Robot System

Abstract

To provide a robot system which enables reduction in risk of infection from treated persons to treating persons.SOLUTION: A robot system (100) disclosed herein comprises a slave robot (10), a master robot (20), and a control device (50) configured to independently control linear movements and at least some of rotational movements of a hand unit when attempting to treat a treated person using a treatment member (101) held by the hand unit (12) by using separate operating systems.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a robot system, and more particularly to a robot system that performs treatment such as collecting a specimen from a subject. [Background technology]

[0002] A specimen collection box for collecting a specimen from a subject has been known. Such a specimen collection box is disclosed in Utility Model Registration No. 3228999. Utility Model Registration No. 3228999 discloses a specimen collection box including a specimen collection main box and a protective glove attached to the specimen collection main box. In this specimen collection box, a person who collects the specimen enters the specimen collection main box and collects the specimen from the subject through the protective glove. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Utility Model Registration No. 3228999 Summary of the Invention

[0004] However, in the technology described in the above-mentioned Utility Model Registration No. 3228999, the operator enters the specimen collection box and collects the specimen from the subject through protective gloves, so the operator must be positioned close to the subject. Furthermore, since the operator enters the specimen collection box, air must be drawn into the specimen collection box. Therefore, there is a problem in that the operator is at high risk of infection when collecting the specimen from the subject.

[0005] The present disclosure has been made to solve the above-mentioned problems, and one purpose of the present disclosure is to provide a robot system that can reduce the risk of infection from the treated person to the treating person.

[0006] To achieve the above object, a robot system according to one aspect of the present disclosure includes: a slave robot including a hand unit that holds a treatment member and performs treatment on a patient using the treatment member held by the hand unit; a master robot operated by an operator to remotely control the slave robot; and a control device that independently controls the linear movement of the hand unit and at least a portion of the rotational movement of the hand unit by separating the operation systems when performing treatment on a patient using the treatment member held by the hand unit, wherein the master robot includes a first operation device assigned to the linear movement of the hand unit, and the first operation device includes a first handle operated by one hand of the operator, and when the operation of the first handle by the operator traces an arcuate trajectory, the control device controls the hand unit to convert the arcuate movement into a linear movement based on the operation of the first handle by the operator. Note that treatment is a broad concept that includes collecting a specimen from a patient, performing an examination on the patient, performing surgery on the patient, etc.

[0007] According to the present disclosure, as described above, the risk of infection from the treated person to the treating person can be reduced. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a specimen collecting robot system according to a first embodiment. [Figure 2] FIG. 2 is a diagram showing a slave robot according to the first embodiment. [Figure 3] FIG. 2 is a diagram showing a slave robot and a subject according to the first embodiment. [Figure 4] 5A to 5C are diagrams for explaining collection of a sample by a hand unit according to the first embodiment. [Figure 5] 5A to 5C are diagrams for explaining the operation of the hand unit according to the first embodiment. [Figure 6] FIG. 2 is a diagram showing a first operating device of the master robot according to the first embodiment. [Figure 7] FIG. 2 is a diagram showing a second operating device of the master robot according to the first embodiment. [Figure 8] FIG. 2 is a diagram for explaining control by the control device according to the first embodiment. [Figure 9] 5A and 5B are diagrams for explaining conversion of an arc-shaped motion of a hand unit into a linear motion according to the first embodiment. [Figure 10] FIG. 4 is a flowchart for explaining a control process for a specimen collection operation according to the first embodiment. [Figure 11] FIG. 4 is a flowchart illustrating a process of converting an arc-shaped motion into a linear motion according to the first embodiment. [Figure 12] FIG. 10 is a diagram showing a specimen collecting robot system according to a second embodiment. [Figure 13] FIG. 10 is a diagram showing a master robot according to a second embodiment. [Figure 14] FIG. 10 is a diagram for explaining control by a control device according to a second embodiment. [Figure 15] FIG. 10 is a flowchart for explaining a control process for a specimen collection operation according to a second embodiment. [Figure 16] FIG. 10 is a diagram showing a specimen collecting robot system according to a third embodiment. [Figure 17] FIG. 10 is a diagram showing a master robot according to a third embodiment. [Figure 18] FIG. 10 is a diagram for explaining control by a control device according to a third embodiment. [Figure 19] FIG. 11 is a flowchart illustrating a control process for a specimen collection operation according to a third embodiment. [Figure 20] FIG. 10 is a diagram showing a specimen collecting robot system according to a fourth embodiment. [Figure 21] FIG. 10 is a diagram for explaining control by a control device according to a fourth embodiment. [Figure 22] FIG. 10 is a flowchart for explaining a control process for a specimen collection operation according to a fourth embodiment. [Figure 23] FIG. 10 is a diagram showing a specimen collecting robot system according to a fifth embodiment. [Figure 24]FIG. 10 is a diagram showing a master robot according to a fifth embodiment. [Figure 25] FIG. 11 is an enlarged view showing the vicinity of the handle of the master robot according to the fifth embodiment. [Figure 26] FIG. 11 is a diagram for explaining control by a control device according to a fifth embodiment. [Figure 27] FIG. 13 is a flowchart illustrating a control process for a specimen collection operation according to a fifth embodiment. [Figure 28] FIG. 10 is a diagram showing a specimen collecting robot system according to a sixth embodiment. [Figure 29] FIG. 13 is an enlarged view showing the vicinity of the handle of the master robot according to the sixth embodiment. [Figure 30] FIG. 10 is a diagram showing a slave robot according to a modified example. [Figure 31] FIG. 10 is a diagram showing a ureteroscopic surgery performed by operating a slave robot according to a modified example. [Figure 32] 10A and 10B are diagrams for explaining the operation of a hand unit according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0009] [First embodiment] 1, a specimen collecting robot system 100 according to a first embodiment includes a slave robot 10, a master robot 20, an imaging device 30, a display device 40, and a control device 50. The specimen collecting robot system 100 is an example of a "robot system" in the claims.

[0010] As shown in FIGS. 1 to 4, the slave robot 10 performs a procedure to collect a specimen from a subject S using a specimen collection member 101. The specimen collection member 101 is, for example, a sterile cotton swab. A sterile cotton swab has a rod shape. The slave robot 10, for example, inserts the specimen collection member 101 into the nasal cavity of the subject S and collects a specimen (nasopharyngeal swab) from the nasopharynx of the subject S using the inserted specimen collection member 101. The slave robot 10 may also collect a specimen by inserting the specimen collection member 101 into the oral cavity of the subject S. The collected specimen is then subjected to a virus test (such as a PCR (Polymerase Chain Reaction) test) (for example, a test for the novel coronavirus). The specimen collection robot system 100 eliminates the need for a specimen collection person, such as a doctor, to meet face-to-face with the subject S to perform the specimen collection operation, thereby isolating the specimen collection person from the risk of infection. The specimen collection member 101 is an example of a "treatment member" in the claims. Moreover, the subject S is an example of a "subject to be treated" in the claims.

[0011] The slave robot 10 is a vertical articulated robot. The slave robot 10 includes an arm 11 and a hand 12 attached to the tip of the arm 11. The arm 11 has a plurality of link sections 11a. The plurality of link sections 11a are connected to each other by joints 11b. A plurality of joints 11b are provided. Each of the plurality of joints 11b is provided with a motor 111 (servo motor) (see FIG. 8) as a drive section and an encoder 112 (see FIG. 8) as a position detection section. The hand 12 holds a specimen collecting member 101. The hand 12 grips and holds the specimen collecting member 101, for example, by a chuck mechanism.

[0012] The slave robot 10 is housed inside a housing 60. Inside the housing 60, a control unit 13 that controls the slave robot 10 is provided.

[0013] A shielding plate 61 is disposed between the slave robot 10 and the subject S. The shielding plate 61 is installed in a housing 60. The shielding plate 61 is made of a colorless and transparent material such as a glass plate or an acrylic plate, and has an opening 61a.

[0014] The opening 61a is provided at a position corresponding to the nasal cavity of the subject S, and the size of the opening 61a is large enough to include the nose and mouth of the subject S.

[0015] In addition, a positioning device 70 is installed between the shielding plate 61 and the subject S. The positioning device 70 includes a contact portion 71 and a chin rest 72.

[0016] The positioning device 70 positions the nasal cavity of the subject S within a preset range (opening 61a) when the subject S places his / her forehead on the contact portion 71 and places his / her chin on the chin rest 72. This makes it possible to easily position the nasal cavity of the subject S.

[0017] Furthermore, the arm unit 11 or the hand unit 12 (below the hand unit 12 in FIG. 4) is provided with an imaging device 80 that captures images of the subject S and the specimen collecting member 101. The imaging device 80 is a camera that captures two-dimensional images. The imaging device 80 may also be a camera that captures three-dimensional images. The imaging device 80 also captures an image of the entire face of the subject S, including the nasal cavity, from the front side of the subject S. The imaging device 80 also captures an image of the specimen collecting member 101 held by the hand unit 12.

[0018] As shown in FIG. 5 , the hand unit 12 is configured to move in multiple directions. Specifically, the hand unit 12 is configured to move linearly (moving in Cartesian coordinates) in the front-to-rear direction (A1 direction), the left-to-right direction (A2 direction), and the up-to-down direction (A3 direction) by the movement of the multiple joints 11b of the arm unit 11, and to rotate in a first rotation direction (C1 direction) about a first rotation axis extending in the front-to-rear direction, a second rotation direction (C2 direction) about a second rotation axis extending in the left-to-right direction, and a third rotation direction (C3 direction) about a third rotation axis extending in the up-to-down direction. Note that the front-to-rear direction, left-to-right direction, up-to-down direction, first rotation direction, second rotation direction, and third rotation direction are directions relative to the hand unit 12. The linear movement of the hand unit 12 in the front-to-rear direction substantially coincides with the linear movement of the specimen collecting member 101 in the axial direction. The rotational movement of the hand unit 12 in the first rotation direction substantially coincides with the rotational movement of the specimen collecting member 101 about the axis. The rotation of the hand unit 12 in the first rotation direction (C1 direction) is performed when scraping a sample from the sample collection position (nasopharynx) of the subject S.

