WO2023047517A1 - Operation device - Google Patents

Operation device Download PDF

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Publication number
WO2023047517A1
WO2023047517A1 PCT/JP2021/035016 JP2021035016W WO2023047517A1 WO 2023047517 A1 WO2023047517 A1 WO 2023047517A1 JP 2021035016 W JP2021035016 W JP 2021035016W WO 2023047517 A1 WO2023047517 A1 WO 2023047517A1
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WO
WIPO (PCT)
Prior art keywords
operating device
grip
holding
operator
pinch
Prior art date
Application number
PCT/JP2021/035016
Other languages
French (fr)
Japanese (ja)
Inventor
耕太郎 只野
ソルモン 鄭
Original Assignee
リバーフィールド株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by リバーフィールド株式会社 filed Critical リバーフィールド株式会社
Priority to JP2022503985A priority Critical patent/JP7141164B1/en
Priority to PCT/JP2021/035016 priority patent/WO2023047517A1/en
Publication of WO2023047517A1 publication Critical patent/WO2023047517A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

Definitions

  • the present invention relates to an operating device used for manipulators.
  • the operation of the master machine in the surgical assistance robot is a pinch grip type that pinches with the thumb and forefinger, and a power grip type that is grasped with the entire palm.
  • the pinch-grip type is suitable for delicate work, but places a heavy burden on the fingers.
  • the power-grip type is inferior to the pinch-grip type for delicate work, but places less of a burden on the operator.
  • Patent Document 1 discloses an operation handle for operating the master machine.
  • This operation handle is provided with a pair of operation parts that can be opened and closed by using two fingers of an operator with respect to an elongated master operation main body.
  • the opening and closing operation of the surgical instrument capable of Further, a gripping portion to be gripped by the operator's palm is detachably attached to the end portion of the master operating body portion.
  • the aforementioned operation handle is wholly moved by the operator's hand or fingers when controlling the position and orientation of the surgical instrument of the slave manipulator of the slave machine. Therefore, if the grasping part is removed and the position and posture of the surgical instrument of the slave manipulator are controlled only by the fingers, the burden on the operator's hands and fingers increases as in the conventional pinch-grip type. On the other hand, when trying to control the position and posture of the surgical instrument of the slave manipulator with the entire palm while the grip is attached, it becomes difficult to perform delicate work as with the conventional power grip type.
  • the present invention has been made in view of such circumstances, and one of its exemplary purposes is to provide a new operation unit that reduces the burden of operation on the operator and enables delicate work. be.
  • an operation device used for remote control, which includes a grip portion held mainly by the operator's palm and a grip portion mainly held by the operator. and a pinch portion that can be pinched with fingers.
  • the pinch portion has a first holding portion that is held by fingers, and is configured to rotate with respect to the grip portion and slide with respect to the grip portion. It is configured to rotate about a first rotation axis passing through the first holding portion and a second rotation axis intersecting the first rotation axis.
  • the entire operation device not only can the entire operation device be operated as a power grip type, but also the pinch portion can be rotated or slid while gripping the grip portion with the palm. Therefore, it is possible to combine the functions of both the power grip type and the pinch grip type, thereby reducing the operational burden on the operator and enabling delicate work.
  • the first holding section can be rotated around two axes, so that the device to be remotely controlled can be operated more delicately with more complicated movements than before. can do.
  • the first holding section may have an input section that reflects the movement of the operator's fingers in the gripping action of the remote-controlled device. As a result, the gripping operation by the device can be performed delicately.
  • the grip part may be integrated with a hand rest on which a part of the hand is placed. As a result, a part of the hand can always be placed on the handrest even when the grip portion is moved, so that the operator's operation burden is reduced as compared with a fixed type handrest.
  • a guide part may be further provided for guiding the first holding part to separate from or approach the grip part.
  • the grip part may have a second holding part directly held by the palm and a rotating part rotatable relative to the second holding part. As a result, the rotating part can be rotated while the second holding part of the grip part is fixed with the palm. In addition, the first holding portion can be moved away from or closer to the grip portion while being pinched with fingers.
  • the rotating part may be a rotating shaft provided on the second holding part, and the guide part may have a guide rail extending in a direction intersecting the rotating shaft. Thereby, the first holding portion can be moved in a predetermined direction with respect to the grip portion.
  • a gimbal section configured to be rotatable about three mutually intersecting axes may be further provided.
  • the gimbal portion may be connected to the lower portion of the grip portion.
  • a moving mechanism configured to move the gimbal portion in three mutually intersecting axial directions may be further provided.
  • the moving mechanism may be arranged below the gimbal section.
  • the gimbal portion and the movement mechanism can be arranged below the operator's arm, so that the space in the depth direction of the operating device can be reduced.
  • FIG. 10 is a side view for explaining a schematic configuration of a gimbal section included in an operating device according to a reference example;
  • FIG. 10 is a top view for explaining a schematic configuration of a gimbal section included in an operating device according to a reference example;
  • FIGS. 5(a) to 5(d) are schematic diagrams for explaining the movable range of the operating device.
  • It is a side view which shows schematic structure of the operating device which concerns on this Embodiment.
  • FIG. 10 is a side view for explaining a schematic configuration of a gimbal section included in an operating device according to a reference example.
  • FIGS. 5(a) to 5(d) are schematic diagrams for explaining the movable range of the operating device.
  • It is a side view which shows schematic structure of the operating device which concerns on this Embodiment.
  • It is a top view which shows schematic structure of the
  • FIG. 4 is a schematic diagram showing movements of main joints of the operating device according to the present embodiment
  • FIG. 3 is a side view for explaining a schematic configuration of a gimbal section included in the operating device according to the embodiment
  • FIG. 4 is a top view for explaining a schematic configuration of a gimbal section included in the operating device according to the embodiment
  • 1 is a functional block diagram of a master-slave surgical assistance robot using an operating device according to the present embodiment
  • an operating device configured such that the pinch portion rotates with respect to the grip portion and the pinch portion slides with respect to the grip portion
  • the operating device according to the reference example is used for operating a master-side manipulator in a master-slave surgical assistance robot.
  • Examples of surgery support robots include those that operate forceps used in endoscopic surgery.
  • the application of the operating device is not limited to the surgical assistance robot.
  • it may be used as an input device for remotely controlling a robot used in a distribution factory or a manufacturing factory.
  • it is suitable as an operating device for remotely executing a process that requires a long time to perform delicate work via a robot.
  • remote means not only when the distance between the operator and the operation target is physically remote, but also when the master device operated by the operator and the slave device to be operated are mechanically separated. is also included. In this case, even if the master device and the slave device are arranged close to each other, there is no difference in remote control.
  • FIG. 1 is a side view showing a schematic configuration of an operating device according to a reference example.
  • FIG. 2 is a top view showing a schematic configuration of an operating device according to a reference example.
  • the operating device 10 is used for remote control, and includes a grip portion 12 that is gripped mainly by the operator's palm and a pinch portion 14 that is pinched mainly by the operator's fingers.
  • the pinch portion 14 is configured to rotate about the axis A with respect to the grip portion 12 (in the direction of arrow R1) and to slide with respect to the grip portion 12 (in the direction of arrow S1).
  • the entire operation device 10 be operated as a power grip type, but also the pinch portion 14 can be rotated or slid while gripping the grip portion 12 with the palm. Therefore, it is possible to combine the functions of both the power grip type and the pinch grip type, thereby reducing the operational burden on the operator and enabling delicate work.
  • the grip part 12 has a cylindrical holding part 12a that is directly held by the palm of the hand, and a rotating part 12b that is relatively rotatable with respect to the holding part 12a.
  • the holding portion 12a is provided with a cylindrical hole in the center, and the cylindrical rotating portion 12b is rotatably accommodated in the hole.
  • the pinch portion 14 has a holding portion 14 a that is directly held by fingers and a guide portion 14 b that guides the holding portion 14 a away from or closer to the grip portion 12 .
  • the rotating part 12b can be rotated while the holding part 12a of the grip part 12 is fixed with the palm.
  • the holding portion 14a can be moved away from or close to the grip portion 12 while pinching the holding portion 14a with fingers.
  • the rotating part 12b is a rotating shaft provided inside the holding part 12a.
  • the guide portion 14b is coupled to and fixed to the rotating shaft, which is the rotating portion 12b. Further, the guide portion 14b has a linear guide rail 14c extending in a direction intersecting with the axis A of the rotating shaft. Thereby, the holding portion 14a can be moved in a predetermined direction (arrow S1 direction) with respect to the grip portion 12.
  • the angle formed by the axis A and the extending direction of the guide rail 14c is described as 90°. It may be set in the range of 45°, may be set in the range of 90° ⁇ 30°, or may be set in the range of 90° ⁇ 15°.
  • the holding portion 14a is guided by the guide rail 14c so as to move ⁇ 5 mm or more about the reference point P with respect to the rotating shaft.
  • the holding portion 14a is configured to be movable within a range of at least 10 mm along the guide rail 14c.
  • FIG. 3 is a side view for explaining the schematic configuration of the gimbal section provided in the operating device according to the reference example.
  • FIG. 4 is a top view for explaining a schematic configuration of a gimbal section included in the operating device according to the reference example.
  • the holding portion 14a of the operating device 10 is movably supported by the gimbal portion 20.
  • the gimbal section 20 is configured to be rotatable about three rotation axes that intersect (perpendicularly) each other.
  • the gimbal section 20 is rotatable around the X-axis Ax, the Y-axis Ay, and the Z-axis Az.
  • the Z-axis direction end of the holding portion 14 a is connected to the Z-axis portion 22 , and the Z-axis portion 22 is rotatably held with respect to the L-shaped first arm 24 .
