Master-slave system, synchronous switching control method, and computer-readable recording medium storing a program

Abstract

The master-slave system of the present disclosure comprises, in the operation of a master robot and a slave robot, a determination unit for determining whether an operation interface of the master robot operated by a user has moved out of a predetermined work area, and a synchronization switching unit for switching to release synchronization between the slave robot and the master robot when the operation interface has moved out of the predetermined work area.

Description

Technology Field

[0001] The present disclosure relates to a master-slave system, a synchronous switching control method, and a program. Background Technology

[0002] A master-slave system having a master and a slave (hereinafter also referred to as a "robot arm") is known. The master is equipped with an input device for an operator to manipulate the robot arm. The slave has a robot hand (hereinafter also referred to as an "end effector") tailored to the target task. In the master-slave system, the slave executes movements input by the user (operator) from the master by dividing or scaling them.

[0003] In a master-slave system, operations to switch between synchronous and asynchronous states between the master and slave occur frequently, such as releasing the clutch to exchange tools at the tip of the robot arm depending on the task to be executed.

[0004] In synchronous and asynchronous switching operations between a master and slave, such as clutch operation, a misalignment in position or orientation between the master and slave (hereinafter collectively referred to as "position misalignment") occurs because the master's operation takes place during asynchronous operation. Since position misalignment in a master-slave system impairs operability, it is essential to correct the position misalignment.

[0005] Conventionally, there is a method in which the user aligns the position or orientation of the master with the position or orientation of the slave prior to the synchronous / asynchronous transition. In this method, the user operates the master by referring to the slave's position or orientation displayed on the screen, and by aligning the slave's position or orientation, the positional misalignment that occurred during asynchronous operation is resolved. Prior art literature

[0006] Japanese Patent Publication No. JP 2008-228967 The problem to be solved

[0007] The technology of Patent Document 1 outputs the position or orientation of a slave to an image output device, such as a monitor, to correct the positional misalignment between a master and a slave. Then, a user performs positional alignment with the slave by operating the master, by referring to the position or orientation of the slave output to the image output device. In the method of Patent Document 1, since the master does not move autonomously, there is no need to equip an actuator to operate it autonomously.

[0008] However, even if there is no need to install actuators, operations that switch between synchronous and asynchronous modes, such as clutch operation, occur frequently in master-slave robot systems, so it is expected that the complexity of the operation will increase.

[0009] The present disclosure is made in consideration of the above circumstances and aims to resolve the positional misalignment between master and slave that frequently occurs in master-slave systems and to improve the operability of master-slave systems. means of solving the problem

[0010] The master-slave system of the present disclosure comprises, in the operation of a master robot and a slave robot, a determination unit for determining whether an operation interface of the master robot operated by a user has moved out of a predetermined work area, and a synchronization switching unit for switching to release synchronization between the slave robot and the master robot when the operation interface has moved out of the predetermined work area. Brief explanation of the drawing

[0011] [Fig. 1] This is a diagram showing the configuration of a master-slave system according to a first embodiment. [Fig. 2] This is a drawing showing an example of the configuration of a master device and a slave device according to the first embodiment. [Fig. 3] This is a side view illustrating the slave-side working area and the slave-side safe area. [Fig. 4] This is a diagram illustrating the definition of the slave-side safety area in a robot model. [Fig. 5] This is a diagram showing an example of the configuration of the left and right master input devices of the master according to the first embodiment. [Fig. 6] This is a diagram showing the operation of the left and right master input devices of the master according to the first embodiment. [Fig. 7] This is a diagram showing the state of the left and right master input devices of the master according to the first embodiment when triggered. [Fig. 8] This is a top view of the holder and the master operating part when using a holder-type trigger according to the first embodiment. [Fig. 9] This is a side view of the holder and the master operating part when using a holder-type trigger according to the first embodiment. [Fig. 10] This is a flowchart for explaining the operation of a master-slave system according to the first embodiment. [Fig. 11] This is a drawing showing the working area and safety area of ​​the robot. [Fig. 12] This is a drawing showing the state in which the holder on the right side of the master is automatically moved. [Fig. 13] This is a drawing showing an example of the calibration of the safety area according to the first embodiment. [Fig. 14] This is a diagram showing an example of the configuration of the left master input device and the right master input device of a master-slave system according to the second embodiment. [Fig. 15] This is a diagram showing the state in which a trigger is executed at the master input device on the right side of the master-slave system according to the second embodiment. [Fig. 16] This is a flowchart for explaining the operation of a master-slave system according to the second embodiment. [Fig. 17] This is a hardware configuration diagram showing an example of a computer that realizes a computation device of a master-slave system (1), which is an information processing device according to the first and second embodiments. Specific details for implementing the invention

[0012] Suitable embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configuration are assigned the same reference numerals to avoid redundant descriptions. The description will be made in the following order.

