Input device of a surgical manipulator

Abstract

To provide an input device for an operation manipulator capable of finely setting an operation force.SOLUTION: An input device 2A for an operation manipulator includes: a master arm 10 which has joints and is provided with an operation unit 74 operated by an operator at the end; motors M1 to M7 driving joints JT1 to JT7 of the master arm 10 via power transmitting elements; and a controller C1 which calculates an amount of power compensation with respect to at least either an inertia force or a viscous force of the master arm 10 on the basis of at least either speed or acceleration of the power transmitting elements driven by the operator's operation of the operation unit 74 and controls operations of the motors M1 to M7 so as to perform power compensation of the amount of power compensation. The controller C1 is configured to adjust an amount of power compensation with respect to at least either the inertia force or the viscous force.SELECTED DRAWING: Figure 9

Description

Technical Field

[0004] , , , ,

[0005]

[0001] The present invention relates to an input device for a surgical manipulator.

Background Art

[0002] As an input device for a surgical manipulator, for example, a master device described in Patent Document 1 is known. In this master device, a wrist is rotatably provided at the tip of a three-axis arm. The wrist is formed as a link connecting body of three axes (joints) that constitutes a gimbal with three degrees of freedom. A handle operated by an operator is formed at the tip of this three-axis link connecting body. Then, based on the rotational position of each axis (joint) of the wrist, the processor rotates the wrist with respect to the tip of the arm to control each axis of the wrist to an angle close to a right angle. As a result, no matter which direction the handle rotates, the inertia and friction of the link connecting body of the master can be minimized (see paragraph

[0029] of Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in order to perform surgery using a surgical robot (surgical manipulator), an operator needs to operate the handle with delicate force control. Therefore, it is required that the master device (input device of the surgical manipulator) can adjust the force (hereinafter sometimes referred to as operating force) necessary for the operator to operate the handle (operating part).

[0005] However, in the description of Patent Document 1, it is not clear whether the inertial force of the link connecting body of the master, which is part of the operating force, is compensated in the first place. Therefore, as a matter of course, Patent Document 1 does not mention (disclose) anything about adjusting the operating force including inertial force. Therefore, there was a problem that the operating force could not be adjusted.

[0006] This invention was made to solve the above-mentioned problems and aims to provide an input device for a surgical manipulator that allows adjustment of the operating force. [Means for solving the problem]

[0007] To achieve the above objective, an input device for a surgical manipulator according to a certain embodiment of the present invention comprises: a master arm having joints and an operating section at its tip for operation by an operator; a motor that drives the joints of the master arm via a power transmission element; and a controller that calculates a force compensation amount for at least one of the inertial force and viscous force of the master arm based on at least one of the velocity and acceleration of the power transmission element that moves due to the operator's operation of the operating section, and controls the operation of the motor to perform force compensation by the force compensation amount, wherein the controller is configured to adjust the force compensation amount for at least one of the inertial force and viscous force.

[0008] Here, "force compensation" refers to the magnitude of the force that cancels out at least part or all of the inertial force and viscous force of the master arm. When the operator operates the master arm, a resistance force is applied to the operator from the master arm. This resistance force includes an inertial force proportional to the inertia and acceleration of the master arm, and a viscous force proportional to the viscosity and velocity of the master arm. Hereafter, the amount of resistance force compensation will be called the "resistance force compensation," the amount of inertial force compensation will be called the "inertial force compensation," and the amount of viscous force compensation will be called the "viscous force compensation." Therefore, if gravity acting on the master arm is ignored (or if gravity compensation is applied to the operating force), the difference between the resistance force and the resistance force compensation becomes the operating force, which is the force required for the operator to operate the master arm.

[0009] According to the above configuration, the controller calculates a force compensation amount for at least one of the inertial force and viscous force of the master arm based on at least one of the speed and acceleration of the power transmission element moved by the operator's operation of the control unit, and controls the operation of the motor to perform force compensation by this force compensation amount. For example, by selecting a force compensation amount for the inertial force of the master arm, a force compensation amount for the viscous force of the master arm, or a force compensation amount for both the inertial force and viscous force of the master arm as the force compensation amount, the operating force can be finely adjusted. Furthermore, since the controller adjusts the force compensation amount for at least one of the inertial force and viscous force, the operating force can be adjusted.

[0010] The controller may include a memory for storing a plurality of ranked force compensation amounts, which are ranked in descending order of compensation amount, and an input for specifying one of the plurality of ranked force compensation amounts, wherein the controller may be configured to adjust the force compensation amount for at least one of the inertial force and viscous force to the ranked force compensation amount specified by the input.

[0011] With this configuration, when a ranked force compensation amount, which is categorized into compensation amounts that compensate for the force to be the operator's preferred operating force, is input to the input device, the controller adjusts the force compensation amount to the specified ranked force compensation amount, thereby allowing the operating force to be set to the operator's preferred operating force.

[0012] The controller may include a memory for storing designated force compensation amounts corresponding to each of the multiple operators, and an input for identifying the operator corresponding to the designated force compensation amount, wherein the controller is configured to adjust the force compensation amount for at least one of the inertial force and viscous force to the designated force compensation amount corresponding to the operator identified by the input.

[0013] With this configuration, the operating force can be set to the desired operating force by storing a specified force compensation amount in a memory corresponding to each operator, so that the operating force becomes the operating force desired by the operator.

[0014] The controller may include: a speed acquisition unit for acquiring the speed of the power transmission element; an acceleration acquisition unit for acquiring the acceleration of the power transmission element; a viscous force compensation amount calculation unit for calculating a force compensation amount for the viscous force based on the speed of the power transmission element acquired by the speed acquisition unit and the viscosity of the master arm; an inertia force compensation amount calculation unit for calculating a force compensation amount for the inertia force based on the acceleration of the power transmission element acquired by the acceleration acquisition unit and the inertia of the master arm; and a power converter for supplying power to the motor for performing force compensation for the viscous force and the force compensation amount for the inertia force.

[0015] This configuration allows for precise setting and adjustment of the operating force, making it possible to create an input device for a surgical manipulator.

[0016] The master arm has a plurality of joints, and the input device comprises a plurality of power transmission elements and a plurality of motors, each of which drives each joint via each power transmission element. The controller may be configured to calculate a force compensation amount for at least one of the inertial force and viscous force of the portion of the master arm driven by each joint, based on the speed and acceleration of each power transmission element that moves due to the operation of the operator's control unit, and to control the operation of each motor to perform force compensation by the said force compensation amount.

[0017] This configuration allows for precise setting and adjustment of the operating force in an input device for a surgical manipulator equipped with a master arm having multiple joints.

[0018] The controller may be configured to adjust, for each joint, the amount of force compensation for at least one of the inertial force and viscous force of the portion of the master arm driven by each joint.

[0019] According to this configuration, in an input device of a surgical manipulator including a master arm having a plurality of joints, since the force compensation amount can be adjusted for each joint, the operating force can be adjusted more finely.

[0020] The controller may further be configured to control the operation of the motor so that the posture of the master arm does not change due to gravity.

[0021] According to this configuration, when the operator stops the master arm, the master arm stops at the stop position.

[0022] The controller may further be configured to calculate the position of the operation unit based on the position of the power transmission element that moves by the operation of the operation unit of the operator, and output the calculated position of the operation unit to the surgical manipulator.

