Input device, operation console device, and surgery assistance robot system

Abstract

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

Description

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

[0001] The technology disclosed in this specification (hereinafter referred to as "the present disclosure") relates to an input device that can be used, for example, for operation in virtual space, operation of a remote robot, teaching a robot, etc., as well as an operation console device and a surgical support robot system to which this input device is applied.

[0002] Manipulator-type input devices are effective for operations in virtual space, remote robot operation, robot teaching, etc. For example, surgical support robot systems that assist doctors in surgery use a leader-follower type remote control system in which an operator such as a doctor operates an input device (leader) to operate multiple robot arms (followers) that support surgical tools and imaging equipment. To realize a surgical support robot for microsurgery, the leader must be small and lightweight, as well as capable of accurate posture detection.

[0003] JP 2023-81078 A

[0004] An object of the present disclosure is to provide an input device that can be used, for example, for operation in a virtual space, for operation of a remote robot, or for teaching a robot, as well as an operation console device and a surgical support robot system that apply this input device.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and a first aspect thereof is an input device comprising: an operating unit having multiple degrees of freedom arranged at a distal end; a transmission unit that supports the operating unit at the distal end and transmits the movement of the operating unit for each degree of freedom via a cable; and a measurement unit that supports the transmission unit near the end on the base side and measures the movement of the operating unit for each degree of freedom transmitted by the transmission unit.

[0006] The operation unit and the measurement unit are configured to be mirror-symmetrical with respect to each other via the transmission unit. The transmission unit transmits the movement of each degree of freedom of the operation unit to the measurement unit using a plurality of cables. The measurement unit includes a rotation sensor. The axis of the operation unit and the axis of the rotation sensor are connected by cables, and the rotation sensor detects the rotation angle of the axis rotated by being pulled by the cable.

[0007] A second aspect of the present disclosure is an operation console device comprising: an input device; an arm supporting the input device; and a hand rest for supporting a user's hand while operating the input device, wherein the input device is an input device according to any one of claims 1 to 9.

[0008] An operation console device according to a second aspect further includes an arm fixing device that fixes the arm, and a moving device that moves the arm fixing device depending on the use state of the input device. The arm fixing device includes an adapter that connects to an operation unit of the input device, and the adapter connects to the operation unit to fix the arm. Furthermore, the moving device moves the arm fixing device to a coupling position where it can be coupled to the arm when the input device is operated, and retracts the arm fixing device to a storage position outside the movable range of the input device and leader arm when the input device is not being operated.

[0009] A third aspect of the present disclosure is a surgical support robot system comprising: an operation unit including one or more followers to which surgical tools are attached; a console unit including one or more readers operated by an operator; a display device that displays an image of the affected area of ​​a patient undergoing surgery with the surgical tools; and a control device that controls the operation of the followers in response to the operation of the readers, wherein at least one of the readers includes the input device according to the first aspect.

[0010] However, the term "system" used here refers to a logical collection of multiple devices (or functional modules that realize specific functions), regardless of whether each device or functional module is contained within a single housing. In other words, both a single device consisting of multiple parts or functional modules and a collection of multiple devices are considered "systems."

[0011] According to the present disclosure, it is possible to provide an input device that has a small and lightweight handle portion operated by the user and detects posture with high accuracy using a cable transmission mechanism, as well as an operation console device and a surgical support robot system that apply this input device.

[0012] It should be noted that the effects described in this specification are merely examples, and the effects brought about by the present disclosure are not limited to these. Furthermore, the present disclosure may also bring about additional effects in addition to the effects described above.

[0013] Further objects, features, and advantages of the present disclosure will become apparent from the following detailed description based on the embodiments and accompanying drawings.

[0014] FIG. 1 is a diagram showing a basic configuration of an input device 100 to which the present disclosure is applied. FIG. 2 is a diagram showing a basic configuration of an input device 100 to which the present disclosure is applied. FIG. 3 is a diagram showing an example of the degree of freedom configuration of a leader arm 300 supporting the input device 100. FIG. 4 is a diagram showing a specific configuration example of an input device 400 to which the present disclosure is applied. FIG. 5 is an enlarged view of an operation unit 410 and a measurement unit 430. FIG. 6 is a diagram showing the operation unit 410 disassembled into its components. FIG. 7 is a diagram showing the rotational movement of a cam unit 413 when the handle unit 412 is opened and closed. FIG. 8 is a diagram showing the rotational movement of the cam unit 413 when the handle unit 412 is opened and closed. FIG. 9 is a diagram showing the rotational movement of the cam unit 413 when the handle unit 412 is opened and closed. FIG. 10 is a diagram showing the rotational movement of the cam unit 413 when the handle unit 412 is opened and closed. FIG. 11 is a diagram showing the measurement unit 430 disassembled into its components. FIG. 12 is a diagram showing a side view of the input device 400. FIG. 13 is a diagram showing an example of the operation of the input device 400. FIG. 14 is a diagram showing an example of the operation of the input device 400. FIG. 15 is a diagram showing an example of the operation of the input device 400. FIG. 16 is a diagram showing an example of the operation of the input device 400. FIG. 17 is a diagram showing an example of the operation of the input device 400. FIG. 18 is a diagram showing an example of the operation of the input device 400. FIG. 19 is a diagram showing an example of the operation of the input device 400. FIG. 20 is a diagram showing an example of the operation of the input device 400. FIG. 21 is a diagram showing an example of the operation of the input device 400. FIG. 22 is a diagram showing a mechanism for detecting a rotation angle about the pitch axis. FIG. 23 is a diagram showing a transmission mechanism for the rotation of the roll axis and the cam shaft. FIG. 24 is a diagram showing the roll rotation operation in the transmission mechanism shown in FIG. 23. FIG. 25 is a diagram showing the roll rotation operation in the transmission mechanism shown in FIG. 23. FIG. 26 is a diagram showing the roll rotation operation in the transmission mechanism shown in FIG. 23. Fig. 27 is a diagram showing a gripping operation in the transmission mechanism shown in Fig. 23. Fig. 28 is a diagram showing a gripping operation in the transmission mechanism shown in Fig. 23. Fig. 29 is a diagram showing a gripping operation in the transmission mechanism shown in Fig. 23. Fig. 30 is a diagram for explaining the relationship between the difference in rotation angle between the cam shaft and the roll shaft and the opening and closing operation of the handle portion.FIG. 31 is a diagram for explaining the relationship between the difference in rotation angle between the cam shaft and the roll shaft and the grip angle. FIG. 32 is a diagram showing the appearance of the operation console device 3200. FIG. 33 is an enlarged view of the vicinity of the hand rest of the operation console device 3200. FIG. 34 is a diagram showing the exterior configuration of the surgery support robot system 1000. FIG. 35 is a diagram showing the functional configuration of the surgery support robot system 1000. FIG. 36 is a diagram showing a straight-shaped hand rest. FIG. 37 is a diagram showing a curved-shaped hand rest. FIG. 38 is a side view of the operation console device 3200. FIG. 39 is a diagram showing the appearance of the operation console device 3900 using a non-flat hand rest 3910. FIG. 40 is an enlarged view of the vicinity of the hand rest 3910 of the operation console device 3900 shown in FIG. 39. FIG. 41 is a diagram showing a specific example of a sliding arm fixing device (connected position). FIG. 42 is a diagram showing a specific example of a sliding arm fixing device (storage position). Figure 43 is a diagram showing a specific example of a rotary arm fixing device (connected position) and Figure 44 is a diagram showing a specific example of a rotary arm fixing device (storage position).

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

[0016] A. Overview B. Basic configuration of the input device C. Specific configuration of the input device C-1. Overall configuration C-2. Configuration of the operation unit C-3. Configuration of the measurement unit D. Transmission mechanism and angle detection principle D-1. Transmission mechanism for tilt operation D-2. Transmission mechanism for pan operation D-3. Transmission mechanism for gripping operation D-4. Angle detection principle and input / output relationship D-5. Summary E. Leader-follower type surgical support robot system E-1. Operation input device E-1-1. Appearance of the operation input device E-1-2. Hand rest E-1-3. Fixing the arm when not in operation E-1-3-1. Arm fixing device E-1-3-2. Movement device E-1-3-3. Connection between the arm fixing device and leader arm E-1-3-4. Specific example of arm fixing device E-2. System configuration

[0017] A. Overview Leader-follower type surgical support robots use a controller to control the robot's movements. For example, in microsurgery applications, an arm-type controller with a lightweight and compact operating handle is required. For example, the handle of the controller needs to be compact so that the operator can operate it with their fingertips while resting their hands on a hand rest or by bringing both hands close together. Furthermore, the arm needs to be lightweight to operate it with light fingertip pressure, and an arm with a rotation angle sensor is effective in detecting slight fingertip movements.

[0018] For example, in robots used for laparoscopic surgery, it is common to use a gimbal mechanism in the arm-type controller (see, for example, Patent Document 1). However, a gimbal mechanism is considered unsuitable for microsurgery because it does not allow operation with the hand resting on a hand rest, and the arm becomes heavy.

[0019] Also, an operation input device has been proposed that is applicable to a surgical support robot, and that has roll, pitch, yaw, and grip rotation axes located near the gripper, and that the drive motor is located at the base (or proximal end) of the arm rather than in the gripper at the tip of the arm, and that transmits motor torque using a cable transmission mechanism, thereby miniaturizing the tip gripper and achieving a wide range of motion (see Patent Document 2). This operation input device is equipped with a rotation angle sensor (encoder) that measures the rotation position of each rotation axis, has the function of detecting the attitude of the gripper, and is equipped with a motor that drives each rotation axis, so that it has the function of presenting a sense of force to the operator using the operation input device and the function of maintaining the attitude of the gripper at the distal end.

[0020] In contrast, this disclosure proposes an input device that has a posture detection function at the distal end of the operating unit, but does not include a force feedback function or a posture maintenance function, thereby achieving further miniaturization and weight reduction. As will be described later, the input device according to this disclosure is small and lightweight, and is capable of accurate posture detection, making it suitable for microsurgery applications.

[0021] B. Basic Configuration of Input Device Figures 1 and 2 schematically show the basic configuration of an input device 100 to which the present disclosure is applied. The input device 100 includes an operation unit 110 disposed at the distal end thereof and having multiple degrees of freedom (e.g., three degrees of freedom), a transmission unit 120 that transmits the movement of each degree of freedom of the operation unit 110 via a cable (not shown in Figures 1 and 2), and a measurement unit 130 that measures the movement of each degree of freedom within the operation unit 110 via the cable. However, Figure 1 is a schematic diagram of the input device 100 drawn with the operation unit 110 on the distal end side disposed at the front of the page, while Figure 2 is a schematic diagram of the input device 100 drawn with the measurement unit 130 on the base side disposed at the front of the page.

