JP2019034002A - Forceps system - Google Patents

Abstract

A forceps system that is simple, can be used with the same feeling as a conventional one, and has excellent operability. A forceps system includes a head unit having a first rotation motor and a second rotation motor, an operation unit pivotally supported by the head unit and connected to the first rotation motor via a power transmission mechanism, and a head unit. A shaft portion attached to the shaft portion, a grip portion that is disposed at the tip of the shaft portion, sandwiches the object, passes through the shaft portion, one end is connected to the grip portion via the link mechanism, and the other end rotates second. An operation member coupled to the motor via a power transmission mechanism; and a control unit that controls the first rotation motor and the second rotation motor. The control unit is configured to control the first rotation motor by acceleration-based bilateral control. And the angular response of the second rotary motor to control the angular response of the first rotary motor and the second rotary motor, and the first rotary motor and the second rotary motor according to the torque deviation of the first rotary motor and the second rotary motor. Control the torque response of a two-rotation motor[Selection] Figure 1

Description

  The present invention relates to a forceps system.

  In recent years, minimally invasive surgery (MIS), which has a relatively low burden on patients in the medical field, has attracted attention. Laparoscopic surgery, which is a typical method of MIS, is performed by inserting an instrument such as forceps through a hole formed in a patient's body. Surgical support robots such as Davinci manufactured by Intuitive Surgical Co., Ltd. have been developed that perform this laparoscopic surgery by remote control. For example, Patent Literature 1 and Patent Literature 2 include an operation unit (master side) operated by an operator and a gripping unit (slave side) that is installed in a remote place and actually grips an object. A forceps system that controls a gripping part according to the operation of the part is described.

International Publication No. 2005/109139 International Publication No. 2015/041046

  However, although the remote-operated surgical support robot can dramatically improve the performance of the surgeon, it is generally expensive and expensive to install because the device is complex and large. It is necessary to ensure a sufficiently large space for. Further, in order to master such a remote-operation type surgical support robot, the operator has to accumulate long-term operation training. For this reason, there are many requests for a medical device that is simpler, can be used without special training, and has excellent operability. In particular, forceps for grabbing and pulling tissues and organs are used not only for surgery but also for daily use in medical settings such as inspection and diagnosis. It is desirable that it can be used with the same feeling as that of

  The present invention has been made in view of the above background, and an object thereof is to provide a forceps system that is simple, can be used in the same sense as a conventional one, and is excellent in operability.

A forceps system according to one aspect of the present invention includes a head portion having a first rotation motor and a second rotation motor, and a shaft portion supported by the head portion, and connected to the first rotation motor via a power transmission mechanism. An operation unit operated by a person, a shaft unit attached to the head unit,
A gripping part disposed at the tip of the shaft part, sandwiching the object, penetrates the shaft part, one end is connected to the gripping part via a link mechanism, and the other end is connected to the second rotary motor for power transmission. An operation member coupled via a mechanism; and a control unit that controls the first and second rotary motors, wherein the control unit performs acceleration-based bilateral control to control the first rotary motor. And controlling the angular response of the first rotary motor and the second rotary motor according to the angular deviation of the second rotary motor, and according to the torque deviation of the first rotary motor and the second rotary motor, The torque response of the first rotary motor and the second rotary motor is controlled.

  According to the present invention, it is possible to provide a forceps system that is simple, can be used with the same feeling as a conventional one, and is excellent in operability.

