Gripping controller and console device

Abstract

An object of one or more embodiments of the present disclosure is to prevent mutual contact of right and left joint link mechanisms. A gripping control device includes a lug, a grip, an operation portion, and a finger sensor. The lug has first and second side surfaces that face in opposite directions and has an end surface provided from the first side surface to the second side surface. The grip is disposed to face the end surface of the lug and is attached to the lug in a manner that the grip is separated from the end surface of the lug. The operation portion is disposed to face the first side surface of the lug and is linked to the lug in a manner that the operation portion is separated from the first side surface of the lug. The finger sensor is provided to the second side surface of the lug and detects a finger of an operator.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a holding controller and a console device. BACKGROUND

[0002] Patent Literature 1 discloses a system for operating a medical device using an input control console. An operator's contact with the input control console is detected by a sensor. When the sensor detects the operator's contact with the input control console, a computer processor issues an instruction to the medical device in accordance with the operator's operation of the input control console. When the sensor does not detect the operator's contact with the input control console, the computer processor cuts off the instruction to the medical device.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Laid-Open No. 2020-529237 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, in order to detect the case where the operator holds the controller of the console device with his hand, the sensor is sometimes provided to the controller. When the size of the controller does not fit the size of the hand, the hand does not contact the sensor, and the sensor cannot detect the hand. Regardless of the operator's operation of the controller, the instruction to the robot such as a medical device is cut off, and the robot does not act.

[0008] Thus, an object of one or more embodiments of the present disclosure is to enable the sensor to detect a finger regardless of the size of the operator's hand.

[0009] SOLUTION TO THE PROBLEM

[0010] In order to solve the above problem, according to an aspect of the present disclosure, a holding controller is provided with a lug, a grip, an operation portion, and a finger sensor. The lug has a first side surface and a second side surface that are opposite to each other, and has an end surface provided from the first side surface to the second side surface. The grip is arranged to face the end surface of the lug, and is attached to the lug in a manner that the grip is brought into and out of contact with the end surface of the lug. The operation portion is arranged to face the first side surface of the lug, and is connected to the lug in a manner that the operation portion is brought into and out of contact with the first side surface of the lug. The finger sensor is provided to the second side surface of the lug, and detects the operator's finger.

[0011] According to an aspect of the present disclosure, a console device includes a grip controller, a foot switch, a joint link mechanism, and a control section. The foot switch is stepped on by a foot of an operator to thereby output a trigger. The joint link mechanism has a proximal end that is rotatable, and has a distal end to which the grip controller is connected, and allows the grip controller to be supported in translation. The control section switches between an operation mode in which a robot can be controlled and a standby mode in which the robot cannot be controlled. After the finger sensor detects the finger and the control section is input with the trigger from the foot switch, the control section switches the robot between the operation mode and the standby mode.

[0012] Effects of the Invention

[0013] The grip controller and the console device of one or more embodiments of the present disclosure facilitate the operator to hold the grip controller with a palm and to place a finger on the finger sensor regardless of the size of the operator's hand. The finger sensor can detect the finger regardless of whether the operator's hand is large or small. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a block diagram of a remote control robot system.

[0015] Figure 2 shows a console device.

[0016] Figure 3 shows a console device.

[0017] Figure 4 shows a console device.

[0018] Figure 5 shows a gimbal and a grip controller provided at a distal end of a console device on the right side.

[0019] Figure 6 is a perspective view of a grip controller on the right side.

[0020] Figure 7 is a perspective view of a grip controller on the right side.

[0021] Figure 8 is a side view of a grip controller on the right side.

[0022] Figure 9 is a side view of a grip controller on the right side. DETAILED DESCRIPTION

[0023] Hereinafter, one or more embodiments of the present disclosure will be described with reference to the accompanying drawings. The features and technical effects of the embodiments can be understood from the following detailed description and the accompanying drawings. However, the scope of the present disclosure is not limited to the embodiments disclosed below. The drawings are merely provided for illustration, and the scope of the present disclosure is not limited to the illustrations of the drawings.

[0024] <1. Outline of remote control robot system>

[0025] Figure 1 is a block diagram of a remote control robot system.

[0026] The remote control robot system has a robot 1 and a master console device 2. The master console device 2 is a master, and the robot 1 is a slave. When an operator such as a doctor operates the master console device 2, the robot 1 performs an action in accordance with the action of the master console device 2.

[0027] <2. Robot>

[0028] The robot 1 is disposed in a work site such as an operating room. The robot 1 is a robot that performs a work such as surgery. The robot 1 has two manipulators 15, two end effectors 16, a camera 18, and a slave control section 19, and a base.

[0029] The two manipulators 15 are arranged side by side in left and right directions and are mounted to the base. The manipulator 15 is a vertical multi-joint robot of 5 degrees of freedom, 6 degrees of freedom, or 7 degrees of freedom. The manipulator 15 has a plurality of links, a plurality of joints, and a plurality of driving sections. A proximal link among the links is connected to the base by a rotational joint among the joints, and the links are sequentially connected by the joints from a proximal end to a distal end of the manipulator 15. Among the joints, there are rotational joints, bending joints, and twisting joints. The driving sections are connected to the joints. The driving sections apply torque to the joints, and thus the manipulator 15 performs an action. Here, the distal direction refers to a direction away from the base, and the proximal direction refers to a direction close to the base.

