Robot System

Abstract

This robot system (100) includes: a slave robot (10); a master robot (20) that operates the slave robot remotely; and an elbow guide mechanism (40) for guiding an elbow of an operator (O), the elbow guide mechanism (40) including an elbow support part (41) that moves supporting an elbow of the operator when the operator operates the master robot.

Description

[Technical field]

[0001] The present disclosure relates to a robot system, and more particularly to a robot system including a slave robot and a master robot. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a robot system including a slave robot and a master robot is known. Such a robot system is disclosed in, for example, Japanese Patent Application Laid-Open No. 2008-228967.

[0003] The above-mentioned Japanese Patent Application Laid-Open Publication No. 2008-228967 discloses a master-slave manipulator system that includes a slave manipulator (slave robot) and a master device (master robot). In this master-slave manipulator system, an operator remotely controls the slave manipulator using the master device to perform surgery on a patient placed on an operating table. The operator operates the master device while sitting in a chair and resting his elbows on the armrest. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2008-228967 A Summary of the Invention

[0005] However, in the master-slave manipulator system described in the above-mentioned JP 2008-228967 A, since the operator operates the master device with his / her elbow resting on the elbow rest, when the operator uses the master device to linearly operate the slave manipulator, the operator linearly operates the slave manipulator by rotating the arm from the elbow around the elbow placed on the elbow rest as the center of rotation (fulcrum). In this case, there is a problem that it is difficult to accurately operate the slave manipulator linearly due to the rotation of the operator's arm around the elbow placed on the elbow rest as the center of rotation.

[0006] The present disclosure has been made to solve the above-mentioned problems, and one objective of the present disclosure is to provide a robot system that is capable of accurately operating a slave robot in a linear manner, even when working by operating the slave robot while the operator's elbow is supported by the elbow support.

[0007] In order to achieve the above object, a robot system according to one aspect of the present disclosure includes a slave robot, a master robot that remotely controls the slave robot, and an elbow guide mechanism including an elbow support section that moves while supporting an operator's elbow so as to guide the elbow of an operator when the master robot is operated by the operator, the master robot includes an operating section that is held by the operator, and the slave robot is remotely controlled by an operation to move the operating section, and the elbow support section When performing an operation of inserting a treatment member into a patient along a predetermined insertion direction by at least the slave robot, in a direction corresponding to a direction in which the operation unit is moved, The elbow of the operator is supported independently of the movement of the control unit. Linear Move.

[0008] In the robot system according to one aspect of the present disclosure, as described above, an elbow guide mechanism including an elbow support portion that moves while supporting the elbow of the operator is provided so as to guide the elbow of the operator when the master robot is operated by the operator. This allows the elbow of the operator to move linearly by moving the elbow support portion of the elbow guide mechanism when the master robot is operated by the operator. As a result, when the operator uses the master robot to perform linear operation of the slave robot, the operator can perform linear operation of the slave robot by linearly moving the elbow and the entire arm from the elbow, and therefore does not need to perform linear operation of the slave robot by rotating the arm from the elbow around the elbow as a rotation center (fulcrum). This makes it possible to suppress the accurate linear operation of the slave robot from being hindered due to the rotation of the arm around the elbow of the operator as a rotation center. As a result, even when the operator performs work by operating the slave robot while supporting the elbow of the operator with the elbow support portion, the slave robot can be accurately operated linearly.

[0009] According to the present disclosure, as described above, even when the operator's elbow is supported by the elbow support while working by operating the slave robot, the slave robot can be operated in a precise linear manner. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a robot system according to a first embodiment. [Diagram 2] FIG. 11 is a diagram showing collection of a specimen by operating a slave robot according to the first embodiment. [Diagram 3] FIG. 2 is a perspective view showing the master robot and the elbow guide mechanism according to the first embodiment. [Figure 4] FIG. 2 is a perspective view showing the elbow guide mechanism according to the first embodiment. [Diagram 5] FIG. 2 is a perspective view showing an elbow guide mechanism in a state in which an operator's elbow is placed according to the first embodiment. [Figure 6]FIG. 11 is a perspective view showing a master robot and an elbow guide mechanism according to a second embodiment. [Figure 7] FIG. 11 is a perspective view showing an elbow guide mechanism according to a second embodiment. [Figure 8] FIG. 11 is a perspective view showing an elbow guide mechanism in a state in which an operator's elbow is placed according to a second embodiment. [Figure 9] FIG. 13 is a diagram showing a robot system according to a third embodiment. [Figure 10] FIG. 13 illustrates a ureteroscopic surgery performed by operating a slave robot according to the third embodiment. [Figure 11] 13A to 13C are diagrams for explaining the operation of a hand portion according to the third embodiment. [Figure 12] FIG. 13 is a block diagram showing an elbow guide mechanism according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] [First embodiment] As shown in FIG. 1, a robot system 100 according to the first embodiment includes a slave robot 10, a master robot 20, a display device 30, and an elbow guide mechanism 40.