[0022] The operation unit 110 includes a handle unit 111 that supports a pair of grip units 111a and 111b near the upper end so that they can be opened and closed around a grip axis 111c and that can be gripped. The handle unit 111 is attached to the tip of the transmission unit 120 so as to be rotatable about a pitch axis 112 and a roll axis 113. Therefore, the input device 100 has three degrees of freedom: pitch rotation, roll rotation, and gripping (opening and closing of the grip units 111a and 111b) of the handle unit 110.

[0023] The transmission unit 120 is composed of a hollow cylindrical shaft through which cables are inserted to transmit the three-degree-of-freedom movements of the handle unit 110, i.e., pitch rotation, roll rotation, and gripping, to the measurement unit 130. Although the cables are not shown in Figures 1 and 2, the transmission unit 120 is connected to the three axes by four cables, as will be described later. The length of the transmission unit 120 is not particularly limited. The length of the transmission unit 120 may be determined taking into consideration the operability of the operator and the environment around the device.

[0024] The measuring unit 130 measures the displacement of each cable via the transmitting unit 120, and based on the results, calculates the grip angle, rotation angle about the pitch axis, and rotation angle about the roll axis of the handle unit 111 within the operating unit 110. The measuring unit 130 may wind each cable around a capstan on the rotation axis of a rotation angle sensor (encoder), convert the linear displacement of the cable into the rotational displacement of the pulley, and measure the grip angle, rotation angle about the pitch axis, and rotation angle about the roll axis of the handle unit 111 using the encoder.

[0025] One example of how the input device 100 can be used is when it is supported on a reader arm. Fig. 3 shows an example of the degree of freedom configuration of a reader arm 300 that supports the input device 100 shown in Figs. 1 and 2. For convenience of explanation, it is assumed that the reader arm main body 301 is suspended from the ceiling, which is the mechanical ground (MG). In reality, the reader arm 300 is attached to the device main body of a console unit (described later) that is operated by an operator such as a doctor or medical professional.

[0026] The reader arm 300 includes a reader arm main body 301, a device holder part 310 that holds the input device 100, two tilt links 303 and 304 that support the device holder part 310 at two points, and a counterbalance (not shown in Figure 3) that is attached to the reader arm main body 301 on the opposite side of the device holder part 310 and balances the weight of the entire reader arm 300.

[0027] The device holder part 310 supports the input device 100 near the center of the transmission part 120, which is made of a hollow shaft. The device holder part 310 may be supported so as to be rotatable around the yaw axis (or the longitudinal axis of the transmission part 120). The reader arm main body 301 supports the device holder part 310 at two locations via two tilt links 303 and 304.

[0028] The leader arm 300 supports the input device 100 via a driven link 305 of a parallel link mechanism that uses the device holder part 310 as a driven link and two tilt links 303 and 304 as intermediate links. The input device 100 is connected to the parallel link mechanism (or the leader arm 300) by rotation shafts 306 and 307 at both ends of the driven link 305.

[0029] The reader arm 300 also includes a first axis (pan axis) 311 that rotates the reader arm main body 301 around a vertical pan axis with respect to the mechanical ground, a second axis (first tilt axis) 312 that tilts the input device 100 including the parallel link mechanism (two tilt links 303 and 304), and a third axis (second tilt axis) 313 that drives the driving link 302 of the parallel link mechanism including the tilt links 303 and 304 to tilt the input device 100. The first axis 311, the second axis 312, and the third axis 313 of the reader arm 300 are all passive joints, and the joints of the parallel link mechanism other than the third axis 313 are also passive joints. By making each joint of the reader arm 300 a passive joint and further removing motors and brakes from the reader arm 300, it is possible to achieve a lightweight and smooth movement with little friction.

[0030] It is possible to perform an operation of panning the entire input device 100 around the first axis 311, and an operation of tilting the input device 100 (including the parallel link mechanism including the tilt links 303 and 304) around the second axis 312. Furthermore, when the driving link 304 is rotated around the third axis 313, the driven link 305 rotates following it, so that it is possible to tilt only the input device 100 around the third axis 313 while the reader arm 300 remains fixed.

[0031] C. Specific Configuration of Input Device C-1. Overall Configuration Fig. 4 shows a specific configuration example of an input device 400 to which the present disclosure is applied. The input device 400 includes an operation unit 410, a transmission unit 420, and a measurement unit 430. The operation unit 410 is attached to the distal end side of the transmission unit 420, and the measurement unit 430 is attached to the base end side of the transmission unit 420.

[0032] The operating unit 410 includes a pitch link 411 supported at the distal end of the transmission unit 420 so as to be rotatable about a pitch axis 414, and a handle unit 412 and a cam unit 413 each supported at the distal end of the pitch link 411 so as to be rotatable about a roll axis 415. The roll axis 415 is spaced slightly (by approximately several millimeters) from the pitch axis 414 toward the distal end and is perpendicular to the pitch axis 414. The handle unit 412 and the cam unit 413 rotate about the roll axis 415 independently of each other.

[0033] The handle portion 412 holds a pair of grip portions 412a and 412b so that they can be opened and closed around a grip axis 412c near the upper end of each. The cam portion 413 has the role of converting the linear motion of the pair of grip portions 412a and 412b, which changes the distance between them as they open and close, into rotational motion about its own roll axis 415. Therefore, the opening and closing angle between the grip portions 412a and 412b (i.e., the grip angle) is determined based on the difference in the rotation angles of the handle portion 412 and the cam portion 413 about the roll axis 415.

[0034] As will be described later, a pitch shaft input capstan with a pitch shaft 414 as its rotational axis is fixed to the pitch link 411, a roll shaft input capstan with a roll shaft 415 as its rotational axis is fixed to the handle portion 412, and a cam shaft input capstan with the roll shaft 415 as its rotational axis is fixed to the cam portion 413. Two cables are wound around the pitch shaft input capstan, one for each rotational direction. In addition, one cable is wound around each of the roll shaft input capstan and the cam shaft input capstan, in opposite directions around the roll shaft 415.

[0035] The transmission unit 420 is formed of a hollow cylindrical shaft, and the four cables wound around the input capstans of the operation unit 410 are inserted inside the cylinder. These four cables have the role of transmitting the rotational movement of the pitch link 411 on the operation unit 410 side about the pitch axis 414 and the rotational movement of the handle unit 412 and cam unit 413 about the roll axis 415 to the measurement unit 430 on the base side. The length of the transmission unit 420 is not particularly limited. The length of the transmission unit 420 may be determined taking into consideration the operability of the operator and the environment around the device.

[0036] The measurement unit 430 is located at the other end of the transmission unit 420 and has a pitch axis 434 and a roll axis 435 that are mirror-symmetrical to the pitch axis 414 and roll axis 415 on the operation unit 410 side. The roll axis 435 is spaced away from the pitch axis 434 in the proximal end direction and is perpendicular to the pitch axis 434. The measurement unit 430 includes a first encoder 431 that measures the rotation angle around the pitch axis 434, a pitch link 440 that is supported at the other end of the transmission unit 420 so as to be rotatable about the pitch axis 434, and a second encoder 432 and a third encoder 433 that measure the rotation angle around the roll axis 435.

[0037] On the measuring unit 430 side, the linear motion of the above four cables inserted into the transmission unit 420 reproduces the rotational motion of the pitch link 411 around the pitch axis on the operating unit 410 side, and the rotational motion of the handle unit 412 and cam unit 413 around the roll axis 415.

[0038] Specifically, the first encoder 431 measures the rotation angle of a pitch shaft output capstan (described later) that is mounted rotatably around the pitch shaft 434. Two cables (described above) that are wound around the pitch shaft input capstan on the operation unit 410 side are similarly wound around this pitch shaft output capstan in the forward and reverse rotation directions via the transmission unit 420. Therefore, the first encoder 431 measures the rotation angle θ corresponding to the rotation of the pitch link 411 around the pitch shaft 414. E1 can be measured.

[0039] The second encoder 432 also measures the rotation angle of a roll shaft output capstan (described later) that is mounted rotatably around the roll shaft 435. The cable (described above) that is wound around the roll shaft input capstan on the operation unit 410 side is wound around this roll output capstan via the transmission unit 420. Therefore, the second encoder 432 measures the rotation angle θ corresponding to the rotation of the handle unit 412 around the roll shaft 415. E2 can be measured.

[0040] The third encoder 433 also measures the rotation angle of a camshaft output capstan (described later) that is mounted rotatably around the roll axis 435. The cable (described above) that is wound around the camshaft input capstan on the operation unit 410 side is wound around this camshaft output capstan via the transmission unit 420. Therefore, the third encoder 433 measures the rotation angle θ corresponding to the rotation of the cam unit 413 around the roll axis 415. E3 can be measured.

[0041] Then, the three rotation angles θ measured by the measurement unit 430 E1 , θ E2 , θ E3 , the rotation angle θ of the pitch link 411 on the operating unit 410 side around the pitch axis 414 pitch , the rotation angle θ of the handle portion 412 around the roll axis 415 roll , and the gripping angle of the handle portion 412 θgrasp However, the rotation angles θ of the operation unit 411 can be calculated. pitch , θ roll , θgrasp and the rotation angle θ measured by the measurement unit 430. E1 , θ E2 , θ E3 The input / output relationship will be explained in detail later.

[0042] In the input device 400 according to the present disclosure, rotation angle sensors for detecting the rotation angle of the pitch link 411 of the operation unit 410 about the pitch axis 414 and the rotation of the handle unit 412 and cam unit 413 about the roll axis 415 are not disposed within the operation unit 410. This allows the operation unit 410 to be configured to be small and lightweight, improving operability. Furthermore, these rotational movements of the operation unit 410 are transmitted using a cable transmission mechanism inserted into the transmission unit 420, allowing the measurement unit 430 to accurately detect the posture of the handle unit 412 (high resolution, low noise, no drift). Therefore, the input device 400 according to the present disclosure can be suitably applied to, for example, microsurgery applications.

[0043] C-2. Configuration of the Operation Unit Fig. 5 shows an enlarged view of the operation unit 410 and the measurement unit 430 at both ends, with the central portion of the transmission unit 420 omitted. The right side of Fig. 5 shows an enlarged view of the operation unit 410. Furthermore, Fig. 6 shows an exploded view of each component of the operation unit 410.

[0044] Referring to the right side of FIG. 5 and FIG. 6, the operating unit 410 includes a pitch link 411 , a handle portion 412 , and a cam portion 413 .

[0045] The pitch link 411 is supported at the distal end of the transmission unit 420 via a pair of joints 604 (see FIG. 6 ) so as to be rotatable about the pitch axis 414. Therefore, the handle unit 412 and the cam unit 413 mounted on the distal end of the pitch link 411 are configured to be rotatable about the pitch axis 414 together with the pitch link 411.