[0030] The end effector 16 is connected to the distal end of the manipulator 15. The end effector 16 can be, for example, a forceps, a tweezer, a scissors, a surgical knife, or the like. In the present embodiment, the end effector 16 is a forceps.

[0031] The camera 18 is connected to the base. The camera 18 can also be connected to the base by an auxiliary manipulator or a link mechanism. The camera 18 can also be a scope. The subject of photographing of the camera 18 can be the manipulator 15, the end effector 16, or a work object. The work object refers to an object handled by the end effector 16. For example, the work object can be a diseased part to be operated.

[0032] The slave control section 19 is one or a plurality of computers having a CPU (Central Processing Unit), a RAM (Random Access Memory), a bus, a bus controller, an interface circuit, a drive circuit, a communication device, and the like. The master control section 3 of the master console device 2 inputs an operation signal to the slave control section 19. The slave control section 19 controls the robot arm 15 and the end effector 16 in accordance with the operation signal, thereby causing the robot arm 15 and the end effector 16 to follow the master console 60 of the master console device 2.

[0033] <3. Master Console Device>

[0034] Figure 2 Fig. 1 is a perspective view of a master console device 2.

[0035] The master console device 2 is disposed away from a work site such as an operating room. The master console device 2 can also be disposed at the work site.

[0036] The master console device 2 is provided with a trolley 50, a base 51, a lumbar support 52, a first display section 53, a second display section 54, a foot switch 55, two master consoles 60, and a master control section 3.

[0037] The master control section 3 is one or a plurality of computers having a CPU (Central Processing Unit), a RAM (Random Access Memory), a bus, a bus controller, an interface circuit, a drive circuit, a communication device, and the like. The master control section 3 undertakes control of the master console device 2. The master control section 3 can communicate with the slave control section 19 by way of a network or the like.

[0038] The trolley 50 has casters with brakes at a lower portion, and is movable by the casters.

[0039] The base 51 is fixed to a rear portion of the trolley 50, and is disposed in a state of standing up from the rear portion of the trolley 50.

[0040] The lumbar support 52 is fixed to a front portion of the trolley 50, and is disposed in a state of standing up from the front portion of the trolley 50. An operator rests a lumbar portion on the lumbar support 52, and operates the master console 60 and the foot switch 55.

[0041] The first display section 53 and the second display section 54 are full-color displays such as liquid crystal displays and organic electroluminescence displays. The first display section 53 and the second display section 54 are arranged one above the other and are mounted on the base 51. The display surfaces of the first display section 53 and the second display section 54 face the front. The first display section 53 displays an image captured by the camera 18. The second display section 54 displays the state of the robot 1, more specifically, the state of the manipulator 15, the end effector 16, and the camera 18.

[0042] The foot switch 55 is mounted on the lower portion of the base 51. The foot switch 55 is operated by being stepped on by the operator, and thereby the foot switch 55 is turned on. When the stepping on of the foot switch 55 is released, the foot switch 55 is turned off. When the foot switch 55 is turned on, the foot switch 55 outputs a turn-on signal of a high level to the host control section 3. The turn-on signal is a trigger. When the foot switch 55 is turned off, the foot switch 55 outputs a turn-off signal of a low level to the host control section 3. The foot switch 55 is used to turn on and off the following of the manipulator 15 and the end effector 16 to the console 60.

[0043] The two consoles 60 are attached to the upper portion of the base 51 and are arranged side by side with a space therebetween. These consoles 60 extend forward from the base 51, and the operator holds the left and right consoles 60 with the left and right hands, respectively. When the operator moves the left console 60 with the left hand, the left manipulator 15 and the end effector 16 move following the movement of the left console 60. When the operator moves the right console 60 with the right hand, the right manipulator 15 and the end effector 16 move following the movement of the right console 60.

[0044] <3-1, Console>

[0045] Figure 3 is a perspective view of the left and right consoles 60. Figure 4 is a plan view of the left and right consoles 60.

[0046] As shown in Figure 3 and Figure 4 , the console 60 is provided with a joint link mechanism 79, a gimbal 80, and a grip controller 90. As shown in Figure 1 , the console 60 has a drive section 67 to 69 and a sensor 70 to 72 for controlling the joint link mechanism 79.

[0047] The proximal end of the joint link mechanism 79 is attached to the base 51, the distal end of the joint link mechanism 79 is attached to the gimbal 80, and the grip controller 90 is attached to the gimbal 80. Here, the distal end refers to the direction away from the base 51, and the proximal end refers to the direction close to the base 51.

[0048] The joint link mechanism 79 enables the gimbal 80 and the holding controller 90 to be translationally supported by the gimbal 80 and the holding controller 90 with three degrees of freedom. The gimbal 80 enables the holding controller 90 to be rotationally supported by the holding controller 90 with three degrees of freedom. When the operator holds the holding controller 90 and moves the holding controller 90, the posture and the direction of the holding controller 90 are changed by the gimbal 80, and the holding controller 90 and the gimbal 80 are translated due to the joint link mechanism 79.

[0049] The joint link mechanism 79 has a rotation section 61, a proximal link 62, a distal link 63, a first joint 64, a second joint 65, and a third joint 66.