[0023] According to this configuration, the surgical manipulator can be operated according to the position of the operation unit.

Effect of the Invention

[0024] The present invention has an effect that it is possible to provide an input device for a surgical manipulator that can finely set the operating force and further adjust the operating force.

Brief Description of the Drawings

FIG. 6

FIG. 7

FIG. 8

FIG. 9

FIG. 10

FIG. 11

FIG. 12

FIG. 13

Embodiments of the Invention

[0026] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, the same or corresponding elements throughout all the drawings are denoted by the same reference numerals, and the overlapping descriptions thereof are omitted. Further, since the following drawings are for explaining the present invention, when elements unrelated to the present invention are omitted in those drawings, when the dimensions are not accurate due to exaggeration or the like, or when corresponding elements do not match in a plurality of drawings, etc. may occur.

[0027] Note that the present invention is not limited to the following embodiments.

[0028] (Embodiment) [Configuration] {Hardware Configuration} Figure 1 is a schematic diagram showing an overview of an example of a robot-assisted surgical system including an input device for a surgical manipulator according to Embodiment 1 of the present invention. Figure 2 is a schematic diagram showing an overview of the appearance of an example of a hand control provided in the robot-assisted surgical system of Figure 1. In the following description, the vertical direction in Figures 1 and 2 will be described as the vertical direction in absolute space.

[0029] Referring to Figures 1 and 2, the robotically-assisted surgical (RAS) system 200 comprises a positioner 201, a surgical manipulator 202, and a hand control 100.

[0030] <Robot-assisted surgery system 200> Referring to Figure 1, for example, an operating table 203 is placed in an operating room, and a patient 204 is laid on the operating table 203. A positioner 201 is placed near the operating table 203. The positioner 201 is composed of, for example, a multi-joint robot. A surgical manipulator 202, also composed of a multi-joint robot, is attached to the base 201a at the tip of the positioner 201. The surgical manipulator 202 has, for example, a base, an arm 401, and an end effector. The base is fixed to the base 201a, and the base and links 404, the links 404 to each other, and the links 404 to the end effector are connected by multiple joints. Multiple (here, for example, four) arm 401s are connected to the base. A surgical tool 402 is attached to the tip of each of the multiple arm 401s as an end effector.

[0031] The positioner 201 transports the surgical manipulator 202 to a position suitable for the surgical manipulator 202 to perform surgery on the patient 204.

[0032] <Hand Control 100> Figure 2 shows an overview of the hand control 100. Note that Figure 2 is a diagram intended to clearly illustrate the concept of the hand control 100, and therefore, the detailed structure of the input device 2, in particular, is shown differently from the specific structure shown in Figures 3 to 8, which will be described later.

[0033] Referring to Figure 2, the hand control 100 is a device used by the operator (the surgeon) to control the operation of the surgical manipulator 202 during surgery. The hand control 100 is electrically connected to the positioner 201 and the surgical manipulator 202 by wire or wireless means. The hand control 100 is placed, for example, near the operating table or in a separate room.

[0034] The hand control 100 here comprises a main unit 1, an input device 2, a plurality of pedals 4, a display unit 5, and a viewer (not shown).

[0035] The main body 1 is formed in a roughly L-shape when viewed from the side, and a right input device 2A and a left input device 2B (input devices for the surgical manipulator) are provided on the right and left sides of the main body 1, respectively. The right input device 2A and the left input device 2B are for the operator to operate with their right and left hands, respectively. The right input device 2A and the left input device 2B each function as a master input device for each arm 401 of the surgical manipulator 202, which acts as a slave robot.

[0036] A U-shaped support member 3 is provided on the upper part of the main body 1 so as to protrude forward. A display unit 5 is provided in the center of the front end of the support member 3. The display unit 5 is, for example, a touch panel and functions as a screen for displaying or inputting information for the operator to make various settings on the hand control 100. A viewer (not shown) is provided on the upper part of the hand control 100, but since the configuration and function of the viewer are well known, it is omitted from Figure 2 in order to make the input device 2 easier to see. The viewer displays images taken by an endoscope (surgical tool 402) attached as an end effector to the tip of the arm 401 of the surgical manipulator 202.

[0037] The lower part of the main unit 1 is provided with multiple pedals (four in this case) that protrude forward. The multiple pedals 4 are used to switch the connection between the right input device 2A and the left input device 2B and each arm of the surgical manipulator 202, and to zoom the image displayed on the display unit 5, etc.

[0038] For example, the operator sits in a chair positioned in front of the hand control 100 and performs surgery by operating the right input device 2A or the left input device 2B with their right or left hand while viewing images of the patient's body displayed on the viewer.

[0039] <Input device 2 for surgical manipulator 202> Figure 3 is a schematic side view showing the overview of the input device 2 shown in Figure 2. The configuration of the input device 2 is shown in a simplified manner in Figure 3. For specific structural examples of the input device 2, please refer to Figures 4 to 8. Figure 3 shows the right input device 2A. The left input device 2B is simply the right input device 2A with the left-right structure reversed. Therefore, the explanation of the left input device 2B will be omitted. For convenience, in the following, the up-down direction and left-right direction in Figure 3 will be referred to as the up-down direction and front-back direction of the right input device 2A, respectively. In its initial state, the right input device 2A assumes the reference posture shown in Figure 3.

[0040] Referring to Figure 3, the right input device 2A takes on a roughly L-shaped reference position in a side view. Hereinafter, the reference position of the right input device 2A may simply be referred to as the "reference position". The right input device 2A includes a master arm 10. The master arm 10 includes an arm portion 11 and a wrist portion 12.

[0041] {arm section 11} The arm section 11 comprises, for example, a base 21, a first link 22, a second link 23, and a third link 24. The base 21 is fixed to the main body 1 of the hand control 100. One end of the base 21 in the vertical direction (here, the lower end) is rotatably connected to one end of the first link 22 (here, the upper end) via a first joint JT1 around a first rotation axis A1 that extends in the vertical direction. One end of the second link 23 (here, the upper end) is rotatably connected to the other end of the first link 22 (here, the lower end) via a second joint JT2 around a second rotation axis A2 that is perpendicular to the first rotation axis A1 and extends in the left-right direction. One end of the third link 24 (the rear end in the reference position) is rotatably connected to the other end of the second link 23 (here, the lower end) via the third joint JT3, around the third rotation axis A3 which extends parallel to the second rotation axis A2. Another end of the rocking member 25 is rotatably attached to the other end of the first link 22 around the second rotation axis A2. One end of the auxiliary link 26 (here, the upper end) is rotatably connected to the other end of the rocking member 25 around the ninth rotation axis A9. The ninth rotation axis A9 is parallel to the second rotation axis A2 and extends at a predetermined distance from the second rotation axis. The other end of the auxiliary link 26 (here, the lower end) is rotatably connected to one end of the third link around the tenth rotation axis A10. The 10th drive axis A10 is parallel to the 3rd drive axis A3 and extends from the 3rd drive axis toward one end of the 3rd link 24 by the predetermined distance mentioned above. In other words, the auxiliary link 26 and the 2nd link 23 constitute a parallel link.

[0042] The other end of the third link 24 (the front end in the reference position) is rotatably connected to the wrist portion 12 via the fourth joint JT4, around the fourth rotation axis A4. The fourth rotation axis A4 extends perpendicular to the plane containing the third rotation axis A3 and the tenth rotation axis A10.