[0012] As shown in FIG. 1 and FIG. 2, the slave robot 10 performs a procedure of collecting a specimen from a subject S using a specimen collecting member 101. The specimen collecting member 101 is, for example, a sterile cotton swab. The sterile cotton swab has a rod shape. The slave robot 10, for example, inserts the specimen collecting member 101 into the nasal cavity of the subject S, and collects a specimen (nasopharyngeal swab) from the nasopharynx of the subject S using the inserted specimen collecting member 101. The slave robot 10 may also collect a specimen by inserting the specimen collecting member 101 into the oral cavity of the subject S. The collected specimen is subjected to a virus test such as a PCR (Polymerase Chain Reaction) test. In the robot system 100, a specimen collecting person such as a doctor does not need to face the subject S to collect the specimen, so that the specimen collecting person can be isolated from the risk of infection. The specimen collecting member 101 is an example of a treatment member. The subject S is an example of a person to be treated.

[0013] As shown in FIG. 1, the slave robot 10 is a vertical articulated robot. The slave robot 10 includes an arm unit 11 and a hand unit 12 attached to the tip of the arm unit 11. The arm unit 11 has a plurality of joints. Each of the plurality of joints of the arm unit 11 is provided with a drive unit such as a servo motor and a position detection unit such as an encoder. The hand unit 12 is configured to hold a specimen collecting member 101. The hand unit 12 has, for example, a pair of gripping members, and is configured to grip and hold the specimen collecting member 101 with the pair of gripping members.

[0014] The master robot 20 remotely controls the slave robot 10. Specifically, the master robot 20 is operated by an operator O, such as a doctor, to remotely control the slave robot 10. The master robot 20 outputs an operation command based on the operation of the operator O. The slave robot 10 performs an action corresponding to the operation of the operator O, based on the operation command from the master robot 20. The slave robot 10 and the master robot 20 are connected to each other via wire or wirelessly so that they can communicate with each other.

[0015] As shown in FIG. 1 and FIG. 3, the master robot 20 includes an operation unit 21 and an arm unit 22 that movably supports the operation unit 21. The operation unit 21 is provided to remotely operate the hand unit 12 of the slave robot 10 that holds the specimen collecting member 101. Specifically, the operation unit 21 is a grip handle having a rod shape. The operation unit 21 is configured to receive the operation of the slave robot 10 by the operator O by holding and moving the operation unit 21 with one hand. The operation unit 21 is operated, for example, by the right hand of the operator O. The arm unit 22 has a plurality of joints and is configured to movably support the operation unit 21 in the up-down direction (Z direction), the left-right direction (Y direction), and the front-back direction (X direction).

[0016] The slave robot 10 is operated in a direction corresponding to the direction in which the operator O moves the operation unit 21. For example, when the operator O moves the operation unit 21 in the up-down direction (Z direction), the hand unit 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand unit 12) is moved in the up-down direction. Also, for example, when the operator O moves the operation unit 21 in the left-right direction (Y direction), the hand unit 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand unit 12) is moved in the left-right direction. Also, for example, when the operator O moves the operation unit 21 in the front-back direction (X direction), the hand unit 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand unit 12) is moved in the front-back direction. When collecting a specimen from the subject S using the specimen collecting member 101, the operator O moves the operating unit 21 forward (X1 direction) to move the hand unit 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand unit 12) forward (insertion direction), thereby inserting the specimen collecting member 101 into the nasal cavity of the subject S.

[0017] 1, the display device 30 displays an image (video) of the subject S. The display device 30 displays, for example, a video image from a camera (not shown) provided at the tip of the arm 11 of the slave robot 10 for capturing an image of the subject S from the front, and a video image from a camera (not shown) for capturing an image of the subject S from the side. While checking the real-time video image of the subject S displayed on the display device 30, the operator O operates the slave robot 10 using the master robot 20 to perform a specimen collection operation from the subject S using the specimen collecting member 101. The display device 30 includes, for example, a liquid crystal monitor.

[0018] As shown in Figures 3 to 5, the elbow guide mechanism 40 is configured to support the elbow Oa (see Figure 5) of the operator O when the operator O operates the master robot 20. The elbow guide mechanism 40 is disposed in a position adjacent to the master robot 20. The elbow guide mechanism 40 is provided separately and independently from the master robot 20. Note that the elbow guide mechanism 40 does not have a driving unit such as a motor.

[0019] Here, in the first embodiment, the elbow guide mechanism 40 includes an elbow support section 41 and a mounting base 42 that supports the elbow support section 41. When the operator O operates the master robot 20, the elbow support section 41 moves while supporting the elbow Oa of the operator O so as to guide the elbow Oa (the elbow that grips the operation section 21) of the operator O. Specifically, the elbow support section 41 is configured to move linearly while supporting the elbow Oa of the operator O. Specifically, in the first embodiment, the elbow support section 41 is configured to move linearly while supporting the elbow Oa of the operator O in a direction (X direction) corresponding to the insertion direction of the specimen collection member 101 into the subject S. Also, in the first embodiment, the elbow support section 41 is configured to move linearly while supporting the elbow Oa of the operator O in the front-rear direction (X direction) relative to the body of the operator O. The elbow support 41 is configured to move linearly in a single horizontal direction (X direction) while supporting the elbow Oa of the operator O. Note that "moving linearly" is a broad concept that includes not only perfectly straight movement but also linear movement with some wobble (curve).