[0050] The rotation section 61 is rotationally coupled to the upper portion of the base 51 via the first joint 64. The rotation section 61 is arranged to relatively rotate with respect to the base 51 about a vertical rotation axis via the first joint 64. The rotation section 61 and the first joint 64 correspond to the proximal end of the joint link mechanism 79.

[0051] A rotation angle sensor 70 such as a rotary encoder is provided to the base 51, and a first drive section 67 such as a motor is provided to the base 51. The rotation angle sensor 70 and the first drive section 67 are coupled to the first joint 64. The rotation angle sensor 70 detects the rotation angle of the rotation section 61 about the rotation axis, and outputs the detected value to the host control section 3. The host control section 3 transmits the detected value of the rotation angle sensor 70 to the slave control section 19. The slave control section 19 controls the robot 15 in accordance with the detected value of the rotation angle sensor 70.

[0052] The first drive section 67 applies a torque about the rotation axis to the first joint 64 and the rotation section 61.

[0053] The proximal end of the proximal link 62 is rotationally coupled to the rotation section 61 via the second joint 65. The proximal link 62 is arranged to relatively swing up and down with respect to the rotation section 61 about a horizontal first swing axis extending left and right via the second joint 65. The proximal link 62 can also be configured by a link mechanism such as a parallel link mechanism.

[0054] A first swing angle sensor 71 such as a rotary encoder is provided to the rotation section 61, and a second drive section 68 such as a motor is provided to the rotation section 61. The second drive section 68 and the first swing angle sensor 71 are coupled to the second joint 65. The first swing angle sensor 71 detects the first swing angle of the proximal link 62 about the first swing axis, and outputs the detected value to the host control section 3. The host control section 3 transmits the detected value of the first swing angle sensor 71 to the slave control section 19. The slave control section 19 controls the robot 15 on the basis of the detected value of the first swing angle sensor 71.

[0055] The second drive unit 68 applies torque around the first oscillating axis to the second joint 65 and the proximal link 62.

[0056] The proximal end of the distal link 63 is rotatably connected to the distal end of the proximal link 62 via a third joint 66. The distal link 63 is configured via the third joint 66 to oscillate up and down relative to the proximal link 62 about a second oscillation axis parallel to the first oscillation axis. The distal link 63 may also be constructed from a linkage mechanism such as a parallel linkage mechanism.

[0057] A second swing angle sensor 72, such as a rotary encoder, is installed in the rotating part 61, and a third drive unit 69, such as a motor, is installed in the rotating part 61. The second swing angle sensor 72 and the third drive unit 69 are connected to the third joint 66 by means of a linkage mechanism. The second swing angle sensor 72 detects the second swing angle of the distal link 63 about the second swing axis and outputs its detection value to the host control unit 3. The host control unit 3 transmits the detection value of the second swing angle sensor 72 to the slave control unit 19. The slave control unit 19 controls the robot arm 15 based on the detection value of the second swing angle sensor 72.

[0058] The third drive unit 69 applies torque around the second oscillating axis to the third joint 66 and the remote link 63.

[0059] The distal end of the distal link 63 is equivalent to the distal end of the joint link mechanism 79, and the universal joint 80 is installed at the distal end of the distal link 63.

[0060] The universal joint 80 has a connecting arm 81, a first rotating arm 82, a second rotating arm 83, joints 84-86, a drive unit 91-93, and angle sensors 94-96.

[0061] The proximal end of the connecting arm 81 is mounted on the distal end of the distal link 63. The connecting arm 81 forms an L-shaped bend from the proximal end to the distal end in the plane in which the distal link 63 swings up and down.

[0062] The proximal end of the first rotating arm 82 is rotatably connected to the distal end of the connecting arm 81 via a joint 84. The first rotating arm 82 is configured to rotate relative to the connecting arm 81 about a yaw axis 111 in the joint 84. The yaw axis 111 oscillates up and down along the surface of the distal link 63.

[0063] A yaw angle sensor 94 such as a rotary encoder is coupled to the joint 84, and a yaw drive section 91 such as a motor is coupled to the joint 84. The yaw angle sensor 94 detects a yaw angle of the first rotary arm 82 about the yaw axis 111, and outputs a detection value thereof to the master control section 3. The master control section 3 transmits the detection value of the yaw angle sensor 94 to the slave control section 19. The slave control section 19 controls the robot 15 based on the detection value of the yaw angle sensor 94.

[0064] The yaw drive section 91 applies a torque about the yaw axis 111 to the joint 84 and the first rotary arm 82.

[0065] A proximal end of the second rotary arm 83 is rotatably coupled to a distal end of the first rotary arm 82 via a joint 85. The second rotary arm 83 is arranged to be relatively rotatable with respect to the first rotary arm 82 about a pitch axis 112 in the joint 85. The pitch axis 112 is orthogonal to the yaw axis 111.

[0066] A pitch angle sensor 95 such as a rotary encoder is coupled to the joint 85, and a pitch drive section 92 such as a motor is coupled to the joint 85. The pitch angle sensor 95 detects a pitch angle of the second rotary arm 83 about the pitch axis 112, and outputs a detection value thereof to the master control section 3. The master control section 3 transmits the detection value of the pitch angle sensor 95 to the slave control section 19. The slave control section 19 controls the robot 15 based on the detection value of the pitch angle sensor 95.

