Operation support device

Abstract

The operation assistance device of the present invention comprises an operation unit operated by an operator, an arm unit having a first movable part that can rotate around a first rotation axis and that changes the position and posture of the operation unit, and a support unit provided with a support surface on which a part of the forearm used by the operator to operate the operation unit is placed, and the first rotation axis is positioned at a position where the distance to the wrist of the operator is closer than to the operation unit when the operator operates the operation unit by rotating the wrist of the forearm around the rotation center with the forearm placed on the support surface.

Description

[Technical Field]

[0001] The present invention relates to a technique for an operation assistance device that assists operations such as surgery. [Background technology]

[0002] There are support devices that allow operators to perform more delicate operations. For example, in the medical field, there is a type of surgery called microsurgery, which requires delicate operations. In microsurgery, an operator may use equipment with a support function for operation when performing surgery on a patient (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 8] International Publication No. 2023 / 127025 Summary of the Invention [Problem to be solved by the invention]

[0004] The device described in Patent Document 1 is a surgery support system that includes a master device and a slave device, and by operating the master device, the slave device located at a remote location is operated to perform surgery on a patient. However, the devices operated by the surgeon tend to be larger, which causes problems such as limited installation space and the inability to place objects around the device. The present invention has been made in view of the above circumstances, and has as its object to reduce the size of the device and improve its usability. [Means for solving the problem]

[0005] The operation assistance device according to the present invention has an operation unit operated by an operator and a first movable unit that can rotate around a first rotation axis, and the position and posture of the operation unit can be changed. The end closest to the operating part is the tip part and the other end is the base part.and a placing section provided with a placing surface on which a part of a forearm used for the operation of the operation section by the operator is placed, the first rotation axis being positioned at a position where the distance to the wrist of the operator when the operation section is operated by rotating the wrist of the forearm around a rotation center in a state where the forearm of the operator is placed on the placing surface is closer than to the operation section, and the first movable section is the closest of a plurality of movable sections provided on the arm section. Base close to The moving part It is something. If the operation of the operating part by rotating the wrist around the center of rotation is defined as "wrist rotation operation," then according to the above-described configuration, the range in which the hand moves by the wrist rotation operation and the range in which the arm part moves by the wrist rotation operation overlap in many areas. [Effects of the Invention]

[0006] According to the present invention, the device can be made smaller and easier to use. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing an example of the configuration of a surgery assistance system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing an example of the configuration of a master device. [Figure 3] FIG. 10 is a block diagram showing an example of the configuration of a master device having units for right and left hands. [Figure 4] FIG. 2 is a block diagram showing a specific example of the configuration of a master device. [Figure 5] FIG. 2 is a perspective view showing an example of the configuration of a master device. [Figure 6] FIG. 10 is a perspective view showing a state in which the master device is being operated. [Figure 7] FIG. 10 is a perspective view in which a part is not shown in order to explain a second movable part in the master device. [Figure 8] FIG. 2 is a perspective view showing a first movable portion and its surroundings. [Figure 9] FIG. 10 is a perspective view in which a part near a first movable portion is not shown in order to explain a first rotation shaft. [Figure 10] FIG. 10 is a perspective view showing a state in which the first movable portion is rotated. [Figure 11] FIG. 4 is a schematic view illustrating a second movable portion. [Figure 12] FIG. 10 is a schematic view illustrating a third movable portion. [Figure 13] FIG. 10 is a schematic view showing a state in which the third movable portion has rotated. [Figure 14] 10 is a schematic diagram for explaining a fourth movable portion, a fifth movable portion, and a sixth movable portion. FIG. [Figure 15] FIG. 10 is a schematic perspective view for explaining a seventh movable portion. [Figure 16] FIG. 10 is a schematic view showing a state in which the seventh movable part is closed relative to the grip part. [Figure 17] FIG. 10 is a schematic view showing a state in which the seventh movable part is opened relative to the grip part. [Figure 18] FIG. 10 is a diagram illustrating a first rotation axis. [Figure 19] FIG. 10 is a diagram illustrating a first rotation axis. [Figure 20] 10A and 10B are diagrams showing the base portion before and after rotation relative to the armrest. [Figure 21] This is a diagram for explaining that the area where the surgeon's wrist and distal end may be located overlaps with the area where the base of the base may be located for the most part. [Figure 22] 10A and 10B are diagrams illustrating the positional relationship between the rotation center of the wrist, the operation unit, and the first rotation axis using different indicators. [Figure 23] 10A and 10B are diagrams showing modified examples of the configuration of the armrest. [Figure 24] FIG. 1 is a block diagram illustrating an example of the configuration of a simulation system. DETAILED DESCRIPTION OF THE INVENTION

[0008] <1. Operation support system configuration> The configuration of an operation support system S according to an embodiment will be described below with reference to the accompanying drawings. An example of an embodiment of the operation support system S is a surgery support system SA.

[0009] It should be noted that the configurations shown in the drawings are merely examples for realizing the present invention. Therefore, various modifications can be made depending on the design, etc., as long as they do not deviate from the technical concept of the present invention. Furthermore, to avoid duplication, the same reference numerals may be used to designate components that have already been described, and the description thereof may be omitted.

[0010] As shown in Fig. 1, the surgery support system SA is configured to include a master device 1A and a slave device 2A. The master device 1A and the slave device 2A are connected via a wired or wireless communication network NW such as the Internet. This allows the slave device 2A to receive information on input operations to the master device 1A, and also allows the master device 1A to receive information detected by the slave device 2A.

[0011] In the surgery support system SA, the various components of the slave device 2A are driven in response to the surgeon's operation of the master device 1A, and the surgery on the patient progresses.

[0012] The master device 1A is an operator who performs surgery and is used by a surgeon (doctor), while the slave device 2A is an apparatus installed in an operating room where a patient to be operated on lies down and actually performs surgery on the patient.

[0013] 2, the master device 1A includes an arm unit 4 and an operation unit 5 that is operated by an operator. The arm unit 4 is provided as a mechanism for changing the position and posture of the operation unit 5 based on the operation of the operator.

[0014] The slave device 2A also includes a holding mechanism for holding surgical tools such as forceps and a scalpel, and a variable mechanism for changing the position and posture of the holding mechanism. The configuration of the slave device 2A is not shown, but the variable mechanism of the slave device 2A changes each part so that the position and posture of the surgical tools held in the holding mechanism correspond to the position and posture of the operation unit 5 of the master device 1A. This allows the surgeon to freely control the surgical tools of the slave device 2A located at a distance by operating the operation unit 5 of the master device 1A.

[0015] The master device 1A and the slave device 2A are installed separately. The master device 1A and the slave device 2A may be installed in different rooms or in the same room. That is, the master device 1A and the slave device 2A may be installed in the same room and connected by wire.

[0016] In the following embodiment, illustration of the specific configuration of the slave device 2A will be omitted.

[0017] The configuration of the master device 1A will be described with reference to Fig. 2. In Fig. 2, only control-related components of the master device 1A are shown.

[0018] The master device 1A includes a master control unit 3, and the arm unit 4 and operation unit 5 that are controlled by the master control unit 3.

[0019] The master control unit 3 is configured with, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and realizes specified functions by having a processing unit such as a CPU execute programs stored in the ROM or programs loaded into the RAM.

[0020] The arm unit 4 is configured to include a plurality of movable units 6. The arm unit 4 further includes a drive unit 7 that drives the movable units 6, and a detection unit 8 that detects the amount of movement of the movable units 6.

[0021] Like the arm unit 4, the operation unit 5 also includes a movable unit 9, a drive unit 10, and a detection unit 11.

[0022] The movable part 6 of the arm part 4 and the movable part 9 of the operation part 5 are configured to be movable by rotation, etc. A part of the movable part 6 and the movable part 9 may be configured to be movable by a parallel link mechanism.