[0043] Figure 4 is a cross-sectional view showing the longitudinal section of the shoulder portion of the arm portion 11 of the input device shown in Figure 3. Referring to Figure 4, the shoulder portion is composed of a base body 21, which is formed in a frame shape. A first motor M1 is mounted on the base body 21 facing downwards. Specifically, the first motor M1 is mounted so that its main shaft S1 is coaxial with the first rotation axis A1. The first motor M1 is equipped with a first rotation angle detector E1 that detects the rotation angle of the first motor M1. The first rotation angle detector E1 can be anything that can detect a rotation angle, such as an encoder or a tachometer. In this case, the first rotation angle detector E1 is composed of an encoder directly connected to the main shaft S1 of the first motor M1. The main shaft S1 is coaxially butted with the first rotation axis R1 (see Figure 5) of the first link 22 using a cylindrical connecting member 62.

[0044] Figure 5 is a cross-sectional view showing the longitudinal section of the upper arm portion of the arm portion 11 of the right input device 2A in Figure 3. Referring to Figure 5, the upper arm portion of the arm portion 11 includes a first link 22, a second link 23, and an auxiliary link 26. The first link 22 is formed in a frame shape. A first rotation axis R1 is provided at one end of the first link 22 (in this case, the upper end). As described above, the first rotation axis R1 is connected coaxially to the main shaft S1 of the first motor M1. The first joint JT1 is formed by this first rotation axis R1 and the first motor M1, and as a result, the first link 22 can rotate freely around the first rotation axis A1 relative to the base 21, the rotation angle of the first motor M1 due to the rotation of the first link 22 can be detected by the first rotation angle detector E1, and the first rotation axis R1 can be rotationally driven by the first motor M1.

[0045] The second link is formed in the shape of a hollow rod. A second rotation shaft R2 is provided at one end (upper end) of the second link 23. This second rotation shaft R2 is rotatably attached to the other end (lower end) of the first link 22 via a bearing 51, around the second rotation axis A2. The second rotation shaft R2 and the bearing 51 constitute the second joint JT2, which allows the second link 23 to rotate freely around the second rotation axis A2 relative to the first link 22.

[0046] A driven pulley 33 is provided on the second rotation axis R2. Meanwhile, a second motor M2 is provided on the first link 22 so that the central axis of the main spindle S2 is parallel to the second rotation axis A2. The second motor M2 is equipped with a second rotation angle detector E2 that detects the rotation angle of the second motor M2. The second rotation angle detector E2 can be any device capable of detecting a rotation angle, such as an encoder or a tachometer. In this case, the second rotation angle detector E2 is composed of an encoder directly connected to the main spindle S2 of the second motor M2.

[0047] A drive pulley 32 is provided on the main spindle S2 of the second motor M2. A belt 34 is wrapped around this drive pulley 32 and a driven pulley 33. This makes it possible to detect the rotation angle of the second motor M2 due to the rotation of the second link 23 using the second rotation angle detector E2, and also to rotate the second rotation shaft R2 using the second motor M2.

[0048] Furthermore, a tension coil spring (auxiliary spring) SP1 is provided between the second link 23 at a suitable location (in this case, the central part) and the first link 22. This tension coil spring SP1 is positioned so that its central axis is perpendicular to the second rotation axis A2 and the third rotation axis A3. In addition, when the second link 23 rotates from its reference position, this tension coil spring SP1 is designed to act a predetermined torque on the second rotation axis R2 in the direction of rotation. This predetermined torque is set to cancel out a portion of the torque (hereinafter sometimes referred to as gravity torque) generated on the second rotation axis R2 by the weight of the arm portion 11 beyond the second link 23 and the wrist portion 12. As a result, a portion of the gravity torque generated on the second rotation axis R2 is canceled out by the tension coil spring SP1.

[0049] The third link 24 is formed as a rod-shaped box, and the main elements are housed inside. A third rotation shaft R3 is provided at one end (rear end) of the third link 24. This third rotation shaft R3 is rotatably attached to the other end of the second link 23 via a bearing 52, around the third rotation axis A3. The third rotation shaft R3 and the bearing 52 constitute the third joint JT3, which allows the third link 24 to rotate freely around the third rotation axis A3 relative to the second link 23.

[0050] On the other hand, the oscillating member 25 is formed in the shape of an elongated plate, and an 11th rotation shaft R11 is provided at one end of this oscillating member 25. This 11th rotation shaft R11 is rotatably attached to the other end of the first link 22 via a bearing 53, around the second rotation axis A2.

[0051] Furthermore, a ninth rotation axis R9 is provided at the other end of the oscillating member 25. This ninth rotation axis R9 is rotatably connected to one end of the auxiliary link 26 via a bearing (not shown) around the ninth rotation axis A9.

[0052] Furthermore, a tenth rotation axis R10 is provided in the portion between one end of the third link 24 and the third joint JT3. This tenth rotation axis is rotatably connected to the other end of the auxiliary link 26 via a bearing (not shown) around the tenth rotation axis A10. As described above, the auxiliary link 26 and the second link 23 constitute a parallel link.

[0053] Furthermore, a driven pulley 44 is provided on the 11th rotating shaft R11. Meanwhile, a third motor M3 is provided at an appropriate position on the first link 22 such that the central axis of the main shaft S3 is parallel to the 11th rotating axis A11. The third motor M3 is equipped with a third rotation angle detector E3 that detects the rotation angle of the third motor M3. The third rotation angle detector E3 can be any device capable of detecting a rotation angle, such as an encoder or a tachometer. In this case, the third rotation angle detector E3 is composed of an encoder directly connected to the main shaft S3 of the third motor M3.

[0054] A drive pulley 42 is provided on the main spindle S3 of the third motor M3. A belt 34 is wrapped around this drive pulley 42 and the driven pulley 33.

[0055] With the configuration related to the auxiliary link 26 described above, when the third link 24 rotates, the auxiliary link 26 moves parallel to the second link 23, causing the oscillating member 25 to oscillate. In response to this oscillating of the oscillating member 25, the driven pulley 44, the drive pulley 42, and the third motor M3 rotate in sequence. Therefore, this series of operations makes it possible to detect the rotation angle of the third motor M3 due to the rotation of the third link 24 using the third rotation angle detector E3. Furthermore, by the reverse operation of this series of operations, it is possible to rotate the third rotation shaft R3 using the third motor M3.

[0056] Furthermore, a compression coil spring (not shown) is provided between the oscillating member 25 and the first link 22. This compression coil spring is designed to constantly generate a torque that rotates the oscillating member downward. This torque is set to cancel out a portion of the gravitational torque generated at the ninth rotation axis R9 by the weight of the third link 24 of the arm portion 11 and the wrist portion 12. As a result, a portion of the gravitational torque generated at the ninth rotation axis R9 is canceled out by this coil spring.

[0057] {List section 12} Figure 6 is a perspective view showing the external appearance of the wrist section 12 of the input device shown in Figure 3. Figure 6 shows the wrist section 12 in a reference position. Referring to Figure 6, the wrist section 12 comprises, for example, a fourth link 71, a fifth link 72, a sixth link 73, and an operating section 74 as a seventh link. The fourth link 71, fifth link 72, sixth link 73, and operating section 74 constitute a 3-axis (3 degrees of freedom) gimbal. Specifically, the fifth link 72 is rotatable relative to the fourth link 71 around the fifth rotation axis A5, the sixth link 73 is rotatable relative to the fifth link 72 around the sixth rotation axis A6 which is perpendicular to the fifth rotation axis A5, and the operating section 74 is rotatable relative to the sixth link 73 around the seventh rotation axis A7 which is perpendicular to the fifth rotation axis A5 and the sixth rotation axis A6. Therefore, the operator can rotate the operating unit 74 around the intersection of these three pivot axes A5 to A7 to point it in any direction.