It is a mimetic diagram showing a schematic structure of a forceps system concerning this embodiment. It is a figure which shows the internal structure of the axial part in the area | region A shown with the broken line of FIG. It is a figure which shows the prototype of the forceps system concerning this Embodiment. It is a figure which shows the internal structure of the head part in the prototype of the forceps system shown in FIG. FIG. 4 is a diagram showing a state in which the prototype of the forceps system shown in FIG. 3 is held by an operator U. It is a block diagram which shows the outline of the control in the control part of the forceps system concerning this Embodiment. It is a block diagram which shows the outline of control of DOB and RTOB in the block diagram shown in FIG. It is a graph which shows the measurement result about a torque response and an angle response in a master and a slave when performing Experiment 1 (no scaling). It is a graph which shows the measurement result about a torque response and an angle response in a master and a slave when experiment 1 was performed (with scaling). It is a figure explaining the experiment procedure in experiment 2. FIG. It is a figure explaining the experiment procedure in experiment 2. FIG. It is a figure explaining the experiment procedure in experiment 2. FIG. It is a figure explaining the experiment procedure in experiment 2. FIG. It is a graph which shows the measurement result about a torque response and an angle response in a master and a slave during performing experiment 2. It is a figure which shows an example of the screen which displayed the data measured by the forceps system on the portable terminal.

Embodiments of the present invention will be described below with reference to the drawings.
First, a schematic configuration of a forceps system according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic diagram showing a schematic configuration of a forceps system 1 according to the present embodiment. As shown in FIG. 1, the forceps system 1 includes a shaft part (shaft) 2, a grip part (end effector) 3, a head part 4, and a control part 5.

  The grip portion 3 provided at the tip of the shaft portion 2 and the shaft portion 2 is a portion to be inserted into the body of the patient, and the same forceps as existing forceps can be used. FIG. 2 is a diagram showing an internal structure of the shaft portion 2 in a region A indicated by a broken line in FIG. As shown in FIG. 2, the grip portion 3 is connected to an operation member 18 that penetrates the shaft portion 2 via a link mechanism 19. As shown in the upper part of FIG. 2, when the operating member 18 is moved toward the grip portion 3, the link mechanism 19 is opened and the grip portion 3 is opened. Further, as shown in the lower part of FIG. 2, when the operation member 18 is moved in the direction opposite to the grip part 3, the link mechanism 19 is closed and the grip part 3 is closed.

  Returning to FIG. 1, the head unit 4 includes an operation unit 6, a grip unit 7, and a first rotation motor 8 and a second rotation motor 9. The shaft portion 2 is attached to the head portion 4.

  The operation unit 6 is a lever for an operator to operate the forceps system 1 and is pivotally supported on the head unit 4 by a rotation shaft 6a. The operation unit 6 is formed with a hole 6b for the operator to operate with a finger. The operation unit 6 is connected to the first rotary motor 8 via gears serving as a power transmission mechanism housed in the head unit 4. That is, the pinion gear 13 a attached to the rotary shaft 6 a of the operation unit 6 is engaged with the pinion gear 13 b attached to the rotary shaft 8 a of the first rotary motor 8.

  When the operator rotates the operation unit 6, the operation force exerted on the operation unit 6 is transmitted to the first rotary motor 8. On the contrary, the torque of the first rotary motor 8 is transmitted to the operator as a reaction force via the operation unit 6. Of course, the pinion gear 13a is not limited to being directly engaged with the pinion gear 13b, and the pinion gear 13a may be engaged with the pinion gear 13b via some other pinion gears.

  The operation member 18 is connected to the second rotary motor 9 through gears serving as a power transmission mechanism housed in the head unit 4. That is, in the operation member 18, the rack gear 14 a attached to the other end opposite to the one end connected to the grip portion 3 via the link mechanism 19 (see FIG. 2) is connected to the rotation shaft 9 a of the second rotary motor 9. It is engaged with the attached pinion gear 14b. The rack gear 14a and the pinion gear 14b convert the rotary motion of the second rotary motor 9 into a linear motion. That is, when the second rotary motor 9 rotates, the operation member 18 moves linearly, and the link mechanism 19 is driven by this linear movement to open and close the grip portion 3.

  The second rotary motor 9 is not mechanically connected to the first rotary motor 8. The first rotary motor 8 and the second rotary motor 9 are each electrically connected to the control unit 5. The first rotary motor 8 and the second rotary motor 9 are mutually controlled by the control unit 5. Details of the control of the first rotary motor 8 and the second rotary motor 9 in the controller 5 will be described later.

