Robot system

Abstract

Provided is a surgery support robot system 100 a master device 1 of which includes: a gripping part 113 provided in a right hand operation unit 11 and a gripping part (not shown) provided in a left hand operation unit 12; gripping force sensors 113C and 123C which respectively detect the gripping force of the gripping parts when gripping; and an output part 15 which outputs gripping signals corresponding to the gripping forces detected by the gripping force sensors 113C and 123C. A first slave robot 21 and a second slave robot 22 respectively include gripping tools 21A and 22A which grip an object with a gripping force based on the gripping signal output from the master device 1, and opening gauges 21D and 22D, which measure the openings of the gripping tools 21A and 22A, respectively. The master device 1 further includes a control unit 10 which makes the openings of the gripping parts and the openings of the gripping tools 21A and 22A match each other on the basis of the openings of the gripping tools 21A and 22A measured by the opening gauges 21D and 22D, respectively.

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 above-mentioned Patent Document 1, when tissue, etc. is grasped using an end effector grasping device, it is possible to automatically control the level of grasping force depending on the content of the procedure.

[0005] Incidentally, when expressing the gripping force of the gripping portion of the end effector gripping device, for example, it is possible to express the gripping force of the gripping portion of the end effector gripping device by setting the gripping portion of the master device in a slightly open state (opening degree A) to correspond to a closed state (opening degree 0) of the gripping portion of the end effector gripping device, and by operating (gripping operation) to change the opening degree of the gripping portion of the master device from opening degree A to opening degree 0. However, in such a case, there is a problem in that the operability of the gripping operation is reduced because there is a difference between the opening degree of the gripping portion of the master device and the opening degree of the gripping portion of the end effector gripping device.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a robot system that can improve operability related to gripping operations.

[0007] 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 response to instructions from the master device, wherein the master device comprises: a gripping portion held by a user; a sensor for detecting the gripping force when the gripping portion is gripped; and an output portion for outputting a gripping signal corresponding to the gripping force detected by the sensor; and the slave robot comprises: a gripping tool that grips an object with a gripping force based on the gripping signal output from the master device; and an opening meter that measures the opening of the gripping tool, and a control portion that matches the opening of the gripping portion with the opening of the gripping tool based on the opening of the gripping tool measured by the opening meter.

[0008] According to the present disclosure, it is possible to improve operability in gripping operations.

[0009] 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 is held by an operator with his right hand. Fig. 4 is a sequence diagram showing the flow of force progressive bilateral control executed by the surgery support robot system. Fig. 5 is a flowchart showing the control procedure for grip signal output processing. Fig. 6 is a flowchart showing the control procedure for grip operation processing.

[0010] 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.

[0011] [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.

[0012] As shown in FIGS. 1 and 2 , the surgery support robot system 100 includes a master device 1 and a slave device 2 .

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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 a gripping tool 21A (e.g., a needle holder or forceps (surgical tool)) supported by the first slave robot 21.

[0020] 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 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 shown in Fig. 3 (the width of the gap between the right thumb and right index finger), and derives a force estimate converted from the measured position as the grip force of the operator. The method of deriving the gripping force is not limited to the above method, and the gripping force of the operator may be derived, for example, using a pressure sensor (e.g., a strain gauge pressure sensor, a piezoelectric pressure sensor, a mechanical pressure sensor, a capacitance pressure sensor, or a resistive film pressure sensor) provided on the surface of slider 113A that comes into contact with the index finger of the operator's right hand.

[0021] 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.

[0022] 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 tool 21A of the first slave robot 21 continues to grip an object with a predetermined gripping force.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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 grippers 21A, 22A (e.g., needle holders) that can be opened and closed.

[0029] 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 gripper 21A, a cartridge 21B (see FIG. 1), a shaft 21C (see FIG. 1), a joint (not shown), and an opening meter 21D.

[0030] The gripping tool 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.

[0031] The cartridge 21B supports the shaft 21C, a joint portion (not shown), and the gripping tool 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 tool 21A and controls the position and attitude of the gripping tool 21A by bending. The joint portion is located between the shaft 21C and the gripping tool 21A.