[0058] Referring to Figures 3 and 6, the fourth link 71 is formed in an L-shape, and one end of this fourth link 71 (the front end in the reference position) is connected to the other end (the front end in the reference position) of the third link 24 (see Figure 3) via the fourth joint JT4 so as to be rotatable around the fourth rotation axis. The fourth rotation axis A4 is perpendicular to the plane containing the third rotation axis A3 and the tenth rotation axis A10.

[0059] Referring to Figure 6, one end of the fifth link 72 (the rear end in the reference position) is rotatably connected to the other end of the fourth link 71 (the rear end in the reference position) via the fifth joint JT5, around the fifth rotation axis A5 which is perpendicular to the fourth rotation axis A4. The fifth link 72 is formed in an L-shape that is slightly smaller than the fourth link 71. One end of the sixth link 73 (the right end in the reference position) is rotatably connected to the other end of the fifth link 72 (the front end in the reference position) via the sixth joint JT6, around the sixth rotation axis A6. The sixth link 73 is formed in an L-shape that is slightly smaller than the fifth link 72. One end of the operating part 74 (the left end in the reference position) is rotatably connected to the other end of the sixth link 73 (the left end in the reference position) via the seventh joint JT7, around the seventh rotation axis A7. The operating unit 74 comprises a rod-shaped body and a pair of cylindrical finger insertion parts 74a provided on the body. The pair of finger insertion parts 74a are configured so that the operator can insert their thumb and index finger into them and operate the pair of finger insertion parts 74a with their thumb and index finger as if pinching and releasing an object.

[0060] Next, we will describe an example of the detailed structure of the list section 12.

[0061] Figure 7 is a cross-sectional view showing the longitudinal sections of the fourth link 71 and the fifth link 72 of the wrist section 12 in Figure 6. Figure 8 is a cross-sectional view showing the longitudinal sections of the sixth link 73 and the operating section 74 of the wrist section 12 in Figure 6. Figure 7 shows a cross-section of the wrist section 12 cut by a plane including the fifth rotation axis A5 and the sixth rotation axis A6, and Figure 8 shows a cross-section of the wrist section 12 cut by a plane including the sixth rotation axis A6 and the seventh rotation axis A7.

[0062] Referring to Figure 7, the fourth link 71 is formed in an L-shaped box shape, with its main elements housed inside. A fourth rotation shaft R4 is provided at one end (front end) of the fourth link 71. This fourth rotation shaft R4 is rotatably attached to the other end (front end) of the third link 24 via a bearing 81, around the fourth rotation axis A4. The fourth rotation shaft R4 and the bearing 81 constitute the fourth joint JT4, which allows the fourth link 71 to rotate freely around the fourth rotation axis A4 relative to the third link 24.

[0063] Furthermore, a fourth motor M4 is installed inside the third link 24 so that the central axis of the main spindle S4 is perpendicular to the fourth rotation axis A4. The fourth motor M4 is equipped with a fourth rotation angle detector E4 that detects the rotation angle of the fourth motor M4. The fourth rotation angle detector E4 can be anything that can detect a rotation angle, such as an encoder or a tachometer. In this case, the fourth rotation angle detector E4 is composed of an encoder directly connected to the main spindle S4 of the fourth motor M4. The main spindle S4 of the fourth motor M4 is connected to the fourth rotation axis R4 via a bevel gear mechanism G1. This makes it possible for the rotation angle of the fourth motor M4 caused by the rotation of the fourth link 71 to be detected by the fourth rotation angle detector E4, and also makes it possible for the fourth motor M4 to rotate and drive the fourth rotation axis R4.

[0064] The fifth link 72 is formed in an L-shaped box shape, with its main elements housed inside. A fifth rotation shaft R5 is provided at one end (rear end) of the fifth link 72. This fifth rotation shaft R5 is rotatably attached to the other end (rear end) of the fourth link 71 via a bearing 82, around the fifth rotation axis A5. The fifth rotation shaft R5 and the bearing 82 constitute the fifth joint JT5, which allows the fifth link 72 to rotate freely around the fifth rotation axis A5 relative to the fourth link 71.

[0065] Furthermore, a fifth motor M5 is installed inside the fourth link 71 so that the central axis of the main spindle S5 is perpendicular to the fifth rotation axis A5. The fifth motor M5 is equipped with a fifth rotation angle detector E5 that detects the rotation angle of the fifth motor M5. The fifth rotation angle detector E5 can be anything that can detect a rotation angle, such as an encoder or a tachometer. In this case, the fifth rotation angle detector E5 is composed of an encoder directly connected to the main spindle S5 of the fifth motor M5. The main spindle S5 of the fifth motor M5 is connected to the fifth rotation axis R5 via a bevel gear mechanism G2. This makes it possible for the fifth rotation angle detector E5 to detect the rotation angle of the fifth motor M5 due to the rotation of the fifth link 72, and also makes it possible to rotate the fifth rotation axis R5 by the fifth motor M5.

[0066] Furthermore, a compression coil spring SP2 (auxiliary spring) is provided between the fourth link 71 at an appropriate location (in this case, the lower end of the rear end in the reference position) and the fifth rotation axis R5. This compression coil spring SP2 is positioned so that its central axis is parallel to the fourth rotation axis A4 and perpendicular to the fifth rotation axis A5. In addition, this compression coil spring SP2 is designed to act on the fifth link 72 in the direction of rotation when the fifth link 72 rotates from the reference position. This predetermined torque is set to cancel out a portion of the gravitational torque generated on the fifth rotation axis R5 due to the weight of the portion of the wrist section 12 beyond the fifth link. As a result, a portion of the gravitational torque generated on the fifth rotation axis R5 is canceled out by the compression coil spring SP2.

[0067] Referring to Figures 7 and 8, the sixth link 73 is formed in an L-shaped box, with its main elements housed inside the box. A sixth rotation shaft R6 is provided at one end (right end) of the sixth link 73. This sixth rotation shaft R6 is rotatably attached to the other end (front end) of the fifth link 72 via a bearing 83, around the sixth rotation axis A6. The sixth rotation shaft R6 and the bearing 83 constitute the sixth joint JT6, which allows the sixth link 73 to rotate freely around the sixth rotation axis A6 relative to the fifth link 72.

[0068] Furthermore, a sixth motor M6 is installed inside the fifth link 72 such that the central axis of the main spindle S6 is perpendicular to the sixth rotation axis A6. The sixth motor M6 is equipped with a sixth rotation angle detector E6 that detects the rotation angle of the sixth motor M6. The sixth rotation angle detector E6 can be any device capable of detecting a rotation angle, such as an encoder or a tachometer. In this case, the sixth rotation angle detector E6 is composed of an encoder directly connected to the main spindle S6 of the sixth motor M6. The main spindle S6 of the sixth motor M6 is connected to the sixth rotation axis R6 via a bevel gear mechanism G3. This makes it possible for the sixth rotation angle detector E6 to detect the rotation angle of the sixth motor M6 due to the rotation of the sixth link 73, and also makes it possible for the sixth motor M6 to rotate and drive the sixth rotation axis R6.

