Console device

Abstract

It is an objective of one or more embodiments of the present disclosure to prevent the left and right articulation link mechanisms from contacting each other. The hand controller includes a tab, a handle, an operating unit, and a finger sensor. The tab has a first side and a second side facing opposite to each other, and an end surface extending from the first side to the second side. The handle is disposed facing the end surface of the tab and is attached to the tab so as to move toward and away from the end surface of the tab. The operating unit is disposed facing the first side surface of the tab and is connected to the tab so as to move toward and away from the first side surface of the tab. The finger sensor is disposed on the second side surface of the tab and detects the fingers of an operator's hand.

Description

[Technical field]

[0001] This disclosure ,Ko This relates to console devices. [Background technology]

[0002] Patent Document 1 discloses a system for operating a medical device using an input control console. A sensor detects whether an operator touches the input control console. When the sensor detects the operator's touching the input control console, a computer processor issues a command to the medical device according to the operator's operation of the input control console. When the sensor does not detect the operator's touching the input control console, the computer processor blocks the command to the medical device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2020-529237 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, a sensor may be provided on the controller of the console device to detect when the operator is holding the controller with his / her hand. If the size of the controller does not match the size of the hand, the hand will not come into contact with the sensor and the sensor will not be able to detect the hand. No matter how much the operator operates the controller, commands to the robot such as the medical device will be cut off and the robot will not operate. Thus, it is an objective of one or more embodiments of the present disclosure that whether an operator has large or small hands, the fingers of the hand are detected by the sensor. [Means for solving the problem]

[0005] In order to solve the above problems, according to one aspect of the present disclosure, a hand controller includes a tab, a handle, an operation unit, and a finger sensor. The tab has a first side and a second side facing opposite to each other, and has an end surface provided from the first side to the second side. The handle is disposed facing the end surface of the tab, and is attached to the tab so as to move toward and away from the end surface of the tab. The operation unit is disposed facing the first side surface of the tab, and is connected to the tab so as to move toward and away from the first side surface of the tab. The finger sensor is provided on the second side surface of the tab, and detects the fingers of an operator's hand.

[0006] According to one aspect of the present disclosure, a console device includes the hand controller, a foot switch, a joint link mechanism, and a control unit. The foot switch outputs a trigger when stepped on by the operator's foot. The joint link mechanism has a rotatable proximal end, a distal end to which the hand controller is connected, and supports the hand controller in a translatable manner. The control unit switches between an operation mode in which the robot can be controlled and a standby mode in which the robot cannot be controlled. When the finger sensor detects a finger of the hand and the control unit inputs a trigger from the foot switch, the control unit switches the robot between the operation mode and the standby mode. Effect of the Invention

[0007] The hand controller and console device of one or more embodiments of the present disclosure contributes to an operator being able to grip the handle with the palm of the hand and place the fingers on the finger sensor, regardless of the size of the operator's hand. Whether the operator has a large or small hand, the fingers of the hand are detected by the finger sensor. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram of a remote-controlled robot system. [Diagram 2] FIG. 2 shows the console device. [Diagram 3] FIG. 3 shows the left and right consoles of the console device. [Figure 4] FIG. 4 shows the left and right consoles of the console device. [Diagram 5] FIG. 5 shows the gimbal and hand controller mounted at the distal end of the right console. [Figure 6] Figure 6 is a perspective view of the right hand controller. [Figure 7] Figure 7 is a perspective view of the right hand controller. [Figure 8] Figure 8 is a side view of the right hand controller. [Figure 9] Figure 9 is a side view of the right hand controller. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] One or more embodiments of the present disclosure will be described below with reference to the drawings. Features and technical effects of the embodiments can be understood from the following detailed description and drawings. However, the scope of the present invention is not limited to the embodiments disclosed below. The drawings are provided for illustrative purposes only, and therefore the scope of the present invention is not limited to the illustrations in the drawings.

[0010] <1. Overview of the remote control robot system> FIG. 1 is a block diagram of a remote-controlled robot system.

[0011] The remote-controlled robot system includes a robot 1 and a console device 2. The console device 2 is the master, and the robot 1 is the slave. When an operator such as a doctor operates the console device 2, the robot 1 operates in accordance with the operation of the console device 2.

[0012] <2. Robot> The robot 1 is installed in a work area such as an operating room. The robot 1 is a robot that performs operations such as surgery. The robot 1 includes two manipulators 15, two end effectors 16, a camera 18, a slave control unit 19, and a base.

[0013] The two manipulators 15 are arranged side by side on the left and right and attached to a base. The manipulator 15 is a vertical articulated robot with 5, 6 or 7 degrees of freedom. The manipulator 15 has multiple links, multiple joints and multiple drive units. The proximal link among these links is connected to the base via a rotating joint among these joints, and these links are connected in order by joints from the proximal end to the distal end of the manipulator 15. These joints include a bending joint and a torsion joint in addition to a rotating joint. The drive units are connected to the joints. The manipulator 15 operates when the drive units apply torque to the joints. Here, the distal side refers to the side farther from the base, and the proximal side refers to the side closer to the base.