[0046] A pitch shaft input capstan 601 (see FIG. 6 ) having a rotation center at the pitch shaft 414 is integral with the pitch link 411. Two cables 511 and 512 are wound around the pitch shaft input capstan 601 in the forward and reverse rotation directions. These cables 511 and 512 are inserted into the transmission unit 420 and transmit the rotation of the pitch shaft input capstan 601 (i.e., the pitch link 411) about the pitch shaft 414 to the measurement unit 430.

[0047] The handle portion 412 is supported by the pitch link 411 on the distal end side of the pitch link 411 so as to be rotatable about the roll axis 415 relative to the pitch link 411. The cam portion 413 is supported by the pitch link 411 via a bearing portion 606 so as to be rotatable about the roll axis 415 independently of the handle portion 412.

[0048] The handle unit 412 is composed of a roll shaft unit 611 in the lower half, a gripper support unit 612 in the upper half, and a stylus unit 613 coupled to the upper end of the gripper support unit 612. The roll shaft unit 611 is inserted from below via a bearing unit 603 into an opening coaxial with the roll shaft 415 formed at the distal end of the pitch link 411, and is integrally coupled to the upper gripper support unit 612. The roll shaft unit 611 is supported by the pitch link 411 via the bearing unit 603 so as to be rotatable about the roll shaft 415 relative to the pitch link 411. A pair of grip units 412a and 412b are attached to the gripper support unit 612 near their respective upper ends so as to be openable and closable about a gripping shaft 412c. The stylus unit 613 coupled to the upper end of the gripper support unit 612 is, for example, rod-shaped so that the user can hold it like a pen.

[0049] The handle unit 412 (specifically, the lower half of the roll shaft unit 611) is integrated with a roll shaft input capstan 614 (see FIG. 6 ) that rotates around the roll shaft 415. One end of a single unidirectional cable 513 is wound around the roll shaft input capstan 614. This cable 513 undergoes layout adjustment using a pulley 523 that is coaxial with the pitch shaft 414 and a pulley 524 that is disposed adjacent to the pulley 523 and has a rotation axis parallel to the pitch shaft 414. The cable 513 is then inserted into the transmission unit 420 and transmits the rotation of the handle unit 412 around the roll shaft 415 to the measurement unit 430. The pulleys 523 and 524 are rotatably supported by one of the joints 604.

[0050] The cam unit 413 is supported by the pitch link 411 via a bearing 606 so as to be rotatable about the roll axis 415 independently of the handle unit 412. The cam unit 413 is integral with a camshaft input capstan 615 (see FIG. 6 ), which rotates about the roll axis 415. One end of a single unidirectional cable 514 is wound around the camshaft input capstan 615 in the opposite direction to the cable 513. This cable 514 undergoes layout adjustment using a pulley 525 coaxial with the pitch axis 414 and a pulley 526 disposed adjacent to the pulley 525 and having a rotation axis parallel to the pitch axis 414. The cable 514 is then inserted into the transmission unit 420 and transmits the rotation of the cam unit 413 about the roll axis 415 to the measurement unit 430. The pulleys 525 and 526 are rotatably supported by the other joint 604.

[0051] The cam portion 413 serves to convert linear motion, which changes the distance between the pair of grip portions 412a and 412b in response to the user's opening and closing operation, into rotational motion about its own roll axis 415. A pair of protrusions 621 and 622 (see FIG. 6 ) are provided on the upper surface of the cam portion 413 at positions symmetrical with respect to the roll axis 415. Annular contact members 623 and 624 are attached to the protrusions 621 and 622, respectively. When the handle portion 412 is gripped, one protrusion 621 abuts against the inner surface of the grip portion 412a via the abutment member 623, and the other protrusion 622 abuts against the inner surface of the grip portion 412b via the abutment member 623. Furthermore, the cam portion 413 has ribs 625 and 626 formed on the outer peripheral edges of the protrusions 621 and 622, respectively. The rib 625 regulates the opening and closing angle of the grip portion 412a so that it does not open excessively when the handle portion 412 is opened or closed, and the rib 626 regulates the opening and closing angle of the grip portion 412b so that it does not open excessively when the handle portion 412 is opened or closed.

[0052] For reference, FIGS. 7 to 10 enlarge the vicinity of the roll axis 415 of the operating unit 410, showing the rotational movement of the cam portion 413 when the handle portion 412 is opened or closed. FIGS. 7 to 10 show the gradual closing of the handle portion 412 from an open state. The spacing between the pair of grip portions 412a and 412b changes in response to the opening and closing of the handle portion 412. In response to this, the cam portion 413 rotates counterclockwise on the paper so that the distance D between the protrusions 621 and 622 in the opening and closing direction of the handle portion 412 falls within the spacing between the grip portions 412a and 412b. As shown in FIG. 10 , when the handle portion 412 is fully closed, the protrusions 621 and 622 are aligned in a direction perpendicular to the opening and closing direction of the handle portion 412, and the distance D is minimized. While the handle portion 412 is being opened or closed in this manner, the rotational movement of the cam portion 413 causes the camshaft input capstan 615 to rotate around the roll axis 415, and the rotation angle at this time is transmitted to the measuring portion 430 by the cable 514. As can be seen from Figures 7 to 10, in either state of the opening or closing operation of the handle portion 412, the ranges of motion of the grip portions 412a and 412b are kept within the area of ​​the cam portion 413 by the ribs 625 and 626, respectively.

[0053] In the input device 400 according to the present disclosure, a rotation angle sensor for detecting the rotation angle of the pitch link 411 of the operation unit 410 about the pitch axis 414 and the rotation of the handle unit 412 and the cam unit 413 about the roll axis 415 is not disposed inside the operation unit 410. Therefore, the operation unit 410 can be configured to be small and lightweight, improving operability.

[0054] C-3. Configuration of the Measuring Unit The left side of Fig. 5 shows an enlarged view of the measuring unit 430. Furthermore, Fig. 11 shows an exploded view of each component of the measuring unit 430.

[0055] The measurement unit 430 is located at the other end of the transmission unit 420 and has a pitch axis 434 and a roll axis 435 that are mirror-symmetrical to the pitch axis 414 and roll axis 415 on the operation unit 410 side. Referring to the left side of Figure 5 and Figure 11, the measurement unit 430 includes a first encoder 431 that measures the rotation angle around the pitch axis 434, a pitch link 440 that is supported at the other end of the transmission unit 420 so as to be rotatable around the pitch axis 434, and a second encoder 432 and a third encoder 433 that are held by the pitch link 440 and each measure the rotation angle around the roll axis 435.

[0056] The pitch link 440 is supported at the other end of the transmission unit 420 via a pair of joints 1101 (see FIG. 11 ) so as to be rotatable about the pitch shaft 434. Therefore, the second encoder 432 and the third encoder 433 mounted on the pitch link 440 are configured to be rotatable about the pitch shaft 434 together with the pitch link 440. The pitch link 440 is a U-shaped member, and the pitch shaft 434 is located at the bottom of the U.

[0057] A pitch shaft output capstan, which rotates around the pitch shaft 434, is integrated with the bottom of the U-shape of the pitch link 440. In the left side of Figure 5 and Figure 11, the pitch shaft output capstan is hidden by other components and is difficult to see. Figure 12 shows a side view of the input device 400 in which the transmission unit 420 and other components are appropriately cross-sectionally arranged to make the pitch shaft output capstan 1201 more visible.

[0058] 12, two cables 511 and 512 are wound around the pitch shaft input capstan 601 and pitch shaft output capstan 1201 at both ends of the transmission unit 420, one for forward rotation and the other for reverse rotation. These cables 511 and 512 are inserted through the transmission unit 420 and transmit the rotation of the pitch shaft input capstan 601 (i.e., the pitch link 411) about the pitch shaft 414 to the pitch shaft output capstan 1201.

[0059] The pitch link 440 on the measurement unit 430 side is mirror-symmetrical to the pitch link 411 on the operation unit 410 side. Therefore, when the rotation of the pitch axis input capstan 601 on the operation unit 410 side is transmitted to the pitch axis output capstan 1201 via the cables 511 and 512, the pitch link 440 on the measurement unit 430 side tilts mirror-symmetrically to the pitch link 411 on the operation unit 410 side (see FIGS. 13 to 15).

[0060] The first encoder 431 is attached via a joint 1101 (see FIG. 11 ) opposite the pitch axis output capstan 1201 so as to be coaxial with the pitch axis 434. The pitch link 440 rotates around the pitch axis 434 following the rotation of the pitch link 411 around the pitch axis 414. The first encoder 431 then detects the rotation angle θ of the pitch axis output capstan 1201 corresponding to the rotation of the pitch link 440 around the pitch axis 434. E1 Measure.

[0061] A roll shaft output capstan 1202 and a cam shaft output capstan 1203 are attached inside the U-shape of the pitch link 440 so that they can both rotate around the roll shaft 435. As shown in FIG. 11 , the roll shaft output capstan 1202 and the cam shaft output capstan 1203 are connected via a torsion spring 1204. This is equivalent to connecting the ends of the cables 513 and 514 together via the torsion spring 1204. The torsion spring 1204 applies pretension to the cables 513 and 514.

[0062] The roll axis output capstan 1202 is journaled on one leg (the lower leg in the drawing) of the U-shape of the pitch link 440 via bearings 1111 and 1112. A cable 513, which is wound around the roll axis input capstan 614 on the operation unit 410 side, is wound around the roll axis output capstan 1202. This cable 513 is inserted into the transmission unit 420, passes through several pulleys (some of which are not shown), undergoes layout adjustment, and is then wound around the roll axis output capstan 1202 on the operation unit 410 side. This cable 513 transmits the rotation of the roll axis input capstan 614 around the roll axis 415 to the roll axis output capstan 1202.

[0063] A second encoder 432 is attached to the outside (lower side of the drawing) of the leg of the U-shape of the pitch link 440 via a pair of joints 1103 (see FIG. 11 ) so as to face the roll axis output capstan 1202 across the leg of the U-shape and be coaxial with the roll axis 435. The second encoder 432 detects a rotation angle θ of the roll axis output capstan 1202 corresponding to the rotation of the handle portion 412 (or the roll axis input capstan 614) around the roll axis 415. E2 can be measured.

[0064] The camshaft output capstan 1203 is journaled on the other leg (upper side of the drawing) of the U-shape of the pitch link 440 via bearings 1113 and 1114. A cable 514, which is wound around the camshaft input capstan 615 on the operation unit 410 side, is wound around the camshaft output capstan 1203. This cable 514 is inserted into the transmission unit 420, passes through pulleys 527 and 528 for layout adjustment (pulley 528 is coaxial with the pitch shaft 434, and pulley 527 has a rotation axis parallel to the pitch shaft 434), and is then wound around the camshaft output capstan 1203. This cable 514 transmits the rotation of the camshaft input capstan 615 around the roll shaft 415 to the roll shaft output capstan 1202.