  • the first arm 24 rotatably holds the Y-axis portion 26 and is rotatably provided with respect to the second arm 28 that is connected to the Y-axis portion 26 .
  • the second arm 28 is L-shaped and rotatably holds the X-axis portion 30 at the end opposite to the end holding the Y-axis portion 26 .
  • the X-axis part 30 is connected to a translational mechanism such as an XYZ stage and an XYZ link mechanism for moving in three-dimensional directions.
  • the movement information of the operation device 10 can be used to control the position and attitude of the manipulator of the slave machine via the gimbal section 20 and the translation mechanism.
  • a surgical assistance robot capable of operating forceps is a slave machine
  • the operator grips the grip part 12 and moves or rotates the entire operation device 10 in a desired direction.
  • the movement of the operating device 10 is detected by a sensor (not shown) that acquires information (movement information) on rotation angles of the Z-axis portion 22 , Y-axis portion 26 and X-axis portion 30 . Movement information detected by the sensor is transmitted to the surgical assistance robot.
  • the surgical assistance robot performs control to move the position of the forceps based on the transferred movement information.
  • the holding portion 14a is positioned relative to the grip portion 12 with reference to a point (C shown in FIGS. 3 and 4) where the three axes (X-axis Ax, Y-axis Ay, and Z-axis Az) of the gimbal portion 20 intersect. configured to slide. Thereby, the movement of the manipulator of the slave machine at a specific position and the sliding of the grip part 12 can be made to correspond.
  • the operating device 10 according to the reference example is operated with the grip portion 12 and the pinch portion 14 gripped with the entire palm when the entire operation device 10 is moved significantly. As a result, it is possible to move the slave device even with a large movement without imposing a heavy burden on the operator.
  • the operation device 10 according to the reference example can also independently operate the pinch portion 14 with fingers while gripping the grip portion 12 with the palm. A movable range that can be realized by relative movement of the pinch portion 14 with respect to the grip portion 12 will be described below.
  • FIGS. 5(a) to 5(d) are schematic diagrams for explaining the movable range of the operating device.
  • the state of the operating device 10 shown in FIG. 5( a ) is the state in which the pinch portion 14 is closest to the grip portion 12 . From this state, as shown in FIG. 5(b), the pinch portion 14 can be slid with respect to the grip portion 12 by moving the holding portion 14a pinched with the fingers to the left in the drawing. On the other hand, from the state of FIG. 5(a), as shown in FIG. 5(c), the pinch portion 14 is rotated with respect to the grip portion 12 by rotating the holding portion 14a pinched with fingers downward in the drawing.
  • the operating device 10 according to the reference example is capable of delicate movement only by movement of the pinch portion 14 within the fan-shaped area D shown in FIG.
  • FIG. 6 is a side view showing a schematic configuration of the operating device according to this embodiment.
  • FIG. 7 is a top view showing a schematic configuration of the operating device according to this embodiment. Note that the description of the configuration that overlaps with the reference example will be omitted as appropriate.
  • the operating device 50 is used for remote control, and includes a grip portion 52 that is mainly gripped by the operator's palm and a pinch portion 54 that is mainly pinched by the operator's fingers.
  • the pinch portion 54 is configured to rotate with respect to the grip portion 52 about the axis A (in the direction of arrow R1) and to slide with respect to the grip portion 52 (in the direction of arrow S1).
  • the pinch portion 54 of the operating device 50 has a first holding portion 54a held by fingers.
  • the first holding portion 54a rotates (arrow R2 direction and arrow R3 direction).
  • the shaft portion 54b of the first holding portion 54a is supported by the support member 56, and the first holding portion 54a rotates with respect to the support member 56 together with the shaft portion 54b.
  • the first holding portion 54a rotates with respect to the shaft portion 54b fixed to 56 .
  • the support member 56 rotates around a shaft portion 62 inside a suspension portion 60 provided at the bottom of the slide portion 58, thereby indirectly moving the first holding portion 54a in the direction of arrow R3. Rotate.
  • the first holding section 54a has an input section 64 that reflects the movement of the operator's fingers in the gripping action of the device that is the object of remote control.
  • the input section 64 according to the present embodiment detects the amount of displacement and the pressure by being pushed or pulled from both sides of the first holding section 54a. Then, according to the detected amount of displacement and pressure, it is possible to adjust opening/closing and gripping force in the gripping operation of the device on the slave side.
  • FIG. 8 is a schematic diagram showing movements of main joints of the operating device 50 according to the present embodiment.
  • Reference character B in FIG. 8 is the center point where three axes of the gimbal section, which will be described later, intersect, and is located below the grip section 52 .
  • the operating device 50 has three joints each having a rotation axis, one joint capable of sliding movement, and one mechanism capable of gripping operation (opening/closing operation).
  • the operation device 50 configured in this manner not only allows the operation device 50 as a whole to be operated as a power grip type, but also enables the pinch portion 54 to be rotated and slid while the grip portion 52 is gripped with the palm. Therefore, it is possible to combine the functions of both the power grip type and the pinch grip type, thereby reducing the operational burden on the operator and enabling delicate work.
  • the first holding portion 54a can be rotated about the first rotation axis A1 and the second rotation axis A2. can be operated delicately with more complex movements than ever before.
  • the operation target of the slave machine is a surgical forceps
  • the input unit 64 is operated with fingers, it is possible to delicately perform grasping operations with forceps.
  • the grip portion 52 will be further detailed.
  • the operating device 50 is capable of delicate work as described above, it is a burden for the operator to continue working while moving or holding the grip portion 52 held in the air in the air. Therefore, the grip portion 52 of the operating device 50 is integrated with a hand rest 66 on which a part of the hand is placed. Note that the handrest may be placed on a portion between the hand and the arm. As a result, even if the grip portion 52 is moved, a part of the hand or arm can always be placed on the handrest 66, so that the operator's operation burden is reduced as compared with a fixed type handrest.
  • the grip portion 52 also includes a guide portion 52a that guides a part of the slide portion 58 so that the first holding portion 54a is separated from or brought closer to the grip portion 52.
  • the grip portion 52 has a second holding portion 52b that is directly held by the palm of the hand, and the guide portion 52a is a rotating portion that can rotate relative to the second holding portion 52b.
  • the guide portion 52a can be rotated while the second holding portion 52b of the grip portion 52 is fixed with the palm.
  • the first holding portion 54a can be moved away from or close to the grip portion 52 while pinching the first holding portion 54a with fingers.
  • the guide portion 52a has a rotating shaft 52c provided in the second holding portion 52b and a sliding portion 58 as a guide rail extending in a direction intersecting the axial direction of the rotating shaft 52c. Thereby, the first holding portion 54a can be moved in a predetermined direction with respect to the grip portion 52. As shown in FIG.
  • FIG. 9 is a side view for explaining a schematic configuration of a gimbal section included in the operating device according to this embodiment.
  • FIG. 10 is a top view for explaining a schematic configuration of a gimbal section included in the operating device according to this embodiment.
  • the grip part 52 of the operating device 50 is movably supported by the gimbal part 70 .
  • the gimbal section 70 is configured to be rotatable about three rotation axes that intersect (perpendicularly) each other.
  • the gimbal section 20 is rotatable around the X-axis Ax, the Y-axis Ay, and the Z-axis Az.
  • the lower end portion of the grip portion 52 in the Z-axis direction is connected to the Z-axis portion 72 , and the Z-axis portion 72 is rotatably held with respect to the L-shaped first arm 74 .
  • the first arm 74 rotatably holds the X-axis portion 76 and is rotatably provided with respect to a second arm 78 connected to the X-axis portion 76 .
  • the second arm 78 is L-shaped and rotatably holds the Y-axis portion 80 via a third arm 82 at the end opposite to the end holding the X-axis portion 76 . ing.
  • FIGS. 9 and 10 by arranging the gimbal section 70 in the lower portion of the operating device 50, the space of the operating device 50 in the depth direction E can be particularly reduced.
  • An end portion 82a of the third arm 82 is connected to a moving mechanism 84 such as an XYZ stage or an XYZ link mechanism (parallel link mechanism) for moving in three-dimensional directions.
  • the movement mechanism 84 is configured to be able to translate the gimbal section 70 and the grip section of the operating device 50 in three axial directions (X-axis, Y-axis, and Z-axis) that intersect (perpendicularly) with each other.
  • the moving mechanism 84 is arranged below the gimbal section 70 . As a result, the gimbal portion 70 and the moving mechanism 84 can be arranged below the hands and arms of the operator, so that the space in the depth direction E of the operation device 50 can be reduced.
  • FIG. 11 is a functional block diagram of a master-slave surgical assistance robot using the operating device 50 according to the present embodiment.
  • the surgical assistance robot 100 is composed of a master machine 110 and a slave machine 120, and an operation signal in the master machine 110 and a sensor signal in the slave machine 120 are exchanged with each other.
  • the master device 110 includes the operation device 50 including the gimbal section 70 and the movement mechanism 84 as described above, and the control section 86 that controls the actuators and mechanisms of the operation device 50 and the like.
  • the moving mechanism 84 has a locking mechanism 88 that locks and unlocks its movement.
  • the lock mechanism 88 can be switched between locked and unlocked states by mechanical engagement, electromagnetic force, hydraulic pressure, or the like.
  • the master device 110 also includes an operation unit 90 that switches between locking and unlocking of the movement of the operation device 50 and the moving mechanism 84 .
  • the operation unit 90 is, for example, a touch panel or a switch operated by hand or foot.
  • the slave machine 120 controls the position and orientation of the manipulator 124 on the slave side via the control unit 122 based on the signal received from the master machine 110 .
  • the movement information of the operation device 50 can be used to control the position and attitude of the manipulator 124 of the slave device 120 via the gimbal section 70 and the movement mechanism 84 .