[0014] The end effector 16 is coupled to the distal end of the manipulator 15. The end effector 16 may be a medical instrument such as forceps, forceps, scissors, tweezers, scalpel, etc. In this embodiment, the end effector 16 is a forceps.

[0015] The camera 18 is connected to the base. The camera 18 may be connected to the base via an auxiliary manipulator or a link mechanism. The camera 18 may be provided on a scope. An object photographed by the camera 18 may be the manipulator 15, the end effector 16, or a work object. The work object refers to an object to be treated by the end effector 16. For example, the work object may be an affected area to be operated on.

[0016] The slave control unit 19 is one or more 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, etc. The slave control unit 19 inputs an operation signal from the master control unit 3 of the console device 2. The slave control unit 19 controls the manipulator 15 and the end effector 16 in accordance with the operation signal, thereby causing the manipulator 15 and the end effector 16 to follow the console 60 of the console device 2.

[0017] <3. Console device> FIG. 2 is a perspective view of the console device 2. As shown in FIG.

[0018] The console device 2 is installed away from a work site such as an operating room, etc. The console device 2 may be installed in the work site.

[0019] The console device 2 includes a dolly 50, a base 51, a seat 52, a first display unit 53, a second display unit 54, a foot switch 55, two consoles 60, and a master control unit 3.

[0020] The master control unit 3 is one or more computers having a CPU (Central Processing Unit), a RAM (Random Access Memory), a bus, a bus controller, an interface circuit, a drive circuit, communication devices, etc. The master control unit 3 is responsible for controlling the console device 2. The master control unit 3 can communicate with the slave control unit 19 via a network or the like.

[0021] The cart 50 has casters with stoppers on its lower part and can be moved by the casters. The base 51 is fixed to the rear of the cart 50 and stands upright from the rear of the cart 50. The seat 52 is fixed to the front part of the cart 50 and is provided in a state where it stands up from the front part of the cart 50. The operator sits on the seat 52 and operates the console 60 and the foot switch 55.

[0022] The first display unit 53 and the second display unit 54 are full-color display devices such as a liquid crystal display device and an organic EL display device. The first display unit 53 and the second display unit 54 are arranged one above the other and mounted on a base 51. The display surfaces of the first display unit 53 and the second display unit 54 face forward. The first display unit 53 displays an image captured by the camera 18. The second display unit 54 displays the state of the robot 1, more specifically, the states of the manipulator 15, the end effector 16, and the camera 18.

[0023] The foot switch 55 is attached to the bottom of the base 51. When the operator steps on the foot switch 55, the foot switch 55 is turned on. When 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 high-level on signal to the master control unit 3. The on signal is a trigger. When the foot switch 55 is turned off, the foot switch 55 outputs a low-level off signal to the master control unit 3. The foot switch 55 is used to turn on and off the tracking of the manipulator 15 and the end effector 16 relative to the console 60.

[0024] The two consoles 60 are connected to the upper part of the base 51 and are arranged side by side with a gap between them. These consoles 60 extend forward from the base 51, and an operator grasps the left and right consoles 60 with his left and right hands, respectively. When the operator moves the left console 60 with his left hand, the left manipulator 15 and end effector 16 move in accordance with the movement of the left console 60, and when the operator moves the right console 60 with his right hand, the right manipulator 15 and end effector 16 move in accordance with the movement of the right console 60.

[0025] <3-1. Console> Fig. 3 is a perspective view of the left and right consoles 60. Fig. 4 is a plan view of the left and right consoles 60.

[0026] 3 and 4, the console 60 includes a joint link mechanism 79, a gimbal 80, and a hand controller 90. As shown in FIG. 1, the console 60 includes driving units 67-69 and sensors 70-72 used for controlling the joint link mechanism 79.

[0027] A proximal end of the joint link mechanism 79 is connected to the base 51, a distal end of the joint link mechanism 79 is connected to the gimbal 80, and the hand controller 90 is connected to the gimbal 80. Here, distal refers to a side farther from the base 51, and proximal refers to a side closer to the base 51.

[0028] The joint link mechanism 79 supports the gimbal 80 and the hand controller 90 so that they can translate with three degrees of freedom. The gimbal 80 supports the hand controller 90 so that they can rotate with three degrees of freedom. When an operator grips the hand controller 90 and moves the hand controller 90, the attitude and direction of the hand controller 90 are changed by the gimbal 80, and the hand controller 90 and the gimbal 80 are translated by the joint link mechanism 79.

[0029] The joint link mechanism 79 has a rotating portion 61 , a proximal link 62 , a distal link 63 , a first joint 64 , a second joint 65 , and a third joint 66 .