  FIG. 3 is a diagram showing a prototype of the forceps system 1 according to the present embodiment. In addition, the upper stage in FIG. 3 also shows the existing forceps 501 for comparison. As shown in FIG. 3, in the prototype of the forceps system 1, the outer dimensions are larger than the conventional forceps by the size of the head portion 4 including two rotation motors (first rotation motor 8 and second rotation motor 9). It has become. The first rotary motor 8 and the second rotary motor 9 are connected to the control unit 5 (see FIG. 1) via a wiring 15.

  The shaft portion 2 is detachably attached to the head portion 4 via the connection portion 12. When the shaft portion 2 is configured to be detachable from the head portion 4, the operation member 18 shown in FIGS. 1 and 2 can be divided via a joint. With this configuration, in the forceps system 1, if a plurality of shaft portions 2 provided with grip portions 3 having different shapes are prepared, the grip portion 3 having a shape suitable for the situation can be appropriately changed by replacing the shaft portion 2. You can choose.

  On the other hand, similar to the forceps system 1, the existing forceps 501 includes a shaft portion 502 and a grip portion 503, and further includes handle portions 504 and 505 for opening and closing the grip portion 503. The mechanism for opening and closing the grip portion 503 is the same as the mechanism for opening and closing the grip portion 3 of the forceps system 1 shown in FIG. In the existing forceps 501, the operator moves the handle portion 505 that is pivotally supported to linearly move the operation member inside the shaft portion 502, thereby opening and closing the grip portion 503.

  FIG. 4 is a diagram showing an internal structure of the head unit 4 in the prototype of the forceps system 1 shown in FIG. 4 shows the internal structure of the head unit 4 as viewed from the direction of arrow B in FIG. As shown in FIG. 4, the first rotary motor 8 and the second rotary motor 9 face each other across a virtual plane passing through the central axis in the longitudinal direction of the shaft portion 2 and parallel to the plane in which the operation portion 6 rotates. And although it arrange | positions so that each rotating shaft may be on a coaxial line, it is not connected mechanically. As described above, by arranging the first rotary motor 8 and the second rotary motor 9, it is preferable that an extra moment is hardly applied to the operator U holding the grip portion 7, thereby improving operability. There is no limitation, and other arrangements are possible. The power transmission mechanism such as the pinion gear 13a and the pinion gear 13b connected to the first rotary motor 8 and the power transmission mechanism such as the rack gear 14a and the pinion gear 14b connected to the second rotary motor 9 have a small number of parts, and the head portion. 4 can be stored compactly.

  As shown in FIGS. 3 and 4, in the prototype of the forceps system 1, the first rotation motor 8 and the second rotation motor 9 occupy a large proportion of the total weight. However, the total weight of the prototype of the forceps system 1 is about 0.625 kg, and is suppressed to a level that can be used without any major trouble in an actual medical field. In the present prototype, MDH-4006 manufactured by Microtech Laboratory is used as the first rotary motor 8 and the second rotary motor 9. In the future, the weight of the forceps system 1 can be further reduced by reducing the weight of the first rotary motor 8 and the second rotary motor 9.

  FIG. 5 is a diagram illustrating a state in which the prototype of the forceps system 1 is held by the operator U. As shown in FIG. 5, the grip part 7 is grasped and a finger is put in the hole formed in the operation part 6 to operate. The grip portion 7 is sized so that it can be gripped by the entire palm. By configuring the grip portion 7 in this way, the operator U can stably hold the forceps system 1, so that the existing forceps 501 (see FIG. 3) can be obtained without being conscious of the weight of the forceps system 1. The forceps system 1 can be used with the same feeling as in FIG.

