Interface device and surgery assistance robot system

Abstract

Provided is an interface device which is used for a virtual space or a remote operation, and is capable of presenting a reaction force.　The interface device includes at least an Nth link (where N is a positive integer) that rotates about a prescribed rotation axis, and a linear movement axis along which the (N +1)th link linearly moves with respect to the Nth link. The rotation axis is a horizontal rotation axis that intersects the linear movement axis. The interface device further includes an (N-1)th link that supports the Nth link via the horizontal rotation axis, and rotates about a vertical rotation axis which passes through the horizontal rotation axis.

Description

TITLE OF THE INVENTION INTERFACE DEVICE AND SURGICAL-ASSISTANCE ROBOT SYSTEM TECHNICAL FIELD

[0001] The technology disclosed in the present specification (hereinafter referred to as the “present disclosure”) relates to an interface device and a surgical-assistance robot system used in, for example, a virtual space or remote operation. BACKGROUND ART

[0002] In technical fields such as virtual reality and telereality, a force-tactile display, that is, a “haptic device,” that presents a force sense or a tactile sense to an operator in addition to visual information and auditory information is used. Use of the haptic device enables real-time simulation of a virtual environment in which a plurality of objects coexists and physical interactions, such as collisions or contact between the objects, occur. Specifically, collisions between objects and contact forces at the time of the collisions are calculated precisely and in real time in consideration of dynamics, and the forces are reproduced by a motor, which makes possible presentation, to a user via the haptic device, of a realistic feeling obtained when the user touches or grasps an object in the virtual environment.

[0003] In this technical field, a type of haptic device operated by a user gripping a stylus is known. For example, a reaction-force-presenting haptic interface that supports a stylus by using a serial-link mechanism (for example, see Patent Document 1) and a parallel-link haptic input-output apparatus that supports a stylus by using a serial-link mechanism (for example, see Patent Document 2) have been proposed. CITATION LIST PATENT DOCUMENT

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2007-510232 Patent Document 2: Japanese Patent Application Laid-Open No. 2000-334687 Patent Document 3: Japanese Patent Application Laid-Open No. 2015-12560 SUMMARY OF THE INVENTION PROBLEMS TO BE SOLVED BY THE INVENTION

[0005] An object of the present disclosure is to provide an interface device and a surgical-assistance robot system that are used in, for example, a virtual space or remote operation and are capable of reaction-force presentation. SOLUTIONS TO PROBLEMS

[0006] The present disclosure has been made in consideration of the problems described above, and a first aspect of the present disclosure is an interface device including at least: an N-th link that performs rotational motion about a predetermined rotation axis (where N is a positive integer); and a linear-motion axis along which an (N+1)-th link performs linear motion with respect to the N-th link. The rotation axis is a horizontal rotation axis that intersects the linear-motion axis.

[0007] The interface device according to the first aspect further includes: an (N+1)-th rotary motor that generates power for causing the (N+1)-th link to perform linear motion; a rotation-linear motion conversion unit that converts rotational motion of the (N+1)-th rotary motor into linear motion of the (N+1)-th link; an N-th rotary motor that generates power for causing the N-th link to perform rotational motion; and an N-th transmission unit that transmits rotational motion of the N-th rotary motor to the horizontal rotation axis, and a rotation axis of the (N+1)-th rotary motor is arranged on the horizontal rotation axis.

[0008] The interface device according to the first aspect further includes an (N-1)-th link that supports the N-th link via the horizontal rotation axis and performs rotational motion about a vertical rotation axis passing through the horizontal rotation axis.

[0009] Further, a second aspect of the present disclosure is a surgical-assistance robot system including: an operation unit including one or more followers to which a surgical instrument is attached; a console unit including one or more leaders operated by an operator; a display apparatus that displays a captured image of an affected part of a patient during surgery using a surgical instrument; and a control device that controls operation of the one or more followers so as to follow operation of the one or more leaders, in which at least one of the one or more leaders includes the interface device according to the first aspect.

[0010] However, the term “system” used here refers to an object in which a plurality of devices (or functional modules that implement specific functions) is logically assembled, and whether or not each device or functional module is included in a single housing is not particularly an issue. That is, both a single device including a plurality of parts or functional modules and an assembly of a plurality of devices correspond to a “system”. EFFECTS OF THE INVENTION

[0011] According to the present disclosure, an interface device and a surgical-assistance robot system that support a stylus operated by a user with low friction, achieve high rigidity and weight reduction, and are capable of reaction-force presentation can be provided.

[0012] Note that the effects described in the present specification are merely illustrative, and effects brought about by the present disclosure are not limited to the foregoing. Further, the present disclosure may further produce additional effects besides the effects described above.

[0013] Still other objects, characteristics, and advantages of the present disclosure will become apparent from a more detailed description on the basis of an embodiment described later and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0014] Fig. 1 is a diagram illustrating a basic configuration of an interface device 100 to which the present disclosure is applied. Fig. 2 is a diagram illustrating a specific configuration of an interface device 200 to which the present disclosure is applied. Fig. 3 is a diagram illustrating a configuration of the interface device 200 with a base unit 210 and a first link 201 shown in cross section. Fig. 4 is a diagram illustrating an external configuration of the interface device 200. Fig. 5 is a diagram illustrating a movable range of the interface device 200. Fig. 6 is a diagram illustrating the movable range of the interface device 200. Fig. 7 is a diagram illustrating the movable range of the interface device 200. Fig. 8 is a diagram illustrating a manipulability ellipsoid of a stylus 204 for each position at which a third link 203 is displaced in a linear-motion direction. Fig. 9 is a diagram illustrating the manipulability ellipsoid of the stylus 204 for each position at which the third link 203 is displaced in the linear-motion direction. Fig. 10 is a diagram illustrating the manipulability ellipsoid of the stylus 204 for each position at which the third link 203 is displaced in the linear-motion direction. Fig. 11 is a diagram illustrating another configuration example of an interface device to which the present disclosure is applied. Fig. 12 is a diagram illustrating a configuration of an interface device 1100 with a base unit 1110 shown in cross section. Fig. 13 is an enlarged diagram illustrating a cable reduction mechanism corresponding to orthogonal intersecting axes. Fig. 14 is a diagram illustrating an appearance of an operation console apparatus formed by arranging two interface devices 200L and 200R side by side. Fig. 15 is a diagram illustrating an appearance in which an operation console apparatus 1400 is combined with an immersive display device 1501 into which a user looks. Fig. 16 is a diagram illustrating an appearance in which the operation console apparatus 1400 is combined with an eyeglass-type or goggle-type display device 1601. Fig. 17 is a diagram illustrating an appearance in which the operation console apparatus 1400 is combined with a naked-eye display 1701. Fig. 18 is a diagram illustrating an external configuration of a surgical-assistance robot system 1000. Fig. 19 is a diagram illustrating a functional configuration of the surgical-assistance robot system 1000. MODE FOR CARRYING OUT THE INVENTION

[0015] Hereinafter, an embodiment of the present disclosure will be described in the following order with reference to the drawings.