[0030] The swivel unit 61 is rotatably connected to an upper portion of the base 51 by a first joint 64. The swivel unit 61 is provided so as to rotate relatively to the base 51 about a vertical rotation axis by the first joint 64. The swivel unit 61 and the first joint 64 correspond to a proximal end of a joint link mechanism 79.

[0031] A rotation angle sensor 70 such as a rotary encoder is provided on the base 51, and a first drive unit 67 such as a motor is provided on the base 51. The rotation angle sensor 70 and the first drive unit 67 are connected to the first joint 64. The rotation angle sensor 70 detects the rotation angle of the rotation unit 61 around the rotation axis, and outputs the detected value to the master control unit 3. The master control unit 3 transfers the detected value of the rotation angle sensor 70 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 according to the detected value of the rotation angle sensor 70. The first drive unit 67 applies torque around the pivot axis to the first joint 64 and the pivot unit 61 .

[0032] A proximal end of the proximal link 62 is rotatably connected to the rotating part 61 by a second joint 65. The proximal link 62 is provided so as to be swung up and down relatively to the rotating part 61 around a horizontal first swing axis extending left and right by the second joint 65. The proximal link 62 may be formed of a link mechanism such as a parallel link mechanism.

[0033] A first swing angle sensor 71 such as a rotary encoder is provided on the rotating part 61, and a second drive part 68 such as a motor is provided on the rotating part 61. The second drive part 68 and the first swing angle sensor 71 are connected to the second joint 65. The first swing angle sensor 71 detects a first swing angle of the proximal link 62 around the first swing axis and outputs the detected value to the master control part 3. The master control part 3 transfers the detected value of the first swing angle sensor 71 to the slave control part 19. The slave control part 19 controls the manipulator 15 based on the detected value of the first swing angle sensor 71. The second drive unit 68 applies torque around the first swing axis to the second joint 65 and the proximal link 62.

[0034] A proximal end of the distal link 63 is rotatably connected to a distal end of the proximal link 62 by a third joint 66. The distal link 63 is provided so as to swing up and down relatively to the proximal link 62 around a second swing axis parallel to the first swing axis by the third joint 66. The distal link 63 may be formed by a link mechanism such as a parallel link mechanism.

[0035] A second swing angle sensor 72 such as a rotary encoder is provided on the rotating part 61, and a third drive unit 69 such as a motor is provided on the rotating part 61. The second swing angle sensor 72 and the third drive unit 69 are connected to the third joint 66 via a link mechanism or the like. The second swing angle sensor 72 detects the second swing angle of the distal link 63 around the second swing axis and outputs the detection value to the master control unit 3. The master control unit 3 transfers the detection value of the second swing angle sensor 72 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 based on the detection value of the second swing angle sensor 72. The third drive unit 69 applies torque around the second swing axis to the third joint 66 and the distal link 63.

[0036] The distal end of the distal link 63 corresponds to the distal end of the articulation link mechanism 79 , and a gimbal 80 is attached to the distal end of the distal link 63 .

[0037] The gimbal 80 has a connecting arm 81, a first rotating arm 82, a second rotating arm 83, joints 84 to 86, driving units 91 to 93, and angle sensors 94 to 96.

[0038] The proximal end of the connecting arm 81 is attached to the distal end of the distal link 63. The connecting arm 81 has an L-shaped bent shape from the proximal end to the distal end of the connecting arm 81 within the plane in which the distal link 63 swings up and down.

[0039] The proximal end of the first rotating arm 82 is rotatably connected to the distal end of the connecting arm 81 by a joint 84. The first rotating arm 82 is provided to be rotatable relative to the connecting arm 81 around a yaw axis 111 at the joint 84. The yaw axis 111 is along the plane along which the distal link 63 swings up and down.

[0040] A yaw angle sensor 94 such as a rotary encoder is connected to the joint 84, and a yaw driver 91 such as a motor is connected to the joint 84. The yaw angle sensor 94 detects the yaw angle of the first rotating arm 82 around the yaw axis 111 and outputs the detection value to the master control unit 3. The master control unit 3 transfers the detection value of the yaw angle sensor 94 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 based on the detection value of the yaw angle sensor 94. The yaw drive unit 91 applies torque around the yaw axis 111 to the joint 84 and the first rotating arm 82 .

[0041] A proximal end of the second rotating arm 83 is rotatably connected to a distal end of the first rotating arm 82 by a joint 85. The second rotating arm 83 is provided rotatably relative to the first rotating arm 82 around a pitch axis 112 at the joint 85. The pitch axis 112 is perpendicular to the yaw axis 111.

[0042] A pitch angle sensor 95 such as a rotary encoder is connected to the joint 85, and a pitch driver 92 such as a motor is connected to the joint 85. The pitch angle sensor 95 detects the pitch angle of the first rotating arm 82 around the pitch axis 112, and outputs the detected value to the master control unit 3. The master control unit 3 transfers the detected value of the pitch angle sensor 95 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 based on the detected value of the pitch angle sensor 95. The pitch drive unit 92 applies a torque about the pitch axis 112 to the joint 85 and the second rotating arm 83 .

