Robot system

Abstract

Provided is a surgery support robot system 100, a master device 1 of which includes: a grip part 113 provided in a right hand operation unit 11 and a grip part (not shown) provided in a left hand operation unit 12; and an output part 15 which, if a gripping operation applied to each grip part is not a predefined tightly gripping operation, outputs a grip signal (first grip signal) corresponding to the gripping force when said gripping operation is performed, or, if the gripping operation applied to each grip part is the predefined tightly gripping operation, outputs a grip signal (second grip signal) corresponding to a fully closed state. A first slave robot 21 and a second slave robot 22 include grip mechanisms 21A and 22A, respectively, which grip, if the grip signal (first grip signal) corresponding to the grip force is acquired from the master device 1, an object with a grip force based on the grip signal, or which keep gripping, if the grip signal (second grip signal) corresponding to the fully closed state is acquired, the object with a predefined gripping force.

Description

Robot System

[0001] The present disclosure relates to robotic systems.

[0002] Conventionally, surgical support robot systems have been known in which a doctor operates dedicated surgical instruments (e.g., forceps, scalpels, needle holders, etc.) to perform endoscopic surgery. Regarding this surgical support robot system, for example, Patent Literature 1 discloses a system equipped with a haptic feedback function that feeds back stress received by the surgical instruments to a master device (master grip input mechanism) that operates the surgical instruments.

[0003] Japanese Patent Application Laid-Open No. 2020-39898

[0004] In the surgical support robot system disclosed in the aforementioned Patent Document 1, the wrist that connects the end effector gripping device and the shaft and one or more degrees of freedom of movement of the shaft are locked. However, the gripping force of the end effector gripping device is not locked in a constant state. Therefore, for example, when using a needle holder as a surgical instrument and wanting to grip the needle holder tightly, it is necessary to continue to grip the needle holder tightly in order to achieve both the above-mentioned tactile feedback function, which may increase the operator's fatigue and deteriorate operability.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a robot system that can reduce the operational burden on an operator and improve operability.

[0006] In order to solve the above problems, the robot system of the present disclosure is a robot system comprising: a master device for instructing the operation of a slave robot; and a slave device having the slave robot that operates in accordance with instructions from the master device, wherein the master device comprises: a gripping portion to be gripped by a user; and an output portion that, when a gripping operation on the gripping portion is not a predetermined gripping operation, outputs a first gripping signal corresponding to the gripping force used when the gripping operation is performed, and when the gripping operation on the gripping portion is a predetermined gripping operation, outputs a second gripping signal; and the slave robot comprises a gripping mechanism that, when it receives the first gripping signal from the master device, grips an object with a gripping force based on the first gripping signal, and, when it receives the second gripping signal, continues to grip the object with the predetermined gripping force.

[0007] According to the present disclosure, it is possible to reduce the operational burden on the operator and improve operability.

[0008] Fig. 1 is a schematic configuration diagram of a surgery support robot system. Fig. 2 is a block diagram showing the functional configuration of the surgery support robot system. Fig. 3 is a perspective view showing a grip portion of a right-hand operation unit that an operator holds with his / her right hand. Fig. 4 is a flowchart showing a control procedure for grip signal output processing. Fig. 5 is a flowchart showing a control procedure for grip operation processing.

[0009] Hereinafter, embodiments will be described with reference to the drawings. However, for the sake of convenience, the drawings referred to below show only the main components necessary for explaining the embodiments in a simplified form.

[0010] [Configuration of the Surgery Support Robot System] First, the configuration of this embodiment will be described with reference to Figures 1 and 2. Figure 1 is a schematic configuration diagram of a surgery support robot system 100 of this embodiment. Figure 2 is a block diagram showing the functional configuration of the surgery support robot system 100.

[0011] As shown in FIGS. 1 and 2 , the surgery support robot system 100 includes a master device 1 and a slave device 2 .

[0012] The master device 1 is a device for instructing the operations of the first slave robot 21, the second slave robot 22, and the endoscope robot 23 that constitute the slave device 2.