[0020] In the first embodiment, the elbow support 41 is a linear type that can slide. Specifically, the elbow support 41 has a rail portion 411 and a slide portion 412 that slides on the rail portion 411. The rail portion 411 is provided so as to extend along a predetermined direction (X direction). The rail portion 411 is configured to engage with the slide portion 412 so as to allow the slide portion 412 to slide in the predetermined direction. Specifically, the rail portion 411 has an engagement portion 411a that engages with an engagement portion 412a of the slide portion 412, which will be described later. The engagement portion 411a is a recess that is recessed from the upper side (Z1 direction side) toward the lower side (Z2 direction side). The engagement portion 411a is provided so as to extend along the predetermined direction from one end of the rail portion 411 to the other end in the predetermined direction.

[0021] Further, stopper portions 411b for restricting the sliding range of slide portion 412 are provided at the end portions in the predetermined direction (X direction) of rail portion 411. Stopper portions 411b are provided at each of one end and the other end in the predetermined direction of rail portion 411. Since the sliding range of slide portion 412 is restricted by stopper portions 411b, slide portion 412 will not fall off rail portion 411 even if slide portion 412 is slid to one end or the other end of rail portion 411.

[0022] The slide portion 412 is configured to slide on the rail portion 411 along a predetermined direction (X direction). The slide portion 412 is configured to engage with the rail portion 411 so as to be able to slide on the rail portion 411 along a predetermined direction. Specifically, the slide portion 412 has an engagement portion 412a that engages with an engagement portion 411a of the rail portion 411. The engagement portion 412a is a convex portion that protrudes from the upper side (Z1 direction side) toward the lower side (Z2 direction side). The slide portion 412 is configured to slide along the engagement portion 411a in a state in which the engagement portion 412a is engaged with the engagement portion 411a of the rail portion 411. In addition, the slide portion 412 is configured to slide within a sliding movement range regulated by the stopper portion 411b. The sliding range restricted by the stopper portion 411b is larger than the operation amount (movement amount) of the operation unit 21 corresponding to the insertion amount of the specimen collecting member 101 into the subject S when the specimen collecting member 101 collects a specimen from the subject S.

[0023] Moreover, the sliding portion 412 is configured to support the elbow Oa of the operator O. Specifically, the sliding portion 412 has a support surface 412b that supports the elbow Oa of the operator O. The support surface 412b is a flat surface that is approximately parallel to the horizontal direction. The elbow Oa of the operator O is placed on the support surface 412b. When the operator O moves the operation unit 21 in the X direction with the elbow Oa of the operator O placed on the support surface 412b, the sliding portion 412 is slid and moved on the rail portion 411 so as to follow the elbow Oa of the operator O due to the frictional force between the elbow Oa of the operator O and the support surface 412b. Note that the elbow guide mechanism 40 may be provided with a fixing member such as a belt for fixing the elbow Oa of the operator O to the sliding portion 412.

[0024] The stand 42 is configured to support the elbow support 41. Specifically, the stand 42 has a platform 421, a pillar 422 that supports the platform 421, and a base 423 that supports the pillar 422. The platform 421 is configured to support the elbow support 41. The platform 421 is provided to extend along a predetermined direction (X direction) in which the rail 411 of the elbow support 41 extends. The pillar 422 is provided to extend along the up-down direction (Z direction). The pillar 422 has a cylindrical shape. The platform 421 is connected to the upper end of the pillar 422, and the base 423 is connected to the lower end.

[0025] Moreover, the pillar portion 422 is configured to support the platform portion 421 rotatably around a rotation axis C1 extending along the vertical direction (Z direction). As a result, the platform portion 421 is rotatable around the rotation axis C1 relative to the pillar portion 422. Furthermore, by rotating the platform portion 421 around the rotation axis C1, the elbow support portion 41 is rotated around the rotation axis C1. As a result, in the first embodiment, the orientation of the elbow support portion 41 on the mounting base 42 is adjustable. That is, by rotating the elbow support portion 41 around the rotation axis C1, the orientation of the master robot 20 relative to the operation unit 21 on the mounting base 42 is adjustable. The elbow support portion 41 and the platform portion 421 are rotated within a horizontal plane. The base portion 423 is configured to be installed on an installation surface (floor surface). The base portion 423 has a flattened circular shape.

[0026] [Effects of the first embodiment] In the first embodiment, the following effects can be obtained.