[0043] The hand controller 90 is rotatably coupled to the distal end of the second rotating arm 83 by a joint 86. The hand controller 90 is rotatably provided relative to the second rotating arm 83 about a roll axis 113 at the joint 86. The roll axis 113, the pitch axis 112, and the yaw axis 111 intersect with each other at a common intersection. A tab 87 extends from the joint 86 toward the common intersection.

[0044] A roll angle sensor 96 such as a rotary encoder is connected to the joint 86, and a roll driver 93 such as a motor is connected to the joint 86. The roll angle sensor 96 detects the roll angle of the tab 87 around the roll axis 113 and outputs the detected value to the master control unit 3. The master control unit 3 transfers the detected value of the roll angle sensor 96 to the slave control unit 19. The slave control unit 19 controls the manipulator 15 based on the detected value of the roll angle sensor 96. The roll drive 93 applies torque about the roll axis 113 to the joint 86 and the tab 87 .

[0045] <3-2. Hand controller> 6 and 7 are perspective views of the hand controller 90. Figures 8 and 9 are side views of the hand controller 90.

[0046] The hand controller 90 has a tab 87 , a handle 88 , an operating lever 89 , a pinch drive unit 97 , a swing angle sensor 98 , a finger sensor 99 and a linear guide 100 .

[0047] The tab 87 is rotatably connected to the distal end of the second rotating arm 83 by a joint 86. The tab 87 is rotatably provided around a roll axis 113 at the joint 86 relative to the second rotating arm 83. The roll axis 113 is perpendicular to the pitch axis 112. The roll axis 113, the pitch axis 112, and the yaw axis 111 intersect with each other at a common intersection. The tab 87 extends along the roll axis 113 from the joint 86 toward the common intersection.

[0048] The tab 87 is shaped like a rectangular parallelepiped. The shape of the tab 87 may be a cylindrical or elliptical cylindrical shape having a central axis along the roll axis 113.

[0049] The tab 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 face in opposite directions. The first side surface 87a and the second side surface 87b are provided so as to spread from the joint 86 along the roll axis 113 toward the end surface 87c. The first side surface 87a and the second side surface 87b are provided so as to spread from the joint 86 along the roll axis 113 toward the end surface 87c. The upper surface 87d is provided 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 provided 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 provided between the rear edge of the upper surface 87d and the rear edge of the lower surface 87e.

[0050] The operating lever 89 is an operating part. The operating lever 89 is disposed facing the first side surface 87a of the tab 87. A proximal end of the operating lever 89 is connected to the tab 87 near the joint 86 so as to be rotatable around an axis perpendicular to the roll axis 113. The operating lever 89 extends along the roll axis 113 from its proximal end to its distal end. The operating lever 89 is swingable around the axis of its proximal end so as to move toward and away from the first side surface 87a of the tab 87. An operator swings the operating lever 89 mainly with the index finger to move the operating lever 89 toward and away from the first side surface 87a of the tab 87.

[0051] The pinch drive unit 97 has, for example, a motor. The pinch drive unit 97 applies torque to the operating lever 89.

[0052] The swing angle sensor 98 has, for example, a rotary encoder. The swing angle sensor 98 detects the swing angle of the operating lever 89 and outputs the detection value to the master control unit 3. The master control unit 3 transfers the detection value of the swing angle sensor 98 to the slave control unit 19. The slave control unit 19 controls the end effector 16 based on the detection value of the swing angle sensor 98.

[0053] The finger sensor 99 is provided on the second side surface 87b of the tab 87. The finger sensor 99 is, for example, a reflective optical sensor, a capacitive touch sensor, a pressure-sensitive switch, a membrane switch, a tactile switch, a momentary switch, a dome switch, or a membrane switch. When an operator's finger, for example, a thumb, is placed on the second side surface 87b and placed on the finger sensor 99, the finger sensor 99 turns on and detects the finger. Therefore, the finger sensor 99 outputs a high-level ON signal to the master control unit 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 and does not detect the finger. Therefore, the finger sensor 99 outputs a low-level OFF signal to the master control unit 3.

[0054] The finger sensor 99 is for turning on and off the tracking of the manipulator 15 and the end effector 16 relative to the console 60. Specifically, if the operator suddenly releases the hand controller 90 while the manipulator 15 and the end effector 16 are tracking the console 60, the finger sensor 99 is for turning off the tracking.

[0055] The linear guide 100 is attached inside the tab 87. A part of the linear guide 100 passes through an end face 87c of the tab 87 from inside the tab 87 and protrudes outside the tab 87. The linear guide 100 guides the handle 88 along the roll axis 113.