[0013] As shown in FIG. 2, the master device 1 includes a control unit 10, a right-hand operation unit 11, a left-hand operation unit 12, a foot operation unit 13, a display unit 14, and an output unit 15.

[0014] The control unit (determination means) 10 is composed of a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), etc., and comprehensively controls the processing operations of each unit of the master device 1. Specifically, in the control unit 10, the CPU reads out various processing programs stored in the ROM, loads them into the RAM, and performs various processes in cooperation with the programs.

[0015] The right-hand operation unit 11 is used by an operator of the surgery support robot system 100 (e.g., an operator performing endoscopic surgery) to use his / her right hand to instruct the operation of the first slave robot 21. The right-hand operation unit 11 outputs an operation signal input by operating the right-hand operation unit 11 to the control unit 10.

[0016] 3 is a perspective view showing a grip portion 110 that the operator holds in his / her right hand of the right-hand operation unit 11. As shown in FIG. 3, the grip portion 110 includes a base portion 111, a grip 112, a handle portion 113, and a clutch lever 114.

[0017] The grip 112 is held in the palm of the operator's right hand. The grip 112 is connected to the base 111 in a state in which it can slide in the forward and backward directions as shown in Fig. 3. This allows the position of the grip 112 relative to the base 111 to be adjusted, so that the grip 112 can be held in an appropriate position according to the size of the operator's right hand.

[0018] The gripping portion 113 is held by two fingers (e.g., the index finger and thumb) of the operator's right hand, and is used to instruct the opening and closing operation of the gripping mechanism 21A (e.g., a needle holder or forceps (surgical tool)) supported by the first slave robot 21.

[0019] The grip unit 113 includes a slider 113A connected to the right side surface of the base 111 in a state in which it can slide in the left-right direction as shown in FIG. 3 , a first ring-shaped fixing band 113B for fixing the index finger of the operator's right hand to the slider 113A, a second ring-shaped fixing band (not shown) for fixing the thumb of the right hand to the left side surface of the base 111, and a grip force sensor 113C (see FIG. 2 ) for detecting the grip force of the operator. The grip force sensor 113C measures the position of the slider 113A in the left-right direction as shown in FIG. 3 and derives a force estimate converted from the measured position as the grip force of the operator. Note that the method for deriving the grip force is not limited to the above method, and the grip force of the operator may also be derived using, for example, a strain gauge, a force sensor, or the like.

[0020] The clutch lever 114 is used to block the output of an operation signal input by operating the right-hand operation unit 11 to the control unit 10. The clutch lever 114 is constantly biased in the forward direction shown in Fig. 3 by a biasing member (not shown). For example, by pulling the clutch lever 114 in the rearward direction shown in Fig. 3 with the index finger of the right hand, the output of an operation signal input by operating the right-hand operation unit 11 to the control unit 10 can be blocked.

[0021] The right-hand operation unit 11 is also provided with a force feedback mechanism 115. The force feedback mechanism 115 feeds back stress (force sensation) received from a surgical tool supported by the first slave robot 21 to the right-hand operation unit 11. The force feedback mechanism 115 also turns off the feedback of the stress (force sensation) to the right-hand operation unit 11 when, triggered by a predetermined gripping operation (described later) being performed in the gripping unit 113, the gripping mechanism 21A of the first slave robot 21 continues to grip an object with a predetermined gripping force.

[0022] The left-handed operation unit 12 is used by the operator with his / her left hand when instructing the operation of the second slave robot 22. The left-handed operation unit 12 outputs an operation signal input by operating the left-handed operation unit 12 to the control unit 10. Note that the configuration of the left-handed operation unit 12 is substantially the same as the above-mentioned right-handed operation unit 11, and therefore a description of the configuration of the left-handed operation unit 12 will be omitted.

[0023] The foot operation unit 13 is used by the operator when using his / her feet to instruct the operation of the slave device 2 or to operate a predetermined function. The foot operation unit 13 is a switch that is operated by the operator stepping on it with his / her foot, and outputs an operation signal input by operating the switch to the control unit 10.