[0067] The pitch drive section 92 applies a torque about the pitch axis 112 to the joint 85 and the second rotary arm 83.

[0068] A gripper controller 90 is rotatably coupled to a distal end of the second rotary arm 83 via a joint 86. The gripper controller 90 is arranged to be relatively rotatable with respect to the second rotary arm 83 about a roll axis 113 in the joint 86. The roll axis 113 intersects the pitch axis 112 and the yaw axis 111 at a common intersection point. A lug 87 is arranged to extend from the joint 86 toward the common intersection point.

[0069] A roll angle sensor 96 such as a rotary encoder is coupled to the joint 86, and a roll drive section 93 such as a motor is coupled to the joint 86. The roll angle sensor 96 detects a roll angle of the lug 87 about the roll axis 113, and outputs a detection value thereof to the master control section 3. The master control section 3 transmits the detection value of the roll angle sensor 96 to the slave control section 19. The slave control section 19 controls the robot 15 based on the detection value of the roll angle sensor 96.

[0070] The roll drive section 93 applies a torque about the roll axis 113 to the joint 86 and the lug 87.

[0071] <3-2, GRIPPER CONTROLLER>

[0072] Figure 6 and Figure 7 is a perspective view of the holding controller 90. Figure 8 and Figure 9 is a side view of the holding controller 90.

[0073] The holding controller 90 has a knob 87, a grip 88, an operation handle 89, a pinch drive section 97, a swing angle sensor 98, a finger sensor 99, and a linear guide 100.

[0074] The knob 87 is rotatably coupled to the distal end of the second rotary arm 83 via a joint 86. The knob 87 is configured to be relatively rotatable with respect to the second rotary arm 83 about a roll axis 113 in the joint 86. The roll axis 113 is orthogonal to the pitch axis 112. The roll axis 113 and the pitch axis 112 intersect each other at a common intersection point. The knob 87 is disposed along the roll axis 113 from the joint 86 toward the common intersection point.

[0075] The knob 87 is formed in a cuboid shape. The shape of the knob 87 can also be a cylindrical shape or an elliptical cylindrical shape having a central axis along the roll axis 113.

[0076] The knob 87 has a first side surface 87a, a second side surface 87b, an end surface 87c, an upper surface 87d, and a lower surface 87e. The first side surface 87a and the second side surface 87b are opposite to each other. The first side surface 87a and the second side surface 87b are disposed so as to extend from the joint 86 toward the direction of the end surface 87c along the roll axis 113. The upper surface 87d is disposed at the upper edge of the first side surface 87a and the upper edge of the second side surface 87b. The end surface 87c is disposed between the rear edge of the first side surface 87a and the rear edge of the second side surface 87b at a position away from the joint 86 in the direction of the roll axis 113. The end surface 87c is disposed between the rear edge of the upper surface 87d and the rear edge of the lower surface 87e.

[0077] The operation handle 89 is an operation section. The operation handle 89 is disposed facing the first side surface 87a of the knob 87. The proximal end of the operation handle 89 is rotatably coupled to the knob 87 about an axis orthogonal to the roll axis 113 at a position close to the joint 86. The operation handle 89 extends along the roll axis 113 from the proximal end thereof to the distal end thereof. The operation handle 89 is swingable about the axis of the proximal end thereof in a manner to contact and separate from the first side surface 87a of the knob 87. The operation handle 89 is mainly swung by the operator using the index finger, whereby the operation handle 89 is brought into contact with and separated from the first side surface 87a of the knob 87.

[0078] The pinch drive section 97 has, for example, a motor. The pinch drive section 97 applies a torque to the operation handle 89.

[0079] The swing angle sensor 98 has, for example, a rotary encoder. The swing angle sensor 98 detects a swing angle of the handle 89, and outputs a detection value thereof to the host control section 3. The host control section 3 transmits the detection value of the swing angle sensor 98 to the slave control section 19. The slave control section 19 controls the end effector 16 based on the detection value of the swing angle sensor 98.

[0080] The finger sensor 99 is provided to the second side surface 87b of the knob 87. The finger sensor 99 is, for example, a reflection type optical sensor, an electrostatic capacity type touch sensor, a pressure sensitive switch, a tactile switch, a momentary switch, a dome switch, or a membrane switch. When an operator's finger, for example, a thumb, is disposed to the second side surface 87b so as to be attached to the finger sensor 99, the finger sensor 99 turns on to detect the finger. Accordingly, the finger sensor 99 outputs an on signal of a high level to the host control section 3. When the operator's finger is removed from the finger sensor 99 and the second side surface 87b, the finger sensor 99 turns off so as not to detect the finger. Accordingly, the finger sensor 99 outputs an off signal of a low level to the host control section 3.

[0081] The finger sensor 99 is used to turn on and off the following of the manipulator 15 and the end effector 16 to the console 60. Specifically, in a case where the operator unintentionally releases the grip of the controller 90 in the following of the manipulator 15 and the end effector 16 to the console 60, the finger sensor 99 is used to turn off the following.