[0069] Referring to Figure 8, a seventh rotation shaft R7 is provided at one end (left end) of the operating section 74. This seventh rotation shaft R7 is rotatably attached to the other end (left end) of the sixth link 73 via a bearing 84, around the seventh rotation axis A7. The seventh rotation shaft R7 and the bearing 84 constitute the seventh joint JT7, which allows the operating section 74 to rotate freely around the seventh rotation axis A7 relative to the sixth link 73.

[0070] Furthermore, the seventh motor M7 is installed inside the sixth link 73 so that the central axis of the main spindle S7 is perpendicular to the seventh rotation axis A7. The seventh motor M7 is equipped with a seventh rotation angle detector E7 that detects the rotation angle of the seventh motor M7. The seventh rotation angle detector E7 can be anything that can detect a rotation angle, such as an encoder or a tachometer. In this case, the seventh rotation angle detector E7 is composed of an encoder directly connected to the main spindle S7 of the seventh motor M7. The main spindle S7 of the seventh motor M7 is connected to the seventh rotation axis R7 via a bevel gear mechanism G4. This makes it possible for the rotation angle of the seventh motor M7 caused by the rotation of the operating unit 74 to be detected by the seventh rotation angle detector E7, and also makes it possible for the seventh motor M7 to rotate and drive the seventh rotation axis R7.

[0071] <Power transmission path> Referring to Figures 3 and 5, the power transmission path from the first motor M1 to the first joint JT1 consists of the main shaft S1 and the first rotating shaft R1 of the first motor M1. The power transmission path from the second motor M2 to the second joint JT2 consists of the main shaft S2, drive pulley 32, belt 34, driven pulley 33, and second rotating shaft R2 of the second motor M2. The power transmission path from the third motor M3 to the third joint JT3 consists of the main shaft S3, drive pulley 42, belt 45, driven pulley 44, 11th rotating shaft R11, oscillating member 25, 9th rotating shaft R9, auxiliary link 26, 10th rotating shaft R10, 3rd link 24, and 3rd rotating shaft R3 of the third motor M3.

[0072] Referring to Figure 7, the power transmission path from the fourth motor M4 to the fourth joint JT4 consists of the main shaft S4 of the fourth motor M4, the bevel gear mechanism G1, and the fourth rotating shaft R4. The power transmission path from the fifth motor M5 to the fifth joint JT5 consists of the main shaft S5 of the fifth motor M5, the bevel gear mechanism G2, and the fifth rotating shaft R5. The power transmission path from the sixth motor M6 to the sixth joint JT6 consists of the main shaft S6 of the sixth motor M6, the bevel gear mechanism G3, and the sixth rotating shaft R6. Referring to Figure 8, the power transmission path from the seventh motor M7 to the seventh joint JT7 consists of the main shaft S7 of the seventh motor M7, the bevel gear mechanism G4, and the seventh rotating shaft R7.

[0073] <Power transmission elements that form the basis for calculating resistance compensation amount> The power transmission elements that form the basis for calculating the resistance force compensation amount, as described later, are the main shafts S1 to S7 of the first to seventh motors M1 to M7. The rotation angles of these main shafts S1 to S7 are detected by the first to seventh rotation angle detectors E1 to E7, which are rotation angle sensors, and the resistance force compensation amount, as described later, is calculated based on these rotation angles AG. Note that the power transmission elements that form the basis for calculating the resistance force compensation amount may be other power transmission elements. For example, they may be the first to seventh rotation axes R1 to R7 of the first to seventh joints JT1 to JT7, or the gears of the bevel gear mechanism G1 to G4. In this case, encoders can be provided on these power transmission elements to detect their rotation angles.

[0074] {Control system configuration} Figure 9 is a functional block diagram showing an example of the configuration of the control system for the right input device 2A and the surgical manipulator 202.

[0075] Referring to Figure 9, the right input device 2A is equipped with an input device controller C1. The input device controller C1 is provided in common to both the right input device 2A and the left input device 2B, for example. Since the control of both by the input device controller C1 is the same, only the control for the right input device 2A will be described here, and the description of the control for the left input device 2B will be omitted. Note that the input device controller C1 may be provided for both the right input device 2A and the left input device 2B, respectively. The detailed configuration of the input device controller C1 will be described later. The input device controller C1 is provided, for example, in an appropriate place on the hand control 100.

[0076] In the right input device 2A, the rotation angles AG of the first to seventh motors M1 to M7, corresponding to the first to seventh joints JT1 to JT7, are detected by the first to seventh rotation angle detectors E1 to E7, respectively, and the detected rotation angles AG of the first to seventh motors M1 to M7 are output to the input device controller C1. The input device controller C1 generates the position (position command signal) P of the operating unit 74 based on the input rotation angles AG of the first to seventh motors M1 to M7, and outputs this position P of the operating unit 74 to the manipulator controller C2. The input device controller C1 also outputs a drive current CR to the first to seventh motors M1 to M7, respectively, based on the input rotation angles AG of the first to seventh motors M1 to M7.

[0077] In the surgical manipulator 202, one or more rotation angle detectors E202 detect the rotation angles of one or more motors M202 corresponding to one or more joints connecting the link 404 of the arm section 401 and the surgical tool 402, and output the detected rotation angles of the one or more motors M202 to the manipulator controller C2. Based on the position (position command signal) P of the operating section 74 input from the input device controller C1, the manipulator controller C2 outputs a drive current to one or more motors M202 such that the surgical tool 402 is positioned at the position corresponding to the position of the operating section 74. This controls the operation of the link 404 so that the surgical tool 402 is positioned at the position corresponding to the position of the operating section 74. At this time, the rotation angles detected by one or more rotation angle detectors E202 are used for feedback control of the position of the surgical tool 402.

[0078] Furthermore, the posture and operation of the operating section 74 of the input device 2A are detected separately by an appropriate sensor (not shown) and input to the manipulator controller C2 via the input device controller C1. The manipulator controller C2 controls the surgical tool 02 so that the surgical tool 402 assumes a posture corresponding to the posture of the operating section 74 of the input device 2A and performs an operation corresponding to the operation of the operating section 74 of the input device 2A. The manipulator controller C2 is installed, for example, in an appropriate location on the hand control 100.

[0079] <Input device controller C1> Figure 10 is a functional block diagram showing an example of the configuration of the input device controller C1 shown in Figure 9. Referring to Figure 10, the input device controller C1 comprises a position calculation unit 501, a gravity compensation amount calculation unit 502, a resistance force compensation amount calculation unit 503, a control unit (controller) 504, a servo amplifier (power converter) 505, a memory unit (storage device) 506, and an input unit (input device) 507.

[0080] The position calculation unit 501, gravity compensation amount calculation unit 502, resistance force compensation amount calculation unit 503, control unit 504, and storage unit 506 are composed of, for example, a computing unit (not shown) having a processor (not shown) and memory (not shown). Examples of computing units include microcontrollers. Examples of processors include CPUs, MPUs, FPGAs (Field Programmable Gate Arrays), PLCs (Programmable Logic Controllers), etc. Examples of memory include internal memory of the processor such as ROMs and RAMs, and external memory such as hard disk drives.