[0024] The display unit 14 displays information to those involved in the surgery, including the operator, and is configured with a monitor such as an LCD (Liquid Crystal Display). The display unit 14 displays images captured by the endoscopic robot 23 (images of the area that is the target of surgery) in accordance with instructions from a display signal input from the control unit 10.

[0025] The output unit 15 outputs control signals such as a grip signal and a release signal generated in the control unit 10. The output unit 15 is connected to the slave device 2 so as to be able to output the control signals.

[0026] As shown in FIGS. 1 and 2, the slave device 2 supports surgical instruments used in endoscopic surgery, and controls the position, posture, and predetermined movements of the surgical instruments in accordance with the operation of the right-hand operation unit 11, the left-hand operation unit 12, etc.

[0027] The slave device 2 includes a first slave robot 21, a second slave robot 22, and an endoscope robot 23. In the following, an example will be described in which both the first slave robot 21 and the second slave robot 22 support gripping mechanisms 21A, 22A (e.g., needle holders) that can be opened and closed.

[0028] The first slave robot 21 is an articulated slave robot that operates in accordance with the operation of the right-hand operation unit 11. The first slave robot 21 is provided with at least a gripping mechanism 21A, a cartridge 21B (see FIG. 1), a shaft 21C (see FIG. 1), and a joint (not shown).

[0029] The gripping mechanism 21A is a surgical tool that grips an object present in a body cavity of a patient with a gripping force based on a control signal (gripping signal) output from the output unit 15 under the control of the control unit 10.

[0030] The cartridge 21B supports the shaft 21C, a joint portion (not shown), and the gripping mechanism 21A. The shaft 21C is a cylindrical or columnar member extending from the cartridge 21B. The shaft 21C is arranged to be rotatable around its own central axis relative to the cartridge 21B. The joint portion supports the gripping mechanism 21A and controls the position and attitude of the gripping mechanism 21A by bending. The joint portion is located between the shaft 21C and the gripping mechanism 21A.

[0031] The second slave robot 22 is an articulated slave robot that operates in accordance with the operation of the left-hand operation unit 12. The second slave robot 22 is provided with at least a gripping mechanism 22A, a cartridge 22B (see FIG. 1), a shaft 22C (see FIG. 1), and a joint (not shown). Note that the configuration of the second slave robot 22 is substantially the same as that of the first slave robot 21 described above, and therefore a description of the configuration of the second slave robot 22 will be omitted.

[0032] 1 and 2, the endoscopic robot 23 is a slave robot for acquiring images used in performing endoscopic surgery. Specifically, it is a slave robot for acquiring images of the area within the patient's body cavity that is the target of surgery. The endoscopic robot 23 outputs information about the acquired images to the control unit 10.

[0033] [Operation of Surgery Assist Robot System] Next, the operation of the surgery assist robot system 100 will be described with reference to Figures 4 and 5. Figure 4 is a flowchart showing the control procedure of the grip signal output process executed by the master device 1. This grip signal output process is started, for example, when a transition is made to a mode (hereinafter referred to as the surgery assist mode) in which the first slave robot 21 and the second slave robot 22 can be operated in response to an instruction from the master device 1. Note that the grip signal output process will be described below using as an example a case in which a grip operation is performed on the grip portion 113 (see Figure 3) of the right-hand operation unit 11.

[0034] [Grip Signal Output Process] As shown in FIG. 4, when the grip signal output process starts, the control unit 10 of the master device 1 determines whether a grip operation has been performed on the grip unit 113 of the right-hand operation unit 11 (step S101).