[0023] The drive unit 7 of the arm unit 4 and the drive unit 10 of the operation unit 5 are configured as actuators such as motors. The drive units 7 and 10 are driven to suppress natural rotation of the movable units 6 and 9 due to gravity. In other words, the drive units 7 and 10 are driven to maintain the position and posture of the operation unit 5 changed by the surgeon.

[0024] This allows the surgeon to easily maintain the operation unit 5 in the intended position and posture.

[0025] Furthermore, the driving units 7 and 10 are driven to reproduce the pressure and tactile sensations, such as resistance force, that the surgical tool of the slave device 2A receives, on the operation unit 5 of the master device 1A. This function is intended to provide feedback of the tactile sensation to the surgeon.

[0026] The master control unit 3 drives the drive units 7 and 10 by supplying control signals to the drive units 7 and 10, thereby realizing movement in the movable units 6 and 9. That is, the master control unit 3 functions as a drive control function F1.

[0027] The master control unit 3 also realizes a force feedback function F2 that provides tactile feedback. The force feedback function F2 may be realized as one aspect of the drive control function F1.

[0028] The master control unit 3 receives detection signals that detect the amounts of movement of the movable parts 6 and 9 from the detection units 8 and 11. The master control unit 3 calculates the amounts of movement of the movable parts 6 and 9 based on the detection signals received from the detection units 8 and 11, and converts them into amounts of movement of the corresponding movable parts in the slave device 2A. That is, the master control unit 3 functions as a movement amount calculation function F3. This conversion process may be performed in the slave device 2A.

[0029] In the slave device 2A, the corresponding movable part is moved in accordance with the converted movable amount.

[0030] It is conceivable that the master device 1A is operated by the surgeon with both hands. Specifically, the arm unit 4 and the operation unit 5 of the master device 1A may be provided for the right hand and for the left hand.

[0031] For example, as shown in FIG. 3, the master device 1A may include a master control unit 3, a right-hand arm unit 4R and a right-hand operation unit 5R, and a left-hand arm unit 4L and a left-hand operation unit 5L.

[0032] However, without being limited to this, the arm unit 4 and the operation unit 5 may be provided for the left foot and for the right foot. Furthermore, when there are multiple surgeons, the arm unit 4 and the operation unit 5 may be provided for surgeon A and for surgeon B. That is, various configurations of the arm unit 4 and the operation unit 5 are possible.

[0033] The right-hand arm 4R and right-hand operation unit 5R can be configured in the same manner as the left-hand arm 4L and left-hand operation unit 5L. Specifically, the exact same components are arranged at a distance from each other, with the arm 4 and operation unit 5 located on the left side of the surgeon being for the left hand, and the arm 4 and operation unit 5 located on the right side of the surgeon being for the right hand. This allows the arm 4 and operation unit 5 to be manufactured as the same parts, thereby reducing costs and allowing for the reuse of parts.

[0034] The configuration of right-hand arm 4R and right-hand operating unit 5R may be symmetrical to the configuration of left-hand arm 4L and left-hand operating unit 5L.

[0035] In the following description, the arm unit 4 and the operation unit 5 refer to the right-hand arm unit 4R and the right-hand operation unit 5R unless otherwise specified. The configurations of the left-hand arm unit 4L and the left-hand operation unit 5L are the same as those of the right-hand arm unit 4R and the right-hand operation unit 5R, so a description of them will be omitted.

[0036] <2. Master device configuration example> The arm unit 4 included in the master device 1A is configured to include a plurality of movable units 6. Specifically, as shown in Fig. 4, the arm unit 4 is provided with a first movable unit 6a, a second movable unit 6b, a third movable unit 6c, a fourth movable unit 6d, a fifth movable unit 6e, and a sixth movable unit 6f as movable units 6 corresponding to 6DoF (Six Degrees of Freedom).

[0037] The driving unit 7 of the master device 1A may be provided for each of the multiple movable units 6. However, some of the movable units 6 may not be provided with a corresponding driving unit 7. In the example shown in Fig. 4, the master device 1A is provided with only a first driving unit 7a corresponding to the first movable unit 6a, a second driving unit 7b corresponding to the second movable unit 6b, and a third driving unit 7c corresponding to the third movable unit 6c.

[0038] The detection units 8 of the master device 1A are provided for each of the multiple movable parts 6. Specifically, the master device 1A is provided with a first detection unit 8a corresponding to the first movable part 6a, a second detection unit 8b corresponding to the second movable part 6b, a third detection unit 8c corresponding to the third movable part 6c, a fourth detection unit 8d corresponding to the fourth movable part 6d, a fifth detection unit 8e corresponding to the fifth movable part 6e, and a sixth detection unit 8f corresponding to the sixth movable part 6f.

[0039] The operation unit 5 of the master device 1A has one movable part 9. The movable part 9 of the operation unit 5 is a movable part 9 that provides the master device 1A with a seventh degree of freedom, and will be hereinafter referred to as a seventh movable part 9g.

[0040] Similarly, the detector 11 included in the operation unit 5 will be referred to as a seventh detector 11g corresponding to the seventh movable portion 9g.

[0041] The operation unit 5 includes a seventh drive unit 10g corresponding to the seventh movable unit 9g as the drive unit 10, but this is not essential. In the following description, an example in which the operation unit 5 is provided with the seventh drive unit 10g will be described.

[0042] The master control unit 3 receives detection signals that detect the amount of movement of the first movable part 6a, the second movable part 6b, the third movable part 6c, the fourth movable part 6d, the fifth movable part 6e, the sixth movable part 6f and the seventh movable part 9g as the movable parts 6 from the first detection unit 8a, the second detection unit 8b, the third detection unit 8c, the fourth detection unit 8d, the fifth detection unit 8e, the sixth detection unit 8f and the seventh detection unit 11g.

[0043] The master control unit 3 converts these detection signals into values corresponding to the amount of movement of each moving part in the slave device 2A, and transmits the converted values to the slave device 2A.

[0044] The master control unit 3 supplies control signals to the first drive unit 7a, the second drive unit 7b, the third drive unit 7c, and the seventh drive unit 10g to move the first movable unit 6a, the second movable unit 6b, the third movable unit 6c, and the seventh movable unit 9g.

[0045] FIG. 5 is a perspective view of the master device 1A.

[0046] The master device 1A includes a master control unit 3 (not shown in FIG. 5), an arm unit 4 (shown), and an operation unit 5, as well as a frame unit 12 that supports the arm unit 4 and an armrest 13 attached to the frame unit 12.

[0047] The arm portion 4 is indirectly supported by the frame portion 12 by attaching the arm portion 4 to an armrest 13 attached to the frame portion 12. However, the arm portion 4 may be directly supported by the frame portion 12 by attaching the arm portion 4 to the frame portion 12.

[0048] In the following description, the up-down direction is described with the direction in which the arm portion 4 is attached to the frame portion 12 being the downward direction.

[0049] The frame portion 12 also comprises a mounting portion 14 extending horizontally and a pair of legs 15 extending downward from both ends of the mounting portion 14 .

[0050] In the following description, the direction in which the mounting portion 14 of the frame portion 12 extends is referred to as the left-right direction, and the directions perpendicular to the up-down direction and the left-right direction are referred to as the front-rear direction.

[0051] The upper surface of the armrest 13 is provided as a placement surface 13a.

[0052] As shown in Figure 6, the surgeon positions his or her body behind the frame unit 12, places the wrist of his or her right hand on the support surface 13a of the armrest 13, and grasps the rod-shaped operating unit 5.