Next, control of the first rotary motor 8 and the second rotary motor 9 in the control unit 5 shown in FIG. 1 will be described.
The first rotary motor 8 and the second rotary motor 9 are mutually controlled by the control unit 5 by an acceleration-based bilateral control method. Here, bilateral control is one of the general control methods, and realizes delicate work by controlling the position of the object and the force acting on the object with high responsiveness. That is, in the acceleration-based bilateral control, the operator can move the master (operating side) to cause the slave (working side) to move corresponding to the movement of the master, and the slave receives the reaction received from the object. The power can be fed back to the master operator. In the forceps system 1 according to the present embodiment, the operation unit 6 that is actually operated by the operator and the first rotary motor 8 that is connected to the operation unit 6 via a power transmission mechanism are masters. Moreover, the grip part 3 which acts on a target object and the 2nd rotation motor 9 connected with the grip part 3 via the power transmission mechanism, the operation member 18, etc. are slaves. The acceleration reference means that angular acceleration, not torque, is used as a control amount.

  The acceleration-based bilateral control applied to the control unit 5 may have a scaling function. Here, the scaling function is a function for enlarging or reducing the scale of the output position or force with respect to the input position or force. In bilateral control applied to the control unit 5, scaling gain is introduced into at least one of torque and angle, and scaling between at least one of torque and angle is performed between the first rotary motor 8 and the second rotary motor 9. Cause it to occur. For example, when performing delicate work, the scale of torque and force output by the slave is reduced with respect to the torque and force input by the operator from the master. By doing in this way, operativity can be improved more.

で表す。 FIG. 6 is a block diagram illustrating an outline of control in the control unit 5 of the forceps system 1. Here, α represents a scaling gain for angle response, β represents a scaling gain for torque response, C _p represents a position controller, and C _f represents a force controller. The angular responses at the master and slave are represented by θ _M ^res and θ _S ^res , respectively. Also, the reaction torque in the master and slave

Represented by

  As shown in FIG. 6, the angle and torque in the first rotary motor 8 as a master and the second rotary motor 9 as a slave are a disturbance observer (DOB) and a reaction torque estimation observer (RTOB: Reaction). It is controlled using Torque Observer).

FIG. 7 is a block diagram showing an outline of control of DOB and RTOB. Where θ ^res is the angular response, I ^ref is the current reference, T ^reac is the reaction torque, T ^dis is the disturbance torque, K _tn is the torque constant, g _dis is the cutoff frequency of the low-pass filter for the disturbance torque, and g _reac is the reaction. Cut-off frequency of the low-pass filter with respect to torque, D is viscosity, J _n is inertia, and F _c is Coulomb friction.

  DOB is designed to quickly estimate and compensate for disturbances. Robust acceleration control is achieved by estimating the sum of disturbance torques by DOB and performing compensation using the estimated disturbance torques. As shown in FIG. 7, the total sum of the estimated disturbance torque is obtained by a current reference and an angular acceleration response. Also, the angular acceleration response is usually calculated by a second derivative of the angular response obtained by the encoder. That is, the sum total of the disturbance torque is expressed by the following formula.

  RTOB is applied to estimate the reaction torque without using a torque sensor. RTOB estimates reaction torque applied to each rotary motor (first rotary motor 8 and second rotary motor 9) from an object based on DOB. That is, in RTOB, reaction torque is estimated by subtracting other forces such as internal friction that can be estimated in advance from the sum of disturbance torques estimated by DOB.

In the bilateral control shown in FIG. 6, it is necessary to satisfy two goals simultaneously in order to transmit a clear tactile sense. One is to track the position response of the master and slave to each other. The other is to artificially achieve the law of action and reaction between the master and the slave. These goals are expressed by the following equations.
θ _M ^res −θ _S ^res = 0 (Expression 2)
T _M ^reac + T _S ^reac = 0 (Equation 3)
That is, the angular response of the first rotary motor 8 and the second rotary motor 9 is controlled according to the angular deviation between the first rotary motor 8 and the second rotary motor 9. Further, the torque response of the first rotary motor 8 and the second rotary motor 9 is controlled according to the torque deviation between the first rotary motor 8 and the second rotary motor 9. According to the acceleration-based bilateral control based on the mode concept, (Expression 2) and (Expression 3) can be realized simultaneously.

