Manipulator system, control method for manipulator system, and control device for manipulator system

Abstract

This manipulator system comprises: a manipulator; a drive device to which the manipulator is detachably connected, the drive device electrically driving the manipulator; a control device that controls the manipulator and the drive device; a first sensor provided in the drive device; and a second sensor provided in the manipulator or the drive device. The control device executes a first step (S1) for confirming, on the basis of an output from the first sensor, that the drive device normally operates in accordance with electric power and a second step (S2) for confirming, on the basis of an output from the second sensor, that the manipulator is connected to the drive device. The first step (S1) includes confirming whether the first sensor is normal (S12), and the second step (S2) includes confirming whether the second sensor is normal on the basis of the output from the first sensor having been confirmed to be normal in the first step and the output from the second sensor (S23).

Description

[Technical field]

[0001] The present invention relates to a manipulator system, a control method for a manipulator system, and a control device for a manipulator system. [Background technology]

[0002] Conventionally, electric medical devices are equipped with sensors to confirm that the medical device is operating normally (see, for example, Patent Document 1). In order to ensure that the medical device operates normally, the sensors are generally duplicated. For example, the electric surgical instrument described in Patent Document 1 is equipped with two sets of motor position sensors and processors for one motor, and if the value of at least one of the two motor position sensors is not normal, at least one of the processors stops the motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-185438 A Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned sensor duplication is generally used as a means for detecting sensor failure. Meanwhile, in Patent Document 1, a shaft assembly including an end effector is detachable from a housing including a motor. In the case of such a detachable and electrically-driven medical device, many sensors, such as a sensor for detecting attachment and detachment, are mounted in order to ensure normal operation of the medical device. Therefore, the sensor duplication leads to a significant increase in the size and cost of the device.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and has an object to provide a manipulator system, a control method for a manipulator system, and a manipulator system control device that are capable of detecting abnormalities in the device without duplicating sensors. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides the following means. One aspect of the present invention is a manipulator system comprising a manipulator, a drive unit to which the manipulator is detachably connected and which electrically drives the manipulator, a control unit which controls the manipulator and the drive unit, a first sensor provided in the drive unit, and a second sensor provided in either the manipulator or the drive unit, wherein the control unit executes a first step of confirming based on an output of the first sensor that the drive unit is operating normally in response to electric power, and a second step of confirming based on an output of the second sensor that the manipulator is connected to the drive unit, the first step including confirming whether the first sensor is normal, and the second step including confirming whether the second sensor is normal based on the output of the first sensor and the output of the second sensor that have been confirmed to be normal in the first step.

[0007] Another aspect of the present invention is a control method for a manipulator system, the manipulator system including a manipulator and a drive device to which the manipulator is removably connected and which electrically drives the manipulator, the control method including a first step of confirming based on an output of a first sensor that the drive device is operating normally in response to electric power, and a second step of confirming based on an output of a second sensor that the manipulator is connected to the drive device, the first step including confirming whether the first sensor is normal, and the second step including confirming whether the second sensor is normal based on the output of the first sensor and the output of the second sensor that are confirmed to be normal in the first step.

[0008] Another aspect of the present invention is a control device for a manipulator system, the manipulator system including a manipulator and a drive device to which the manipulator is removably connected and which electrically drives the manipulator, the control device executing a first step of confirming based on an output of a first sensor that the drive device is operating normally in response to electric power, and a second step of confirming based on an output of a second sensor that the manipulator is connected to the drive device, the first step including confirming whether the first sensor is normal, and the second step including confirming whether the second sensor is normal based on the output of the first sensor and the output of the second sensor, which have been confirmed to be normal in the first step. Effect of the Invention

[0009] According to the present invention, an effect is achieved in that an abnormality in an apparatus can be detected without duplicating sensors. [Brief description of the drawings]

[0010] [Figure 1] 1 is an overall configuration diagram of a manipulator system according to a first embodiment. [Diagram 2]FIG. 4 is a partial configuration diagram illustrating a connection between a manipulator and a driving device. [Figure 3A] FIG. 2 is a configuration diagram of the wire attachment / detachment unit and the wire driving unit, showing a state in which the wire attachment / detachment unit is detached from the wire driving unit. [Figure 3B] FIG. 2 is a configuration diagram of a wire attachment / detachment unit and a wire driving unit, showing a state in which the wire attachment / detachment unit is connected to the wire driving unit. [Figure 4] 13A and 13B are diagrams showing another state in which the wire attachment / detachment unit is connected to the wire driving unit. [Diagram 5] FIG. 2 is a block diagram of a control device for the manipulator system. [Figure 6] 13 is a flowchart of a control method executed by the control device when the manipulator system is started up. [Figure 7] 3 is a table showing a control method for a manipulator according to the first embodiment, which explains steps executed in each sequence and sensors used in each step. [Figure 8A] 13 is a flow chart of steps for verifying the connection between the bending wire and the motor. [Figure 8B] 13 is a flow chart of steps for inspecting a coupling sensor. [Figure 8C] 13 is a flow chart of steps for inspecting a tension sensor. [Figure 9] 10A and 10B are diagrams illustrating the relationship between the tension of the bending wire detected by a tension sensor and the torque of the motor detected by a torque sensor. [Figure 10] 13 is a table showing a control method for a manipulator according to a second embodiment, which explains steps executed in each sequence and sensors used in each step. [Figure 11] 13 is a flow chart of steps for verifying the connection between the bending wire and the motor. [Figure 12] 13 is a table showing a control method for a manipulator according to a third embodiment, the table explaining steps executed in each sequence and sensors used in each step. [Figure 13] 4 is a diagram illustrating the relationship between the torque of the motor detected by a torque sensor and the current of the motor detected by a current sensor. FIG. [Figure 14] 13 is a flow chart of steps for verifying the connection between the bending wire and the motor. [Figure 15] 13 is a table showing a control method for a manipulator according to a fourth embodiment, the table explaining steps executed in each sequence and sensors used in each step. [Figure 16] 13 is a flowchart of a step for confirming a connection between the wire attachment / detachment unit and the wire driving unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (First embodiment) A method for controlling a manipulator system, a control device for a manipulator system, and a manipulator system according to a first embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the manipulator system 100 according to this embodiment includes an electric manipulator 1, a drive unit 2 to which the manipulator 1 is removably connected and which electrically drives the manipulator 1, an operation device 3 to which operations for driving the manipulator 1 are input by the surgeon, a control device 4 which controls the manipulator 1 and the drive unit 2, a video processor 5, and a display device 6.

[0012] The manipulator 1 is an electrically-driven flexible endoscope, a laparoscope (rigid endoscope), or a medical manipulator equipped with an end effector or an arm at the tip, which is inserted into a patient's body cavity. Hereinafter, the manipulator 1 will be described taking an electrically-driven flexible endoscope as an example. When the manipulator 1 is an electrically-driven endoscope, a treatment tool 7 is inserted into the manipulator 1 via an extension tube 8. An endoscopic image acquired by the manipulator 1 is input to a display device 6 via a video processor 5 and is displayed on the display device 6. The operating device 3 is connected to the adapter 2a of the driving device 2 via an operating cable 3a, and an operation input inputted to the operating device 3 is inputted from the operating device 3 to the driving device 2. A control device 4 built into the driving device 2 controls the driving device 2 based on the operation input, thereby causing the manipulator 1 to operate in accordance with the operation input.