[0053] The arm unit 4 and the operating unit 5 move left and right together with respect to the mounting portion 14 of the frame unit 12. The armrest 13 is attached to the frame unit 12 so as to move left and right together with the arm unit 4 and the operating unit 5. That is, the arm unit 4, the operating unit 5, and the armrest 13 slide left and right together with respect to the mounting portion 14.

[0054] Before performing surgery, the surgeon moves the arm portion 4, the operating portion 5, and the armrest 13 to a suitable position in the left-right direction, and then fixes the left-right positions of the arm portion 4, the operating portion 5, and the armrest 13 relative to the mounting portion 14 using a fixing means not shown. This makes it possible to prevent the arm portion 4, the operating portion 5 and the armrest 13 from accidentally sliding left and right relative to the mounting portion 14 during surgery, thereby preventing operational errors.

[0055] <2-1.Arm configuration example> The specific configuration of the arm unit 4 will be described with reference to the accompanying drawings. Figure 7 is a perspective view of the arm unit 4, seen from the opposite side in the left-right direction to that of Figure 5.

[0056] 5 and 7, the movable parts 6 of the arm part 4 are, in order from the base part 4a attached to the armrest 13 to the tip part 4b, the first movable part 6a, the second movable part 6b, the third movable part 6c, the fourth movable part 6d, the fifth movable part 6e, and the sixth movable part 6f. That is, the first movable part 6a is the movable part 6 of the arm part 4 that is closest to the base part 4a.

[0057] Specifically, the arm portion 4 comprises a base portion 16 which is attached to the armrest 13 and constitutes the base portion 4a, a first intermediate portion 17 which is provided closer to the tip portion 4b than the base portion 16, a second intermediate portion 18 which is provided further closer to the tip portion 4b than the first intermediate portion 17, a support portion 19 which constitutes the tip portion 4b and supports the operating unit 5, a first connecting portion 20 which connects the base portion 16 and the first intermediate portion 17, a second connecting portion 21 which connects the first intermediate portion 17 and the second intermediate portion 18, and a third connecting portion 22 which connects the second intermediate portion 18 and the support portion 19.

[0058] The first movable portion 6a of the arm portion 4 is provided as a portion that rotates relative to the armrest 13.

[0059] The second movable portion 6b is provided as a portion that rotates the first connection portion 20 relative to the base portion 16.

[0060] The third movable portion 6c is provided as a portion that rotates the second connecting portion 21 relative to the first intermediate portion 17.

[0061] The fourth movable portion 6d is provided as a portion that rotates the third connecting portion 22 relative to the second intermediate portion .

[0062] The fifth movable portion 6e is provided as a portion that can be rotated to change the positional relationship between the second intermediate portion 18 and the support portion 19 in the third connecting portion 22.

[0063] The sixth movable portion 6f is provided as a portion that rotates the operation portion 5 relative to the support portion 19.

[0064] <2-1-1. First movable part> First, the configuration of the first movable portion 6a will be specifically described.

[0065] Fig. 8 is a perspective view showing a part of the mounting portion 14 of the frame portion 12, the armrest 13, and the vicinity of the base portion 4a of the arm portion 4. Note that wiring and the like for moving the first movable portion 6a are omitted in Fig. 8. Wiring and the like for moving each movable portion 6 in the subsequent figures are also omitted.

[0066] The armrest 13 has a front portion 13b attached to the front side of the mounting portion 14, i.e., the surgeon side, and a rear portion 13c attached to the rear side of the mounting portion 14. The placing surface 13a is made up of the top surfaces of the front portion 13b and the rear portion 13c.

[0067] The resting surface 13a is a surface on which part of the surgeon's forearm is placed and on which part of the forearm slides when the surgeon moves the forearm, and therefore is desirably a surface with low friction.

[0068] Fig. 9 is a perspective view showing the rear portion 13c of the armrest 13 and the vicinity of the base portion 4a of the arm portion 4. That is, Fig. 9 is a view in which the attachment portion 14 and the front portion 13b in Fig. 8 are not shown.

[0069] As shown in FIG. 9, the armrest 13 has an insertion opening 23 in the form of a cylindrical hole that opens downward at the rear portion 13c.

[0070] The base 16 of the arm 4 includes a base 16a formed in a substantially box shape, and a cylindrical protrusion 24 that protrudes upward from the base 16a. The protrusion 24 is formed in a shape that prevents it from falling out of the insertion opening 23 downward when inserted into the insertion opening 23.

[0071] The arm portion 4 is supported by the armrest 13 by inserting the protruding portion 24 into the insertion opening 23 .

[0072] Furthermore, when inserted into the insertion opening 23, the protrusion 24 is rotatable in a direction D1 around a first rotation axis Ax1 which is a common axis for the insertion opening 23 and the protrusion 24.

[0073] 8, 9, and 10, when the protrusion 24 is inserted into the insertion opening 23, the protrusion 24 is rotated around the first rotation axis Ax1, causing the entire arm portion 4 to rotate around the first rotation axis Ax1 relative to the armrest 13. In other words, the protrusion 24 of the base portion 16 is provided as a first movable portion 6a that is movable relative to the armrest 13.

[0074] In addition, various configurations of the insertion opening 23 and the protrusion 24 are possible so that the entire arm portion 4 can be rotated around the first rotation axis Ax1 relative to the armrest 13 and the base portion 16 does not fall off from the armrest 13, and the example shown in the figure is merely one example.

[0075] As described above, the arm unit 4 includes the first drive unit 7a as a mechanism for rotating the arm unit 4 in the direction D1 around the first rotation axis Ax1. The clockwise direction of the direction D1 around the first rotation axis Ax1 when viewed from above is referred to as direction D1a, and the counterclockwise direction is referred to as direction D1b.

[0076] 8 and 9, the first drive unit 7a is provided to protrude downward from the front portion 13b of the armrest 13. The first drive unit 7a is, for example, a motor having a cylindrical drive shaft whose axial direction is in the up-down direction.

[0077] The base 16 has a portion that is the target of driving by the first drive unit 7a. Specifically, the base 16 has a lateral protrusion 25 formed at its lower end, which protrudes in the opposite direction to the extension direction of the first connection unit 20. In the following description, with respect to the base 16a of the base 16, the direction in which the first connection unit 20 extends is referred to as the depth direction, and the horizontal direction perpendicular to the depth direction is referred to as the width direction. In other words, the depth direction and the width direction are directions that change depending on the rotational state of the base 16 relative to the armrest 13. The lateral protrusion 25 is provided so as to protrude in the depth direction from the base 16a.

[0078] The lateral protrusion 25 has an outer peripheral surface 25a that forms an arc centered on the first rotation axis Ax1 and faces laterally.

[0079] A wire 26 is stretched along an arc on the outer peripheral surface 25a. One end of the wire 26 is attached to an end of the arc of the outer peripheral surface 25a, and the other end is attached to a drive shaft of a motor serving as the first drive unit 7a.

[0080] When the motor serving as the first driving unit 7a rotates in a predetermined direction, the wire 26 is wound around the shaft of the motor, causing the base unit 16 to rotate in the direction D1b around the first rotation axis Ax1, as shown in FIGS.

[0081] The base 16 is biased by a biasing member such as a spring (not shown) so as to rotate in direction D1a in the direction D1 around the first rotation axis Ax1 relative to the armrest 13. Therefore, when the motor serving as the first drive unit 7a rotates in the direction opposite to the predetermined direction, the wire 26 is released in accordance with the amount of rotation, and the base 16 is rotated in direction D1a, which is the biasing direction, by the biasing member such as a spring.

[0082] As described above, the amount of rotation of the base portion 16 relative to the armrest 13 can be detected by the first detection unit 8a. As shown in Fig. 9, the first detection unit 8a is provided in a coaxial cylindrical shape above the first drive unit 7a. The first detection unit 8a can detect the amount of drive or rotation of the first drive unit 7a, such as a motor. Note that the first detection unit 8a may be configured to detect the angle of the base portion 16 relative to the armrest 13, thereby being able to detect the amount of rotation of the base portion 16 relative to the armrest 13.

