JP2002059380A - Master-slave device - Google Patents
Master-slave deviceInfo
- Publication number
- JP2002059380A JP2002059380A JP2000251122A JP2000251122A JP2002059380A JP 2002059380 A JP2002059380 A JP 2002059380A JP 2000251122 A JP2000251122 A JP 2000251122A JP 2000251122 A JP2000251122 A JP 2000251122A JP 2002059380 A JP2002059380 A JP 2002059380A
- Authority
- JP
- Japan
- Prior art keywords
- manipulator
- master
- slave
- handle
- operator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 238000011282 treatment Methods 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 22
- 230000035807 sensation Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000003780 insertion Methods 0.000 description 9
- 230000037431 insertion Effects 0.000 description 9
- 239000003550 marker Substances 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 210000003811 finger Anatomy 0.000 description 5
- 210000003815 abdominal wall Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000002192 cholecystectomy Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000002674 endoscopic surgery Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000004072 lung Anatomy 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000000881 depressing effect Effects 0.000 description 1
- 238000002405 diagnostic procedure Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Landscapes
- Surgical Instruments (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、生体の、例えば体
腔内に挿入したマニピュレータを操作手段によって遠隔
的に操作し、診断、処置等の手術を行うマスタースレー
ブ装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a master-slave apparatus for remotely operating a manipulator of a living body, for example, inserted into a body cavity by operating means, and performing operations such as diagnosis and treatment.
【０００２】[0002]
【従来の技術】一般に、患者の体壁、例えば腹壁等に小
さな穴を開け、この穴を通じて内視鏡や処置具を経皮的
に体腔内に挿入することにより、その体腔内での様々な
処置を行う経皮的な内視鏡下手術が、腹壁等を開腹手術
する場合に比べて大きな切開を要しない低侵襲な手術と
して近年注目されている。こうした術式は胆嚢摘出手術
や肺の一部を摘出除去する手術等で広く行われている。2. Description of the Related Art In general, a small hole is made in a body wall of a patient, for example, an abdominal wall, and an endoscope or a treatment tool is percutaneously inserted into the body cavity through the hole, so that various things in the body cavity are performed. 2. Description of the Related Art Percutaneous endoscopic surgery for performing a procedure has recently attracted attention as a minimally invasive surgery that does not require a large incision as compared with the case of performing an open surgery on an abdominal wall or the like. Such an operation is widely performed by a cholecystectomy operation or an operation of removing and removing a part of a lung.
【０００３】さらに、このような手術において、マニピ
ュレータに内視鏡や処置具を搭載し、術者の手に代わっ
て間接的にそのマニピュレータによって内視鏡や処置具
を用いた手術を行うマスタースレーブ装置が特願平１１
−３３３１１１号に示されている。Further, in such an operation, a master / slave in which an endoscope or a treatment tool is mounted on a manipulator and an operation using the endoscope or the treatment tool is indirectly performed by the manipulator instead of an operator's hand. The device is Japanese Patent Application No. 11
No. 333111.
【０００４】[0004]
【発明が解決しようとする課題】ところで、通常の手術
に用いる処置具では術者が操作する操作部と処置部とが
直接連結されているが、マスタースレーブ装置では、こ
れとは異なり、術者が操作する操作部は、スレーブマニ
ピュレータの処置部とは直接つながってはいない。その
ため、通常の手術では術者が処置具を通して得ることが
できる把持力量などの手先の感触をマスタースレーブ装
置では、術者の手先の感覚として感じることができない
という問題がある。By the way, in a treatment tool used in a normal operation, an operation section operated by an operator and a treatment section are directly connected. However, in a master-slave apparatus, the operation section is different. Is not directly connected to the treatment section of the slave manipulator. Therefore, there is a problem in that the master-slave device cannot sense the hand feeling such as the amount of gripping force that can be obtained by the operator through the treatment tool as a hand feeling of the operator in a normal operation.
【０００５】本発明は上記事情に着目してなされたもの
で、その目的は、スレーブマニピュレータの処置部の把
持力量を術者の手先の感覚として感じることができ、操
作性に優れたマスタースレーブ装置を提供することにあ
る。The present invention has been made in view of the above circumstances, and a purpose thereof is to provide a master-slave device which is excellent in operability, in which the amount of gripping force of a treatment section of a slave manipulator can be felt as a sensation of an operator's hand. Is to provide.
【０００６】[0006]
【課題を解決するための手段】本発明は、術野にアクセ
スするように配置されたスレーブマニピュレータと、術
者が操作できる領域内に配置され、前記スレーブマニピ
ュレータを遠隔的に操作するマスターマニピュレータ
と、このマスターマニピュレータの操作情報を電気信号
に変換するマスター制御部と、前記スレーブマニピュレ
ータ及び前記マスター制御部にそれぞれ接続され、前記
マスター制御部から送られる前記マスターマニピュレー
タの操作情報に追従した動きを前記スレーブマニピュレ
ータに伝達する制御信号を出力するスレーブ制御部と、
前記スレーブマニピュレータの処置部の把持力量を検知
する力覚検知部材と、この力覚検知部材からの検知信号
を前記マスターマニピュレータの操作部にフィードバッ
クさせて術者の手先の感覚に反映させる操作感覚付与機
構とを具備したことを特徴とするマスタースレーブ装置
である。そして、本発明では、スレーブマニピュレータ
の処置部の把持力量を力覚検知部材によって検知させ、
この力覚検知部材からの検知信号をマスターマニピュレ
ータの操作部にフィードバックさせてマスター制御部の
操作感覚付与機構で処理してマスターマニピュレータの
操作部を操作する術者の手先の感覚に反映させるように
したものである。According to the present invention, there is provided a slave manipulator arranged to access an operation field, and a master manipulator arranged in an area operable by an operator and remotely operating the slave manipulator. A master control unit that converts the operation information of the master manipulator into an electric signal, connected to the slave manipulator and the master control unit, and the movement following the operation information of the master manipulator sent from the master control unit. A slave control unit that outputs a control signal to be transmitted to the slave manipulator,
A force sense detecting member for detecting an amount of gripping force of the treatment section of the slave manipulator, and an operation sense providing feedback of a detection signal from the force sense detecting member to an operation portion of the master manipulator to reflect the sense of the operator's hand. A master-slave device comprising a mechanism. In the present invention, the gripping force of the treatment section of the slave manipulator is detected by the force sense detecting member,
The detection signal from this force sensor is fed back to the operation part of the master manipulator, processed by the operation feeling imparting mechanism of the master control part, and reflected on the sensation of the operator who operates the operation part of the master manipulator. It was done.
【０００７】[0007]
【発明の実施の形態】以下、本発明の第１の実施の形態
を図１乃至図６を参照して説明する。図１は本実施の形
態のマスタースレーブ装置１のシステム全体の概略構成
を示すものである。このマスタースレーブ装置１には、
術野にアクセスするように設置されたスレーブマニピュ
レータ２と、術者が操作するマスターマニピュレータ３
とが設けられている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows a schematic configuration of an entire system of a master-slave device 1 of the present embodiment. This master-slave device 1 includes:
Slave manipulator 2 installed to access the surgical field, and master manipulator 3 operated by the operator
Are provided.
【０００８】また、スレーブマニピュレータ２には、２
組の処置具、すなわち左手用のスレーブマニピュレータ
２ａと右手用のスレーブマニピュレータ２ｂとがそれぞ
れ設けられている。さらに、マスターマニピュレータ３
にも同様に２組の操作部、すなわち左手用のスレーブマ
ニピュレータ２ａを操作する左側マスターマニピュレー
タ３ａと、右手用のスレーブマニピュレータ２ｂを操作
する右側マスターマニピュレータ３ｂとがそれぞれ設け
られている。なお、２つのスレーブマニピュレータ２
ａ，２ｂと、マスターマニピュレータ３ａ，３ｂとはそ
れぞれ略同一構成になっているので、ここでは一方（左
側）のスレーブマニピュレータ２ａ及びマスターマニピ
ュレータ３ａの構成のみを説明し、他方（右側）のスレ
ーブマニピュレータ２ｂ及びマスターマニピュレータ３
ｂにおける左側のスレーブマニピュレータ２ａ及びマス
ターマニピュレータ３ａと同一部分には同一の符号を付
してその説明を省略する。The slave manipulator 2 has 2
A pair of treatment tools, that is, a left-hand slave manipulator 2a and a right-hand slave manipulator 2b are provided. Furthermore, the master manipulator 3
Similarly, two operation units are provided, that is, a left master manipulator 3a for operating the left hand slave manipulator 2a and a right master manipulator 3b for operating the right hand slave manipulator 2b. In addition, two slave manipulators 2
a, 2b and the master manipulators 3a, 3b have substantially the same configuration, so that only the configuration of one (left) slave manipulator 2a and master manipulator 3a will be described here, and the other (right) slave manipulator will be described. 2b and master manipulator 3
The same parts as those of the left-hand side slave manipulator 2a and the master manipulator 3a in FIG.
【０００９】左側のスレーブマニピュレータ２ａには、
細長い挿入部４を備えたマニピュレータ本体５とこのマ
ニピュレータ本体５を駆動するスレーブ駆動部６とが設
けられている。さらに、挿入部４の先端部には、図２に
示すように、把持鉗子のように開閉可能な一対の把持部
材７ａ，７ｂを備えた先端把持部（処置部）７が設けら
れている。これらの把持部材７ａ，７ｂの基端部間は、
挿入部４の先端部に回動ピン８を中心に回動可能に連結
されている。そして、これらの把持部材７ａ，７ｂは、
リンク機構部９によって回動ピン８を中心に開閉可能に
支持されている。The left slave manipulator 2a has
A manipulator body 5 having an elongated insertion section 4 and a slave drive section 6 for driving the manipulator body 5 are provided. Further, at the distal end of the insertion section 4, as shown in FIG. 2, a distal end gripping section (treatment section) 7 having a pair of gripping members 7a and 7b that can be opened and closed like gripping forceps is provided. Between the base ends of these gripping members 7a and 7b,
The distal end of the insertion section 4 is connected to a pivot pin 8 so as to be pivotable. And these gripping members 7a, 7b
The link mechanism 9 supports the pivot pin 8 so that the pivot pin 8 can be opened and closed.