[0082] The linear guide 100 is installed inside the knob 87. A part of the linear guide 100 penetrates the end surface 87c of the knob 87 from the inside of the knob 87, and protrudes outside the knob 87. The linear guide 100 guides the grip handle 88 along the roll axis 113.

[0083] The grip handle 88 is disposed facing the end surface 87c of the knob 87. The grip handle 88 is linked to the linear guide 100. The grip handle 88 extends from the linear guide 100 in a direction intersecting the roll axis 113. The grip handle 88 is formed in a columnar shape having a center axis intersecting the roll axis 113, and more specifically, in a cylindrical shape. Alternatively, the grip handle 88 can be relatively rotatable with respect to the linear guide 100 about the center axis thereof. The grip handle 88 can also be fixed with respect to the linear guide 100.

[0084] The grip 88 is provided so as to be movable in contact with the end surface 87c of the knob 87 along the roll axis 113 via a linear guide 100. The linear guide 100 has a stopper for setting a range of movement from a position at which the grip 88 is closest to the end surface 87c of the knob 87 to a position at which the grip 88 is farthest from the end surface 87c of the knob 87.

[0085] The operator places the palm against the grip 88 and holds the grip 88 with the palm, and pinches the knob 87 and the handle 89 with the fingers. If the operator holds the holding controller 90 in this way, the burden on the operator's hand is reduced when the holding controller 90 is operated, and the operator can finely operate the holding controller 90 with good precision.

[0086] The grip 88 is contactable with and separable from the end surface 87c of the knob 87, so the operator can adjust the position of the grip 88 in accordance with the size of the hand, and place the fingers against the finger sensor 99.

[0087] The operator moves the wrist, arm, shoulder, upper body, and the like while holding the grip 88, thereby operating the rotation section 61, the proximal link 62, the distal link 63, and the gimbal 80. When the operator operates the rotation section 61, the proximal link 62, the distal link 63, and the gimbal 80, the host control section 3 transmits the detection values of the rotation angle sensor 70, the first swing angle sensor 71, the second swing angle sensor 72, the yaw angle sensor 94, the pitch angle sensor 95, and the roll angle sensor 96 to the slave control section 19. The slave control section 19 controls the robot arm 15 on the basis of the detection values of the rotation angle sensor 70, the first swing angle sensor 71, the second swing angle sensor 72, the yaw angle sensor 94, the pitch angle sensor 95, and the roll angle sensor 96. Thus, the left robot arm 15 follows the operation of the left manipulator 60, and the right robot arm 15 follows the operation of the right manipulator 60.

[0088] When the operator shakes the handle 89 with the fingers, the host control section 3 transmits the detection value of the shake angle sensor 98 to the slave control section 19. The slave control section 19 controls the end effector 16 on the basis of the detection value of the shake angle sensor 98. Thus, the left end effector 16 follows the shaking of the handle 89 of the left holding controller 90, and the right end effector 16 follows the shaking of the handle 89 of the right holding controller 90.

[0089] <4, Mode>

[0090] The host control section 3 and the slave control section 19 switch between the operation mode, the standby mode, and the safety mode.

[0091] <4-1, Operation Mode>

[0092] In a case where the host control section 3 and the slave control section 19 are in the operation mode, the host control section 3 can control the robot 15 and the end effector 16 through the slave control section 19. Specifically, the host control section 3 transmits the detection values of the rotation angle sensor 70, the first swing angle sensor 71, the second swing angle sensor 72, the yaw angle sensor 94, the pitch angle sensor 95, and the roll angle sensor 96 to the slave control section 19. The slave control section 19 does not ignore the signals from the host control section 3, and controls the robot 15 on the basis of the detection values of the rotation angle sensor 70, the first swing angle sensor 71, the second swing angle sensor 72, the yaw angle sensor 94, the pitch angle sensor 95, and the roll angle sensor 96. Thus, the left robot 15 follows the operation of the left master 60, and the right robot 15 follows the operation of the right master 60.

[0093] In addition, the host control section 3 transmits the detection value of the rocking angle sensor 98 to the slave control section 19. The slave control section 19 does not ignore the signals from the host control section 3, and controls the end effector 16 on the basis of the detection value of the rocking angle sensor 98. Thus, the left end effector 16 follows the rocking of the rocking handle 89 of the left master controller 90, and the right end effector 16 follows the operation of the rocking handle 89 of the right master controller 90.

[0094] <4-2, Standby Mode>

[0095] In a case where the host control section 3 and the slave control section 19 are in the standby mode, the host control section 3 cannot control the robot 15 and the end effector 16 through the slave control section 19. Specifically, even if the host control section 3 transmits the detection values of the rotation angle sensor 70, the first swing angle sensor 71, the second swing angle sensor 72, the yaw angle sensor 94, the pitch angle sensor 95, and the roll angle sensor 96 to the slave control section 19, the slave control section 19 ignores the signals from the host control section 3. Therefore, even if the operator operates the left and right masters 60, the left and right robots 15 do not operate.

[0096] Even if the host control section 3 transmits the detection value of the rocking angle sensor 98 to the slave control section 19, the slave control section 19 ignores the signals from the host control section 3. Therefore, even if the operator rocks the rocking handle 89 of the left and right master controllers 90, the left and right end effectors 16 do not operate.