  • the surgical assistance robot capable of operating forceps is a slave machine
  • the operator grasps the grip portion 52 and moves or rotates the entire operation device 50 in a desired direction. Movement of the operating device 50 is detected by a sensor (not shown) that acquires information (movement information) on the rotation angles of the Z-axis portion 72 , the X-axis portion 76 and the Y-axis portion 80 . Movement information detected by the sensor is transmitted to the slave machine 120 of the surgical assistance robot 100 .
  • the slave machine 120 performs control to move the position of the forceps, which is the manipulator 124, based on the transmitted movement information.
  • the pinch portion 54 of the operating device 50 rotates with respect to the grip portion 52 and slides with respect to the grip portion 52 while the movement mechanism 84 is locked by the lock mechanism 88 . It is configured. As a result, not only can the entire operation device 50 be operated as a power grip type, but also the pinch portion 54 can be rotated or slid while gripping the grip portion 52 with the palm. Therefore, it is possible to combine the functions of both the power grip type and the pinch grip type, thereby reducing the operational burden on the operator and enabling delicate work. Further, when moving the operating device 50 to a desired position, the movement is smoothly performed by the moving mechanism 84 mainly by moving the grip portion 52 . Further, when the operating device 50 reaches a desired position, the movement of the grip portion 52 by the moving mechanism 84 is restricted by the lock mechanism 88, so that delicate work mainly by the pinch portion 54 becomes possible.
  • lock mechanism 88 may be configured to allow horizontal movement of the moving mechanism 84 even in the locked state. This allows fine adjustment of the operating device 50 in the horizontal direction even in the locked state.
  • the position of the moving mechanism 84 in each axial direction is measured by a sensor, and when unlocked, the measured position is input to the control unit 86 or the like and can be used for various controls. Movement of the moving mechanism 84 in each axial direction is driven by an actuator such as a motor. Further, when moving the moving mechanism 84 at the time of unlocking, the force that the manipulator 124 of the slave device 120 receives from the operation target may be reflected in the driving force of the actuator as haptic feedback. Further, even if the force F1 required to move in each axial direction in the unlocked state of the moving mechanism 84 and the force F2 required to move in the horizontal direction in the locked state of the moving mechanism 84 are changed. good.
  • the moving mechanism 84 according to the present embodiment is configured so that F1 ⁇ F2. A method of changing the force can be realized by changing the resistance force when driving the actuator.
  • the present invention has been described with reference to the above-described embodiments, the present invention is not limited to the above-described embodiments, and can be applied to any suitable combination or replacement of the configurations of the embodiments. It is included in the present invention. Further, it is also possible to appropriately rearrange the combinations and the order of processing in the embodiments based on the knowledge of a person skilled in the art, and to add modifications such as various design changes to the embodiments. Embodiments described may also fall within the scope of the present invention.
  • the present invention can be used for the manipulator of the master machine.
  • A1 First rotating shaft A2 Second rotating shaft 50
  • Operating device 52 Grip part 52a Guide part 52b Second holding part 52c Rotating shaft 54 Pinch part 54a First holding part 58 Slide Section, 64 Input Section, 66 Hand Rest, 70 Gimbal Section, 84 Movement Mechanism, 86 Control Section, 88 Lock Mechanism, 100 Surgery Support Robot, 110 Master Machine, 120 Slave Machine, 122 Control Section, 124 Manipulator.

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

Abstract

An operation device 50 is used for remote control and comprises: a grip portion 52 that is mainly gripped by the palm of an operator; and a pinch portion 54 that is mainly pinched by the fingers of the operator. The pinch portion 54 comprises a first holding portion 54a held by the fingers and is configured to rotate and slide with respect to the grip portion 52, the first holding portion 54a being configured to rotate with respect to a first rotational axis A1 passing through the first holding portion and a second rotational axis A2 intersecting with the first rotational axis.

Description

操作装置Operating device
　本発明は、マニピュレータに用いられる操作装置に関する。 The present invention relates to an operating device used for manipulators.
　近年、内視鏡を用いた手術において手術支援ロボットの使用が増加しており、様々な医療分野での活用が広がっている。手術支援ロボットでは、操作者が自分の手元のマニピュレータを操作することで、患者の体内に挿入されたマニピュレータを操作する「マスタ・スレーブ」と呼ばれる操作方式が一般的である。マスタ・スレーブシステムでは、操作者の動きを入力する機器を「マスタ機」、マスタ機の制御下で動作する機器を「スレーブ機」と呼ぶ。手術支援ロボットの場合は、操作者の手元のマニピュレータがマスタ機、患者の体内に挿入されたマニピュレータがスレーブ機にあたる。 In recent years, the use of surgical assistance robots has increased in surgeries using endoscopes, and their use in various medical fields is expanding. In surgical assistance robots, an operation method called "master-slave" is generally used, in which an operator operates a manipulator inserted in the patient's body by operating the manipulator at hand. In the master/slave system, the device that inputs the movement of the operator is called the "master machine", and the device that operates under the control of the master machine is called the "slave machine". In the case of a surgical assistance robot, the manipulator at the operator's hand is the master machine, and the manipulator inserted into the patient's body is the slave machine.
　手術支援ロボットにおけるマスタ機の操作は、親指と人差し指でつまむピンチグリップ式と、手のひら全体で握るパワーグリップ式がある。ピンチグリップ式は繊細な作業に適しているが手指への負担が大きく、逆にパワーグリップ式は繊細な作業ではピンチグリップ式に劣るが、操作者に対する負担は小さい。 　The operation of the master machine in the surgical assistance robot is a pinch grip type that pinches with the thumb and forefinger, and a power grip type that is grasped with the entire palm. The pinch-grip type is suitable for delicate work, but places a heavy burden on the fingers. Conversely, the power-grip type is inferior to the pinch-grip type for delicate work, but places less of a burden on the operator.
　例えば、特許文献１には、マスタ機の操作を行う操作ハンドルが開示されている。この操作ハンドルは、細長い形状のマスタ操作本体部に対して操作者の二本の指を用いて開閉する一対の操作部が設けられており、一対の操作部の開閉により把持鉗子などの開閉操作が可能な手術器具の開閉操作が行われる。また、マスタ操作本体部の端部には、操作者の手のひらにより把持される把持部が着脱可能に装着されている。そして、操作ハンドル全体を３次元の操作領域内で動かすことで、スレーブ機のスレーブマニピュレータの手術器具の位置及び姿勢を制御するように構成されている。 For example, Patent Document 1 discloses an operation handle for operating the master machine. This operation handle is provided with a pair of operation parts that can be opened and closed by using two fingers of an operator with respect to an elongated master operation main body. The opening and closing operation of the surgical instrument capable of Further, a gripping portion to be gripped by the operator's palm is detachably attached to the end portion of the master operating body portion. By moving the entire operation handle within a three-dimensional operation area, the position and posture of the surgical instrument of the slave manipulator of the slave machine are controlled.
国際公開第１９／０２６６５４号WO 19/026654
　しかしながら、前述の操作ハンドルは、スレーブ機のスレーブマニピュレータの手術器具の位置及び姿勢を制御する際に、操作者の手又は指によって全体が動かされる。そのため、把持部を外して指だけでスレーブマニピュレータの手術器具の位置や姿勢を制御しようとすると、従来のピンチグリップ式と同様に操作者の手指への負担が大きくなる。一方、把持部を装着した状態で手のひら全体でスレーブマニピュレータの手術器具の位置や姿勢を制御しようとすると、従来のパワーグリップ式と同様に繊細な作業が難しくなる。 However, the aforementioned operation handle is wholly moved by the operator's hand or fingers when controlling the position and orientation of the surgical instrument of the slave manipulator of the slave machine. Therefore, if the grasping part is removed and the position and posture of the surgical instrument of the slave manipulator are controlled only by the fingers, the burden on the operator's hands and fingers increases as in the conventional pinch-grip type. On the other hand, when trying to control the position and posture of the surgical instrument of the slave manipulator with the entire palm while the grip is attached, it becomes difficult to perform delicate work as with the conventional power grip type.
　本発明はこうした状況に鑑みてなされたものであり、その例示的な目的の一つは、操作者の操作の負担を低減するとともに、繊細な作業が可能な新たな操作部を提供することにある。 SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and one of its exemplary purposes is to provide a new operation unit that reduces the burden of operation on the operator and enables delicate work. be.
　上記課題を解決するために、本発明のある態様の操作装置は、遠隔操作の際に用いられる操作装置であって、主に操作者の手のひらで把持されるグリップ部と、主に操作者の指でつままれるピンチ部と、を備える。ピンチ部は、指で保持される第１の保持部を有し、グリップ部に対して回動するとともに、グリップ部に対してスライドするように構成されており、第１の保持部は、該第１の保持部を通る第１の回転軸及び該第１の回転軸と交差する第２の回転軸に対して回動するように構成されている。 In order to solve the above problems, an operation device according to one aspect of the present invention is an operation device used for remote control, which includes a grip portion held mainly by the operator's palm and a grip portion mainly held by the operator. and a pinch portion that can be pinched with fingers. The pinch portion has a first holding portion that is held by fingers, and is configured to rotate with respect to the grip portion and slide with respect to the grip portion. It is configured to rotate about a first rotation axis passing through the first holding portion and a second rotation axis intersecting the first rotation axis.