[0016] A. Overview B. Basic configuration of interface device C. Specific configuration of interface device C-1. Degree-of-freedom configuration of interface device C-2. Drive mechanism of interface device C-3. Reaction-force presentation C-4. Modification C-5. Summary D. Other configuration of interface device D-1. Degree-of-freedom configuration of interface device D-2. Drive mechanism of interface device E. Application example

[0017] A. Overview A haptic device is required to have a simpler mechanism that further improves rigidity, a movable range, lightness, responsiveness, low cost, and robustness. A haptic device in which a stylus operated by a user is supported by a serial-link mechanism or a parallel-link mechanism is common. If a mechanism that supports the stylus is lightweight, the user can be immersed in operation without feeling interposition of the mechanism, degradation in operation feeling due to inertial force of the mechanism when the stylus is moved quickly is small, the user can easily perceive a small reaction force when the small reaction force is presented, and fatigue during long-term operation can be reduced. The serial-link mechanism is relatively lightweight and has a wide movable range, but rigidity tends to decrease. If a joint is manufactured with high rigidity in order to increase rigidity, weight increases and operability decreases. Further, the serial-link mechanism has high responsiveness but a small movable range.

[0018] Thus, the present disclosure proposes an interface device that supports a stylus operated by a user with low friction, achieves high rigidity and weight reduction, and is capable of reaction-force presentation.

[0019] B. Basic configuration of interface device Fig. 1 schematically illustrates a basic configuration of an interface device 100 capable of reaction-force presentation, to which the present disclosure is applied. The illustrated interface device 100 includes a first link 101 arranged vertically, a first joint portion 111 that causes the first link 101 to perform a pan motion with respect to a mechanical ground (MG), a second link 102 connected to a tip portion of the first link 101, a second joint portion 112 that causes the second link 102 to perform a tilt motion with respect to the first link 101, a third link 103 connected to a tip portion of the second link 102, and a third joint portion 113 that causes the third link 103 to perform a linear motion with respect to the second link 102. A stylus 104 operated by a user is attached to a distal end of the third link 103 via a fourth joint portion 114.

[0020] Here, the first joint portion 111 has a rotational degree of freedom about a vertical rotation axis (first axis) coinciding with a longitudinal direction of the first link 101. The second joint portion 112 has a rotational degree of freedom about a horizontal rotation axis (second axis) orthogonal to a rotation axis (first axis) of the first joint portion 111. The third joint portion 113 has a linear-motion degree of freedom to be displaced in a linear-motion direction orthogonal to (or intersecting) a rotation axis (second axis) of the second joint portion 112. The second link 102 and the third link 103 are arranged such that longitudinal directions of the second link 102 and the third link 103 coincide with each other, and are coupled by the third joint portion 113.

[0021] The stylus 104 may have any shape and structure, but the stylus 104 is preferably small in diameter and lightweight so that the user can operate the stylus 104 with a feeling similar to holding a pen. Further, the stylus 104 may be a device that incorporates a sensor such as, for example, an inertial measurement unit (IMU) and capable of multi-axis measurement including three attitude axes. The stylus 104 may be detachably attached to the fourth joint portion 114 (for example, a dedicated stylus 104 for each user may be attached to and used with the interface device 100 in a replaceable manner). The fourth joint portion 114 that connects the stylus 104 to the distal end of the third link 103 may be, for example, a universal joint.

[0022] A position from a base portion (MG) of the interface device 100 to the distal end of the third link 103 is determined by a rotation angle p of the first joint portion 111, a rotation angle 0 of the second joint portion 112, and a distance (or a total length of the second link 102 and the third link 103) r from the second joint portion 112 to a selection of the third link 103. That is, the interface device 100 according to the present disclosure can also be referred to as a three-axis polar-coordinate type of p, 0, and r. The polarcoordinate type has a characteristic of facilitating an increase in rigidity while maintaining light weight, as compared with a serial-link type. The interface device 100 according to the present disclosure has a degree-of-freedom configuration in the order of pan, tilt, and linear motion from the mechanical ground toward the distal end. In contrast, the reaction-force-presenting haptic interface described in Patent Document 1 has a degree-of-freedom configuration in the order of pan, tilt, and tilt from a base portion toward a distal end, and differs from the interface device 100 according to the present disclosure.

[0023] The interface device 100 includes motors that drive the respective links 101 to 103. The interface device 100 uses a reduction and transmission mechanism using a cable to transmit driving force of the motors to the links. However, arrangement of each motor and a power transmission mechanism will be described later.

[0024] C. Specific configuration of interface device Fig. 2 illustrates a specific configuration of an interface device 200 capable of reaction-force presentation, to which the present disclosure is applied. The illustrated interface device 200 includes a first link 201 arranged perpendicular to a base unit 210, a second link 202 connected to a tip portion of the first link 201, and a third link 203 connected to a tip portion of the second link 202. As described later, the second link 202 is a component integral with an output capstan 242. Fig. 3 illustrates the interface device 200 viewed from the same direction as Fig. 2, and illustrates the base unit 210 and the first link 201 in cross section. Further, Fig. 4 illustrates a state in which the interface device 200 is viewed from a direction different from Fig. 2.

[0025] C-1. Degree-of-freedom configuration of interface device First, the degree-of-freedom configuration of the interface device 200 will be described with reference to Figs. 2 to 4.

[0026] The first link 201 has a rotational degree of freedom about a vertical rotation axis (first axis) 211 coinciding with a longitudinal direction of the first link 201, and performs a pan motion with respect to the base unit 210. Further, the second link 202 has a rotational degree of freedom about a horizontal rotation axis (second axis) 212 arranged on the vertical rotation axis 211, and performs a tilt motion with respect to the first link 201. Further, the third link 203 is arranged such that a longitudinal direction of the third link 203 coincides with the second link 202, and is displaced in a direction of a linear-motion axis (third axis) 213 orthogonal to (or intersecting) the horizontal rotation axis 212, which is a rotation axis of the second link 202.

[0027] C-2. Drive mechanism of interface device Subsequently, drive mechanisms of the respective links 201 to 203 will be described with reference to Figs. 2 to 4.

[0028] Drive mechanism of first link: The base unit 210 is a box-shaped structural body, and, as illustrated in Fig. 3, incorporates a first motor 221 that drives the first link 201 and supports the first link 201 so as to be rotatable about the vertical rotation axis 211. The first motor 221 is arranged away from the vertical rotation axis 211 such that an output shaft of the first motor 221 is parallel to the vertical rotation axis 211.

[0029] A cable reduction mechanism is used for power transmission from the first motor 221 to the first link 201. This cable reduction mechanism includes, as illustrated in Fig. 4, a cable reduction mechanism input capstan (hereinafter simply referred to as an “input capstan”) 231 and a cable reduction mechanism output capstan (hereinafter simply referred to as an “output capstan”) 241. The input capstan 231 is coaxially fixed to the output shaft of the first motor 221. Whereas, the output capstan 241 is a semi-cylindrical structural body, and is fixed to the first link 201 such that a center axis of the output capstan 241 coincides with the vertical rotation axis 211.

[0030] Then, as can be seen from Fig. 4, a pair of cables 251a and 251b are wound around the input capstan 231 in mutually opposite directions, and other ends of the respective cables 251a and 251b are wound around an outer circumference of the output capstan 241 in mutually opposite directions. Therefore, when the first motor 221 rotates in a certain direction, one of the cables is wound around the input capstan 231 (at that time, another cable is unwound from the input capstan 231), so that rotation is transmitted to the output capstan 241, and the first link 201 can be rotationally driven about the vertical rotation axis 211. When the first motor 221 rotates in the opposite direction, the first link 201 rotates about the vertical rotation axis 211 in a direction opposite to the direction described above. A ratio between radii of the input capstan 231 and the output capstan 241 serves as a reduction ratio of this cable reduction mechanism.