[0013] As shown in Figures 1 and 2, the manipulator 1 comprises an insertion section 11 having a bending section (movable section) 12, a first detachable section 13 provided at the base end of the insertion section 11 and connected to an adapter 2b of the drive unit 2, a second detachable section 14 provided at the base end of the insertion section 11 and connected to an adapter 5a of the video processor 5, and a plurality of bending wires (driving wires) 15 extending from the first detachable section 13 to the bending section 12 and transmitting the driving force of the drive unit 2 to the bending section 12.

[0014] The insertion section 11 is a long, flexible member, and the bending section 12 is provided at the tip of the insertion section 11. The bending wires 15 are arranged in an internal path (not shown) that is formed in the insertion section 11 and extends in the longitudinal direction of the insertion section 11.

[0015] The bending portion 12 has a first bending portion (movable portion) 121 and a second bending portion (movable portion) 122 provided on the base end side of the first bending portion 121. Each of the first bending portion 121 and the second bending portion 122 can be bent upward, downward, left, and right. Four bending wires 15 are connected to the first bending portion 121 for bending the first bending portion 121 upward, downward, left, and right, respectively. Four bending wires 15 are connected to the second bending portion 122 for bending the second bending portion 122 upward, downward, left, and right, respectively.

[0016] 2, the first attachment / detachment unit 13 has four wire attachment / detachment units 16 which are mechanisms for attaching and detaching the bending wires 15 to and from the driving device 2. Each wire attachment / detachment unit 16 is provided at the base end of a pair of bending wires 15, and attaches and detaches the pair of bending wires 15 to and from the driving device 2. For example, the four wire attachment / detachment units 16 attach and detach the pair of bending wires 15 for bending the first bending portion 121 up and down, the pair of bending wires 15 for bending the first bending portion 121 left and right, the pair of bending wires 15 for bending the second bending portion 122 up and down, and the pair of bending wires 15 for bending the second bending portion 122 left and right, respectively, to and from the driving device 2.

[0017] The driving device 2 is connected to a power source (not shown) and operates by power supplied from the power source. The driving device 2 has four wire driving units 21 which are mechanisms for driving the bending wires 15. By connecting the first detachable unit 13 to the adapter 2b, the four wire driving units 21 are respectively coupled to the four wire detachable units 16 and can drive the respective pairs of bending wires 15. For example, the four wire driving units 21 drive the pair of bending wires 15 for bending the first bending portion 121 up and down, the pair of bending wires 15 for bending the first bending portion 121 left and right, the pair of bending wires 15 for bending the second bending portion 122 up and down, and the pair of bending wires 15 for bending the second bending portion 122 left and right, respectively.

[0018] 3A and 3B show the configurations of the wire attachment / detachment unit 16 and the wire drive unit 21. FIG. 3A shows the wire attachment / detachment unit 16 and the wire drive unit 21 in a mutually separated state, and FIG. 3B shows the wire attachment / detachment unit 16 and the wire drive unit 21 in a mutually connected state. FIG. 3A and 3B show, for example, the wire attachment / detachment unit 16 and the wire drive unit 21 including a pair of bending wires 15 for up and down bending of the first bending portion 121. Other wire attachment / detachment units 16 and other wire drive units 21 also have the configurations shown in FIG. 3A and 3B. Each wire attachment / detachment section 16 has a pair of rotating drums 17, a support member 18 that supports the pair of rotating drums 17, and a connecting mechanism 19 that connects the pair of rotating drums 17 to each other. The support member 18 is a part that is fixed to the wire driving unit 21 when the wire attachment / detachment unit 16 is coupled to the wire driving unit 21.

[0019] Each rotating drum 17 is supported by a support member 18 so as to be rotatable about a rotation axis B extending in the longitudinal direction A of the insertion portion 11. Each rotating drum 17 has a winding pulley 17a arranged coaxially with the rotation axis B, and a gear 17b fixed to the winding pulley 17a and arranged coaxially with the rotation axis B. The base end of each bending wire 15 is guided to a winding pulley 17a via a pulley 20 and wound around the winding pulley 17a. The bending wire 15 is pulled or fed out by the rotation of the rotating drum 17 about a rotation axis B. The gear 17b is a spur gear that rotates integrally with the winding pulley 17a.

[0020] The connecting mechanism 19 is for restricting the rotation of the pair of rotating drums 17 and preventing the pair of bending wires 15 from loosening when the wire attaching / detaching unit 16 is separated from the wire driving unit 21. The connecting mechanism 19 has a cylindrical member 19a, a link gear 19b, and an elastic member 19c.

[0021] The cylindrical member 19a is supported by the support member 18 so as to be rotatable about a rotation axis C extending in the longitudinal direction A and so as to be movable forward and backward in the longitudinal direction. The rotation axis C is parallel to the rotation axis B of the rotating drum 17. The base end of the cylindrical member 19a penetrates the support member 18 and protrudes to the outside of the wire attachment / detachment part 16, and is exposed on the base end side of the wire attachment / detachment part 16. The link gear 19b is a spur gear that is fixed to the cylindrical member 19a and disposed coaxially with the rotation axis C. The elastic member 19c is, for example, a spring, and biases the link gear 19b and the cylindrical member 19a toward the base end side A2.

[0022] As shown in FIG. 3A, when the wire attaching / detaching unit 16 is separated from the wire driving unit 21, the link gear 19b and the cylindrical member 19a biased by the elastic member 19c are placed in a first position. The link gear 19b in the first position is placed between the pair of gears 17b and meshes with both of the pair of gears 17b. As a result, the pair of rotating drums 17 rotate in opposite directions in conjunction with each other, and the pair of bending wires 15 are pulled or sent out in conjunction with each other as if a single wire were looped (loop state). In the loop state, when the bending portion 12 is bent upward or downward by an external force, the pair of bending wires 15 do not slacken, and the relationship between the rotation angle of the rotating drum 17 and the bending angle of the bending portion 12 is maintained.

[0023] On the other hand, as shown in FIG. 3B, when the wire attachment / detachment unit 16 is connected to the wire driving unit 21, the cylindrical member 19a is pressed toward the tip side A1 by the engagement member 26a (described later) against the biasing force of the elastic member 19c, and the link gear 19b and the cylindrical member 19a are disposed in the second position. The link gear 19b disposed in the second position is a pair of gears 17 As a result, the pair of rotating drums 17 do not rotate in unison, and the pair of bending wires 15 are pulled or fed independently of each other (antagonistic state).

[0024] In addition, each wire attachment / detachment unit 16 has a dog 22 provided on the support member 18 for detecting attachment / detachment between the wire attachment / detachment unit 16 and the wire driving unit 21, and a coupling unit 23 which is a mechanism provided on each of the pair of rotating drums 17 and connects the curved wire 15 to a motor 25 (described later) of the wire driving unit 21.