[0019] As shown in FIGS. 1, 6, and 7, the master robot 20 remotely controls the slave robot 10. Specifically, the master robot 20 is operated by an operator O (person performing treatment), such as a doctor, to remotely control the slave robot 10. The master robot 20 outputs an operation command based on the operation of the operator O. The slave robot 10 performs an action corresponding to the operation of the operator O, based on the operation command from the master robot 20.

[0020] In this embodiment, the master robot 20 includes a first operating device 20a and a second operating device 20b that is provided separately and independently from the first operating device 20a. The first operating device 20a is assigned the linear movement of the hand unit 12. Specifically, the first operating device 20a is assigned the linear movement of the hand unit 12 in the forward / backward direction (A1 direction), the left / right direction (A2 direction), and the up / down direction (A3 direction). The second operating device 20b is assigned the rotational movement of the hand unit 12. Specifically, the second operating device 20b is assigned the rotational movement of the hand unit 12 in a first rotational direction (C1 direction), a second rotational direction (C2 direction), and a third rotational direction (C3 direction). The first operating device 20a is an example of a "first operating device" in the claims. The second operating device 20b is an example of a "second operating device" in the claims.

[0021] As shown in FIG. 6, the first operating device 20a includes a movable operating handle 21 and an arm 22 that movably supports the operating handle 21. The operating handle 21 is provided for operating the slave robot 10. Specifically, the operating handle 21 is provided for remotely operating the hand 12 of the slave robot 10 that holds the specimen collecting member 101. The operating handle 21 is a rod-shaped grip handle. The operating handle 21 is configured to be operated by one hand (the right hand in FIG. 1) of the operator O. The operating handle 21 is provided for linear movement of the hand 12 in the forward / backward direction (direction A1), left / right direction (direction A2), and up / down direction (direction A3). The arm 22 has a plurality of link portions 22a. The plurality of link portions 22a are connected to each other by joints 22b. A plurality of joints 22b are provided. Each of the plurality of joints 22b is provided with a motor 121 (servo motor) (see FIG. 8) as a drive unit and an encoder 122 (see FIG. 8) as a position detection unit. The operating handle 21 is an example of the "first handle" in the claims.

[0022] The first operating device 20a also includes a base 23. The base 23 has a support 23a configured to bend (in a substantially L-shape) at the top toward the operator O. Below the bent portion of the support 23a, a substantially L-shaped portion of the arm 22 is provided.

[0023] A control unit 24 that controls the first operating device 20a is provided inside the pedestal 23. A power supply unit (not shown) and the like are also provided inside the pedestal 23.

[0024] An operation panel 25 is provided on the outer surface of the stand 23. The operation panel 25 is operated by the operator O to issue basic operation instructions, control switching, and settings for the slave robot 10 and the master robot 20.

[0025] The first operating device 20a is also provided with a clutch pedal 26. When the operator O presses the clutch pedal 26 while gripping the operating handle 21, a clutch operation is performed in which the slave robot 10 does not move and only the first operating device 20a of the master robot 20 moves.

[0026] As shown in FIG. 7, the second operating device 20b includes an operating handle 27. The operating handle 27 is provided for operating the slave robot 10. Specifically, the operating handle 27 is provided for remotely operating the hand unit 12 of the slave robot 10, which holds the specimen collecting member 101. The operating handle 27 is a rod-shaped joystick. The operating handle 27 is configured to be operated by the other hand (left hand in FIG. 1) of the operator O. The operating handle 27 is provided for rotating the hand unit 12 in a first rotation direction (C1 direction), a second rotation direction (C2 direction), and a third rotation direction (C3 direction). The operating handle 27 is provided with an encoder 123 (see FIG. 8) serving as a position detection unit. The operating handle 27 is an example of a "second handle" in the claims.

[0027] The second operating device 20b also includes a base 28. Inside the base 28, a control unit 29 that controls the second operating device 20b is provided.

[0028] The hand unit 12 of the slave robot 10 is configured to operate based on the operation of the operation handle 21 of the first operation device 20a and the operation handle 27 of the second operation device 20b. When the operation handle 21 of the first operation device 20a is operated in a direction corresponding to one of the front-to-back direction (A1 direction), left-to-right direction (A2 direction), and up-to-down direction (A3 direction) of the hand unit 12, the hand unit 12 of the slave robot 10 is operated in any of the front-to-back direction, left-to-right direction, and up-to-down direction. When the operation handle 27 of the second operation device 20b is operated in a direction corresponding to one of the first rotation direction (C1 direction), second rotation direction (C2 direction), and third rotation direction (C3 direction) of the hand unit 12, the hand unit 12 of the slave robot 10 is operated in any of the first rotation direction, second rotation direction, and third rotation direction. The first operation device 20a and the second operation device 20b are operated individually or simultaneously in parallel.

[0029] As shown in FIGS. 1 and 3, the imaging device 30 is configured to capture an image of the subject S and the specimen collecting member 101 from the side. That is, the imaging device 30 is configured to capture an image of the profile of the subject S. The imaging device 30 is a camera that captures two-dimensional images. The imaging device 30 is also configured to capture an image of the entire profile of the subject S, including the nose, from the side of the subject S. The imaging device 30 is also configured to capture an image of the specimen collecting member 101 held by the hand unit 12. The imaging device 30 is, for example, disposed near the shielding plate 61 and on the subject S side of the shielding plate 61.

[0030] As shown in FIG. 1, the display device 40 displays an image (video) of the subject S and the specimen collecting member 101. The display device 40 displays, for example, an image captured by the imaging device 30 and an image captured by the imaging device 80. The operator O performs specimen collection from the subject S using the specimen collecting member 101 by operating the slave robot 10 using the master robot 20 while visually checking the real-time image of the subject S and the specimen collecting member 101 displayed on the display device 40. The display device 40 includes, for example, a liquid crystal monitor.

[0031] 1 and 8, the control device 50 is configured to control the operation of the slave robot 10 based on the operation of the master robot 20 by the operator O. The control device 50 is configured by a computer including a processor such as a CPU and memories such as RAM and ROM. The memory of the control device 50 stores control software for controlling the slave robot 10.

[0032] Here, in the first embodiment, the control device 50 is configured to control the rectilinear movement of the hand unit 12 and at least a part of the rotational movement of the hand unit 12 independently of each other by separating the operation systems when collecting a specimen from the subject S using the specimen collecting member 101 held by the hand unit 12. Specifically, the control device 50 is configured to control the rectilinear movement of the hand unit 12 and at least a part of the rotational movement of the hand unit 12 independently of each other by separating the operation systems using a plurality of operation devices (first operation device 20a and second operation device 20b). Furthermore, the control device 50 is configured to control the rectilinear movement of the hand unit 12 and at least the rotational movement of the specimen collecting member 101 of the hand unit 12 independently of each other by separating the operation systems.

[0033] Furthermore, in the first embodiment, the control device 50 is configured to control the linear movement of the hand section 12 based on operation of the first operating device 20a by the operator O, and to control at least a portion of the rotational movement of the hand section 12 based on operation of the second operating device 20b by the operator O, thereby independently controlling the linear movement of the hand section 12 and at least a portion of the rotational movement of the hand section 12 using separate operating systems. Specifically, the control device 50 is configured to control the linear movement of the hand section 12 in the forward / backward direction (A1 direction), left / right direction (A2 direction), and up / down direction (A3 direction) based on operation of the operating handle 21 of the first operating device 20a, and to control the rotational movement of the hand section 12 in the first rotational direction (C1 direction), second rotational direction (C2 direction), and third rotational direction (C3 direction) based on operation of the operating handle 27 of the second operating device 20b.

[0034] Furthermore, when the operating handle 21 of the first operating device 20a of the master robot 20 is operated by the operator O, the control unit 24 of the first operating device 20a of the master robot 20 is configured to output the operation amount of the operating handle 21 to the control device 50 based on the detection result of the encoder 122. The control device 50 is then configured to calculate a position command value for the slave robot 10 based on the operation amount of the operating handle 21 output from the control unit 24. Note that when the operating handle 21 is not operated by the operator O, the position command value is zero.

[0035] Furthermore, when the operating handle 27 of the second operating device 20b of the master robot 20 is operated by the operator O, the control unit 29 of the second operating device 20b of the master robot 20 is configured to output the operation amount of the operating handle 27 to the control device 50 based on the detection result of the encoder 123. The control device 50 is configured to calculate an attitude command value for the slave robot 10 based on the operation amount of the operating handle 27 output from the control unit 29. Note that when the operating handle 21 is not operated by the operator O, the position command value is zero. Note that when the operating handle 27 is not operated by the operator O, the attitude command value is zero.

[0036] The control device 50 is configured to calculate a movement command value for the slave robot 10 based on the calculated position command value and attitude command value, and to output the calculated movement command value to the control unit 13 of the slave robot 10. The control unit 13 of the slave robot 10 is configured to control the movement of the motor 111 of the joint 11b based on the movement command value output from the control device 50. As a result, the movement of the hand unit 12 of the slave robot 10 is controlled so as to correspond to the operation of the operating handle 21 and the operating handle 27 of the master robot 20.

[0037] (Conversion of arc-shaped motion) The conversion of the arc-shaped movement of the hand unit 12 will be described with reference to FIG.

[0038] Here, for example, when inserting the specimen collection member 101 into the nasal cavity of the subject S, the hand unit 12 needs to move in a straight line in the front-to-back direction (direction A1), but if the operator O operates the operating handle 21 while resting his elbow Oa on an elbow rest (not shown), even if the operator O attempts to operate the operating handle 21 so that the operating handle 21 moves linearly, the operating handle 21 ends up being operated so that the arm from the elbow is rotated around the elbow Oa placed on the elbow rest as the center of rotation (fulcrum). In this case, the operation of the operating handle 21 by the operator O describes an arc-shaped trajectory, and as a result, the hand unit 12 unintentionally moves in an arc-shaped manner.

[0039] 9, in the first embodiment, when the operation of the operating handle 21 of the first operating device 20a by the operator O traces an arc-shaped trajectory, the control device 50 converts the arc-shaped movement of the hand unit 12 into a linear movement based on the operation of the operating handle 21 by the operator O. Specifically, the control device 50 converts the arc-shaped movement of the hand unit 12 into a linear movement by extracting only the operation of the hand unit 12 in a specific direction from the front-to-rear direction (A1 direction), left-to-right direction (A2 direction), and up-down direction (A3 direction) based on the operation of the operating handle 21 of the first operating device 20a by the operator O.