[0031] Drive mechanism of second link: The first link 201 is a U-shaped structural body, and is supported by the base unit 210 at a bottom portion of the U-shape so as to be rotatable about the vertical rotation axis 211. Further, the first link 201 holds, at one leg portion of the U-shape (on a far side in the plane of Fig. 3), a second motor 222 that drives the second link 202 and a third motor 223 that drives the third link 203. The second motor 222 is arranged away from the horizontal rotation axis 212 such that an output shaft of the second motor 222 is parallel to the horizontal rotation axis 212. Further, the third motor 223 is arranged such that an output shaft of the third motor 223 is coaxial with the horizontal rotation axis 212.

[0032] Furthermore, a cable reduction mechanism that transmits power from the second motor 222 to the second link 202 is arranged inside the U-shape of the first link 201. The cable reduction mechanism includes an input capstan 232 and an output capstan 242. The input capstan 232 is coaxially fixed to the output shaft of the second motor 222. Whereas, the output capstan 242 is a semi-cylindrical structural body, and is supported by one leg portion of the U-shape of the first link 201 (on the far side in the plane of Fig. 3) such that a center axis of the output capstan 242 coincides with the horizontal rotation axis 212 and the output capstan 242 is rotatable about the horizontal rotation axis 212. Further, the output capstan 242 is integral with the second link 202, and an upper end portion of the output capstan 242 forms the second link 202. Then, a pair of cables 252a and 252b are wound around the input capstan 232 in mutually opposite directions, and other ends of the respective cables are wound around an outer circumference of the output capstan 242 in mutually opposite directions. Therefore, when the second motor 222 rotates in a certain direction, one of the cables is wound around the input capstan 232 (at that time, another cable is unwound from the input capstan 232), so that rotation is transmitted to the output capstan 242, and the second link 202 can be rotationally driven about the horizontal rotation axis 212. Further, when the second motor 222 rotates in the opposite direction, the second link 202 rotates in a direction opposite to the direction described above. A ratio between radii of the input capstan 232 and the output capstan 242 serves as a reduction ratio of the cable reduction mechanism.

[0033] Note that the drive mechanism of the second link 202 is not limited to the cable reduction mechanism as described above (see Figs. 2 and 3). For example, the second motor 222 may be installed on the base unit 210, and a rotational force of the second motor 222 may be transmitted by an orthogonal intersecting-axis reduction structure (such as a bevel gear or a cable reduction structure) to rotationally drive the second link 202 about the horizontal rotation axis 212.

[0034] Drive mechanism of third link: The second link 202 is integral with the output capstan 242, and an upper end portion of the output capstan 242 is the second link 202. The second link 202 has a longitudinal direction orthogonal to the horizontal rotation axis 212. Then, the third link 203 is mounted on the second link 202 via a sliding member such as a linear guide 243 so as to be movable with low friction along the longitudinal direction of the second link 202. The linear guide 243 supports the third link 203 such that the linear-motion axis 213 along which the third link 203 performs translational motion intersects the horizontal rotation axis 212. In Figs. 2 and 3, the linear guide 243 is illustrated in a simplified manner, but various types of linear guides such as, for example, a recirculating ball type, a circulated ball type, and a cross-roller type can be applied.

[0035] Rotation of the third motor 223 is transmitted to the third link 203 via a cable rotation-linear motion conversion mechanism, and the third link 203 advances and retreats along the linear-motion axis 213 as a result. The cable rotation-linear motion transmission mechanism includes an input capstan 233 coaxially fixed to the output shaft of the third motor 223 and the linear guide 243 that supports the third link 203 so as to be capable of reciprocating with low friction along the longitudinal direction of the second link 202. Then, a pair of cables 253a and 253b are wound around the input capstan 233 in mutually opposite directions, and one cable 253a extends as it is in a direction of the distal end and has a terminal end fixed on an upper surface side of the third link 203. By rotating the third motor 223 to wind the cable 253a around the input capstan 233 and pull the cable 253a, the third link 203 retreats on the linear-motion axis 213. Further, another cable 253b is folded back toward a bottom surface side at a rear end portion of the third link 203, goes around to the bottom surface side, then extends toward the distal end side, and has a terminal end fixed on the bottom surface side of the third link 203. By rotating the third motor 223 in the opposite direction to wind the cable 253b around the input capstan 233 and pull the cable 253b, the third link 203 advances on the linear-motion axis 213. In short, when the third motor 223 rotates in a certain direction, one cable 253a can be pulled to cause the third link 203 to retreat along the linear-motion axis 213. When the third motor 223 rotates in the opposite direction, another cable 253b can be pulled to cause the third link 203 to advance.

[0036] It should be fully understood that, in the interface device 200, a structure in which the cable rotation-linear motion conversion mechanism is arranged for driving the third link 203 attached via the linear guide 243 is novel and has an extremely simple structure, and thus contributes to an increase in rigidity, weight reduction, and cost reduction.

[0037] Note that, as the drive mechanism of the third link 203, instead of the cable rotation-linear motion conversion mechanism as described above (see Figs. 2 and 3), a rack and a pinion gear may be used to convert rotation of the third motor 223 into linear motion.

[0038] C-3. Reaction-force presentation The interface device 200 is capable of presenting reaction forces of three axes, namely the vertical rotation axis 211, the horizontal rotation axis 212, and the linear-motion axis 213, at the distal end of the third link 203 by driving the first motor 221, the second motor 222, and the third motor 223.

[0039] As illustrated in Figs. 2 and 3, the stylus 204 operated by a user is attached to the distal end of the third link 203. The stylus 204 is connected to the distal end of the third link 203 via a universal joint 214, but, of course, the stylus 204 may be attached to the distal end of the third link 203 using a joint mechanism other than a universal joint. The user is able to perceive the reaction force presented from the interface device 200 with a fingertip gripping the stylus 204.

[0040] The stylus 204 is a device that incorporates a sensor such as, for example, an IMU and is capable of measuring nine axes or six axes, including three axes of roll, pitch, and yaw. Further, the stylus 204 may be detachably attached (for example, a dedicated stylus 204 for each user may be attached to and used with the interface device 200 in a replaceable manner).

[0041] The stylus 204 may have any shape and structure, but the stylus 204 is preferably small in diameter and lightweight so that the user is able to operate the stylus 204 with a feeling similar to holding a pen. For example, in a case where the interface device 200 is used as a haptic interface in operation of a virtual space, the stylus 204 is only required to have a shape suitable for an operation handle. Further, in a case where the interface device 200 is used as a haptic interface of a surgical simulator, the stylus 204 may have a shape in which a corresponding surgical instrument such as a scalpel or forceps is realistically reproduced.

[0042] Note that the stylus 204 may include communication means with an external control device (not illustrated) separate from the main body of the interface device 200, and may directly transmit a detection signal of the IMU sensor to the external control device. The communication means may be either wired or wireless. The communication means may use short-range communication such as, for example, Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0043] C-4. Modification At least one of the first motor 221, the second motor 222, or the third motor 223 may include a brake mechanism. For example, the brake mechanism may be used to present an excessive reaction force to the fingertip of the user or to limit a movable range of the stylus 204, during reaction-force presentation,. Further, the first motor 221, the second motor 222, and the third motor 223 may include a limiter mechanism in addition to the brake mechanism. Alternatively, at least one of the vertical rotation axis 211, the horizontal rotation axis 212, or the linear-motion axis 213 may be a passive axis having only a brake mechanism instead of a motor.