[0083] <2-1-2.Second movable part> Next, the second movable portion 6b will be described with reference to FIG. The second movable portion 6b is a connecting portion between the base portion 16 and the first connecting portion 20. In the following description, a diagram such as Figure 11, which is simpler than the above-mentioned drawings, will be referred to. 11 is a diagram showing a state seen from the opposite direction in the left-right direction to that of FIGS. 8 and 9. FIG.

[0084] Furthermore, in FIG. 11, the second intermediate portion 18, the support portion 19, and the second connection portion 21 of the arm portion 4, as well as the first drive portion 7a, the first detection portion 8a, etc. are not shown.

[0085] The base portion 16 is provided with two rod-shaped shaft portions 27, 27 that are provided closer to the tip portion 4b than the protruding portion 24. The two shafts 27 are spaced apart in the vertical direction, with their axial direction aligned with the width direction of the base 16a. The two shafts 27 are shaft 27a located on the top and shaft 27b located on the bottom.

[0086] The first connection portion 20 has two parallel links 28, 28. The two parallel links 28 are an upper parallel link 28a and a lower parallel link 28b.

[0087] Of the two shafts 27, the upper shaft 27a is attached with one end 28a1 of a parallel link 28a. Of the two shafts 27, the shaft 27b located at the lower position is attached with one end 28b1 of the parallel link 28b.

[0088] The parallel link 28a is rotatable relative to the shaft 27a in a direction around the axis of the shaft 27a. That is, the parallel link 28a is rotatable relative to the base 16a of the base 16 in a direction around the axis of the shaft 27a.

[0089] Similarly, the parallel link 28b is rotatable relative to the shaft 27b in the direction around the axis of the shaft 27b, and is thereby rotatable relative to the base 16a of the base 16 in the direction around the axis of the shaft 27b.

[0090] Two rod-shaped shafts 29, 29 are provided on the first intermediate portion 17. The axial direction of the shafts 29 coincides with the axial direction of the shafts 27, i.e., the width direction of the base 16a.

[0091] Of the two shafts 29, the upper shaft 29a is attached with the other end 28a2 of the parallel link 28a. Of the two shafts 29, the shaft 29b located at the lower position is attached with the other end 28b2 of the parallel link 28b.

[0092] The parallel link 28a is rotatable around the axis of the shaft portion 29a. That is, the parallel link 28a is rotatable relative to the first intermediate portion 17 around the axis of the shaft portion 29a.

[0093] Similarly, the parallel link 28b is rotatable around the axis of the shaft portion 29b, and is thereby rotatable relative to the first intermediate portion 17 around the axis of the shaft portion 29b.

[0094] Since the base portion 16 and the first intermediate portion 17 are connected by two parallel links 28a, 28b, the posture of the first intermediate portion 17 relative to the base portion 16 is maintained, and only the position of the first intermediate portion 17 relative to the base portion 16 is variable.

[0095] The first intermediate portion 17 rotates with respect to the base portion 16 around the approximate midpoint between the shaft portion 27a and the shaft portion 27b. That is, the shaft portion 27, one end 28a1 of the parallel link 28a, and one end 28b1 of the parallel link 28b are provided as the second movable portion 6b.

[0096] In FIG. 11, the state before the first intermediate portion 17 is rotated relative to the base portion 16 is shown by a solid line, and the state after the rotation is shown by a two-dot chain line.

[0097] The configuration of the second drive unit 7b for realizing the rotational movement of the second movable unit 6b will be described.

[0098] A rotating member 30, whose surface facing the width direction of the base 16a is formed as a sector-shaped surface, is attached to one end 28a1 of the parallel link 28a attached to the shaft 27a. The rotating member 30 is attached, for example, coaxially with the shaft 27a, and rotates integrally with the one end 28a1 around the axis of the shaft 27a.

[0099] A wire 31 is stretched along the side surface of the rotating member 30 that forms the arc. One end of the wire 31 is fixed to the rotating member 30 near one end of the arc.

[0100] The other end of the wire 31 is attached to a drive shaft of a second drive unit 7b such as a motor disposed on the outer periphery of the rotating member 30. In Fig. 11, the wire 31 is indicated by a thick solid line.

[0101] When the motor serving as the second driving unit 7b rotates in a predetermined direction, the wire 31 is wound around the shaft of the motor, causing the parallel link 28a to rotate in a predetermined direction D2a relative to the base 16a.

[0102] The parallel link 28a is biased by a biasing member such as a spring (not shown) so as to rotate in direction D2b, which is the opposite direction to direction D2a, relative to the base 16a. Therefore, when the motor serving as the second drive unit 7b rotates in the direction opposite to the predetermined direction, the wire 31 is released in accordance with the amount of rotation, and the parallel link 28a is rotated in direction D2b, which is the biasing direction, by the biasing member such as a spring.

[0103] The parallel link 28b is rotated in accordance with the rotation of the parallel link 28a relative to the base 16, and is thereby maintained in a parallel state with the parallel link 28a.

[0104] The amount of rotation of the parallel link 28a relative to the base 16a of the base 16 can be detected by the second detector 8b. As shown in FIG. 11, the second detector 8b is provided coaxially with the second driver 7b. The second detector 8b can detect the amount of drive or rotation of the second driver 7b, such as a motor. The second detector 8b may also be configured to detect the angle of the parallel link 28a relative to the base 16a.

[0105] <2-1-3.Third movable part> Next, the third movable portion 6c will be described with reference to Fig. 12. The third movable portion 6c is a connecting portion between the first intermediate portion 17 and the second connecting portion 21.

[0106] FIG. 12 shows the configuration related to the third movable portion 6c, which is omitted in FIG.

[0107] One end 32a1 of a parallel link 32a is further attached to a shaft 27a attached to the base 16a and extending in the width direction of the base 16a.

[0108] The shaft portion 29a attached to the first intermediate portion 17 is further attached with one end portion 32b1 of a parallel link 32b that is parallel to the parallel link 32a.

[0109] The other end 32a2 of the parallel link 32a and the other end 32b2 of the parallel link 32b each have a shaft-like portion that protrudes in the width direction of the base 16a.

[0110] One end 28c1 and the other end 28c2 of parallel link 28c, which is parallel to parallel link 28a, are attached to the shaft-shaped portion formed at the other end 32a2 of parallel link 32a and the shaft-shaped portion formed at the other end 32b2 of parallel link 32b, respectively.

[0111] That is, when viewed from the side, the parallel linkages 28a, 28c, 32a, and 32b form the sides of a parallelogram.

[0112] One end 28c1 of the parallel link 28c is rotatable in the circumferential direction relative to a shaft formed on the other end 32a2 of the parallel link 32a. In other words, the angle formed between the parallel link 28c and the parallel link 32a when viewed from the side is variable.

[0113] The other end 28c2 of the parallel link 28c is rotatable in the circumferential direction with respect to a shaft-like portion formed on the other end 32b2 of the parallel link 32b.

[0114] In addition to shaft portions 29a and 29b, shaft portion 29c formed in a rod shape is provided in first intermediate portion 17. The axial direction of shaft portion 29c is the same as that of shaft portions 29a and 29b, and is the width direction of base portion 16a.

[0115] The second connecting portion 21 connecting the first intermediate portion 17 and the second intermediate portion 18 has two parallel links 33. The two parallel links 33 are a parallel link 33a positioned relatively close to the base portion 16 and a parallel link 33b positioned relatively far from the base portion 16.