[0065] The roll shaft output capstan 1202 and the cam shaft output capstan 1203 are connected via a torsion spring 1204, which is equivalent to the ends of the cables 513 and 514 being connected to each other by the torsion spring 1204 (as described above).

[0066] A third encoder 433 is attached to the outside (upper side of the drawing) of the leg of the U-shape of the pitch link 440 via a pair of joints 1104 (see FIG. 11 ) so as to face the camshaft output capstan 1203 across the leg of the U-shape and be coaxial with the roll shaft 435. The third encoder 433 detects a rotation angle θ of the roll shaft output capstan 1202 corresponding to the rotation of the cam portion 413 (or the camshaft input capstan 615) around the roll shaft 415. E3 can be measured.

[0067] Then, the three rotation angles θ measured by the measurement unit 430 E1 , θ E2 , θ E3 , the rotation angle θ of the pitch link 411 on the operating unit 410 side around the pitch axis 414 pitch , the rotation angle θ of the handle portion 412 around the roll axis 415 roll , and the gripping angle of the handle portion 412 θgrasp However, the rotation angles θ of the operation unit 411 can be calculated. pitch , θ roll , θgrasp and the rotation angle θ measured by the measurement unit 430. E1 , θ E2 , θ E3 The input / output relationship will be explained in detail later.

[0068] The rotational movements of the pitch link 411 on the operation unit 410 side, the rotation angle about the pitch axis 414, and the rotation of the handle unit 412 and cam unit 413 about the roll axis 415, are transmitted using a cable transmission mechanism inserted into the transmission unit 420. Therefore, the measurement unit 430 side can accurately detect the posture of the handle unit 412 (high resolution, low noise, no drift). Therefore, the input device 400 according to the present disclosure can be suitably applied to, for example, microsurgery applications.

[0069] A brief explanation of the terms used in this specification will be provided. A "capstan" and an "idler pulley" are both pulleys. A pulley used for adjusting the layout of a cable or for applying tension to a cable is referred to as an "idler pulley" or simply as a "pulley" in this specification. A pulley used for applying power to a cable or, conversely, for converting force from the cable into axial force is referred to as a "capstan" in this specification, and both the input capstan and the output capstan are pulleys used for this purpose. The capstan located in the operating unit 410 is referred to as the input capstan, and the capstan on the measuring unit 430 side to which power is transmitted via the cable is referred to as the output capstan.

[0070] D. Transmission Mechanism and Angle Detection Principle Next, the transmission mechanism and angle detection principle between the operation unit 410 and the measurement unit 430 using a cable will be described. However, it is assumed that the user holds the stylus unit 613 like a pen and rotates the operation unit 410 around the pitch axis 414 (tilt operation), rotates the operation unit 410 around the roll axis 415 (pan operation), or grips the handle unit 412. The operation unit 410 is the input side that applies power based on the user's operation, and the measurement unit 430 is the output side to which power is supplied via cable transmission.

[0071] D-1. Tilt Operation Transmission Mechanism On the operation unit 410 side, a pitch axis input capstan 601 (see FIG. 6 ), which has the pitch axis 414 as its center of rotation, is integrated with the pitch link 411. Two cables 511 and 512 are wound around the pitch axis input capstan 601, one for each direction of rotation. These cables 511 and 512 are inserted into the transmission unit 420. Therefore, when the operation unit 410 is rotated around the pitch axis 414 (tilt operation), the pitch axis input capstan 601 (i.e., the pitch link 411) rotates around the pitch axis 414, and this rotational motion is transmitted to the measurement unit 430 side via the two cables 511 and 512 inserted into the transmission unit 420.

[0072] On the other hand, on the measurement unit 430 side, the pitch link 440 is pivotally supported at the other end of the transmission unit 420 via a pair of joints 1101 (see FIG. 11 ) so as to be rotatable about the pitch axis 434. Two cables 511 and 512 are wound around the pitch axis output capstan 1201 in opposite rotation directions. Therefore, the rotation of the pitch axis input capstan 601 (i.e., the pitch link 411) on the operation unit 410 side about the pitch axis 414 is transmitted to the pitch axis output capstan 1201 on the measurement unit 430 side via these cables 511 and 512. As a result, the pitch link 440 tilts about the pitch axis 434 in response to the tilting of the pitch link 411.

[0073] 13 to 15 sequentially show, as an example of the operation of the input device 400, how the pitch link 440 on the measurement unit 430 side also tilts about the pitch axis 434 in response to the tilting of the pitch link 411 on the operation unit 410 side about the pitch axis 414. The operation unit 410 and the measurement unit 430 have mirror-symmetrical structures with respect to a plane perpendicular to the longitudinal direction of the transmission unit 420, so that when the pitch link 411 rotates clockwise, the pitch link 440 also rotates clockwise, and when the pitch link 411 rotates counterclockwise, the pitch link 440 also rotates counterclockwise.

[0074] D-2. Panning Operation Transmission Mechanism On the operation unit 410 side, the handle unit 412 (specifically, the lower half of the roll axis unit 611) is integrated with a roll axis input capstan 614 (see FIG. 6) that rotates around the roll axis 415. One end of a single one-way cable 513 is wound around the roll axis input capstan 614. This cable 513 is inserted into the transmission unit 420. Therefore, the rotation of the handle unit 412 around the roll axis 415 is transmitted to the measurement unit 430 side via the cable 513.

[0075] Furthermore, on the operating unit 410 side, the cam unit 413 is journaled so as to be rotatable around the roll shaft 415 independently of the handle unit 412. The cam unit 413 is integrated with a cam shaft input capstan 615, which rotates around the roll shaft 415. One end of a single one-way cable 514 is wound around the cam shaft input capstan 615 in the opposite direction to the cable 513. This cable 514 is inserted into the transmission unit 420. Therefore, the rotation of the cam unit 413 around the roll shaft 415 is transmitted to the measurement unit 430 side via the cable 514.

[0076] On the other hand, on the measurement unit 430 side, the roll axis output capstan 1202 and the cam shaft output capstan 1203 are each journaled on each leg of the U-shape of the pitch link 440 so as to be rotatable about the roll axis 435. A cable 513, which is wound around the roll axis input capstan 614 on the operation unit 410 side, is wound around the roll axis output capstan 1202. Also, a cable 514, which is wound around the cam shaft input capstan 615 on the operation unit 410 side, is wound around the cam shaft output capstan 1203. The ends of the cables 513 and 514 are connected to each other by a torsion spring 1204. Therefore, the rotations of the handle unit 412 and the cam unit 413 around the roll axis 415 in opposite directions are transmitted to the roll axis output capstan 1202 and the cam shaft output capstan 1203 on the measurement unit 430 side via these cables 513 and 514, respectively. As a result, the roll axis output capstan 1202 and the cam axis output capstan 1203 rotate in the same direction around the roll axis 435 following the panning motion of the roll axis input capstan 614 .

[0077] As an example of the operation of the input device 400, Figures 16 to 18 sequentially show how the roll axis output capstan 1202 and cam shaft output capstan 1203 on the measurement unit 430 side rotate around the roll axis 435 in response to the panning movement of the handle unit 412 on the operation unit 410 side around the roll axis 415.

[0078] D-3. Grip Motion Transmission Mechanism On the operation unit 410 side, the handle unit 412 holds the pair of grip units 412a and 412b so that they can be opened and closed around a grip axis 412c near the upper end of each unit. The cam unit 413 also serves to convert the linear motion of the pair of grip units 412a and 412b, which changes the distance between them as they open and close, into rotational motion around its own roll axis 415. In other words, the cam unit 413 rotates in response to the opening and closing of the handle unit 412 so that the distance D between the protrusions 621 and 622 of the handle unit 412 in the opening and closing direction is within the distance between the grip units 412a and 412b (see FIGS. 7 to 10).

[0079] The cam unit 413 is journaled so as to be rotatable about the roll axis 415 independently of the handle unit 412. The cam unit 413 is integrated with a cam axis input capstan 615, which rotates about the roll axis 415. One end of a single one-way cable 514 is wound around the cam axis input capstan 615 in the opposite direction to the cable 513. This cable 514 is inserted into the transmission unit 420. Therefore, the rotation of the cam unit 413 about the roll axis 415 is transmitted to the measurement unit 430 via the cable 514. However, when the handle unit 412 is gripped, the handle unit 412 does not rotate about the roll axis 415, and the roll axis input capstan 614 does not rotate (or the gripping of the handle unit 412 is performed independently of the panning movement of the handle unit 412 about the roll axis 415).

[0080] On the other hand, on the measurement unit 430 side, the camshaft output capstan 1203 is journaled on the U-shaped leg of the pitch link 440 so as to be rotatable around the roll axis 435. A cable 514, which is wound around the camshaft input capstan 615 on the operation unit 410 side, is wound around the camshaft output capstan 1203. The ends of the cables 513 and 514 are connected to each other by a torsion spring 1204. Therefore, the rotation of the cam unit 413 around the roll axis 415 is transmitted to the camshaft output capstan 1203 on the measurement unit 430 side via the cable 514. As a result, the camshaft output capstan 1203 rotates around the roll axis 435 in the same direction as the gripping movement of the handle unit 412.

[0081] 19 to 21 show, as an example of the operation of the input device 400, how the handle portion 412 on the operation unit 410 side is gripped. Following the gripping operation of the handle portion 412, the camshaft output capstan 1203 on the measurement unit 430 side rotates around the roll axis 435.

[0082] 13 to 15 show the pitch (tilt) movement of the operation unit 410, FIGS. 16 to 18 show the roll (pan) movement of the operation unit 410, and FIGS. 19 to 21 show the gripping movement of the operation unit 410. These three movements can be performed independently. However, in an actual use case, it is expected that the user will operate the operation unit 410 by simultaneously combining two or more movements from among the pitch movement, roll movement, and gripping movement.

[0083] D-4 Angle Detection Principle and Input / Output Relationships Figure 22 shows a schematic diagram of a mechanism for detecting the rotation angle of the operating unit 410 (or pitch link 410) around the pitch axis 414 in the input device 400.

[0084] The pitch axis input capstan 601 on the operation unit 410 side is rotatable around the pitch axis 414. The pitch axis output capstan 1201 on the measurement unit 430 side is rotatable around the pitch axis 434. Two cables 511 and 512 are wound around the pitch axis input capstan 601 and the pitch axis output capstan 1201. The rotation of the pitch axis input capstan 601 is transmitted to the pitch axis output capstan 1201 via the cables 511 and 512. The rotation angle θ of the pitch axis input capstan 601 pitch corresponds to the rotation angle of the operating unit 410 (or pitch link 410) around the pitch axis 414. Here, if the radii of the pitch axis input capstan 601 and the pitch axis output capstan 1201 are the same, the rotation angle θ of the pitch axis output capstan 1201 measured by the first encoder 431 is E1 is the rotation angle θ of the pitch axis input capstan 601 pitch Therefore, the input / output relationship regarding the pitch axis is expressed by the following equation (1).