[0040] More specifically, the control device 50 acquires a speed command value for the forward / backward linear movement of the hand unit 12, a speed command value for the left / right linear movement of the hand unit 12, and a speed command value for the up / down linear movement of the hand unit 12. The control device 50 then extracts the maximum speed command value from the three acquired speed command values: the speed command value for the forward / backward linear movement of the hand unit 12, the speed command value for the left / right linear movement of the hand unit 12, and the speed command value for the up / down linear movement of the hand unit 12. The control device 50 then validates the extracted maximum speed command value and invalidates speed command values ​​other than the maximum speed command value, thereby converting the arc-shaped movement of the hand unit 12 into a linear movement (a linear movement of the maximum speed command value). The control device 50 invalidates speed command values ​​other than the maximum speed command value, for example, by setting them to zero or ignoring them.

[0041] (Control process for specimen collection work) Next, with reference to FIG. 10, a control process for the specimen collecting work of the specimen collecting robot system 100 according to the first embodiment will be described based on a flowchart.

[0042] As shown in FIG. 10, first, in step S1, a command to start the specimen collection operation is received.

[0043] Then, in step S2, the images (video) captured by the image capturing device 30 and the image capturing device 80 are displayed on the display device 40.

[0044] Then, in step S3, the amount of operation of the operating handle 21 of the first operating device 20a by the operator O is acquired.

[0045] Then, in step S4, a position command value for the slave robot 10 is calculated based on the amount of operation of the operating handle 21 by the operator O acquired in step S3.

[0046] Then, in step S5, the amount of operation of the operating handle 27 of the second operating device 20b by the operator O is acquired.

[0047] Then, in step S6, a posture command value for the slave robot 10 is calculated based on the amount of operation of the operating handle 27 by the operator O acquired in step S5.

[0048] Then, in step S7, an operation command value for the slave robot 10 is calculated based on the position command value calculated in step S4 and the posture command value calculated in step S6, and the calculated operation command value is output to the slave robot 10.

[0049] Then, in step S8, the movement of each joint 11b of the slave robot 10 is controlled based on the movement command value output in step S7.

[0050] Then, in step S9, it is determined whether or not a command to end the specimen collection work has been received. If it is determined that a command to end the specimen collection work has not been received, the process returns to step S3. Then, the processes of steps S3 to S8 are repeated. If it is determined that a command to end the specimen collection work has been received, the control process ends.

[0051] (Conversion process of arc-shaped motion) Next, with reference to FIG. 11, a process for converting the arc-shaped motion of the hand unit 12 of the specimen collecting robot system 100 according to the first embodiment into a linear motion will be described based on a flowchart.

[0052] As shown in FIG. 11, first, in step S11, based on the operation of the operating handle 21 of the master robot 20 by the operator O, three speed command values ​​are calculated: a speed command value for the straight movement of the hand unit 12 in the forward / backward direction (A1 direction), a speed command value for the straight movement of the hand unit 12 in the left / right direction (A2 direction), and a speed command value for the straight movement of the hand unit 12 in the up / down direction (A3 direction).

[0053] Then, in step S12, it is determined whether the maximum speed command value among the three speed command values ​​calculated in step S11 is the speed command value for the linear movement in the front-rear direction (A1 direction) of the hand unit 12. If it is determined that the maximum speed command value among the three speed command values ​​is the speed command value for the linear movement in the front-rear direction of the hand unit 12, the process proceeds to step S13.

[0054] Then, in step S13, the operation of the operating handle 21 by the operator O is considered to be an operation for moving the hand unit 12 in a straight line in the front-to-rear direction (direction A1), and the speed command value for the straight line movement of the hand unit 12 in the left-to-right direction (direction A2) and the speed command value for the straight line movement of the hand unit 12 in the up-to-down direction (direction A3) are invalidated. Then, the process proceeds to step S17.

[0055] Furthermore, if it is determined in step S12 that the maximum speed command value among the three speed command values ​​is not the speed command value for the linear movement of the hand unit 12 in the front-rear direction (A1 direction), the process proceeds to step S14.

[0056] Then, in step S14, it is determined whether the maximum speed command value among the three speed command values ​​is a speed command value for a linear movement in the left-right direction (direction A2) of the hand unit 12. If it is determined that the maximum speed command value among the three speed command values ​​is a speed command value for a linear movement in the left-right direction of the hand unit 12, the process proceeds to step S15.

[0057] Then, in step S15, the operation of the operating handle 21 by the operator O is considered to be an operation for moving the hand unit 12 in a straight line in the left-right direction (direction A2), and the speed command value for the straight line movement of the hand unit 12 in the front-back direction (direction A1) and the speed command value for the straight line movement of the hand unit 12 in the up-down direction (direction A3) are invalidated. Then, the process proceeds to step S17.

[0058] Furthermore, if it is determined in step S14 that the maximum speed command value among the three speed command values ​​is not the speed command value for the linear movement of the hand unit 12 in the left-right direction (direction A2), the process proceeds to step S16.

[0059] Then, in step S16, the operation of the operating handle 21 by the operator O is considered to be an operation for moving the hand unit 12 in a straight line in the up-down direction (direction A3), and the speed command value for the straight line movement of the hand unit 12 in the forward-backward direction (direction A1) and the speed command value for the straight line movement of the hand unit 12 in the left-right direction (direction A2) are invalidated. Then, the process proceeds to step S17.

[0060] Then, in step S17, with any two of the three speed command values ​​being invalidated, an operation command value for the slave robot 10 is calculated, and the calculated operation command value is output to the slave robot 10.

[0061] Then, in step S18, it is determined whether or not a command to end the specimen collection work has been received. If it is determined that a command to end the specimen collection work has not been received, the process returns to step S11. Then, the processes of steps S11 to S17 are repeated as appropriate. If it is determined that a command to end the specimen collection work has been received, the control process ends.

[0062] [Effects of the first embodiment] In the first embodiment, the following effects can be obtained.

[0063] As described above, the first embodiment includes the slave robot 10 that collects a specimen from the subject S using the specimen collecting member 101, and the master robot 20 that is operated by the operator O (treatment person) and remotely controls the slave robot 10. This allows the operator O (treatment person) to collect a specimen from the subject S by remotely controlling the slave robot 10 using the master robot 20, thereby reducing the risk of infection from the subject S to the operator O (treatment person). In addition, when collecting a specimen from the subject S using the specimen collecting member 101 held by the hand unit 12, a control device 50 is provided that independently controls the linear movement of the hand unit 12 and at least a part of the rotational movement of the hand unit 12 by using separate operation systems. This reduces the occurrence of unintended movements of the hand unit 12 due to erroneous operation, compared to a configuration in which the linear movement and rotational movement of the hand unit 12 of the slave robot 10 are performed by a single operation system. As a result, it is possible to improve operability when the hand unit 12 of the slave robot 10 is remotely controlled by the master robot 20 to perform treatment on the subject S (to collect a specimen from the subject S).

[0064] Furthermore, in the first embodiment, as described above, the control device 50 controls the rectilinear movement of the hand unit 12 and at least the rotational movement of the specimen collecting member 101 of the hand unit 12 as the rotational movement of the hand unit 12 independently by separating the operation systems. This makes it possible to prevent unintended and erroneous rectilinear movement of the hand unit 12 due to an erroneous operation when scraping a specimen from the subject S by the rotational movement of the specimen collecting member 101 of the hand unit 12. As a result, it is possible to improve operability when the master robot 20 remotely controls the hand unit 12 of the slave robot 10 to collect a specimen from the subject S.

[0065] In the first embodiment, as described above, the master robot 20 includes a first operating device 20a assigned to perform the linear movement of the hand unit 12 and a second operating device 20b assigned to perform at least a portion of the rotational movement of the hand unit 12. The control device 50 controls the linear movement of the hand unit 12 based on the operation of the first operating device 20a by the operator O, and controls at least a portion of the rotational movement of the hand unit 12 based on the operation of the second operating device 20b by the operator O. This allows the linear movement of the hand unit 12 and at least a portion of the rotational movement of the hand unit 12 to be controlled independently from each other through separate operating systems. This allows at least a portion of the linear movement and rotational movement of the hand unit 12 to be performed by operating the first operating device 20a and the second operating device 20b, which are different from each other. This makes it possible to easily prevent erroneous operation of at least a portion of the linear movement and rotational movement of the hand unit 12. As a result, it is possible to easily prevent unintended erroneous operation of the hand unit 12 due to erroneous operation.

[0066] In the first embodiment, as described above, the first operating device 20a is operated by one hand of the operator O and includes an operating handle 21 for translating the hand unit 12 in the front-rear, left-right, and up-down directions relative to the hand unit 12. The second operating device 20b is operated by the other hand of the operator O and includes an operating handle 27 for translating the hand unit 12 in a first rotation direction about a first rotation axis extending in the front-rear direction, a second rotation direction about a second rotation axis extending in the left-right direction, and a third rotation direction about a third rotation axis extending in the up-down direction. The control device 50 controls the translating movement of the hand unit 12 in the front-rear, left-right, and up-down directions based on the operation of the operating handle 21, and controls the rotation of the hand unit 12 in the first rotation direction, the second rotation direction, and the third rotation direction based on the operation of the operating handle 27. This allows the operator O to operate the linear movement of the hand unit 12 in the front-back, left-right, and up-down directions with one hand, and to operate the rotational movement of the hand unit 12 in the first rotation direction, second rotation direction, and third rotation direction with the other hand, making it easier to prevent erroneous operations from occurring in the linear movement and rotational movement of the hand unit 12. This makes it easier to prevent unintended, erroneous movements of the hand unit 12 from occurring due to erroneous operations.