[0116] One end 33a1 of the parallel link 33a is connected to one end 32b1 of the parallel link 32b. In the example shown in Fig. 12, the parallel link 32b and the parallel link 33a are located on opposite sides of the shaft 29a in the circumferential direction of the shaft 29a. The parallel link 32b and the parallel link 33a are rotated together in the direction around the axis of the shaft 29a.

[0117] One end 33b1 of the parallel link 33b is rotatably attached to the shaft portion 29c.

[0118] The second intermediate portion 18 is provided with two rod-shaped shafts 34 extending in the width direction of the base portion 16a. The two shafts 34 are shaft 34a located relatively close to the base portion 16 and shaft 34b located relatively far from the base portion 16.

[0119] The other end 33a2 of the parallel link 33a is rotatably attached to the shaft portion 34a. The other end 33b2 of the parallel link 33b is rotatably attached to the shaft portion 34b.

[0120] The movement of the third movable portion 6c will be described. The parallel link 32a is rotatable relative to the shaft portion 27a in a direction around the axis of the shaft portion 27a.

[0121] When the parallel link 32a rotates in one direction around the axis of the shaft portion 27a, the parallel link 28c moves in the approximately forward direction in conjunction with the rotation, and further the parallel link 32b rotates in the direction around the axis of the shaft portion 29a.

[0122] When the parallel link 32b is rotated in the direction around the axis of the shaft portion 29a, the parallel link 33a is also rotated in the direction around the axis of the shaft portion 29a.

[0123] 13, the second intermediate portion 18 rotates with respect to the first intermediate portion 17 around the approximate midpoint between the shaft portions 29a and 29c. Note that, because the first intermediate portion 17 and the second intermediate portion 18 are connected by two parallel links 33a and 33b, the posture of the second intermediate portion 18 with respect to the first intermediate portion 17 is maintained, and only the position of the second intermediate portion 18 with respect to the first intermediate portion 17 is variable.

[0124] As can be seen from the above, the shaft portion 29a, the shaft portion 29c, one end portion 33a1 of the parallel link 33a, and one end portion 33b1 of the parallel link 33b are provided as the third movable portion 6c.

[0125] The configuration of the third drive unit 7c for realizing the rotational movement of the third movable unit 6c will be described.

[0126] A rotating member 35, the surface of which facing the width direction of the base 16a is formed as a fan-shaped surface, is attached to one end 32a1 of the parallel link 32a attached to the shaft 27a. The rotating member 35 is attached, for example, coaxially with the shaft 27a, and rotates integrally with the one end 32a1 around the axis of the shaft 27a.

[0127] The rotating member 35 is a member different from the rotating member 30 described in the configuration of the second driving portion 7b.

[0128] For example, a rotating member 30 is provided on one side surface of the base 16a in the width direction, and a rotating member 35 is provided on the other side surface.

[0129] 12 and 13, the rotating member 30 is not shown, but the rotating member 35 is shown.

[0130] A wire 36 is stretched along the side surface of the rotating member 35 that forms the arc. One end of the wire 36 is fixed to the rotating member 35 near one end of the arc.

[0131] The other end of the wire is attached to the drive shaft of a third drive unit 7c such as a motor disposed on the outer periphery of the rotating member .

[0132] When the motor serving as the third drive unit 7c rotates in a predetermined direction, the wire 36 is wound around the shaft of the motor. The rotating member 35 rotates around the axis of the shaft 27a, and one end 32a1 of the parallel link 32a rotates around the axis of the shaft 27a. As a result, the parallel link 32a rotates in the predetermined direction D3a relative to the base 16a, changing from the state shown in FIG. 12 to the state shown in FIG. 13.

[0133] The parallel link 32a is biased by a biasing member such as a spring (not shown) so as to rotate in direction D3b, which is the opposite direction to direction D3a, relative to the base 16a. Therefore, when the motor serving as the third drive unit 7c rotates in the direction opposite to the predetermined direction, the wire 36 is released in accordance with the amount of rotation, and the parallel link 32a is rotated in direction D3b, which is the biasing direction, by the biasing member such as a spring.

[0134] The amount of rotation of the parallel link 32a relative to the base 16a of the base 16 can be detected by the third detector 8c. As shown in FIGS. 12 and 13, the third detector 8c is provided coaxially with the third drive unit 7c. The third detector 8c can detect the amount of drive or rotation of the third drive unit 7c, such as a motor. The third detector 8c may also be configured to detect the angle of the parallel link 32a relative to the base 16a.

[0135] The third movable portion 6c, together with the first movable portion 6a and the second movable portion 6b, is a movable portion 6 that is provided mainly to change the position of the operation portion 5.

[0136] The positions of the shaft 29a, the shaft 29c, one end 33a1 of the parallel link 33a, and one end 33b1 of the parallel link 33b, which constitute the third movable portion 6c, are located horizontally apart from the point at which the arm portion 4 is supported by the armrest 13. The point at which the arm portion 4 is supported by the armrest 13 is the point at which the protrusion 24 and the insertion opening 23 are connected.

[0137] On the other hand, the position of the third drive unit 7c such as a motor used to move the third movable unit 6c is near the connection point between the protrusion 24 and the insertion opening 23 in the horizontal direction.

[0138] The third drive unit 7c, such as a motor, is generally heavy. Therefore, the greater the horizontal distance between the third drive unit 7c and the connection point between the protrusion 24 and the insertion opening 23, the greater the force that tends to rotate the first intermediate unit 17 and the second intermediate unit 18 downward due to the principle of leverage, i.e., the greater the force that tends to rotate the first intermediate unit 17 in direction D2b, making it difficult to maintain the positions of the first intermediate unit 17 and the units disposed distal to it. Furthermore, the driving force of the third driving unit 7c required to maintain or assist the position of the first intermediate unit 17 and the units disposed distally therefrom also increases, resulting in an increase in the size of the third driving unit 7c.

[0139] To avoid such a vicious cycle, the third drive unit 7c is disposed in a position near the connection point between the protrusion 24 and the insertion opening 23, in other words, directly below the rear portion 13c of the armrest 13. This reduces the force of gravity that tends to rotate the first intermediate portion 17 in the direction D2b, and further allows the third drive portion 7c to be made smaller.

[0140] <2-1-4.Fourth movable part> The fourth movable portion 6d will be described with reference to FIG. The fourth movable portion 6d is a connecting portion between the second intermediate portion 18 and the third connecting portion 22.

[0141] In FIG. 14, the base portion 16, the first intermediate portion 17, and the first connecting portion 20 are omitted from the illustration.

[0142] The second intermediate portion 18 is formed with a cylindrical engaging protrusion 37 that protrudes upward. Note that "upward" here refers to the direction in which the engaging protrusion 37 protrudes when the arm portion 4 is in the position shown in Fig. 14. Therefore, depending on the position of the arm portion 4, the protruding direction of the engaging protrusion 37 is not necessarily upward, but may be diagonally upward.

[0143] The third connecting portion 22 includes a mounting base portion 38 attached to the second intermediate portion 18, and two links. The two links 39 included in the third connecting portion 22 are a base-end link 39a formed in a rod shape extending from the mounting base portion 38, and a distal-end link 39b connecting the base-end link 39a and the support portion 19.

[0144] A through hole 38a is formed in the mounting base portion 38 in the thickness direction at approximately the center thereof. The mounting base portion 38 is attached to the second intermediate portion 18 with the engaging protrusion 37 inserted into the through hole 38a.

[0145] The mounting base portion 38 is rotatable relative to the second intermediate portion 18 in a direction D4 around the axis of the engaging protrusion 37.

[0146] That is, the engaging protrusion 37 of the second intermediate portion 18 and the mounting base portion 38 having the through hole 38a are provided as a fourth movable portion 6d.

[0147] Inside the second intermediate portion 18, a fourth detection portion 8d is provided which is capable of detecting the angle or amount of rotation of the mounting base portion 38 relative to the second intermediate portion 18.