【００１０】また、本実施の形態の先端把持部７には一
対の把持部材７ａ，７ｂにおける把持面以外の部分に把
持力量を検知するための歪みゲージ（力覚検知部材）３
５が設けられている。なお、歪みゲージ３５は必ずしも
把持部材７ａ，７ｂの両方に設ける必要はなく、少なく
とも一方に設ければよい。Further, a strain gauge (force sense detecting member) 3 for detecting the amount of gripping force at a portion other than the gripping surfaces of the pair of gripping members 7a and 7b is provided at the distal end gripping portion 7 of the present embodiment.
5 are provided. Note that the strain gauge 35 does not necessarily need to be provided on both of the gripping members 7a and 7b, but may be provided on at least one of them.
【００１１】また、マニピュレータ本体５はスレーブ駆
動部６内の図示しないマニピュレータ本体駆動ユニット
によってＸ軸方向（左右方向）、Ｙ軸方向（上下方
向）、Ｚ軸方向（前後方向）にそれぞれ移動可能に駆動
され、さらに、Ｚ軸の軸回り方向にも回動駆動されるよ
うになっている。The manipulator body 5 can be moved in the X-axis direction (left-right direction), the Y-axis direction (vertical direction), and the Z-axis direction (front-back direction) by a manipulator body drive unit (not shown) in the slave drive unit 6. It is also driven to rotate around the Z axis.
【００１２】さらに、マニピュレータ本体５の挿入部４
には図３に示すように管状の腕部材３６ａ内に駆動軸３
６ｂが前後動可能に挿入されている。この駆動軸３６ｂ
の先端部にはリンク機構部９の基端部が連結されてい
る。Further, the insertion portion 4 of the manipulator body 5
As shown in FIG. 3, the drive shaft 3 is provided in a tubular arm member 36a.
6b is inserted so as to be able to move back and forth. This drive shaft 36b
The proximal end of the link mechanism 9 is connected to the distal end of.
【００１３】また、スレーブ駆動部６内には図示しない
先端把持部駆動ユニットが内蔵されている。そして、こ
の先端把持部駆動ユニットによって挿入部４の腕部材３
６ａの中の駆動軸３６ｂが軸方向に沿って前後に駆動さ
れ、この駆動軸３６ｂの動作に応じて、先端把持部７の
把持部材７ａ，７ｂが回動ピン８を中心に開閉駆動され
るようになっている。The slave drive unit 6 has a built-in tip grip unit drive unit (not shown). Then, the arm member 3 of the insertion portion 4 is
The drive shaft 36b in 6a is driven back and forth along the axial direction, and the gripping members 7a and 7b of the tip gripper 7 are driven to open and close around the pivot pin 8 according to the operation of the drive shaft 36b. It has become.
【００１４】また、左側マスターマニピュレータ３ａに
は図４に示すように、例えば略鋏型の開閉動作可能なハ
ンドル（操作部）１０と、このハンドル１０をＸ軸方向
（左右方向）、Ｙ軸方向（上下方向）、Ｚ軸方向（前後
方向）にそれぞれ移動可能に、且つＺ軸の軸回り方向に
回動可能に支持する支持機構部１１とが設けられる。こ
の支持機構部１１は例えば図４に示すようにパンタグラ
フ機構を複数組み合わせて構成されたパラレルリンク機
構４９によって構成されている。As shown in FIG. 4, the left master manipulator 3a has, for example, a handle (operating portion) 10 which can be opened and closed in a substantially scissor shape, and the handle 10 is connected to the X-axis direction (left-right direction) and the Y-axis direction. (A vertical direction) and a support mechanism 11 that is supported so as to be movable in the Z-axis direction (front-back direction) and rotatable around the Z-axis. The support mechanism 11 is constituted by a parallel link mechanism 49 formed by combining a plurality of pantograph mechanisms, for example, as shown in FIG.
【００１５】このパラレルリンク機構４９には、ハンド
ル１０が接続されている略三角形状のトッププレート１
２が設けられている。そして、このトッププレート１２
の一面側の略中央位置にハンドル１０の接続部１２ａが
配置されている。The parallel link mechanism 49 has a substantially triangular top plate 1 to which the handle 10 is connected.
2 are provided. And this top plate 12
The connecting portion 12a of the handle 10 is arranged at a substantially central position on one surface side.
【００１６】さらに、トッププレート１２の他面側に
は、３つのパラレルリンク５３Ａ，５３Ｂ，５３Ｃがそ
れぞれ接続されている。各パラレルリンク５３Ａ，５３
Ｂ，５３Ｃにはパンタグラフ機構であるリンク本体５３
ａが設けられている。そして、各パラレルリンク５３
Ａ，５３Ｂ，５３Ｃのリンク本体５３ａの一端部側はユ
ニバーサルジョイント５２を介してトッププレート１２
の各角部にそれぞれ接続されている。Further, three parallel links 53A, 53B and 53C are connected to the other surface of the top plate 12, respectively. Each parallel link 53A, 53
B and 53C include a link body 53 which is a pantograph mechanism.
a is provided. And each parallel link 53
One end side of the link body 53a of the A, 53B, 53C is connected to the top plate 12 via the universal joint 52.
Are connected to the respective corners.
【００１７】また、各パラレルリンク５３Ａ，５３Ｂ，
５３Ｃのリンク本体５３ａの他端は対偶軸５４によって
図５（Ａ），（Ｂ）に示すようにパラレルリンク機構４
９の基台５５に取付けられている。なお、各パンタグラ
フ対偶軸５４には、図示しないエンコーダが取付けられ
ている。そして、これらのエンコーダによってハンドル
１０の移動を検出する検出手段が形成されている。Each of the parallel links 53A, 53B,
As shown in FIGS. 5A and 5B, the other end of the link body 53a of the 53C
9 is mounted on the base 55. An encoder (not shown) is attached to each pantograph pair even shaft 54. Detecting means for detecting the movement of the handle 10 by these encoders is formed.
【００１８】また、図５（Ａ），（Ｂ）はパラレルリン
ク機構４９の設置方法を示す。ここで、図５（Ａ）はパ
ラレルリンク機構４９の基台５５を水平に置いている状
態を示すものである。さらに、図５（Ｂ）はパラレルリ
ンク機構４９の基台５５を水平面に対して垂直に置いて
いる状態を示すものである。この構成によってトッププ
レート１２は基台５５に対してＸ軸方向，Ｙ軸方向，Ｚ
軸方向の直線移動と、Ｘ軸，Ｙ軸，Ｚ軸の軸を中心とし
た回転動作とが可能に支持されている。FIGS. 5A and 5B show a method of installing the parallel link mechanism 49. FIG. Here, FIG. 5A shows a state where the base 55 of the parallel link mechanism 49 is placed horizontally. FIG. 5B shows a state where the base 55 of the parallel link mechanism 49 is placed perpendicular to the horizontal plane. With this configuration, the top plate 12 is moved in the X-axis direction, the Y-axis direction,
It is supported so as to be capable of linear movement in the axial direction and rotational movement about the X, Y, and Z axes.
【００１９】なお、本実施の形態のパラレルリンク機構
４９では３つのパラレルリンク５３Ａ，５３Ｂ，５３Ｃ
が互いに干渉することにより、Ｚ軸を中心とした回転は
制限され、ハンドル１０の動きも制限されることにな
る。ここで、図５（Ａ）に示すようにパラレルリンク機
構４９の基台５５を水平に置いている置き方の場合に
は、スレーブマニピュレータ２を図のように水平方向に
配置した場合、最も使用する頻度が高いハンドル１０の
水平方向の動きが制限されてしまう。また、図５（Ｂ）
に示すようにパラレルリンク機構４９の基台５５を垂直
に置いている置き方の場合には、スレーブマニピュレー
タ２を図のように水平方向に配置した場合、最も使用す
る頻度が高いハンドル１０の水平方向の動きの制限が図
５（Ａ）より少なくなっている。そのため、本実施の形
態のパラレルリンク機構４９では図５（Ｂ）に示すよう
にパラレルリンク機構４９の基台５５を垂直に置いてい
る置き方の方が好ましい。In the parallel link mechanism 49 of this embodiment, three parallel links 53A, 53B and 53C are provided.
Interfere with each other, the rotation about the Z axis is restricted, and the movement of the handle 10 is also restricted. Here, when the base 55 of the parallel link mechanism 49 is placed horizontally as shown in FIG. 5 (A), when the slave manipulator 2 is placed in the horizontal direction as shown in FIG. The horizontal movement of the handle 10 which is frequently performed is limited. FIG. 5 (B)
In the case where the base 55 of the parallel link mechanism 49 is placed vertically as shown in FIG. 5, when the slave manipulator 2 is placed in the horizontal direction as shown in FIG. The restriction on the movement in the direction is smaller than that in FIG. For this reason, in the parallel link mechanism 49 of the present embodiment, it is preferable that the base 55 of the parallel link mechanism 49 is placed vertically as shown in FIG. 5B.
【００２０】また、左側マスターマニピュレータ３ａの
ハンドル１０には、図６に示すようにトッププレート１
２に一端部が連結された支軸１３と、この支軸１３の他
端部に回動軸１４を中心に回動可能に連結された２つの
ハンドル部材１５ａ，１５ｂとが設けられている。The handle 10 of the left master manipulator 3a has a top plate 1 as shown in FIG.
2, a support shaft 13 having one end connected thereto, and two handle members 15a and 15b connected to the other end of the support shaft 13 so as to be rotatable around a rotation shaft 14.