[0097] The host control section 3 controls the first driving section 67 based on the detection value of the rotation angle sensor 70, whereby the first driving section 67 causes the first joint 64 and the rotation section 61 to generate an impedance torque that counterbalances the torque applied to the rotation section 61 by the operator. For example, the host control section 3 performs feedback control on the first driving section 67 based on the detection value of the rotation angle sensor 70 in such a manner that the change in the rotation angle of the rotation section 61 in the first joint 64 is zero. Thus, even if the operator wants to rotate the left and right manipulation platforms 60, the left and right manipulation platforms 60 are fixed and do not rotate.

[0098] Likewise, the host control section 3 controls the second driving section 68, whereby the second driving section 68 causes the second joint 65 and the proximal link 62 to generate an impedance torque that counterbalances the torque applied to the proximal link 62 by the operator. The host control section 3 controls the third driving section 69, whereby the third driving section 69 causes the third joint 66 and the distal link 63 to generate an impedance torque that counterbalances the torque applied to the distal link 63 by the operator. The host control section 3 controls the yaw driving section 91 based on the yaw angle sensor 94, whereby the yaw driving section 91 causes the joint 84 and the first swing arm 82 to generate an impedance torque that counterbalances the torque applied to the first swing arm 82 by the operator. The host control section 3 controls the pitch driving section 92 based on the pitch angle sensor 95, whereby the pitch driving section 92 causes the joint 85 and the second swing arm 83 to generate an impedance torque that counterbalances the torque applied to the second swing arm 83 by the operator. The host control section 3 controls the roll driving section 93 based on the roll angle sensor 96, whereby the roll driving section 93 causes the joint 86 and the knob 87 to generate an impedance torque that counterbalances the torque applied to the knob 87 of the holding controller 90 by the operator. Thus, even if the operator wants to move the left and right manipulation platforms 60 and the left and right gimbals 80, the left and right manipulation platforms 60 and the left and right gimbals 80 are fixed and do not move.

[0099] The host control section 3 controls the twist driving section 97 based on the detection value of the swing angle sensor 98, whereby the twist driving section 97 causes the operation handle 89 to generate an impedance torque that counterbalances the torque applied to the operation handle 89 by the operator. For example, the host control section 3 performs feedback control on the twist driving section 97 based on the detection value of the swing angle sensor 98 in such a manner that the change in the swing angle of the operation handle 89 is zero. Thus, even if the operator wants to rotate the operation handles 89 of the left and right holding controllers 90, the operation handles 89 are fixed and do not rotate.

[0100] <4-3, Safety Mode>

[0101] In a case where the host control section 3 and the slave control section 19 are in the safe mode, the host control section 3 cannot control the robot arm 15 and the end effector 16 through the slave control section 19. The processing of the host control section 3 in the safe mode is the same as the processing of the host control section 3 in the standby mode. The processing of the slave control section 19 in the safe mode is the same as the processing of the slave control section 19 in the standby mode.

[0102] <5. Switching of modes>

[0103] <5-1. In the standby mode>

[0104] Initially, the host control section 3 and the slave control section 19 are in the standby mode.

[0105] The host control section 3 performs a logical AND operation on the signals of the left and right finger sensors 99 and the signal of the foot switch 55. The host control section 3 determines whether to switch from the standby mode to the operation mode on the basis of the logical AND.

[0106] The operator places fingers on the left and right finger sensors 99, and the host control section 3 is inputted with an ON signal from the left and right finger sensors 99. At this time, when the operator steps on the foot switch 55 and an ON signal is inputted to the host control section 3 from the foot switch 55, the logical AND of the signals of the left and right finger sensors 99 and the signal of the foot switch 55 is "true". Therefore, the host control section 3 switches from the standby mode to the operation mode. When the host control section 3 switches to the operation mode, the host control section 3 transmits the gist of the operation mode to the slave control section 19. Thus, the slave control section 19 switches from the standby mode to the operation mode.

[0107] On the other hand, when the operator releases the fingers from the left, right, or both of the left and right finger sensors 99, an OFF signal is inputted to the host control section 3 from the left, right, or both of the left and right finger sensors 99. At this time, even if the operator steps on the foot switch 55 and an ON signal is inputted to the host control section 3 from the foot switch 55, the logical AND of the signals of the left and right finger sensors 99 and the signal of the foot switch 55 is "false". Therefore, the host control section 3 maintains the standby mode. The slave control section 19 also maintains the standby mode.

[0108] Therefore, in a case where the operator is holding the holding controller 90 properly, the operator can operate the robot arm 15 and the end effector 16 using the console 60 by stepping on the foot switch 55. If the operator is not holding the holding controller 90 properly, the operator cannot operate the robot arm 15 and the end effector 16 using the console 60 even if the operator steps on the foot switch 55.

[0109] <5-2. In the operation mode>

[0110] When the master control section 3 and the slave control section 19 are switched to the operation mode, the operator touches the fingers to the left and right finger sensors 99, and thus the ON signals are input from the left and right finger sensors 99 to the master control section 3.

[0111] The master control section 3 performs a logical AND-NOT operation on the signals of the left and right finger sensors 99. The master control section 3 determines whether to switch from the operation mode to the safety mode on the basis of the logical AND-NOT.