[0013] 1. Embodiments

[0014] 1-1. First embodiment

[0015] 1-1-1. Regarding the definitions of the slave-side working area and slave-side safe area

[0016] 1-1-2. Master Operation Interface

[0017] 1-1-3. Relationship between the Holder and the Master Control Unit

[0018] 1-1-4. Operation

[0019] 1-1-5. An Example of a Calibration Method

[0020] 1-1-6. Effects of the First Embodiment

[0021] 1-2. Second embodiment

[0022] 1-2-1. Operation

[0023] 1-2-2. Effects of the Second Embodiment

[0024] 2. Other embodiments

[0025] 3. Effects

[0026] 4. Hardware Configuration

[0027] 5. Bookkeeping

[0028] <1. Embodiment>

[0029] <1-1. First Embodiment>

[0030] An example of the configuration of a master-slave system (1) according to the first embodiment will be described with reference to FIGS. 1 and FIG. 2. FIG. 1 is a drawing showing the configuration of a master-slave system (1) according to the first embodiment. FIG. 2 is a drawing showing an example of the configuration of a master device (10) and a slave device (20) according to the first embodiment. The master-slave system (1) is a system that utilizes a master-slave type robot (master-slave robot).

[0031] As shown in FIG. 1, a master-slave system (1) comprises a master device (10), a slave device (20), and a control device (30). The control device (30) is connected to communicate with each of the master device (10) and the slave device (20). Various information is transmitted and received between each device. This transmission and reception may be carried out, for example, by interposing various communication networks, such as wireless or wired networks, either one or both.

[0032] (Master device)

[0033] The master device (10) is equipped with a master robot (11), a robot control unit (12), a display unit (13), a communication unit (14), and a sensor unit (15). For example, the master device (10) has functions such as controlling the operation of the slave device (20) or presenting information from the slave device (20) to the user.

[0034] The master robot (11) functions as an input device for a user, such as a surgeon, to perform remote operation with respect to a slave device (20) equipped with surgical tools such as forceps. The master robot (11) is configured to be suitable for a user to remotely operate the slave device (20). The master robot (11) operates based on a driving signal from a robot control unit (12).

[0035] The robot control unit (12) controls the position of the master robot (11) according to the value of a position command specified by the user, such as the master robot (11). An example of a controlled position is the position of the tip of the master robot (11) (fingertip position). This control is performed according to information (fingertip position command) specifying the position of the tip. The fingertip position command is generated according to user operation, or in the case of bilateral control, it is generated by the control device (30). The robot control unit (12) controls the rotation of the joint (rotational speed, rotational angular velocity, torque, etc.) so that the tip of the master robot (11) is positioned according to the fingertip position command.

[0036] The display unit (13) displays various images. Based primarily on image information acquired from the slave device (20), the display unit (13) presents information regarding the work being performed in the slave device (20) to the user operating the master robot (11). As the display unit (13), for example, a mounted display, or a Head Mounted Display (HMD) mounted on the user's head is used.

[0037] The communication unit (14) enables communication of various information with the control device (30). For example, the communication unit (14) transmits input information for the master robot (11) or sensor information obtained from the sensor unit (15) to the control device (30). In addition, the communication unit (14) receives information transmitted from the control device (30) (for example, control information or various information on the slave device (20) side).

[0038] The sensor unit (15) detects the state of the master robot (11). Examples of the detected state include the torque reference value of the joint, the angle (joint angle), and the angular velocity (joint angular velocity), and these information are used as sensor information. The torque reference value substantially corresponds to the current value input to the master robot (11) and can be detected by the master device (10). The joint angle is obtained, for example, from an encoder within an actuator provided in the joint of the master robot (11). The joint angular velocity is obtained by differentiating the joint angle over time. Other examples of the detected state include the acceleration reference value, position, and velocity of the tip input to the master robot (11). The acceleration reference value is a value that serves as the basis for the torque reference value described above and can be detected by the master device (10). The position and velocity of the tip are, for example, determined from the joint angle, joint angular velocity, etc. described above, and can therefore be detected.

[0039] (Slave device)

[0040] The slave device (20) has a slave robot (21), a robot control unit (22), an imaging unit (23), a communication unit (24), and a sensor unit (25). For example, the slave device (20) has a mechanism driven by an actuator such as a motor and moves according to drive control from the master device (10). In addition, the slave device (20) has the function of transmitting force and vibration to the master device (10) when the part of the slave device (20) in contact with the object of work comes into contact with the object.