[0044] Further, each of the first motor 221, the second motor 222, and the third motor 223 may be equipped with a rotation angle sensor such as an encoder that measures a rotation angle of the output shaft. In such a case, a position of the distal end of the third link 103 (or the stylus 204) can be calculated on the basis of an angle measured by each encoder. In such a case, because the user is able to indicate a position using the stylus 204, the interface device 200 can be applied to an input device (such as a controller of a leader-follower-type robot system). Further, because positioning control of the first motor 221, the second motor 222, and the third motor 223 can be performed using the angles measured by the respective encoders, the interface device 200 can also be used as a three-axis manipulator.

[0045] In the interface device 200 according to the present disclosure, the distal end of the third link 103 performs polar-coordinate-system motion (described later). For this reason, the user easily recognizes the movable range of the stylus 204 attached to the distal end of the third link 103. Further, when the interface device 200 is used as a robot controller or manipulator as described above, calculations of kinematics and inverse kinematics are simplified, and control becomes easy.

[0046] C-5. Summary The interface device 200 according to the present disclosure has three-axis degrees of freedom in the order of pan, tilt, linear motion from the base unit 210 toward the third link 203 at the distal end. Further, because a cable-type power transmission mechanism is used to drive each axis, the interface device 200 has a characteristic in which backdrivability is improved.

[0047] The interface device 200 according to the present disclosure has low friction by using cable drive for all three axes. Further, because the interface device 200 is directly connected from the vertical rotation axis 211, which is the first axis, to the stylus 204 at the distal end (there is no bending joint formed by a link), the interface device 200 is lightweight and has a natural inertial force. Therefore, the interface device 200 provides a high operation feeling during free motion.

[0048] Figs. 5 to 7 illustrate a state in which the interface device 200 (the distal end of the third link 203) operates within a movable range. However, for convenience of space in the drawings, the first link 201 is fixed without rotating about the vertical rotation axis 211. As illustrated in Figs. 5 to 7, the distal end of the third link 203 (that is, the stylus 204) has a spherical-shell-shaped movable range 501 that is expressible in a polar coordinate system including, as an origin, an intersection between the vertical rotation axis 211 and the horizontal rotation axis 212, and including rotation p about the vertical rotation axis 211, rotation 0 about the horizontal rotation axis 212, and displacement r of the third link 203 in the linear-motion direction.

[0049] Further, from Figs. 5 to 7, the interface device 200 will be understood to have a structure directly connected from the vertical rotation axis 211, which is the first axis, to the stylus 204 at the distal end (there is no bending joint formed by a link). Therefore, interference between the interface device 200 and the environment is less likely to occur. Further, because there is no bending joint formed by a link, an orientation of the stylus 204 at the distal end hardly changes at any of the positions illustrated in Figs. 5 to 7. Therefore the user is able to always operate the stylus 204 with a feeling similar to holding a pen.

[0050] Further, Figs. 8 to 10 respectively illustrate manipulability ellipsoids 801, 901, and 1001 of the stylus 204 at the distal end, at respective positions where the third link 203 is displaced in the linear-motion direction. A manipulability ellipsoid represents in which direction a robot hand is easily moved (well known). At any of the linear-motion positions of the third link 203 illustrated in Figs. 8 to 10, the respective manipulability ellipsoids 801, 901, and 1001 do not have distorted shapes. Therefore, it can be seen that, regardless of an orientation of the third link 203, the user can easily operate the stylus 204.

[0051] Structural characteristics of the interface device 200 according to the present disclosure and effects brought about by the respective characteristics are summarized below.

[0052] Characteristic (1): The third motor 223 is installed on the first link 201 with the output shaft located on the horizontal rotation axis 212, which is the rotation axis of the second link 202. According to such a configuration, inertia of the third motor 223 is not carried by the second link 202, and thus low inertia is achieved and a light operation feeling can be provided to the user.

[0053] Characteristic (2): The horizontal rotation axis 212, which is the rotation axis of the second link 202, is connected to a distal end of the third motor 223 without a bending joint. Therefore, because of the extremely simple structure, the configuration contributes to an increase in rigidity, weight reduction, and cost reduction.

[0054] Characteristic (3): A cable reduction mechanism is used for all drive axes among the vertical rotation axis 211, the horizontal rotation axis 212, and the linear-motion axis 213. Therefore, the interface device 200 can achieve backlash-free operation, low friction, and high backdrivability.

[0055] Characteristic (4): The distal end of the third link 203 (that is, the stylus 204) performs polarcoordinate-system motion including, as an origin, an intersection between the vertical rotation axis 211 and the horizontal rotation axis 212, and including rotation p about the vertical rotation axis 211, rotation 0 about the horizontal rotation axis 212, and displacement r of the third link 203 in the linear-motion direction. Therefore, because the movable range of the distal end of the third link 103 has a spherical shell shape, the user easily recognizes the movable range. Further, when the interface device 200 is used as a robot controller or manipulator, calculations of kinematics and inverse kinematics are simplified, and control becomes easy.

[0056] D. Other configuration of interface device Fig. 11 illustrates another configuration example of an interface device capable of reaction-force presentation, to which the present disclosure is applied. The illustrated interface device 1100 includes a first link 1101 arranged perpendicular to a base unit 1110, a second link 1102 connected to a tip portion of the first link 1101, and a third link 1103 connected to a tip portion of the second link 1102. As described later, the second link 1102 is a component integral with an output capstan 1142. However, the base unit 1110 is drawn transparently to reveal the internal configuration. Further, Fig. 12 illustrates the interface device 1100 viewed from the same direction as Fig. 11, and illustrates the base unit 1110 and the output capstan 1142 in cross section.

[0057] D-1. Degree-of-freedom configuration of interface device First, a degree-of-freedom configuration of the interface device 1100 will be described.

[0058] The first link 1101 has a rotational degree of freedom about a vertical rotation axis (first axis) 1111 coinciding with a longitudinal direction of the first link 1101, and performs a pan motion with respect to the base unit 1110. Further, the second link 1102 has a rotational degree of freedom about a horizontal rotation axis (second axis) 1112 arranged on the vertical rotation axis 1111, and performs a tilt motion with respect to the first link 1101. Further, the third link 1103 is arranged such that a longitudinal direction of the third link 1103 coincides with a longitudinal direction of the second link 1102, and is displaced in a direction of a linear-motion axis (third axis) 1113 orthogonal to (or intersecting) the horizontal rotation axis 1112, which is a rotation axis of the second link 1102.

[0059] D-2. Drive mechanism of interface device Subsequently, drive mechanisms of the respective links 1101 to 1103 will be described.

[0060] Drive mechanism of first link: The base unit 1110 is a box-shaped structural body and, as illustrated in Fig. 11, incorporates a first motor 1121 that drives the first link 1101. Further, the base unit 1110 has an eave portion 1110a having an inverted L-shaped cross section, and supports the first link 1101 so as to be rotatable about the vertical rotation axis 1111 in a manner in which the first link 1101 is suspended from a top plate portion of the eave portion 1110a. The first motor 1121 is arranged away from the vertical rotation axis 1111 such that an output shaft of the first motor 1121 is parallel to the vertical rotation axis 1111.