[0027] In the first embodiment, as described above, the elbow guide mechanism 40 is provided, which includes an elbow support part 41 that moves while supporting the elbow Oa of the operator O so as to guide the elbow Oa of the operator O when the master robot 20 is operated by the operator O. As a result, when the operator O operates the master robot 20, the elbow Oa of the operator O can be moved linearly by moving the elbow support part 41 of the elbow guide mechanism 40. As a result, when the operator O performs linear operation of the slave robot 10 using the master robot 20, the operator O can perform linear operation of the slave robot 10 by linearly moving the elbow Oa and the entire arm beyond the elbow Oa, and therefore does not need to perform linear operation of the slave robot 10 by rotating the arm beyond the elbow Oa around the elbow Oa as a rotation center (fulcrum). As a result, it is possible to suppress the accurate linear operation of the slave robot 10 from being hindered due to the rotation of the arm of the operator O around the elbow Oa as a rotation center. As a result, even when a task (sample collection) is performed by operating the slave robot 10 while the elbow Oa of the operator O is supported by the elbow support 41, the slave robot 10 can be operated accurately and linearly.

[0028] Furthermore, in the first embodiment, as described above, the elbow support part 41 moves linearly while supporting the elbow Oa of the operator O. Thereby, when the operator O operates the master robot 20, the elbow Oa of the operator O can be easily moved linearly by linearly moving the elbow support part 41 of the elbow guide mechanism 40. As a result, accurate linear operation of the slave robot 10 can be easily performed.

[0029] Furthermore, in the first embodiment, as described above, the elbow support section 41 moves linearly while supporting the elbow Oa of the operator O in at least a direction corresponding to the insertion direction of the specimen collecting member 101 into the subject S. This makes it possible to prevent the accurate linear operation of the slave robot 10 from being hindered by rotation of the arm of the operator O about the elbow Oa as the rotation center when performing an operation of inserting the specimen collecting member 101 of the slave robot 10 into the subject S. As a result, the slave robot 10 can accurately perform the operation of inserting the specimen collecting member 101 into the subject S.

[0030] Furthermore, in the first embodiment, as described above, the elbow support section 41 moves linearly at least in the front-rear direction relative to the body of the operator O while supporting the elbow Oa of the operator O. This makes it possible to prevent the accurate linear operation of the slave robot 10 from being hindered by rotation of the arm of the operator O about the elbow Oa as the rotation center when operating the slave robot 10 such that the elbow moves linearly in the front-rear direction relative to the body of the operator O (such as inserting the specimen collecting member 101 into the subject S). As a result, it is possible to accurately operate the slave robot 10 such that the elbow moves linearly in the front-rear direction relative to the body of the operator O.

[0031] Furthermore, in the first embodiment, as described above, the elbow guide mechanism 40 includes a slidable linear-type elbow support section 41. This makes it possible to easily move the elbow Oa of the operator O and the entire arm extending from the elbow Oa in a straight line by the slidable linear-type elbow support section 41. As a result, linear operation of the slave robot 10 can be easily and accurately performed.

[0032] Furthermore, in the first embodiment, as described above, the linear-type elbow support part 41 includes a rail part 411 extending in a predetermined direction, and a slide part 412 that slides along the predetermined direction on the rail part 411 and supports the elbow Oa of the operator O. This makes it possible to linearly move the elbow Oa of the operator O and the entire arm from the elbow onwards with a simple configuration of just sliding the slide part 412 on the rail part 411. As a result, linear operation of the slave robot 10 can be accurately performed with a simple configuration.

[0033] In the first embodiment, as described above, the slide portion 412 slides within a slide movement range restricted by the stopper portion 411b. This allows the slide portion 412 to slide within an appropriate range without falling off the rail portion 411.

[0034] Furthermore, in the first embodiment, as described above, the elbow guide mechanism 40 includes a mounting base 42 that supports a linear-type elbow support section 41. The orientation of the elbow support section 41 is adjustable on the mounting base 42. This makes it possible to adjust the orientation of the elbow support section 41 on the mounting base 42 and adjust the sliding direction (predetermined direction) of the elbow support section 41 to a desired direction. As a result, the convenience of the elbow support section 41 can be improved compared to a case in which the orientation of the elbow support section 41 cannot be adjusted on the mounting base 42.

[0035] [Second embodiment] Next, the configuration of a robot system 200 according to the second embodiment will be described with reference to Figures 6 to 8. Unlike the first embodiment described above which was provided with an elbow guide mechanism 40, the robot system 200 is provided with an elbow guide mechanism 240. Note that the same components as in the first embodiment described above are given the same reference numerals and detailed descriptions thereof will be omitted.

[0036] As shown in Figures 6 to 8, a robot system 200 of the second embodiment is equipped with an elbow guide mechanism 240 instead of the elbow guide mechanism 40 of the first embodiment. It should be noted that the elbow guide mechanism 240 does not have a drive unit such as a motor.