[0041] The slave robot (21) is a robot that is remotely operated by a user, such as a surgeon. For example, the slave robot (21) is an arm-type robot made of a multi-joint link structure, and a work unit is mounted as an end effector at the tip of the robot. The slave robot (21) operates based on a driving signal from the robot control unit (22).

[0042] The robot control unit (22) controls the position of the slave robot (21) according to the value of a position command specified by the user. An example of a controlled position is the position of the tip of the slave robot (21) (fingertip position). This control is performed according to information (fingertip position command) that specifies the position of the tip. The fingertip position command is generated according to user operation, or in the case of bilateral control, it is generated by the control device (30). The robot control unit (22) controls the rotation of the joint (rotational speed, rotational angular velocity, torque, etc.) so that the tip of the slave robot (21) is positioned according to the fingertip position command.

[0043] The imaging unit (23) acquires an image of the working range of the object by imaging. For example, the imaging unit (23) has a zoom mechanism and can change the imaging magnification (zoom magnification). The zoom magnification of the imaging unit (23) can be controlled by a control device (30). Additionally, the imaging unit (23) is provided on a slave robot (21). The imaging unit (23) is supported, for example, by a robot arm other than the slave arm (212), and the angle of the joint of the robot arm is controlled by a robot control unit (22). Accordingly, the position and posture of the imaging unit (23) may be changed. For example, an RGB camera or a stereo camera is used as the imaging unit (23).

[0044] The communication unit (24) enables communication of various information with the control device (30). For example, the communication unit (24) receives information transmitted from the control device (30) (e.g., control information or various information from the master device (10) side). In addition, the communication unit (24) transmits sensor information obtained from the sensor unit (25) to the control device (30).

[0045] The sensor unit (25) detects the state of the slave robot (21). Examples of the detected state include the torque reference value of the joint, the angle (joint angle), and the angular velocity (joint angular velocity), and these information are used as sensor information. The torque reference value substantially corresponds to the current value input to the slave robot (21) and can be detected by the slave device (20). The joint angle is obtained, for example, from an encoder within an actuator provided in the joint of the slave robot (21). The joint angular velocity is obtained by differentiating the joint angle over time. Other examples of the detected state include the acceleration reference value, position, and velocity of the tip input to the slave robot (21). The acceleration reference value is a value that serves as the basis for the torque reference value described above and can be detected by the slave device (20). The position and velocity of the tip are, for example, determined from the joint angle, joint angular velocity, etc., described above, and can therefore be detected.

[0046] (controller)

[0047] The control device (30) has a control unit (31), a memory unit (32), and a communication unit (33). The control unit (31) includes a driving control unit (311), a display control unit (312), a region setting unit (313), a judgment unit (314), and a synchronization switching unit (315).

[0048] The drive control unit (311) controls each part related to driving included in the master-slave system (1). For example, the drive control unit (311) acquires sensor information transmitted from the master device (10) and acquires the master position, which is the position of the master robot (11), based on the acquired sensor information. Then, the drive control unit (311) controls the slave position, which is the position of the slave robot (21), based on the acquired information such as the master position.

[0049] For example, the drive control unit (311) controls the master robot (11) and the slave robot (21) so that the position of the master robot (11) and the position of the slave robot (21) correspond to each other. The correspondence of positions mentioned here means that the positions of corresponding parts of the master robot (11) and the slave robot (21) have a corresponding relationship. For example, the master robot (11) and the slave robot (21) are controlled so that the position of the tip of the master robot (11) and the position of the tip of the slave robot (21) have a corresponding relationship.

[0050] Additionally, the drive control unit (311) controls the master robot (11) and the slave robot (21) so that the external force of the master robot (11) and the external force of the slave robot (21) correspond to each other. The correspondence of external forces mentioned here means that the external forces of corresponding parts of the master robot (11) and the slave robot (21) have a corresponding relationship. For example, the master robot (11) and the slave robot (21) are controlled so that the external force of the tip of the master robot (11) and the external force of the tip of the slave robot (21) become external forces that have a corresponding relationship.

[0051] The display control unit (312) primarily controls each part regarding images included in the master-slave system (1). For example, the display control unit (312) acquires image information transmitted from the slave device (20) and controls the display unit (13), etc. of the master device (10) based on the acquired image information. At this time, the display control unit (312) generates various images based on the image information and sends the generated various images to the display unit (13).

[0052] The area setting unit (313) sets an interference avoidance area of ​​the slave robot (21). The interference avoidance area is, for example, an area where the front end of the slave robot (21) can avoid interference with the surrounding environment, such as a user or a bed. The interference avoidance area is set in advance. Details regarding such an interference avoidance area will be described later.