[0025] The dog 22 is a member that protrudes from the support member 18 toward the outside of the wire attachment / detachment unit 16 and is exposed on the base end side of the wire attachment / detachment unit 16, and is, for example, a pin-shaped member that extends parallel to the rotation axes B and C. As shown in Fig. 3B, when the wire attachment / detachment unit 16 is connected to the wire driving unit 21, the dog 22 penetrates the support member 26 and is inserted into the wire driving unit 21. The coupling portion 23 is a disk member fixed to the base end of the winding pulley 17a and arranged coaxially with the rotation axis B, and is exposed on the base end side of the wire attachment / detachment portion 16. Two fitting protrusions 23a are formed on the base end side surface of the coupling portion 23 on both sides of the rotation axis B.

[0026] The wire driving unit 21 has a pair of shafts 24, a pair of motors (power generating units) 25 connected to the pair of shafts 24, respectively, and a support member 26 that rotatably supports the pair of shafts 24. Each shaft 24 is supported by a support member 26 so as to be rotatable about a rotation axis D and movable back and forth in a longitudinal direction A. The rotation axis D is the central axis of the shaft 24, and coincides with the rotation axis B of the rotating drum 17 when the attachment / detachment unit 13 is connected to the drive device 2.

[0027] Each motor 25 is, for example, a DC motor. Each motor 25 generates a rotational force as a driving force by power supplied from a power source, and rotates the corresponding shaft 24 around the rotation axis D. The wire driving unit 21 is provided with two encoders 29a, 29b for each motor 25, which detect the rotation speed and rotation angle of the motor 25. The first encoder 29a is connected to the base end of the motor 25. The second encoder 29b is connected to the shaft 24 via a pair of gears 30a, 30b that mesh with each other. Support member 26 is provided with engagement member 26a for releasing the connection between the pair of rotating drums 17 by connection mechanism 19. Engagement member 26a is a cylindrical member exposed at the tip side of wire driving unit 21, and is provided at a position corresponding to cylindrical member 19a. As shown in Figures 3B and 4, when wire attachment / detachment unit 16 is connected to wire driving unit 21, engagement member 26a presses cylindrical member 19a to the second position.

[0028] Further, the wire driving unit 21 has a coupled unit 27 which is a mechanism provided on each of the pair of shafts 24 and connects the motor 25 to the rotary drum 17 . The coupled part 27 is a disk member fixed to the tip of the shaft 24 and arranged coaxially with the rotation axis D, and rotates integrally with the shaft 24. The coupled part 27 is exposed on the tip side of the wire driving part 21. Two fitting recesses 27a are formed on the surface on the tip side of the coupled part 27 on both sides of the rotation axis D. 3B and 4, the mating convex portion 23a and the mating concave portion 27a are mated with each other, so that the coupling portion 23 and the coupled portion 27 are coupled with each other, and the motor 25 is connected to the bending wire 15 via the rotating drum 17. In this state, the rotating drum 17, the coupling portion 23, the coupled portion 27, and the shaft 24 can rotate integrally around the rotation axes C and D. Therefore, the rotational force (driving force) generated by the motor 25 is transmitted to the bending wire 15 as a force in the longitudinal direction A via the rotating drum 17.

[0029] The manipulator system 100 further comprises a tension sensor 31, a torque sensor 32, an attachment / detachment sensor 33, a coupling sensor 34, a current sensor 35 and an antagonism sensor 36. The tension sensor 31 and the antagonistic sensor 36 are provided in each of the four wire attachment / detachment units 16, and the torque sensor 32, the attachment / detachment sensor 33, the coupling sensor 34 and the current sensor 35 are provided in each of the four wire driving units 21. The sensors 31, 32, 33, 34, 35, and 36 are connected to the control device 4, and the outputs of the sensors 31, 32, 33, 34, 35, and 36 are transmitted to the control device 4 in sequence.

[0030] The tension sensor 31 is provided for each bending wire 15 and detects the tension of the bending wire 15 . The torque sensor 32 is provided for each motor 25, and detects the torque of the motor 25. For example, the torque sensor 32 is attached to the shaft 24, and detects the torque around the rotation axis D as the torque of the motor 25.

[0031] The attachment / detachment sensor 33 detects attachment / detachment of the wire attachment / detachment unit 16 to the wire driving unit 21. When the wire attachment / detachment unit 16 is connected to the wire driving unit 21, the attachment / detachment sensor 33 engages with the dog 22 that has penetrated through the support member 26 and inserted into the wire driving unit 21. The attachment / detachment sensor 33 has, for example, an optical sensor that detects contact with or proximity to the dog 22, and detects engagement with the dog 22 by the optical sensor. When the dog 22 engages with the attachment / detachment sensor 33, the output of the attachment / detachment sensor 33 is ON, and when the dog 22 is not engaged with the attachment / detachment sensor 33, the output of the attachment / detachment sensor 33 is OFF. The attachment / detachment sensor 33 is duplicated. That is, each wire attachment / detachment unit 16 is provided with two dogs 22, and each wire driving unit 21 is provided with two attachment / detachment sensors 33. Only one set of dog 22 and attachment / detachment sensor 33 is shown in Figs. 3A to 4.

[0032] A coupling sensor 34 is provided for each motor 25. The coupling sensor 34 detects whether the motor 25 is connected to the bending wire 15 by detecting the engagement between the coupling portion 23 and the coupled portion 27 based on the displacement of the shaft 24. When the coupling portion 23 and the coupled portion 27 are engaged, the output of the coupling sensor 34 is ON, and when the coupling portion 23 and the coupled portion 27 are not engaged, the output of the coupling sensor 34 is OFF.

[0033] 3B, the coupled part 27 is pressed by the coupling part 23 and moves to the base end side A2 together with the shaft 24. The coupling sensor 34 has, for example, an optical sensor that detects the proximity of a dog 24a provided on the shaft 24, and detects the engagement between the coupling part 23 and the coupled part 27 based on the proximity of the dog 24a.

[0034] The coupled part 27 is biased toward the tip side A1 by an elastic member 28, such as a compression spring, disposed between the coupled part 27 and the support member 26. As shown in Fig. 3A, when the wire attachment / detachment part 16 and the wire driving part 21 are separated, the coupled part 27 moves toward the tip side A1 together with the shaft 24 by the biasing force of the elastic member 28, and the dog 24a is disposed at a position away from the coupling sensor 34. In this state, the coupling sensor 34 does not detect the engagement between the coupling part 23 and the coupled part 27.

[0035] 4 shows a state in which the connection of the wire attachment / detachment part 16 to the wire driving part 21 is detected by the attachment / detachment sensor 33, but the coupling part 23 and the coupled part 27 are not engaged due to a misalignment between the engaging convex part 23a and the engaging concave part 27a. In this state, the coupling sensor 34 does not detect the engagement between the coupling part 23 and the coupled part 27. In this case, the control device 4 rotates the coupled part 27 by rotating the motor 25. When the position of the fitting recess 27a coincides with the position of the fitting protrusion 23a, the fitting recess 27a fits into the fitting protrusion 23a, and the coupled part 27 moves to the tip side A1 by the biasing force of the elastic member 28, and the fitting of the coupling part 23 and the coupled part 27 is detected by the coupling sensor 34.

[0036] The current sensor 35 is provided for each motor 25 and detects the current flowing through the motor 25 . The antagonistic sensor 36 is provided in each wire attaching / detaching portion 16, and detects an antagonistic state between the pair of bending wires 15. Details of the antagonistic sensor 36 will be described in the fourth embodiment.