[0085]

[0086] Fig. 23 schematically shows a transmission mechanism between the roll shaft input capstan 614 and the roll shaft output capstan 1202, and a transmission mechanism between the cam shaft input capstan 615 and the cam shaft output capstan 1203. With reference to Fig. 23, a mechanism for detecting the rotation angle of the handle portion 412 of the operation unit 410 about the roll shaft 415 and detecting the opening and closing angles of the grip portions 412a and 412b in the input device 400 will be described. However, in Fig. 23, pulleys for adjusting the layout are omitted from the drawing to simplify the drawing.

[0087] The roll shaft input capstan 614 and the cam shaft input capstan 615 are both arranged coaxially with the roll shaft 415 as their axis of rotation. On the other hand, the roll shaft output capstan 1202 and the cam shaft output capstan 1203 both have axes of rotation parallel to the roll shaft 435. As can be seen from Figures 5, 11, 12, etc., the roll shaft output capstan 1202 and the cam shaft output capstan 1203 are both arranged coaxially with the roll shaft 435 as their axis of rotation, but in Figures 23 to 29, for the convenience of making it easier to visually observe the rotational movements of the roll shaft output capstan 1202 and the cam shaft output capstan 1203, the roll shaft output capstan 1202 and the cam shaft output capstan 1203 are depicted as having axes of rotation parallel to and spaced apart from the roll shaft 435.

[0088] A single cable 513 is wound around the roll shaft input capstan 614 and the roll shaft output capstan 1202. One end of a single cable 514 is wound around the cam shaft input capstan 615 and the cam shaft output capstan 1203 in the opposite direction to the cable 513. The ends of the cables 513 and 514 are connected to each other by a torsion spring 1204, forming a cable loop and providing pretension.

[0089] The rotation of the roll axis input capstan 614 is transmitted to the roll axis output capstan 1202 via the cable 513. If the radius of the roll axis input capstan 614 and the radius of the roll axis output capstan 1202 are the same, the rotation angle θ of the roll axis output capstan 1202 measured by the second encoder 432 E2 is the rotation angle θ of the roll axis input capstan 614 roll becomes the same as

[0090] Furthermore, the rotation of the camshaft input capstan 615 is transmitted to the camshaft output capstan 1203 via the cable 514. If the camshaft input capstan 615 and the camshaft output capstan 1203 have the same radius, the rotation angle θ of the camshaft output capstan 1203 measured by the third encoder 433 E3 is the rotation angle θ of the camshaft input capstan 615 cum becomes the same as

[0091] 24 to 26 show in order the manner in which each capstan rotates when the handle unit 412 rotates in a roll direction in the transmission mechanism shown in FIG. 23. However, the handle unit 412 is not gripped simultaneously with the roll rotation. In this case, on the operation unit 410 side, the roll axis input capstan 614 and the cam shaft input capstan 615 rotate by the same rotation angle. Therefore, the input / output relationship regarding the roll axis is expressed by the following equation (2).

[0092]

[0093] 27 to 29 show in order how each capstan rotates when the handle portion 412 is gripped in the transmission mechanism shown in FIG.

[0094] The camshaft input capstan 615 rotates around the roll axis 415 integrally with the cam portion 413, which includes the protrusions 621 and 622 (contact members 623 and 624). The cam portion 413 has a role of converting linear motion, which changes the gap between the pair of grip portions 412a and 412b as they open and close, into rotational motion around its own roll axis 415. When the gap between the grip portions 412a and 412b changes in response to the opening and closing of the handle portion 412, the camshaft input capstan 615, which is integral with the cam portion 413, rotates around the roll axis 415 so that the distance D between the protrusions 621 and 622 in the opening and closing direction of the handle portion 412 falls within the gap between the grip portions 412a and 412b. On the other hand, the roll axis input capstan 614 does not rotate.

[0095] The roll shaft input capstan 614 and the cam shaft input capstan 615 rotate independently around the roll shaft 415. Therefore, the distance D between the protrusions 621 and 622 (contact members 623 and 624) in the opening / closing direction of the handle portion 412 is determined by the ratio r of the rotation radius of the protrusions 621 and 622 to the difference Δθ (=θ cum -θ roll = θ E3 -θ E2 ) and is given by the following equation (3):

[0096]

[0097] Furthermore, the distance D between the protrusions 621 and 622 (contact members 623 and 624) in the opening and closing direction of the grip portions 412a and 412b and the gripping angle θ of the handle portion 412 grasp The relationship between the grip angle θ and the grip angle θ is as shown in FIG. grasp is expressed as the following equation (4) using the difference Δθ in the rotation angles: In the equation (4), the constant L is the length of the grip portions 412a and 412b.

[0098]

[0099] Therefore, the grip angle θ of the handle portion 412 grasp is the difference Δθ (=θ) between the measurement values ​​of the third encoder 433 and the second encoder 432 on the measurement unit 430 side. E3 -θ E2 ) can be measured based on the

[0100] A supplementary note will be made regarding the influence of the torsion spring 1204 (described above) inserted between the cables 513 and 514 on measurement. When the cable is driven by a motor to present a reaction force, etc., the back drive causes the spring to stretch if a torque greater than the spring force is applied, which may result in erroneous detection. In contrast, the input device 400 according to the present disclosure does not use a motor for force feedback, but only has an encoder for detecting position and orientation. The cable has high slidability, so the problem of erroneous detection differences due to back drive does not occur.

[0101] D-5. Summary The input device 400 according to the present disclosure can measure pitch (tilt) movements of the operation unit 410 as shown in Figures 13 to 15, roll (pan) movements as shown in Figures 16 to 18, and grip movements as shown in Figures 19 to 21 with a remotely located measurement unit 430 via a transmission unit 420. The main features and effects of the input device 400 according to the present disclosure are summarized below.

[0102] (1) The operation unit 410 and the measurement unit 430 have a mirror-symmetrical structure with respect to a plane perpendicular to the longitudinal direction of the transmission unit 420. When the operation shown in Figures 13 to 21 is performed on the operation unit 410 side, the measurement unit 430 acts as a counterweight for the operation unit 410, making it easy to balance the center of gravity.

[0103] (2) The layout of the cable passing through the transmission unit 420 is simple. Therefore, the sliding resistance of the cable can be kept small, enabling smooth, low-friction operation of the operation unit 410. By using a cable transmission mechanism, the rotation angle of each joint during tilt operation, pan operation, and grip operation of the operation unit 410 can be detected with high accuracy by a rotation angle sensor.

[0104] (3) The measurement unit 430 is disposed at a location separated from the operation unit 410 via the transmission unit 420. The operation unit 410 at the distal end does not include a rotation angle sensor and can be configured to be compact, and does not include electrical wiring, making it safer for the user. Note that there is also a design proposal to make the operation unit 410 compact by using an IMU (Inertial Measurement Unit) or a magnetic sensor, but this leads to inferior detection accuracy compared to a combination of a cable transmission mechanism and a rotation angle sensor.

[0105] E. Leader-follower type surgical support robot system E-1. Operation input device E-1-1. Appearance of the operation input device The input device 400 according to the present disclosure can be applied to an operation console device operated by an operator (surgeon, etc.) on the leader side in a leader-follower type surgical support robot system. In the above description, the input device 400 has been shown to have a configuration in which the measurement unit 430 includes only encoders for measuring each axis, but it may also be possible to incorporate a motor in at least one of these axes or to further include a brake mechanism for braking the motor.

[0106] 32 shows the external appearance of the operation console device 3200. The operation console device 3200 is a structure that is approximately L-shaped when viewed from the side, and has a bottom part 3201 at the bottom end that is U-shaped when viewed from above, and a base part 3202 is connected to the center of the bottom part 3201 in the approximately vertical direction.

[0107] A T-shaped support portion 3203 is attached near the middle of the base portion 3202. The support portion 3203 is at approximately the same height as the elbows of an operator sitting on a chair 3204. However, the height of the chair 3204 may be adjusted so that the support portion 3203 is at approximately the same height as the elbows of the operator.

[0108] Left-handed and right-handed input devices 3210L and 3210R are supported on the upper end of the base unit 3202 via reader arms 3211L and 3211R, respectively. The input devices 3210L and 3210R have substantially the same configuration as the input device 400 described above, and detailed description thereof will be omitted here. Each of the reader arms 3211L and 3211R has a degree-of-freedom configuration that supports the input device 3210 via a parallel link mechanism, similar to the reader arm 300 shown in FIG. 3, and includes a first axis (pan axis) that rotates the reader arm 3211 body about a vertical pan axis relative to the upper end of the base unit 3202, a second axis (first tilt axis) that tilts the input device 3210 including the parallel link mechanism, and a third axis (second tilt axis) that finely tilts the operation console device 3200 using the parallel link mechanism.

[0109] The surgeon can operate the input devices 3210L and 3210R with his or her left and right hands by using the T-shaped tip of the support part 3203 as a hand rest 3205. Fig. 33 shows an enlarged view of the hand rest 3205 at the T-shaped tip of the support part 3203 and the input devices 3210L and 3210R supported by the reader arms 3211L and 3211R.

[0110] A display device 1014 is attached to the upper end of the base 3202. In the example shown in Fig. 32, the display device 1014 is an immersive 2D and 3D viewer into which the operator peers. Therefore, the operator can operate the input devices 3210L and 3210R with his or her left and right hands while peering into the screen of the display device 1014 to observe a 2D or 3D image of the surgical field.

[0111] E-1-2. Hand Rest The left-handed and right-handed input devices 3210L and 3210R are controllers supported by leader arms 3211L and 3211R, respectively, and capable of detecting position commands with high sensitivity. The input devices 3210L and 3210R have almost the same configuration as the input device 400 described above. The operation unit 410 at the distal end does not include a rotation angle sensor, so it can be configured to be compact. The operation unit 110 has no protruding shape other than the handle portion 111 that is gripped and operated, so the operation unit 110 is less likely to interfere with the environment. This allows the user to grip the operation unit 110 with their fingertips and operate it with their hands in contact with the environment.

[0112] Here, the "environment" where the user places their hands on the ground specifically refers to hand rest 3205. As can be seen from FIG. 33 , the user operates input devices 3210L and 3210R with their left and right hands on hand rest 3205. Therefore, in microsurgery, which involves delicate surgery using a microscope or the like, plastic surgeons can operate input devices 3210L and 3210R while suppressing tremors by placing their hands on hand rest 3205. The upper surface of the hand rest, which the hands come into contact with, is preferably made of a cushioned material to reduce contact with the hands.

[0113] 32 and 33 show a straight hand rest, but a curved shape is also acceptable. For example, the hand rest may be curved so that the left and right wrists of the user operating the input devices 3210L and 3210R do not move unnaturally. It is necessary to use a hand rest with an appropriate shape and material according to the user's preference and the type of surgery. For this reason, it is preferable that the hand rest be detachable and replaceable from the operation console device.