[0081] The position calculation unit 501, gravity compensation calculation unit 502, resistance force compensation calculation unit 503, control unit 504, and storage unit 506 are functional blocks realized by the processor of the arithmetic unit reading and executing a predetermined control program stored in the memory of the arithmetic unit. In practice, the arithmetic unit operates as the position calculation unit 501, gravity compensation calculation unit 502, resistance force compensation calculation unit 503, control unit 504, and storage unit 506. The position calculation unit 501, gravity compensation calculation unit 502, and resistance force compensation calculation unit 503 may be configured as hardware such as electronic circuits. Furthermore, the input device controller C1 may be configured as a single arithmetic unit or as a group of arithmetic units.

[0082] The position calculation unit 501 generates the position (position command signal) P of the operating unit 74 based on the rotation angles AG of the first to seventh motors M1 to M7 that are input. This calculation is well known, so its explanation will be omitted.

[0083] The gravity compensation calculation unit 502 determines the posture of the master arm 10 based on the input rotation angles AG of the first to seventh motors M1 to M7, and calculates the gravity cancellation torque that cancels out the gravitational torque generated at each rotation axis R1 to R7 of each joint JT1 to JT7 due to that posture. In this case, the gravity compensation calculation unit 502 calculates the gravitational torque determined for each rotation axis R1 to R7 from the obtained posture. Then, for joints JT2, JT3, and JT5 which are equipped with coil springs, the gravity cancellation torque is the torque in the opposite direction to the torque obtained by subtracting the torque generated by the coil spring from the gravitational torque, and for joints JT1, JT4, JT6, and JT7 which are not equipped with coil springs, the gravity cancellation torque is the torque in the opposite direction to the gravitational torque. These gravity cancellation torques for the first to seventh joints JT1 to JT7 constitute the gravity compensation amount. The gravity compensation calculation unit 502 sends out the gravity compensation amounts for the first to seventh joints JT1 to JT7 as a current command Ig for performing gravity compensation on said gravity compensation amounts.

[0084] The resistance force compensation amount calculation unit 503 calculates the resistance force compensation amount for the first to seventh joints JT1 to JT7 based on the input rotation angles AG of the first to seventh motors M1 to M7, and sends these resistance force compensation amounts as a current command Id for performing resistance force compensation. The adder unit 518 adds the gravity compensation current command Ig and the resistance force compensation current command Id to generate a compensation current command Ic.

[0085] The servo amplifier (power converter) 505 outputs a drive current CR corresponding to the compensation current command Ic to the first to seventh motors M1 to M7, respectively. As a result, the first to seventh motors M1 to M7 generate torque corresponding to the compensation current command Ic (current command Ig for gravity compensation + current command Id for resistance force compensation), and as a result the posture of the master arm 10 is controlled so as not to change due to gravity, and a force-compensated operating force is generated against the resistance force of the master arm 10. In this embodiment, since gravity compensation is applied to the operating force, the difference between the resistance force and the amount of resistance force compensation becomes the operating force, which is the force required for the operator to operate the master arm 10.

[0086] The memory unit 506 stores various data. In particular, the memory unit 506 has pre-stored ranked force compensation amounts. Figure 12 is a graph showing an example of the rank of the magnitude of the ranked force compensation amount. Referring to Figure 12, the force compensation amount consists of a viscous force compensation amount and an inertial force compensation amount. The viscous adjustment coefficient Kd, which takes a value from 0.0 to 1.0, represents the relative magnitude of the viscous force compensation amount, and the inertial adjustment coefficient Km, which also takes a value from 0.0 to 1.0, represents the relative magnitude of the inertial force compensation amount. These are then divided into five stages in increments of 0.2, and ranked from A to E in descending order of value.

[0087] Furthermore, as will be described later, when the specified force compensation amount is input from the input unit 507 in association with the operator ID, the memory unit 507 stores these as the specified force compensation amount for each operator. Figure 13 is a graph showing an example of the specified force compensation amount for each operator. In Figure 13, X to Q represent the operator ID. Referring to Figure 13, the specified force compensation amount consists of a viscous force compensation amount and an inertial force compensation amount. The viscosity adjustment coefficient Kd and the inertial adjustment coefficient Km, which represent the viscous force compensation amount and the inertial force compensation amount, respectively, are associated with the operator ID to constitute the specified force compensation amount for each operator.

[0088] The input unit 507 is a device for the operator to input various data to the control unit 504. The input unit 507 is composed of, for example, a keyboard, mouse, touch panel, etc. The operator inputs, for example, the rank of the force compensation amount, and the inertia adjustment coefficient Km, viscosity adjustment coefficient Kd, and operator ID as designated force compensation amounts for each operator, using the input unit 507. Therefore, the input unit 507 functions as an input device for specifying the rank of the force compensation amount and an input device for identifying the operator corresponding to the designated force compensation amount. Note that the designated force compensation amount may also be input to the control unit 504 by an input means other than the input unit 507. An example of such an input means is an input means via a data communication network.

[0089] The control unit 504 outputs the position (position command signal) P of the operation unit 74 generated by the position calculation unit 501 to the manipulator controller C2. The control unit 504 also processes various data input from the input unit 507 as appropriate.

[0090] In particular, when the control unit 504 receives ranks A to E of the ranked force compensation amount from the input unit 507, it reads out the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd corresponding to the input ranks A to E, and replaces the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd used in the inertia adjustment coefficient multiplication unit 516 and viscosity adjustment coefficient multiplication unit 520, respectively, with the read-out inertia adjustment coefficient Km and viscosity adjustment coefficient Kd, respectively.

[0091] Furthermore, the control unit 504 stores the inertia adjustment coefficient Km, viscosity adjustment coefficient Kd, and operator ID (X to Q), which are input as a set from the input unit 507 as specified force compensation amounts for each operator, in the storage unit 506, associating the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd with the operator ID (X to Q). When an operator ID (X to Q) is input from the input unit 507, the control unit 504 reads the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd corresponding to that operator ID from the storage unit 506, and replaces the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd used in the inertia adjustment coefficient multiplication unit 516 and viscosity adjustment coefficient multiplication unit 520, respectively, with the read inertia adjustment coefficient Km and viscosity adjustment coefficient Kd, respectively. Furthermore, the operator may input an arbitrary inertia adjustment coefficient Km and viscosity adjustment coefficient Kd, allowing them to change these values ​​in the inertia adjustment coefficient multiplication unit 516 and viscosity adjustment coefficient multiplication unit 520 to the arbitrary inertia adjustment coefficient Km and viscosity adjustment coefficient Kd.

[0092] <Resistance force compensation amount calculation unit 503> Figure 11 is a block diagram showing the configuration of the resistance force compensation amount calculation unit 503 in Figure 9. Figure 11 shows the resistance force compensation amount calculation unit 503 corresponding to one of the first to seventh joints JT1 to JT7. In other words, resistance force compensation for the operating force is performed for each joint JT1 to JT7.

[0093] Referring to Figure 11, the resistance force compensation calculation unit 503 includes a rotation angle delay unit 511, a first subtraction unit (velocity acquisition unit) 512, a rotation angular velocity delay unit 513, a second subtraction unit (acceleration acquisition unit) 514, an inertia coefficient multiplication unit (inertia force compensation calculation unit) 515, an inertia adjustment coefficient multiplication unit 516, a primary filter 517, an addition unit 518, a viscosity adjustment coefficient multiplication unit (viscous force compensation calculation unit) 519, a viscosity adjustment coefficient multiplication unit 520, a primary filter 521, and first and second switches SW1 and SW2.