[0035] If it is determined in step S101 that a gripping operation has been performed (step S101; YES), the control unit 10 determines whether the gripping operation is a gripping operation (step S102). Specifically, if the grip force value detected by the grip force sensor 113C of the grip unit 113 exceeds a predetermined value and the state in which the grip force exceeds the predetermined value is maintained for a predetermined time, the control unit 10 determines that the gripping operation is a gripping operation. On the other hand, if the condition that the grip force value detected by the grip force sensor 113C of the grip unit 113 exceeds a predetermined value and the state in which the grip force exceeds the predetermined value is maintained for a predetermined time is not satisfied, the control unit 10 determines that the gripping operation is not a gripping operation. Note that the gripping operation may also be determined to be a gripping operation if a special operation, such as double-pressing a predetermined switch (not shown) provided on the grip unit 110, is performed while the grip unit 113 is being gripped.

[0036] In step S102, when it is determined that the gripping operation is not a squeeze operation (step S102; NO), the control unit 10 determines whether or not the lock flag is set to OFF (step S103).

[0037] If it is determined in step S103 that the lock flag is set to OFF (step S103; YES), the control unit 10 outputs a grip signal (first grip signal) corresponding to the grip force detected by the grip force sensor 113C of the grip unit 113 via the output unit 15 (step S104). Then, the control unit 10 proceeds to step S110.

[0038] Also, in step S103, if it is determined that the lock flag is not set to OFF, i.e., the lock flag is set to ON (step S103; NO), the control unit 10 proceeds to step S110.

[0039] Furthermore, in step S102, if it is determined that the gripping operation is a squeeze operation (step S102; YES), the control unit 10 determines whether or not the lock flag is set to OFF (step S105).

[0040] If it is determined in step S105 that the lock flag is set to OFF (step S105; YES), the control unit 10 outputs a grip signal (second grip signal) corresponding to the fully closed state via the output unit 15 (step S106). Subsequently, the control unit 10 sets the lock flag to ON (step S107). Then, the control unit 10 proceeds to step S110.

[0041] If it is determined in step S105 that the lock flag is not set to OFF, i.e., that the lock flag is set to ON (step S105; NO), the control unit 10 outputs a release signal via the output unit 15 (step S108).Then, the control unit 10 sets the lock flag to OFF (step S109).Then, the control unit 10 proceeds to step S110.

[0042] Furthermore, in step S101, if it is determined that the gripping operation has not been performed (step S101; NO), the control unit 10 advances the process to step S110.

[0043] Next, the control unit 10 determines whether or not a predetermined operation to end the surgery assistance mode has been performed (step S110).

[0044] In step S110, if it is determined that a predetermined operation to end the surgery assistance mode has been performed (step S110; YES), the control unit 10 ends the grip signal output process.

[0045] Also, if it is determined in step S110 that the specified operation to end the surgical support mode has not been performed (step S110; NO), the control unit 10 returns the processing to step S101 and repeats the subsequent processing.

[0046] [Gripping Operation Processing] Next, the gripping operation processing executed by the slave device 2 will be described with reference to FIG.

[0047] 5 is a flowchart showing the control procedure for the gripping operation process. This gripping operation process is initiated when the surgical assistance mode is entered. The gripping operation process will be described below using an example in which a grip signal or release signal is output by gripping the gripping unit 113 of the right-hand operation unit 11 in the grip signal output process (see FIG. 4).

[0048] As shown in FIG. 5, when the grasping operation process is started, the first slave robot 21 of the slave device 2 determines whether or not a grasping signal (a grasping signal resulting from the grasping operation of the grasping portion 113 of the right-hand operating unit 11) has been acquired from the master device 1 (step S201).

[0049] In step S201, if it is determined that a gripping signal has been acquired from the master device 1 (step S201; YES), the first slave robot 21 determines whether the gripping signal is a gripping signal corresponding to the fully closed state (second gripping signal) (step S202).

[0050] In step S202, if it is determined that the grip signal is not a grip signal corresponding to the fully closed state, i.e., a grip signal (first grip signal) corresponding to the grip force detected by the grip force sensor 113C of the gripper 113 (step S202; NO), the first slave robot 21 grips the object with a grip force based on the grip signal using the grip mechanism 21A (needle holder) supported by the first slave robot 21 (step S203).The first slave robot 21 then proceeds to step S206.