【００２１】さらに、ハンドル１０の２つのハンドル部
材１５ａ，１５ｂの自由端部側には、２つのハンドル部
材１５ａ，１５ｂ間を開位置方向に常に付勢する板バネ
部材１７と、ハンドル１０の閉操作時の２つのハンドル
部材１５ａ，１５ｂ間の閉じ量を制限するストッパー１
８とが設けられている。ここで、一方のハンドル部材１
５ａにはストッパー１８の基端部が固定されている。こ
のストッパー１８の先端部は他方のハンドル部材１５ｂ
側に向けて略直角に突出されている。Further, at the free ends of the two handle members 15a and 15b of the handle 10, a leaf spring member 17 for constantly urging the two handle members 15a and 15b in the direction of the open position and a closing of the handle 10 are provided. Stopper 1 for limiting the closing amount between two handle members 15a, 15b during operation
8 are provided. Here, one handle member 1
The base end of the stopper 18 is fixed to 5a. The tip of the stopper 18 is connected to the other handle member 15b.
It projects at a substantially right angle toward the side.
【００２２】また、ハンドル部材１５ｂ側には板バネ部
材１７の一端部が固定されている。この板バネ部材１７
の他端部の自由端部側はハンドル部材１５ｂ側に圧接さ
れている。そして、このハンドル１０のハンドル部材１
５ａ，１５ｂ間は、板バネ部材１７のバネ力によって開
位置方向に常に付勢されている。さらに、このハンドル
１０の閉操作時には、ハンドル部材１５ａ側のストッパ
ー１８の先端部がハンドル部材１５ｂに突き当たること
によりハンドル１０の閉操作時の閉じ量を制限してい
る。One end of a leaf spring member 17 is fixed to the handle member 15b. This leaf spring member 17
The free end of the other end is pressed against the handle member 15b. And the handle member 1 of this handle 10
The portion between 5a and 15b is always urged in the open position direction by the spring force of the leaf spring member 17. Further, at the time of the closing operation of the handle 10, the tip of the stopper 18 on the handle member 15a side abuts on the handle member 15b, thereby limiting the closing amount of the handle 10 at the time of the closing operation.
【００２３】また、２つのハンドル部材１５ａ，１５ｂ
間には、回動軸１４側に２つのリンク部材１６ａ，１６
ｂが設けられている。ここで、一方のリンク部材１６ａ
の一端部は一方のハンドル部材１５ａに、また他方のリ
ンク部材１６ｂの一端部は他方のハンドル部材１５ｂに
それぞれ回動可能に枢支されている。さらに、リンク部
材１６ａの他端部はリンク部材１６ｂの他端部とガイド
ピン３１を介して回動自在に連結されている。The two handle members 15a, 15b
The two link members 16a and 16
b is provided. Here, one link member 16a
Is rotatably supported by one handle member 15a, and one end of the other link member 16b is rotatably supported by the other handle member 15b. Further, the other end of the link member 16a is rotatably connected to the other end of the link member 16b via a guide pin 31.
【００２４】また、支軸１３には、トッププレート１２
とは反対側に延びるガイド３０が突設されている。この
ガイド３０の先端部には、ガイドピン３１のガイド溝３
２が軸方向に延設されている。このガイド溝３２にはリ
ンク部材１６ａ，１６ｂ間のガイドピン３１が軸方向に
移動可能に挿入されている。そして、ハンドル１０の開
操作時には、ガイドピン３１がガイド溝３２内を移動し
てこのガイドピン３１がガイド溝３２の閉端部側に突き
当たり、ハンドル１０の開き量を制限するようにしてい
る。なお、リンク部材１６ａとリンク部材１６ｂとはほ
ぼ同じ長さに作られているため、２つのハンドル部材１
５ａ，１５ｂはガイド溝３２を中心にして対称に開閉す
るようになっている。The support shaft 13 has a top plate 12
A guide 30 extending to the opposite side protrudes. A guide groove 3 of a guide pin 31 is
2 extends in the axial direction. A guide pin 31 between the link members 16a and 16b is inserted into the guide groove 32 so as to be movable in the axial direction. When the handle 10 is opened, the guide pin 31 moves in the guide groove 32 and the guide pin 31 abuts on the closed end side of the guide groove 32 to limit the opening amount of the handle 10. Since the link member 16a and the link member 16b have substantially the same length, the two handle members 1
5a and 15b open and close symmetrically about the guide groove 32.
【００２５】また、ハンドル１０の一方のハンドル部材
１５ａには、ポテンショメータ１９とモータ３３とが取
り付けられている。ここで、ポテンショメータ１９に設
けられたギア６６は回動軸１４に設けられたギア６５と
噛み合わされている。さらに、ポテンショメータ１９の
ギア６６にはモータ３３に設けられたギア６７とも噛み
合わされている。そして、ハンドル１０の開閉動作時に
は、回動軸１４が回転し、この回動軸１４のギア６５が
回転する。このギア６５の回転時には、ギア６６が連動
して回転し、その回転角度がポテンショメータ１９によ
って検出されるようになっている。A potentiometer 19 and a motor 33 are attached to one handle member 15a of the handle 10. Here, the gear 66 provided on the potentiometer 19 is engaged with the gear 65 provided on the rotating shaft 14. Further, the gear 66 of the potentiometer 19 is also meshed with a gear 67 provided on the motor 33. When the handle 10 is opened and closed, the rotating shaft 14 rotates, and the gear 65 of the rotating shaft 14 rotates. When the gear 65 rotates, the gear 66 rotates in conjunction therewith, and the rotation angle is detected by the potentiometer 19.
【００２６】さらに、マスターマニピュレータ３には、
このマスターマニピュレータ３を操作不能な状態と操作
可能な状態とに切り替えることができるロック機構部、
例えば、電磁ロック式のロック機構部が設けられてい
る。Further, the master manipulator 3 has
A lock mechanism that can switch the master manipulator 3 between an inoperable state and an operable state;
For example, an electromagnetic lock type lock mechanism is provided.
【００２７】また、図１に示すようにマスターマニピュ
レータ３には、このマスターマニピュレータ３の操作を
電気信号に変換するマスター制御部２０が接続されてい
る。このマスター制御部２０には、マスターマニピュレ
ータ３のハンドル１０のポテンショメータ１９及び支持
機構部１１のエンコーダなどの位置検出装置２１と、マ
スターマニピュレータ３のハンドル１０の位置計算用の
コンピュータによって形成される演算回路２２とが設け
られている。そして、位置検出装置２１による左右のマ
スターマニピュレータ３ａ，３ｂの操作状態の検出デー
タは演算回路２２に入力され、この演算回路２２で位置
計算されてマスターマニピュレータ３のハンドル１０の
移動量や、ハンドル１０の開閉角度などの情報を計算す
るようになっている。As shown in FIG. 1, the master manipulator 3 is connected to a master controller 20 for converting the operation of the master manipulator 3 into an electric signal. The master control unit 20 includes a position detecting device 21 such as a potentiometer 19 of the handle 10 of the master manipulator 3 and an encoder of the support mechanism unit 11 and an arithmetic circuit formed by a computer for calculating the position of the handle 10 of the master manipulator 3. 22 are provided. The detection data of the operation states of the left and right master manipulators 3a and 3b by the position detection device 21 are input to an arithmetic circuit 22, where the position is calculated and the amount of movement of the handle 10 of the master manipulator 3 and the handle 10 It calculates information such as the opening and closing angles.
【００２８】さらに、マスター制御部２０には、マスタ
ーマニピュレータ３の電磁ロック式のロック機構部の制
御用のフットスイッチ２３が接続されている。このフッ
トスイッチ２３には２つのペダル２３ａ，２３ｂが設け
られている。そして、フットスイッチ２３の一方のペダ
ル２３ａによってマスターマニピュレータ３のロック状
態とロック解除状態とを切り替えることができるように
なっている。また、他方のペダル２３ｂによってハンド
ル１０の移動量をスレーブマニピュレータ２に伝えない
状態にするクラッチ機構の切り替えの操作をすることが
できるようになっている。Further, a foot switch 23 for controlling the lock mechanism of the electromagnetic lock type of the master manipulator 3 is connected to the master controller 20. The foot switch 23 is provided with two pedals 23a and 23b. The locked state and the unlocked state of the master manipulator 3 can be switched by one pedal 23a of the foot switch 23. Further, the other pedal 23b can be operated to switch the clutch mechanism so that the movement amount of the handle 10 is not transmitted to the slave manipulator 2.
【００２９】また、マスターマニピュレータ３を操作す
る術者の近傍には、モニター２４とスピーカー３４とが
配置されている。このモニター２４には、スレーブマニ
ピュレータ２によって処置される術野の状態が表示さ
れ、この画面を見ながらマスターマニピュレータ３の操
作を行うことができるようになっている。A monitor 24 and a speaker 34 are arranged near the operator who operates the master manipulator 3. The monitor 24 displays the state of the operation field to be treated by the slave manipulator 2, and the user can operate the master manipulator 3 while viewing this screen.
【００３０】さらに、スレーブマニピュレータ２には、
マスターマニピュレータ３の操作に追従した動きをスレ
ーブマニピュレータ２に伝達する制御信号を出力するス
レーブ制御部２５が接続されている。このスレーブ制御
部２５には、スレーブマニピュレータ２のスレーブ駆動
部６に組み込まれている複数の駆動モータ２６を制御す
るモータ駆動回路２７と、スレーブマニピュレータ制御
用のコンピューターによって形成される演算回路２８と
が設けられている。Further, the slave manipulator 2 has
A slave control unit 25 that outputs a control signal for transmitting a movement following the operation of the master manipulator 3 to the slave manipulator 2 is connected. The slave control unit 25 includes a motor drive circuit 27 for controlling a plurality of drive motors 26 incorporated in the slave drive unit 6 of the slave manipulator 2 and an arithmetic circuit 28 formed by a computer for controlling the slave manipulator. Is provided.