[0094] The rotation angles AG detected by the first to seventh rotation angle detectors E1 to E7 are sampled at predetermined sampling intervals. The rotation angle delay unit 511 delays the input rotation angle AG by one sampling interval. The first subtraction unit 512 subtracts the rotation angle AGd delayed by the rotation angle delay unit 511 from the rotation angle AG at the current time to generate the rotation angular velocity v. Here, the difference ΔAG between successive rotation angles AG corresponds to the rotation angular velocity v, which is the derivative of the rotation angle AG, when the sampling interval Δt is unit time.

[0095] The rotational angular velocity delay unit 513 delays the input rotational angular velocity v by one sampling interval. The second subtraction unit 514 subtracts the rotational angular velocity vd delayed by the rotational angular velocity delay unit 513 from the rotational angular velocity v at the current time to generate the rotational angular acceleration α. ​​Here, the difference Δv between the preceding and succeeding rotational angular velocities v corresponds to the rotational angular acceleration α, which is the derivative of the rotational angular velocity v, when the sampling interval Δt is unit time.

[0096] The first switch SW1 allows or blocks the transmission of the rotational angular acceleration α to the inertia coefficient multiplication unit 515 by being turned ON or OFF. The first switch SW1 is turned ON or OFF by the control unit 504 when an ON command or OFF command for the first switch SW1 is input from the input unit 507.

[0097] The inertia coefficient multiplier unit 515 multiplies the rotational angular acceleration α by the inertia coefficient M to generate an inertia force compensation amount fi. The inertia adjustment coefficient multiplier unit 516 multiplies the inertia force compensation amount fi by the inertia adjustment coefficient Km to generate an adjusted inertia force compensation amount. Here, the inertia adjustment coefficient Km is a value in the range of 0.0 or greater and 1.0 or less. The first-order filter 517 removes noise caused by sampling from the adjusted inertia force compensation amount and sends it out as a current command Ii for inertia force compensation.

[0098] Furthermore, the time constant of the first-order filter 517 may be made adjustable. In this case, when the operator inputs the time constant of the first-order filter 517 from the input unit 507, the control unit 504 replaces the time constant of the first-order filter 517 with the input time constant. The reason for making the time constant adjustable in this way is that the noise differs for each input device 2. The same applies to the first-order filter 521, which will be described later.

[0099] On the other hand, the second switch SW2 allows or blocks the transmission of the rotational angular velocity v to the viscosity coefficient multiplication unit 519 by being turned ON or OFF. The second switch SW2 is turned ON or OFF by the control unit 504 when an ON command or OFF command for the second switch SW2 is input from the input unit 507.

[0100] The viscosity coefficient multiplier unit 519 multiplies the rotational angular velocity v by the viscosity coefficient D to generate a viscous force compensation amount fv. The viscosity adjustment coefficient multiplier unit 520 multiplies the viscous force compensation amount fv by the viscosity adjustment coefficient Kd to generate an adjusted viscous force compensation amount. Here, the viscosity adjustment coefficient Kd is a value in the range of 0.0 or greater and 1.0 or less. The first-order filter 521 removes noise caused by sampling from the adjusted viscous force compensation amount and sends it out as a current command Iv for viscous force compensation. The current command Ii for inertia force compensation and the current command Iv for viscous force compensation constitute the current command Id for resistive force compensation.

[0101] The time constant of the first-order filter 521 may be made adjustable. In this case, when the operator inputs the time constant of the first-order filter 521 from the input unit 507, the control unit 504 replaces the time constant of the first-order filter 521 with the input time constant.

[0102] The adder 518 adds the current command Id for resistance compensation and the current command Ig for gravity compensation to generate a compensated current command Ic. [Operation] First, we will explain the operation of the right input device 2A and the surgical manipulator 202.

[0103] Referring to Figures 3 and 6, the operator inserts their thumb and index finger into the pair of finger insertion parts 74a of the operating section 74 of the right input device 2A, for example. When the operator moves the operating section 74 left and right, the arm section 11 rotates left and right around the first rotation axis A1 of the first joint JT1. When the operator moves the operating section 74 back and forth, the arm section 11 rotates back and forth around the second rotation axis A2 of the second joint JT2. When the operator moves the operating section 74 up and down, the arm section 11 rotates up and down around the third rotation axis A3 of the third joint JT3. When the operator rotates the wrist section 12 left and right, the wrist section 12 rotates left and right around the fourth rotation axis A4 of the fourth joint JT4. When the operator operates the operating section 74 to change its orientation (posture), the operating section 74 moves (takes its posture) in the direction the operator wants to change it. Therefore, the operator can operate the input device 2A as intended.

[0104] When the operation unit 74 of the right input device 2A is operated, this operation is converted into a position command signal P by the input device controller C1, and the manipulator controller C2 controls the movement of the selected arm 401 of the surgical manipulator 202 so that the surgical tool 402 of the selected arm 401 of the surgical manipulator 202 is positioned to correspond to the operation unit 74, according to this position command signal P. As a result, the selected arm 401 of the surgical manipulator 202 operates according to the operator's operation of the right input device 2A. The selection of the arm 401 is performed by operating the pedal 4 of the hand control 100. The operation of the left input device 2B is similar.

[0105] Next, we will explain gravity compensation and resistance force compensation in the operating force of the right input device 2A. We will assume that the first and second switches SW1 and SW2 are ON.

[0106] Referring to Figures 3 and 10, when the operation unit 74 of the right input device 2A is operated, the input device controller C1's gravity compensation amount calculation unit 502 determines the posture of the master arm 10 based on the rotation angles AG of the input first to seventh motors M1 to M7, calculates the gravity cancellation torque that cancels out the gravity torque generated at each rotation axis R1 to R7 of each joint JT1 to JT7 due to that posture, sets this gravity cancellation torque as the gravity compensation amount, and sends this gravity compensation amount as a current command Ig for performing gravity compensation of the gravity compensation amount.

[0107] Meanwhile, the resistance force compensation amount calculation unit 503 calculates the resistance force compensation amount for the first to seventh joints JT1 to JT7 based on the input rotation angles AG of the first to seventh motors M1 to M7, and sends these resistance force compensation amounts as current commands Id for performing resistance force compensation. Then, the adder unit 518 adds the gravity compensation current command Ig and the resistance force compensation current command Id to generate a compensation current command Ic, and the servo amplifier 505 outputs the drive current CR corresponding to the compensation current command Ic to the first to seventh motors M1 to M7, respectively.

[0108] As a result, the first to seventh motors M1 to M7 generate torque according to the current commands Ig and Id, thereby controlling the posture of the master arm 10 so that it does not change due to gravity, and generating an operating force that is force-compensated against the resistance force of the master arm 10. Therefore, by appropriately adjusting the amount of force compensation for this resistance force (resistance force compensation amount), the operating force can be set with fine precision.

[0109] <Adjustment of resistance compensation amount> Referring to Figures 10 to 12, the operator inputs one of ranks A to E of the ranked force compensation amount from the input unit 507 according to their preference. The control unit 504 then reads the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd corresponding to the rank A to E from the storage unit 506, and replaces the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd used in the inertia adjustment coefficient multiplication unit 516 and viscosity adjustment coefficient multiplication unit 520, respectively, with the read inertia adjustment coefficient Km and viscosity adjustment coefficient Kd. This allows the operating force to be adjusted to the operator's preference.