[0051] Furthermore, in step S202, if it is determined that the gripping signal is a gripping signal corresponding to the fully closed state (second gripping signal) (step S202; YES), the first slave robot 21 continues to grip the object with the gripping mechanism 21A (needle holder) supported by the first slave robot 21 at the maximum output that the first slave robot 21 can output (step S204).Then, the first slave robot 21 proceeds to the process of step S205.

[0052] Furthermore, in step S201, if it is determined that a grip signal has not been acquired from the master device 1 (step S201; NO), the first slave robot 21 proceeds to step S205.

[0053] Next, the first slave robot 21 determines whether or not it has acquired a release signal (a release signal resulting from the gripping operation (gripping operation) of the grip portion 113 of the right-hand operation unit 11) from the master device 1 (step S205).

[0054] If it is determined in step S205 that a release signal has been received from the master device 1 (step S205; YES), the first slave robot 21 releases the gripping state (a state in which the first slave robot 21 continues to grip the object with the gripping mechanism 21A (needle holder) at the maximum output that the first slave robot 21 can output) (step S206).The first slave robot 21 then proceeds to step S207.

[0055] Furthermore, if it is determined in step S205 that the release signal has not been received from the master device 1 (step S205; NO), the first slave robot 21 proceeds to step S207.

[0056] Next, the first slave robot 21 determines whether or not a predetermined operation to end the above-mentioned surgery assistance mode has been performed (step S207).

[0057] In step S207, if it is determined that a predetermined operation to end the surgery assistance mode has been performed (step S207; YES), the first slave robot 21 ends the grasping operation process.

[0058] Also, in step S207, if it is determined that the specified operation to end the surgical assistance mode has not been performed (step S207; NO), the first slave robot 21 returns the processing to step S201 and repeats the subsequent processing.

[0059] [Effects] As described above, the master device 1 of the surgical support robot system 100 according to this embodiment includes the gripping unit 113 provided on the right-hand operation unit 11 and the gripping unit (not shown) provided on the left-hand operation unit 12, and the output unit 15 that outputs a gripping signal (first gripping signal) corresponding to the gripping force when the gripping operation on each gripping unit is not a predetermined gripping operation, and outputs a gripping signal (second gripping signal) corresponding to a fully closed state when the gripping operation on each gripping unit is a predetermined gripping operation. The first slave robot 21 and the second slave robot 22 each include gripping mechanisms 21A, 22A that, when receiving a gripping signal (first gripping signal) corresponding to the gripping force from the master device 1, grip an object with a gripping force based on the gripping signal, and that, when receiving a gripping signal (second gripping signal) corresponding to the fully closed state, continue to grip the object with a predetermined gripping force. As a result, for example, by performing a single gripping operation on the gripping portion 113 provided on the right-hand operation unit 11, the gripping mechanism 21A of the first slave robot 21 can continue to grip the object with a predetermined gripping force. Therefore, when performing an operation in which the gripping mechanism 21A of the first slave robot 21 continues to grip the object with a predetermined gripping force, the operator of the master device 1 does not need to continue to grip the gripping portion 113, thereby reducing the operational burden on the operator. Furthermore, since the gripping mechanism 21A can continue to grip the object with a predetermined gripping force, operability can be improved.

[0060] The master device 1 also includes force feedback mechanisms 115, 125 that provide feedback on the force sense when an object is gripped by the gripping mechanisms 21A, 22A of the first slave robot 21 and the second slave robot 22, and the force feedback mechanisms 115, 125 turn off the force feedback when the object is gripped by the gripping mechanisms 21A, 22A when the object is continuously gripped by the gripping mechanisms 21A, 22A with a predetermined gripping force. As a result, for example, when the gripping mechanism 21A of the first slave robot 21 continues to grip an object with a predetermined gripping force, the force feedback when the object is gripped by the gripping mechanism 21A is turned off, thereby reducing power consumption in the master device 1.