[0037] In the second embodiment, the elbow guide mechanism 240 is attached to the master robot 20. The elbow guide mechanism 240 is an arm-type elbow guide mechanism that is movable by a plurality of (three) joints. Specifically, the elbow guide mechanism 240 includes an elbow support section 241 and an arm section 242 that supports the elbow support section 241. The elbow support section 241 is configured to support the elbow Oa of the operator O. Specifically, the elbow support section 241 has a support surface 241a that supports the elbow Oa of the operator O. The support surface 241a is a curved surface that is curved so as to be recessed from the upper side (Z1 direction side) to the lower side (Z2 direction side). The elbow Oa of the operator O is placed on the support surface 241a. The elbow guide mechanism 240 may be provided with a fixing member such as a belt for fixing the elbow Oa of the operator O to the elbow support section 241. The elbow support section 241 is provided at the tip of the arm section 242.

[0038] The arm section 242 is configured to support the elbow support section 241 so that it can move within a predetermined three-dimensional movement range. Specifically, the arm section 242 is configured to support the elbow support section 241 so that it can move horizontally (X direction and Y direction) and up and down (Z direction). Specifically, the arm section 242 has a horizontal link section 242a that allows the elbow support section 241 to move horizontally, and a vertical movement section 242b that is connected to the horizontal link section 242a and allows the elbow support section 241 to move up and down. The elbow support section 241 is connected to the vertical movement section 242b. Furthermore, the vertical movement section 242b is connected to the tip of the horizontal link section 242a.

[0039] The horizontal link section 242a has three horizontal links, horizontal links 311, 312, and 313, each of which can rotate in a horizontal plane. The horizontal links 311, 312, and 313 can rotate to move the elbow support section 241 in the horizontal direction. Specifically, one end of the horizontal link 311 is connected to the base section 314 via a joint, and the other end is connected to one end of the horizontal link 312 via a joint. The horizontal link 311 is configured to be rotatable around a rotation axis C11 extending along the vertical direction (Z direction) with the one end serving as the center of rotation. The horizontal link 312 is configured to be rotatable around the other end of the horizontal link 311 via a joint, and the other end is connected to one end of the horizontal link 313 via a joint. The horizontal link 312 is configured to be rotatable around a rotation axis C12 extending along the vertical direction with the one end serving as the center of rotation. One end of the horizontal link 313 is connected to the other end of the horizontal link 312 via a joint, and the other end is connected to the vertical movement part 242b. The horizontal link 313 is configured to be rotatable around a rotation axis C13 extending in the vertical direction, with the one end as the rotation center.

[0040] The vertical moving part 242b is connected to the other end of the horizontal link 313 of the horizontal link part 242a so as to be movable in the vertical direction (Z direction). The vertical moving part 242b can move the elbow support part 241 in the vertical direction by moving in the vertical direction. Specifically, the vertical moving part 242b is connected to the other end of the horizontal link 313 of the horizontal link part 242a so as to be movable in the vertical direction via a guide rail mechanism (not shown) extending along the vertical direction. In addition, the vertical moving part 242b is provided with a biasing member 321 (elastic member) that biases the vertical moving part 242b upward (Z1 direction side). The biasing member 321 is, for example, a spring member. The vertical moving part 242b is configured to be movable upward by the upward biasing force of the biasing member 321. In addition, the vertical moving part 242b is configured to be movable downward by resisting the upward biasing force of the biasing member 321. As a result, when the elbow Oa of the operator O is placed on the elbow support part 241, the vertical movement part 242b is configured to move downward (towards the Z2 direction) against the upward biasing force (towards the Z1 direction) of the biasing member 321 due to the weight of the elbow Oa of the operator O. In addition, when the elbow Oa of the operator O placed on the elbow support part 241 is moved upward (towards the Z1 direction), the vertical movement part 242b is configured to move upward by the upward biasing force of the biasing member 321 so as to follow the upward movement of the elbow Oa of the operator O.

[0041] In the second embodiment, the elbow support 241 is configured to be linearly movable by being supported by the arm 242 including the horizontal link 242a and the vertical movement unit 242b. That is, the elbow support 241 is configured to move while supporting the elbow Oa of the operator O so as to guide the elbow Oa (the elbow that grips the operation unit 21) of the operator O when the operator O operates the master robot 20. Specifically, the elbow support 241 is configured to move linearly while supporting the elbow Oa of the operator O. Specifically, in the second embodiment, the elbow support 241 is configured to move linearly while supporting the elbow Oa of the operator O in a direction corresponding to the insertion direction of the specimen collecting member 101 into the subject S (X direction) and directions perpendicular to this direction (Y and Z directions). In addition, in the second embodiment, the elbow support portion 241 is configured to move linearly while supporting the elbow Oa of the operator O in the front-to-back direction (X direction), left-to-right direction (Y direction), and up-down direction (Z direction) relative to the body of the operator O.

[0042] Other configurations of the second embodiment are similar to those of the first embodiment.

[0043] [Effects of the second embodiment] In the second embodiment, the following effects can be obtained.