[0110] <Adjustment of resistance compensation amount when multiple operators are present> Next, we will explain how to adjust the resistance compensation amount when there are multiple operators.

[0111] Referring to Figures 10, 11, and 13, if there are multiple operators, for example, each operator is assigned an operator ID (X to Q). Each operator inputs their desired inertia adjustment coefficient Km and viscosity adjustment coefficient Kd (specified force compensation amount) and their operator ID (X to Q) in advance via the input unit 507. The control unit 504 then stores the input inertia adjustment coefficient Km, viscosity adjustment coefficient Kd, and operator ID (X to Q) in the storage unit 506, associating the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd with the operator ID (X to Q).

[0112] Subsequently, the operator who intends to actually operate the input device 2 (in this case, the right input device 2A) of the surgical manipulator 202 inputs their operator ID (X to Q) into the input unit 507. The control unit 504 then reads the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd corresponding to the operator ID (X to Q) from the storage unit 506, and replaces the inertia adjustment coefficient Km and viscosity adjustment coefficient Kd used in the inertia adjustment coefficient multiplication unit 516 and viscosity adjustment coefficient multiplication unit 520, respectively, with the read inertia adjustment coefficient Km and viscosity adjustment coefficient Kd. This allows the operator to set the operating force to the desired operating force.

[0113] <If you want to set the resistance compensation amount to zero> Referring to Figures 10 and 11, if the operator wants to set the inertia force compensation to zero, they input an OFF command for the first switch SW1 from the input unit 507. Then, the control unit 504 turns off the first switch SW1, and the inertia force compensation becomes zero. Similarly, if the operator wants to set the viscous force compensation to zero, they input an OFF command for the second switch SW2 from the input unit 507. Then, the control unit 504 turns off the second switch SW2, and the viscous force compensation becomes zero. This makes it easy to set the operating force for each joint.

[0114] Therefore, the operator can finely and easily adjust the operating force to a level that is comfortable for them.

[0115] (Other embodiments) In the above embodiment, the arm portion 11 had three joints, but the arm portion 11 only needs to have one or more joints.

[0116] In the above embodiment, the wrist portion 12 had four joints, but the wrist portion 12 only needs to have one or more joints.

[0117] In the above embodiment, the rotational angular velocity and rotational angular acceleration were obtained from the rotation angle of the power transmission element, but the velocity (angular velocity) and acceleration (each acceleration) of the power transmission element may also be obtained using a velocity sensor and an acceleration sensor.

[0118] From the above description, many improvements and other embodiments will be apparent to those skilled in the art. Therefore, the above description should be interpreted as illustrative only. [Industrial applicability]

[0119] The input device for surgical manipulators of the present invention is useful as an input device for surgical manipulators that allows for precise setting of the operating force. [Explanation of Symbols]

[0120] 1 Main unit 2 Input devices 2A Right Input Device 2B Left Input Device 3. Support member 4 pedals 5 Display section 10 Master Arm 11 Arm section 12 List section 21 Base 22 Link 1 23 Second Link 24 Third Link 25. Oscillating member 26 Auxiliary Links 51-53 Bearings 62 Connecting member 71. Link 4 72. Link 5 73 Link 6 74 Control section 74a Finger insertion section 81-84 Bearings 100 Hand Controls 200 Robot-Assisted Surgical Systems 201 Positioner 202 Surgical Manipulator 203 Operating table 204 patients 401 Arm section 402 Surgical Tools 404 Link 501 Position calculation section 502 Gravity compensation amount calculation section 503 Resistance compensation calculation section 504 Control Unit 505 Servo Amplifier 506 Storage section 507 Input section A1-A7 1st to 7th moving axis lines A9~A11 9th to 11th rotation axis AG rotation angle CR drive current E1-E7: 1st to 7th rotation angle detectors G1-G4 Bevel Gear Mechanism JT1 to JT7: 1st to 7th joints M1 to M7: Motors 1 through 7 P Position of the control panel R1 to R7: 1st to 7th rotation axes R9 to R11: 9th to 11th rotation axes S1~S7 main shaft SP1 Tension coil spring SP2 Compression Coil Spring SW1 1st switch SW2 Second Switch

Claims

1. a master arm having a joint and provided at its tip with an operation unit operated by an operator; a motor that drives the joint of the master arm via a power transmission element; a controller that calculates a force compensation amount for at least one of an inertial force and a viscous force of the master arm based on at least one of a speed and an acceleration of the power transmission element that moves in response to operation of the operation unit by the operator, and controls operation of the motor to perform force compensation of the force compensation amount, The controller is configured to adjust a force compensation amount for at least one of the inertial force and the viscous force.

2. a storage device that stores a plurality of ranked force compensation amounts ranked in descending order of compensation amount, and an input device that designates one of the plurality of ranked force compensation amounts, 2. The input device for a surgical manipulator according to claim 1, wherein the controller is configured to adjust a force compensation amount for at least one of the inertial force and the viscous force to a ranked force compensation amount specified by the input device.

3. a storage device that stores a designated force compensation amount corresponding to each of the plurality of operators; and an input device that identifies the operator corresponding to the designated force compensation amount, 2. The input device for a surgical manipulator according to claim 1, wherein the controller is configured to adjust a force compensation amount for at least one of the inertial force and the viscous force to a specified force compensation amount corresponding to the operator identified by the input device.

4. 4. The input device of a surgical manipulator according to claim 1, wherein the controller comprises: a velocity acquisition unit that acquires a velocity of the power transmission element; an acceleration acquisition unit that acquires an acceleration of the power transmission element; a viscous force compensation amount calculation unit that calculates a force compensation amount for the viscous force based on the velocity of the power transmission element acquired by the velocity acquisition unit and the viscosity of the master arm; an inertia force compensation amount calculation unit that calculates a force compensation amount for the inertia force based on the acceleration of the power transmission element acquired by the acceleration acquisition unit and the inertia of the master arm; and a power converter that supplies power to the motor for force compensation of the force compensation amount for the viscous force and the force compensation amount for the inertia force.

5. the master arm has a plurality of the joints, the input device includes a plurality of power transmission elements; and a plurality of motors each driving a respective joint via the power transmission element; 5. The input device for a surgical manipulator according to claim 1, wherein the controller is configured to calculate, for each of the joints, a force compensation amount for at least one of an inertial force and a viscous force of a portion of the master arm driven by each joint, based on the velocity and acceleration of each of the power transmission elements that move in response to operation of the operating unit by the operator, and to control operation of each of the motors to perform force compensation for the force compensation amount.

6. 6. The input device of a surgical manipulator according to claim 5, wherein the controller is configured to adjust, for each of the joints, a force compensation amount for at least one of an inertial force and a viscous force of a portion of the master arm driven by each joint.

7. 7. The input device for a surgical manipulator according to claim 1, wherein the controller is further configured to control the operation of the motor so that the attitude of the master arm does not change due to gravity.

8. 8. The input device for a surgical manipulator according to claim 1, wherein the controller is further configured to calculate a position of the operating unit based on a position of the power transmission element that moves in response to operation of the operating unit by the operator, and to output the calculated position of the operating unit to the surgical manipulator.

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