[0032] The opening meter 21D measures the opening degree when a gripping operation (opening / closing operation) is performed by the gripping tool 21A. The opening meter 21D is, for example, an encoder-type device that measures the opening degree of the gripping tool 21A from the amount of movement of a wire that operates the gripping tool 21A (opening / closing operation). Here, the opening degree indicates the degree of opening of the gripping tool 21A, with the fully open state of the gripping tool 21A being 100 and the fully closed state being 0.

[0033] 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 gripper 22A, a cartridge 22B (see FIG. 1), a shaft 22C (see FIG. 1), a joint (not shown), and an opening meter 22D. 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.

[0034] 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.

[0035] [Operation of the Surgery Assist Robot System] Next, the operation of the surgery assist robot system 100 will be described with reference to Figures 4 to 6. Figure 4 is a sequence diagram showing the flow of force-transfer bilateral control executed by the surgery assist robot system 100. Note that the force-transfer bilateral control will be described below using as an example a case where a gripping operation is performed on the grip portion 113 (see Figure 3) of the right-hand operation unit 11.

[0036] 4, when operating (gripping) the gripper 21A of the first slave robot 21, the control unit 10 of the master device 1 executes a grip signal output process (step S1), and outputs a grip signal (first grip signal) corresponding to the value of the grip force detected by the grip force sensor 113C of the gripper 113 or a grip signal (second grip signal) corresponding to the fully closed state to the first slave robot 21 (step S2). Details of the grip signal output process will be described later.

[0037] When the gripping signal is output in step S2, the first slave robot 21 executes a gripping operation process based on the gripping signal (step S3). The first slave robot 21 then measures the opening degree of the gripper 21A when the gripping operation process is executed using the opening degree meter 21D (step S4), and outputs opening degree information indicating the measured opening degree to the master device 1 (step S5). The first slave robot 21 then returns the process to step S3 and repeats the subsequent processes. Details of the gripping operation process will be described later.

[0038] When the opening degree information is output in step S4, the control unit 10 of the master device 1 executes a gripping unit control process (step S6), and controls the opening degree of the gripping unit 113, i.e., the position of the slider 113A (the width of the gap between the right thumb and the right index finger), based on the opening degree information so that it matches the opening degree of the gripping tool 21A. Then, the control unit 10 returns the process to step S1 and repeats the subsequent processes.

[0039] [Gripping Signal Output Process] Next, with reference to FIG. 5, the gripping signal output process executed by the master device 1 will be described.

[0040] 5 is a flowchart showing the control procedure for the grip signal output process. This grip signal output process is started, for example, when a transition to a mode (hereinafter referred to as a surgery assistance 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 is made. Note that the grip signal output process will be described below using as an example a case in which a gripping operation is performed on the grip portion 113 (see FIG. 3) of the right-hand operation unit 11.

[0041] As shown in FIG. 5, when the grip signal output process is started, 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).

[0042] 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.

[0043] 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).

[0044] 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.

[0045] 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.

[0046] 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).

[0047] 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.

[0048] 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.

[0049] 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.

[0050] Next, the control unit 10 determines whether or not a predetermined operation to end the surgery assistance mode has been performed (step S110).

[0051] 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.

[0052] 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.

[0053] [Gripping Operation Processing] Next, the gripping operation processing executed by the slave device 2 will be described with reference to FIG.

[0054] 6 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 grip portion 113 of the right-hand operation unit 11 in the grip signal output process (see FIG. 5).

[0055] As shown in FIG. 6, 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).

[0056] 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).

[0057] 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 the grip force based on the grip signal using the gripper 21A (needle holder) supported by the first slave robot 21 (step S203).The first slave robot 21 then proceeds to step S206.

[0058] 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 tool 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.

[0059] 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.

[0060] 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).