　この態様によると、操作装置全体をパワーグリップ式として動かすだけでなく、手のひらでグリップ部を把持しながらピンチ部を回動したりスライドさせたりできる。そのため、パワーグリップ式とピンチグリップ式の両方の機能を兼ね備えることができ、操作者の操作の負担を低減するとともに、繊細な作業が可能となる。また、操作者によるピンチ部の操作において、第１の保持部を２つの軸を中心に回動させることができるため、遠隔操作の対象である機器をこれまでよりも複雑な動きで繊細に操作することができる。 According to this aspect, not only can the entire operation device be operated as a power grip type, but also the pinch portion can be rotated or slid while gripping the grip portion with the palm. Therefore, it is possible to combine the functions of both the power grip type and the pinch grip type, thereby reducing the operational burden on the operator and enabling delicate work. In addition, when the operator operates the pinch section, the first holding section can be rotated around two axes, so that the device to be remotely controlled can be operated more delicately with more complicated movements than before. can do.
　第１の保持部は、操作者の指の動きを、遠隔操作の対象である機器の把持動作に反映させる入力部を有してもよい。これにより、機器による把持動作を繊細に行える。 The first holding section may have an input section that reflects the movement of the operator's fingers in the gripping action of the remote-controlled device. As a result, the gripping operation by the device can be performed delicately.
　グリップ部は、手の一部を載置するハンドレストが一体化されていてもよい。これにより、グリップ部を動かしても常に手の一部をハンドレストに載置できるので、固定型のハンドレストよりも操作者の操作の負担が低減される。 The grip part may be integrated with a hand rest on which a part of the hand is placed. As a result, a part of the hand can always be placed on the handrest even when the grip portion is moved, so that the operator's operation burden is reduced as compared with a fixed type handrest.
　第１の保持部をグリップ部に対して離間又は接近するようにガイドするガイド部を更に備えてもよい。グリップ部は、手のひらで直接保持される第２の保持部と、第２の保持部に対して相対的に回転可能な回転部と、を有してもよい。これにより、グリップ部の第２の保持部を手のひらで固定した状態で回転部が回転できる。また、第１の保持部を指でつまみながらグリップ部に対して離間したり接近させたりできる。 A guide part may be further provided for guiding the first holding part to separate from or approach the grip part. The grip part may have a second holding part directly held by the palm and a rotating part rotatable relative to the second holding part. As a result, the rotating part can be rotated while the second holding part of the grip part is fixed with the palm. In addition, the first holding portion can be moved away from or closer to the grip portion while being pinched with fingers.
　回転部は、第２の保持部に設けられた回転軸であり、ガイド部は、回転軸と交差する方向に延びているガイドレールを有していてもよい。これにより、第１の保持部をグリップ部に対して所定の方向に動かすことができる。 The rotating part may be a rotating shaft provided on the second holding part, and the guide part may have a guide rail extending in a direction intersecting the rotating shaft. Thereby, the first holding portion can be moved in a predetermined direction with respect to the grip portion.
　互いに交差する３つの軸を中心として回動可能に構成されたジンバル部を更に備えてもよい。ジンバル部は、グリップ部の下部と接続されていてもよい。これにより、操作装置の奥行き方向のスペースを小さくできる。 A gimbal section configured to be rotatable about three mutually intersecting axes may be further provided. The gimbal portion may be connected to the lower portion of the grip portion. As a result, the space in the depth direction of the operating device can be reduced.
　互いに交差する３つの軸方向にジンバル部を移動可能に構成された移動機構を更に備えてもよい。移動機構は、ジンバル部の下方に配置されていてもよい。これにより、操作者の腕の下方にジンバル部や移動機構を配置できるため、操作装置の奥行き方向のスペースを小さくできる。 A moving mechanism configured to move the gimbal portion in three mutually intersecting axial directions may be further provided. The moving mechanism may be arranged below the gimbal section. As a result, the gimbal portion and the movement mechanism can be arranged below the operator's arm, so that the space in the depth direction of the operating device can be reduced.
　なお、以上の構成要素の任意の組合せ、本発明の表現を方法、装置、システム、などの間で変換したものもまた、本発明の態様として有効である。 It should be noted that any combination of the above constituent elements, and any conversion of the expression of the present invention between methods, devices, systems, etc. are also effective as aspects of the present invention.
　本発明によれば、操作者の操作の負担を低減するとともに、繊細な作業が可能な新たな操作部を実現できる。 According to the present invention, it is possible to reduce the operational burden on the operator and realize a new operation unit that enables delicate work.
参考例に係る操作装置の概略構成を示す側面図である。It is a side view which shows schematic structure of the operating device which concerns on a reference example. 参考例に係る操作装置の概略構成を示す上面図である。It is a top view which shows schematic structure of the operating device which concerns on a reference example. 参考例に係る操作装置が備えるジンバル部の概略構成を説明するための側面図である。FIG. 10 is a side view for explaining a schematic configuration of a gimbal section included in an operating device according to a reference example; 参考例に係る操作装置が備えるジンバル部の概略構成を説明するための上面図である。FIG. 10 is a top view for explaining a schematic configuration of a gimbal section included in an operating device according to a reference example; 図５（ａ）～図５（ｄ）は、操作装置の可動範囲を説明するための模式図である。FIGS. 5(a) to 5(d) are schematic diagrams for explaining the movable range of the operating device. 本実施の形態に係る操作装置の概略構成を示す側面図である。It is a side view which shows schematic structure of the operating device which concerns on this Embodiment. 本実施の形態に係る操作装置の概略構成を示す上面図である。It is a top view which shows schematic structure of the operating device which concerns on this Embodiment. 本実施の形態に係る操作装置の主な関節の動きを示す模式図である。FIG. 4 is a schematic diagram showing movements of main joints of the operating device according to the present embodiment; 本実施の形態に係る操作装置が備えるジンバル部の概略構成を説明するための側面図である。FIG. 3 is a side view for explaining a schematic configuration of a gimbal section included in the operating device according to the embodiment; 本実施の形態に係る操作装置が備えるジンバル部の概略構成を説明するための上面図である。FIG. 4 is a top view for explaining a schematic configuration of a gimbal section included in the operating device according to the embodiment; 本実施の形態に係る操作装置を用いたマスタスレーブ方式の手術支援ロボットの機能ブロック図である。1 is a functional block diagram of a master-slave surgical assistance robot using an operating device according to the present embodiment; FIG.
　以下、本発明を実施の形態をもとに図面を参照しながら説明する。各図面に示される同一又は同等の構成要素、部材、処理には、同一の符号を付するものとし、適宜重複した説明は省略する。また、実施の形態は、発明を限定するものではなく例示であって、実施の形態に記述される全ての特徴やその組合せは、必ずしも発明の本質的なものであるとは限らない。 Hereinafter, the present invention will be described based on the embodiments with reference to the drawings. The same or equivalent constituent elements, members, and processes shown in each drawing are denoted by the same reference numerals, and duplication of description will be omitted as appropriate. Moreover, the embodiments are illustrative rather than limiting the invention, and not all features and combinations thereof described in the embodiments are necessarily essential to the invention.
　（参考例）
　初めに、ピンチ部がグリップ部に対して回動するとともに、ピンチ部がグリップ部に対してスライドするように構成された参考例に係る操作装置を説明する。参考例に係る操作装置は、マスタスレーブ方式の手術支援ロボットにおけるマスタ側マニピュレータの操作に用いられる。手術支援ロボットとしては、例えば、内視鏡外科手術に用いられる鉗子の操作を行うものが挙げられる。なお、操作装置の用途は手術支援ロボットに限らない。例えば、物流工場や製造工場において用いられるロボットを遠隔操作する際の入力装置として用いてもよい。特に、繊細な作業を長時間行う必要のある工程をロボットを介して遠隔で実行する際の操作装置として好適である。 (Reference example)
First, an operating device according to a reference example configured such that the pinch portion rotates with respect to the grip portion and the pinch portion slides with respect to the grip portion will be described. The operating device according to the reference example is used for operating a master-side manipulator in a master-slave surgical assistance robot. Examples of surgery support robots include those that operate forceps used in endoscopic surgery. Note that the application of the operating device is not limited to the surgical assistance robot. For example, it may be used as an input device for remotely controlling a robot used in a distribution factory or a manufacturing factory. In particular, it is suitable as an operating device for remotely executing a process that requires a long time to perform delicate work via a robot.
　なお、遠隔とは、操作者と操作対象との距離が物理的に遠隔である場合だけでなく、操作者が操作するマスタ機と操作対象であるスレーブ機とが機構的に分離されている場合も含まれる。この場合、マスタ機とスレーブ機とが近くに配置されていても遠隔操作であることに違いはない。 Note that "remote" means not only when the distance between the operator and the operation target is physically remote, but also when the master device operated by the operator and the slave device to be operated are mechanically separated. is also included. In this case, even if the master device and the slave device are arranged close to each other, there is no difference in remote control.
　図１は、参考例に係る操作装置の概略構成を示す側面図である。図２は、参考例に係る操作装置の概略構成を示す上面図である。操作装置１０は、遠隔操作の際に用いられるものであり、主に操作者の手のひらで把持されるグリップ部１２と、主に操作者の指でつままれるピンチ部１４と、を備える。ピンチ部１４は、グリップ部１２に対して軸Ａを中心に回動（矢印Ｒ１方向）するとともに、グリップ部１２に対してスライド（矢印Ｓ１方向）するように構成されている。 FIG. 1 is a side view showing a schematic configuration of an operating device according to a reference example. FIG. 2 is a top view showing a schematic configuration of an operating device according to a reference example. The operating device 10 is used for remote control, and includes a grip portion 12 that is gripped mainly by the operator's palm and a pinch portion 14 that is pinched mainly by the operator's fingers. The pinch portion 14 is configured to rotate about the axis A with respect to the grip portion 12 (in the direction of arrow R1) and to slide with respect to the grip portion 12 (in the direction of arrow S1).