[0148] The location where the fourth detector 8d is provided is not limited to the inside of the second intermediate portion 18, but may be any location where the angle or amount of rotation of the mount portion 38 relative to the second intermediate portion 18 can be detected.

[0149] <2-1-5.Fifth moving part> The fifth movable portion 6e is provided as a portion that changes the positional relationship between the second intermediate portion 18 and the support portion 19 in the third connecting portion 22. This will be specifically described with reference to FIG.

[0150] Specifically, one end 39a1 of the base end link 39a is connected to the mounting base 38. The other end 39a2 of the base end link 39a has a cylindrical shaft portion extending laterally.

[0151] The distal link 39b has one end 39b1 rotatably attached to a shaft formed on the other end 39a2 of the proximal link 39a, and the other end 39b2 attached to the support portion 19.

[0152] The distal link 39b can rotate relative to the proximal link 39a in a direction D5 around the axis of the shaft portion provided at the other end 39a2. That is, the angle Ang1 formed between the proximal link 39a and the distal link 39b is variable.

[0153] The other end 39a2 of the proximal link 39a and one end 39b1 of the distal link 39b are provided as a fifth movable portion 6e.

[0154] A fifth detector 8e capable of detecting the angle or amount of rotation of the distal link 39b relative to the proximal link 39a is provided at the connection between the proximal link 39a and the distal link 39b.

[0155] <2-1-6.Sixth moving part> The sixth movable portion 6f is a connecting portion between the support portion 19 and the operation portion 5. A specific description will be given with reference to FIG.

[0156] The support portion 19 is formed with a cylindrical mounting protrusion 40 that extends in the opposite direction to the distal link 39b.

[0157] The operation unit 5 includes a pen-shaped grip portion 41 and a connecting portion 42 that connects the grip portion 41 and the support portion 19 together.

[0158] The connecting portion 42 has an insertion hole 42 a formed therein into which the mounting protrusion 40 of the support portion 19 is inserted.

[0159] With the mounting protrusion 40 of the support part 19 inserted into the insertion hole 42a, the connecting part 42 is rotatable relative to the support part 19 in a direction D6 around the axis of the mounting protrusion 40. The grip part 41 is rotated integrally with the connecting part 42 relative to the support part 19.

[0160] The grip portion 41 of the operation portion 5 is disposed coaxially with the mounting protrusion 40. Therefore, the grip portion 41 rotates in a direction around the central axis of the grip portion 41.

[0161] Inside the support portion 19, a sixth detection portion 8f capable of detecting the angle or rotation amount of the operation portion 5 with respect to the support portion 19 is provided.

[0162] The sixth detector 8f may be provided at any position other than the inside of the support 19, as long as it is capable of detecting the angle or rotation amount of the operation unit 5 relative to the support 19.

[0163] The sixth movable portion 6f, together with the fourth movable portion 6d and the fifth movable portion 6e, is provided mainly to change the attitude of the operation portion 5.

[0164] <2-1-7. Seventh moving part> The seventh movable part 9g included in the operation unit 5 will be described with reference to Figures 15, 16, 17, etc. Figures 15, 16, and 17 show only the operation unit 5 and the support part 19 out of the parts included in the master device 1A.

[0165] The grip portion 41 of the operation unit 5 is formed with a claw portion 43 that protrudes outward from the vicinity of the center of the grip portion 41 .

[0166] The claw portion 43 is provided to protrude obliquely from the grip portion 41 so as to move away from the central axis of the grip portion 41 as it approaches the support portion 19 .

[0167] 15 to 17, the distance between the tip 43a of the claw portion 43 and the grip portion 41 is variable. In other words, the angle formed between the grip portion 41 and the claw portion 43 is variable. The connecting portion of the gripping portion 41 to the claw portion 43 is provided as a seventh movable portion 9g.

[0168] 18, the surgeon can operate the gripping portion 41 by holding it in the palm of his / her hand and pressing the claw portion 43 with his / her index finger or the like. In other words, the gripping portion 41 and the claw portion 43 can reproduce the action of picking up an object with tweezers. In response to this pinching action, forceps as a surgical tool held by the slave device 2A can be used to pick up an affected area or the like, and a scalpel as a surgical tool held by the slave device 2A can be used to cut off the affected area, etc.

[0169] The operation unit 5 is provided with a drive unit 10g that drives the seventh movable unit 9g to realize the force sense providing function F2. Specifically, an arrangement recess 44 that is open on three of the four sides perpendicular to the rotation axis of the sixth movable part 6f is formed in the connecting part 42. A seventh driving part 10g such as a motor is attached to the arrangement recess 44.

[0170] A shaft insertion hole 44a into which the drive shaft of the seventh drive unit 10g is inserted is formed in the arrangement recess 44. The shaft insertion hole 44a is formed as a hole that penetrates in a direction perpendicular to the rotation axis of the sixth movable unit 6f.

[0171] The operating unit 5 is provided with a transmission unit 45 that transmits power from the drive shaft of the seventh drive unit 10g. The transmission unit 45 is made up of a first surface 45a and a second surface 45b, and the first surface 45a and the second surface 45b extend in directions perpendicular to each other to form an L-shape.

[0172] One end of the first surface portion 45a is connected to the tip end of the claw portion 43, and the other end is provided continuous with the second surface portion 45b.

[0173] The second surface portion 45b has one end provided continuous with the second surface portion 45b and the other end formed with a driven surface 45c that forms an arc with the base end of the claw portion 43 as its center.

[0174] A portion of driven surface 45c faces the outer circumferential surface of the drive shaft of seventh drive unit 10g. A wire 46 is stretched along the arc of driven surface 45c. One end of wire 46 is attached to an end of the arc of driven surface 45c, and the other end is attached to the drive shaft of a motor serving as seventh drive unit 10g.

[0175] By driving the seventh driving unit 10g or by an operation by the surgeon, the transmission unit 45 and the claw unit 43 are rotated integrally with the base end of the claw unit 43 as the rotation center.

[0176] For example, when the motor serving as the seventh driving unit 10g rotates in a predetermined direction, the wire 26 is wound around the shaft of the motor, which causes the transmission unit 45 and the claw 43 to rotate integrally around the base end of the claw 43 as the rotation center, and the tip of the claw 43 transitions to a state in which it is separated from the gripping unit 41, as shown in Figures 16 and 17 .

[0177] When the surgeon pushes the claw portion 43, whose tip is separated from the gripping portion 41, closer to the gripping portion 41, the claw portion 43 transitions from a state separated from the gripping portion 41 to a state closer to the gripping portion 41, as shown in Figures 17 to 16.

[0178] At this time, the master control unit 3 causes the seventh drive unit 10g to express the force sensation presentation function F2 by changing the driving force of the motor serving as the seventh drive unit 10g in accordance with the resistance received by the surgical instrument to be operated, such as forceps, held in the slave device 2A.

[0179] A seventh detection unit 11g capable of detecting the angle and rotation amount of claw portion 43 relative to grip portion 41 is provided inside grip portion 41 of operation unit 5. The location where seventh detection unit 11g is provided is not limited to the inside of grip portion 41, as long as it is provided at a position where the angle and rotation amount of claw portion 43 relative to grip portion 41 can be detected.

[0180] <3. First rotation axis> The first rotation axis Ax1, which is an axis related to the movement of the first movable part 6a and serves as a rotation axis when the base part 16 rotates relative to the armrest 13, will be described with reference to the attached drawings.

[0181] 9 and 19 , the first rotation axis Ax1 is an axis that extends in the vertical direction and passes through the armrest 13. More specifically, the first rotation axis Ax1 is an axis that passes through the back portion 13c of the armrest 13.