[0067] Furthermore, in the first embodiment, as described above, the master robot 20 includes the first operating device 20a to which the linear movement of the hand unit 12 is assigned. The first operating device 20a also includes an operating handle 21 that is operated by one hand of the operator O. When the operation of the operating handle 21 by the operator O traces an arc-shaped trajectory, the control device 50 performs control to convert the arc-shaped movement of the hand unit 12 into a linear movement based on the operation of the operating handle 21 by the operator O. As a result, even if the operator O intends to move the hand unit 12 linearly, and the operation of the operating handle 21 of the first operating device 20a by the operator O traces an arc-shaped trajectory, causing the hand unit 12 to move in an arc-shaped manner, the control device 50 can convert the arc-shaped movement of the hand unit 12 into a linear movement. As a result, the linear movement of the hand unit 12 intended by the operator O can be easily performed.

[0068] [Second embodiment] Next, the configuration of a specimen collecting robot system 200 according to a second embodiment will be described with reference to Figures 12 to 15. Unlike the first embodiment in which the master robot 20 was provided with a first operating device 20a and a second operating device 20b, the specimen collecting robot system 200 is provided with a first operating device 220a and a second operating device 220b in the master robot 220. Note that the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0069] 12, the specimen collecting robot system 200 of the second embodiment includes a slave robot 10, a master robot 220, an imaging device 30, a display device 40, and a control device 250. The specimen collecting robot system 200 is an example of a "robot system" in the claims.

[0070] As shown in FIG. 13, the master robot 220 includes a first operating device 220a and a second operating device 220b. The first operating device 220a is assigned the linear movement of the hand unit 12 and rotational movements other than the rotational movement of the specimen collecting member 101 of the hand unit 12. Specifically, the first operating device 220a is assigned the linear movement of the hand unit 12 in the forward / backward direction (A1 direction), left / right direction (A2 direction), and up / down direction (A3 direction), and the rotational movement of the hand unit 12 in the second rotational direction (C2 direction) and the third rotational direction (C3 direction). The second operating device 220b is assigned the rotational movement of the specimen collecting member 101 of the hand unit 12. Specifically, the second operating device 220b is assigned the rotational movement of the hand unit 12 in the first rotational direction (C1 direction). The first operating device 220a is an example of a "first operating device" in the claims. The second operating device 220b is an example of the "second operating device" in the claims.

[0071] The first operating device 220a includes a movable operating handle 221, an arm unit 22, a stand 23, a control unit 24, an operating panel 25, and a clutch pedal 26. The operating handle 221 is configured to be operated by one hand (the right hand in FIG. 12 ) of the operator O. The operating handle 221 is provided for linear movement of the hand unit 12 and rotational movement of the hand unit 12 other than the rotational movement of the specimen collecting member 101. Specifically, the operating handle 221 is provided for linear movement of the hand unit 12 in the forward / backward direction (A1 direction), left / right direction (A2 direction), and up / down direction (A3 direction), and for rotational movement of the hand unit 12 in a second rotational direction (C2 direction) and a third rotational direction (C3 direction). The operating handle 221 is an example of a "first handle" in the claims.

[0072] The second operating device 220b includes a foot pedal 227 (foot switch). The foot pedal 227 is configured to be operated by the foot of the operator O. The foot pedal 227 is provided to rotate the specimen collecting member 101 of the hand unit 12. Specifically, the foot pedal 227 is provided to rotate the hand unit 12 in the first rotation direction (C1 direction). The foot pedal 227 is configured to output an operating signal when depressed by the foot of the operator O. The foot pedal 227 is provided separately and independently from the clutch pedal 26.

[0073] 14, in the second embodiment, when a specimen is collected from a subject S by the specimen collecting member 101 held by the hand unit 12, the control device 250 is configured to control the rectilinear movement of the hand unit 12 and part of the rotational movement of the hand unit 12 independently of each other by separating the operation systems. Specifically, when a specimen is collected from a subject S by the specimen collecting member 101 held by the hand unit 12, the control device 250 is configured to control the rectilinear movement of the hand unit 12 and part of the rotational movement of the hand unit 12 independently of each other by separating the operation systems using a plurality of operation devices (first operation device 220a and second operation device 220b). Furthermore, the control device 250 is configured to control the rectilinear movement of the hand unit 12 and part of the rotational movement of the specimen collecting member 101 of the hand unit 12 independently of each other by separating the operation systems.

[0074] Furthermore, in the second embodiment, the control device 250 is configured to control at least the rectilinear movement of the hand section 12 based on the operation of the first operating device 220a by the operator O, and to control a part of the rotational movement of the hand section 12 based on the operation of the second operating device 220b by the operator O, thereby independently controlling at least the rectilinear movement of the hand section 12 and a part of the rotational movement of the hand section 12 by separating the operation systems. Specifically, the control device 250 is configured to control the rectilinear movement of the hand section 12 and control operations other than the rotational movement of the specimen collecting member 101 of the hand section 12 based on the operation of the operating handle 221 of the first operating device 220a, and to control the rotational movement of the specimen collecting member 101 of the hand section 12 based on the operation of the foot pedal 227 of the second operating device 220b. More specifically, the control device 250 is configured to control the linear movement of the hand unit 12 in the forward / backward direction (A1 direction), left / right direction (A2 direction) and up / down direction (A3 direction) based on operation of the operating handle 221 of the first operating device 220a, and to control the rotational movement of the hand unit 12 in the second rotational direction (C2 direction) and third rotational direction (C3 direction), and to control the rotational movement of the hand unit 12 in the first rotational direction (C1 direction) based on operation of the foot pedal 227 of the second operating device 220b.

[0075] Furthermore, when the operating handle 221 of the first operating device 220a of the master robot 220 is operated by the operator O, the control unit 24 of the first operating device 220a of the master robot 220 is configured to output the operation amount of the operating handle 221 to the control device 250 based on the detection result of the encoder 122. The control device 250 is then configured to calculate an operation command value for the slave robot 10 based on the operation amount of the operating handle 221 output from the control unit 24. Note that when the operating handle 221 is not operated by the operator O, the operation command value is zero.

[0076] Furthermore, when the foot pedal 227 of the second operating device 220b of the master robot 220 is operated by the operator O, the foot pedal 227 of the second operating device 220b of the master robot 220 is configured to output an operation signal to the control device 250. The control device 250 is configured to calculate an automatic operation command value (a command value for rotating the specimen collecting member 101) for the slave robot 10 based on the operation signal of the foot pedal 227. Note that when the foot pedal 227 is not operated by the operator O, the automatic operation command value is zero.

[0077] The control device 250 is configured to calculate a movement command value for the slave robot 10 based on the calculated operation command value and automatic movement command value, and to output the calculated movement command value to the control unit 13 of the slave robot 10. The control unit 13 of the slave robot 10 is configured to control the movement of the motor 111 of the joint 11b based on the movement command value output from the control device 250. As a result, the movement of the hand unit 12 of the slave robot 10 is controlled so as to correspond to the operation of the operating handle 221 and foot pedal 227 of the master robot 220.

[0078] (Control process for specimen collection work) Next, the control process of the specimen collecting work of the specimen collecting robot system 200 according to the second embodiment will be described based on a flowchart with reference to Fig. 15. Note that the same processes as those in the first embodiment are denoted by the same reference numerals and detailed description thereof will be omitted.

[0079] As shown in FIG. 15, in step S201, the operation amount of the operation handle 221 of the first operation device 220a by the operator O is acquired.

[0080] Then, in step S202, an operation command value for the slave robot 10 is calculated based on the operation amount of the operation handle 221 of the operator O acquired in step S201.

[0081] Then, in step S203, it is determined whether or not the foot pedal 227 of the second operating device 220b of the operator O is turned on (operated). If it is determined that the foot pedal 227 is turned on based on the fact that an operation signal is being output from the foot pedal 227, the process proceeds to step S204.

[0082] Then, in step S204, an automatic operation command value for the slave robot 10 is calculated based on the operation of the foot pedal 227.

[0083] Then, in step S205, the operation command value calculated in step S202 and the automatic operation command value calculated in step S204 are combined to calculate the operation command value for the slave robot 10. Then, the process proceeds to step S7.

[0084] Also, in step S203, if it is determined that the foot pedal 227 is not turned on based on the fact that no operation signal is being output from the foot pedal 227, the processing proceeds to step S7 without performing the processing of steps S204 and S205.

[0085] Then, in step S7, the operation command value is output to the slave robot 10.

[0086] Then, in step S8, the movement of each joint 11b of the slave robot 10 is controlled based on the movement command value output in step S7.

[0087] The other configurations of the second embodiment are the same as those of the first embodiment.

[0088] [Effects of the second embodiment] In the second embodiment, the following effects can be obtained.

[0089] In the second embodiment, as described above, when a specimen is collected from a subject S by the specimen collecting member 101 held by the hand unit 12, a control device 250 is provided that controls the linear movement of the hand unit 12 and at least a part of the rotational movement of the hand unit 12 independently by separating the operation systems. This improves operability when the master robot 220 remotely controls the hand unit 12 of the slave robot 10 to perform a treatment on the subject S (collect a specimen from the subject S), as in the first embodiment.

[0090] Furthermore, in the second embodiment, as described above, the first operating device 220a is operated by one hand of the operator O and includes an operating handle 221 for performing a rectilinear movement of the hand section 12 and a rotational movement other than the rotational movement of the specimen collecting member 101 of the hand section 12, and the second operating device 220b is operated by the foot of the operator O and includes a foot pedal 227 for performing a rotational movement of the specimen collecting member 101 of the hand section 12, and the control device 250 controls the rectilinear movement of the hand section 12 and the rotational movement other than the rotational movement of the specimen collecting member 101 of the hand section 12 based on the operation of the operating handle 221, and controls the rotational movement of the specimen collecting member 101 of the hand section 12 based on the operation of the foot pedal 227. This allows the operator O to perform a rectilinear movement of the hand section 12 and a rotational movement other than the rotational movement of the specimen collecting member 101 of the hand section 12 with one hand, and to perform a rotational movement of the specimen collecting member 101 of the hand section 12 with his or her foot. As a result, it is possible to easily prevent erroneous operations from occurring in the rotational movement of the specimen collecting member 101 of the hand unit 12 and other movements (linear movements of the hand unit 12 and rotational movements other than the rotational movement of the specimen collecting member 101 of the hand unit 12). This makes it possible to easily prevent unintended erroneous movements of the hand unit 12 from occurring due to erroneous operations.