　これにより、操作装置１０全体をパワーグリップ式として動かすだけでなく、手のひらでグリップ部１２を把持しながらピンチ部１４を回動したりスライドさせたりできる。そのため、パワーグリップ式とピンチグリップ式の両方の機能を兼ね備えることができ、操作者の操作の負担を低減するとともに、繊細な作業が可能となる。 Thereby, not only can the entire operation device 10 be operated as a power grip type, but also the pinch portion 14 can be rotated or slid while gripping the grip portion 12 with the palm. Therefore, it is possible to combine the functions of both the power grip type and the pinch grip type, thereby reducing the operational burden on the operator and enabling delicate work.
　グリップ部１２は、手のひらで直接保持される円筒状の保持部１２ａと、保持部１２ａに対して相対的に回転可能な回転部１２ｂと、を有している。保持部１２ａは、中心に円柱状の穴が設けられており、その穴に円柱状の回転部１２ｂが回転可能に収納されている。ピンチ部１４は、指で直接保持される保持部１４ａと、保持部１４ａをグリップ部１２に対して離間又は接近するようにガイドするガイド部１４ｂと、を有している。 The grip part 12 has a cylindrical holding part 12a that is directly held by the palm of the hand, and a rotating part 12b that is relatively rotatable with respect to the holding part 12a. The holding portion 12a is provided with a cylindrical hole in the center, and the cylindrical rotating portion 12b is rotatably accommodated in the hole. The pinch portion 14 has a holding portion 14 a that is directly held by fingers and a guide portion 14 b that guides the holding portion 14 a away from or closer to the grip portion 12 .
　これにより、グリップ部１２の保持部１２ａを手のひらで固定した状態で回転部１２ｂが回転できる。また、保持部１４ａを指でつまみながらグリップ部１２に対して離間したり接近させたりできる。 Thereby, the rotating part 12b can be rotated while the holding part 12a of the grip part 12 is fixed with the palm. In addition, the holding portion 14a can be moved away from or close to the grip portion 12 while pinching the holding portion 14a with fingers.
　回転部１２ｂは、保持部１２ａの内部に設けられた回転軸である。ガイド部１４ｂは、回転部１２ｂである回転軸に結合し、固定されている。また、ガイド部１４ｂは、回転軸の軸Ａと交差する方向に延びている直線状のガイドレール１４ｃを有している。これにより、保持部１４ａをグリップ部１２に対して所定の方向（矢印Ｓ１方向）に動かすことができる。なお、本実施の形態に係る操作装置１０においては、軸Ａとガイドレール１４ｃの延伸方向とが成す角は９０°として記載しているが、角度は９０°でなくてもよく、９０°±４５°の範囲で設定されていてもよく、９０°±３０°の範囲で設定されていてもよく、９０°±１５°の範囲で設定されていてもよい。 The rotating part 12b is a rotating shaft provided inside the holding part 12a. The guide portion 14b is coupled to and fixed to the rotating shaft, which is the rotating portion 12b. Further, the guide portion 14b has a linear guide rail 14c extending in a direction intersecting with the axis A of the rotating shaft. Thereby, the holding portion 14a can be moved in a predetermined direction (arrow S1 direction) with respect to the grip portion 12. As shown in FIG. In the operating device 10 according to the present embodiment, the angle formed by the axis A and the extending direction of the guide rail 14c is described as 90°. It may be set in the range of 45°, may be set in the range of 90°±30°, or may be set in the range of 90°±15°.
　また、保持部１４ａは、回転軸に対して基準点Ｐを中心に±５ｍｍ以上動くようにガイドレール１４ｃにガイドされている。換言すると、保持部１４ａは、ガイドレール１４ｃに沿って少なくとも１０ｍｍの範囲で動くことができるように構成されている。 In addition, the holding portion 14a is guided by the guide rail 14c so as to move ±5 mm or more about the reference point P with respect to the rotating shaft. In other words, the holding portion 14a is configured to be movable within a range of at least 10 mm along the guide rail 14c.
　図３は、参考例に係る操作装置が備えるジンバル部の概略構成を説明するための側面図である。図４は、参考例に係る操作装置が備えるジンバル部の概略構成を説明するための上面図である。 FIG. 3 is a side view for explaining the schematic configuration of the gimbal section provided in the operating device according to the reference example. FIG. 4 is a top view for explaining a schematic configuration of a gimbal section included in the operating device according to the reference example.
　操作装置１０の保持部１４ａは、ジンバル部２０により移動可能に支持されている。ジンバル部２０は、互いに交差（直交）する３つの回転軸を中心として回動可能に構成されている。ジンバル部２０は、Ｘ軸Ａｘ、Ｙ軸Ａｙ、Ｚ軸Ａｚを中心として回動可能である。 The holding portion 14a of the operating device 10 is movably supported by the gimbal portion 20. The gimbal section 20 is configured to be rotatable about three rotation axes that intersect (perpendicularly) each other. The gimbal section 20 is rotatable around the X-axis Ax, the Y-axis Ay, and the Z-axis Az.
　具体的には、保持部１４ａのＺ軸方向の端部がＺ軸部２２に連結されており、Ｚ軸部２２は、Ｌ字状の第１のアーム２４に対して回転可能に保持されている。また、第１のアーム２４は、Ｙ軸部２６を回転可能に保持しており、Ｙ軸部２６と連結している第２のアーム２８に対して回転可能に設けられている。第２のアーム２８は、Ｌ字状であり、Ｙ軸部２６を保持している端部と反対側の端部にＸ軸部３０を回転可能に保持している。Ｘ軸部３０は、３次元方向の移動を行うためのＸＹＺステージやＸＹＺリンク機構等の並進機構に連結されている。 Specifically, the Z-axis direction end of the holding portion 14 a is connected to the Z-axis portion 22 , and the Z-axis portion 22 is rotatably held with respect to the L-shaped first arm 24 . there is Also, the first arm 24 rotatably holds the Y-axis portion 26 and is rotatably provided with respect to the second arm 28 that is connected to the Y-axis portion 26 . The second arm 28 is L-shaped and rotatably holds the X-axis portion 30 at the end opposite to the end holding the Y-axis portion 26 . The X-axis part 30 is connected to a translational mechanism such as an XYZ stage and an XYZ link mechanism for moving in three-dimensional directions.
　これにより、操作装置１０の移動情報は、ジンバル部２０や並進機構を介して、スレーブ機のマニピュレータの位置や姿勢の制御に利用できる。例えば、鉗子の操作が可能な手術支援ロボットがスレーブ機の場合、操作者はグリップ部１２を把持しつつ操作装置１０全体を所望の方向へ移動させたり、所望の向きへ回転させたりする。操作装置１０の移動は、Ｚ軸部２２、Ｙ軸部２６及びＸ軸部３０の回転角度の情報（移動情報）を取得するセンサ（図示せず）によって検知される。センサにより検知された移動情報は、手術支援ロボットに伝達される。手術支援ロボットは、伝達された移動情報に基づいて鉗子の位置を移動させる制御を行う。 As a result, the movement information of the operation device 10 can be used to control the position and attitude of the manipulator of the slave machine via the gimbal section 20 and the translation mechanism. For example, if a surgical assistance robot capable of operating forceps is a slave machine, the operator grips the grip part 12 and moves or rotates the entire operation device 10 in a desired direction. The movement of the operating device 10 is detected by a sensor (not shown) that acquires information (movement information) on rotation angles of the Z-axis portion 22 , Y-axis portion 26 and X-axis portion 30 . Movement information detected by the sensor is transmitted to the surgical assistance robot. The surgical assistance robot performs control to move the position of the forceps based on the transferred movement information.
　なお、保持部１４ａは、ジンバル部２０の３つの軸（Ｘ軸Ａｘ、Ｙ軸Ａｙ、Ｚ軸Ａｚ）が交差する点（図３、図４に示すＣ）を基準にグリップ部１２に対してスライドするように構成されている。これにより、スレーブ機のマニピュレータの特定の位置の動きとグリップ部１２のスライドを対応させることができる。 The holding portion 14a is positioned relative to the grip portion 12 with reference to a point (C shown in FIGS. 3 and 4) where the three axes (X-axis Ax, Y-axis Ay, and Z-axis Az) of the gimbal portion 20 intersect. configured to slide. Thereby, the movement of the manipulator of the slave machine at a specific position and the sliding of the grip part 12 can be made to correspond.
　（操作装置の可動範囲）
　手術支援ロボットによる手術では、実際に手で執刀するよりも小さなスケールで手術を行うことから、スレーブ機の位置制御の高精度化は非常に重要である。スレーブ機は微細な手術操作を行うことから、マスタ機の動作はスレーブ機に縮小して伝えられる。そのため、マスタ機の操作においてはスレーブ機の動作の数倍に相当する大きな動きが必要であり、手術中にはマスタ機とスレーブ機の可動範囲や位置関係の調整が必要という問題がある。 (Movable range of operating device)
In surgery using a surgical assist robot, since surgery is performed on a smaller scale than actual surgery by hand, it is very important to improve the accuracy of the position control of the slave machine. Since the slave machine performs minute surgical operations, the operation of the master machine is reduced and transmitted to the slave machine. Therefore, the operation of the master machine requires large movements corresponding to several times the movement of the slave machines, and there is a problem that the movable range and the positional relationship between the master machine and the slave machines need to be adjusted during surgery.
　参考例に係る操作装置１０は、全体を大きく動かす場合はグリップ部１２及びピンチ部１４を手のひら全体で把持した状態で操作される。これにより、大きな動きでも操作者に余り負担を掛けずにスレーブ機の移動操作が可能となる。加えて、参考例に係る操作装置１０は、手のひらでグリップ部１２を把持した状態で、指でピンチ部１４を独立して操作することもできる。以下に、グリップ部１２に対するピンチ部１４の相対移動で実現できる可動範囲ついて説明する。 The operating device 10 according to the reference example is operated with the grip portion 12 and the pinch portion 14 gripped with the entire palm when the entire operation device 10 is moved significantly. As a result, it is possible to move the slave device even with a large movement without imposing a heavy burden on the operator. In addition, the operation device 10 according to the reference example can also independently operate the pinch portion 14 with fingers while gripping the grip portion 12 with the palm. A movable range that can be realized by relative movement of the pinch portion 14 with respect to the grip portion 12 will be described below.