【００３１】さらに、スレーブ制御部２５の演算回路２
８とマスター制御部２０の演算回路２２との間は例え
ば、光ファイバーケーブルなどを用いた通信手段２９を
介して接続されている。そして、スレーブ制御部２５で
は、マスター制御部２０から送られるマスターマニピュ
レータ３の操作に追従した動きをスレーブマニピュレー
タ２に伝達する制御信号を出力するようになっている。Further, the arithmetic circuit 2 of the slave control unit 25
8 and the arithmetic circuit 22 of the master control unit 20 are connected via communication means 29 using, for example, an optical fiber cable. The slave control unit 25 outputs a control signal transmitted from the master control unit 20 to the slave manipulator 2 for movement following the operation of the master manipulator 3.
【００３２】また、スレーブマニピュレータ２の駆動時
には先端把持部７の把持部材７ａ，７ｂの歪みゲージ３
５から出力される信号はスレーブ制御部２５の演算回路
２８に送られ、先端把持部７にかかっている力（把持部
材７ａ，７ｂの把持力量）が計算されるようになってい
る。さらに、ここで計算された情報は通信手段２９を介
してマスター制御部２０の演算回路２２に送られるよう
になっている。When the slave manipulator 2 is driven, the strain gauges 3 of the holding members 7a, 7b
The signal output from 5 is sent to the arithmetic circuit 28 of the slave control unit 25, and the force applied to the distal end gripping unit 7 (the amount of gripping force of the gripping members 7a and 7b) is calculated. Further, the information calculated here is sent to the arithmetic circuit 22 of the master control unit 20 via the communication means 29.
【００３３】また、本実施の形態のマスターマニピュレ
ータ３にはスレーブマニピュレータ２の先端把持部７の
把持部材７ａ，７ｂの歪みゲージ３５からの検知信号を
マスターマニピュレータ３のハンドル１０にフィードバ
ックさせて術者の手先の感覚に反映させる操作感覚付与
機構５１が設けられている。この操作感覚付与機構５１
ではスレーブ制御部２５の演算回路２８からマスター制
御部２０の演算回路２２に送られた情報に基いて演算回
路２２でマスターマニピュレータ３のハンドル１０にフ
ィードバックさせるための制御情報が計算されるように
なっている。さらに、この演算回路２２で計算された情
報は制御信号に変換され、マスターマニピュレータ３の
モータ３３に送られるようになっている。そして、この
モータ３３が送られてきた信号に応じて回転し、このモ
ータ３３のギア６７を回転させることにより、このギア
６７の回転がポテンショメータ１９のギア６６を介して
回動軸１４のギア６５に伝達されるようになっている。
さらに、このギア６５の回転により、回動軸１４が回転
し、それによりハンドル部１５ａ，１５ｂを開閉操作
し、スレーブマニピュレータ２の先端把持部７にかかっ
ている力をハンドル１０を介して術者にフィードバック
することができるようになっている。Further, the master manipulator 3 of the present embodiment feeds back a detection signal from the strain gauge 35 of the holding members 7a and 7b of the tip holding portion 7 of the slave manipulator 2 to the handle 10 of the master manipulator 3 to feed back the detection signal. An operation sensation imparting mechanism 51 for reflecting the sensation at the hand is provided. This operation feeling giving mechanism 51
Thus, the control information to be fed back to the handle 10 of the master manipulator 3 is calculated by the arithmetic circuit 22 based on the information sent from the arithmetic circuit 28 of the slave control unit 25 to the arithmetic circuit 22 of the master control unit 20. ing. Further, the information calculated by the arithmetic circuit 22 is converted into a control signal and sent to the motor 33 of the master manipulator 3. Then, the motor 33 rotates in response to the transmitted signal, and rotates the gear 67 of the motor 33, so that the rotation of the gear 67 is transmitted via the gear 66 of the potentiometer 19 to the gear 65 of the rotating shaft 14. It is transmitted to.
Further, the rotation of the gear 65 causes the rotation shaft 14 to rotate, thereby opening and closing the handle portions 15 a and 15 b, and applies the force applied to the distal end grip 7 of the slave manipulator 2 via the handle 10 to the operator. You can provide feedback to
【００３４】次に、上記構成の作用について説明する。
本実施の形態のマスタースレーブ装置１の使用時には、
マスターマニピュレータ３が術者が操作できる領域内に
設置される。さらに、スレーブマニピュレータ２は術野
にアクセスするように設置される。例えば、予め診断・
処置等の手術を行う患者の腹壁等の体壁に図示しないト
ロッカーによって穴を開け、この穴に刺入されたトロッ
カー外套管内にスレーブマニピュレータ２の挿入部４が
挿入され、このトロッカー外套管内を通じてスレーブマ
ニピュレータ２の挿入部４が経皮的に体腔内に挿入され
た状態にセットされる。このとき、マスターマニピュレ
ータ３を操作する術者の近傍位置のモニター２４にはス
レーブマニピュレータ２とは別の場所から経皮的に体腔
内に挿入された内視鏡による術野の内視鏡像、或いはコ
ンピュータグラフィック装置によって合成された術野の
コンピュータグラフィック画像（ＣＧ画像）などが表示
される。Next, the operation of the above configuration will be described.
When using the master-slave device 1 of the present embodiment,
The master manipulator 3 is installed in an area where the operator can operate. Further, the slave manipulator 2 is installed so as to access an operation field. For example,
A hole is made in a body wall such as an abdominal wall of a patient who performs an operation such as a treatment by a trocar (not shown), and the insertion portion 4 of the slave manipulator 2 is inserted into the trocar mantle tube inserted into the hole, and the slave is inserted through the trocar mantle tube The insertion section 4 of the manipulator 2 is set in a state of being inserted into a body cavity percutaneously. At this time, the monitor 24 at a position near the operator who operates the master manipulator 3 is an endoscopic image of the operation field by an endoscope inserted percutaneously into the body cavity from a place different from the slave manipulator 2, or A computer graphic image (CG image) of the operation field synthesized by the computer graphic device is displayed.
【００３５】また、スレーブマニピュレータ２およびマ
スターマニピュレータ３のセット後、これらのスレーブ
マニピュレータ２およびマスターマニピュレータ３の原
点（０点）位置を対応させるキャリブレーション動作が
行われる。このキャリブレーション動作時にはフットス
イッチ２３のペダル２３ａを踏むことにより、マスター
マニピュレータ３のロックが解除され、マスターマニピ
ュレータ３の左右のマスターマニピュレータ３ａ，３ｂ
のハンドル１０が図６中で、Ｘ軸方向（左右方向）、Ｙ
軸方向（上下方向）、Ｚ軸方向（前後方向）にそれぞれ
移動可能、かつＺ軸の軸回り方向に回動可能な状態にそ
れぞれ切換えられるとともに、左右のマスターマニピュ
レータ３ａ，３ｂの２つのハンドル部材１５ａ，１５ｂ
間が開閉動作可能な状態にそれぞれ切換えられる。After the setting of the slave manipulator 2 and the master manipulator 3, a calibration operation for associating the origin (zero point) positions of the slave manipulator 2 and the master manipulator 3 is performed. During this calibration operation, by depressing the pedal 23a of the foot switch 23, the lock of the master manipulator 3 is released, and the left and right master manipulators 3a, 3b of the master manipulator 3 are released.
6, the handle 10 in the X-axis direction (left-right direction)
The two handle members of the left and right master manipulators 3a and 3b can be switched to a state in which they can be moved in the axial direction (vertical direction) and the Z-axis direction (front-back direction) and can be rotated around the Z-axis. 15a, 15b
The state is switched to a state in which opening and closing operations are possible.
【００３６】この状態で、マスターマニピュレータ３の
左右のマスターマニピュレータ３ａ，３ｂが任意の位置
に移動され、左右のマスターマニピュレータ３ａ，３ｂ
の原点（０点）位置が設定される。In this state, the left and right master manipulators 3a and 3b of the master manipulator 3 are moved to arbitrary positions, and the left and right master manipulators 3a and 3b are moved.
(Zero point) is set.
【００３７】その後、スレーブマニピュレータ２におけ
る２つのスレーブマニピュレータ２ａ，２ｂのスレーブ
駆動部６内の図示しないマニピュレータ本体駆動ユニッ
トおよび先端把持部駆動ユニットが駆動される。これに
より、マニピュレータ本体５が図２中で、Ｘ軸方向（左
右方向）、Ｙ軸方向（上下方向）、Ｚ軸方向（前後方
向）にそれぞれ移動され、かつＺ軸の軸回り方向に回動
駆動されて予め設定された左右のスレーブマニピュレー
タ２ａ，２ｂの原点（０点）位置に移動される。Thereafter, the manipulator body drive unit and the tip gripping unit drive unit (not shown) in the slave drive unit 6 of the two slave manipulators 2a and 2b in the slave manipulator 2 are driven. As a result, the manipulator body 5 is moved in the X-axis direction (left-right direction), the Y-axis direction (vertical direction), and the Z-axis direction (front-rear direction) in FIG. 2, and is rotated around the Z-axis. It is driven and moved to a preset origin (zero point) position of the left and right slave manipulators 2a and 2b.
【００３８】さらに、このキャリブレーション動作の終
了後、本実施の形態のマスタースレーブ装置１による診
断・処置等の手術が開始される。この手術時には術者は
モニター２４に表示される術野の内視鏡像、或いはＣＧ
画像の画面を見ながらマスターマニピュレータ３の左右
のマスターマニピュレータ３ａ，３ｂがそれぞれ操作さ
れる。このとき、左側マスターマニピュレータ３ａのハ
ンドル１０が術者の左手、右側マスターマニピュレータ
３ｂのハンドル１０が術者の右手で握られた状態でそれ
ぞれ操作され、左側マスターマニピュレータ３ａによっ
て左側スレーブマニピュレータ２ａ、右側マスターマニ
ピュレータ３ｂによって右側スレーブマニピュレータ２
ｂがそれぞれ独立に遠隔操作される。Further, after the completion of the calibration operation, operations such as diagnosis and treatment by the master-slave device 1 of the present embodiment are started. At the time of this operation, the surgeon displays an endoscopic image of the operation field displayed on the monitor 24 or a CG image.