[0114] 36 and 37 show operation console device 3200 with different types of hand rests attached, viewed from above, with the vicinity of the hand rest enlarged. In the example shown in Fig. 36, a straight-shaped hand rest 3601 is attached to operation console device 3200. On the other hand, in the example shown in Fig. 37, a curved hand rest 3701 is attached to operation console device 3200. Hand rest 3701 shown in Fig. 37 has a curved shape so that the left and right wrists of a user operating input devices 3210L and 3210R do not move unnaturally. In both hand rest 3601 and hand rest 3701, the upper surfaces that come into contact with the hands are made of a cushioned material to reduce contact with the hands.

[0115] The hand rest may include one or more buttons, such as mechanical switches. Hand rest 3601 shown in FIG. 36 has buttons 3611 and 3612 located at the left and right ends of its top surface. Similarly, hand rest 3701 shown in FIG. 37 also has buttons 3711 and 3712 located at the left and right ends of its top surface. A user can operate these buttons by holding input devices 3210L and 3210R in their hands and pressing them with the sides of their hands while keeping their hands on the hand rests. Therefore, the user can operate the buttons located at the left and right ends of the hand rest without using their eyes, relying solely on the sensations of their hands. It should be noted that the functions assigned to these buttons on the hand rests are arbitrary.

[0116] FIG. 38 shows a side view of the operation console device 3200. The input device 3210 and the hand rest 3205 are shown enlarged. To avoid cluttering the drawing, the reader arm 3211 is simplified in FIG. 38 . The input device 3210 has substantially the same configuration as the input device 400 described above. The hand rest 3205 is positioned so that the hand holding the distal end of the operation unit 110 can rest on the ground when the elongated transmission unit 420 is in a substantially horizontal position. The hand rest 3205 may have a straight shape as shown in FIG. 36 , a curved shape as shown in FIG. 37 , or another type of hand rest, but all of them have a flat shape. It is desirable that the hand rest 3205 and the input device 400 (or the operation unit 110) be positioned in a way that prevents unnatural movements of the user's wrist when gripping the input device 400. 38 , the user's hand can grasp the operation unit 110 at the distal end of the input device 3211 with the hand placed on the hand rest 3205. The support unit 3203 that supports the hand rest 3205 may be provided with a height adjustment unit (not shown) that adjusts the height of the hand rest 3205.

[0117] 36 and 37 show hand rests with different contours, but both have a flat shape as shown in FIG. 38. However, the hand rest does not have to be flat. For example, the hand rest may have a shape other than flat as long as it meets the following requirements: - The user's wrist does not move unnaturally when operating the input device. - Buttons can be operated relying solely on the sense of touch, without using vision.

[0118] Fig. 39 shows the appearance of an operation console device 3900 using a non-flat hand rest 3910. Fig. 40 shows an enlarged view of the vicinity of hand rest 3910. The components other than hand rest 3910 are the same as those in the configuration example shown in Fig. 32, so a description of each component will be omitted.

[0119] 39 and 40 has a substantially U-shape when viewed from the front, with buttons 3912 and 3913 on both the left and right ends positioned higher than a ground contact portion 3911 on which the user places their hands. With this configuration of hand rest 3910, buttons 3912 and 3913 are positioned in locations that the user cannot touch while operating input devices 3210L and 3210R. This prevents accidental operation of buttons 3912 and 3913 with hands that are in contact with ground contact portion 3911.

[0120] Each of the buttons 3912 and 3913 may be located at a height that allows the user to press them with the side of their hand while gripping the input devices 3210L and 3210R and while their hand is still in contact with the ground contact portion 3911. Alternatively, each of the buttons 3912 and 3913 may be located at a height that the user cannot reach with the side of their hand while in contact with the ground contact portion 3911. In the latter case, the user must remove their hand from the input device 3210L or 3210R when they want to press down the button 3912 or 3913. In this case, a function that cannot (or must not be) executed simultaneously with the operation of the input devices 3210L and 3210R can be assigned to each of the buttons 3912 and 3913 to ensure safe operation.

[0121] E-1-3. Fixing the arm when not in operation E-1-3-1. Arm fixing device By making each joint of the leader arm that supports the input device a passive joint and further removing the motor and brake from the leader arm, it is possible to achieve a lightweight and smooth movement of the input device with little friction (as mentioned above).

[0122] However, if at least some of the joints included in the leader arm do not have actuators such as motors or brakes, there is a problem that the leader arm cannot maintain its posture when the user releases the input device and is not operating it. Also, it is necessary to determine the initial position and posture of the leader arm when starting to operate the input device, which is troublesome.

[0123] Therefore, in order to solve the above problem, the operation console device may be equipped with an arm fixing device that fixes the reader arm when not in use.

[0124] E-1-3-2. Moving Device In order to efficiently start operating the input device and to safely fix the leader arm when the operation is completed, it is desirable that the arm fixing device be able to fix the leader arm in a position where the user can operate it safely and stably. Without such measures, interference between the leader arm and the arm fixing device will occur when operating the input device, which will not only limit the range of motion of the input device and leader arm but also be dangerous.

[0125] Therefore, the operation console device may be further equipped with a moving device for moving the arm fixing device, so that the arm fixing device can be moved depending on the state of use of the input device.

[0126] The moving device moves the arm fixing device to a coupling position where it can be coupled with the leader arm when the input device is not being operated (i.e., at the end of surgery or when surgery is not being performed), thereby fixing the leader arm. Also, when the input device is being operated (i.e., during surgery), the moving device retracts the arm fixing device to a storage position outside the range of motion of the input device and leader arm, thereby ensuring the range of motion and safety of the input device and leader arm.

[0127] The storage position where the arm fixing device is retracted needs to be a safe place where it will not interfere with the user's hands or the input device when the input device is operated. Furthermore, it is preferable that the storage position be as close to the connecting position as possible so that the input device can be quickly returned to the connecting position after operation is completed. For example, the storage position of the arm fixing device may be located under the hand rest.

[0128] The movement device may be configured to move the arm fixing device electrically using an actuator such as a motor, triggered by a change in the operating state of the input device, etc. Of course, the movement device may also be configured to move the arm fixing device manually by the user.

[0129] The method of inputting the trigger to move the arm fixing device from the retracted position to the coupled position is not particularly limited. However, to avoid the risk of the arm fixing device unintentionally colliding with the input device or the user's hand while moving, it is preferable that the trigger be input while the user's hand is in a safe position. For example, if the buttons (described above) on both ends of the hand rest are simultaneously pressed as a trigger to move the arm fixing device from the retracted position to the coupled position, the user's hand will be in a safe position, and the risk of the arm fixing device unintentionally colliding with the input device or the user's hand while moving can be avoided.

[0130] E-1-3-3. Connection between arm fixing device and leader arm The arm fixing device has an adapter unit that connects to the operation unit at the distal end of the input device, and the reader arm is fixed by connecting this adapter unit to the operation unit. The method for connecting the adapter unit to the operation unit is not particularly limited. For example, the adapter unit may be connected to the operation unit of the input device using a mechanical locking mechanism that utilizes magnetic attraction or claw engagement.

[0131] The adapter unit may be equipped with a sensor that can detect the connection state with the operation unit. Examples of the method for detecting the connection state using a sensor include the following.

[0132] - A method of detecting when electrical contacts are shorted when connected. - A method of detecting when a photointerrupter is cut off or opened when connected. - A method of detecting when a mechanical sensor detects connection, or when a mechanical switch is activated by connection.

[0133] E-1-3-4. Specific examples of arm fixing devices Figures 41 and 42 show specific examples of arm fixing devices that move in a sliding manner. Figure 41 shows the arm fixing device 4100 in the coupled position, and Figure 42 shows the arm fixing device 4100 in the retracted position below the hand rest.

[0134] The moving device 4110 consists of a slider that slides on a guide rail, and the slider equipped with the arm fixing device 4100 can be moved in a straight line using the power of a linear actuator or the like, thereby moving between the connected position and the stored position.

[0135] The position where the arm fixing device 4100 is at one end of the guide rail is the coupled position (see FIG. 41 ). In this coupled position, the adapter part 4101 at the tip of the arm fixing device 4100 is coupled to the lower end of the operation part of the input device 3210, thereby fixing the reader arm 3211. The adapter part 4101 is coupled to the lower end of the operation part of the input device 3210 using a mechanical locking mechanism that utilizes the attractive force of a magnet or the engagement of a claw. The adapter part 4101 may be equipped with a sensor that can detect the state of coupling with the operation part of the input device 3210.

[0136] The position where the arm fixing device 4100 is retracted to the other end of the guide rail below the hand rest is the storage position (see FIG. 42). FIG. 42 shows a state where the user is gripping and operating the operation unit of the input device 3210 with their hands in this state. It can be seen that the arm fixing device 4100 is retracted to the storage position, so that it does not interfere with the user's hands or the input device 3210, and is therefore safe.

[0137] The moving device 4110 is triggered by a change in the operating state of the input device 3210, and causes the slider equipped with the arm fixing device 4100 to move in a straight line on a guide rail, thereby moving the arm fixing device 4100 from the storage position to the connection position, and conversely, from the connection position to the storage position.

[0138] An example of a rotating, movable arm locking device is shown in Figures 43 and 44. Figure 43 shows the arm locking device 4300 in the coupled position, and Figure 44 shows the arm locking device 4300 in the retracted position below the hand rest.

[0139] The moving device 4310 can move between the connected position and the retracted position by rotating the arm fixing device 4300 around a rotation axis set in the hand rest 3205 .

[0140] The coupled position (see FIG. 43 ) is the position where the arm fixing device 4300 appears prominently in the user work area in front of the hand rest 3205 due to the rotation of the moving device 4310. In this coupled position, the adapter unit 4301 at the tip of the arm fixing device 4300 is coupled to the lower end of the operation unit of the input device 3210, thereby fixing the reader arm 3211. The adapter unit 4301 is coupled to the lower end of the operation unit of the input device 3210 using a mechanical locking mechanism that utilizes magnetic attraction or claw engagement. The adapter unit 4301 may be equipped with a sensor that can detect the state of coupling with the operation unit of the input device 3210.

[0141] The position where the arm fixing device 4300 is retracted below the hand rest by the rotation of the moving device 4310 is the storage position (see FIG. 44). FIG. 44 shows a state where the user is gripping and operating the operation unit of the input device 3210 in this state. It can be seen that the arm fixing device 4300 is retracted to the storage position, and therefore does not interfere with the user's hand or the input device 3210, and is therefore safe.

[0142] The moving device 4310 can move the arm fixing device 4300 from the storage position to the connection position, or conversely from the connection position to the storage position, by a rotational operation triggered by a change in the operating state of the input device 3210, etc.