Further, motion scaling is realized by acceleration-based bilateral control. The goal of bilateral control scaling is expressed as follows.
θ _M ^res −αθ _S ^res = 0 (Expression 4)
T _M ^reac + βT _S ^reac = 0 (Formula 5)
These goals can be described in oblique coordinates. Bilateral control is realized by oblique coordinate control. The reproducibility of the environmental impedance can be arbitrarily set by changing the scaling gains α and β.

  Next, an experiment for evaluating the force transmission function of the forceps system 1 according to the present embodiment will be described below. In the following description, FIG. 1 is referred to for the configuration of the forceps system 1 and FIGS. 6 and 7 are appropriately referred to for the control of the forceps system 1.

Two experiments (Experiment 1 and Experiment 2) were performed to evaluate the function of force transmission using the prototype of the forceps system 1 shown in FIG. In the bilateral control position controller Cp (s) = Kp + Kvs and force controller Cf = Kf, the parameters are Kp = 2500, Kvs = 100.0, Kf = 0.8000, g _dis = 472.1, g _Reac was set to 472.1, respectively.

<Experiment 1>
First, an experiment conducted for verifying the ability of the forceps system 1 according to the present embodiment to recognize the rigidity of the environment will be described.
In Experiment 1, the forceps system 1 is used to perform an opening / closing operation without gripping, gripping a soft object (low-rigid environment), and gripping a hard object (high-rigid environment). A sponge was used as the soft object, and an aluminum block was used as the hard object.

  When the object is gripped by the gripper 3 as opposed to when the gripper 3 grips nothing, the torque response should increase due to the reaction force received from the object. In addition, when the sponge as the object is grasped by the grip portion 3, the object is crushed, whereas when the aluminum block as the object is grasped by the grip portion 3, the object is very hard and almost hard. I won't collapse. For this reason, when the aluminum block, which is a hard object, is grasped by the grip portion 3, the angular response should be smaller than when the sponge, which is a soft object, is grasped.

  FIG. 8 shows torques in the first rotary motor 8 as the master and the second rotary motor 9 as the slave when the experiment 1 is performed without scaling by bilateral control (α = 1, β = 1). It is a graph which shows the measurement result about a response and an angle response. Here, in FIG. 8A, the horizontal axis represents elapsed time [s], and the vertical axis represents torque response [Nm]. In FIG. 8B, the horizontal axis represents elapsed time [s], and the vertical axis represents angular response [rad]. In FIG. 8A, a solid line indicates a torque response in the master (Master), and a broken line indicates a torque response in the slave (Slave). Similarly, in FIG. 8B, the solid line indicates the angular response in the master, and the broken line indicates the angular response in the slave.

  As shown in FIG. 8, when the elapsed time is between 0 seconds and 5 seconds, an opening / closing operation in which nothing is gripped by the grip portion 3 is performed. The first rotary motor 8 as the master and the second rotary motor 9 as the slave rotate according to the operating force acting on the master. For this reason, when the elapsed time is between 0 seconds and 5 seconds, nothing is gripped by the grip portion 3, so the torque response is small. When the elapsed time is between 5 seconds and 10 seconds, the holding part 3 holds the sponge. Due to the reaction force from the sponge, the torque stress is larger than in the case of an opening / closing operation in which nothing is gripped. When the elapsed time is between 12 seconds and 18 seconds, the aluminum block is grasped by the grip portion 3. The torque response is almost the same as when holding the sponge, but the angular response is smaller than when holding the sponge.