[0044] In the second embodiment, as described above, when the master robot 20 is operated by the operator O, an elbow guide mechanism 240 is provided that includes an elbow support part 241 that moves while supporting the elbow Oa of the operator O so as to guide the elbow Oa of the operator O. As a result, similar to the first embodiment described above, even when a task (collection of a sample) is performed by operating the slave robot 10 while supporting the elbow Oa of the operator O by the elbow support part 241, the slave robot 10 can be operated in an accurate linear manner.

[0045] In the second embodiment, as described above, the elbow guide mechanism 240 is an arm-type elbow guide mechanism that is movable by multiple joints. As a result, the elbow Oa of the operator O and the entire arm from the elbow Oa can be moved relatively freely by the arm-type elbow guide mechanism 240 that is movable by multiple joints, so that the elbow Oa of the operator O and the entire arm from the elbow Oa can be easily moved linearly. As a result, linear operation of the slave robot 10 can be easily and accurately performed. In addition, the arm-type elbow guide mechanism 240 that is movable by multiple joints can move the elbow Oa of the operator O and the entire arm from the elbow Oa relatively freely while supporting the elbow Oa of the operator O by the elbow support part 241, so that the slave robot 10 can be easily operated while reducing the burden on the operator O.

[0046] Furthermore, in the second embodiment, as described above, the arm-type elbow guide mechanism 240 includes an arm portion 242 that supports the elbow support portion 241 so that it can move horizontally and up and down. This allows the elbow support portion 241 to move horizontally and up and down, so that the elbow Oa of the operator O and the entire arm from the elbow Oa onwards can move more freely than in a case where the elbow support portion 241 can only move horizontally. As a result, the burden on the operator O can be reduced and the slave robot 10 can be operated more easily.

[0047] Furthermore, in the second embodiment, as described above, the arm unit 242 has a horizontal link unit 242a that enables the elbow support unit 241 to move horizontally, and a vertical movement unit 242b that is connected to the horizontal link unit 242a and enables the elbow support unit 241 to move vertically. This allows the elbow support unit 241 to move horizontally by the horizontal link unit 242a, and allows the elbow support unit 241 to move vertically by the vertical movement unit 242b. As a result, the elbow Oa of the operator O and the entire arm extending from the elbow Oa can be moved more easily in the horizontal and vertical directions.

[0048] Furthermore, in the second embodiment, as described above, the arm-type elbow guide mechanism 240 is attached to the master robot. This eliminates the need to provide a support member for attaching the arm-type elbow guide mechanism 240 separately from the master robot 20. As a result, the number of parts is reduced and the structure is simplified, while the arm-type elbow guide mechanism 240 can accurately operate the slave robot 10 in a linear manner.

[0049] Other effects of the second embodiment are similar to those of the first embodiment.

[0050] [Third embodiment] Next, the configuration of a robot system 300 according to a third embodiment will be described with reference to Fig. 9 to Fig. 12. Unlike the first and second embodiments in which a specimen is collected, the robot system 300 performs a ureteroscopic surgery. Note that the same components as those in the first or second embodiment are denoted by the same reference numerals and detailed description thereof will be omitted.

[0051] As shown in FIG. 9, a robot system 300 according to the third embodiment includes a slave robot 310, a master robot 20, a display device 30, and an elbow guide mechanism 40.

[0052] As shown in FIG. 9 and FIG. 10, the slave robot 310 performs a ureteroscopic surgery on the patient Sa (patient) by using a treatment member 301 to break up a urinary tract stone. The treatment member 301 is a bendable flexible tube. The slave robot 310 inserts the treatment member 301 into the urethra of the patient Sa through a ureteral access sheath 350 that has been inserted in advance into the urethra of the patient Sa by a medical staff member, and captures the inside of the urinary tract, such as the urethra and ureter, of the patient Sa. The captured image is displayed on the display device 30. The operator O performs a ureteroscopic surgery on the patient Sa by operating the slave robot 310 using the master robot 20 while checking the real-time image of the patient Sa displayed on the display device 30. In the ureteroscopic surgery, the location of the stone in the patient Sa is identified, the stone is broken up by irradiating it with laser light using laser forceps, and the stone is retrieved using basket forceps.

[0053] The slave robot 310 is a vertical articulated robot. The slave robot 310 includes an arm 331 and a hand 332 attached to the tip of the arm 331. The arm 331 has a plurality of joints. Each of the plurality of joints of the arm 331 is provided with a drive unit such as a servo motor and a position detector such as an encoder. The hand 332 is configured to hold the treatment member 301, which is a bendable flexible tube. The hand 332 has a hand base 332a, a ureteroscope body 332b, and a motor 332c. The hand base 332a is attached to the tip of the arm 331. The ureteroscope body 332b can capture an image of the inside of the urinary tract of the subject Sa. The ureteroscope body 332b can be inserted with a laser forceps for crushing urinary stones of the subject Sa, or a basket forceps for collecting urinary stones. The ureteroscope main body 332b is configured to hold the treatment member 301. The motor 332c rotates the ureteroscope main body 332b in a direction A4 (see FIG. 11) described later.