[0143] E-2. System Configuration Figure 34 shows the external configuration of a leader-follower type surgery support robot system 1000 that uses the operation console device 3200 shown in Figure 32 as the leader.

[0144] The surgical 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 correspond to the leader device and follower device, respectively, in a leader-follower system. The robot control device 1030 links the console unit 1010 and the operation unit 1020 to achieve leader-follower control.

[0145] An operator such as a doctor or medical professional operates the console unit 1010 to instruct the operation of the surgical support robot system 1000. On the other hand, the operation unit 1020 is equipped with a robot arm equipped with surgical tools required for surgery, and is configured to operate in response to the operation of the console unit 1010 by the operator, and is placed in the operating room near the operating table 1050 on which the patient lies in order to perform surgery on the patient.

[0146] The console unit 1010 is used, for example, when an operator remotely operates the operation unit 1020 from a location in an operating room away from the operating table 1050 (or outside the operating room). The console unit 1010 includes an operation console device 3200 (or an input device 400) shown in FIG. 32 as an input means for the operator. When an operation command or instruction from the operator is input via the operation console device 3200, the console unit 1010 transmits the operation command to the operation unit 1020 via the robot control device 1030. The operation unit 1020 operates each arm supporting the surgical tools and imaging device in accordance with the operation command received via the robot control device 1030, thereby performing surgery on a patient.

[0147] The display device 1014 displays a 2D or 3D image of the affected area captured by an imaging unit included in the sensor section 1024 on the operation unit 1020 side. In the example shown in Fig. 34, the display device 1014 is an immersive display device into which the operator peers, but it may also be a glasses-type or goggle-type display device worn on the operator's head, or a naked-eye display.

[0148] 34, the operation unit 1020 includes a robot arm 1025 made up of an articulated serial link, a sensor unit 1024 such as an imaging unit mounted on the distal end of the robot arm, one or more followers that hold various surgical tools and operate by following the leader, a surgical tool exchange unit that exchanges the surgical tools attached to the followers, etc. The operation unit 1020 further includes a communication device that can communicate various information with the robot control device 1030.

[0149] In the example shown in Fig. 34, the robot control device 1030 has an external structure that is physically integrated with the operation unit 1020. The robot control device 1030 is configured as a single physical unit (i.e., a single housing) in which the control devices for the console unit 1010, the operation unit 1020, and the imaging unit are all integrated. The bottom of the housing of the robot control device 1030 is provided with multiple (e.g., four) wheeled legs as a means of transportation. Therefore, an operator or an assistant can manually push the housing of the robot control device 1030 and the operation unit 1020 to move them in and out of the operating room.

[0150] FIG. 35 schematically illustrates the functional configuration of the surgical support robot system 1000. For simplicity, the robot control device 1030 is not illustrated in FIG. 35 . The functions of the robot control device 1030 are realized by either the console unit 1010 or the operation unit 1020 (or by the cooperative operation of both units). An operator such as a surgeon operates the leader 1012 (operation console device 3200) on the console unit 1010 side, and on the operation unit 1020 side installed in the operating room, surgery can be performed by controlling the drive of the follower 1022 that holds the surgical tool according to the operator's operation of the leader. The surgical tool referred to here is, for example, a medical instrument such as a forceps, an insufflation tube, an energy treatment instrument, a suction device, or a retractor.

[0151] The console unit 1010 includes a reader-side control unit 1011, a reader 1012, a reader-side communication unit 1013, and a display device 1014. The console unit 1010 operates under the overall control of the reader-side control unit 1011.

[0152] The reader 1012 is configured using the operation console device 3200 (or the input device 400) shown in Fig. 32 and is capable of performing input operations and force feedback in a three-axis polar coordinate system. A user (such as a surgeon) can remotely control or perform 3D operations on a screen with respect to a follower 1022 that carries a surgical tool such as forceps in the operation unit 1020. Using the reader 1012, it is possible to perform, for example, operations with three translational degrees of freedom for translating the surgical tool, three rotational degrees of freedom for changing the posture of the surgical tool, and one degree of freedom for grasping, such as opening and closing the forceps.

[0153] The display device 1014 presents information about the surgery being performed in the operation unit 1020 to the operator of the reader 1022, based mainly on sensor information acquired by a sensor unit 1024 (described later) on the operation unit 1020 side.

[0154] For example, if the sensor section 1024 on the operation unit 1020 side is equipped with an imaging unit that observes the surface of the affected area from above, or an endoscope for laparoscopic or coloscopic surgery held by the follower 1022, or is equipped with an interface that captures images from these cameras, and this image data is transferred with low latency to the console unit 1010 via the transmission path 1031, the display device 1014 displays the captured image of the affected area on the screen in real time.

[0155] Furthermore, when the sensor unit 1024 is equipped with a function for measuring forces such as external forces and moments acting on the surgical tool carried by the follower 1022, and such force information is transferred with low latency to the console unit 1010 via the transmission path 1031, a reaction force can be presented to the operator by the force presentation function built into the reader 1012 (operation console device 3200).

[0156] The reader-side communication unit 1013 performs processing for transmitting and receiving signals to and from the operation unit 1020 via the transmission path 1031 under the control of the reader-side control unit 1011. For example, if the transmission path 1031 is made of optical fiber, the reader-side communication unit 1013 includes an electrical-to-optical converter that converts electrical signals sent from the console unit 1010 into optical signals, and an optical-to-electrical converter that converts optical signals received from the transmission path 1031 into electrical signals. The reader-side communication unit 1013 transfers operation commands for the follower 1022, which are input by the operator via the console unit 1010, to the operation unit 1020 via the transmission path 1031. The reader-side communication unit 1013 also receives sensor information sent from the operation unit 1020 via the transmission path 1031.

[0157] On the other hand, the operation unit 1020 includes a follower-side control unit 1021, a follower 1022, a sensor unit 1024, and a follower-side communication unit 1024. The operation unit 1020 operates in accordance with instructions from the console unit 1010 under the overall control of the follower-side control unit 1021.

[0158] The follower 1022 is, for example, a robot arm having a multi-joint link structure, and is equipped with a surgical tool or an observation device as an end effector at its tip (or distal end). Examples of the surgical tool include forceps, an insufflation tube, an energy treatment device, a surgeon, and a retractor. Examples of the observation device include an endoscope. The follower-side control unit 1021 interprets operation commands sent from the console unit 1010 via the transmission path 1031, converts the commands into drive signals for actuators that drive each joint of the follower 1022, and outputs the signals. The follower 1022 then operates based on the drive signals from the follower-side control unit 1021.

[0159] The sensor unit 1024 is equipped with a plurality of sensors that detect the status of the affected area during surgery performed by the follower 1022, and is further equipped with an interface for acquiring sensor information from various sensor devices installed in the operating room. The sensor unit 1024 also has a force torque sensor (FTS) for measuring external forces and moments acting on a surgical tool mounted on the tip (distal end) of the follower 1022. The sensor unit 1024 is also equipped with an observation device such as an imaging unit that observes the surface of the affected area during surgery by the follower 1022, an RGB camera that captures microscopic images, or an endoscope for laparoscopic or coloscopic surgery, or an interface for acquiring images captured by these cameras.

[0160] The follower-side communication unit 1024 performs processing for transmitting and receiving signals to and from the console unit 1010 via the transmission path 1031 under the control of the follower-side control unit 1021. For example, if the transmission path 1031 is made of optical fiber, the follower-side communication unit 1024 includes an electrical-to-optical conversion unit that converts an electrical signal sent from the operation unit 1020 into an optical signal, and an optical-to-electrical conversion unit that converts an optical signal received from the transmission path 1031 into an electrical signal.

[0161] The follower-side communication unit 1024 transfers force data of the surgical tool acquired by the sensor unit 1024 and captured images from the imaging unit, endoscope, etc. to the console unit 1010 via the transmission path 1031. The follower-side communication unit 1024 also receives operation commands for the follower 1022 sent from the console unit 1010 via the transmission path 1031.

[0162] On the console unit 1010 side, an operation command for remotely operating the follower 1022 is input via the reader 1012 (operation console device 3200). The operation command includes a panning operation and a tilting operation of the robot arm serving as the follower 1022, and an operation of a surgical tool held by the follower 1022.

[0163] The follower-side control unit 1021 performs drive control so as to realize the operation of the follower 1022 in accordance with the received operation command.

[0164] The present disclosure has been described in detail above with reference to specific embodiments. However, the present disclosure should not be construed as being limited to the above-described embodiments, and it is obvious that those skilled in the art can modify or substitute the embodiments without departing from the spirit of the present disclosure. Furthermore, the effects described in this specification are merely examples, and the effects brought about by the present disclosure are not limited thereto, and additional effects not described in this specification may exist.

[0165] This specification has mainly described an embodiment in which an input device according to the present disclosure is applied to a surgical support robot. The input device according to the present disclosure is particularly suitable for microsurgery applications. Furthermore, the input device according to the present disclosure can also be applied to operation of virtual spaces (e.g., surgical simulators, metaverse spaces, games, 3D CAD, etc.), operation of remote robots (e.g., surgical robots, service robots, industrial robots, etc.), and robot teaching (e.g., teaching picking tasks using an input device).

[0166] In short, the present disclosure has been described in the form of examples, and the contents of the specification should not be interpreted as limiting. To determine the gist of the present disclosure, the claims should be taken into consideration.

[0167] The present disclosure may also be configured as follows.

[0168] (1) An input device comprising: an operating unit having multiple degrees of freedom arranged at a distal end; a transmission unit that supports the operating unit at the distal end and transmits the movement of each degree of freedom of the operating unit via a cable; and a measurement unit that supports the transmission unit near the base end and measures the movement of each degree of freedom of the operating unit transmitted by the transmission unit.

[0169] (2) The input device according to (1), wherein the operation unit and the measurement unit are configured to be mirror-symmetrical with respect to each other via the transmission unit.

[0170] (3) The input device according to any one of (1) or (2), wherein the transmission unit transmits the movement of the operation unit for each degree of freedom to the measurement unit using a plurality of cables.

[0171] (4) The input device according to any one of (1) to (3), wherein the measuring unit includes a rotation sensor, and a cable connects the axis of the operation unit and the axis of the rotation sensor, and the rotation sensor detects the rotation angle of the axis that is rotated by being pulled by the cable.

[0172] (5) An input device according to any one of (1) to (4), wherein the operating unit includes a first link supported at a distal end of the transmission unit so as to be rotatable about a first axis perpendicular to the longitudinal direction, the transmission unit converts the rotational movement of the first link about the first axis into linear movement of a first cable and transmits the converted rotational movement, and the measurement unit includes a first rotation sensor that measures the rotation angle of the first link about the first axis based on the rotational movement converted from the linear movement of the first cable.