[0061] A cable reduction mechanism is used for power transmission from the first motor 1121 to the first link 1101. The cable reduction mechanism includes, as illustrated in Fig. 11, an input capstan 1131 and an output capstan 1141. The input capstan 1131 is coaxially fixed to the output shaft of the first motor 1121. Whereas, the output capstan 1141 is a semi-cylindrical structural body, and is fixed to the first link 1101 such that a center axis of the output capstan 1141 coincides with the vertical rotation axis 1111.

[0062] Then, a pair of cables 1151a and 1151b are wound around the input capstan 1131 in mutually opposite directions, and other ends of the respective cables 1151a and 1151b are wound around an outer circumference of the output capstan 1141 in mutually opposite directions. Therefore, when the first motor 1121 rotates in a certain direction, one of the cables is wound around the input capstan 1131 (at that time, another cable is unwound from the input capstan 1131), so that rotation is transmitted to the output capstan 1141, and the first link 1101 can be rotationally driven about the vertical rotation axis 1111. Further, when the first motor 1121 rotates in the opposite direction, the first link 1101 rotates about the vertical rotation axis 1111 in a direction opposite to the direction described above. A ratio between radii of the input capstan 1131 and the output capstan 1141 serves as a reduction ratio of the cable reduction mechanism.

[0063] Drive mechanism of second link: As illustrated in Fig. 11, the base unit 1110 also incorporates a second motor 1122 that drives the second link 1102. The second motor 1122 is arranged such that an output shaft of the second motor 1122 is coaxial with the vertical rotation axis 1111. The first link 1101 is a rectangular-frame-shaped structural body, has an opening 1101b through which the output shaft of the second motor 1122 is inserted at a bottom portion of the rectangular frame, and includes, inside the rectangular frame, a cable reduction mechanism that transmits power from the second motor 1122 to the second link 1102. The cable reduction mechanism differs from the cable reduction mechanism for the second axis of the interface device 200 described in section C above, and has a structure adapted to orthogonally intersecting axes.

[0064] Fig. 13 illustrates, in an enlarged manner, a portion of the cable reduction mechanism corresponding to the orthogonally intersecting axes. The cable reduction mechanism for the orthogonally intersecting axes includes an input capstan 1132 and the output capstan 1142, but a rotation axis of the input capstan 1132 is the vertical rotation axis 1111, whereas a rotation axis of the output capstan 1142 is the horizontal rotation axis 1112, and the respective rotation axes intersect orthogonally. The input capstan 1132 is coaxially fixed to the output shaft of the second motor 1122 (not illustrated in Fig. 13). Whereas, the output capstan 1142 is a semi-cylindrical structural body, and is supported by a wall portion of the rectangular frame of the first link 1101 such that a center axis of the output capstan 1142 coincides with the horizontal rotation axis 1112 and the output capstan 1142 is rotatable about the horizontal rotation axis 1112. Further, the output capstan 1142 is integral with the second link 1102 and includes the second link 1102 inside the semi-cylindrical structure, as can be seen from Figs. 12 and 13.

[0065] As illustrated in Fig. 13, a pair of cables 1152a and 1152b are wound around the input capstan 1132 in mutually opposite directions. Further, two arc-shaped wire grooves through which the cables 1152a and 1152b are respectively inserted along the outer circumference are provided in an inner wall of the output capstan 1142. The respective cables 1152a and 1152b are arranged in the respective wire grooves in mutually opposite directions, and have terminal ends fixed. Therefore, when the second motor 1122 rotates in a certain direction, one of the cables is wound around the input capstan 1132 (at that time, another cable is unwound from the input capstan 1132), so that rotation is transmitted to the output capstan 1142, and the second link 1102 can be rotationally driven about the horizontal rotation axis 1112. Further, when the second motor 1122 rotates in the opposite direction, the second link 1102 rotates in a direction opposite to the direction described above. A ratio between a radius of the input capstan 1132 and a radius of the wire grooves provided in an arc shape in the inner wall of the output capstan 1142 serves as a reduction ratio of the cable reduction mechanism.

[0066] Drive mechanism of third link: The second link 1102 is integral with the output capstan 1142. As can be seen from Figs. 12 and 13, the second link 1102 is provided inside the semi-cylindrical structure of the output capstan 1142. Then, the third link 1103 is mounted on the second link 1102 via a sliding member such as a linear guide 1143 so as to be movable with low friction along the longitudinal direction of the second link 1102. The linear guide 1143 supports the third link 1103 such that the linear-motion axis 1113 along which the third link 1103 performs translational motion intersects the horizontal rotation axis 1112. Various types of linear guides, such as a recirculating ball type, a circulated ball type, and a cross-roller type, can be applied to the linear guide 1143.

[0067] Further, a third motor 1123 that drives the third link 1103 is held by one wall portion of the rectangular frame of the first link 1101 (on the far side in the plane of Fig. 11). The third motor 1123 is arranged such that an output shaft of the third motor 1123 is coaxial with the horizontal rotation axis 1112. Rotation of the third motor 1123 is transmitted to the third link 1103 via a cable rotation-linear motion conversion mechanism, and the third link 1103 advances and retreats along the linear-motion axis 1113 as a result.

[0068] As illustrated in Figs. 12 and 13, the cable rotation-linear motion transmission mechanism includes an input capstan 1133 coaxially fixed to the output shaft of the third motor 1123 and the linear guide 1143 that supports the third link 1103 so as to be capable of reciprocating with low friction along the longitudinal direction of the second link 1102. Then, a pair of cables 1153a and 1153b are wound around the input capstan 1133 in mutually opposite directions, and another end of one cable 1153a extends as it is in a direction of the distal end and has a terminal end fixed on an upper surface side of the third link 1103. By rotating the third motor 1123 to wind the cable 1153a around the input capstan 1133 and pull the cable 1153a, the third link 1103 retreats in a direction of the linear-motion axis 1113. Further, another cable 1153b is folded back toward a bottom surface side at a rear end portion of the third link 1103, goes around to the bottom surface side, then extends toward the distal end side, and has a terminal end fixed on the bottom surface side of the third link 1103. By rotating the third motor 1123 in the opposite direction to wind the cable 1153b around the input capstan 1133 and pull the cable 1153b, the third link 1103 advances in the direction of the linear-motion axis 1113. In short, when the third motor 1123 rotates in a certain direction, one cable 1153a can be pulled to cause the third link 1103 to retreat along the linear-motion axis 1113. When the third motor 1123 rotates in the opposite direction, another cable 1153b can be pulled to cause the third link 1103 to advance.

[0069] In the interface device 100, a structure in which the cable rotation-linear motion conversion mechanism is arranged for driving the third link 1103 attached via the linear guide 1143 is novel and has an extremely simple structure, and thus contributes to an increase in rigidity, weight reduction, and cost reduction.

[0070] Further, the interface device 1100 has a main characteristic in that a structure in which the second motor 1122 is arranged in the base unit 1110 together with the first motor 1121 is implemented by using, for driving the second axis, the cable reduction mechanism adapted to orthogonally intersecting axes. Due to this characteristic, the interface device 1100 is capable of achieving an even lighter operation feeling as compared with the interface device 200 described in section C above.

[0071] Note that the point that the interface device 1100 has a stylus 1104 attached to a distal end of the third link 1103 via a universal joint 1114 and the point that a reaction force is presented to the hand of the user through the stylus 1104 are as described in section C-4 above. Further, the modification described in section C- 4 above and the characteristics of the interface device described in section C-5 above should be understood to similarly apply to the interface device 1100.