[0054] As shown in Fig. 11, the hand unit 332 is configured to be moved in a plurality of directions. Specifically, the hand unit 332 is configured to be moved linearly in the front-rear direction (A1 direction) and the up-down direction (A2 direction), and to be rotated in a first rotation direction (A3 direction) about a first rotation axis extending in the front-rear direction and a second rotation direction (A4 direction) about a second rotation axis extending in the left-right direction. Note that the front-rear direction, left-right direction, up-down direction, first rotation direction, and second rotation direction are directions based on the hand unit 332. Note that when the treatment member 301 is inserted into the urethra of the treatment recipient Sa, the hand unit 332 is moved linearly in the front direction (insertion direction).

[0055] In the third embodiment, as shown in FIG. 12, the elbow guide mechanism 40 includes a motor 343 capable of driving the elbow support 41, and an encoder 344 that detects the position of the elbow support 41 by detecting the rotational position of the motor 343. The master robot 20 remotely controls the slave robot 310 based on the detection result of the encoder 344. The elbow support 41 moves linearly while supporting the elbow Oa of the operator O in a direction corresponding to the insertion direction of the treatment member 301 into the patient Sa. The master robot 20 remotely controls the slave robot 310 based on the detection result of the linear movement of the elbow support 41 by the encoder 344. Specifically, the master robot 20 remotely controls the slave robot 310 so that the hand unit 332 moves in the A1 direction based on the detection result of the linear movement of the elbow support 41 by the encoder 344. In the third embodiment, the elbow guide mechanism 40 functions as an operation unit that remotely controls the hand unit 332 of the slave robot 310 together with the operation unit 21 of the master robot 20.

[0056] Although an example has been described in which the robot system 300 is equipped with the elbow guide mechanism 40 of the first embodiment above, the robot system 300 may also be equipped with the elbow guide mechanism 240 of the second embodiment above. Furthermore, when the robot system 300 is equipped with the elbow guide mechanism 240, each joint of the arm section 242 of the elbow guide mechanism 240 may include a motor capable of driving the elbow support section 241, and an encoder that detects the position of the elbow support section 241 by detecting the rotational position of the motor, and the master robot 20 may remotely control the slave robot 310 based on the detection result of the encoder.

[0057] Other configurations of the third embodiment are similar to those of the first or second embodiment.

[0058] [Effects of the third embodiment] In the third embodiment, the following effects can be obtained.

[0059] In the third embodiment, as described above, when the master robot 20 is operated by the operator O, an elbow guide mechanism 40 is provided that includes an elbow support part 41 that moves while supporting the elbow Oa of the operator O so as to guide the elbow Oa of the operator O. As a result, similar to the first embodiment described above, even when a task (ureteroscopic surgery) is performed by operating the slave robot 310 while supporting the elbow Oa of the operator O by the elbow support part 41, the slave robot 310 can be operated accurately and linearly.

[0060] Furthermore, in the third embodiment, as described above, the elbow guide mechanism 40 includes an encoder 344 that detects the position of the elbow support 41, and the master robot 20 remotely controls the slave robot 310 based on the detection results of the encoder 344. This allows the elbow guide mechanism 40 to function not just as a guide but also as an operation actuator, making it easy to remotely control the slave robot 310.

[0061] Furthermore, in the third embodiment, as described above, the elbow support 41 moves linearly while supporting the elbow of the operator O in at least a direction corresponding to the insertion direction of the treatment member 301 into the recipient Sa, and the master robot 20 remotely controls the slave robot 310 based on the detection result of the linear movement of the elbow support 41 by the encoder 344. This makes it possible to easily perform accurate linear operation of the slave robot 310 when performing the operation of inserting the treatment member 301 of the slave robot 310 into the recipient Sa.

[0062] Other effects of the third embodiment are similar to those of the first or second embodiment.

[0063] [Variations] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

[0064] For example, in the above first to third embodiments, the slave robot is a vertical articulated robot, but the present disclosure is not limited to this. For example, the slave robot may be a robot other than a vertical articulated robot, such as a horizontal articulated robot or a dual-arm robot.

[0065] In the above first and third embodiments, the linear elbow support is configured to move linearly in a direction (front-rear direction) corresponding to the insertion direction of the specimen collection member into the subject, but the present disclosure is not limited to this. For example, the linear elbow support may be configured to move linearly in a direction other than the front-rear direction, such as the left-right direction.

[0066] In the above first and third embodiments, the linear elbow support unit is disposed on a stand that is separate and independent from the master robot, but the present disclosure is not limited to this. For example, the master robot may be provided with a stand, and the linear elbow support unit may be disposed on the stand provided on the master robot.

[0067] In the first and third embodiments, the direction of the linear elbow support unit is adjustable on the stand, but the present disclosure is not limited to this. For example, the linear elbow support unit may be fixed on the stand.