[0173] (6) The input device described in (5) above, wherein the operating unit further includes a handle unit supported by the first link so as to be rotatable around a second axis perpendicular to the longitudinal direction and the first axis, the transmission unit converts the rotational movement of the handle unit around the second axis into linear movement of a second cable and transmits the converted rotational movement, and the measurement unit includes a second rotation sensor that measures the rotation angle of the handle unit around the second axis based on the rotational movement converted from the linear movement of the second cable.

[0174] (7) The input device described in (6) above, wherein the operation unit further includes a cam unit supported rotatably around the second axis independently of the handle unit, the handle unit includes a pair of grip units that open and close based on a rotation angle with the cam unit around the second axis, the transmission unit converts the rotational movement of the cam unit around the second axis into linear movement of a third cable and transmits it, and the measurement unit includes a third rotation sensor that measures the rotational angle of the cam unit around the second axis based on the rotational movement converted from the linear movement of the third cable.

[0175] (8) The input device described in (7) above, wherein the measurement unit includes a second link supported at the base side of the transmission unit so as to be rotatable around a third axis parallel to the first axis, the transmission unit converts the linear motion of the first cable into a rotational motion of the second link around the third axis, and the first rotation sensor measures the rotation angle of the second link around the third axis.

[0176] (9) The input device described in (8) above, wherein the second rotation sensor and the third rotation sensor are each held by the second link so as to be rotatable around a fourth axis parallel to the second axis, the transmission unit converts the linear motion of the second cable into a rotational motion of the second capstan around the fourth axis and converts the linear motion of the third cable into a rotational motion of the third capstan around the fourth axis, the second rotation sensor measures the rotation angle of the second capstan around the fourth axis, and the third rotation sensor measures the rotation angle of the third capstan around the fourth axis.

[0177] (10) The input device according to any one of (8) to (9), further comprising a connection section that connects the ends of the second cable and the third cable together to apply a pretension.

[0178] (11) An operation console device comprising: an input device; an arm supporting the input device; and a hand rest for supporting a user's hand while operating the input device, wherein the input device is an input device according to any one of claims 1 to 9.

[0179] (11-1) The operation console device according to (11), wherein the hand rest has a cushioned contact surface on which the user's hand rests.

[0180] (11-2) The operation console device according to (11), wherein the hand rest has a curved shape.

[0181] (11-3) The operation console device according to (11), wherein the hand rest is detachable and replaceable.

[0182] (12) The operation console device according to (11), wherein the hand rest includes a button.

[0183] (13) The operation console device according to (12), wherein the button is arranged in a position where a user can hold the operation unit and press it with the side of the hand that is placed on the hand rest.

[0184] (14) The operation console device according to any one of (12) or (13), wherein the hand rest has a shape such that a contact portion on which a user's hand is placed and the buttons are at different heights.

[0185] (14-1) The operation console device according to (14), wherein the hand rest includes a U-shape, and the buttons are arranged on both ends of the U-shape.

[0186] (15) The operation console device according to any one of (11) to (14) above, further comprising an arm fixing device that fixes the arm.

[0187] (16) The operation console device according to (15) above, further comprising a moving device that moves the arm fixing device depending on the use state of the input device.

[0188] (17) The operation console device described in (16) above, wherein the moving device moves the arm fixing device to a connecting position where it can be connected to the arm when the input device is operated, and retracts the arm fixing device to a storage position outside the range of motion of the input device and leader arm when the input device is not being operated.

[0189] (18) The operation console device according to any one of (15) to (17), wherein the arm fixing device includes an adapter part that connects to an operation part of the input device, and the adapter part connects to the operation part to fix the arm.

[0190] (19) The operation console device according to (18), wherein the adapter unit includes a sensor that detects a connection state between the input device and the operation unit.

[0191] (20) A surgical support robot system comprising: an operation unit including one or more followers to which surgical tools are attached; a console unit including one or more readers operated by an operator; a display device that displays an image of the affected area of ​​a patient undergoing surgery with the surgical tools; and a control device that controls the operation of the followers in response to the operation of the readers, wherein at least one of the readers includes an input device according to any one of claims 1 to 9.

[0192] DESCRIPTION OF SYMBOLS 100...input device, 110...operation unit, 111...handle unit, 111a, 111b...grip unit, 120...transmission unit, 130...measurement unit, 300...leader arm, 301...leader arm main body, 303, 304...tilt link, 310...device holder unit, 311...first axis, 312...second axis, 313...third axis, 400...input device, 410...operation unit, 411...pitch link, 412...handle unit, 412a, 412b...grip unit, 412c...gripping axis, 413...cam unit, 420...transmission unit, 430...measurement unit, 431...first encoder, 432...second encoder, 433...third encoder, 440...pitch link, 511, 512...cable (for pitch axis) 513... Cable (for roll axis), 514... Cable (for cam axis) 523, 524... Pulley (for cable 513, operation unit 410 side) 525, 526... Pulley (for cable 514, operation unit 410 side) 527, 528... Pulley (for cable 514, measurement unit 430 side) 601... Pitch axis input capstan, 603... Bearing portion, 604... Joint portion 606... Bearing portion, 611... Roll axis portion, 612... Gripper support portion 613... Stylus portion, 614... Roll axis input capstan 615... Cam axis input capstan, 621, 622... Projection portion 623, 624... Contact member, 625, 626... Rib 1000... Surgery support robot system, 1010... Console unit 1011... Reader side control portion, 1012... Reader 1013...Leader side communication unit, 1014...Display device 1020...Operation unit, 1021...Follower side control unit 1022...Follower, 1023...Follower side communication unit 1024...Sensor unit, 1025...Robot arm 1030...Robot control device, 1031...Transmission path, 1050...Operating table 1101...Joint unit, 1111, 1112...Bearing unit 1113, 1114...Bearing unit, 1201...Pitch axis output capstan 1202...Roll axis output capstan 1203...Cam shaft output capstan, 1204...Torsion spring 3200...Operation console device, 3201...Bottom 3202...Base unit, 3203...Support unit, 3204...Chair 3205...Hand rest, 3210...Input device 3211...Leader arm 3601...Hand rest (straight shape) 3611, 3612...Buttons3701...Hand rest (curved shape) 3711, 3712...Buttons 3900...Operation console device, 3910...Hand rest 3911...Ground part, 3912, 3913...Buttons 4100...Arm fixing device, 4101...Adapter part 4110...Moving device 4300...Arm fixing device, 4301...Adapter part 4310...Moving device

Claims

1. An input device comprising: an operating unit having multiple degrees of freedom arranged at a distal end; a transmission unit that supports the operating unit at the distal end and transmits the movement of each degree of freedom of the operating unit via a cable; and a measurement unit that supports the transmission unit near the base end and measures the movement of each degree of freedom of the operating unit transmitted by the transmission unit.

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

3. The input device according to claim 1, wherein the transmission unit transmits the movement of the operation unit for each degree of freedom to the measurement unit using a plurality of cables.

4. The input device according to claim 1, wherein the measuring unit includes a rotation sensor, the axis of the operation unit and the axis of the rotation sensor are connected by a cable, and the rotation sensor detects the rotation angle of the axis rotated by being pulled by the cable.

5. An input device as described in claim 1, wherein the operating unit includes a first link supported at the distal end of the transmission unit so as to be rotatable about a first axis perpendicular to the longitudinal direction, the transmission unit converts the rotational movement of the first link about the first axis into linear movement of a first cable and transmits the converted rotational movement, and the measuring unit includes a first rotation sensor that measures the rotation angle of the first link about the first axis based on the rotational movement converted from the linear movement of the first cable.

6. An input device as described in claim 5, wherein the operation unit further includes a handle unit supported by the first link so as to be rotatable around a second axis perpendicular to the longitudinal direction and the first axis, the transmission unit converts the rotational movement of the handle unit around the second axis into linear movement of a second cable and transmits the converted movement, and the measurement unit includes a second rotation sensor that measures the rotation angle of the handle unit around the second axis based on the rotational movement converted from the linear movement of the second cable.

7. An input device as described in claim 6, wherein the operation unit further includes a cam unit supported rotatably about the second axis independently of the handle unit, the handle unit includes a pair of grip units that open and close based on a rotation angle between the cam unit and the grip unit about the second axis, the transmission unit converts the rotational movement of the cam unit about the second axis into linear movement of a third cable and transmits the converted movement, and the measurement unit includes a third rotation sensor that measures the rotational angle of the cam unit about the second axis based on the rotational movement converted from the linear movement of the third cable.

8. An input device as described in claim 7, wherein the measurement unit includes a second link supported on the base side of the transmission unit so as to be rotatable around a third axis parallel to the first axis, the transmission unit converts the linear motion of the first cable into rotational motion of the second link around the third axis, and the first rotation sensor measures the rotation angle of the second link around the third axis.

9. An input device as described in claim 8, wherein the second rotation sensor and the third rotation sensor are each held by the second link so as to be rotatable around a fourth axis parallel to the second axis, the transmission unit converts the linear motion of the second cable into rotational motion of the second capstan around the fourth axis and converts the linear motion of the third cable into rotational motion of the third capstan around the fourth axis, the second rotation sensor measures the rotation angle of the second capstan around the fourth axis, and the third rotation sensor measures the rotation angle of the third capstan around the fourth axis.

10. The input device according to claim 7, further comprising a connection portion that connects the ends of the second cable and the third cable together to apply a pretension.

11. An operation console device comprising: an input device; an arm supporting the input device; and a hand rest for supporting a user's hand while operating the input device, wherein the input device is an input device according to any one of claims 1 to 9.

12. The operation console device according to claim 11, wherein the hand rest includes a button.

13. The operation console device according to claim 12, wherein the button is arranged in a position where a user can hold the operation unit and press it with the side of their hand placed on the hand rest.

14. The operation console device according to claim 12, wherein the hand rest has a shape such that a contact portion where the user's hand rests and the buttons are at different heights.

15. The operation console device according to claim 11, further comprising an arm fixing device for fixing the arm.

16. The operation console device according to claim 15, further comprising a moving device that moves the arm fixing device depending on the use state of the input device.

17. The operation console device according to claim 16, wherein the moving device moves the arm fixing device to a connecting position where it can be connected to the arm when the input device is operated, and retracts the arm fixing device to a storage position outside the range of motion of the input device and leader arm when the input device is not being operated.

18. The operation console device according to claim 15, wherein the arm fixing device comprises an adapter part that connects to the operation part of the input device, and the adapter part connects to the operation part to fix the arm.

19. The operation console device according to claim 18, wherein the adapter section is provided with a sensor that detects the connection state of the input device with the operation section.

20. A surgical support robot system comprising: an operation unit including one or more followers to which surgical tools are attached; a console unit including one or more readers operated by an operator; a display device that displays captured images of the affected area of ​​a patient undergoing surgery with the surgical tools; and a control device that controls the operation of the followers in response to the operation of the readers, wherein at least one of the readers includes an input device described in any one of claims 1 to 9.

Images