[0056] The handle 88 is disposed facing the end surface 87c of the tab 87. The handle 88 is coupled to the linear guide 100. The handle 88 extends from the linear guide 100 in a direction intersecting with the roll axis 113. The handle 88 is shaped like a column having a central axis intersecting with the roll axis 113, more specifically, like a cylinder. The handle 88 may be rotatable around its central axis relative to the linear guide 100. The handle 88 may be fixed to the linear guide 100.

[0057] The handle 88 is provided movable by a linear guide 100 so as to approach and move away from the end face 87c of the tab 87 along the roll shaft 113. The linear guide 100 has a stopper that sets the movement range of the handle 88 from the position closest to the end face 87c of the tab 87 to the position farthest from the end face 87c of the tab 87.

[0058] The operator places his / her palm on handle 88, grips handle 88 with his / her palm, and pinches tab 87 and operating lever 89 with his / her fingers. If the operator holds hand controller 90 in this manner, the burden on the operator's hands when operating hand controller 90 is reduced, and the operator can operate hand controller 90 with precision and delicacy.

[0059] Since the handle 88 can be brought into contact with and separated from the end surface 87c of the tab 87, the operator can adjust the position of the handle 88 to suit the size of his or her hand and can place his or her finger on the finger sensor 99.

[0060] The operator operates the rotating part 61, the proximal link 62, the distal link 63, and the gimbal 80 by moving the wrist, arm, shoulder, upper body, etc. while gripping the handle 88. When the operator operates the rotating part 61, the proximal link 62, the distal link 63, and the gimbal 80, the master control unit 3 transfers 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 unit 19. The slave control unit 19 controls the manipulator 15 based on 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. As a result, the left manipulator 15 follows the operation of the left console 60, and the right manipulator 15 follows the operation of the right console 60.

[0061] When the operator swings the operating lever 89 with his / her finger, the master control unit 3 transfers the detection value of the swing angle sensor 98 to the slave control unit 19. The slave control unit 19 controls the end effector 16 based on the detection value of the swing angle sensor 98. As a result, the left end effector 16 follows the swing of the operating lever 89 of the left hand controller 90, and the right end effector 16 follows the operation of the operating lever 89 of the right hand controller 90.

[0062] <4. Mode> The master control 3 and the slave control 19 switch between an operational mode, a standby mode and a safety mode.

[0063] <4-1. Operation mode> When the master control unit 3 and the slave control unit 19 are in the operation mode, the master control unit 3 can control the manipulator 15 and the end effector 16 through the slave control unit 19. Specifically, the master control unit 3 transfers 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 unit 19. The slave control unit 19 controls the manipulator 15 based on 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 without ignoring the signals from the master control unit 3. As a result, the left manipulator 15 follows the operation of the left console 60, and the right manipulator 15 follows the operation of the right console 60.

[0064] Furthermore, the master control unit 3 transfers the detection value of the swing angle sensor 98 to the slave control unit 19. The slave control unit 19 controls the end effector 16 based on the detection value of the swing angle sensor 98 without ignoring the signal from the master control unit 3. As a result, the left end effector 16 follows the swing of the operating lever 89 of the left hand controller 90, and the right end effector 16 follows the operation of the operating lever 89 of the right hand controller 90.

[0065] <4-2. Standby mode> When the master control unit 3 and the slave control unit 19 are in standby mode, the master control unit 3 controls the manipulator 15 and the end effector 16 through the slave control unit 19. inability Specifically, even if the master control unit 3 transfers the detection values ​​of the turning 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 unit 19, the slave control unit 19 ignores the signals from the master control unit 3. Therefore, even if the operator operates the left and right consoles 60, the left and right manipulators 15 do not operate.

[0066] Even if the master control unit 3 transfers the detection value of the swing angle sensor 98 to the slave control unit 19, the slave control unit 19 ignores the signal from the master control unit 3. Therefore, even if the operator swings the operation levers 89 of the left and right hand controllers 90, the left and right end effectors 16 do not operate.

[0067] The master control unit 3 controls the first drive unit 67 based on the detection value of the rotation angle sensor 70, so that the first drive unit 67 generates a resistance torque in the first joint 64 and the rotation unit 61 that is balanced with the torque applied to the rotation unit 61 by the operator. For example, the master control unit 3 feedback controls the first drive unit 67 based on the detection value of the rotation angle sensor 70 so as to reduce the change in the rotation angle of the rotation unit 61 at the first joint 64 to zero. Therefore, even if the operator tries to rotate the left and right consoles 60, the left and right consoles 60 are fixed and do not rotate.