　図５（ａ）～図５（ｄ）は、操作装置の可動範囲を説明するための模式図である。図５（ａ）に示す操作装置１０の状態は、ピンチ部１４をグリップ部１２に最も近づけた状態である。この状態から、図５（ｂ）に示すように、指でつまんだ保持部１４ａを図の左方に移動することで、ピンチ部１４をグリップ部１２に対してスライドさせることができる。一方、図５（（ａ）の状態から、図５（ｃ）に示すように、指でつまんだ保持部１４ａを図の下方に回転することで、ピンチ部１４をグリップ部１２に対して回動することができる。その結果、参考例に係る操作装置１０は、図５（ｄ）に示す扇形の領域Ｄの範囲においてピンチ部１４の動きだけで繊細な動きが可能となる。 FIGS. 5(a) to 5(d) are schematic diagrams for explaining the movable range of the operating device. The state of the operating device 10 shown in FIG. 5( a ) is the state in which the pinch portion 14 is closest to the grip portion 12 . From this state, as shown in FIG. 5(b), the pinch portion 14 can be slid with respect to the grip portion 12 by moving the holding portion 14a pinched with the fingers to the left in the drawing. On the other hand, from the state of FIG. 5(a), as shown in FIG. 5(c), the pinch portion 14 is rotated with respect to the grip portion 12 by rotating the holding portion 14a pinched with fingers downward in the drawing. As a result, the operating device 10 according to the reference example is capable of delicate movement only by movement of the pinch portion 14 within the fan-shaped area D shown in FIG.
　（実施の形態）
　マスタ機の動作を行う上述の操作装置１０は、ピンチ部１４の保持部１４ａをスライドすることで、スレーブ機の微細な動作を行うことができる。そこで、本実施の形態では、保持部のスライドに加えて、保持部の更なる動きを実現する操作装置について説明する。図６は、本実施の形態に係る操作装置の概略構成を示す側面図である。図７は、本実施の形態に係る操作装置の概略構成を示す上面図である。なお、参考例と重複する構成については説明を適宜省略する。 (Embodiment)
By sliding the holding portion 14a of the pinch portion 14, the operation device 10, which performs the operation of the master device, can perform the fine operation of the slave device. Therefore, in the present embodiment, an operating device that realizes further movement of the holding portion in addition to the sliding of the holding portion will be described. FIG. 6 is a side view showing a schematic configuration of the operating device according to this embodiment. FIG. 7 is a top view showing a schematic configuration of the operating device according to this embodiment. Note that the description of the configuration that overlaps with the reference example will be omitted as appropriate.
　操作装置５０は、遠隔操作の際に用いられるものであり、主に操作者の手のひらで把持されるグリップ部５２と、主に操作者の指でつままれるピンチ部５４と、を備える。ピンチ部５４は、グリップ部５２に対して軸Ａを中心に回動（矢印Ｒ１方向）するとともに、グリップ部５２に対してスライド（矢印Ｓ１方向）するように構成されている。 The operating device 50 is used for remote control, and includes a grip portion 52 that is mainly gripped by the operator's palm and a pinch portion 54 that is mainly pinched by the operator's fingers. The pinch portion 54 is configured to rotate with respect to the grip portion 52 about the axis A (in the direction of arrow R1) and to slide with respect to the grip portion 52 (in the direction of arrow S1).
　また、操作装置５０のピンチ部５４は、指で保持される第１の保持部５４ａを有している。第１の保持部５４ａは、第１の保持部５４ａを通る第１の回転軸Ａ１及び該第１の回転軸Ａ１と交差（直交）する第２の回転軸Ａ２に対して回動（矢印Ｒ２方向及び矢印Ｒ３方向）するように構成されている。 In addition, the pinch portion 54 of the operating device 50 has a first holding portion 54a held by fingers. The first holding portion 54a rotates (arrow R2 direction and arrow R3 direction).
　具体的には、第１の保持部５４ａの軸部５４ｂは支持部材５６に支持されており、第１の保持部５４ａは軸部５４ｂとともに支持部材５６に対して回動する、あるいは、支持部材５６に固定された軸部５４ｂに対して第１の保持部５４ａが回動する。また、支持部材５６は、スライド部５８の下部に設けられた吊り下げ部６０の内部にある軸部６２を中心に回動することで、第１の保持部５４ａが間接的に矢印Ｒ３方向に回動する。 Specifically, the shaft portion 54b of the first holding portion 54a is supported by the support member 56, and the first holding portion 54a rotates with respect to the support member 56 together with the shaft portion 54b. The first holding portion 54a rotates with respect to the shaft portion 54b fixed to 56 . Further, the support member 56 rotates around a shaft portion 62 inside a suspension portion 60 provided at the bottom of the slide portion 58, thereby indirectly moving the first holding portion 54a in the direction of arrow R3. Rotate.
　また、第１の保持部５４ａは、操作者の指の動きを、遠隔操作の対象である機器の把持動作に反映させる入力部６４を有している。本実施の形態に係る入力部６４は、第１の保持部５４ａの両側から押されたり引かれたりすることで、その変位量や圧力を検知するものである。そして、検知した変位量や圧力に応じて、スレーブ機側の機器の把持動作における開閉や把持力を調整できる。 In addition, the first holding section 54a has an input section 64 that reflects the movement of the operator's fingers in the gripping action of the device that is the object of remote control. The input section 64 according to the present embodiment detects the amount of displacement and the pressure by being pushed or pulled from both sides of the first holding section 54a. Then, according to the detected amount of displacement and pressure, it is possible to adjust opening/closing and gripping force in the gripping operation of the device on the slave side.
　図８は、本実施の形態に係る操作装置５０の主な関節の動きを示す模式図である。図８における符号Ｂは、後述するジンバル部の３つの軸が交差する中心点であり、グリップ部５２の下部に位置する。図８に示すように、操作装置５０は、それぞれ回転軸を有する３つの関節と、スライド移動が可能な１つの関節と、１つの把持動作（開閉動作）が可能な機構と、を有する。 FIG. 8 is a schematic diagram showing movements of main joints of the operating device 50 according to the present embodiment. Reference character B in FIG. 8 is the center point where three axes of the gimbal section, which will be described later, intersect, and is located below the grip section 52 . As shown in FIG. 8, the operating device 50 has three joints each having a rotation axis, one joint capable of sliding movement, and one mechanism capable of gripping operation (opening/closing operation).
　このように構成された操作装置５０は、操作装置５０全体をパワーグリップ式として動かすだけでなく、手のひらでグリップ部５２を把持しながらピンチ部５４を回動したりスライドさせたりできる。そのため、パワーグリップ式とピンチグリップ式の両方の機能を兼ね備えることができ、操作者の操作の負担を低減するとともに、繊細な作業が可能となる。また、操作者によるピンチ部５４の操作において、第１の保持部５４ａを第１の回転軸Ａ１及び第２の回転軸Ａ２を中心に回動させることができるため、遠隔操作の対象である機器をこれまでよりも複雑な動きで繊細に操作することができる。例えば、スレーブ機の操作対象が手術用の鉗子の場合、ピンチ部５４のみの操作によって、鉗子の開閉、鉗子先端の屈曲動作及び鉗子長手方向を軸とする回転動作が可能である。また、入力部６４の操作は指で行われるため、鉗子による把持動作を繊細に行える。 The operation device 50 configured in this manner not only allows the operation device 50 as a whole to be operated as a power grip type, but also enables the pinch portion 54 to be rotated and slid while the grip portion 52 is gripped with the palm. Therefore, it is possible to combine the functions of both the power grip type and the pinch grip type, thereby reducing the operational burden on the operator and enabling delicate work. In addition, when the operator operates the pinch portion 54, the first holding portion 54a can be rotated about the first rotation axis A1 and the second rotation axis A2. can be operated delicately with more complex movements than ever before. For example, if the operation target of the slave machine is a surgical forceps, it is possible to open and close the forceps, bend the distal end of the forceps, and rotate the forceps about the longitudinal direction of the forceps by operating the pinch portion 54 alone. In addition, since the input unit 64 is operated with fingers, it is possible to delicately perform grasping operations with forceps.
　次に、グリップ部５２について更に詳述する。上述のように繊細な作業が可能な操作装置５０であるが、手で把持したグリップ部５２を空中で動かしたり、空中で保持したりしながら作業を続けることは操作者にとって負担である。そこで、操作装置５０のグリップ部５２は、手の一部を載置するハンドレスト６６が下部に一体化されている。なお、ハンドレストは手から腕の間の一部を載置するものであってもよい。これにより、グリップ部５２を動かしても常に手や腕の一部をハンドレスト６６に載置できるので、固定型のハンドレストよりも操作者の操作の負担が低減される。 Next, the grip portion 52 will be further detailed. Although the operating device 50 is capable of delicate work as described above, it is a burden for the operator to continue working while moving or holding the grip portion 52 held in the air in the air. Therefore, the grip portion 52 of the operating device 50 is integrated with a hand rest 66 on which a part of the hand is placed. Note that the handrest may be placed on a portion between the hand and the arm. As a result, even if the grip portion 52 is moved, a part of the hand or arm can always be placed on the handrest 66, so that the operator's operation burden is reduced as compared with a fixed type handrest.