[0061] If it is determined in step S2065 that a release signal has been received from the master device 1 (step S205; YES), the first slave robot 21 releases the grasping state (a state in which the first slave robot 21 continues to grasp the object with the grasping tool 21A (needle holder) at the maximum output that the first slave robot 21 can output) (step S206).Then, the first slave robot 21 proceeds to step S207.

[0062] 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.

[0063] 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).

[0064] 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.

[0065] 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.

[0066] As described above, the master device 1 of the surgery 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, gripping force sensors 113C, 123C that detect the gripping force when each gripping unit is gripped, and the output unit 15 that outputs a gripping signal corresponding to the gripping force detected by the gripping force sensors 113C, 123C. The first slave robot 21 and the second slave robot 22 each include gripping tools 21A, 22A that grip an object with a gripping force based on the gripping signal output from the master device 1, and opening meters 21D, 22D that measure the opening degree of each gripping tool 21A, 22A. Furthermore, the master device 1 includes a control unit 10 that matches the opening degrees of the above-mentioned grippers with the opening degrees of the grippers 21A and 22A based on the opening degrees of the grippers 21A and 22A measured by the opening degree meters 21D and 22D. This makes it possible to match the opening degree of the gripper 113 of the right-hand operation unit 11 with the opening degree of the gripper 21A of the first slave robot 21, and also to match the opening degree of the gripper (not shown) of the left-hand operation unit 12 with the opening degree of the gripper 22A of the second slave robot 22, thereby improving the operability of the gripping operation.

[0067] Furthermore, the control unit 10 of the master device 1 matches the opening degree of each gripping part with the opening degree of the gripping tools 21A and 22A by force-propagating bilateral control, so that the opening degree of each gripping part can be matched with the opening degree of the gripping tools 21A and 22A with sufficient accuracy.

[0068] The master device 1 also includes force feedback mechanisms 115, 125 that feed back the force sense when an object is gripped by the grippers 21A, 22A of the first slave robot 21 and the second slave robot 22. This allows the force sense when an object is gripped by the gripper 21A of the first slave robot 21 or the gripper 22A of the second slave robot 22 to be fed back to the operator and made perceptible, thereby improving the operability of the right-hand operation unit 11 and the left-hand operation unit 12.

[0069] Furthermore, each of the gripping force sensors 113C and 123C can detect the gripping force at any opening degree of each gripping portion, allowing for flexible detection of the gripping force.

[0070] Furthermore, when the gripping operation on each gripper is not a predetermined gripping operation, the output unit 15 of the master device 1 outputs a gripping signal (first gripping signal) corresponding to the gripping force used when the gripping operation is performed, whereas when the gripping operation on each gripper is a predetermined gripping operation, the output unit 15 outputs a gripping signal (second gripping signal) corresponding to the fully closed state. When the first slave robot 21 and the second slave robot 22 receive a gripping signal (first gripping signal) corresponding to the gripping force from the master device 1, they grasp the object with the corresponding gripping tool with a gripping force based on the gripping signal. When the first slave robot 21 and the second slave robot 22 receive a gripping signal (second gripping signal) corresponding to the fully closed state, they continue to grasp the object with the predetermined gripping force using the corresponding gripping tool. As a result, for example, by performing a gripping operation once on the gripper 113 provided on the right-hand operation unit 11, the gripper 21A of the first slave robot 21 can continue to grasp the object with the predetermined gripping force. Therefore, when performing an operation in which the gripper 21A of the first slave robot 21 continues to grip an object with a predetermined gripping force, the operator of the master device 1 does not need to continue to grip the gripper 113, thereby reducing the operational burden on the operator. Also, since the gripper 21A can continue to grip an object with a predetermined gripping force, operability can be improved.

[0071] The master device 1 also includes a control unit (determination means) 10 that determines whether a gripping operation has been performed on the corresponding gripper based on the values ​​detected by each grip force sensor 113C, 123C. When the control unit 10 determines that a gripping operation has been performed on the corresponding gripper, the output unit 15 of the master device 1 outputs a gripping signal (second gripping signal) corresponding to the fully closed state. As a result, for example, when a gripping operation is determined to have been performed on the gripper 113 of the right-hand operation unit 11, the gripper 21A of the first slave robot 21 continues to grip the object with a predetermined gripping force, eliminating the need to continue gripping the gripper 113. This reduces the operator's fatigue caused by continuing to grip the gripper 113. Furthermore, it also prevents the gripping force from becoming unstable due to continued gripping of the gripper 113.