  FIG. 9 shows torque responses in the first rotary motor 8 as the master and the second rotary motor 9 as the slave when the experiment 1 is performed with scaling by bilateral control (α = 2, β = 2). It is a graph which shows the measurement result about angle response. Here, in FIG. 9A, the horizontal axis represents elapsed time [s], and the vertical axis represents torque response [Nm]. In FIG. 9B, the horizontal axis represents elapsed time [s], and the vertical axis represents angular response [rad]. In FIG. 9A, the solid line indicates the torque response in the master (Master), and the broken line indicates the torque response in the slave (Slave). Similarly, in FIG. 9B, a solid line indicates an angular response in the master (Master), and a broken line indicates an angular response in the slave (Slave).

  As shown in FIG. 9A, since the angular response scaling gain α and the torque response scaling gain β are both set to 2, the master torque response and the angular response are respectively the slave torque response and the angular response. It has doubled. That is, in the forceps system 1, it was confirmed that scaling of force transmission was correctly realized. Further, the behavior of the torque response and the angle response when the scaling shown in FIG. 9 is performed is substantially the same as the behavior of the torque response and the angle response when the scaling shown in FIG. 8 is not performed.

  From the above, it was confirmed that the operator can recognize the difference in the rigidity of the environment through the forceps system 1 in both cases of scaling and not scaling.

<Experiment 2>
Next, Experiment 2 for confirming whether the forceps system 1 according to the present embodiment can be used in the same manner as an existing forceps will be described. In Experiment 2, in order to simulate an actual MIS, a needle with a thread was inserted into a pad simulating an organ and a knot was knotted.

  10 to 13 are diagrams for explaining the experimental procedure in Experiment 2. FIG. In Experiment 2, as shown in FIGS. 10 to 13, the forceps system 1 according to the present embodiment was used with the right hand (left side in FIG. 10), and the existing forceps 501 was used with the left hand (right side in FIG. 10). . The thread 32 and the needle 33 were the same as those used in actual surgery. The pad 31 simulates a patient's organ and is a member having moderate softness.

  First, as shown in FIG. 10, the needle 33 is held by the grip portion 3 in the forceps system 1, and the tip of the needle 33 is inserted into the pad 31. Subsequently, as shown in FIG. 11, the needle 33 is pulled out from the pad 31 by the grip portion 3 in the forceps system 1. Subsequently, as shown in FIG. 12, the thread 32 is held by the grasping portion 3 of the forceps system 1, the needle 33 is held by the existing forceps 501, and the existing forceps 501 is moved to form a loop made of the thread 32. Make the needle 33 through the loop. Finally, as shown in FIG. 13, the thread 32 held by the grip portion 3 of the forceps system 1 and the needle 33 held by the existing forceps 501 are pulled in opposite directions to form a knot.

  The operator's feeling of use when performing the knotting operation with the forceps system 1 according to the present embodiment is almost the same as that when performing the operation with the existing forceps 501. That is, it was confirmed that the forceps system 1 according to the present embodiment can be used for actual medical practice such as MIS.

  FIG. 14 is a graph showing measurement results of torque response and angle in the master and the slave during the experiment 2. In FIG. 14A, the horizontal axis represents elapsed time [s], and the vertical axis represents torque response [Nm]. In FIG. 14B, the horizontal axis represents elapsed time [s], and the vertical axis represents angular response [rad]. In FIG. 14A, the solid line indicates the torque response in the master (Master), and the broken line indicates the torque response in the slave (Slave). Similarly, in FIG. 14B, the solid line shows the angular response in the master (Master), and the broken line shows the angular response in the slave (Slave). In Experiment 2, the scaling gains α and β in the bilateral control of the forceps system 1 were set to 1. That is, the torque response and the angular response are almost equal between the master and the slave. Furthermore, the periods indicated by (i), (ii), (iii), and (iV) in the graph correspond to periods during which the procedures shown in FIGS. 10, 11, 12, and 13 are performed, respectively. To do.

  As shown in FIG. 14, in the period (i) (the period of the procedure in FIG. 10), the torque response increases at an elapsed time of 8 seconds. This is because the needle 33 is firmly held at the moment when the operator inserts the needle 33 into the pad 31. In the period (ii) (the period of the procedure in FIG. 11), a large torque response of about 0.2 Nm is obtained at an elapsed time of 22 seconds. This indicates that a strong gripping force is required to pull out the needle 33 from the pad 31.