[0037] The control device 4 is a computer that is built into the drive device 2 and can execute a program. The control device 4 may be a computer that is disposed outside the drive device 2 and connected to the drive device 2. As shown in Fig. 5, the control device 4 includes at least one processor 4a, a memory 4b, a storage unit 4c that can store programs and data, and an input / output control unit 4d.

[0038] The storage unit 4c is a non-volatile recording medium that stores programs and necessary data, such as a ROM or a hard disk. The functions of the control device 4 described below are realized by loading the programs stored in the storage unit 4c into the memory 4b and executing them with the processor 4a. At least some of the functions of the control device 4 may be realized by a dedicated logic circuit.

[0039] Next, a control method for the manipulator system 100 executed by the control device 4 will be described. The control method according to this embodiment is executed to check whether the manipulator 1, the driving device 2, and the control device 4 operate normally when the manipulator system 100 is started up. As shown in Fig. 6, the control method includes a driving device start-up sequence (first step) S1, a manipulator connection sequence (second step) S2, a bending portion initialization sequence (third step) S3, and a bending portion calibration sequence S4. After the bending portion calibration sequence S4, the control device 4 receives an operation input from the operation device 3, and controls the drive device 2 based on the operation input.

[0040] FIG. 7 shows the steps performed in each sequence S1, S2, S3, S4 and the sensors 31, 32, 33, 34 used in each step. The drive device startup sequence S1 is a sequence for starting up the drive device 2 and confirming that the drive device 2 operates normally based on the outputs of the encoders 29a, 29b and the torque sensor (first sensor) 32. The drive device startup sequence S1 includes step S11 for starting up the drive device 2 including the control device 4 and step S12 for performing self-diagnosis of the drive device 2.

[0041] After step S11, in step S12, the control device 4 performs a check to confirm whether the processor 4a, the motor 25, and the encoders 29a and 29b, to which power is being supplied, operate normally. In the inspection of the motor 25, the control device 4 drives the motor 25 and checks the rotation angle of the motor 25, which is the output of the two encoders 29a and 29b. When the motor 25 and the two encoders 29a and 29b are all normal, the outputs of the two encoders 29a and 29b are identical to each other. When the motor 25 is faulty, there is no output from both of the two encoders 29a and 29b. When one of the encoders 29a and 29b is faulty, there is no output from only the faulty encoder, or the outputs of the two encoders 29a and 29b do not match. The control device 4 checks whether the motor 25 and the two encoders 29a and 29b are normal based on the outputs of the two encoders 29a and 29b.

[0042] Furthermore, in step S12, the control device 4 performs an inspection to confirm whether or not the torque sensor 32 is normal, based on the output of the torque sensor 32 and the outputs of the encoders 29a and 29b. When the torque sensor 32 is normal, the torque output from the torque sensor 32 increases as the motor 25 rotates. The control device 4 rotates the motor 25, confirms that the rotation of the motor 25 has been detected by the encoders 29a and 29b, and then checks the output of the torque sensor 32. If the output of the torque sensor 32 is equal to or greater than a predetermined value, the control device 4 determines that the torque sensor 32 is normal. On the other hand, if the output of the torque sensor 32 is less than the predetermined value even though the rotation of the motor 25 has been detected by the encoders 29a and 29b, the control device 4 determines that the torque sensor 32 is abnormal.

[0043] The rotational torque of the motor 25 can also be detected from the current flowing through the motor 25. Therefore, in step S12, the control device 4 may check whether the torque sensor 32 is normal or not based on the output of the torque sensor 32 and the output of the current sensor 35.

[0044] If it is confirmed that the processor 4a, the motor 25, the encoders 29a and 29b, and the torque sensor 32 are all normal, the control device 4 subsequently executes the manipulator connection sequence S2. If an abnormality is detected in at least one of the processor 4a, the motor 25, the encoders 29a and 29b, and the torque sensor 32, the control device 4 transitions to an error state and ends the control method.

[0045] The manipulator connection sequence S2 is a sequence for confirming that the manipulator 1 is connected to the driving device 2 based on the outputs of the attachment / detachment sensor 33 and the coupling sensor (second sensor) 34. The manipulator connection sequence S2 includes step S21 for confirming that the wire attachment / detachment unit 16 of the manipulator 1 is connected to the wire driving unit 21 of the driving device 2, step S22 for confirming that the motor 25 is connected to the bending wire 15, step S23 for inspecting the coupling sensor 34, and step S24 for confirming that a driving force is transmitted from the motor 25 to the bending wire 15.

[0046] In step S21, the control device 4 checks the connection between the wire attachment / detachment unit 16 and the wire driving unit 21 based on the output of the duplicated attachment / detachment sensor 33. Specifically, if the outputs of both of the two attachment / detachment sensors 33 are ON, the control device 4 determines that the wire attachment / detachment unit 16 and the wire driving unit 21 are connected, and proceeds to the next step S22. On the other hand, if the output of at least one of the two attachment / detachment sensors 33 is OFF, the control device 4 determines that the attachment / detachment unit 13 and the wire driving unit 21 are not connected.

[0047] In step S22, the control device 4 confirms, based on the outputs of the coupling sensor 34 and the torque sensor 32, that the motor 25 is connected to the bending wire 15 via the coupling portion 23 and the coupled portion 27 which are coupled to each other. 8A, the control device 4 rotates the motor 25 (step S221). The rotation of the motor 25 rotates the coupled portion 27, and when the fitting recess 27a matches the fitting protrusion 23a, the coupled portion 27 is coupled with the coupling portion 23, and the output of the coupling sensor 34 turns ON (YES in step S222).

[0048] After confirming that the output of the coupling sensor 34 is ON (YES in step S222), the control device 4 then checks the output of the torque sensor 32 (step S223). In a state in which the motor 25 is coupled to the bending wire 15 via the mutually coupled coupling portion 23 and the coupled portion 27, the torque of the motor 25 increases due to an increase in the load of the motor 25. If the output of the torque sensor 32 is equal to or greater than a predetermined value (YES in step S223), the control device 4 determines that the motor 25 is normally coupled to the bending wire 15, and stops the motor 25 (step S224). On the other hand, if the output of the torque sensor 32 is less than the predetermined value (NO in step S223), the control device 4 determines that the motor 25 is not normally coupled to the bending wire 15, stops the motor 25 (step S225), and transitions to an error state (step S226).

[0049] In step S223, the control device 4 may check the difference in the output of the torque sensor 32 before and after the rotation of the motor 25, instead of the detected torque value output by the torque sensor 32. In this case, if the difference is equal to or greater than a predetermined value, it is determined that the motor 25 is normally connected to the bending wire 15, and if the difference is less than the predetermined value, it is determined that the motor 25 is not normally connected to the bending wire 15.

[0050] In parallel with step S22, the control device 4 executes step S23. In step S23, the control device 4 checks whether the coupling sensor 34 is normal or not based on the output of the coupling sensor 34 and the output of the torque sensor that was confirmed to be normal in sequence S1.

[0051] Specifically, as shown in Fig. 8B, the control device 4 rotates the motor 25 (step S231), and after the output of the torque sensor 32 increases to a predetermined value or more (YES in step S232), checks the output of the coupling sensor 34 (step S233). If the output of the coupling sensor 34 is ON (YES in step S233), the control device 4 determines that the coupling sensor 34 is normal (step S234). On the other hand, if the coupling sensor 34 is OFF, the control device 4 determines that the coupling sensor 34 is abnormal (step S235).