[0091] The other effects of the second embodiment are the same as those of the first embodiment.

[0092] [Third embodiment] Next, the configuration of a specimen collecting robot system 300 according to a third embodiment will be described with reference to Figures 16 to 19. Unlike the second embodiment in which the specimen collecting member 101 of the hand unit 12 is rotated by operation of the foot pedal 227 by the operator O, the specimen collecting robot system 300 automatically rotates the specimen collecting member 101 of the hand unit 12 without operation by the operator O. Note that the same components as those in the first or second embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

[0093] 16, the specimen collecting robot system 300 of the third embodiment includes a slave robot 10, a master robot 320, an imaging device 30, a display device 40, and a control device 350. The specimen collecting robot system 300 is an example of a "robot system" in the claims.

[0094] 17, the master robot 320 includes an operating device 320a having substantially the same configuration as the first operating device 220a of the second embodiment, but does not include the second operating device 220b of the second embodiment. The master robot 320 does not include the foot pedal 227 of the second embodiment. The operating device 320a also includes an operating handle 221, an arm unit 22, a base 23, a control unit 24, an operating panel 25, and a clutch pedal 26. The operating device 320a is an example of the "first operating device" in the claims.

[0095] 18 , in the third embodiment, when a specimen is collected from a subject S using the specimen collecting member 101 held by the hand unit 12, the control device 350 is configured to control at least the linear movement of the hand unit 12 and part of the rotational movement of the hand unit 12 independently by using separate operating systems. Specifically, when a specimen is collected from a subject S using the specimen collecting member 101 held by the hand unit 12, the control device 350 is configured to control at least the linear movement of the hand unit 12 and part of the rotational movement of the hand unit 12 independently by using separate operating systems through automation of the rotational movement. More specifically, the control device 350 is configured to control at least the linear movement of the hand unit 12 and part of the rotational movement of the specimen collecting member 101 of the hand unit 12 independently by using separate operating systems, by automatically performing the rotational movement of the specimen collecting member 101 of the hand unit 12 without relying on the operation of the operator O to rotate the specimen collecting member 101 of the hand unit 12.

[0096] Furthermore, in the third embodiment, the control device 350 is configured to automatically rotate the specimen collecting member 101 of the hand unit 12 at all times, without being based on the operation of the operator O to rotate the specimen collecting member 101 of the hand unit 12. Specifically, during the specimen collection operation, the control device 350 is configured to automatically rotate the specimen collecting member 101 of the hand unit 12 at all times, without being based on the operation of the operator O to rotate the specimen collecting member 101 of the hand unit 12, regardless of the state of insertion of the specimen collecting member 101 into the nasal cavity of the subject S. In other words, the control device 350 is configured to automatically rotate the specimen collecting member 101 of the hand unit 12 before the specimen collecting member 101 is inserted into the nasal cavity of the subject S, without being based on the operation of the operator O to rotate the specimen collecting member 101 of the hand unit 12.

[0097] Furthermore, in the third embodiment, the control device 350 is configured to control the linear movement of the hand section 12 and control movements other than the rotational movement of the specimen collecting member 101 of the hand section 12 based on the operation of the operating handle 221 of the operating device 320a, and to automatically control the rotational movement of the specimen collecting member 101 of the hand section 12 without operation by the operator O. More specifically, the control device 350 is configured to control the linear movement of the hand section 12 in the forward / backward direction (A1 direction), left / right direction (A2 direction), and up / down direction (A3 direction) and the rotational movement of the hand section 12 in the second rotational direction (C2 direction) and third rotational direction (C3 direction) based on the operation of the operating handle 221 of the operating device 320a, and to control the rotational movement of the hand section 12 in the first rotational direction (C1 direction) without operation by the operator O.

[0098] Furthermore, when the operating handle 221 of the operating device 320a of the master robot 320 is operated by the operator O, the control unit 24 of the operating device 320a of the master robot 320 is configured to output the operation amount of the operating handle 221 to the control device 350 based on the detection result of the encoder 122. The control device 350 is then configured to calculate an operation command value for the slave robot 10 based on the operation amount of the operating handle 221 output from the control unit 24. Note that when the operating handle 221 is not operated by the operator O, the operation command value is zero.

[0099] Furthermore, the control device 350 is configured to calculate an automatic operation command value for the slave robot 10 (a command value for the rotation of the specimen collecting member 101) without relying on the operation of the operator O.

[0100] The control device 350 is configured to calculate an operation command value for the slave robot 10 based on the calculated operation command value and automatic operation command value, and to output the calculated operation command value to the control unit 13 of the slave robot 10. The control unit 13 of the slave robot 10 is configured to control the operation of the motor 111 of the joint 11b based on the operation command value output from the control device 350. As a result, the operation of the hand unit 12 of the slave robot 10 is controlled so as to correspond to the automatic rotation of the operating handle 221 and specimen collecting member 101 of the master robot 320.

[0101] (Control process for specimen collection work) Next, the control process of the specimen collecting work of the specimen collecting robot system 300 according to the third embodiment will be described based on a flowchart with reference to Fig. 19. Note that the same processes as those in the first or second embodiment are denoted by the same reference numerals and detailed description thereof will be omitted.

[0102] As shown in FIG. 19, in step S301, regardless of the operation of the operator O, an automatic operation command value for the slave robot 10 is calculated.

[0103] Then, in step S302, the operation command value calculated in step S202 and the automatic operation command value calculated in step S301 are combined, whereby the operation command value for the slave robot 10 is calculated.

[0104] Then, in step S7, the operation command value is output to the slave robot 10.

[0105] Then, in step S8, the movement of each joint 11b of the slave robot 10 is controlled based on the movement command value output in step S7.

[0106] The other configurations of the third embodiment are the same as those of the first or second embodiment.

[0107] [Effects of the third embodiment] In the third embodiment, the following effects can be obtained.

[0108] In the third embodiment, as described above, when a specimen is collected from a subject S by the specimen collecting member 101 held by the hand unit 12, a control device 350 is provided that controls the linear movement of the hand unit 12 and at least a part of the rotational movement of the hand unit 12 independently by separating the operation systems. This improves operability when the master robot 220 remotely controls the hand unit 12 of the slave robot 10 to perform a treatment on the subject S (collect a specimen from the subject S), as in the first and second embodiments.

[0109] Furthermore, in the third embodiment, as described above, the control device 350 automatically performs the rotational movement of the specimen collecting member 101 of the hand section 12 without relying on the operation of the rotational movement of the specimen collecting member 101 of the hand section 12 by the operator O, thereby controlling the linear movement of the hand section 12 and the rotational movement of the specimen collecting member 101 of the hand section 12 independently using separate operation systems. This eliminates the need for the operator O to operate the rotational movement of the specimen collecting member 101 of the hand section 12, making it possible to easily prevent erroneous operation of the linear movement of the hand section 12 and the rotational movement of the specimen collecting member 101 of the hand section 12. As a result, it is possible to easily prevent unintended erroneous operation of the hand section 12 due to erroneous operation.

[0110] Furthermore, in the third embodiment, as described above, the control device 350 always automatically performs the rotation operation of the specimen collecting member 101 of the hand unit 12 without being based on the operation of the operator O to rotate the specimen collecting member 101 of the hand unit 12. As a result, the rotation operation of the specimen collecting member 101 of the hand unit 12 is always performed automatically without being based on the operation of the operator O to rotate the specimen collecting member 101 of the hand unit 12, so that the rotation operation of the specimen collecting member 101 of the hand unit 12 can always be performed reliably. As a result, when the specimen collecting member 101 reaches the specimen collecting position on the subject, the specimen collecting member 101 can reliably scrape the specimen from the specimen collecting position on the subject.

[0111] The other effects of the third embodiment are the same as those of the first or second embodiment.

[0112] [Fourth embodiment] Next, the configuration of a specimen collecting robot system 400 according to a fourth embodiment will be described with reference to Figures 20 to 22. Unlike the third embodiment in which the specimen collecting member 101 of the hand unit 12 is always rotated automatically, the specimen collecting robot system 400 automatically rotates the specimen collecting member 101 of the hand unit 12 after the specimen collecting member 101 is inserted into the subject S to a predetermined depth. Note that the same components as those in the first, second, or third embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

[0113] 20, the specimen collecting robot system 400 of the fourth embodiment includes a slave robot 10, a master robot 320, an imaging device 30, a display device 40, and a control device 450. The specimen collecting robot system 400 is an example of a "robot system" in the claims.

[0114] 21 , in the fourth embodiment, when a specimen is collected from a subject S using the specimen collecting member 101 held by the hand unit 12, the control device 450 is configured to control at least the rectilinear movement of the hand unit 12 and part of the rotational movement of the hand unit 12 independently by separating the operation systems. Specifically, when a specimen is collected from a subject S using the specimen collecting member 101 held by the hand unit 12, the control device 450 is configured to control at least the rectilinear movement of the hand unit 12 and part of the rotational movement of the hand unit 12 independently by automating the rotational movement. More specifically, the control device 450 is configured to control at least the rectilinear movement of the hand unit 12 and part of the rotational movement of the specimen collecting member 101 of the hand unit 12 independently by separating the operation systems.

[0115] Furthermore, in the fourth embodiment, the control device 450 is configured to automatically perform the rotation of the specimen collecting member 101 of the hand unit 12 based on the specimen collecting member 101 being inserted to a predetermined depth into the subject S, and not based on the operation of the rotation of the specimen collecting member 101 of the hand unit 12 by the operator O. Specifically, the control device 450 is configured not to perform the rotation of the specimen collecting member 101 of the hand unit 12 before the specimen collecting member 101 is inserted into the nasal cavity of the subject S during the specimen collecting operation. Furthermore, the control device 450 is configured to automatically perform the rotation of the specimen collecting member 101 of the hand unit 12 after the specimen collecting member 101 has been inserted to a predetermined depth into the nasal cavity of the subject S, and not based on the operation of the rotation of the specimen collecting member 101 of the hand unit 12 by the operator O.