[0068] Similarly, the master control unit 3 controls the second drive unit 68, so that the second drive unit 68 generates a resistance torque in the second joint 65 and the proximal link 62 that is balanced with the torque applied by the operator to the proximal link 62. The master control unit 3 controls the third drive unit 69, so that the third drive unit 69 generates a resistance torque in the third joint 66 and the distal link 63 that is balanced with the torque applied by the operator to the distal link 63. The master control unit 3 controls the yaw drive unit 91 based on the yaw angle sensor 94, so that the yaw drive unit 91 generates a resistance torque in the joint 84 and the first rotating arm 82 that is balanced with the torque applied by the operator to the first rotating arm 82. The master control unit 3 controls the pitch drive unit 93 based on the pitch angle sensor 95, so that the yaw drive unit 91 generates a resistance torque in the joint 85 and the second rotating arm 83 that is balanced with the torque applied by the operator to the second rotating arm 83. The master control unit 3 controls the roll drive unit 93 based on the roll angle sensor 96, so that the roll drive unit 93 generates a resistance torque in the joint 86 and the tab 87 that is balanced with the torque applied by the operator to the tab 87 of the hand controller 90. Therefore, even if the operator tries to move the left and right consoles 60 and the left and right gimbals 80, the left and right consoles 60 and the left and right gimbals 80 are fixed and do not move.

[0069] The master control unit 3 controls the pinch drive unit 97 based on the detection value of the swing angle sensor 98, so that the pinch drive unit 97 generates a resistance torque in the operating lever 89 that is balanced with the torque applied to the operating lever 89 by the operator. For example, the master control unit 3 feedback controls the pinch drive unit 97 based on the detection value of the swing angle sensor 98 so as to reduce the change in the swing angle of the operating lever 89 to zero. Therefore, even if the operator tries to rotate the operating levers 89 of the left and right hand controllers 90, these operating levers 89 are fixed and do not rotate.

[0070] <4-3. Safe mode> When the master control unit 3 and the slave control unit 19 are in a safe mode, the master control unit 3 controls the manipulator 15 and the end effector 16 through the slave control unit 19. inability The processing of the master control unit 3 in the safety mode is the same as the processing of the master control unit 3 in the standby mode. The processing of the slave control unit 19 in the safety mode is the same as the processing of the slave control unit 19 in the standby mode.

[0071] <5. Mode switching> <5-1. In standby mode> Initially, the master control unit 3 and the slave control unit 19 are in standby mode.

[0072] The master control unit 3 calculates the logical product of the signals from the left and right finger sensors 99 and the signal from the foot switch 55. The master control unit 3 determines whether or not to switch from the standby mode to the operation mode based on the logical product.

[0073] When the operator places his fingers on the left and right finger sensors 99, the master control unit 3 inputs an ON signal from the left and right finger sensors 99. At that time, when the operator steps on the foot switch 55 with his foot and the master control unit 3 inputs an ON signal from the foot switch 55, the logical AND of the signals from the left and right finger sensors 99 and the signal from the foot switch 55 becomes "true." As a result, the master control unit 3 switches from the standby mode to the operation mode. When the master control unit 3 switches to the operation mode, the master control unit 3 transmits a signal indicating that it is in the operation mode to the slave control unit 19. As a result, the slave control unit 19 switches from the standby mode to the operation mode.

[0074] On the other hand, when the operator releases his / her fingers from the left, right, or both finger sensors 99, the master control unit 3 inputs an OFF signal from the left, right, or both finger sensors 99. At that time, even if the operator steps on the foot switch 55 with his / her foot and the master control unit 3 inputs an ON signal from the foot switch 55, the logical AND of the signals from the left and right finger sensors 99 and the signal from the foot switch 55 is "false." Therefore, the master control unit 3 maintains the standby mode. The slave control unit 19 also maintains the standby mode.

[0075] Therefore, when the operator holds the hand controller 90 appropriately, the operator can operate the manipulator 15 and the end effector 16 using the console 60 by stepping on the foot switch 55. If the operator does not hold the hand controller 90 appropriately, the operator cannot operate the manipulator 15 and the end effector 16 using the console 60 even if the operator steps on the foot switch 55.

[0076] <5-2. Operation mode> When the master control unit 3 and the slave control unit 19 are switched to the operation mode, the operator places his / her fingers on the left and right finger sensors 99, so that the master control unit 3 inputs ON signals from the left and right finger sensors 99.

[0077] The master control unit 3 calculates the negative logical product of the signals from the left and right finger sensors 99. The master control unit 3 determines whether or not to switch from the operation mode to the safety mode based on the negative logical product.

[0078] If the operator keeps his / her fingers on the left and right finger sensors 99, the master control unit 3 inputs an ON signal from the left and right finger sensors 99. Since the NAND of the signals from the left and right finger sensors 99 is "false", the master control unit 3 maintains the operation mode. The slave control unit 19 also maintains the operation mode.

[0079] When the operator releases his / her finger from the left, right, or both finger sensors 99, the master control unit 3 inputs an OFF signal from the left, right, or both finger sensors 99. Since the NAND of the signals from the left and right finger sensors 99 becomes "true", the master control unit 3 switches from the operation mode to the safety mode. When the master control unit 3 switches to the safety mode, the master control unit 3 transmits a safety mode signal to the slave control unit 19. As a result, the slave control unit 19 switches from the operation mode to the safety mode. Therefore, even if the operator accidentally releases the hand controller 90, the manipulator 15 and the end effector 16 are fixed and do not operate.