[0052] Next, in step S24, the control device 4 inspects the power transmission mechanism in the drive device 2 based on the output of the torque sensor 32. The power transmission mechanism is a mechanism that transmits a driving force from the motor 25 to the coupled part 27, and has members such as the rotating shaft 24 on the transmission path of the driving force. The control device 4 rotates the motor 25 and checks the output of the torque sensor 32. If the power transmission mechanism is normal, the output of the torque sensor 32 changes in response to the rotation of the motor 25. If the output of the torque sensor 32 changes in response to the rotation of the motor 25, the control device 4 determines that the power transmission mechanism is normal. On the other hand, if the output of the torque sensor 32 does not change in response to the rotation of the motor 25, the control device 4 determines that the power transmission mechanism is abnormal.

[0053] If no abnormality is found in steps S21, S22, S23, and S24, the control device 4 then executes the bending portion initialization sequence S3. If an abnormality is found in any of steps S21, S22, S23, and S24, the control device 4 transitions to an error state and ends the control method.

[0054] The bending portion initialization sequence S3 is a sequence for confirming that the bending portion 12 of the manipulator 1 operates normally according to the driving force of the motor 25 based on the output of the tension sensor (third sensor) 31, and for returning the bending portion 12 to an initial state before calibration. The bending portion initialization sequence S3 includes step S31 for initializing the bending angle of the bending portion 12, step S32 for applying initial tension to the bending wire 15, step S32 for inspecting the tension sensor 31, and step S34 for inspecting the power transmission mechanism in the manipulator 1.

[0055] In step S31, the control device 4 straightens the bending portion 12 based on the output of the tension sensor 31. For example, the control device 4 rotates the four motors 25 for the first bending portion 121 while monitoring the output of the tension sensor 31, and makes the tensions of the four bending wires 15 for the first bending portion 121 equal to each other. The control device 4 also rotates the four motors 25 for the second bending portion 122 while monitoring the output of the tension sensor 31, and makes the tensions of the four bending wires 15 for the second bending portion 122 equal to each other.

[0056] Next, in step S32, the control device 4 applies a predetermined initial tension to each of the eight bending wires 15 based on the output of the tension sensor 31. For example, the control device 4 rotates the motor 25 while monitoring the output of the tension sensor 31, and applies the initial tension to the bending wires 15 by stopping the motor 25 at a rotation angle at which the tension detected by the tension sensor 31 becomes the predetermined initial tension.

[0057] Next, in step S33, the control device 4 confirms whether or not the tension sensor 31 is normal based on the output of the tension sensor 31 and the output of the torque sensor 32, which was confirmed to be normal in sequence S1. 9 explains the relationship between the output of tension sensor 31 and the output of torque sensor 32. As shown in Fig. 9, when tension sensor 31 is normal, there is a predetermined correlation between the torque output by torque sensor 32 and the tension output by tension sensor 31, and as the torque increases, the tension also increases. Therefore, the output of tension sensor 31 can be estimated from the output of torque sensor 32.

[0058] 8C, the control device 4 rotates the motor 25 (step S331), and then calculates an estimate of the tension of the bending wire 15 from the torque of the motor 25, which is the output of the torque sensor 32 (step S332). Next, the control device 4 calculates the difference between the detected tension, which is the output of the tension sensor 31, and the estimated tension. If the magnitude of the difference is equal to or less than a predetermined value (YES in step S333), the control device 4 determines that the tension sensor 31 is normal, and proceeds to the next step S34. While the motor 25 is rotating, the control device 4 constantly inspects the tension sensor 31 by repeating steps S331 to S333. On the other hand, if the difference is greater than the predetermined value (NO in step S333), the control device 4 determines that the tension sensor 31 is abnormal, stops the motor 25 (step S334), and transitions to an error state (step S335).

[0059] In steps S331 and S332, the control device 4 may calculate an estimated value of the torque of the motor 25 from the detection value of the tension of the bending wire 15, which is the output of the tension sensor 31, and calculate the difference between the detection value of the torque, which is the output of the torque sensor 32, and the estimated torque value.

[0060] In step S34, the control device 4 inspects the power transmission mechanism in the manipulator 1 based on the output of the tension sensor 31. The power transmission mechanism is a mechanism that transmits a driving force from the coupling unit 23 to the bending unit 12, and has members such as the coupling unit 23, the rotating drum 17, and the bending wire 15 on the transmission path of the driving force. The control device 4 rotates the motor 25 and checks the output of the tension sensor 31. If the power transmission mechanism is normal, the output of the tension sensor 31 changes in response to the rotation of the motor 25. If the output of the tension sensor 31 changes in response to the rotation of the motor 25, the control device 4 determines that the power transmission mechanism is normal. On the other hand, if the output of the tension sensor 31 does not change in response to the rotation of the motor 25, the control device 4 determines that the power transmission mechanism is abnormal.

[0061] If no abnormality is found in steps S31, S32, S33, and S34, the control device 4 then executes the bending portion calibration sequence S4. If an abnormality is found in any of steps S31, S32, S33, and S34, the control device 4 transitions to an error state and ends the control method.

[0062] The bending portion calibration sequence S4 is a sequence for calibrating the relationship between the amount of rotation of the motor 25 and the bending angle of the bending portion 12. In order to accurately control the bending angle of the bending portion 12 by the rotation of the motor 25, the amount of rotation of the motor 25 and the bending angle of the bending portion 12 need to have a predetermined relationship, but the relationship between the amount of rotation of the motor 25 and the bending angle of the bending portion 12 may change for some reason. In sequence S4, the control device 4 rotates the motor 25, and adjusts the relationship between the amount of rotation of the motor 25 and the bending angle of the bending portion 12 based on the rotation angle of the motor 25 detected by the encoders 29a and 29b and the bending angle of the bending portion 12 acquired from the endoscopic image. After the sequence S4 is completed, the manipulator system 100 becomes ready for operation by the operating device 3.

[0063] When connecting the manipulator 1 to the driving device 2, a worker such as a nurse moves while holding the insertion section 11 and the detachable sections 13 and 14 in their hands to perform the connection work. Therefore, in order to enable a worker to easily prepare the manipulator 1 by himself, it is important to reduce the weight and size of the insertion section 11 and the detachable sections 13 and 14. It is also desirable for the driving device 2 to be small so that the user can install it anywhere.

[0064] Furthermore, a large number of sensors are mounted on the manipulator system 100 having the electric and detachable manipulator 1. For example, in the case of the manipulator 1 having two-stage bending sections 121, 122, a tension sensor 31, a torque sensor 32, and a coupling sensor 34 are mounted corresponding to each of the eight bending wires 15. Since these sensors 31, 32, and 34 are expensive, it is important to reduce the number of sensors in order to reduce the product cost of the manipulator system 100.