[0116] The control device 450 is configured to detect that the specimen collecting member 101 has been inserted to a predetermined depth into the subject S, based on at least one of an image (side image) of the subject S and the specimen collecting member 101 captured by the imaging device 30 and position information (coordinate information) of the slave robot 10. The control device 450 is configured to detect that the specimen collecting member 101 has been inserted to a predetermined depth into the subject S by detecting the insertion state of the specimen collecting member 101 into the nasal cavity of the subject S, based on the recognition result of the image of the subject S and the specimen collecting member 101 captured by the imaging device 30 and position information of the hand unit 12 of the slave robot 10. The calculation of the operation command value for the slave robot 10 by the control device 450 is the same as in the third embodiment, except that the automatic operation command value is calculated based on the fact that the specimen collecting member 101 has been inserted to a predetermined depth into the subject S.

[0117] (Control process for specimen collection work) Next, the control process of the specimen collection work of the specimen collection robot system 400 according to the fourth embodiment will be described based on a flowchart with reference to Fig. 22. Note that the same processes as those in the first, second or third embodiment are denoted by the same reference numerals and detailed description thereof will be omitted.

[0118] 22, in step S401, it is determined whether or not the specimen collecting member 101 has been inserted into the subject S to a predetermined depth based on at least one of the image of the subject S and the specimen collecting member 101 captured by the imaging device 30 and the position information of the slave robot 10. If it is determined that the specimen collecting member 101 has been inserted into the subject S to a predetermined depth, the process proceeds to step S402.

[0119] Then, in step S402, regardless of the operation of the operator O, an automatic operation command value for the slave robot 10 is calculated.

[0120] Then, in step S403, the operation command value calculated in step S202 and the automatic operation command value calculated in step S402 are combined to calculate the operation command value for the slave robot 10. Then, the process proceeds to step S7.

[0121] If it is determined in step S401 that the specimen collecting member 101 has not been inserted into the subject S to a predetermined depth, the process proceeds to step S7 without performing the processes in steps S402 and S403.

[0122] Then, in step S7, the operation command value is output to the slave robot 10.

[0123] Then, in step S8, the movement of each joint 11b of the slave robot 10 is controlled based on the movement command value output in step S7.

[0124] The other configurations of the fourth embodiment are the same as those of the first, second or third embodiment.

[0125] [Effects of the fourth embodiment] In the fourth embodiment, the following effects can be obtained.

[0126] In the fourth embodiment, as described above, when a specimen is collected from a subject S by the specimen collecting member 101 held by the hand unit 12, a control device 450 is provided that controls the linear movement of the hand unit 12 and at least a part of the rotational movement of the hand unit 12 independently by separating the operation systems. This improves operability when the master robot 220 remotely controls the hand unit 12 of the slave robot 10 to perform a treatment on the subject S (collect a specimen from the subject S), as in the first, second, or third embodiment.

[0127] Furthermore, in the fourth embodiment, as described above, the control device 450 automatically rotates the specimen collecting member 101 of the hand unit 12 based on the specimen collecting member 101 being inserted to a predetermined depth into the subject S, rather than based on the operator O's operation of rotating the specimen collecting member 101 of the hand unit 12. As a result, the specimen collecting member 101 of the hand unit 12 is not rotated before the specimen collecting member 101 is inserted to a predetermined depth into the subject S, and therefore, misalignment of the axis of the specimen collecting member 101 due to the specimen collecting member 101 being rotated before the specimen collecting member 101 is inserted into the subject S can be prevented. As a result, the specimen collecting member 101 can be easily inserted into the subject S. Furthermore, the specimen collecting member 101 of the hand unit 12 is rotated after the specimen collecting member 101 is inserted to a predetermined depth into the subject S, and therefore, the specimen collecting member 101 can reliably scrape the specimen from the specimen collection position on the subject S.

[0128] The other effects of the fourth embodiment are the same as those of the first, second or third embodiment.

[0129] [Fifth embodiment] Next, the configuration of a specimen collecting robot system 500 according to a fifth embodiment will be described with reference to Figures 23 to 27. Unlike the first to fourth embodiments, the specimen collecting robot system 500 has an operating handle 521 of an operating device 520a of a master robot 520, which is provided with a switch 521a for restricting operations other than the rotation of the specimen collecting member 101 of the hand unit 12. Note that the same components as those in the first, second, third, or fourth embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

[0130] 23, the specimen collecting robot system 500 of the fifth embodiment includes a slave robot 10, a master robot 520, an imaging device 30, a display device 40, and a control device 550. The specimen collecting robot system 500 is an example of the "robot system" defined in the claims.

[0131] As shown in FIG. 24, the master robot 520 includes an operating device 520a. The operating device 520a is assigned the linear movement of the hand unit 12 and the rotational movement of the hand unit 12. Specifically, the operating device 520a is assigned the linear movement of the hand unit 12 in the front-to-back direction (A1 direction), left-to-right direction (A2 direction), and up-to-down direction (A3 direction), and the rotational movement of the hand unit 12 in a first rotational direction (C1 direction), a second rotational direction (C2 direction), and a third rotational direction (C3 direction). The operating device 520a is an example of a "first operating device" in the claims.

[0132] The operating device 520a includes a movable operating handle 521, the arm unit 22, the base 23, the control unit 24, the operating panel 25, and the clutch pedal 26. The operating handle 521 is configured to be operated by one hand (the right hand in FIG. 23 ) of the operator O. The operating handle 521 is provided for translating and rotating the hand unit 12. Specifically, the operating handle 521 is provided for translating and rotating the hand unit 12 in the forward / backward direction (A1 direction), the left / right direction (A2 direction), and the up / down direction (A3 direction), and for rotating the hand unit 12 in a first rotation direction (C1 direction), a second rotation direction (C2 direction), and a third rotation direction (C3 direction). The operating handle 520a is an example of a "first handle" in the claims.

[0133] 25, in the fifth embodiment, a switch 521a (grip switch) is provided on the operating handle 521. The switch 521a is provided to restrict operations other than the rotational operation of the specimen collecting member 101 of the hand unit 12 and to enable the rotational operation of the specimen collecting member 101 of the hand unit 12. A pair of switches 521a are provided so as to be gripped and operated by the fingers of the operator O. The switches 521a are provided on one side and the other side of the operating handle 521 so as to sandwich the operating handle 521.

[0134] 26 , in the fifth embodiment, when a specimen is collected from a subject S by the specimen collecting member 101 held by the hand unit 12, the control device 550 is configured to control at least the rectilinear movement of the hand unit 12 and part of the rotational movement of the hand unit 12 independently by separating the operation systems. Specifically, when a specimen is collected from a subject S by the specimen collecting member 101 held by the hand unit 12, the control device 550 is configured to control at least the rectilinear movement of the hand unit 12 and part of the rotational movement of the hand unit 12 independently by separating the operation systems using the switch 521a. More specifically, the control device 550 is configured to control at least the rectilinear movement of the hand unit 12 and part of the rotational movement of the specimen collecting member 101 of the hand unit 12 independently by separating the operation systems using the switch 521a.

[0135] Furthermore, in the fifth embodiment, the control device 550 is configured to perform control based on the operation of the operating handle 521 of the operating device 520a and the operation of the switch 521a, thereby controlling at least the rectilinear movement of the hand section 12 and the rotational movement of the specimen collecting member 101 of the hand section 12 independently from each other by separating the operation systems. Specifically, when the operating handle 521 is operated with the switch 521a turned on, the control device 550 is configured to validate the operation command value for the rectilinear movement of the hand section 12 in the forward / backward direction (A1 direction), the operation command value for the rectilinear movement of the hand section 12 in the left / right direction (A2 direction), the operation command value for the rectilinear movement of the hand section 12 in the up / down direction (A3 direction), the operation command value for the rotational movement of the hand section 12 in the first rotational direction (C1 direction), the operation command value for the second rotational direction (C2 direction), and the operation command value for the rotational movement of the hand section 12 in the third rotational direction (C3 direction), thereby controlling the operation of the hand section 12.

[0136] Furthermore, when the operating handle 521 is operated with the switch 521a turned off, the control device 550 is configured to disable operation command values ​​other than the operation command value for the rotational operation of the hand section 12 in the first rotational direction (C1 direction) (the operation command value for the linear movement of the hand section 12 in the forward / backward direction (A1 direction), the operation command value for the linear movement of the hand section 12 in the left / right direction (A2 direction), the operation command value for the linear movement of the hand section 12 in the up / down direction (A3 direction), the operation command value for the hand section 12 in the second rotational direction (C2 direction), and the operation command value for the rotational operation of the hand section 12 in the third rotational direction (C3 direction)), and to enable only the operation command value for the rotational operation of the hand section 12 in the first rotational direction (C1 direction), thereby controlling the operation of the hand section 12. When the switch 521a is turned off, the control device 550 is configured to only control the rotational operation of the hand section 12 in the first rotational direction (C1 direction) based on the operation of the operating handle 521.

[0137] Furthermore, when the operating handle 521 of the operating device 520a of the master robot 520 is operated by the operator O, the control unit 24 of the operating device 520a of the master robot 520 is configured to output the operation amount of the operating handle 521 to the control device 550 based on the detection result of the encoder 122. The control device 550 is then configured to calculate an operation command value for the slave robot 10 based on the operation amount of the operating handle 521 output from the control unit 24. Note that when the operating handle 521 is not operated by the operator O, the operation command value is zero.

[0138] Furthermore, when the switch 521a is turned off, the control device 550 is configured to invalidate operation command values ​​other than the operation command value for the rotational movement of the hand unit 12 in the first rotational direction (C1 direction) (the operation command value for the linear movement of the hand unit 12 in the forward / backward direction (A1 direction), the operation command value for the linear movement of the hand unit 12 in the left / right direction (A2 direction), the operation command value for the linear movement of the hand unit 12 in the up / down direction (A3 direction), the operation command value for the hand unit 12 in the second rotational direction (C2 direction), and the operation command value for the rotational movement of the hand unit 12 in the third rotational direction (C3 direction)), and to validate only the operation command value for the rotational movement of the hand unit 12 in the first rotational direction (C1 direction), thereby calculating the operation command value for the slave robot 10.