[0072] E. Application example The interface device 200 according to the present disclosure (similarly, the interface device 1100) can be applied to a haptic device in operation of a virtual space. The virtual space referred to here is, for example, a surgical simulator, a metaverse space, a game, 3D CAD, or the like.

[0073] Fig. 14 illustrates an appearance of an operation console apparatus 1400 formed by arranging two interface devices 200L and 200R side by side for the left and right hands of the user, respectively. The interface devices 200L and 200R are both assumed to be equipped with an angle sensor such as an encoder on each axis and to be capable of position detection and positioning control of the stylus at the distal end. As illustrated in Fig. 14, the user can grip styluses 204L and 204R of the respective interface devices 200L and 200R with the left and right hands, respectively, to perform operation of the virtual space. At that time, a light and natural operation feeling that does not make the user feel the presence of the interface devices 200L and 200R can be provided to the user.

[0074] In the interface devices 200L and 200R, because the third links 203 extend straight and long from the device main bodies, an environment with the environment is less likely to occur during operation, and compatibility with various display devices is good. Fig. 15 illustrates an appearance in which the operation console apparatus 1400 is combined with an immersive display device 1501 into which the user looks. Further, Fig. 16 illustrates an appearance in which the operation console apparatus 1400 is combined with an eyeglass-type or goggle-type display device 1601 used by being worn on the head of the user. Further, Fig. 17 illustrates an appearance in which the operation console apparatus 1400 is combined with a naked-eye display 1701. Note that the naked-eye display 1701 is a display apparatus capable of presenting a stereoscopic image to the naked-eye user (for example, see Patent Document 3).

[0075] As can be seen from Figs. 14 to 17, in the interface devices 200L and 200R, the third links 203 extend straight and long from the main body of the operation console apparatus 1400, and these links do not collide with each other or interfere with each other. Therefore, as illustrated in Figs. 15 to 17, the user can perform operation with both hands brought close to each other.

[0076] As described above, each of the interface devices 200L and 200R provides a high operation feeling during free motion because the mechanism is lightweight. The user obtains a natural operation feeling without feeling interposition of the interface devices 200L and 200R, and therefore can be immersed in operation using the styluses 204L and 204R. Degradation in operation feeling due to inertial force of the mechanisms when the styluses 204L and 204R are moved quickly is small, the user can easily perceive a small reaction force when the small reaction force is presented, and fatigue during long-term operation can be reduced.

[0077] The styluses 204L and 204R may have any shapes and structures, but the styluses 204L and 204R are preferably small in diameter and lightweight so that the user can operate the styluses 204L and 204R with a feeling similar to holding a pen. For example, in a case where the interface device 200 is used as a haptic interface in operation of a virtual space, the stylus 204 is only required to have a shape suitable for an operation handle.

[0078] For example, in a case where the operation console apparatus 1400 is used as a haptic interface of a surgical simulator or as a leader of a leader-follower-type surgical-assistance robot system, the styluses 204L and 204R may have shapes in which corresponding surgical instruments such as a scalpel or tweezers are realistically reproduced. Because the styluses 204L and 204R have excellent perceptibility for the user when a small reaction force is presented, force sense presentation can be performed to the hand of the user from a weak force for cutting tissue with a scalpel to a relatively large force for pulling up skin.

[0079] Fig. 18 illustrates an external configuration of a leader-follower-type surgical-assistance robot system 1000 that uses the operation console apparatus 1400 as a leader.

[0080] The surgical-assistance robot system 1000 includes a console unit 1010, an operation unit 1020, and a robot control device 1030. The surgical robot system 1000 can use an external network. The console unit 1010 and the operation unit 1020 respectively correspond to a leader device and a follower device in the leader-follower type. The robot control device 1030 coordinates the console unit 110 and the operation unit 120 with each other to achieve leader-follower control.

[0081] An operator such as a physician or a healthcare worker operates the console unit 1010 to instruct the surgical-assistance robot system 1000 to perform an operation. Whereas, the operation unit 1020 includes a robot arm to which a surgical instrument necessary for surgery is attached, is configured to operate in accordance with operation of the console unit 1010 by the operator, and is arranged, in an operating room, in the vicinity of an operating table 1050 on which a patient lies in order to perform surgery on the patient.

[0082] The console unit 1010 is used, for example, when the operator remotely operates the operation unit 120 from a place separated from the operating table 150 in the operating room (or from outside the operating room). The console unit 1010 includes, as input means by the operator, the operation console apparatus 1400 (or the interface device 200 or the interface device 1100) illustrated in Fig. 14. When an operation instruction or a command by the operator is input via the operation console apparatus 1400, the console unit 1010 transmits the operation instruction to the operation unit 1020 via the robot control device 1030. The operation unit 1020 operates each arm that supports a surgical instrument or an imaging device in accordance with the operation instruction received via the robot control device 1030, and performs surgery on the patient.

[0083] A display apparatus 1014 displays a 2D or 3D image of an affected part imaged by an imaging unit included in a sensor unit 1024 on the operation unit 1020 side. In the example illustrated in Fig. 18, the display apparatus 1014 is an immersive display device into which the operator looks, but the display apparatus 1014 may be an eyeglass-type or goggle-type display device used by being worn on the head of the operator, or may be a naked-eye display.

[0084] In the example illustrated in Fig. 18, the operation unit 1020 includes a robot arm 1025 including articulated serial links, a sensor unit 1024 such as an imaging unit mounted at a distal end of the robot arm, one or more followers that hold various surgical instruments and operate following the leader, a surgical-instrument replacement unit that replaces a surgical instrument attached to a follower, and the like. The operation unit 1020 is assumed to further include a communication device capable of communicating various types of information with the robot control device 1030.

[0085] In the example illustrated in Fig. 18, the robot control device 1030 has an external structure physically integral with the operation unit 1020. Further, the robot control device 1030 is assumed to be configured such that respective control devices for the console unit 1010, the operation unit 1020, and the imaging unit are physically integrated (that is, a single housing). Further, a plurality of (for example, four) leg portions with wheels is provided as moving means, at a bottom of the housing of the robot control device 1030. Therefore, an operator, an assistant, or the like can push by hand to move the housing of the robot control device 1030 and the operation unit 1020 within the operating room or into and out of the operating room.

[0086] Fig. 19 schematically illustrates a functional configuration of the surgical-assistance robot system 1000. Note that illustration of the robot control device 1030 is omitted in Fig. 19 for simplification of description. The functions of the robot control device 1030 are assumed to be implemented by either one of the console unit 1010 or the operation unit 1020 (or by cooperative operation of both units). An operator such as a surgeon operates a leader 1012 (operation console apparatus 1400) on the console unit 1010 side, and surgery can be performed on the operation unit 1020 side installed in the operating room by controlling driving of a follower 1022 that holds a surgical instrument in accordance with operation of the leader by the operator. The surgical instrument referred to here is, for example, a medical instrument such as forceps, a pneumoperitoneum tube, an energy treatment instrument, tweezers, a retractor, or the like.

[0087] The console unit 1010 includes a leader-side control unit 1011, a leader 1012, a leader-side communication unit 1013, and a display apparatus 1014. The console unit 1010 operates under overall control by the leader-side control unit 1011.

