. System Configuration Fig. 34 shows the external configuration of a leader-follower type surgery support robot system 1000 that uses the operation console device 3200 shown in Fig. 32 as the leader.

The surgical support robot system 1000 comprises a console unit 1010, an operation unit 1020, and a robot control device 1030. The surgical robot system 1000 can use an external network. The console unit 1010 and operation unit 1020 correspond to the leader device and follower device in a leader-follower system, respectively. The robot control device 1030 links the console unit 1010 and operation unit 1020 to achieve leader-follower control.

An operator, such as a doctor or medical professional, operates the console unit 1010 to instruct the surgical support robot system 1000 to operate. The operation unit 1020, on the other hand, is equipped with a robotic arm equipped with the surgical tools necessary for surgery, and is configured to operate in response to the operator's operation of the console unit 1010. In order to perform surgery on the patient, the operation unit 1020 is placed in the operating room near the operating table 1050 on which the patient lies.

The console unit 1010 is used, for example, when an operator remotely operates the operation unit 1020 from a location in an operating room away from the operating table 1050 (or outside the operating room). The console unit 1010 includes the operation console device 3200 (or input device 400) shown in FIG. 32 as an input means for the operator. When the operator inputs operation commands or instructions via the operation console device 3200, the console unit 1010 transmits the operation commands to the operation unit 1020 via the robot control device 1030. The operation unit 1020 operates the arms that support the surgical tools and imaging device in accordance with the operation commands received via the robot control device 1030, and performs surgery on the patient.

The display device 1014 displays a 2D or 3D image of the affected area captured by an imaging unit included in the sensor section 1024 on the operation unit 1020 side. In the example shown in FIG. 34, the display device 1014 is an immersive display device into which the operator peers, but it may also be a glasses-type or goggle-type display device worn on the operator's head, or a naked-eye display.

In the example shown in Figure 34, the operation unit 1020 includes a robot arm 1025 consisting of an articulated serial link, a sensor unit 1024 such as an imaging unit mounted on the distal end of the robot arm, one or more followers that hold various surgical tools and operate by following the leader, and a surgical tool exchange unit that exchanges the surgical tools attached to the followers. The operation unit 1020 further includes a communication device capable of communicating various information with the robot control device 1030.

In the example shown in FIG. 34, the robot control device 1030 has an external structure that is physically integrated with the operation unit 1020. The robot control device 1030 is configured as a single physical unit (i.e., a single housing) in which the control devices for the console unit 1010, operation unit 1020, and imaging unit are all integrated. The bottom of the housing of the robot control device 1030 is equipped with multiple (e.g., four) wheeled legs as a means of transportation. Therefore, an operator or assistant can manually push the housing of the robot control device 1030 and the operation unit 1020 to move them in and out of the operating room.

Figure 35 shows a schematic diagram of the functional configuration of the surgical support robot system 1000. Note that, for simplicity of explanation, the robot control device 1030 is not shown in Figure 35. The functions of the robot control device 1030 are realized by either the console unit 1010 or the operation unit 1020 (or by the cooperative operation of both units). An operator such as a surgeon operates the leader 1012 (operation console device 3200) on the console unit 1010 side, and on the operation unit 1020 side installed in the operating room, surgery can be performed by controlling the drive of the follower 1022 that holds the surgical tools in accordance with the operator's operation of the leader. The surgical tools referred to here are, for example, medical instruments such as forceps, insufflation tubes, energy treatment tools, excisors, and retractors.

The console unit 1010 includes a reader-side control unit 1011, a reader 1012, a reader-side communication unit 1013, and a display device 1014. The console unit 1010 operates under the overall control of the reader-side control unit 1011.

The reader 1012 is configured using the operation console device 3200 (or input device 400) shown in Figure 32, and is capable of input operations and force feedback in a three-axis polar coordinate system. A user (such as a surgeon) can remotely control or perform 3D operations on a screen with the follower 1022, which carries a surgical tool such as forceps, in the operation unit 1020. Using the reader 1012, it is possible to perform operations such as three translational degrees of freedom to translate the surgical tool, three rotational degrees of freedom to change the orientation of the surgical tool, and one degree of freedom of grasping, such as opening and closing the forceps.

The display device 1014 presents information about the surgery being performed in the operation unit 1020 to the operator of the reader 1022, based primarily on sensor information acquired by the sensor unit 1024 (described below) on the operation unit 1020 side.