[0061] The master device 1 also includes a grip force sensor 113C that detects the grip force when the grip portion 113 of the right-hand operation unit 11 is gripped, a grip force sensor 123C that detects the grip force when the grip portion (not shown) of the left-hand operation unit 12 is gripped, and a control unit (determination means) 10 that determines whether a grip operation has been performed on the corresponding grip portion based on the values ​​detected by the grip force sensors 113C and 123C. Furthermore, when the control unit 10 determines that a grip operation has been performed on the grip portion, the output unit 15 of the master device 1 outputs a grip signal (second grip signal) corresponding to a fully closed state. As a result, for example, when it is determined that a grip operation has been performed on the grip portion 113 of the right-hand operation unit 11, the grip mechanism 21A of the first slave robot 21 continues to grip the object with a predetermined grip force, eliminating the need to continue the grip operation of the grip portion 113. This reduces the fatigue of the operator caused by continuing to grip the grip portion 113. Furthermore, it is possible to prevent the gripping force from becoming unstable due to continuing to grip the grip portion 113.

[0062] Furthermore, when the value detected by each grip force sensor 113C, 123C exceeds a predetermined value and the state where the value exceeds the predetermined value is maintained for a predetermined time, the control unit 10 of the master device 1 determines that a gripping operation has been performed on the corresponding grip portion. This allows the control unit 10 to appropriately determine whether a gripping operation has been performed by using the fact that the value detected by each grip force sensor 113C, 123C has exceeded the predetermined value and that the state where the value exceeds the predetermined value is maintained for a predetermined time as a determination condition for determining whether a gripping operation has been performed. As a result, it is possible to prevent the gripping mechanisms 21A, 22A from erroneously continuing to grip an object with a predetermined gripping force.

[0063] Furthermore, when the gripping mechanisms 21A, 22A acquire a gripping signal (second gripping signal) corresponding to the fully closed state, they grip the object with the maximum output that can be output by the mechanisms 21A, 22A, thereby enabling the object to be maintained in a gripped state in an optimal manner.

[0064] In addition, the surgical support robot system 100 is equipped with a release means for releasing the state in which the gripping mechanisms 21A and 22A continue to grip the object with a predetermined gripping force, thereby improving the convenience of the function of gripping the object with the gripping mechanisms 21A and 22A.

[0065] Furthermore, when the control unit 10 determines that a gripping operation has been performed again on the corresponding gripping portion while the gripping mechanisms 21A, 22A are continuing to grip the object with a predetermined gripping force, the release means releases the state in which the gripping mechanisms 21A, 22A are continuing to grip the object with a predetermined gripping force, thereby making the release easy.

[0066] [Others] Note that the description in the above embodiment is an example of the surgical support robot system 100 according to the present disclosure, and is not limited thereto. For example, the grip signal output process (see FIG. 4) in the above embodiment has been described using an example in which a grip operation is performed in the grip portion 113 (see FIG. 3) of the right-hand operation unit 11, but it goes without saying that the grip signal output process is also performed when a grip operation is performed in the grip portion (not shown) of the left-hand operation unit 12.

[0067] Furthermore, the gripping operation processing (see Figure 5) in the above embodiment has been explained using the example of a case where a gripping signal or a release signal is output by a gripping operation of the gripping portion 113 of the right-hand operation unit 11, but it goes without saying that the gripping operation processing is also performed when a gripping signal or a release signal is output by a gripping operation of the gripping portion (not shown) of the left-hand operation unit 12.

[0068] Furthermore, in the above embodiment, in step S102 of the grip signal output process (see FIG. 4), if the grip force value detected by the grip force sensor 113C of the grip unit 113 exceeds a predetermined value and the state in which the value exceeds the predetermined value is maintained for a predetermined time, the control unit 10 determines that the grip operation is a gripping operation; however, if the grip force value detected by the grip force sensor 113C exceeds a predetermined value, the control unit 10 may determine that the grip operation is a gripping operation.