[0088] The leader 1012 is configured using the operation console apparatus 1400 illustrated in Fig. 14, and can perform input operation and force sense presentation in a three-axis polar coordinate system. A user (such as a surgeon) can perform remote operation or on-screen 3D operation on the follower 1022 on which a surgical instrument such as forceps is mounted, in the operation unit 1020. Using the leader 1012, for example, operation of three translational degrees of freedom for translationally moving the surgical instrument, three rotational degrees of freedom for changing an orientation of the surgical instrument, one grasping degree of freedom such as opening and closing operation of the forceps, and the like can be performed.

[0089] The display apparatus 1014 presents, to an operator of the leader 1022, information regarding surgery being performed in the operation unit 1020 mainly on the basis of sensor information acquired by a sensor unit 1024 (described later) on the operation unit 1020 side.

[0090] For example, in a case where the sensor unit 1024 on the operation unit 1020 side is equipped with an imaging unit that observes a surface of an affected part from above, an endoscope in laparoscopic surgery or bodycavity endoscopic surgery held by the follower 1022, or an interface that captures captured images of these cameras, and where the image data is transferred to the console unit 1010 with low latency via the transmission path 1031, the display apparatus 1014 displays the captured image of the affected part on a screen in real time.

[0091] Further, in a case where the sensor unit 1024 is equipped with a function that measures a force sense such as an external force or a moment acting on the surgical instrument mounted on the follower 1022, and where such force sense information is transferred to the console unit 1010 with low latency via the transmission path 1031, a reaction force can be presented to the operator by a force sense presentation function incorporated in the operation console apparatus 1400. Specifically, a reaction force is presented to the operator by driving the first to third motors of the interface device 200 (or 1100) used in the operation console apparatus 1400.

[0092] The leader-side communication unit 1013 performs processing of transmitting and receiving signals to and from the operation unit 1020 via the transmission path 1031 under control of the leader-side control unit 1011. For example, in a case where the transmission path 1031 includes an optical fiber, the leader-side communication unit 1013 includes an electro-optical conversion unit that converts an electrical signal transmitted from the console unit 1010 into an optical signal, and a photoelectric conversion unit that converts an optical signal received from the transmission path 1031 into an electrical signal. The leader-side communication unit 1013 transfers, to the operation unit 1020 via the transmission path 1031, an operation command for the follower 1022 input by the operator via the console unit 1010. Further, the leader-side communication unit 1013 receives sensor information sent from the operation unit 1020 via the transmission path 1031.

[0093] Whereas, the operation unit 1020 includes a follower-side control unit 1021, the follower 1022, the sensor unit 1024, and a follower-side communication unit 1024. The operation unit 1020 performs operation in accordance with an instruction from the console unit 1010 under overall control by the follower-side control unit 1021.

[0094] The follower 1022 is, for example, a robot arm including an articulated link structure, and has a surgical instrument or an observation device mounted as an end effector at a tip (or a distal end). Examples of the surgical instrument include forceps, a pneumoperitoneum tube, an energy treatment instrument, tweezers, a retractor, and the like. Further, examples of the observation device include an endoscope and the like. The follower-side control unit 1021 interprets an operation command sent from the console unit 1010 via the transmission path 1031, converts the operation command into a drive signal for an actuator that drives each joint of the follower 1022, and outputs the drive signal. Then, the follower 1022 operates on the basis of the drive signal from the follower-side control unit 1021.

[0095] The sensor unit 1024 includes a plurality of sensors that detects a situation at an affected part in surgery being performed by the follower 1022, and is further equipped with an interface for capturing sensor information from various sensor devices installed in the operating room. Further, the sensor unit 1024 includes a force torque sensor (FTS) for measuring an external force or a moment acting on the surgical instrument mounted at the tip (distal end) of the follower 1022. Further, the sensor unit 1024 is equipped with an imaging unit with which the follower 1022 observes a surface of the affected part during surgery, an RGB camera that captures a microscope image, an observation device such as an endoscope in laparoscopic or body-cavity endoscopic surgery, or an interface that captures captured images of these cameras.

[0096] The follower-side communication unit 1024 performs processing of transmitting and receiving signals to and from the console unit 1010 via the transmission path 1031 under control by the follower-side control unit 1021. For example, in a case where the transmission path 1031 includes an optical fiber, the follower-side communication unit 1024 includes an electro-optical conversion unit that converts an electrical signal transmitted from the operation unit 1020 into an optical signal, and a photoelectric conversion unit that converts an optical signal received from the transmission path 1031 into an electrical signal.

[0097] The follower-side communication unit 1024 transfers force sense data of the surgical instrument acquired by the sensor unit 1024 and a captured image obtained by an imaging unit, an endoscope, or the like to the console unit 1010 (operation console apparatus 1400) via the transmission path 1031. Further, the follower-side communication unit 1024 receives, via the transmission path 1031, an operation command for the follower 1022 sent from the console unit 1010.

[0098] On the console unit 1010 side, an operation command for remotely operating the follower 1022 is input via the leader 1012 (operation console apparatus 1400). The operation command includes a pan motion and a tilt motion of the robot arm as the follower 1022, and operation of the surgical instrument held by the follower 1022.

[0099] The follower-side control unit 1021 performs drive control so as to achieve operation of the follower 1022 in accordance with the received operation command. INDUSTRIAL APPLICABILITY

[0100] The present disclosure has been described above in detail with reference to a specific embodiment. However, the present disclosure should not be construed as being limited to the embodiment described above, and a person skilled in the art can obviously make modifications or substitutions to the embodiment without departing from the gist of the present disclosure. Further, the effects described in the present specification are merely illustrative, and the effects brought about by the present disclosure are not limited, and additional effects not described in the present specification may be provided.

[0101] Applications of the interface device according to the present disclosure are wide. The interface device according to the present disclosure can be applied to, for example, a haptic interface in operation of a virtual space (for example, a surgical simulator, a metaverse space, a game, 3DCAD, or the like). Further, the interface device according to the present disclosure is capable of position detection and positioning control by being equipped with an angle sensor such as an encoder on each axis. Therefore, the interface device can be utilized as a controller for operating a remote robot (for example, a surgical robot, a service robot, an industrial robot, or the like), robot teaching (for example, picking operation teaching using an input device or the like), a three-axis manipulator, or the like.

[0102] In short, the present disclosure has been described in the form of examples, and the content described in the present specification should not be construed in a limiting manner. The claims should be taken into consideration in order to determine the gist of the present disclosure.

[0103] Note that the present disclosure can also have configurations as follows.

[0104] (1) An interface device including at least: an N-th link that performs rotational motion about a predetermined rotation axis (where N is a positive integer); and a linear-motion axis along which an (N+1)-th link performs linear motion with respect to the N-th link.

[0105] (2) The interface device according to (1), in which the rotation axis is a horizontal rotation axis that intersects the linear-motion axis.

[0106] (3) The interface device according to (2), further including: an (N+1)-th rotary motor that generates power for causing the (N+1)-th link to perform linear motion; a rotation-linear motion conversion unit that converts rotational motion of the (N+1)-th rotary motor into linear motion of the (N+1)-th link; and an N-th rotary motor that generates power for causing the N-th link to perform rotational motion; and an N-th transmission unit that transmits rotational motion of the N-th rotary motor to the horizontal rotation axis.

[0107] (4) The interface device according to (3), in which a rotation axis of the (N+1)-th rotary motor is arranged on the horizontal rotation axis.