[0139] Furthermore, when switch 521a is turned on, the operation command value for the linear movement of the hand unit 12 in the forward / backward direction (A1 direction), the operation command value for the linear movement of the hand unit 12 in the left / right direction (A2 direction), the operation command value for the linear movement of the hand unit 12 in the up / down direction (A3 direction), the operation command value for the rotational movement of the hand unit 12 in the first rotational direction (C1 direction), the operation command value for the hand unit 12 in the second rotational direction (C2 direction), and the operation command value for the rotational movement of the hand unit 12 in the third rotational direction (C3 direction) are all considered valid, and the operation command value for the slave robot 10 is calculated.

[0140] The control device 550 is configured to output the calculated operation command value to the control unit 13 of the slave robot 10. The control unit 13 of the slave robot 10 is configured to control the operation of the motor 111 of the joint 11b based on the operation command value output from the control device 550. As a result, the operation of the hand unit 12 of the slave robot 10 is controlled so as to correspond to the operation of the operating handle 521 and switch 521a of the master robot 520.

[0141] (Control process for specimen collection work) Next, the control process of the specimen collecting work of the specimen collecting robot system 500 according to the fifth embodiment will be described based on a flowchart with reference to Fig. 27. Note that the same processes as those in the first embodiment are denoted by the same reference numerals and detailed description thereof will be omitted.

[0142] As shown in FIG. 27, in step S501, the operation amount of the operation handle 521 of the operator O is acquired.

[0143] Then, in step S502, an operation command value for the slave robot 10 is calculated based on the operation amount of the operation handle 521 acquired in step S501.

[0144] Then, in step S503, it is determined whether or not switch 521a is turned on. If it is determined that switch 521a is not turned on, the process proceeds to step S504.

[0145] Then, in step S504, operation command values ​​other than the operation command value for the rotational operation of the specimen collecting member 101 of the hand unit 12 are set to zero. In step S504, operation command values ​​other than the operation command value for the rotational operation of the hand unit 12 in the first rotational direction (the operation command value for the linear movement of the hand unit 12 in the forward / backward direction, the operation command value for the linear movement of the hand unit 12 in the left / right direction, the operation command value for the linear movement of the hand unit 12 in the up / down direction, the operation command value for the hand unit 12 in the second rotational direction, and the operation command value for the rotational operation of the hand unit 12 in the third rotational direction) are invalidated. Then, the process proceeds to step S7.

[0146] Also, if it is determined in step S503 that the switch 521a is turned on, the process proceeds to step S7 without performing the process in step S504.

[0147] Then, in step S7, the operation command value is output to the slave robot 10.

[0148] Then, in step S8, the movement of each joint 11b of the slave robot 10 is controlled based on the movement command value output in step S7.

[0149] The other configurations of the fifth embodiment are the same as those of the first, second, third or fourth embodiment.

[0150] [Effects of the fifth embodiment] In the fifth embodiment, the following effects can be obtained.

[0151] In the fifth embodiment, as described above, when a specimen is collected from a subject S by the specimen collecting member 101 held by the hand unit 12, a control device 450 is provided that controls the linear movement of the hand unit 12 and at least a part of the rotational movement of the hand unit 12 independently by separating the operation systems. This improves operability when the master robot 520 remotely controls the hand unit 12 of the slave robot 10 to perform a treatment on the subject S (collect a specimen from the subject S), as in the first to fourth embodiments.

[0152] Furthermore, in the fifth embodiment, as described above, the master robot 520 includes an operating device 520a to which the linear movement and rotational movement of the hand unit 12 are assigned. The operating device 520a also includes an operating handle 521 that is operated by one hand of the operator O. The operating handle 521 is provided with a switch 521a that restricts movements other than the rotational movement of the specimen collecting member 101 of the hand unit 12 and enables the rotational movement of the specimen collecting member 101 of the hand unit 12. The control device 550 performs control based on the operation of the operating handle 521 and the operation of the switch 521a, thereby controlling the linear movement of the hand unit 12 and the rotational movement of the specimen collecting member 101 of the hand unit 12 independently from each other by separating the operation systems. This allows the restriction on operations other than the rotation of the specimen collecting member 101 of the hand section 12 to be switched by operating the switch 521a, thereby easily preventing erroneous operations from occurring in the rotation of the specimen collecting member 101 of the hand section 12 and operations other than the rotation of the specimen collecting member 101. As a result, it is easy to prevent unintended erroneous operations of the hand section 12 caused by erroneous operations.

[0153] The other effects of the fifth embodiment are the same as those of the first, second, third or fourth embodiment.

[0154] [Sixth embodiment] Next, the configuration of a specimen collecting robot system 600 according to a sixth embodiment will be described with reference to Figures 28 and 29. Unlike the above-described fifth embodiment in which a switch 521a is provided on the operating handle 521, the specimen collecting robot system 600 does not have a switch on the operating handle 621. Note that the same components as those in the above-described first, second, third, fourth or fifth embodiment are designated by the same reference numerals and detailed description thereof will be omitted.

[0155] 28, the specimen collecting robot system 600 of the sixth embodiment includes a slave robot 10, a master robot 620, an imaging device 30, a display device 40, and a control device 650. The specimen collecting robot system 600 is an example of the "robot system" defined in the claims.

[0156] The master robot 620 includes an operating device 620a. As shown in Fig. 29, the operating device 620a includes an operating handle 621. Except for the operating handle 621, the operating device 620a has substantially the same configuration as the operating device 520a of the fifth embodiment. The operating device 620a is an example of the "first operating device" in the claims.

[0157] The operating handle 621 is configured to be operated by one hand (the right hand in FIG. 28) of the operator O. The operating handle 621 is provided to cause the hand unit 12 to move linearly and to rotate. Specifically, the operating handle 621 is provided to cause the hand unit 12 to move linearly in the front-to-back direction (A1 direction), left-to-right direction (A2 direction), and up-to-down direction (A3 direction), and to rotate the hand unit 12 in a first rotation direction (C1 direction), a second rotation direction (C2 direction), and a third rotation direction (C3 direction). The operating handle 621 is an example of a "first handle" in the claims.

[0158] In the sixth embodiment, the operating handle 621 is not provided with a switch (switch 521a in the fifth embodiment). The operating handle 621 has a substantially cylindrical shape. That is, the operating handle 621 is formed to have a substantially elongated cylindrical shape similar to the specimen collecting member 101. The operating handle 621 has a diameter and length corresponding to the specimen collecting member 101 having a elongated cylindrical shape.

[0159] Here, in the sixth embodiment, the control device 650 is configured to control at least the rectilinear movement of the hand unit 12 and part of the rotational movement of the hand unit 12 independently of each other by using separate operation systems when collecting a specimen from the subject S using the specimen collecting member 101 held by the hand unit 12. Specifically, the control device 650 is configured to control at least the rectilinear movement of the hand unit 12 and part of the rotational movement of the specimen collecting member 101 of the hand unit 12 independently of each other by using separate operation systems.

[0160] In addition, in the sixth embodiment, the control device 650 is configured to control at least the linear movement of the hand unit 12 and the rotational movement of the specimen collection member 101 of the hand unit 12 independently of each other by separating the operation systems, by performing control based on the operation of the operating handle 621 of the operating device 620a. Specifically, when the operating handle 621 corresponding to the rotational movement of the specimen collection member 101 of the hand section 12 is operated, the control device 650 is configured to invalidate (zero) all operation command values ​​other than the operation command value for the rotational movement of the hand section 12 in the first rotational direction (C1 direction) (the operation command value for the linear movement of the hand section 12 in the forward / backward direction (A1 direction), the operation command value for the linear movement of the hand section 12 in the left / right direction (A2 direction), the operation command value for the linear movement of the hand section 12 in the up / down direction (A3 direction), the operation command value for the hand section 12 in the second rotational direction (C2 direction), and the operation command value for the rotational movement of the hand section 12 in the third rotational direction (C3 direction)), and to enable only the operation command value for the rotational movement of the hand section 12 in the first rotational direction (C1 direction), thereby controlling the movement of the hand section 12.

[0161] The other configurations of the sixth embodiment are the same as those of the first, second, third, fourth or fifth embodiment.

[0162] [Effects of the sixth embodiment] In the sixth embodiment, the following effects can be obtained.

[0163] In the sixth embodiment, as described above, when a specimen is collected from a subject S by the specimen collecting member 101 held by the hand unit 12, a control device 650 is provided that controls the linear movement of the hand unit 12 and at least a part of the rotational movement of the hand unit 12 independently by separating the operation systems. This improves operability when the master robot 620 remotely controls the hand unit 12 of the slave robot 10 to perform a treatment on the subject S (collect a specimen from the subject S), as in the first to fifth embodiments.

[0164] Furthermore, in the sixth embodiment, as described above, the master robot 620 includes an operating device 620a to which the rectilinear movement and rotational movement of the hand unit 12 are assigned. The operating device 620a is operated by one hand of the operator O and includes a generally cylindrical operating handle 621 without a switch. The control device 650 performs control based on the operation of the operating handle 621, thereby controlling the rectilinear movement of the hand unit 12 and the rotational movement of the specimen collecting member 101 of the hand unit 12 independently from each other by separating the operating systems. This allows the rectilinear movement of the hand unit 12 and the rotational movement of the specimen collecting member 101 of the hand unit 12 to be controlled independently from each other based on the operation of the operating handle 621, thereby easily preventing erroneous operation of the rectilinear movement of the hand unit 12 and the rotational movement of the specimen collecting member 101. This easily prevents unintended erroneous operation of the hand unit 12 due to erroneous operation. Furthermore, since the operating handle 621 has a substantially cylindrical shape, the specimen collecting member 101 and the operating handle 621 can have the same shape, which makes the operating feel of the operating handle 621 closer to the operating feel when actually operating the specimen collecting member 101. This reduces the sense of incongruity in the operability of the operating handle 621, thereby suppressing the occurrence of erroneous operations.

[0165] The other effects of the sixth embodiment are the same as those of the first, second, third, fourth or fifth embodiment.

[0166] [Variations] It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0167] For example, in the above first to sixth embodiments, the robot system is an example of a robot system that collects a specimen from a subject using a specimen collection member, but the present disclosure is not limited to this. In the present disclosure, the robot system may be a robot system that performs a treatment on a subject (a person receiving treatment) other than specimen collection. For example, the robot system may be a robot system that examines a subject (a person receiving treatment) using a medical examination instrument (a treatment member).