[0069] Furthermore, in the above embodiment, if it is determined in step S202 of the gripping operation processing (see FIG. 5) that the acquired gripping signal is a gripping signal corresponding to the fully closed state (step S202; YES), the first slave robot 21 grips the object with the maximum output that the first slave robot 21 can output, using the gripping mechanism 21A (needle holder) supported by the first slave robot 21 (step S204). However, gripping the object with the maximum output is merely an example, and the object may also be gripped with a preset gripping force other than the maximum output.

[0070] Furthermore, in the above embodiment, when the gripping mechanisms 21A, 22A are continuing to grip the object with a predetermined gripping force, if the control unit 10 determines that a gripping operation has been performed again on the corresponding gripping portion, the state in which the gripping mechanisms 21A, 22A are continuing to grip the object with the predetermined gripping force is released, but the above state may also be released when, for example, a predetermined switch is pressed.

[0071] In the above embodiment, the robot system of the present disclosure has been described as the surgical support robot system 100, but the robot system can also be used in other industrial fields. For example, the robot system of the present disclosure can be used as a remote-controlled robot system used for work at construction sites.

[0072] In addition, the specific details of the surgical support robot system 100 shown in the above embodiment can be modified as appropriate within the scope of the present disclosure.

[0073] The present disclosure can be used in a robot system.

[0074] 100 Surgery support robot system 1 Master device 10 Control unit 11 Right-hand operation unit 110 Grip unit 113 Grasping unit 113C Grasping force sensor 115 Force feedback mechanism 12 Left-hand operation unit 123C Grasping force sensor 125 Force feedback mechanism 13 Foot operation unit 14 Display unit 15 Output unit 2 Slave device 21 First slave robot 21A Grasping mechanism 22 Second slave robot 22A Grasping mechanism 23 Endoscopic robot

Claims

1. A robot system including a master device for instructing an operation of a slave robot, and a slave device having the slave robot that operates in response to an instruction from the master device, The master device A grip portion to be gripped by a user; an output unit that outputs a first grip signal corresponding to a grip force when the grip operation on the grip portion is not a predetermined grip operation, and outputs a second grip signal when the grip operation on the grip portion is a predetermined grip operation; Equipped with The slave robot is a gripping mechanism that, when receiving the first gripping signal from the master device, grips an object with a gripping force based on the first gripping signal, and, when receiving the second gripping signal, continues to grip the object with a predetermined gripping force; Robot system.

2. The master device a force feedback mechanism that feeds back a force sense when the object is gripped by the gripping mechanism, The force feedback mechanism includes: turning off the force feedback when the gripping mechanism continues to grip the object with a predetermined gripping force; The robot system of claim 1 .

3. The master device A sensor for detecting a gripping force when the gripping portion is gripped; a determination means for determining whether or not the predetermined gripping operation has been performed on the grip portion based on a value detected by the sensor; Preparation, The output unit is When the determination means determines that the predetermined gripping operation has been performed on the grip portion, the second gripping signal is output. The robot system of claim 1 .

4. The determination means is When the value detected by the sensor exceeds a predetermined value, it is determined that the predetermined gripping operation has been performed on the grip portion. The robot system according to claim 3 .

5. The determination means is When the value detected by the sensor exceeds a predetermined value and the state where the value exceeds the predetermined value is maintained for a predetermined period of time, it is determined that the predetermined gripping operation has been performed on the grip portion. The robot system according to claim 3 .

6. The gripping mechanism includes: When the second gripping signal is acquired, the object is gripped with a maximum output that can be output by the mechanism. The robot system according to claim 3 .

7. A release means is provided for releasing the state in which the gripping mechanism continues to grip the object with a predetermined gripping force. The robot system according to claim 3 .

8. The release means is When the determination means determines that the predetermined gripping operation has been performed on the gripping portion again in a state in which the gripping mechanism continues to grip the object with a predetermined gripping force, the state in which the object is gripped with the predetermined gripping force is released. The robot system according to claim 7.

9. The release means is When a predetermined switch is pressed, the gripping mechanism releases the state in which the object is gripped with a predetermined gripping force. The robot system according to claim 7.

10. The robot system is a surgical assistance robot system. The robot system of claim 1 .