The master manipulators 3a and 3b on the left and right sides of the master manipulator 3 are operated while viewing the screen of the image. At this time, the handle 10 of the left master manipulator 3a is operated while the handle 10 of the right master manipulator 3b is grasped by the operator's left hand, and the handle 10 of the right master manipulator 3b is grasped by the operator's right hand, and the left master manipulator 3a operates the left slave manipulator 2a and the right master. Right-hand slave manipulator 2 by manipulator 3b
b are remotely controlled independently.
【００３９】例えば、左側マスターマニピュレータ３ａ
のハンドル１０を図６中で、Ｘ軸方向（左右方向）、Ｙ
軸方向（上下方向）、Ｚ軸方向（前後方向）にそれぞれ
移動させ、かつＺ軸の軸回り方向に回動させた場合には
このときのマスターマニピュレータ３ａの動作がマスタ
ー制御部２０の位置検出装置２１で検出される。この位
置検出装置２１からの検出データは演算回路２２に入力
され、この演算回路２２で位置計算されてマスターマニ
ピュレータ３のハンドル１０の操作状態や、ハンドル１
０の開閉状態などのデータが算出される。For example, the left master manipulator 3a
6, the handle 10 in the X-axis direction (left-right direction)
When the master manipulator 3a is moved in the axial direction (vertical direction) and the Z-axis direction (front-back direction), and is rotated in the direction around the Z-axis, the operation of the master manipulator 3a at this time is detected by the master controller 20. It is detected by the device 21. The detection data from the position detecting device 21 is input to an arithmetic circuit 22, where the position is calculated by the arithmetic circuit 22, and the operating state of the handle 10 of the master manipulator 3 and the handle 1
Data such as the open / closed state of 0 is calculated.
【００４０】また、マスター制御部２０の演算回路２２
で位置計算された算出データは光ファイバーケーブルな
どの通信手段２９を介してスレーブ制御部２５に受信さ
れる。そして、このスレーブ制御部２５の演算回路２８
によってスレーブ駆動部６に組込まれているモータ駆動
回路２７の複数の駆動モータ２６を制御する制御信号が
算出される。さらに、このスレーブ制御部２５から出力
される制御信号は左側スレーブマニピュレータ２ａに伝
達され、左側スレーブマニピュレータ２ａが遠隔的に操
作される。このとき、左側スレーブマニピュレータ２ａ
は左側マスターマニピュレータ３ａのハンドル１０の動
きに追従して動く。なお、右側マスターマニピュレータ
３ｂの操作時にも同様の作用によって右側スレーブマニ
ピュレータ２ｂの動作が制御され、右側マスターマニピ
ュレータ３ｂの操作に追従して右側スレーブマニピュレ
ータ２ｂが動くようになっている。The arithmetic circuit 22 of the master control unit 20
The calculated data obtained by the position calculation is received by the slave control unit 25 via the communication means 29 such as an optical fiber cable. The operation circuit 28 of the slave control unit 25
Thus, control signals for controlling the plurality of drive motors 26 of the motor drive circuit 27 incorporated in the slave drive unit 6 are calculated. Further, the control signal output from the slave control unit 25 is transmitted to the left slave manipulator 2a, and the left slave manipulator 2a is remotely operated. At this time, the left slave manipulator 2a
Moves following the movement of the handle 10 of the left master manipulator 3a. The operation of the right slave manipulator 2b is also controlled by the same operation when the right master manipulator 3b is operated, and the right slave manipulator 2b moves following the operation of the right master manipulator 3b.
【００４１】また、本実施の形態ではスレーブマニピュ
レータ２の駆動時にはスレーブマニピュレータ２の先端
把持部７の把持部材７ａ，７ｂの歪みゲージ３５によっ
て先端把持部７にかかっている力（把持部材７ａ，７ｂ
の把持力量）が検出されるとともに、操作感覚付与機構
５１が次の通り駆動される。すなわち、先端把持部７の
把持部材７ａ，７ｂの歪みゲージ３５から出力される信
号はスレーブ制御部２５の演算回路２８に送られ、先端
把持部７にかかっている力（把持部材７ａ，７ｂの把持
力量）が計算される。さらに、ここで計算された情報は
通信手段２９を介してマスター制御部２０の演算回路２
２に送られる。Further, in this embodiment, when the slave manipulator 2 is driven, the force (grasping members 7a, 7b) applied to the distal grasping portion 7 by the strain gauges 35 of the grasping members 7a, 7b of the distal grasping portion 7 of the slave manipulator 2.
Is detected, and the operation sensation imparting mechanism 51 is driven as follows. That is, the signals output from the strain gauges 35 of the gripping members 7a and 7b of the distal gripping portion 7 are sent to the arithmetic circuit 28 of the slave controller 25, and the force applied to the distal gripping portion 7 (the force of the gripping members 7a and 7b) The amount of gripping force is calculated. Further, the information calculated here is transmitted to the arithmetic circuit 2 of the master control unit 20 via the communication unit 29.
Sent to 2.
【００４２】また、操作感覚付与機構５１ではマスター
制御部２０の演算回路２２に送られた情報に基いてこの
演算回路２２でマスターマニピュレータ３のハンドル１
０にフィードバックさせるための制御情報が計算され
る。さらに、この演算回路２２で計算された情報は制御
信号に変換され、マスターマニピュレータ３のモータ３
３に送られる。そして、このモータ３３が送られてきた
信号に応じて回転する。このとき、モータ３３のギア６
７の回転がポテンショメータ１９のギア６６を介して回
動軸１４のギア６５に伝達される。さらに、このギア６
５の回転により、回動軸１４が回転し、それによりハン
ドル部１５ａ，１５ｂが開閉操作され、スレーブマニピ
ュレータ２の先端把持部７にかかっている力がハンドル
１０を介して術者にフィードバックされる。Further, in the operation sensation imparting mechanism 51, based on the information sent to the arithmetic circuit 22 of the master control unit 20, the arithmetic circuit 22 uses the handle 1 of the master manipulator 3.
Control information for feeding back to zero is calculated. Further, the information calculated by the arithmetic circuit 22 is converted into a control signal, and the motor 3 of the master manipulator 3
Sent to 3. Then, the motor 33 rotates according to the transmitted signal. At this time, the gear 6 of the motor 33
7 is transmitted to the gear 65 of the rotating shaft 14 via the gear 66 of the potentiometer 19. Furthermore, this gear 6
By the rotation of 5, the rotating shaft 14 rotates, whereby the handle portions 15a and 15b are opened and closed, and the force applied to the tip grip 7 of the slave manipulator 2 is fed back to the operator via the handle 10. .
【００４３】そこで、上記構成のものにあっては次の効
果を奏する。すなわち、本実施の形態ではスレーブマニ
ピュレータ２の動作時に、このスレーブマニピュレータ
２の先端把持部７の把持部材７ａ，７ｂの把持力量を歪
みゲージ３５によって検知させ、このスレーブマニピュ
レータ２の先端把持部７の把持部材７ａ，７ｂの歪みゲ
ージ３５からの検知信号を操作感覚付与機構５１によっ
てマスターマニピュレータ３のハンドル１０にフィード
バックさせて術者の手先の感覚に反映させるようにした
ので、マスターマニピュレータ３のハンドル１０を術者
が操作する際にスレーブマニピュレータ２の先端把持部
７の把持部材７ａ，７ｂの把持力量を術者の手先の感覚
として感じることができる。そのため、通常の手術で術
者が処置具を通して得ることができる把持力量などの手
先の感触を本実施の形態のマスタースレーブ装置１で
は、マスターマニピュレータ３のハンドル１０を術者が
操作する際に術者の手先の感覚として感じることがで
き、マスタースレーブ装置１の操作性の向上を図ること
ができる。Therefore, the above configuration has the following effects. That is, in the present embodiment, when the slave manipulator 2 operates, the amount of gripping force of the gripping members 7a and 7b of the distal gripping portion 7 of the slave manipulator 2 is detected by the strain gauge 35, and the distal gripping portion 7 of the slave manipulator 2 is detected. The detection signals from the strain gauges 35 of the gripping members 7a and 7b are fed back to the handle 10 of the master manipulator 3 by the operation feeling imparting mechanism 51 and reflected on the sense of the operator's hand, so that the handle 10 of the master manipulator 3 is reflected. Can be felt as the operator's fingertips by the amount of gripping force of the gripping members 7a and 7b of the tip gripping portion 7 of the slave manipulator 2 when the operator operates. For this reason, in the master-slave device 1 of the present embodiment, when the operator operates the handle 10 of the master manipulator 3, the operator feels the hand feeling such as the amount of gripping force that the operator can obtain through the treatment tool in a normal operation. This can be felt as a sensation at the hands of the user, and the operability of the master-slave device 1 can be improved.
【００４４】なお、本実施の形態ではスレーブマニピュ
レータ２の先端把持部７における一対の把持部材７ａ，
７ｂに図２の歪みゲージ３５を設けた構成を示したがこ
の歪みゲージ３５の代わりに、図３に示すように挿入部
４の腕部材３６ａの中の駆動軸３６ｂに歪みゲージ３７
を設け、この歪みゲージ３７によって一対の把持部材７
ａ，７ｂ間の把持力量を検知する構成にしてもよい。In the present embodiment, a pair of gripping members 7a, 7a at the distal grip 7 of the slave manipulator 2 are provided.