[0065] According to this embodiment, in the inspection of the coupling sensor 34 in step S23, it is confirmed whether or not the coupling sensor 34 is normal based on the output of the coupling sensor 34 and the output of the torque sensor 32. When both the torque sensor 32 and the coupling sensor 34 are normal, the output of the torque sensor 32 and the output of the coupling sensor 34 are mutually correlated. Therefore, by combining the coupling sensor 34 with the torque sensor 32 that has been confirmed to be normal, it is possible to detect an abnormality in the coupling sensor 34 without duplicating the coupling sensor 34, and it is possible to reduce the number of coupling sensors 34 mounted in the drive device 2. Furthermore, in checking the coupling in step S22, the connection between the bending wire 15 and the motor 25 can be doubly checked based on the output of the coupling sensor 34 and the output of the torque sensor 32.

[0066] Furthermore, according to this embodiment, in the inspection of the tension sensor 31 in step S33, it is confirmed whether the tension sensor 31 is normal or not based on the output of the tension sensor 31 and the output of the torque sensor 32. When both the torque sensor 32 and the tension sensor 31 are normal, the output of the torque sensor 32 and the output of the tension sensor 31 are mutually correlated. Therefore, by combining the tension sensor 31 with the torque sensor 32 that has been confirmed to be normal, it is possible to detect an abnormality in the tension sensor 31 without duplicating the tension sensor 31, and it is possible to reduce the number of tension sensors 31 mounted on the manipulator 1. This allows the attachment / detachment unit 13 to be made smaller and lighter.

[0067] Second embodiment Next, a method for controlling a manipulator system, a control device for a manipulator system, and a manipulator system according to a second embodiment of the present invention will be described with reference to the drawings. In this embodiment, configurations different from the first embodiment will be described, and configurations common to the first embodiment will be given the same reference numerals and descriptions thereof will be omitted. As in the first embodiment, the manipulator system 100 according to this embodiment includes a manipulator 1, a driving device 2, a control device 4, an operation device 3, a video processor 5, and a display device 6.

[0068] Fig. 10 shows steps executed in each sequence S1, S2, S3, and S4 of the control method of this embodiment, and sensors 31, 32, 33, and 34 used in each step. As shown in Fig. 10, the control method of this embodiment differs from the first embodiment in the manipulator connection sequence S2. The manipulator connection sequence S2 of this embodiment includes step S21, step S25 of checking the tension sensor 31, step S22' of confirming that the motor 25 is connected to the bending wire 15, and step S24.

[0069] In step S25, the control device 4 checks whether the tension sensor 31 is normal based on the output of the tension sensor 31 and the output of the torque sensor 32 that was confirmed to be normal in sequence S1. Specifically, similar to step S33 in the first embodiment, the control device 4 rotates the motor 25, calculates an estimate of the tension of the bending wire 15 from the torque of the motor 25, and calculates the difference between the detected tension value and the estimated tension value. If the difference is equal to or smaller than a predetermined value, the control device 4 determines that the tension sensor 31 is normal and proceeds to the next step S22'. On the other hand, if the magnitude of the difference is greater than the predetermined value, the control device 4 determines that the tension sensor 31 is abnormal, stops the motor 25, and transitions to an error state.

[0070] In step S25, the control device 4 may calculate an estimated value of the torque of the motor 25 from the detected value of the tension of the bending wire 15, which is the output of the tension sensor 31, and calculate the difference between the detected value of the torque, which is the output of the torque sensor 32, and the estimated value of the torque.

[0071] In step S22′, the control device 4 confirms, based on the outputs of the tension sensor 31 and the torque sensor 32, that the motor 25 is connected to the bending wire 15 via the coupling portion 23 and the coupled portion 27 which are coupled to each other. 11, the control device 4 rotates the motor 25 (step S221). The rotation of the motor 25 rotates the coupled portion 27, and when the fitting recess 27a coincides with the fitting protrusion 23a, the coupled portion 27 is coupled with the coupling portion 23, and the tension of the bending wire 15 increases.

[0072] After confirming that the tension of the bending wire 15 has increased to or above a predetermined value (YES in step S227), the control device 4 then checks the output of the torque sensor 32. In a state in which the motor 25 is connected to the bending wire 15, the torque of the motor 25 increases due to the tension of the bending wire 15. If the output of the torque sensor 32 is equal to or above a predetermined value (YES in step S223), the control device 4 determines that the motor 25 is normally connected to the bending wire 15, and stops the motor 25 (step S224). On the other hand, if the output of the torque sensor 32 is less than the predetermined value (NO in step S223), the control device 4 determines that the motor 25 is not normally connected to the bending wire 15, stops the motor 25 (step S225), and transitions to an error state (step S226).

[0073] Thus, according to this embodiment, in the inspection of the tension sensor 31 in step S25, it is confirmed whether the tension sensor 31 is normal or not based on the output of the tension sensor 31 and the output of the torque sensor 32. In this way, by combining the tension sensor 31 with the torque sensor 32 that has been confirmed to be normal, it is possible to detect an abnormality in the tension sensor 31 without duplicating the tension sensor 31, and the number of tension sensors 31 mounted on the manipulator 1 can be reduced. Furthermore, according to this embodiment, in step S22', the connection between the bending wire 15 and the motor 25 is doubly confirmed based on the output of the tension sensor 31 and the output of the torque sensor 32. This makes it possible to omit the coupling sensor 34, and further reduce the number of sensors mounted on the drive device 2 compared to the first embodiment.

[0074] Third embodiment Next, a control method for a manipulator system, a control device for a manipulator system, and a manipulator system according to a third embodiment of the present invention will be described with reference to the drawings. In this embodiment, configurations different from the first embodiment will be described, and configurations common to the first embodiment will be given the same reference numerals and descriptions thereof will be omitted. As in the first embodiment, the manipulator system 100 according to this embodiment includes a manipulator 1, a driving device 2, a control device 4, an operation device 3, a video processor 5, and a display device 6.

[0075] Fig. 12 shows steps executed in each sequence S1, S2, S3, and S4 of the control method of this embodiment, and sensors 31, 32, 33, 34, and 35 used in each step. As shown in Fig. 12, the control method of this embodiment differs from the first embodiment in the manipulator connection sequence S2 and the bending portion initialization sequence S3. The manipulator connection sequence S2 of this embodiment includes step S21, step S26 of inspecting the torque sensor 32, step S22'' of confirming that the motor 25 is connected to the bending wire 15, and step S24.

[0076] In step S26, the control device 4 checks, based on the output of the torque sensor 32 and the output of the current sensor (fourth sensor) 35, whether the torque sensor 32 is normal or not. Fig. 13 explains the relationship between the output of the torque sensor 32 and the output of the current sensor. As shown in Fig. 13, when the torque sensor 32 is normal, there is a certain correlation between the magnitude of the torque, which is the output of the torque sensor 32, and the magnitude of the current of the motor 25, which is the output of the current sensor 35, and the torque increases as the current increases. Therefore, the output of the torque sensor 32 can be estimated from the output of the current sensor 35.

[0077] For example, the control device 4 rotates the motor 25 and calculates an estimate of the torque of the motor 25 from the current of the motor 25 detected by the current sensor 35. Next, the control device 4 calculates the difference between the detected torque value, which is the output of the torque sensor 32, and the estimated torque value. If the magnitude of the difference is equal to or smaller than a predetermined value, the control device 4 determines that the torque sensor 32 is normal, and if the magnitude of the difference is greater than the predetermined value, the control device 4 determines that the torque sensor 32 is abnormal.