[0182] The first rotation axis Ax1 can also be considered to be an axis that passes inside the outer shape of the armrest 13 when viewed from above. In other words, the first rotation axis Ax1 may be an axis that passes through the mounting portion 14 of the frame portion 12 that is provided between the front portion 13b and the rear portion 13c.

[0183] 20 shows the base portion 16 before and after rotation relative to the armrest 13. Note that the operation of rotating the base portion 16 relative to the armrest 13 is referred to as a first rotation operation. The solid line portion in FIG. 20 indicates the state before the first rotation operation, and the dashed line portion indicates the state after the first rotation operation.

[0184] The center of rotation CoR of the surgeon's arm when the first rotation operation is performed is, for example, near the wrist.

[0185] 19, the first rotation axis Ax1 is closer to the rotation center CoR than to the operation unit 5. Specifically, if the distance between the first rotation axis Ax1 and the rotation center CoR is a distance DT1 and the distance between the rotation center CoR and the operation unit 5 is a distance DT2, the distance DT1 is shorter than the distance DT2.

[0186] This causes the area Ar1 where the surgeon's wrist and other parts of the body may be present during the first rotation operation to overlap with the majority of the area Ar2 where the base 16a of the base 16 may be present when viewed from above (see Figure 21).

[0187] For example, when a master device 1A is used to operate a slave device 2A located remotely to perform surgery, various devices such as the slave device 2A and a monitor that displays the state of the patient are installed near the master device 1A. These various devices must be positioned and installed near the master device 1A so as not to interfere with the first rotation operation. Specifically, the various devices must be installed at a position that does not interfere with at least either area Ar1 or area Ar2.

[0188] By making the areas Ar1 and Ar2 overlap for the most part, the installation location of the master device 1A can be kept compact. That is, the number of options for areas where various devices can be installed, i.e., positions that do not overlap either area Ar1 or area Ar2, increases, providing a suitable operating environment.

[0189] In other words, the position of the first rotation axis Ax1 is closer to the rotation center CoR than the grip portion P1 of the grip part 41 of the operation part 5. Specifically, as shown in FIG. 22, if the distance between the gripping portion P1 of the gripping portion 41 that is gripped by the surgeon's thumb and index finger and the center of rotation CoR is defined as distance DT3, distance DT1 is set shorter than distance DT3.

[0190] <4. Modifications> In the example described above, the master device 1A is not provided with the driving units 7 corresponding to the fourth movable unit 6d, the fifth movable unit 6e, and the sixth movable unit 6f. Alternatively, drive units 7 may be provided corresponding to the fourth movable unit 6 d, the fifth movable unit 6 e, and the sixth movable unit 6 f, respectively. In this case, pressure such as resistance force received by the surgical tool of the slave device 2A and tactile sensation are fed back to the surgeon by driving not only the first movable unit 6 a, the second movable unit 6 b, and the third movable unit 6 c, but also the fourth movable unit 6 d, the fifth movable unit 6 e, and the sixth movable unit 6 f.

[0191] In the example described above, the armrest 13 is divided into a front portion 13b and a rear portion 13c, and the placement surface 13a is the upper surface of each of the front portion 13b and the rear portion 13c. In addition, the upper surface of the mounting portion 14 of the frame portion 12 is also a portion on which the surgeon's hand or the like can be placed.

[0192] In this case, the surgeon may feel the step between the front portion 13b and the attachment portion 14 or the step between the back portion 13c and the attachment portion 14, which may affect the operation.

[0193] 23, armrest 13 has front portion 13b, rear portion 13c, and upper surface portion 13d arranged to cover front portion 13b, rear portion 13c, and part of frame portion 12. Placement surface 13a is the upper surface of upper surface portion 13d.

[0194] This allows the surgeon to smoothly move his / her hand placed on the placement surface 13a without feeling any difference in level between the front portion 13b, the attachment portion 14, and the back portion 13c.

[0195] The top surface portion 13d may be formed separately from the front portion 13b and the back portion 13c, and may be attached to the front portion 13b and the back portion 13c from above. Alternatively, the top surface portion 13d may be formed integrally with the front portion 13b and the back portion 13c.

[0196] The movable parts 6 and 9 provided in the respective parts of the master device 1A described above may each be provided with a restriction mechanism for restricting the movable parts 6 and 9 to only rotate within a predetermined angle.

[0197] For example, in the case of the first movable part 6a, a regulated protrusion that protrudes upward is provided on the base part 16a of the base part 16, and a regulating recess that is an arc-shaped groove is provided in the rear part 13c of the armrest 13 at a position corresponding to the regulated protrusion. The armrest 13 and the base part 16 are assembled by engaging the regulated protrusion provided on the base part 16a with the regulating recess provided in the rear part 13c, thereby limiting the rotation range of the base part 16 relative to the armrest 13 according to the length of the regulating recess groove. A similar mechanism can be applied to the other movable parts 6 and 9, such as the second movable part 6b and the third movable part 6c.

[0198] The restricting mechanism may be a combination other than a protrusion and a recess, such as a configuration in which plate-like protrusions interfere with each other to restrict the range of rotation.

[0199] The surgery support system SA may be configured so that the amount of operation by the surgeon on the master device 1A and the amount of movement in the slave device 2A can be freely scaled.

[0200] For example, when the operation amount in the master device 1A is set to 1 millimeter, the movement amount of the corresponding movable part in the slave device 2A may be set to 1 micrometer. Furthermore, when the operation on the master device 1A is a rotation operation of 10 degrees, the corresponding movable part on the slave device 2A may be rotated by 1 degree.

[0201] <5. Application Examples> In the above example, the master device 1A is used by an operator such as a doctor to perform surgery using the slave device 2A.

[0202] However, the master device 1A can be used as various devices. For example, the operation support system S may include a slave device 2A that realizes machining that requires delicate work, and a master device 1A that issues operation instructions to the slave device 2A.

[0203] Alternatively, the master device 1A and the slave device 2A may be used as a drawing device for drawing a detailed picture. By moving the brush held by the slave device 2A based on an operation on the master device 1A, it becomes possible to create a detailed picture.

[0204] Furthermore, the master device 1A is not limited to being provided as a pair with the slave device 2A. For example, a controller device 1B, which is a modified example of the master device 1A, may be provided as an input device for a computer device. For example, a simulation system SB, which is one aspect of the operation support system S, may include, as shown in FIG. 24, a controller device 1B provided as an instruction device in a virtual space that imitates real space, an arithmetic processing device 51 that performs various calculations based on operations on the controller device 1B, and a display device 52 that displays the calculation results of the arithmetic processing device 51.

[0205] The simulation system SB of this embodiment is, for example, a surgery simulation system used to improve surgical skills. That is, an operator who wants to improve his or her surgical skills operates the controller device 1B while recognizing a virtual patient displayed on the display device 52.

[0206] The arithmetic processing device 51 calculates the positions and orientations of the forceps, scalpel, etc. in the virtual space based on the operation on the controller device 1 B. Then, an image to be displayed on the display device 52 is generated based on the calculation results.

[0207] The image generated by the arithmetic processing device 51 is transmitted to the display device 52 and displayed on the display unit. This allows the operator to understand the results of his or her operation by visually checking the image displayed on the display unit of the display device 52.

[0208] Alternatively, the simulation system SB may be a game system in which the objective is to achieve a predetermined goal in a virtual space. That is, a game user uses the controller device 1B as a controller for an object to be operated, such as a character, in the virtual space displayed on the display device 52.

[0209] The arithmetic processing device 51 performs arithmetic processing based on input information to the controller device 1B, and reflects the results in the virtual space. The arithmetic processing device 51 generates an image of the virtual space reflecting the arithmetic processing results, and provides it to the display device 52. The display device 52 displays the image supplied from the arithmetic processing device 51 on the display unit as a result of the input to the controller device 1B.