For example, if the sensor section 1024 on the operation unit 1020 side is equipped with an imaging unit that observes the surface of the affected area from above, or an endoscope for laparoscopic or coloscopic surgery held by the follower 1022, or is equipped with an interface that captures images from these cameras, and this image data is transferred with low latency to the console unit 1010 via the transmission path 1031, the display device 1014 will display the captured image of the affected area on the screen in real time.

Furthermore, if the sensor unit 1024 is equipped with a function to measure forces such as external forces and moments acting on the surgical tool carried by the follower 1022, and such force information is transferred with low latency to the console unit 1010 via the transmission path 1031, a reaction force can be presented to the operator using the force presentation function built into the reader 1012 (operation console device 3200).

Under the control of the reader-side control unit 1011, the reader-side communication unit 1013 performs signal transmission and reception processing with the operation unit 1020 via the transmission path 1031. For example, if the transmission path 1031 is made of optical fiber, the reader-side communication unit 1013 includes an electrical-to-optical conversion unit that converts electrical signals sent from the console unit 1010 into optical signals, and an optical-to-electrical conversion unit that converts optical signals received from the transmission path 1031 into electrical signals. The reader-side communication unit 1013 transfers operation commands for the follower 1022, input by the operator via the console unit 1010, to the operation unit 1020 via the transmission path 1031. The reader-side communication unit 1013 also receives sensor information sent from the operation unit 1020 via the transmission path 1031.

On the other hand, the operation unit 1020 includes a follower-side control unit 1021, a follower 1022, a sensor unit 1024, and a follower-side communication unit 1024. The operation unit 1020 operates in accordance with instructions from the console unit 1010 under the overall control of the follower-side control unit 1021.

The follower 1022 is, for example, a robot arm with a multi-joint link structure, and is equipped with a surgical tool or observation device as an end effector at its tip (or distal end). Examples of surgical tools include forceps, an insufflation tube, an energy treatment device, a surgeon, and a retractor. Examples of observation devices include an endoscope. The follower-side control unit 1021 interprets operation commands sent from the console unit 1010 via the transmission path 1031, converts them into drive signals for actuators that drive each joint of the follower 1022, and outputs them. The follower 1022 then operates based on the drive signals from the follower-side control unit 1021.

The sensor unit 1024 is equipped with multiple sensors that detect the condition of the affected area during surgery performed by the follower 1022, and is further equipped with an interface for importing sensor information from various sensor devices installed in the operating room. The sensor unit 1024 is also equipped with a force torque sensor (FTS) for measuring external forces and moments acting on the surgical tool mounted on the tip (distal end) of the follower 1022. The sensor unit 1024 is also equipped with an imaging unit that observes the surface of the affected area during surgery by the follower 1022, an RGB camera that captures microscopic images, an observation device such as an endoscope for laparoscopic or coloscopic surgery, or an interface for importing images captured by these cameras.

Under the control of the follower-side control unit 1021, the follower-side communication unit 1024 performs signal transmission and reception processing with the console unit 1010 via the transmission path 1031. For example, if the transmission path 1031 consists of optical fiber, the follower-side communication unit 1024 includes an electrical-to-optical conversion unit that converts electrical signals sent from the operation unit 1020 into optical signals, and an optical-to-electrical conversion unit that converts optical signals received from the transmission path 1031 into electrical signals.

The follower-side communication unit 1024 transfers force data of surgical tools acquired by the sensor unit 1024, as well as images captured by the imaging unit, endoscope, etc., to the console unit 1010 via the transmission path 1031. The follower-side communication unit 1024 also receives operation commands for the follower 1022 sent from the console unit 1010 via the transmission path 1031.

On the console unit 1010 side, operation commands for remotely operating the follower 1022 are input via the reader 1012 (operation console device 3200). The operation commands include panning and tilting of the robot arm serving as the follower 1022, and the operation of the surgical tool held by the follower 1022.

The follower-side control unit 1021 performs drive control to realize the operation of the follower 1022 in accordance with the received operation command.

The present disclosure has been described in detail above with reference to specific embodiments. However, the present disclosure should not be construed as being limited to the above-described embodiments, and it is obvious that those skilled in the art can modify or substitute the embodiments without departing from the spirit of the present disclosure. Furthermore, the effects described in this specification are merely examples, and the effects brought about by the present disclosure are not limited, and additional effects not described in this specification may exist.