[0080] Furthermore, the master control unit 3 calculates the logical product of the signals from the left and right finger sensors 99 and the signal from the foot switch 55. The master control unit 3 determines whether or not to switch from the operation mode to the standby mode based on the logical product.

[0081] When the operator keeps his / her fingers on the left and right finger sensors 99, the master control unit 3 inputs an ON signal from the left and right finger sensors 99. At that time, when the operator steps on the foot switch 55 with his / her foot and the master control unit 3 inputs an ON signal from the foot switch 55, the logical AND of the signals from the left and right finger sensors 99 and the signal from the foot switch 55 becomes "true". Therefore, the master control unit 3 switches from the operation mode to the standby mode. When the master control unit 3 switches to the standby mode, the master control unit 3 transmits a standby mode notification to the slave control unit 19. As a result, the slave control unit 19 switches from the operation mode to the standby mode. On the other hand, if the operator does not step on the foot switch 55 with his / her feet while keeping his / her fingers on the left and right finger sensors 99, the logical AND of the signals from the left and right finger sensors 99 and the signal from the foot switch 55 becomes "false", so the master control unit 3 maintains the operation mode.

[0082] <5-3. Safe mode> When the master control unit 3 and the slave control unit 19 are switched to the safety mode, the operator releases his / her fingers from the left, right or both finger sensors 99, so the master control unit 3 inputs an OFF signal from the left, right or both finger sensors 99.

[0083] When the master control unit 3 and the slave control unit 19 are switched to the safety mode, the master control unit 3 starts timing. The master control unit 3 calculates the logical product of the signals from the left and right finger sensors 99 while timing. The master control unit 3 determines whether to switch from the safety mode to the operation mode while timing based on the logical product.

[0084] When the operator places his / her fingers on the left and right finger sensors 99 during timing, the master control unit 3 inputs an ON signal from the left and right finger sensors 99. Since the logical AND of the signals from the left and right finger sensors 99 becomes "true", the master control unit 3 switches from the safety mode to the operation mode. When the master control unit 3 switches to the operation mode, the master control unit 3 ends timing and resets the timing time. Then, the master control unit 3 transmits a signal indicating that the operation mode has been started to the slave control unit 19. As a result, the slave control unit 19 switches from the safety mode to the operation mode. Therefore, if the operator properly grips the hand controller 90 again, the operator can operate the manipulator 15 and the end effector 16 using the console 60.

[0085] On the other hand, if the operator keeps his / her fingers off the left, right, or both finger sensors 99 during timing, the master control unit 3 inputs an OFF signal from the left, right, or both finger sensors 99. Because the logical AND of the signals from the left and right finger sensors 99 is "false," the master control unit 3 maintains the safety mode and continues timing.

[0086] The master control unit 3 judges whether or not to switch from safety mode to standby mode during timing based on the signal of the foot switch 55. Therefore, when the operator steps on the foot switch 55 and the master control unit 3 inputs an ON signal from the foot switch 55, the master control unit 3 switches from safety mode to standby mode. When the master control unit 3 switches to the standby mode, the master control unit 3 ends timing and resets the timing time. Then, the master control unit 3 transmits a notification of the standby mode to the slave control unit 19. As a result, the slave control unit 19 switches from safety mode to standby mode.

[0087] When the operator releases his / her fingers from the left, right, or both finger sensors 99 without stepping on the foot switch 55, the time measured by the master control unit 3 reaches a predetermined time, such as 5 seconds. Then, the master control unit 3 switches from the safety mode to the standby mode. When the master control unit 3 switches to the standby mode, the master control unit 3 ends the time measurement and resets the time measurement. Then, the master control unit 3 transmits a standby mode notification to the slave control unit 19. This switches the slave control unit 19 from the safety mode to the standby mode. Therefore, unless the operator properly holds the hand controller 90 and steps on the foot switch 55 again, the operator cannot operate the manipulator 15 and the end effector 16. The predetermined time is not limited to 5 seconds, and may be less than 5 seconds or may be greater than or equal to 5 seconds.

[0088] <6. Beneficial Effects> (1) Since the operator places his / her palm on the handle 88, grips the handle 88 with his / her palm, and pinches the tab 87 and the operating lever 89 with his / her fingers, the burden on the operator's hands when operating the hand controller 90 is reduced. Also, the operator can operate the hand controller 90 with precision and delicacy. After gripping the hand controller 90, the operator can move the operating lever 89 with his / her fingers.

[0089] (2) Because handle 88 can be brought into contact with and separated from end surface 87c of tab 87, an operator can grip handle 88 in the palm of his / her hand and place his / her fingers on finger sensor 99, regardless of the size of his / her hand. Whether the operator's hand is large or small, the fingers of the operator's hand can be detected by finger sensor 99.