[0112] When the operator keeps touching the fingers to the left and right finger sensors 99, the ON signals are input from the left and right finger sensors 99 to the master control section 3. The logical AND-NOT of the signals of the left and right finger sensors 99 is "false", and thus the master control section 3 maintains the operation mode. The slave control section 19 also maintains the operation mode.

[0113] When the operator releases the fingers from the left, right, or both of the finger sensors 99, the OFF signals are input from the left, right, or both of the finger sensors 99 to the master control section 3. The logical AND-NOT of the signals of the left and right finger sensors 99 is "true", and thus the master control section 3 switches from the operation mode to the safety mode. When the master control section 3 is switched to the safety mode, the master control section 3 transmits the gist of the safety mode to the slave control section 19. Thus, the slave control section 19 switches from the operation mode to the safety mode. Therefore, even if the operator mistakenly releases the holding controller 90, the robot hand 15 and the end effector 16 are fixed and do not move.

[0114] Also, the master control section 3 performs a logical AND operation on the signals of the left and right finger sensors 99 and the signal of the foot switch 55. The master control section 3 determines whether to switch from the operation mode to the standby mode on the basis of the logical AND.

[0115] When the operator keeps touching the fingers to the left and right finger sensors 99, the ON signals are input from the left and right finger sensors 99 to the master control section 3. At this time, when the operator steps on the foot switch 55 and thus the ON signal is input from the foot switch 55 to the master control section 3, the logical AND of the signals of the left and right finger sensors 99 and the signal of the foot switch 55 is "true". Therefore, the master control section 3 switches from the operation mode to the standby mode. When the master control section 3 is switched to the standby mode, the master control section 3 transmits the gist of the standby mode to the slave control section 19. Thus, the slave control section 19 switches from the operation mode to the standby mode. On the other hand, if the operator keeps touching the fingers to the left and right finger sensors 99 and does not step on the foot switch 55, the logical AND of the signals of the left and right finger sensors 99 and the signal of the foot switch 55 is "false", and thus the master control section 3 maintains the operation mode.

[0116] <5-3, in the safety mode>

[0117] When the master control section 3 and the slave control section 19 are switched to the safety mode, the operator releases the finger sensor 99 from the left, the right, or both. Thus, the finger sensor 99 from the left, the right, or both inputs a disconnection signal to the master control section 3.

[0118] When the master control section 3 and the slave control section 19 are switched to the safety mode, the master control section 3 starts counting. The master control section 3 logically ANDs the signals of the left and right finger sensors 99 during the counting. The master control section 3 determines whether to switch from the safety mode to the operation mode based on the logical AND during the counting.

[0119] When the operator touches the left and right finger sensors 99 during the counting, the left and right finger sensors 99 input a connection signal to the master control section 3. The logical AND of the signals of the left and right finger sensors 99 is "true", and thus the master control section 3 switches from the safety mode to the operation mode. When the master control section 3 switches to the operation mode, the master control section 3 ends the counting and resets the counted time. Further, the master control section 3 transmits the gist of the operation mode to the slave control section 19. Thus, the slave control section 19 switches from the safety mode to the operation mode. Therefore, if the operator properly holds the holding controller 90 again, the operator can operate the robot hand 15 and the end effector 16 using the console 60.

[0120] On the other hand, when the operator keeps releasing the finger sensor 99 from the left, the right, or both during the counting, the finger sensor 99 from the left, the right, or both inputs a disconnection signal to the master control section 3. The logical AND of the signals of the left and right finger sensors 99 is "false", and thus the master control section 3 maintains the safety mode and further continues the counting.

[0121] The master control section 3 determines whether to switch from the safety mode to the standby mode based on the signal of the foot switch 55 during the counting. Thus, when the operator steps on the foot switch 55 and thus a connection signal is input from the foot switch 55 to the master control section 3, the master control section 3 switches from the safety mode to the standby mode. When the master control section 3 switches to the standby mode, the master control section 3 ends the counting and resets the counted time. Further, the master control section 3 transmits the gist of the standby mode to the slave control section 19. Thus, the slave control section 19 switches from the safety mode to the standby mode.

[0122] If the operator does not press the foot switch 55 and keeps their finger released from the finger sensor 99 on the left, right, or both sides, the timing performed by the main control unit 3 will reach a predetermined time, such as 5 seconds. Then, the main control unit 3 switches from safety mode to standby mode. When the main control unit 3 switches to standby mode, it stops timing and resets the timer. Furthermore, the main control unit 3 sends a message to the slave control unit 19 indicating that it is in standby mode. As a result, the slave control unit 19 switches from safety mode to standby mode. Therefore, if the operator does not properly hold the grip controller 90 and presses the foot switch 55 again, the operator cannot operate the robot arm 15 or the end effector 16.

[0123] Moreover, the set time is not limited to 5 seconds; it can be less than 5 seconds or more than 5 seconds.

[0124] <6. Beneficial Effects>

[0125] (1) The operator places their palm against the handle 88 and grips it, pinching the protrusion 87 and the operating handle 89 with their fingers. This reduces the strain on the operator's hands when operating the controller 90. Furthermore, the operator can perform precise operations on the controller 90. The operator can hold the controller 90 and then move the operating handle 89 with their fingers.