This specification has mainly described embodiments in which the input device according to the present disclosure is applied to a surgical support robot. The input device according to the present disclosure is particularly suitable for use in microsurgery. Furthermore, the input device according to the present disclosure can also be applied to operation in virtual spaces (e.g., surgical simulators, metaverse spaces, games, 3D CAD, etc.), operation of remote robots (e.g., surgical robots, service robots, industrial robots, etc.), and teaching robots (e.g., teaching picking tasks using an input device, etc.).

In short, the present disclosure has been described in the form of examples, and the contents of this specification should not be interpreted in a limiting manner. To determine the gist of the present disclosure, the claims should be taken into consideration.

In addition, this disclosure can also be configured as follows:

(1) an operating unit having multiple degrees of freedom disposed at a distal end;
a transmission unit that supports the operation unit at a distal end and transmits the operation of each degree of freedom of the operation unit via a cable;
a measurement unit that supports the transmission unit near an end portion on a base side and measures the movement of the operation unit for each degree of freedom transmitted by the transmission unit;
An input device comprising:

(2) The operation unit and the measurement unit are configured to be mirror-symmetrical with respect to each other via the transmission unit.
The input device according to (1) above.

(3) The transmission unit transmits the operation of each degree of freedom of the operation unit to the measurement unit using a plurality of cables.
The input device according to any one of (1) and (2) above.

(4) The measuring unit includes a rotation sensor,
The shaft of the operating unit and the shaft of the rotation sensor are connected by a cable, and the rotation sensor is pulled by the cable to detect the rotation angle of the rotated shaft.
The input device according to any one of (1) to (3) above.

(5) The operation unit includes a first link supported on a distal end of the transmission unit so as to be rotatable about a first axis perpendicular to the longitudinal direction,
the transmission unit converts a rotational movement of the first link about the first axis into a linear movement of a first cable and transmits the linear movement;
the measurement unit includes a first rotation sensor that measures a rotation angle of the first link about the first axis based on a rotational movement converted from a linear movement of the first cable.
The input device according to any one of (1) to (4) above.

(6) The operation unit further includes a handle portion supported by the first link so as to be rotatable about a second axis perpendicular to the longitudinal direction and the first axis,
the transmission unit converts the rotational movement of the handle unit about the second axis into a linear movement of a second cable and transmits the linear movement;
the measurement unit includes a second rotation sensor that measures a rotation angle of the handle portion around the second axis based on a rotational movement converted from a linear movement of the second cable.
The input device according to (5) above.

(7) The operation unit further includes a cam portion supported rotatably about the second axis independently of the handle portion,
the handle portion includes a pair of grip portions that open and close based on a rotation angle between the cam portion and the second axis,
the transmission unit converts the rotational movement of the cam unit about the second axis into a linear movement of a third cable and transmits the linear movement;
the measurement unit includes a third rotation sensor that measures a rotation angle of the cam portion about the second axis based on a rotational movement converted from a linear movement of the third cable.
The input device according to (6) above.

(8) The measurement unit includes a second link supported on a base side of the transmission unit so as to be rotatable around a third axis parallel to the first axis,
the transmission unit converts the linear motion of the first cable into a rotational motion of the second link about the third axis,
the first rotation sensor measures a rotation angle of the second link about the third axis;
The input device according to (7) above.

(9) The second rotation sensor and the third rotation sensor are each held by the second link so as to be rotatable around a fourth axis parallel to the second axis,
the transmission unit converts the linear motion of the second cable into a rotational motion of the second capstan about the fourth axis, and converts the linear motion of the third cable into a rotational motion of the third capstan about the fourth axis,
the second rotation sensor measures a rotation angle of the second capstan about the fourth axis, and the third rotation sensor measures a rotation angle of the third capstan about the fourth axis;
The input device according to (8) above.

(10) A connecting portion is further provided to connect the ends of the second cable and the third cable to each other and apply a pretension.
The input device according to any one of (8) to (9) above.

(11) an input device;
an arm supporting the input device;
a hand rest for placing a user's hand on the input device while the user is operating the input device;
Equipped with
The input device is an input device according to any one of claims 1 to 9.
Operation console device.

(11-1) The hand rest has a cushioned contact surface on which the user's hand rests.
The operation console device according to (11) above.

(11-2) The hand rest has a curved shape.
The operation console device according to (11) above.

(11-3) The hand rest is detachable and replaceable.
The operation console device according to (11) above.