7 shows the configuration in which the strain gauge 35 of FIG. 2 is provided. Instead of the strain gauge 35, a strain gauge 37 is attached to the drive shaft 36b in the arm member 36a of the insertion portion 4 as shown in FIG.
And a pair of gripping members 7 are provided by the strain gauge 37.
It may be configured to detect the amount of gripping force between a and 7b.
【００４５】また、スレーブマニピュレータ２の先端把
持部７の把持部材７ａ，７ｂの歪みゲージ３５からの検
知信号を操作感覚付与機構５１によってマスターマニピ
ュレータ３のハンドル１０にフィードバックさせて術者
の手先の感覚に反映させる際に、モータ３３に送られる
制御信号をモニター２４に視覚的に表示したり、スピー
カー３４から音声として表示させる構成にしても良い。The detection signal from the strain gauges 35 of the gripping members 7a and 7b of the tip gripping portion 7 of the slave manipulator 2 is fed back to the handle 10 of the master manipulator 3 by the operation sensation imparting mechanism 51 to provide a sense of the operator's hand. When the control signal is transmitted to the motor 33, the control signal sent to the motor 33 may be visually displayed on the monitor 24, or may be displayed as sound from the speaker 34.
【００４６】また、図７および図８は本発明の第２の実
施の形態を示すものである。第１の実施の形態（図１乃
至図６参照）のマスタースレーブ装置１ではマスターマ
ニピュレータ３を操作不能な状態と操作可能な状態とに
切り替えることができるロック機構部として、電磁ロッ
ク式のロック機構部を設けた構成を示したが、本実施の
形態ではこのロック機構部を次の通り構成したものであ
る。FIGS. 7 and 8 show a second embodiment of the present invention. In the master-slave device 1 of the first embodiment (see FIGS. 1 to 6), an electromagnetic lock type lock mechanism is used as a lock mechanism that can switch the master manipulator 3 between an inoperable state and an operable state. Although the configuration in which the lock mechanism is provided is shown in this embodiment, this lock mechanism is configured as follows.
【００４７】すなわち、本実施の形態のマスターマニピ
ュレータ３のロック機構部４８には電磁プランジャなど
の直線運動器５８と、接離可能な一対の摩擦板６２ａ，
６２ｂを備えたクラッチ機構部６２とが設けられてい
る。ここで、直線運動器５８には電磁コイルなどのシリ
ンダ部５８ａと、このシリンダ部５８ａから突没可能な
プランジャシャフト５８ｂとが設けられている。That is, a linear motion device 58 such as an electromagnetic plunger and a pair of friction plates 62a which can be separated from each other are mounted on the lock mechanism 48 of the master manipulator 3 of this embodiment.
And a clutch mechanism 62 provided with 62b. Here, the linear motion device 58 is provided with a cylinder portion 58a such as an electromagnetic coil, and a plunger shaft 58b that can protrude and retract from the cylinder portion 58a.
【００４８】また、直線運動器５８のプランジャシャフ
ト５８ｂの先端部には支点５９を中心として回転自在に
支持されたリンク６０の一端部が回動自在に連結されて
いる。さらに、リンク６０の他端部には軸６８の一端部
が回動自在に連結されている。この軸６８の他端部はク
ラッチ機構部６２の一方の摩擦板６２ａに連結されてい
る。なお、軸６８には、クラッチ機構部６２の摩擦板６
２ａを他方の摩擦板６２ｂから引き離す方向に付勢する
バネ６１が設けられている。One end of a link 60 rotatably supported about a fulcrum 59 is rotatably connected to the tip of the plunger shaft 58b of the linear motion device 58. Further, one end of a shaft 68 is rotatably connected to the other end of the link 60. The other end of the shaft 68 is connected to one friction plate 62a of the clutch mechanism 62. The shaft 68 is provided with the friction plate 6 of the clutch mechanism 62.
A spring 61 is provided for urging the second friction plate 2a away from the other friction plate 62b.
【００４９】また、クラッチ機構部６２の他方の摩擦板
６２ｂには回転軸６３ａの一端部が連結されている。こ
の回転軸６３ａの他端部にはギア６３ｂが固定されてい
る。さらに、ギア６３ｂにはマスターマニピュレータ３
の図４に示すパラレルリンク機構４９の支軸４９ａに固
定されたギア４９ｂが噛合されている。そして、パラレ
ルリンク機構４９の支軸４９ａの回転はギア４９ｂとギ
ア６３ｂとの噛合部を介して摩擦板６２ｂの回転軸６３
ａに伝達されるようになっている。One end of a rotating shaft 63a is connected to the other friction plate 62b of the clutch mechanism 62. A gear 63b is fixed to the other end of the rotating shaft 63a. Further, the gear 63b has a master manipulator 3
A gear 49b fixed to a support shaft 49a of the parallel link mechanism 49 shown in FIG. The rotation of the support shaft 49a of the parallel link mechanism 49 is performed through the meshing portion of the gear 49b and the gear 63b.
a.
【００５０】また、直線運動器５８のシリンダ部５８ａ
にはマスター制御部２０の演算回路５７が接続されてい
る。さらに、マスターマニピュレータ３のハンドル１０
には術者がハンドル１０を握った状態を検知する検知機
構６４が設けられている。この検知機構６４は演算回路
５７に接続されている。The cylinder portion 58a of the linear motion device 58
Is connected to the arithmetic circuit 57 of the master control unit 20. Further, the handle 10 of the master manipulator 3
Is provided with a detection mechanism 64 for detecting a state in which the operator grips the handle 10. The detection mechanism 64 is connected to the arithmetic circuit 57.
【００５１】次に、上記構成の本実施の形態の作用につ
いて説明する。本実施の形態のマスターマニピュレータ
３のロック機構部４８では図７に示すようにバネ６１の
バネ力によってクラッチ機構部６２の摩擦板６２ａが他
方の摩擦板６２ｂから引き離されている状態ではロック
機構部４８が解除されている。そのため、この状態では
マスターマニピュレータ３の図４に示すパラレルリンク
機構４９の支軸４９ａは自由に回転できるので、マスタ
ーマニピュレータ３のハンドル１０が図６中で、Ｘ軸方
向（左右方向）、Ｙ軸方向（上下方向）、Ｚ軸方向（前
後方向）にそれぞれ移動可能、かつＺ軸の軸回り方向に
回動可能な状態でそれぞれ保持されるとともに、左右の
マスターマニピュレータ３ａ，３ｂの２つのハンドル部
材１５ａ，１５ｂ間が開閉動作可能な状態でそれぞれ保
持される。Next, the operation of the present embodiment having the above configuration will be described. In the lock mechanism 48 of the master manipulator 3 of the present embodiment, as shown in FIG. 7, the lock mechanism is in a state where the friction plate 62a of the clutch mechanism 62 is separated from the other friction plate 62b by the spring force of the spring 61. 48 has been released. Therefore, in this state, the support shaft 49a of the parallel link mechanism 49 of the master manipulator 3 shown in FIG. 4 can rotate freely, and the handle 10 of the master manipulator 3 can be moved in the X-axis direction (left-right direction) and the Y-axis Direction (up-down direction), the Z-axis direction (front-back direction), and the two handle members of the left and right master manipulators 3a, 3b while being held in a state of being rotatable around the Z-axis. The portions between 15a and 15b are held in a state in which they can be opened and closed.
【００５２】また、ハンドル１０の検知機構６４によっ
て術者がハンドル１０を握った状態を検知すると、演算
回路５７が直線運動器５８に信号を送り、直線運動器５
８を作動させる。このとき、直線運動器５８のプランジ
ャシャフト５８ｂはシリンダ部５８ａから突出される方
向に駆動され、支点５９を中心にリンク６０が反時計回
り方向に回転される。その結果、図８に示すように軸６
８が右方に移動して摩擦板６２ａを摩擦板６２ｂに接触
させる。このように摩擦板６２ａが摩擦板６２ｂに接触
することにより、その摩擦力によってギア６３ｂ、４９
ｂを介して接続されているパラレルリンク機構４９の支
軸４９ａの動きをロックさせる。When the detection mechanism 64 of the handle 10 detects that the operator has grasped the handle 10, the arithmetic circuit 57 sends a signal to the linear motion device 58 and the linear motion device 5
Activate 8 At this time, the plunger shaft 58b of the linear motion device 58 is driven in a direction protruding from the cylinder portion 58a, and the link 60 is rotated counterclockwise about the fulcrum 59. As a result, as shown in FIG.
8 moves rightward to bring the friction plate 62a into contact with the friction plate 62b. When the friction plate 62a comes into contact with the friction plate 62b in this manner, the gears 63b, 49
The movement of the support shaft 49a of the parallel link mechanism 49 connected via b is locked.
【００５３】そこで、上記構成のものにあっては次の効
果を奏する。すなわち、本実施の形態ではマスターマニ
ピュレータ３のパラレルリンク機構４９全体をロックす
るのに必要なロック機構部４８の数は６個であり、パラ
レルリンク機構４９の制御に必要なポテンショメータの
数が９個の場合より少なくて良い。Therefore, the above configuration has the following effects. That is, in the present embodiment, the number of lock mechanisms 48 necessary for locking the entire parallel link mechanism 49 of the master manipulator 3 is six, and the number of potentiometers required for controlling the parallel link mechanism 49 is nine. Less than in the case of
【００５４】また、図９（Ａ），（Ｂ）は本発明の第３
の実施の形態を示すものである。本実施の形態は第１の
実施の形態（図１乃至図６参照）のマスタースレーブ装
置１におけるマスターマニピュレータ３の構成を次の通
り変更したものである。FIGS. 9A and 9B show a third embodiment of the present invention.
1 shows an embodiment of the present invention. In the present embodiment, the configuration of the master manipulator 3 in the master-slave device 1 of the first embodiment (see FIGS. 1 to 6) is changed as follows.