[0168] In addition, in the first to sixth embodiments, examples have been shown in which the slave robot is a vertical articulated robot, but the present disclosure is not limited to this. For example, the slave robot may be a horizontal articulated robot, a dual-arm robot, or other robots.

[0169] In the first to sixth embodiments, the linear movement of the hand unit and at least the rotational movement of the specimen collecting member of the hand unit are controlled independently of each other by using separate operating systems, but the present disclosure is not limited to this. For example, the linear movement of the hand unit and rotational movements other than the rotational movement of the specimen collecting member of the hand unit (such as the rotational movement of the hand unit in the second rotation direction and the rotational movement of the hand unit in the third rotation direction) may be controlled independently of each other by using separate operating systems.

[0170] In addition, in the first embodiment, an example was shown in which control was performed to convert the arcuate motion of the hand unit into a linear motion, but the present disclosure is not limited to this. For example, in the configurations of the second to sixth embodiments, control may be performed to convert the arcuate motion of the hand unit into a linear motion.

[0171] In the first embodiment, an example was shown in which the operating handle of the first operating device for moving the hand section in a straight line was a movable grip handle supported on an arm, and the operating handle of the second operating device for rotating the hand section was a joystick, but the present disclosure is not limited to this. For example, the operating handle of the first operating device for moving the hand section in a straight line may be a joystick, and the operating handle of the second operating device for rotating the hand section may be a movable grip handle supported on an arm. Furthermore, both the operating handle of the first operating device and the operating handle of the second operating device may be a joystick or a movable grip handle.

[0172] In the second embodiment, the second operating device includes a foot pedal for rotating the specimen collection member of the hand unit, but the present disclosure is not limited to this. For example, the second operating device may include a foot pedal for rotating the hand unit in a second rotation direction and a foot pedal for rotating the hand unit in a third rotation direction.

[0173] Furthermore, in the fifth embodiment, an example was shown in which, when the switch is turned on, the hand unit movements in the forward / backward direction, left / right direction, up / down direction, first rotation direction, second rotation direction, and third rotation direction are enabled, and when the switch is turned off, all movements other than the hand unit movement in the first rotation direction are disabled and only the hand unit movement in the first rotation direction is enabled, but the present disclosure is not limited to this. For example, when the switch is turned off, the hand unit movements in the forward / backward direction, left / right direction, up / down direction, first rotation direction, second rotation direction, and third rotation direction may be enabled, and when the switch is turned on, all movements other than the hand unit movement in the first rotation direction may be disabled and only the hand unit movement in the first rotation direction may be enabled.

[0174] Furthermore, in the first to sixth embodiments, examples have been shown in which the present disclosure is applied to a robot system that collects a specimen from a subject using a specimen collection member, but the present disclosure is not limited thereto. For example, the present disclosure may be applied to a robot system 700 that performs ureteroscopic surgery on a subject Sa, as shown in Figures 30 to 32. The robot system 700 includes a slave robot 710, a master robot similar to any of the first to sixth embodiments, a display device, and a control device similar to any of the first to sixth embodiments.

[0175] The slave robot 710 performs ureteroscopic surgery on the patient Sa (subject Sa) using a treatment member 701 to break up a urinary tract stone. The treatment member 701 is a bendable flexible tube. The slave robot 710 inserts the treatment member 701 into the urethra of the patient Sa through a ureteral access sheath 750 that has been inserted into the urethra of the patient Sa beforehand by medical staff, and captures images of the inside of the urinary tract, such as the urethra and ureter, of the patient Sa. The captured images are displayed on a display device. The operator performs ureteroscopic surgery on the patient Sa by operating the slave robot 710 using the master robot while checking the real-time image of the patient Sa displayed on the display device. The ureteroscopic surgery involves identifying the location of the stone in the patient Sa, crushing the stone by irradiating it with laser light using laser forceps, and retrieving the stone using basket forceps.

[0176] The slave robot 710 is a vertical articulated robot. The slave robot 710 includes an arm 711 and a hand 712 attached to the tip of the arm 711. The arm 711 has multiple joints. Each of the multiple joints of the arm 711 is provided with a drive unit such as a servo motor and a position detection unit such as an encoder. The hand 712 is configured to hold a treatment member 701, which is a bendable flexible tube. The hand 712 has a hand base 712a, a ureteroscope main body 712b, and a motor 712c. The hand base 712a is attached to the tip of the arm 711. The ureteroscope main body 712b is capable of imaging the inside of the urinary tract of the treatment recipient Sa. A laser forceps for breaking up urinary stones in the treatment recipient Sa and a basket forceps for retrieving urinary stones can be inserted into the ureteroscope main body 712b. The ureteroscope main body 712b is configured to hold the treatment member 701. The motor 712c rotates the ureteroscope main body 712b in the C12 direction, which will be described later.

[0177] The hand unit 712 is configured to be moved in a plurality of directions. Specifically, the hand unit 712 is configured to be moved linearly in the front-rear direction (A11 direction) and the up-down direction (A12 direction), and to be rotated in a first rotation direction (C11 direction) about a first rotation axis extending in the front-rear direction and a second rotation direction (C12 direction) about a second rotation axis extending in the left-right direction. Note that the front-rear direction, left-right direction, up-down direction, first rotation direction, and second rotation direction are directions relative to the hand unit 712. Note that when inserting the treatment member 701 into the urethra of the treatment recipient Sa, the hand unit 712 is moved linearly forward.

[0178] Although detailed description will be omitted, the control device is configured, similarly to any of the above-described first to sixth embodiments, to independently control the linear movement of the hand unit 712 and at least a part of the rotational movement of the hand unit 712 by separating the operation systems when treating the patient Sa with the treatment member 701 held by the hand unit 712. Specifically, similarly to any of the above-described first to sixth embodiments, the control device is configured, similarly to any of the above-described first to sixth embodiments, to independently control the linear movement of the hand unit 712 and at least a part of the rotational movement of the hand unit 712 by separating the operation systems by using a plurality of operating devices, switches, or automation of the rotational movement. [Explanation of symbols]

[0179] 10,710 Slave Robot 12,712 Hand section 20, 220, 320, 420, 520, 620 Master robot 20a 1st operating device (1st operating device) 20b Second operating device (second operating device) 21 Operating handle (first handle) 27 Operating handle (second handle) 50, 250, 350, 450, 550, 650 control device 100, 200, 300, 400, 500, 600, 700 Sample collection robot system (robot system) 101 Sample collection member (treatment member) 220a 1st operating device (1st operating device) 220b Second operating device (second operating device) 221 Operating handle (first handle) 227 Foot Pedal 320a Operating device (1st operating device) 520a Operating device (1st operating device) 521 Operating handle (first handle) 521a switch 620a Operating device (1st operating device) 621 Operating handle (first handle) 701 Treatment components O Operator S Subject (treatment recipient) Sa Recipient

Claims

1. a slave robot including a hand unit that holds a treatment member, and that performs treatment on a patient using the treatment member held by the hand unit; a master robot operated by an operator to remotely control the slave robot; a control device that controls the linear movement of the hand unit and at least a part of the rotational movement of the hand unit independently of each other by separating the operation systems when performing treatment on the patient using the treatment member held by the hand unit, the master robot includes a first operating device to which a linear movement of the hand unit is assigned, the first operating device includes a first handle operated by one hand of the operator, The control device, when the operation of the first handle by the operator traces an arcuate trajectory, performs control to convert the arcuate movement of the hand unit into a linear movement based on the operation of the first handle by the operator.

2. 2. The robot system according to claim 1, wherein the control device controls the linear movement of the hand unit and the rotational movement of at least the treatment member of the hand unit independently of each other by separating the operation systems.

3. the master robot includes the first operating device and a second operating device to which at least a part of the rotational movement of the hand unit is assigned, 2. The robot system according to claim 1, wherein the control device controls the linear movement of the hand unit based on operation of the first operation device by the operator, and controls at least a portion of the rotational movement of the hand unit based on operation of the second operation device by the operator, thereby controlling the linear movement of the hand unit and at least a portion of the rotational movement of the hand unit independently of each other by separating the operation systems.

4. the first operating device includes the first handle, which is operated by one hand of the operator and is used to perform a linear movement of the hand unit and a rotational movement other than the rotational movement of the treatment member of the hand unit; the second operating device includes a foot pedal that is operated by the operator's foot and that rotates the treatment member of the hand unit; 4. The robot system according to claim 3, wherein the control device controls the linear movement of the hand unit and the rotational movement other than the rotational movement of the treatment member of the hand unit based on operation of the first handle, and controls the rotational movement of the treatment member of the hand unit based on operation of the foot pedal.

5. 2. The robot system according to claim 1, wherein the control device automatically performs the rotational movement of the treatment member of the hand unit without being based on the operation of the rotational movement of the treatment member of the hand unit by the operator, thereby controlling the linear movement of the hand unit and the rotational movement of the treatment member of the hand unit independently of each other by separating the operation systems.

6. The robot system according to claim 5 , wherein the control device automatically performs the rotational movement of the treatment member of the hand unit at all times without relying on an operation of the operator to rotate the treatment member of the hand unit.

7. The robot system of claim 5, wherein the control device automatically rotates the treatment member of the hand unit based on the treatment member being inserted to a predetermined depth into the patient, without being based on the operator's operation of the rotational movement of the treatment member of the hand unit.

8. the master robot includes the first operating device to which a linear movement and a rotational movement of the hand unit are assigned, the first handle is provided with a switch for restricting operations of the hand unit other than the rotational operation of the treatment member and for enabling the rotational operation of the treatment member of the hand unit, 2. The robot system according to claim 1, wherein the control device performs control based on operation of the first handle and operation of the switch, thereby controlling the linear movement of the hand unit and the rotational movement of the treatment member of the hand unit independently of each other by separating the operation systems.

9. the master robot includes the first operating device to which a linear movement and a rotational movement of the hand unit are assigned, the first operating device includes the first handle, which is operated by one hand of the operator and has a substantially cylindrical shape and is not provided with a switch; 2. The robot system according to claim 1, wherein the control device performs control based on operation of the first handle, thereby controlling the linear movement of the hand unit and the rotational movement of the treatment member of the hand unit independently of each other by separating the operation systems.

Images