(12) The hand rest includes a button.
The operation console device according to (11) above.

(13) The button is arranged in a position where a user can press the button with the side of the hand that is in contact with the hand rest while holding the operation unit.
The operation console device according to (12) above.

(14) The hand rest has a shape in which a contact portion on which a user's hand is placed and the buttons are at different heights.
The operation console device according to any one of (12) and (13) above.

(14-1) The hand rest includes a U-shape, and the buttons are arranged on both ends of the U-shape.
The operation console device according to (14) above.

(15) Further comprising an arm fixing device for fixing the arm.
The operation console device according to any one of (11) to (14) above.

(16) The input device may further include a moving device that moves the arm fixing device depending on the use state of the input device.
The operation console device according to (15) above.

(17) The moving device moves the arm fixing device to a coupling position where the arm fixing device can be coupled to the arm when the input device is operated, and retracts the arm fixing device to a storage position outside the movable range of the input device and the leader arm when the input device is not operated.
The operation console device according to (16) above.

(18) The arm fixing device includes an adapter unit that is connected to an operation unit of the input device, and the adapter unit is connected to the operation unit to fix the arm.
The operation console device according to any one of (15) to (17) above.

(19) The adapter unit includes a sensor that detects a connection state with the operation unit of the input device.
The operation console device according to (18) above.

(20) An operation unit including one or more followers to which surgical tools are attached;
a console unit including one or more readers operated by an operator;
a display device that displays an image of the affected area of the patient during surgery using a surgical tool;
a control device that controls the operation of the follower in accordance with the operation of the leader;
Equipped with
At least one of the readers includes an input device according to any one of claims 1 to 9.
Robotic surgical support system.

DESCRIPTION OF SYMBOLS 100...input device, 110...operation unit, 111...handle unit, 111a, 111b...grip unit, 120...transmission unit, 130...measurement unit, 300...leader arm, 301...leader arm main body, 303, 304...tilt link, 310...device holder unit, 311...first axis, 312...second axis, 313...third axis, 400...input device, 410...operation unit, 411...pitch link, 412...handle unit, 412a, 412b...grip unit, 412c...gripping axis, 413...cam unit, 420...transmission unit, 430...measurement unit, 431...first encoder, 432...second encoder, 433...third encoder, 440...pitch link, 511, 512...cable (for pitch axis)
513...Cable (for roll shaft), 514...Cable (for cam shaft)
523, 524...pulleys (for cable 513, on the operation unit 410 side)
525, 526...pulleys (for cable 514, on the operation unit 410 side)
527, 528...pulleys (for cable 514, on the measuring unit 430 side)
601...Pitch axis input capstan, 603...Bearing portion, 604...Joint portion, 606...Bearing portion, 611...Roll axis portion, 612...Gripper support portion, 613...Stylus portion, 614...Roll axis input capstan, 615...Cam axis input capstan, 621, 622...Protrusion portion, 623, 624...Abutment member, 625, 626...Rib, 1000...Surgery support robot system, 1010...Console unit, 1011...Leader side control portion, 1012...Leader, 1013...Leader side communication portion, 1014...Display device, 1020...Operation unit, 1021...Follower side control portion, 1022...Follower, 1023...Follower side communication portion, 1024...Sensor portion, 1025...Robot arm 1030...Robot control device, 1031...Transmission path, 1050...Operating table, 1101...Joint, 1111, 1112...Bearing portion, 1113, 1114...Bearing portion, 1201...Pitch axis output capstan, 1202...Roll axis output capstan, 1203...Cam shaft output capstan, 1204...Torsion spring, 3200...Operation console device, 3201...Bottom, 3202...Base portion, 3203...Support portion, 3204...Chair, 3205...Hand rest, 3210...Input device, 3211...Reader arm, 3601...Hand rest (straight shape)
3611, 3612... Buttons 3701... Hand rest (curved shape)
3711, 3712...Buttons 3900...Operation console device, 3910...Hand rest 3911...Ground part, 3912, 3913...Buttons 4100...Arm fixing device, 4101...Adapter part 4110...Moving device 4300...Arm fixing device, 4301...Adapter part 4310...Moving device