[0090] (3) When the master control unit 3 and the slave control unit 19 are in the standby mode, if the operator does not hold the hand controller 90 properly, the operator's fingers are not detected by the finger sensor 99. In that case, even if the operator steps on the foot switch 55, the master control unit 3 and the slave control unit 19 do not switch to the operation mode. Therefore, the operator cannot operate the manipulator 15 and the end effector 16 using the console 60. On the other hand, if the operator holds the hand controller 90 properly, the operator's fingers are detected by the finger sensor 99. In that case, the operator can operate the manipulator 15 and the end effector 16 using the console 60 by stepping on the foot switch 55.

[0091] (4) When the master control unit 3 and the slave control unit 19 are in the operation mode, if the operator accidentally releases the hand controller 90, the finger will not be detected by the finger sensor 99. The master control unit 3 and the slave control unit 19 switch to the safety mode, and the console 60, the manipulator 15, and the end effector 16 are fixed and do not move. This helps prevent erroneous operation of the console 60, the manipulator 15, and the end effector 16.

[0092] (5) When the master control unit 3 and the slave control unit 19 are in the operation mode, if the operator accidentally releases the hand controller 90 and then quickly grips the hand controller 90 again properly, a finger will be detected by the finger sensor 99. In that case, the master control unit 3 and the slave control unit 19 will return from the safety mode to the operation mode, allowing the operator to continue operating the console 60, the manipulator 15, and the end effector 16.

[0093] (6) When the master control unit 3 and the slave control unit 19 are in the operation mode, if the operator accidentally releases the hand controller 90 and then keeps releasing the hand controller 90, the master control unit 3 and the slave control unit 19 switch to the standby mode. This helps prevent erroneous operation of the console 60, the manipulator 15, and the end effector 16. [Explanation of symbols]

[0094] 2 Console device 3 Master control section 55 Foot Switch 70 Turning angle sensor 71 First swing angle sensor 72 Second swing angle sensor 79 Joint Link Mechanism 87 Tabs 87a 1st side 87b Second side 87c end face 88 Handle 89 Operating lever 90 Hand Controller

Claims

1. A tab having a first side and a second side facing opposite each other and an end face extending from the first side to the second side; a handle disposed opposite the end surface of the tab and attached to the tab so as to move toward and away from the end surface of the tab; an operation portion disposed opposite the first side surface of the tab and coupled to the tab so as to move toward and away from the first side surface of the tab; a finger sensor provided on the second side surface of the tab for detecting a finger of an operator's hand; A hand controller having a foot switch that outputs a trigger when stepped on by the operator's foot; a joint link mechanism having a pivotable proximal end and a distal end to which the hand controller is connected, the joint link mechanism supporting the hand controller in a translatable manner; A control unit that switches between an operation mode in which the robot can be controlled and a standby mode in which the robot cannot be controlled, When the finger sensor detects a finger of the hand and the control unit inputs a trigger from the foot switch, the control unit switches the robot between the operating mode and the standby mode. Console device.

2. When the control unit is in the standby mode, if the control unit receives a trigger from the foot switch when the finger sensor detects a finger of the hand, the control unit switches from the standby mode to the operation mode. The console device according to claim 1 .

3. When the control unit is in the standby mode, if the control unit receives a trigger from the foot switch while the finger sensor does not detect a finger of the hand, the control unit maintains the standby mode. The console device according to claim 1 .

4. When the control unit is in the operation mode, if the control unit receives a trigger from the foot switch when the finger sensor detects a finger of the hand, the control unit switches from the operation mode to the standby mode. The console device according to claim 1 .

5. When the control unit is in the operation mode, if the finger sensor no longer detects the finger of the hand, the control unit switches from the operation mode to a safety mode in which the robot cannot be controlled. The console device according to claim 1 .

6. When the finger sensor detects a finger of the hand within a predetermined time period from when the finger sensor no longer detects a finger of the hand, the control unit switches from the safety mode to the operation mode. The console device according to claim 5.

7. When the finger sensor does not detect the finger of the hand for a predetermined period of time from when the finger sensor stops detecting the finger of the hand, the control unit switches from the safety mode to the standby mode. The console device according to claim 5.

8. a drive unit that applies torque to each joint of the joint link mechanism; When the control unit is in the safety mode, the control unit controls the drive unit, so that the drive unit applies a resistance torque to each joint of the joint link mechanism.

8. The console device according to claim 5, 6 or 7.

9. The control unit controls the drive unit so that the resistance torque is balanced with the torque generated at each joint of the joint link mechanism by the operation of the operator. The console device according to claim 8.

10. a drive unit that applies torque to each joint of the joint link mechanism; When the control unit is in the standby mode, the control unit controls the drive unit, so that the drive unit applies a resistance torque to each joint of the joint link mechanism.

8. The console device according to claim 1.

11. The control unit controls the drive unit so that the resistance torque is balanced with the torque generated at each joint of the joint link mechanism by the operation of the operator. The console device according to claim 10.

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