　また、グリップ部５２は、第１の保持部５４ａをグリップ部５２に対して離間又は接近するようにスライド部５８の一部をガイドするガイド部５２ａを備えている。グリップ部５２は、手のひらで直接保持される第２の保持部５２ｂを有しており、ガイド部５２ａは、第２の保持部５２ｂに対して相対的に回転可能な回転部である。これにより、グリップ部５２の第２の保持部５２ｂを手のひらで固定した状態でガイド部５２ａが回転できる。また、第１の保持部５４ａを指でつまみながらグリップ部５２に対して離間したり接近させたりできる。 The grip portion 52 also includes a guide portion 52a that guides a part of the slide portion 58 so that the first holding portion 54a is separated from or brought closer to the grip portion 52. The grip portion 52 has a second holding portion 52b that is directly held by the palm of the hand, and the guide portion 52a is a rotating portion that can rotate relative to the second holding portion 52b. As a result, the guide portion 52a can be rotated while the second holding portion 52b of the grip portion 52 is fixed with the palm. Also, the first holding portion 54a can be moved away from or close to the grip portion 52 while pinching the first holding portion 54a with fingers.
　ガイド部５２ａは、第２の保持部５２ｂに設けられた回転軸５２ｃと、回転軸５２ｃの軸方向と交差する方向に延びているガイドレールとしてのスライド部５８を有している。これにより、第１の保持部５４ａをグリップ部５２に対して所定の方向に動かすことができる。 The guide portion 52a has a rotating shaft 52c provided in the second holding portion 52b and a sliding portion 58 as a guide rail extending in a direction intersecting the axial direction of the rotating shaft 52c. Thereby, the first holding portion 54a can be moved in a predetermined direction with respect to the grip portion 52. As shown in FIG.
　次に、操作装置５０と接続されるジンバル部について説明する。本実施の形態に係る操作装置５０は、マスタ側マニピュレータに用いられるものであり、グリップ部５２の下部にジンバル部が接続されている。図９は、本実施の形態に係る操作装置が備えるジンバル部の概略構成を説明するための側面図である。図１０は、本実施の形態に係る操作装置が備えるジンバル部の概略構成を説明するための上面図である。 Next, the gimbal section connected to the operating device 50 will be described. The operating device 50 according to this embodiment is used for a master-side manipulator, and a gimbal section is connected to the lower portion of the grip section 52 . FIG. 9 is a side view for explaining a schematic configuration of a gimbal section included in the operating device according to this embodiment. FIG. 10 is a top view for explaining a schematic configuration of a gimbal section included in the operating device according to this embodiment.
　操作装置５０のグリップ部５２は、ジンバル部７０により移動可能に支持されている。ジンバル部７０は、互いに交差（直交）する３つの回転軸を中心として回動可能に構成されている。ジンバル部２０は、Ｘ軸Ａｘ、Ｙ軸Ａｙ、Ｚ軸Ａｚを中心として回動可能である。 The grip part 52 of the operating device 50 is movably supported by the gimbal part 70 . The gimbal section 70 is configured to be rotatable about three rotation axes that intersect (perpendicularly) each other. The gimbal section 20 is rotatable around the X-axis Ax, the Y-axis Ay, and the Z-axis Az.
　具体的には、グリップ部５２のＺ軸方向の下端部がＺ軸部７２に連結されており、Ｚ軸部７２は、Ｌ字状の第１のアーム７４に対して回転可能に保持されている。また、第１のアーム７４は、Ｘ軸部７６を回転可能に保持しており、Ｘ軸部７６と連結している第２のアーム７８に対して回転可能に設けられている。第２のアーム７８は、Ｌ字状であり、Ｘ軸部７６を保持している端部と反対側の端部に、第３のアーム８２を介してＹ軸部８０を回転可能に保持している。図９や図１０に示すように、操作装置５０の下部にジンバル部７０を配置することで、特に操作装置５０の奥行き方向Ｅのスペースを小さくできる。 Specifically, the lower end portion of the grip portion 52 in the Z-axis direction is connected to the Z-axis portion 72 , and the Z-axis portion 72 is rotatably held with respect to the L-shaped first arm 74 . there is The first arm 74 rotatably holds the X-axis portion 76 and is rotatably provided with respect to a second arm 78 connected to the X-axis portion 76 . The second arm 78 is L-shaped and rotatably holds the Y-axis portion 80 via a third arm 82 at the end opposite to the end holding the X-axis portion 76 . ing. As shown in FIGS. 9 and 10, by arranging the gimbal section 70 in the lower portion of the operating device 50, the space of the operating device 50 in the depth direction E can be particularly reduced.
　第３のアーム８２の端部８２ａは、３次元方向の移動を行うためのＸＹＺステージやＸＹＺリンク機構（パラレルリンク機構）等の移動機構８４に連結されている。移動機構８４は、互いに交差（直交）する３つの軸方向（Ｘ軸、Ｙ軸、Ｚ軸）にジンバル部７０や操作装置５０のグリップ部を並進移動可能に構成されている。また、移動機構８４は、ジンバル部７０の下方に配置されている。これにより、操作者の手や腕の下方にジンバル部７０や移動機構８４を配置できるため、操作装置５０の奥行き方向Ｅのスペースを小さくできる。 An end portion 82a of the third arm 82 is connected to a moving mechanism 84 such as an XYZ stage or an XYZ link mechanism (parallel link mechanism) for moving in three-dimensional directions. The movement mechanism 84 is configured to be able to translate the gimbal section 70 and the grip section of the operating device 50 in three axial directions (X-axis, Y-axis, and Z-axis) that intersect (perpendicularly) with each other. Further, the moving mechanism 84 is arranged below the gimbal section 70 . As a result, the gimbal portion 70 and the moving mechanism 84 can be arranged below the hands and arms of the operator, so that the space in the depth direction E of the operation device 50 can be reduced.
　図１１は、本実施の形態に係る操作装置５０を用いたマスタスレーブ方式の手術支援ロボットの機能ブロック図である。手術支援ロボット１００は、マスタ機１１０とスレーブ機１２０とで構成されており、マスタ機１１０での操作信号やスレーブ機１２０でのセンサ信号が互いに送受信される。 FIG. 11 is a functional block diagram of a master-slave surgical assistance robot using the operating device 50 according to the present embodiment. The surgical assistance robot 100 is composed of a master machine 110 and a slave machine 120, and an operation signal in the master machine 110 and a sensor signal in the slave machine 120 are exchanged with each other.
　マスタ機１１０は、前述のようにジンバル部７０及び移動機構８４を備える操作装置５０と、操作装置５０等のアクチュエータや機構を制御する制御部８６と、を備える。移動機構８４は、自身の動きをロック及びアンロックするロック機構８８を有する。ロック機構８８は、機械的な係合や電磁的な力、油圧等によってロックとアンロックの状態が切り替え可能に実現される。また、マスタ機１１０は、操作装置５０や移動機構８４の動きのロック及びアンロックを切り替える操作部９０を備える。操作部９０は、例えば、タッチパネルや、手や足で操作するスイッチである。 The master device 110 includes the operation device 50 including the gimbal section 70 and the movement mechanism 84 as described above, and the control section 86 that controls the actuators and mechanisms of the operation device 50 and the like. The moving mechanism 84 has a locking mechanism 88 that locks and unlocks its movement. The lock mechanism 88 can be switched between locked and unlocked states by mechanical engagement, electromagnetic force, hydraulic pressure, or the like. The master device 110 also includes an operation unit 90 that switches between locking and unlocking of the movement of the operation device 50 and the moving mechanism 84 . The operation unit 90 is, for example, a touch panel or a switch operated by hand or foot.
　スレーブ機１２０は、マスタ機１１０から受信した信号に基づいて制御部１２２を介して、スレーブ側のマニピュレータ１２４の位置や姿勢を制御する。具体的には、操作装置５０の移動情報は、ジンバル部７０や移動機構８４を介して、スレーブ機１２０のマニピュレータ１２４の位置や姿勢の制御に利用できる。例えば、鉗子の操作が可能な手術支援ロボットがスレーブ機の場合、操作者はグリップ部５２を把持しつつ操作装置５０全体を所望の方向へ移動させたり、所望の向きへ回転させたりする。操作装置５０の移動は、Ｚ軸部７２、Ｘ軸部７６及びＹ軸部８０の回転角度の情報（移動情報）を取得するセンサ（図示せず）によって検知される。センサにより検知された移動情報は、手術支援ロボット１００のスレーブ機１２０に伝達される。スレーブ機１２０は、伝達された移動情報に基づいてマニピュレータ１２４である鉗子の位置を移動させる制御を行う。 The slave machine 120 controls the position and orientation of the manipulator 124 on the slave side via the control unit 122 based on the signal received from the master machine 110 . Specifically, the movement information of the operation device 50 can be used to control the position and attitude of the manipulator 124 of the slave device 120 via the gimbal section 70 and the movement mechanism 84 . For example, if the surgical assistance robot capable of operating forceps is a slave machine, the operator grasps the grip portion 52 and moves or rotates the entire operation device 50 in a desired direction. Movement of the operating device 50 is detected by a sensor (not shown) that acquires information (movement information) on the rotation angles of the Z-axis portion 72 , the X-axis portion 76 and the Y-axis portion 80 . Movement information detected by the sensor is transmitted to the slave machine 120 of the surgical assistance robot 100 . The slave machine 120 performs control to move the position of the forceps, which is the manipulator 124, based on the transmitted movement information.