  In the period (iii) (the period of the procedure in FIG. 12), the forceps system 1 only holds the thread 32, and the existing forceps 501 is moved to form a loop with the thread 32, and the needle 33 is placed in the loop. I passed through. For this reason, the torque response and the angle response in the forceps system 1 are constant. In the period (iV) (the period of the procedure in FIG. 13), the torque response increases to about 0.1 Nm at the elapsed time of 64 seconds. This is because the operator pulls the thread 32 held by the grip portion 3 of the forceps system 1 to make a knot. Thus, it was confirmed that the data acquired by the forceps system 1 in Experiment 2 was consistent with a series of behaviors.

  The results measured by the forceps system 1 during Experiment 1 and Experiment 2 can be stored in a storage medium such as a memory. The storage medium may be provided in the forceps system 1 or may be provided in an external analyzer that is separate from the forceps system 1. The external analysis device is, for example, a personal computer, a portable terminal such as iPhone (registered trademark) or iPad (registered trademark). When the storage medium is provided as a separate body from the forceps system 1, the forceps system 1 further includes a transmission unit, and the transmission unit transmits each of the first rotation motor 8 and the second rotation motor 9 from the control unit 5. Torque and angle data are acquired and transmitted to the portable terminal. The transmission unit may perform wired communication such as an electric wire and an optical fiber, or may perform wireless communication.

  FIG. 15 is a diagram illustrating an example of a screen on which data measured by the forceps system 1 is displayed on the external analyzer. In the figure, Motor 0 represents the first rotary motor 8 (see FIG. 1), and Motor 1 represents the second rotary motor 9 (see FIG. 1). As shown in FIG. 15, during the operation of the forceps system 1, the position (position), speed (velocity), and operating force (force) in the first rotary motor 8 and the second rotary motor 9 can be confirmed in real time. it can. In addition, if the measurement data is recorded by pressing the Start Record button, the measurement data can be analyzed separately. Thereby, for example, it becomes possible to quantify the delicate force adjustment in the operation of the forceps of the surgeon during the operation, and the skill of the surgeon can be improved.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Forceps system 2 Shaft part 3 Gripping part 4 Head part 5 Control part 6 Operation part 6a, 8a, 9a Rotating shaft 6b Hole 7 Grip part 8 1st rotation motor 9 2nd rotation motor 12 Connection part 13a, 13b, 14b Pinion gear 14a Rack gear 15 Wiring 18 Operation member 19 Link mechanism

Claims (4)

A head portion having a first rotation motor and a second rotation motor;
An operation unit that is pivotally supported by the head unit, connected to the first rotary motor via a power transmission mechanism, and operated by an operator;
A shaft portion attached to the head portion;
A gripping part disposed at a tip of the shaft part and sandwiching an object;
An operating member penetrating the shaft portion, one end connected to the grip portion via a link mechanism, and the other end connected to the second rotary motor via a power transmission mechanism;
A controller for controlling the first rotary motor and the second rotary motor,
The control unit controls an angular response of the first rotary motor and the second rotary motor according to an angular deviation between the first rotary motor and the second rotary motor by acceleration-based bilateral control, A forceps system that controls torque responses of the first rotation motor and the second rotation motor in accordance with a torque deviation between the first rotation motor and the second rotation motor.   The forceps system according to claim 1, wherein the control unit causes scaling in at least one of a torque and an angle between the first rotary motor and the second rotary motor.   The forceps system according to claim 1 or 2, wherein the shaft portion is configured to be detachable from the head portion.   Further comprising a transmission means, wherein the transmission means obtains torque and angle data in each of the first rotary motor and the second rotary motor from the control unit, and transmits the data to an external analyzer. The forceps system according to any one of claims 1 to 3.

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