【００５５】すなわち、本実施の形態のマスターマニピ
ュレータ３８には、図９（Ａ）に示すようにパラレルリ
ンク機構４９のトッププレート１２に接続されているリ
ンク４１と、このリンク４１の先端部に連結された２つ
のリンク４２，４３と、術者４０の人指し指と親指に装
着する２つの指サック３９ａ，３９ｂとが設けられてい
る。ここで、一方のリンク４２の先端部には一方の指サ
ック３９ａ、他方のリンク４３の先端部には他方の指サ
ック３９ｂがそれぞれ連結されている。That is, the master manipulator 38 of this embodiment has a link 41 connected to the top plate 12 of the parallel link mechanism 49 as shown in FIG. The two links 42 and 43 provided and the two finger sackes 39a and 39b to be attached to the index finger and thumb of the surgeon 40 are provided. Here, one finger sack 39a is connected to the tip of one link 42, and the other finger sack 39b is connected to the tip of the other link 43, respectively.
【００５６】さらに、リンク４１には、位置検出用の第
１のマーカー４４が、リンク４２には、位置検出用の第
２のマーカー４５が、リンク４３には、位置検出用の第
３のマーカー４６がそれぞれ設けられている。The link 41 has a first marker 44 for position detection, the link 42 has a second marker 45 for position detection, and the link 43 has a third marker 45 for position detection. 46 are provided respectively.
【００５７】また、マスターマニピュレータ３８の近傍
には３つのマーカー４４，４５，４６の移動量を計測す
る光学的なマーカー読み取り器４７が配設されている。
このマーカー読み取り器４７はマスター制御部２０の演
算回路２２に接続されている。なお、これ以外の部分は
第１の実施の形態のマスタースレーブ装置１と同一構成
であり、ここではその説明を省略する。In the vicinity of the master manipulator 38, an optical marker reader 47 for measuring the amount of movement of the three markers 44, 45, 46 is provided.
The marker reader 47 is connected to the arithmetic circuit 22 of the master controller 20. The other components are the same as those of the master-slave device 1 according to the first embodiment, and the description thereof is omitted here.
【００５８】次に、上記構成の本実施の形態の作用につ
いて説明する。本実施の形態のマスターマニピュレータ
３８の操作時には術者が指サック３９ａ，３９ｂを動か
すことにより、３つのマーカー４４，４５，４６がそれ
ぞれ移動する。このとき、マスターマニピュレータ３８
の近傍の光学的なマーカー読み取り器４７によって３つ
のマーカー４４，４５，４６の移動量が計測される。こ
のマーカー読み取り器４７による計測結果はマスター制
御部２０の演算回路２２に送られ、マスターマニピュレ
ータ３８の移動量が計算される。Next, the operation of the present embodiment having the above configuration will be described. When operating the master manipulator 38 of the present embodiment, the surgeon moves the finger sack 39a, 39b, so that the three markers 44, 45, 46 move. At this time, the master manipulator 38
The movement amounts of the three markers 44, 45, 46 are measured by an optical marker reader 47 near the marker. The measurement result by the marker reader 47 is sent to the arithmetic circuit 22 of the master control unit 20, and the movement amount of the master manipulator 38 is calculated.
【００５９】さらに、マスター制御部２０の演算回路２
２で計算した移動量のデータは通信手段２９を介してス
レーブ制御部２５の演算回路２８に送られ、マスターマ
ニピュレータ３８の操作に追従してスレーブマニピュレ
ータ２が駆動される。Further, the arithmetic circuit 2 of the master control unit 20
The data of the movement amount calculated in 2 is sent to the arithmetic circuit 28 of the slave control unit 25 via the communication means 29, and the slave manipulator 2 is driven following the operation of the master manipulator 38.
【００６０】また、図１０（Ａ），（Ｂ）および図１１
（Ａ），（Ｂ）は本発明の第４の実施の形態を示すもの
である。本実施の形態は第１の実施の形態（図１乃至図
６参照）のマスタースレーブ装置１におけるマスターマ
ニピュレータ３の支持機構部１１の構成を次の通り変更
したものである。FIGS. 10A and 10B and FIG.
(A) and (B) show a fourth embodiment of the present invention. In the present embodiment, the configuration of the support mechanism 11 of the master manipulator 3 in the master-slave device 1 of the first embodiment (see FIGS. 1 to 6) is changed as follows.
【００６１】すなわち、本実施の形態では図１０（Ａ）
に示すようにハンドル１０とパラレルリンク機構４９の
３つのパラレルリンク５３Ａ，５３Ｂ，５３Ｃとの間に
介設されている略三角形状のトッププレート１２の一辺
の長さＬが比較的大きくなるように設定したものであ
る。なお、図１１（Ａ）はトッププレート１２の一辺の
長さが大きい長さＬ１に設定した状態、図１１（Ｂ）は
トッププレート１２の一辺の長さが小さい長さＬ２に設
定した状態をそれぞれ示すものである。That is, in this embodiment, FIG.
As shown in FIG. 4, the length L of one side of the substantially triangular top plate 12 provided between the handle 10 and the three parallel links 53A, 53B, 53C of the parallel link mechanism 49 is relatively large. It is set. 11A shows a state in which one side of the top plate 12 is set to a large length L1, and FIG. 11B shows a state in which one side of the top plate 12 is set to a small length L2. Each is shown.
【００６２】ここで、図１１（Ａ）のトッププレート１
２を使用した場合のハンドル１０の移動量（傾斜角度）
Ａ１と図１１（Ｂ）のトッププレート１２を使用した場
合のハンドル１０の移動量（傾斜角度）Ａ２とが同じ場
合には図１１（Ａ）に示すようにトッププレート１２の
一辺の長さＬ１が大きい場合には、トッププレート１２
の傾きＢは図１１（Ｂ）に示すようにトッププレート１
２の一辺の長さＬ２が小さい場合のトッププレート１２
の傾きＣに比べて大きくなる。Here, the top plate 1 shown in FIG.
Movement amount of handle 10 when 2 is used (inclination angle)
When A1 and the movement amount (inclination angle) A2 of the handle 10 when the top plate 12 of FIG. 11B is used are the same, as shown in FIG. Is larger, the top plate 12
Of the top plate 1 as shown in FIG.
2 when the length L2 of one side is small
Is larger than the slope C of
【００６３】そこで、本実施の形態のようにトッププレ
ート１２の一辺の長さＬが比較的大きくなるように設定
した場合にはハンドル１０の移動量（傾斜角度）に応じ
たトッププレート１２の傾きが大きくなることにより、
パラレルリンク５３Ａ，５３Ｂ，５３Ｃの精度を上げる
ことができる効果がある。Therefore, when the length L of one side of the top plate 12 is set to be relatively large as in the present embodiment, the inclination of the top plate 12 according to the moving amount (inclination angle) of the handle 10 is set. Becomes larger,
There is an effect that the accuracy of the parallel links 53A, 53B, 53C can be improved.
【００６４】さらに、本発明は上記実施の形態に限定さ
れるものではなく、本発明の要旨を逸脱しない範囲で種
々変形実施できることは勿論である。次に、本出願の他
の特徴的な技術事項を下記の通り付記する。 記 （付記項１） 術野にアクセスするように配置されたス
レーブマニピュレータと、術者が操作出来る領域内に配
置され、前記スレーブマニピュレータを遠隔的に操作す
るマスターマニピュレータと、マスターマニピュレータ
に接続され、前記マスターマニピュレータの操作を電気
信号に変換するマスター制御部と、前記スレーブマニピ
ュレータ及び前記マスター制御部にそれぞれ接続され、
前記マスター制御部から送られる前記マスターマニピュ
レータの操作に追従した動きを前記スレーブマニピュレ
ータに伝達する制御信号を出力するスレーブ制御部と、
前記スレーブマニピュレータに設けられた力覚検知機構
と、前記力覚検知機構で検知した信号を術者にフィード
バックさせる機構を前記マスターマニピュレータに設け
た事を特徴とするマスタースレーブ装置。Furthermore, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit of the present invention. Next, other characteristic technical matters of the present application will be additionally described as follows. (Supplementary note 1) A slave manipulator arranged to access an operation field, a master manipulator arranged in an area where an operator can operate and remotely operating the slave manipulator, and a master manipulator connected to the master manipulator, A master control unit that converts the operation of the master manipulator into an electric signal, and is connected to the slave manipulator and the master control unit, respectively.
A slave control unit that outputs a control signal that transmits a movement following the operation of the master manipulator sent from the master control unit to the slave manipulator,
A master / slave device, wherein a force sense detection mechanism provided in the slave manipulator and a mechanism for feeding back a signal detected by the force sense detection mechanism to an operator are provided in the master manipulator.
【００６５】（付記項１の技術分野） 本発明は、生体
の、例えば体腔内に挿入したマニピュレータを操作手段
によって遠隔的に操作し、診断処置等の手術を行うマス
タースレーブ装置に関する。(Technical Field of Supplementary Note 1) The present invention relates to a master-slave apparatus for remotely operating a manipulator of a living body, for example, inserted into a body cavity by operating means to perform an operation such as a diagnostic procedure.
【００６６】（付記項１の従来技術） 特願平１１−３
３３１１１号 一般に腹壁等の体壁に穴を開け、この穴を通じて内視鏡
や処置具を経皮的に体腔内に挿入することにより、その
体腔内での様々な処置を行う経皮的な内視鏡下手術が大
きな切開を要しない低侵襲なものとして近年注目されて
いる。こうした術式は胆嚢摘出手術や肺の一部を摘出除
去する手術等で広く行われている。このような手術にお
いて、マニピュレータに内視鏡や処置具を搭載し、その
マニピュレータによる内視鏡や処置具を用いた手術を術
者に代わって間接的に行うマスタースレーブ装置が特願
平１１−３３３１１１号に示されている。(Prior Art in Appendix 1) Japanese Patent Application No. 11-3
No. 33111 In general, a hole is made in a body wall such as an abdominal wall, and an endoscope or a treatment tool is percutaneously inserted into the body cavity through the hole to perform various treatments in the body cavity. Endoscopic surgery has recently attracted attention as a minimally invasive procedure that does not require a large incision. Such an operation is widely performed by a cholecystectomy operation or an operation of removing and removing a part of a lung. In such an operation, a master-slave device in which an endoscope or a treatment tool is mounted on a manipulator and indirectly performs an operation using the endoscope or the treatment tool by the manipulator on behalf of an operator is disclosed in Japanese Patent Application No. 11-110,199. No. 333111.