Claims (20)

an operating unit having multiple degrees of freedom disposed at the distal end;
a transmission unit that supports the operation unit at a distal end and transmits the operation of each degree of freedom of the operation unit via a cable;
a measurement unit that supports the transmission unit near an end portion on a base side and measures the movement of the operation unit for each degree of freedom transmitted by the transmission unit;
An input device comprising: The operation unit and the measurement unit are configured to be mirror-symmetrical with each other via the transmission unit.
The input device according to claim 1 . the transmission unit transmits the operation of the operation unit for each degree of freedom to the measurement unit using a plurality of cables.
The input device according to claim 1 . the measuring unit includes a rotation sensor,
The shaft of the operating unit and the shaft of the rotation sensor are connected by a cable, and the rotation sensor is pulled by the cable to detect the rotation angle of the rotated shaft.
The input device according to claim 1 . the operating unit includes a first link supported on a distal end of the transmission unit so as to be rotatable about a first axis perpendicular to the longitudinal direction,
the transmission unit converts a rotational movement of the first link about the first axis into a linear movement of a first cable and transmits the linear movement;
the measurement unit includes a first rotation sensor that measures a rotation angle of the first link about the first axis based on a rotational movement converted from a linear movement of the first cable.
The input device according to claim 1 . the operating unit further includes a handle portion supported by the first link so as to be rotatable about a second axis perpendicular to the longitudinal direction and the first axis,
the transmission unit converts the rotational movement of the handle unit about the second axis into a linear movement of a second cable and transmits the linear movement;
the measurement unit includes a second rotation sensor that measures a rotation angle of the handle portion around the second axis based on a rotational movement converted from a linear movement of the second cable.
The input device according to claim 5 . the operation unit further includes a cam portion supported rotatably about the second axis independently of the handle portion,
the handle portion includes a pair of grip portions that open and close based on a rotation angle between the cam portion and the second axis,
the transmission unit converts the rotational movement of the cam unit about the second axis into a linear movement of a third cable and transmits the linear movement;
the measurement unit includes a third rotation sensor that measures a rotation angle of the cam portion about the second axis based on a rotational movement converted from a linear movement of the third cable.
The input device according to claim 6. the measurement unit includes a second link supported on a base side of the transmission unit so as to be rotatable about a third axis parallel to the first axis,
the transmission unit converts the linear motion of the first cable into a rotational motion of the second link about the third axis,
the first rotation sensor measures a rotation angle of the second link about the third axis;
The input device according to claim 7. the second rotation sensor and the third rotation sensor are each held by the second link so as to be rotatable around a fourth axis parallel to the second axis;
the transmission unit converts the linear motion of the second cable into a rotational motion of the second capstan about the fourth axis, and converts the linear motion of the third cable into a rotational motion of the third capstan about the fourth axis,
the second rotation sensor measures a rotation angle of the second capstan about the fourth axis, and the third rotation sensor measures a rotation angle of the third capstan about the fourth axis;
The input device according to claim 8 . a connecting portion that connects the ends of the second cable and the third cable to each other and applies a pretension.
The input device according to claim 7. An input device;
an arm supporting the input device;
a hand rest for placing a user's hand on the input device while the user is operating the input device;
Equipped with
The input device is an input device according to any one of claims 1 to 9.
Operation console device. the hand rest includes a button;
The operation console device according to claim 11. The button is arranged in a position where a user can hold the operation unit and press it with the side of their hand that is placed on the hand rest.
The operation console device according to claim 12. The hand rest has a shape in which a contact portion on which a user's hand is placed and the button are at different heights.
The operation console device according to claim 12. Further provided is an arm fixing device for fixing the arm.
The operation console device according to claim 11. a moving device that moves the arm fixing device depending on the use state of the input device;
The operation console device according to claim 15. the moving device moves the arm fixing device to a coupling position where the arm fixing device can be coupled with the arm when the input device is operated, and retracts the arm fixing device to a storage position outside the movable range of the input device and the leader arm when the input device is not operated.
The operation console device according to claim 16. the arm fixing device includes an adapter part that is connected to an operation part of the input device, and the adapter part is connected to the operation part to fix the arm;
The operation console device according to claim 15. the adapter unit includes a sensor that detects a connection state between the input device and an operation unit;
The operation console device according to claim 18. an operation unit including one or more followers to which surgical tools are attached;
a console unit including one or more readers operated by an operator;
a display device that displays an image of the affected area of the patient during surgery using a surgical tool;
a control device that controls the operation of the follower in accordance with the operation of the leader;
Equipped with
At least one of the readers includes an input device according to any one of claims 1 to 9.
Robotic surgical support system.