　本実施の形態に係る操作装置５０のピンチ部５４は、ロック機構８８により移動機構８４がロックされた状態で、グリップ部５２に対して回動するとともに、グリップ部５２に対してスライドするように構成されている。これにより、操作装置５０全体をパワーグリップ式として動かすだけでなく、手のひらでグリップ部５２を把持しながらピンチ部５４を回動したりスライドさせたりできる。そのため、パワーグリップ式とピンチグリップ式の両方の機能を兼ね備えることができ、操作者の操作の負担を低減するとともに、繊細な作業が可能となる。また、操作装置５０を所望の位置に移動する場合、主としてグリップ部５２を動かすことで移動機構８４によって移動がスムーズに行われる。また、操作装置５０が所望の位置に到達した際には、ロック機構８８により移動機構８４によるグリップ部５２の動きを制限し、主としてピンチ部５４による繊細な作業が可能となる。 The pinch portion 54 of the operating device 50 according to the present embodiment rotates with respect to the grip portion 52 and slides with respect to the grip portion 52 while the movement mechanism 84 is locked by the lock mechanism 88 . It is configured. As a result, not only can the entire operation device 50 be operated as a power grip type, but also the pinch portion 54 can be rotated or slid while gripping the grip portion 52 with the palm. Therefore, it is possible to combine the functions of both the power grip type and the pinch grip type, thereby reducing the operational burden on the operator and enabling delicate work. Further, when moving the operating device 50 to a desired position, the movement is smoothly performed by the moving mechanism 84 mainly by moving the grip portion 52 . Further, when the operating device 50 reaches a desired position, the movement of the grip portion 52 by the moving mechanism 84 is restricted by the lock mechanism 88, so that delicate work mainly by the pinch portion 54 becomes possible.
　なお、ロック機構８８は、ロックされた状態であっても、移動機構８４の水平方向の移動を許容できるように構成されていてもよい。これにより、ロックされた状態であっても、操作装置５０の水平方向の微調整が可能である。 Note that the lock mechanism 88 may be configured to allow horizontal movement of the moving mechanism 84 even in the locked state. This allows fine adjustment of the operating device 50 in the horizontal direction even in the locked state.
　また、移動機構８４の各軸方向の位置はセンサで計測され、アンロック時には計測された位置が制御部８６等に入力され様々な制御に利用できる。また、移動機構８４の各軸方向への動きは、モータ等のアクチュエータにより駆動される。また、アンロック時に移動機構８４を動かす場合、スレーブ機１２０のマニピュレータ１２４が操作対象から受ける力を力覚フィードバックとしてアクチュエータの駆動力に反映させてもよい。また、移動機構８４がアンロックの状態で各軸方向に移動させる場合に必要な力Ｆ１と、移動機構８４がロックの状態で水平方向に移動させる場合に必要な力Ｆ２とを変化させてもよい。本実施の形態に係る移動機構８４は、Ｆ１＜Ｆ２となるように構成されている。力を変化させる方法は、アクチュエータを駆動する際の抵抗力を変化させることで実現できる。 In addition, the position of the moving mechanism 84 in each axial direction is measured by a sensor, and when unlocked, the measured position is input to the control unit 86 or the like and can be used for various controls. Movement of the moving mechanism 84 in each axial direction is driven by an actuator such as a motor. Further, when moving the moving mechanism 84 at the time of unlocking, the force that the manipulator 124 of the slave device 120 receives from the operation target may be reflected in the driving force of the actuator as haptic feedback. Further, even if the force F1 required to move in each axial direction in the unlocked state of the moving mechanism 84 and the force F2 required to move in the horizontal direction in the locked state of the moving mechanism 84 are changed. good. The moving mechanism 84 according to the present embodiment is configured so that F1<F2. A method of changing the force can be realized by changing the resistance force when driving the actuator.
　以上、本発明を上述の実施の形態を参照して説明したが、本発明は上述の実施の形態に限定されるものではなく、実施の形態の構成を適宜組み合わせたものや置換したものについても本発明に含まれるものである。また、当業者の知識に基づいて実施の形態における組合せや処理の順番を適宜組み替えることや各種の設計変更等の変形を実施の形態に対して加えることも可能であり、そのような変形が加えられた実施の形態も本発明の範囲に含まれうる。 Although the present invention has been described with reference to the above-described embodiments, the present invention is not limited to the above-described embodiments, and can be applied to any suitable combination or replacement of the configurations of the embodiments. It is included in the present invention. Further, it is also possible to appropriately rearrange the combinations and the order of processing in the embodiments based on the knowledge of a person skilled in the art, and to add modifications such as various design changes to the embodiments. Embodiments described may also fall within the scope of the present invention.
　本発明は、マスタ機のマニピュレータに利用できる。 The present invention can be used for the manipulator of the master machine.
　Ａ１　第１の回転軸、　Ａ２　第２の回転軸、　５０　操作装置、　５２　グリップ部、　５２ａ　ガイド部、　５２ｂ　第２の保持部、　５２ｃ　回転軸、　５４　ピンチ部、　５４ａ　第１の保持部、　５８　スライド部、　６４　入力部、　６６　ハンドレスト、　７０　ジンバル部、　８４　移動機構、　８６　制御部、　８８　ロック機構、　１００　手術支援ロボット、　１１０　マスタ機、　１２０　スレーブ機、　１２２　制御部、　１２４　マニピュレータ。 A1 First rotating shaft A2 Second rotating shaft 50 Operating device 52 Grip part 52a Guide part 52b Second holding part 52c Rotating shaft 54 Pinch part 54a First holding part 58 Slide Section, 64 Input Section, 66 Hand Rest, 70 Gimbal Section, 84 Movement Mechanism, 86 Control Section, 88 Lock Mechanism, 100 Surgery Support Robot, 110 Master Machine, 120 Slave Machine, 122 Control Section, 124 Manipulator.

Claims (7)

  1. 　遠隔操作の際に用いられる操作装置であって、
    　主に操作者の手のひらで把持されるグリップ部と、
    　主に操作者の指でつままれるピンチ部と、を備え、
    　前記ピンチ部は、指で保持される第１の保持部を有し、前記グリップ部に対して回動するとともに、前記グリップ部に対してスライドするように構成されており、
    　前記第１の保持部は、該第１の保持部を通る第１の回転軸及び該第１の回転軸と交差する第２の回転軸に対して回動するように構成されていることを特徴とする操作装置。     An operating device used for remote control,
    a grip part that is mainly gripped by the operator's palm;
    and a pinch portion that is mainly pinched by the operator's fingers,
    The pinch portion has a first holding portion held by fingers, and is configured to rotate with respect to the grip portion and slide with respect to the grip portion,
    The first holding part is configured to rotate about a first rotation axis passing through the first holding part and a second rotation axis intersecting the first rotation axis. An operating device characterized by:
  2. 　前記第１の保持部は、操作者の指の動きを、遠隔操作の対象である機器の把持動作に反映させる入力部を有することを特徴とする請求項１に記載の操作装置。 The operating device according to claim 1, wherein the first holding unit has an input unit that reflects the movement of the operator's fingers in the gripping operation of the device to be remotely operated.
  3. 　前記グリップ部は、手の一部を載置するハンドレストが一体化されていることを特徴とする請求項１又は２に記載の操作装置。 The operating device according to claim 1 or 2, wherein the grip part is integrated with a hand rest on which a part of the hand is placed.
  4. 　前記第１の保持部を前記グリップ部に対して離間又は接近するようにガイドするガイド部を更に備え、
    　前記グリップ部は、手のひらで直接保持される第２の保持部と、前記第２の保持部に対して相対的に回転可能な回転部と、を有することを特徴とする請求項１乃至３のいずれか１項に記載の操作装置。     further comprising a guide portion that guides the first holding portion to separate from or approach the grip portion;
    4. The method according to any one of claims 1 to 3, wherein the grip part has a second holding part that is directly held by the palm of the hand, and a rotating part that can rotate relative to the second holding part. An operating device according to any one of claims 1 to 3.
  5. 　前記回転部は、前記第２の保持部に設けられた回転軸であり、
    　前記ガイド部は、前記回転軸と交差する方向に延びているガイドレールを有していることを特徴とする請求項４に記載の操作装置。     The rotating part is a rotating shaft provided in the second holding part,
    5. The operating device according to claim 4, wherein the guide portion has a guide rail extending in a direction intersecting with the rotation axis.
  6. 　互いに交差する３つの軸を中心として回動可能に構成されたジンバル部を更に備え、
    　前記ジンバル部は、前記グリップ部の下部と接続されていることを特徴とする請求項１乃至５のいずれか１項に記載の操作装置。     further comprising a gimbal portion configured to be rotatable about three mutually intersecting axes;
    The operating device according to any one of claims 1 to 5, wherein the gimbal portion is connected to a lower portion of the grip portion.
  7. 　互いに交差する３つの軸方向に前記ジンバル部を移動可能に構成された移動機構を更に備え、
    　前記移動機構は、前記ジンバル部の下方に配置されていることを特徴とする請求項６に記載の操作装置。     further comprising a moving mechanism capable of moving the gimbal portion in three mutually intersecting axial directions;
    7. The operating device according to claim 6, wherein the moving mechanism is arranged below the gimbal section.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004114171A (en) * 2002-09-24 2004-04-15 National Institute Of Advanced Industrial & Technology Remote control device for humanoid robot
JP2013510671A (en) * 2009-11-13 2013-03-28 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Patient side surgeon interface for minimally invasive teleoperated surgical instruments
WO2014156250A1 (en) * 2013-03-29 2014-10-02 オリンパス株式会社 Master-slave system
WO2019093020A1 (en) * 2017-11-07 2019-05-16 リバーフィールド株式会社 Medical manipulation unit

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004114171A (en) * 2002-09-24 2004-04-15 National Institute Of Advanced Industrial & Technology Remote control device for humanoid robot
JP2013510671A (en) * 2009-11-13 2013-03-28 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Patient side surgeon interface for minimally invasive teleoperated surgical instruments
WO2014156250A1 (en) * 2013-03-29 2014-10-02 オリンパス株式会社 Master-slave system
WO2019093020A1 (en) * 2017-11-07 2019-05-16 リバーフィールド株式会社 Medical manipulation unit

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