[0108] (5) The interface device according to any one of (3) or (4), in which the N-th transmission unit transmits rotation of the N-th rotary motor to the N-th link, by using a cable.

[0109] (6) The interface device according to any one of (3) to (5), in which the rotation-linear motion conversion unit pulls the (N+1)-th link in a direction of the linear-motion axis, by using a cable wound around an output shaft of the (N+1)-th rotary motor.

[0110] (7) The interface device according to any one of (3) to (6), in which the (N+1)-th link is attached to the N-th link via a linear guide.

[0111] (8) The interface device according to any one of (3) to (7), further including: an (N-1)-th link that supports the N-th link via the horizontal rotation axis.

[0112] (9) The interface device according to (8), in which the (N-1)-th link performs rotational motion about a vertical rotation axis passing through the horizontal rotation axis.

[0113] (10) The interface device according to (9), further including: an (N-1)-th rotary motor that generates power for causing the (N-1)-th link to perform rotational motion; and an (N-1)-th transmission unit that transmits rotational motion of the (N-1)-th rotary motor to the horizontal rotation axis.

[0114] (11) The interface device according to (10), in which the (N-1)-th transmission unit transmits rotation of the (N-1)-th rotary motor to the (N-1)-th link, by using a cable.

[0115] (12) The interface device according to any one of (10) or (11), in which the (N+1)-th rotary motor is installed on the (N-1)-th link.

[0116] (13) The interface device according to any one of (10) to (12), in which the N-th rotary motor is installed on the (N-1)-th link.

[0117] (14) The interface device according to any one of (10) to (13), in which the (N-1)-th motor, the N-th motor, and the (N+1)-th motor each include an encoder that measures a rotation angle of an output shaft.

[0118] (15) The interface device according to any one of (10) to (14), in which at least one of the (N-1)-th motor, the Nth motor, or the (N+1)-th motor includes a brake mechanism.

[0119] (16) A surgical-assistance robot system including: an operation unit including one or more followers to which a surgical instrument is attached; a console unit including one or more leaders operated by an operator; a display apparatus that displays a captured image of an affected part of a patient during surgery using a surgical instrument; and a control device that controls operation of the one or more followers so as to follow operation of the one or more leaders, in which at least one of the one or more leaders includes the interface device according to any one of claims 1 to 15. REFERENCE SIGNS LIST

[0120] 100 Interface device 101 First link 102 Second link 103 Third link 104 Stylus 111 First joint portion 112 Second joint portion 113 Third joint portion 114 Fourth joint portion 201 First link 202 Second link 203 Third link 204 Stylus 5 210 Base unit 211 Vertical rotation axis 212 Horizontal rotation axis 213 Linear-motion axis 214 Universal joint 10 221 First motor 222 Second motor 223 Third motor 231 Input capstan (vertical rotation axis) 232 Input capstan (horizontal rotation axis) 15 233 Input capstan (linear-motion axis) 241 Output capstan (vertical rotation axis) 242 Output capstan (horizontal rotation axis) 243 Linear guide 251a, 251b Cable (vertical rotation axis) 20 252a, 252b Cable (horizontal rotation axis) 253a, 253b Cable (linear-motion axis) 1000 Surgical-assistance robot system 1010 Console unit 1011 Leader-side control unit 25 1012 Leader 1013 Leader-side communication unit 1014 Display apparatus 1020 Operation unit 1021 Follower-side control unit 30 1022 Follower 1023 Follower-side communication unit 1024 Sensor unit 1025 Robot arm 1030 Robot control device 1031 Transmission path 1050 Operating table 1100 Interface device 1101 First link 1102 Second link 1103 Third link 1104 Stylus 1110 Base unit 1111 Vertical rotation axis 1112 Horizontal rotation axis 1113 Linear-motion axis 1114 Universal joint 1121 First motor 1122 Second motor 1123 Third motor 1131 Input capstan (vertical rotation axis) 1132 Input capstan (horizontal rotation axis) 1133 Input capstan (linear-motion axis) 1141 Output capstan (vertical rotation axis) 1142 Output capstan (horizontal rotation axis) 1143 Linear guide 1151a, 1151b      Cable (vertical rotation axis) 1152a, 1152b      Cable (horizontal rotation axis) 1153a, 1153b      Cable (linear-motion axis) 1400 Operation console apparatus 1501 Display device (immersive) 1601 Display device (eyeglass-type or goggle-type) 1701 Display device (naked-eye display)

Claims

1. An interface device comprising at least:an N-th link that performs rotational motion about a predetermined rotation axis (where N is a positive integer); anda linear-motion axis along which an (N+1)-th link performs linear motion with respect to the N-th link.

2. The interface device according to claim 1, wherein the rotation axis is a horizontal rotation axis that intersects the linear-motion axis.

3. The interface device according to claim 2, further comprising:an (N+1)-th rotary motor that generates power for causing the (N+1)-th link to perform linear motion;a rotation-linear motion conversion unit that converts rotational motion of the (N+1)-th rotary motor into linear motion of the (N+1)-th link;an N-th rotary motor that generates power for causing the N-th link to perform rotational motion; andan N-th transmission unit that transmits rotational motion of the N-th rotary motor to the horizontal rotation axis.

4. The interface device according to claim 3, wherein a rotation axis of the (N+1)-th rotary motor is arranged on the horizontal rotation axis.

5. The interface device according to claim 3,wherein the N-th transmission unit transmits rotation of the N-th rotary motor to the N-th link, by using a cable.

6. The interface device according to claim 3, wherein the rotation-linear motion conversion unit pulls the (N+1)-th link in a direction of the linear-motion axis, by using a cable wound around an output shaft of the (N+1)-th rotary motor.

7. The interface device according to claim 3, wherein the (N+1)-th link is attached to the N-th link via a linear guide.

8. The interface device according to claim 3, further comprising:an (N-1)-th link that supports the N-th link via the horizontal rotation axis.

9. The interface device according to claim 8, wherein the (N-1)-th link performs rotational motion about a vertical rotation axis passing through the horizontal rotation axis.

10. The interface device according to claim 9, further comprising:an (N-1)-th rotary motor that generates power for causing the (N-1)-th link to perform rotational motion; andan (N-1)-th transmission unit that transmits rotational motion of the (N-1)-th rotary motor to thehorizontal rotation axis.

11. The interface device according to claim 10,wherein the (N-1)-th transmission unit transmits rotation of the (N-1)-th rotary motor to the (N-1)-th link, by using a cable.

12. The interface device according to claim 10,wherein the (N+1)-th rotary motor is installed on the (N-1)-th link.

13. The interface device according to claim 10,wherein the N-th rotary motor is installed on the (N-1)-th link.

14. The interface device according to claim 10,wherein the (N-1)-th motor, the N-th motor, and the (N+1)-th motor each include an encoder that measures a rotation angle of an output shaft.

15. The interface device according to claim 10,wherein at least one of the (N-1)-th motor, the Nth motor, or the (N+1)-th motor includes a brake mechanism.

16. A surgical-assistance robot system comprising:an operation unit including one or more followers to which a surgical instrument is attached;a console unit including one or more leaders operated by an operator;a display apparatus that displays a captured imageof an affected part of a patient during surgery using a surgical instrument; anda control device that controls operation of the one or more followers so as to follow operation of the one or5 more leaders,wherein at least one of the one or more leadersincludes the interface device according to any one of claims 1 to 15.

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