[0078] Next, in step S22'', the control device 4 confirms, based on the output of the torque sensor 32 and the output of the current sensor 35, that the motor 25 is connected to the bending wire 15 via the coupling portion 23 and the coupled portion 27 which are mutually coupled. 14, the control device 4 rotates the motor 25 (step S221). The rotation of the motor 25 rotates the coupled portion 27, and when the fitting recess 27a matches the fitting protrusion 23a, the coupled portion 27 is coupled with the coupling portion 23, and the torque of the motor 25 increases.

[0079] After confirming that the torque of the motor 25 has increased to or above a predetermined value (YES in step S228), the control device 4 then checks the output of the current sensor 35. When the motor 25 is connected to the bending wire 15, the current of the motor 25 increases due to an increase in the load of the motor 25. If the output of the current sensor 35 is equal to or above the predetermined value (YES in step S229), the control device 4 determines that the motor 25 is normally connected to the bending wire 15, and stops the motor 25 (step S224). On the other hand, if the output of the current sensor 35 is less than the predetermined value (NO in step S229), the control device 4 determines that the motor 25 is not normally connected to the bending wire 15, stops the motor 25 (step S225), and transitions to an error state (step S226).

[0080] The bending portion initialization sequence S3 of the present embodiment includes step S31, step S32, step S35 for inspecting the torque sensor 32, and step S34 for inspecting the power transmission mechanism in the manipulator 1. In step S35, the control device 4 checks whether the torque sensor 32 is normal or not based on the output of the torque sensor 32 and the output of the current sensor 35, in the same manner as in step S26.

[0081] As described above, according to this embodiment, in the inspection of the torque sensor 32 in step S26, it is confirmed whether the torque sensor 32 is normal or not based on the output of the torque sensor 32 and the output of the current sensor 35. Current Sensor 35 Therefore, by combining the torque sensor 32 with the current sensor 35, it is possible to detect an abnormality in the torque sensor 32 without duplicating the torque sensor 32. Furthermore, in step S22'', the connection between the bending wire 15 and the motor 25 is doubly confirmed based on the output of the torque sensor 32 and the output of the current sensor 35. This makes it possible to omit the coupling sensor 34, and further reduce the number of sensors mounted on the drive device 2 compared to the first embodiment.

[0082] (Fourth embodiment) Next, a method for controlling a manipulator system, a control device for a manipulator system, and a manipulator system according to a fourth embodiment of the present invention will be described with reference to the drawings. In this embodiment, configurations different from the first embodiment will be described, and configurations common to the first embodiment will be given the same reference numerals and descriptions thereof will be omitted. As in the first embodiment, the manipulator system 100 according to this embodiment includes a manipulator 1, a driving device 2, a control device 4, an operation device 3, a video processor 5, and a display device 6.

[0083] Fig. 15 shows steps executed in each sequence S1, S2, S3, and S4 of the control method of this embodiment, and sensors 31, 32, 33, 34, and 36 used in each step. As shown in Fig. 15, the control method of this embodiment differs from the first embodiment in the manipulator connection sequence S2. The manipulator connection sequence S2 in this embodiment includes step S21' for confirming that the wire attachment / detachment portion 16 of the manipulator 1 is connected to the wire drive portion 21 of the drive device 2, step S22, step S23, and step S24.

[0084] In step S21′, the control device 4 checks the connection between the wire attach-detach unit 16 and the wire driving unit 21 based on the output of the attachment-detachment sensor (fifth sensor) 33 and the output of the antagonistic sensor (sixth sensor) . The antagonistic sensor 36 detects an antagonistic state of the pair of bending wires 15. When the pair of bending wires 15 are in an antagonistic state, the cylindrical member 19a and the gear 19b of the connecting mechanism 19 are disposed in a second position. For example, the antagonistic sensor 36 has an optical sensor that detects contact with or proximity to the cylindrical member 19a, and detects the antagonistic state by using the optical sensor to detect that the cylindrical member 19a is disposed in the second position.

[0085] 16, in step S21', the control device 4 confirms that the attachment / detachment sensor 33 is ON (YES in step S211), and then checks the output of the antagonism sensor 36 (step S212). If the outputs of the antagonism sensors 36 of all four wire attachment / detachment units 16 are ON, the control device 4 determines that the wire attachment / detachment units 16 and the wire driving unit 21 are connected. On the other hand, if the output of at least one antagonism sensor 36 is OFF, the control device 4 Wire attachment / detachment part 16 and wire driving unit 21 are not connected, and the state transitions to an error state (step S213).

[0086] Thus, according to this embodiment, in step S21', the connection between the wire attachment / detachment unit 16 and the wire driving unit 21 is doubly confirmed based on the output of the attachment / detachment sensor 33 and the output of the competition sensor 36. This makes it possible to reliably and accurately detect whether the wire attachment / detachment unit 16 and the wire driving unit 21 are connected or not without duplicating the attachment / detachment sensor 33, and makes it possible to reduce the number of attachment / detachment sensors 33 mounted on the driving device 2 compared to the first embodiment. Step S21' of this embodiment may be applied to the second and third embodiments. That is, in the second and third embodiments, step S21' may be executed instead of step S21.

[0087] In each of the above embodiments, the sensor in which an abnormality has been detected in the sequence S1, S2, or S3 may be notified to the operator. According to this configuration, by being notified of the sensor in which an abnormality has been detected, the operator can appropriately determine whether to replace the manipulator or the driving device.

[0088] For example, in the first embodiment, if an abnormality is detected in the torque sensor 32 in the inspection of step S12, the abnormality of the torque sensor 32 is notified. If an abnormality is detected in the coupling sensor 34 in the inspection of step S23, the abnormality of the coupling sensor 34 is notified. If an abnormality is detected in the tension sensor 31 in the inspection of step S33, the abnormality of the tension sensor 31 is notified. If an abnormality is detected in the torque sensor 32 or the coupling sensor 34, the operator replaces the drive unit with another drive unit, and if an abnormality is detected in the tension sensor 31, the operator replaces the manipulator with another manipulator.

[0089] In each of the above embodiments, the manipulator 1 is an electrically-driven flexible endoscope, but the manipulator 1 is not limited to this and may be another device having an electrically-driven movable part. For example, the manipulator may be a rigid endoscope having a bending part 12, or a surgical treatment tool having a movable part that performs any operation such as opening and closing or moving forward and backward according to a driving force transmitted from a motor via a driving wire.

[0090] In each of the above embodiments, the checks performed in each of steps S1, S2, S3, and S4 may be performed not only at the time of startup, but also at any timing after the operation by the operation device 3 becomes possible. In each of the above embodiments, the power generating unit includes the motor 25, but the power generating unit may have other forms as long as it can generate a driving force for operating the movable unit. For example, the power generating unit may include an actuator that generates a linear force as a driving force. The design of the power transmission mechanism between the power generating unit and the bending wire 15 may be changed depending on the form of the power generating unit. [Explanation of symbols]

[0091] 1 Manipulator, endoscope 2. Drive unit 4. Control device 12,121,122 Curved part (movable part) 16 Wire attachment / detachment part 21 Wire drive unit 25 Motor (power generating unit) 31 Tension sensor (second sensor, third sensor) 32 Torque sensor (first sensor) 33 Attachment / detachment sensor (5th sensor) 34 Coupling sensor (second sensor) 35 Current sensor (4th sensor) 36 Antagonistic Sensor (6th Sensor) S1 Drive start-up sequence (1st step) S2 Manipulator connection sequence (2nd step) S3 Curvature initialization sequence (3rd step)

Claims

1. A manipulator; a drive device to which the manipulator is detachably connected and which electrically drives the manipulator; A control device that controls the manipulator and the driving device; A first sensor provided in the driving device; a second sensor provided in either the manipulator or the drive device; The control device includes: a first step of confirming that the driving device operates normally in response to power based on an output of the first sensor; a second step of confirming that the manipulator is connected to the drive device based on an output of the second sensor; the first step includes checking whether the first sensor is normal; A manipulator system, wherein the second step includes confirming whether the second sensor is normal or not based on the output of the first sensor and the output of the second sensor, which are confirmed to be normal in the first step.