【００６７】（付記項１が解決しようとする課題） マ
スタースレーブ装置のマスターマニピュレータに設けら
れている操作部は、通常の手術に用いる処置具の操作部
等と異なり、スレーブマニピュレータの処置部と直接つ
ながっていない。そのため、通常の手術で術者が処置具
を通して得る事が出来る把持力量を感じる事が出来ない
という問題があった。(Problem to be Solved by Supplementary Item 1) The operation section provided on the master manipulator of the master-slave device is different from the operation section of the treatment tool used for ordinary surgery, and is directly connected to the treatment section of the slave manipulator. Not connected. For this reason, there is a problem that the operator cannot feel the amount of gripping force that can be obtained through the treatment tool by a normal operation.
【００６８】（付記項１の目的） この問題を解決する
ために、スレーブマニピュレータに力覚検知機構を設
け、検知した情報をマスター制御部で処理して術者にフ
ィードバックさせる事を目的とする。(Purpose of Supplementary Item 1) In order to solve this problem, a slave manipulator is provided with a force sense detection mechanism, and the detected information is processed by a master control unit and fed back to an operator.
【００６９】（付記項１の効果） 操作部にスレーブマ
ニピュレータの先端把持部の力量をフィードバックする
機構を設けた事により、術者が通常の外科手術と同じよ
うに術野の情報を得ることが出来るという効果がある。(Effect of Additional Item 1) By providing a mechanism for feeding back the power of the tip grip of the slave manipulator in the operation unit, the operator can obtain information on the operation field in the same manner as a normal surgical operation. There is an effect that can be done.
【００７０】[0070]
【発明の効果】本発明によれば、スレーブマニピュレー
タの処置部の把持力量を検知する力覚検知部材と、この
力覚検知部材からの検知信号をマスターマニピュレータ
の操作部にフィードバックさせて術者の手先の感覚に反
映させる操作感覚付与機構とを設けたので、スレーブマ
ニピュレータの処置部の把持力量を術者の手先の感覚と
して感じることができ、操作性を高めることができる。
そのため、術者が通常の外科手術と同じように術野の情
報を得ることが出来るという効果がある。According to the present invention, a force detecting member for detecting the amount of gripping force of the treatment section of the slave manipulator, and a detection signal from the force detecting member is fed back to the operating section of the master manipulator to provide the operator with a feedback. Since the operation sensation imparting mechanism that reflects the sensation of the hand is provided, the amount of gripping force of the treatment section of the slave manipulator can be felt as the sensation of the operator's hand, and the operability can be improved.
Therefore, there is an effect that the surgeon can obtain information on the operation field in the same manner as a normal surgical operation.
【図１】 本発明の第１の実施の形態のマスタースレー
ブ装置のシステム全体の概略構成図。FIG. 1 is a schematic configuration diagram of an entire system of a master-slave device according to a first embodiment of the present invention.
【図２】 第１の実施の形態のマスタースレーブ装置に
おけるスレーブマニピュレータの先端把持部を示す要部
の斜視図。FIG. 2 is a perspective view of a main part showing a tip grip section of a slave manipulator in the master-slave device according to the first embodiment.
【図３】 第１の実施の形態のマスタースレーブ装置に
おけるスレーブマニピュレータの挿入部を示す要部の縦
断面図。FIG. 3 is a longitudinal sectional view of a main part showing an insertion part of a slave manipulator in the master-slave device according to the first embodiment.
【図４】 第１の実施の形態のマスタースレーブ装置に
おけるマスターマニピュレータのハンドルのパラレルリ
ンク機構を示す概略構成図。FIG. 4 is a schematic configuration diagram illustrating a parallel link mechanism of a handle of a master manipulator in the master-slave device according to the first embodiment.
【図５】 （Ａ）は第１の実施の形態のマスタースレー
ブ装置におけるパラレルリンク機構の基台を水平に置い
ている設置方法を示す概略構成図、（Ｂ）はパラレルリ
ンク機構の基台を垂直に置いている設置方法を示す概略
構成図。FIG. 5A is a schematic configuration diagram illustrating an installation method in which a base of a parallel link mechanism in the master-slave device according to the first embodiment is placed horizontally, and FIG. The schematic block diagram which shows the installation method placed vertically.
【図６】 第１の実施の形態のマスタースレーブ装置に
おけるマスターマニピュレータのハンドルを示す側面
図。FIG. 6 is a side view showing a handle of the master manipulator in the master-slave device according to the first embodiment.
【図７】 本発明の第２の実施の形態のマスタースレー
ブ装置におけるマスターマニピュレータのハンドルのロ
ック機構を示す概略構成図。FIG. 7 is a schematic configuration diagram illustrating a lock mechanism of a handle of a master manipulator in a master-slave device according to a second embodiment of the present invention.
【図８】 第２の実施の形態のマスタースレーブ装置に
おけるマスターマニピュレータのハンドルのロック機構
の動作状態を説明するための概略構成図。FIG. 8 is a schematic configuration diagram for explaining an operation state of a lock mechanism of a handle of a master manipulator in the master-slave device according to the second embodiment.
【図９】 本発明の第３の実施の形態を示すもので、
（Ａ）はマスタースレーブ装置におけるマスターマニピ
ュレータのハンドル部分を示す斜視図、（Ｂ）はマーカ
ー読み取り器を示す概略構成図。FIG. 9 shows a third embodiment of the present invention,
(A) is a perspective view showing a handle portion of a master manipulator in a master slave device, and (B) is a schematic configuration diagram showing a marker reader.
【図１０】 本発明の第４の実施の形態を示すもので、
（Ａ）はマスタースレーブ装置におけるマスターマニピ
ュレータのハンドル部分を示す斜視図、（Ｂ）はハンド
ルのトッププレートを示す平面図。FIG. 10 shows a fourth embodiment of the present invention.
(A) is a perspective view showing a handle portion of a master manipulator in the master-slave device, and (B) is a plan view showing a top plate of the handle.
【図１１】 第４の実施の形態のマスタースレーブ装置
におけるマスターマニピュレータのハンドルの動作を説
明するもので、（Ａ）はトッププレートの傾きが大きい
状態を示す概略構成図、（Ｂ）トッププレートの傾きが
小さい状態を示す概略構成図。11A and 11B are diagrams illustrating an operation of a handle of a master manipulator in a master-slave device according to a fourth embodiment, in which FIG. 11A is a schematic configuration diagram illustrating a state in which a top plate has a large inclination, and FIG. FIG. 2 is a schematic configuration diagram showing a state in which the inclination is small.
【符号の説明】 ２ スレーブマニピュレータ ２ａ 左手用のスレーブマニピュレータ ２ｂ 右手用のスレーブマニピュレータ ３ マスターマニピュレータ ３ａ 左側マスターマニピュレータ ３ｂ 右側マスターマニピュレータ ７ 先端把持部（処置部） １０ ハンドル（操作部） ２０ マスター制御部 ２５ スレーブ制御部 ２２、２８ 演算回路 ３５ 歪みゲージ（力覚検知部材） ５１ 操作感覚付与機構[Description of Signs] 2 Slave manipulator 2a Slave manipulator for left hand 2b Slave manipulator for right hand 3 Master manipulator 3a Left master manipulator 3b Right master manipulator 7 Tip holding unit (treatment unit) 10 Handle (operation unit) 20 Master control unit 25 Slave control unit 22, 28 Arithmetic circuit 35 Strain gauge (force sense member) 51 Operation sensation imparting mechanism
Claims (1)
レーブマニピュレータと、 術者が操作できる領域内に配置され、前記スレーブマニ
ピュレータを遠隔的に操作するマスターマニピュレータ
と、 このマスターマニピュレータの操作情報を電気信号に変
換するマスター制御部と、 前記スレーブマニピュレータ及び前記マスター制御部に
それぞれ接続され、前記マスター制御部から送られる前
記マスターマニピュレータの操作情報に追従した動きを
前記スレーブマニピュレータに伝達する制御信号を出力
するスレーブ制御部と、 前記スレーブマニピュレータの処置部の把持力量を検知
する力覚検知部材と、 この力覚検知部材からの検知信号を前記マスターマニピ
ュレータの操作部にフィードバックさせて術者の手先の
感覚に反映させる操作感覚付与機構とを具備したことを
特徴とするマスタースレーブ装置。1. A slave manipulator arranged to access an operative field, a master manipulator arranged in an area operable by an operator to remotely operate the slave manipulator, and operating information of the master manipulator A master control unit that converts the signal into an electric signal, and a control signal that is connected to the slave manipulator and the master control unit, and transmits a movement following the operation information of the master manipulator sent from the master control unit to the slave manipulator. A slave control unit that outputs, a force sense detection member that detects the amount of gripping force of the treatment unit of the slave manipulator, and a detection signal from the force sense detection member that is fed back to the operation unit of the master manipulator to reduce the operator's hand. Operation to reflect on feeling Master-slave device, characterized by comprising a sense imparting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000251122A JP2002059380A (en) | 2000-08-22 | 2000-08-22 | Master-slave device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000251122A JP2002059380A (en) | 2000-08-22 | 2000-08-22 | Master-slave device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002059380A true JP2002059380A (en) | 2002-02-26 |
Family
ID=18740576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000251122A Pending JP2002059380A (en) | 2000-08-22 | 2000-08-22 | Master-slave device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002059380A (en) |
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