[0126] (2) The handle 88 can contact and separate from the end face 87c of the protrusion 87, so that the operator can grasp the handle 88 and place his fingers on the finger sensor 99 regardless of the size of the operator's hand. The finger sensor 99 can detect the fingers regardless of whether the operator's hand is large or small.

[0127] (3) When the host control unit 3 and slave control unit 19 are in standby mode, if the operator does not properly hold the grip controller 90, the finger sensor 99 will not detect the operator's finger. In that case, even if the operator presses the foot switch 55, the host control unit 3 and slave control unit 19 will not switch to operating mode. Therefore, the operator cannot use the control panel 60 to operate the robot arm 15 and the end effector 16. On the other hand, if the operator properly holds the grip controller 90, the finger sensor 99 can detect the operator's finger. In that case, the operator can press the foot switch 55 and thus use the control panel 60 to operate the robot arm 15 and the end effector 16.

[0128] (4) In the case where the master control section 3 and the slave control section 19 are in the operation mode, when the operator releases the holding controller 90 by mistake, the finger cannot be detected by the finger sensor 99. The master control section 3 and the slave control section 19 are switched to the safety mode, and the console 60, the robot hand 15 and the end effector 16 are fixed so as not to move. At this time, it is helpful to prevent the operator from performing the operation by mistake on the console 60, the robot hand 15 and the end effector 16.

[0129] (5) In the case where the master control section 3 and the slave control section 19 are in the operation mode, if the operator holds the holding controller 90 again properly immediately after releasing the holding controller 90 by mistake, the finger is detected by the finger sensor 99. In this case, the master control section 3 and the slave control section 19 are returned from the safety mode to the operation mode, and thus the operator can continue the operation on the console 60, the robot hand 15 and the end effector 16.

[0130] (6) In the case where the master control section 3 and the slave control section 19 are in the operation mode, when the operator releases the holding controller 90 by mistake and leaves the holding controller 90, the master control section 3 and the slave control section 19 are switched to the standby mode. At this time, it is helpful to prevent the operator from performing the operation by mistake on the console 60, the robot hand 15 and the end effector 16.

[0131] Explanation of Reference Numerals

[0132] 2: console device; 3: master control section; 55: foot switch; 70: rotation angle sensor; 71: first swing angle sensor; 72: second swing angle sensor; 79: joint link mechanism; 87: protrusion; 87a: first side surface; 87b: second side surface; 87c: end surface; 88: grip; 89: operation handle; 90: holding controller.

Claims

1. A console device comprising: a grip controller having: a knob having a first side and a second side opposite to each other, and having an end surface provided from the first side to the second side; a grip handle disposed to face the end surface of the knob, and mounted to the knob in a manner to be contact-separated with respect to the end surface of the knob; an operation section disposed to face the first side of the knob, and linked to the knob in a manner to be contact-separated with respect to the first side of the knob; and a finger sensor provided to the second side of the knob, and detecting a finger of a hand of an operator; a foot switch which is treaded by a foot of the operator to thereby output a trigger; an articulated link mechanism having a proximal end which is rotatable, and having a distal end to which the grip controller is connected, and enabling the grip controller to be supported in translation; and a control section which switches between an operation mode in which a robot can be controlled, and a standby mode in which the robot cannot be controlled, the control section switching the robot between the operation mode and the standby mode upon the finger sensor detecting the finger and the control section inputting the trigger from the foot switch.

2. The console device according to claim 1, wherein the control section switches from the standby mode to the operation mode upon the finger sensor detecting the finger while the control section is in the standby mode, and the control section inputting the trigger from the foot switch.

3. The console device according to claim 1, wherein the control section maintains the standby mode upon the finger sensor not detecting the finger while the control section is in the standby mode, and the control section inputting the trigger from the foot switch.

4. The console device according to claim 1, wherein the control section switches from the operation mode to the standby mode upon the finger sensor detecting the finger while the control section is in the operation mode, and the control section inputting the trigger from the foot switch.

5. The console device according to claim 1, wherein the control section switches from the operation mode to a safety mode in which the robot cannot be controlled, upon the finger sensor becoming not to detect the finger while the control section is in the operation mode.

6. The console device according to claim 5, wherein the control section switches from the safety mode to the operation mode upon the finger sensor detecting the finger during a period from when the finger sensor becomes not to detect the finger to when a predetermined time elapses.

7. The console device according to claim 5, wherein the control section switches from the safety mode to the standby mode upon the finger sensor not detecting the finger and a predetermined time elapsing from when the finger sensor becomes not to detect the finger.

8. The console device according to any one of claims 5 to 7, wherein ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The driving section applies a torque to each joint of the articulated link mechanism, The control section controls the driving section so that the impedance torque counterbalances a torque generated at each joint of the articulated link mechanism due to the operator's operation.

9. The console device according to claim 8, wherein The control section controls the driving section so that the impedance torque counterbalances a torque generated at each joint of the articulated link mechanism due to the operator's operation.

10. The console device according to any one of claims 1 to 7, wherein The driving section applies a torque to each joint of the articulated link mechanism, The control section controls the driving section so that the impedance torque counterbalances a torque generated at each joint of the articulated link mechanism due to the operator's operation.

11. The console device according to claim 10, wherein The control section controls the driving section so that the impedance torque counterbalances a torque generated at each joint of the articulated link mechanism due to the operator's operation.

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