2. the drive device includes a power generating unit that generates a drive force using the electric power, 2. The manipulator system according to claim 1, wherein in the second step, if the output of the second sensor indicates that the manipulator is connected to the drive device and the output of the first sensor changes according to the drive force, it is determined that the second sensor is normal.

3. the manipulator includes a movable part and a drive wire that transmits the drive force to the movable part; the power generating unit includes a motor that generates a rotational force as the driving force, the first sensor is a torque sensor that detects a torque of the motor, The manipulator system according to claim 2 , wherein the second sensor is a coupling sensor that detects a connection between the drive wire and the motor.

4. The manipulator includes a pulley around which an end of the drive wire is wound and rotatably supported, and a coupling portion fixed to a base end of the pulley, the drive device has a shaft rotated by the motor and a coupled part fixed to a tip of the shaft and capable of being fitted with the coupling part, the shaft is supported so as to be movable forward and backward along a rotation axis of the shaft, and the shaft is displaced along the rotation axis by fitting the coupling portion into the coupled portion; The manipulator system according to claim 3 , wherein the coupling sensor detects engagement between the coupling portion and the coupled portion based on a displacement of the shaft.

5. In the second step, calculating an estimate of an output of one of the first sensor and the second sensor from an output of the other of the first sensor and the second sensor; 2. The manipulator system according to claim 1, wherein the second sensor is determined to be normal when a difference between the output of the other of the first sensor and the second sensor and the estimated value of the output of the other is within a predetermined range.

6. the manipulator includes a movable part and a drive wire that transmits a drive force to the movable part; the first sensor is a torque sensor that detects a torque of a motor provided in the drive device, The manipulator system according to claim 5 , wherein the second sensor is a tension sensor that detects tension in the drive wire.

7. The control device further comprises: a third step of confirming, based on an output of a third sensor, that the movable part of the manipulator operates normally in accordance with the driving force transmitted from the driving device; 7. A manipulator system as described in any one of claims 1 to 6, wherein the third step includes confirming whether the third sensor is normal or not based on the output of the first sensor and the output of the third sensor, which are confirmed to be normal in the first step.

8. In the third step, calculating an estimate of an output of one of the first sensor and the third sensor from an output of the other of the first sensor and the third sensor; 8. The manipulator system according to claim 7, wherein the third sensor is determined to be normal when a difference between the output of the other of the first sensor and the third sensor and an estimated value of the output of the other is within a predetermined range.

9. the manipulator includes a movable part and a drive wire that transmits the drive force to the movable part; the first sensor is a torque sensor that detects a torque of a motor provided in the drive device, The manipulator system according to claim 8 , wherein the third sensor is a tension sensor that detects tension in the drive wire.

10. A method for controlling a manipulator system, the manipulator system comprising: a manipulator; and a drive device to which the manipulator is detachably connected and which electrically drives the manipulator; a first step of confirming that the driving device operates normally in response to power based on an output of a first sensor; and a second step of confirming that the manipulator is connected to the drive device based on an output of a second sensor; the first step includes checking whether the first sensor is normal; A control method, wherein the second step includes confirming whether the second sensor is normal or not based on the output of the first sensor and the output of the second sensor, which are confirmed to be normal in the first step.

11. the drive device includes a power generating unit that generates a drive force using the electric power, 11. The control method according to claim 10, wherein in the second step, if the output of the second sensor indicates that the manipulator is connected to the driving device and the output of the first sensor changes according to the driving force, it is determined that the second sensor is normal.

12. In the second step, calculating an estimate of an output of one of the first sensor and the second sensor from an output of the other of the first sensor and the second sensor; 11. The control method according to claim 10, further comprising determining that the second sensor is normal when a difference between the output of the other of the first sensor and the second sensor and the estimated value of the other output is within a predetermined range.

13. a third step of confirming, based on an output of a third sensor, that the movable part of the manipulator operates normally in accordance with the driving force transmitted from the driving device; 13. The control method according to claim 10, wherein the third step includes confirming whether the third sensor is normal or not based on the output of the first sensor and the output of the third sensor, both of which are confirmed to be normal in the first step.

14. In the third step, calculating an estimate of an output of one of the first sensor and the third sensor from an output of the other of the first sensor and the third sensor; 14. The control method according to claim 13, further comprising determining that the third sensor is normal when a difference between the output of the other of the first sensor and the third sensor and an estimated value of the other output is within a predetermined range.

15. A method for controlling a manipulator system, the manipulator system comprising: a manipulator; and a drive device to which the manipulator is detachably connected and which electrically drives the manipulator; a first step of confirming that the driving device operates normally in response to power based on an output of a first sensor; and a second step of confirming that the manipulator is connected to the drive device based on an output of the first sensor, The control method, wherein the second step includes checking whether the first sensor is normal or not based on an output of the first sensor and an output of a fourth sensor.

16. the first sensor is a torque sensor that detects a torque of a motor provided in the drive device, The control method according to claim 15 , wherein the fourth sensor is a current sensor that detects a current of the motor.

17. The drive device includes a wire drive unit having a motor, the manipulator has a movable section, a wire attachment / detachment section that is attached to and detached from the wire driving section, and a plurality of driving wires that extend from the wire attachment / detachment section to the movable section; 17. The control method according to claim 10, wherein the second step includes confirming that the wire attachment / detachment unit is connected to the wire driving unit based on an output of a fifth sensor and an output of a sixth sensor.

18. the fifth sensor is a connection / detachment sensor that detects a connection between the wire connection / detachment unit and the wire driving unit, The method of claim 17 , wherein the sixth sensor is a tangential sensor that detects a tangential state of the plurality of drive wires.

19. A control device for a manipulator system, the manipulator system including a manipulator and a drive device to which the manipulator is detachably connected and which electrically drives the manipulator, The control device includes: a first step of confirming that the driving device operates normally in response to power based on an output of a first sensor; a second step of confirming that the manipulator is connected to the drive device based on an output of a second sensor; the first step includes checking whether the first sensor is normal; The control device, wherein the second step includes confirming whether the second sensor is normal or not based on the output of the first sensor and the output of the second sensor, which are confirmed to be normal in the first step.

20. the drive device includes a power generating unit that generates a drive force using the electric power, 20. The control device according to claim 19, wherein in the second step, if the output of the second sensor indicates that the manipulator is connected to the drive device and the output of the first sensor changes according to the drive force, it is determined that the second sensor is normal.

Images