[0068] In the second embodiment, the arm-type elbow guide mechanism has three joints, but the present disclosure is not limited to this. For example, the arm-type elbow guide mechanism may have two or four or more joints.

[0069] In the second embodiment, the arm unit has a horizontal link unit and a vertical movement unit, but the present disclosure is not limited to this. For example, the arm unit may have only a horizontal link unit. That is, the arm unit may be configured to support the elbow support unit so that it can move only in the horizontal direction.

[0070] In the second embodiment, the arm unit has a horizontal link unit, but the present disclosure is not limited to this. For example, the arm unit may have a link unit including one or more links that can rotate in a horizontal plane and one or more links that can rotate in a vertical plane.

[0071] In the second embodiment, an example was shown in which the arm-type elbow guide mechanism was attached to the master robot, but the present disclosure is not limited to this. For example, the arm-type elbow guide mechanism may be attached to a support member provided separately and independently from the master robot.

[0072] In the above first and second embodiments, the robot system is an example of a robot system that collects a specimen from a subject using a specimen collecting member (test instrument), but the present disclosure is not limited to this. For example, the robot system may be a robot system that examines a subject (patient) using a diagnostic test instrument (treatment member).

[0073] In the third embodiment, the position detector that detects the position of the elbow support part of the elbow guide mechanism is an encoder, but the present disclosure is not limited to this. For example, the position detector that detects the position of the elbow support part of the elbow guide mechanism may be a position detector other than an encoder. Furthermore, if the position detector is a position detector other than an encoder, the elbow guide mechanism does not need to include a motor.

[0074] In addition, in the above first and second embodiments, an example of performing a procedure to collect a specimen from a treated person is shown, and in the above third embodiment, an example of performing a procedure to perform a ureteroscope operation on a treated person is shown, but the present disclosure is not limited thereto. For example, a procedure other than a procedure to collect a specimen from a treated person and a procedure to perform a ureteroscope operation on a treated person may be performed. Note that the term "procedure" is a broad concept including collecting a specimen from a treated person, performing an examination on a treated person, performing an operation on a treated person, and the like. [Explanation of symbols]

[0075] 10, 310 Slave Robot 20 Master Robot 40, 240 Elbow guide mechanism 41, 241 Elbow support part 42 Stand 100, 200, 300 Robot Systems 101 Sample collection member (treatment member) 242 Arm section 242a Horizontal link section 242b Vertical moving part 301 Treatment parts 411 Rail section 411b Stopper part 412 Slide section O Operator S Subject (recipient of treatment) Sa Recipient

Claims

1. A slave robot that holds a treatment member to be inserted into a subject along a predetermined insertion direction; A master robot that remotely controls the slave robot; an elbow guide mechanism including an elbow support section that moves while supporting the elbow of an operator so as to guide the elbow of the operator when the master robot is operated by the operator, the master robot includes an operation unit that is held by the operator, and remotely controls the slave robot by an operation of moving the operation unit; a control unit for controlling the movement of the operating unit, the control unit being movable linearly while supporting the elbow of the operator, the control unit being movable in a direction corresponding to the direction in which the operating unit is moved, the control unit being movable independently of the movement of the operating unit, when the slave robot performs an operation of inserting the treatment member into the patient along the predetermined insertion direction.

2. The robot system according to claim 1 , wherein the elbow support section moves linearly at least in a front-to-rear direction relative to the body of the operator while supporting the elbow of the operator.

3. The robot system according to claim 1 , wherein the elbow guide mechanism includes a linearly-acting elbow support portion that is capable of sliding.

4. The robot system according to claim 3 , wherein the linear-type elbow support portion includes a rail portion extending along a predetermined direction, and a sliding portion that slides along the rail portion along the predetermined direction and supports the elbow of the operator.

5. The robot system according to claim 4 , wherein the sliding portion slides within a sliding movement range restricted by a stopper portion.

6. The elbow guide mechanism further includes a base that supports the linear type elbow support portion, The robot system according to claim 3 , wherein a direction of the elbow support portion is adjustable on the base.

7. The robot system according to claim 1 , wherein the elbow guide mechanism is an arm-type elbow guide mechanism that is movable by a plurality of joints.

8. The robot system according to claim 7 , wherein the arm-type elbow guide mechanism includes an arm portion that supports the elbow support portion so that the elbow support portion is movable in horizontal and vertical directions.

9. 9. The robot system according to claim 8, wherein the arm portion has a horizontal link portion that enables the elbow support portion to move in the horizontal direction, and a vertical movement portion that is connected to the horizontal link portion and enables the elbow support portion to move in the vertical direction.

10. The robot system according to claim 7 , wherein the arm-type elbow guide mechanism is attached to the master robot.

11. The elbow guide mechanism includes a position detector that detects the position of the elbow support portion, The robot system according to claim 1 , wherein the master robot remotely controls the slave robot based on a detection result of the position detection unit.

12. The robot system described in Claim 11, wherein the master robot remotely controls the slave robot based on the detection result of the linear movement of the elbow support part by the position detection unit.

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