[0072] 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 gripping part. 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 tool 21A, 22A from accidentally continuing to grip the object with a predetermined gripping force.

[0073] Furthermore, when the gripping devices 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 their own mechanisms 21A, 22A, thereby enabling the object to be maintained in a gripped state in an optimal manner.

[0074] In addition, the surgical support robot system 100 is equipped with a release means for releasing the state in which the gripping devices 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 devices 21A and 22A.

[0075] [Others] 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, in the above embodiment, the force-transfer bilateral control is described using an example in which a gripping operation is performed on the grip portion 113 (see FIG. 3 ) of the right-hand operation unit 11, but it goes without saying that the force-transfer bilateral control is also performed when a gripping operation is performed on the grip portion (not shown) of the left-hand operation unit 12.

[0076] Furthermore, the grip signal output process (see Figure 5) in the above embodiment has been explained using the example of a case where a grip operation is performed on the grip portion 113 (see Figure 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 on the grip portion (not shown) of the left-hand operation unit 12.

[0077] Furthermore, the gripping operation processing (see Figure 6) in the above embodiment has been explained using an example in which 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.

[0078] Furthermore, in the above embodiment, in step S102 of the grip signal output process (see FIG. 5), 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.

[0079] Furthermore, in the above embodiment, if it is determined in step S202 of the gripping operation processing (see FIG. 6) 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 gripping tool 21A (needle holder) supported by the first slave robot 21 at the maximum output that the first slave robot 21 can output (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.

[0080] Furthermore, in the above embodiment, when the control unit 10 determines that a gripping operation has been performed again on the corresponding gripping part while the gripping devices 21A, 22A are continuing to grip the object with a predetermined gripping force, the state in which the gripping devices 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.

[0081] 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.

[0082] 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.

[0083] The present disclosure can be used in a robot system.

[0084] REFERENCE SIGNS LIST 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 tool 21D Opening degree meter 22 Second slave robot 22A Grasping tool 22D Opening degree meter 23 Endoscope 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; A sensor for detecting a gripping force when the gripping portion is gripped; an output unit that outputs a gripping signal corresponding to the gripping force detected by the sensor; Equipped with The slave robot is a gripping tool that grips an object with a gripping force based on the gripping signal output from the master device; An opening meter that measures the opening degree of the gripping tool; Equipped with A control unit is provided that matches the opening degree of the gripping part with the opening degree of the gripping tool based on the opening degree of the gripping tool measured by the opening degree meter. Robot system.

2. The control unit is The opening degree of the gripping part and the opening degree of the gripping tool are matched by force-propagating bilateral control; The robot system of claim 1 .

3. The master device a force feedback mechanism that feeds back a force sense when the object is gripped by the gripping tool; The robot system of claim 1 .

4. The sensor is capable of detecting the gripping force at any opening degree of the gripping portion. The robot system of claim 1 .

5. The output unit is When the gripping operation on the grip portion is not a predetermined gripping operation, a first gripping signal corresponding to a gripping force at the time of the gripping operation is output, whereas when the gripping operation on the grip portion is a predetermined gripping operation, a second gripping signal is output; The slave robot is When the first gripping signal is acquired, the gripping tool grips the object with a gripping force based on the first gripping signal, while when the second gripping signal is acquired, the gripping tool continues to grip the object with a predetermined gripping force. The robot system of claim 1 .

6. The master device a determination unit that determines whether or not the predetermined gripping operation has been performed on the grip portion based on a value detected by the sensor, 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 according to claim 5 .

7. 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 6.

8. The gripping tool is 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 6.

9. A release means is provided for releasing the state in which the object is continuously gripped by the gripping tool with a predetermined gripping force. The robot system according to claim 5 .

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