[0210] By visually checking the image displayed on the display device 52, the game user can understand the results of his or her own operation.

[0211] <6. Summary> The operation support device, which serves as the master device 1A provided in the above-mentioned surgical support system SA or the controller device 1B provided in the simulation system SB, comprises an operation unit 5 operated by an operator (surgeon or game user), an arm unit 4 having a first movable part 6a that can rotate around a first rotation axis Ax1 and that can change the position and posture of the operation unit 5, and a support unit (armrest 13) provided with a support surface 13a on which part of the forearm used by the operator to operate the operation unit 5 is placed, and the first rotation axis Ax1 is positioned at a position where the distance to the wrist of the operator is closer than that of the operation unit 5 when the operator operates the operation unit 5 by rotating the wrist of the forearm around the rotation center CoR with the forearm placed on the support surface 13a. If the operation of the operating unit 5 by rotating the wrist around the center of rotation is defined as "wrist rotation operation," then according to the above-described configuration, the range Ar1 in which the hand moves by the wrist rotation operation and the range in which the arm unit 4 moves by the wrist rotation operation (for example, the range Ar2 in which 16a moves) overlap in many areas. Therefore, the range of movement of the operation assistance device and the operator can be made compact, and the operation assistance device can be installed in a smaller space.

[0212] As described with reference to FIG. 19 and the like, in the operation support device serving as the master device 1A or the controller device 1B, the first rotation axis Ax1 may be an axis passing through the placement surface 13a. This makes it possible to realize a configuration in which the range of movement of the operation assistance device and the operator is kept compact, and the operation assistance device can be installed in a smaller space.

[0213] As described with reference to FIG. 19 and the like, in the operation support device serving as master device 1A or controller device 1B, first rotation axis Ax1 may be an axis perpendicular to placement surface 13a. As a result, the area Ar1 for the wrist and the area Ar2 for the base 16a of the arm 4 are areas that extend in the horizontal direction. In such a case, by setting the first rotation axis Ax1 so that the areas Ar1 and Ar2 overlap for the most part, the effect of being able to secure a larger installation space for various devices to be placed around the operation assistance device can be maximized.

[0214] As described with reference to FIG. 7 and the like, the first movable part 6a in the operation assistance device as the master device 1A or the controller device 1B may be provided on the opposite side of the placement surface 13a with respect to the placement part (armrest 13). This makes it possible to adopt a configuration in which no structure is provided directly above the placement section, which means that there is no need to provide a structure that would hinder the surgeon or other person from checking the area at hand, making it easier for the operator to operate the device.

[0215] As explained with reference to FIG. 7 etc., the mounting portion (armrest 13) in the operation assistance device as the master device 1A or the controller device 1B has a connection portion (insertion opening 23) to which the arm portion 4 is connected on the opposite side of the mounting surface 13a, and the first movable portion 6a may be provided at the position closest to the connection portion among the multiple movable portions 6 provided on the arm portion 4, i.e., on the base portion 4a side. This makes it easy to set the first rotation axis Ax1 at a position close to the rotation center CoR.

[0216] As described with reference to FIG. 1 etc., the operation assistance device may be provided as a master device 1A that remotely operates a slave device 2A. This allows the master device 1A for moving the movable part 9 of the slave device 2A located in a remote location to be housed compactly.

[0217] As described with reference to FIG. 5 etc., the operation assistance device as the master device 1A or the controller device 1B includes a frame portion 12 to which a mounting portion (armrest 13) is attached, and the position of the mounting portion relative to the frame portion 12 is variable, and the arm portion 4 may be positioned in a position corresponding to the position of the mounting portion relative to the frame portion 12. That is, the arm portion 4 and the operation portion 5 may be attached to the attachment portion 14 of the frame portion 12 so as to be slidable as a single unit. This makes it possible to move the arm unit 4 and the operating unit 5 to positions that are easy for an operator such as a surgeon to operate, thereby enabling suitable assistance for delicate operations. In particular, when a right-hand arm portion 4R and a left-hand arm portion 4L are provided, the distance between the right-hand arm portion 4R and the left-hand arm portion 4L can be adjusted to suit individual differences, thereby improving ease of operation. It is noted that only one of the right-hand arm portion 4R and the left-hand arm portion 4L may be movably attached to the attachment portion 14.

[0218] 3 and the like, the operation support device as the master device 1A or the controller device 1B may be provided with an operation unit 5, an arm unit 4, and a placement unit (armrest 13) for the right and left hands, respectively. That is, the surgery support system SA may be provided with a right-hand operation unit 5R, a right-hand arm unit 4R, and a right-hand armrest 13, and a left-hand operation unit 5L, a left-hand arm unit 4L, and a left-hand armrest 13. This makes it possible to suitably assist in surgery or work performed with both hands. Also, the range of motion of the arm unit 4 and operation unit 5 for the right hand and the arm unit 4 and operation unit 5 for the left hand are kept compact, making it less likely that parts for the right hand and parts for the left hand will interfere with each other. This makes it easier to arrange parts for the right hand and parts for the left hand, and also prevents the master device 1A and controller device 1B from becoming too large overall.

[0219] As explained with reference to Figure 24 etc., the operation assistance device may be provided as a controller (controller device 1B) in a simulation system SB that includes a controller and an arithmetic processing device 51 that performs calculations based on operations on the controller and displays the results on a display device 52. This allows the operation support device (controller device 1B) in the simulation system to be housed compactly, and reduces restrictions on installation.

[0220] The various examples described above can be combined in any way. [Explanation of symbols]

[0221] S Operation Support System SA Surgery Support System SB Simulation System 1A Master device (operation support device) 1B Controller device (operation support device) 2A Slave Device 4 Arm section 4L Left-hand arm (arm) 4R Right-hand arm (arm) 5 Control section 5L Left hand operation unit (operation unit) 5R Right hand operation section (operation section) 6a First moving part 12 Frame section 13 Armrest (resting area) 13a Placement surface 23 Insertion port (connection part) Ax1 First rotation axis CoR Center of rotation

Claims

1. an operation unit operated by an operator; an arm portion having a first movable portion that is rotatable around a first rotation axis, and capable of varying the position and posture of the operation portion, the arm portion having one end that is closer to the operation portion as a tip portion and the other end as a base portion; a placing unit provided with a placing surface on which a part of a forearm used by the operator to operate the operation unit is placed, the first rotation axis is located at a position where, when the operator places the forearm on the placement surface and operates the operation unit by rotating the forearm around the wrist as a rotation center, the first rotation axis is closer to the wrist than to the operation unit, The first movable portion is the movable portion closest to the base portion among the plurality of movable portions provided in the arm portion. Operation support equipment.

2. The first rotation axis is an axis passing through the placement surface. The operation assistance device according to claim 1 .

3. The first rotation axis is an axis perpendicular to the placement surface. The operation assistance device according to claim 1 .

4. The first movable portion is provided on the opposite side of the placement surface with respect to the placement portion. The operation assistance device according to claim 1 .

5. The mounting portion is provided with a connection portion to which the arm portion is connected on the opposite side to the mounting surface. The operation assistance device according to claim 4 .

6. It is used as a master device to remotely control slave devices. The operation assistance device according to claim 1 .

7. a frame portion to which the mounting portion is attached, the position of the mounting portion relative to the frame portion is variable, The arm portion is positioned at a position corresponding to the position of the placement portion relative to the frame portion. The operation assistance device according to claim 1 .

8. The operation unit, the arm unit, and the placement unit are provided for right and left hands, respectively. The operation assistance device according to claim 1 .

9. A simulation system including a controller and a processing unit that performs a calculation based on an operation on the controller and displays the result on a display device. The operation assistance device according to claim 1 .

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