[0053] The judgment unit (314) determines whether the operation interface (input device) of the master robot operated by the user has moved out of a predetermined work area during the operation of the master / slave robot. The specific operation of the judgment unit (314) will be described later.

[0054] The synchronization switching unit (315) switches to release the synchronization between the slave robot and the master robot when the operation interface moves out of a predetermined work area. The specific operation of the synchronization switching unit (315) will be described later.

[0055] The memory unit (32) stores various types of information. For example, the memory unit (32) stores various types of information such as control information, sensor information, and image information. This information is, for example, information transmitted from one or both of the master device (10) and the slave device (20). In addition, the memory unit (32) also stores various types of information (e.g., programs, etc.) required for processing executed in the control device (30).

[0056] The communication unit (33) enables communication of various information with the master device (10) and the slave device (20). For example, the communication unit (33) receives information transmitted from the master device (10) and the slave device (20) (e.g., various information from the master device (10) side or various information from the slave device (20) side). In addition, the communication unit (33) transmits various information (e.g., control information, sensor information, image information, etc.) to the master device (10) and the slave device (20).

[0057] Such a master-slave system (1) is used, for example, in surgery, as shown in FIG. 2. In the example of FIG. 2, the surgeon (doctor, etc.) performing the surgery is indicated as User U1, and the patient receiving the surgery is shown as User U2. User U2 is lying on a bed (U2a), for example.

[0058] As shown in FIG. 2, user U1 operates the master device (10) and remotely operates the slave device (20) to perform surgery on user U2. Specifically, the master device (10) is configured to include a master robot (11) operated by user U1. The slave device (20) is configured to include a slave robot (21) remotely operated by user U1. In addition, in this embodiment, the master robot (11) and the slave robot (21) are medical robots, but in industrial fields other than the medical field, they may be industrial robots.

[0059] The master robot (11) is configured to be suitable for user U1 to remotely operate the slave robot (21). The example master robot (11) is equipped with a master arm (111) or a display unit (13), etc. The master arm (111) is an arm operated by user U1. The content of the operation (user operation) of the master robot (11) by user U1 is transmitted from the master device (10) to the slave device (20) via the control device (30) as control information (input information). In addition, the master robot (11) is configured to be, for example, a configuration corresponding to the slave robot (21) so as to transmit the status of the slave robot (21) to user U1. The master robot (11) may, for example, be equipped with an arm similar to that of the slave robot (21). User U1 can recognize the status of the slave robot (21) via the master robot (11). Additionally, a foot switch (112) may be provided on the bottom of the master robot (11). When the foot switch (112) is pressed, the signal is transmitted from the master device (10) to the control device (30).

[0060] The master arm (111) is operated, for example, by both the right and left hands of user U1. User U1 places both arms or both elbows on a support and grasps the master arm (111) with each of the right and left hands. In this state, user U1 operates the master arm (111) while looking at the display (13) that displays the surgical field. By displace the position and direction of the master arm (111), user U1 remotely controls, for example, the position or direction of the surgical tool mounted on the slave device (20), or remotely controls the grasping action of each surgical tool. The master arm (111) can transmit to user U1 the sensation of the surgical tool of the slave device (20) coming into contact with the patient's affected area.

[0061] The slave robot (21) is configured to include, for example, an arm. The illustrated slave robot (21) includes a plurality of surgical tool units (211A, 211B), a slave arm (212), and a base arm (213). The slave robot (21) has, for example, six degrees of freedom for tip position and orientation, but the number of degrees of freedom of the robot is not particularly limited. Each surgical tool unit (211A, 211B) is supported by the slave arm (212). In the example of FIG. 2, the number of surgical tool units is two. Each of the slave arm (212) and the base arm (213) has, for example, a plurality of link portions or a plurality of joint portions. The base arm (213) supports, for example, the slave arm (212) or the imaging portion (23). In addition, each surgical tool of each surgical tool unit (211A, 211B) may include, for example, forceps, scissors, a squeezing tube, an energy treatment device, a retractor, etc.

[0062] Here, in the master device (10), an operation command is input to remotely operate the slave robot (21) via the master robot (11). The operation command includes, for example, a pan or tilt operation of the slave arm (212) of the slave robot (21), a rotational operation around the respective major axis (or roll axis) of each surgical tool unit (211A, 211B), and the operation of the respective surgical tool tip of each surgical tool unit (211A, 211B). The control device (30) generates a control command based on the received operation command and transmits it to the slave device (20). The slave device (20) performs drive control of the slave robot (21) to realize the operation of the slave robot (21) according to the received control command.

[0063] For example, in the master device (10), the operation of the slave robot (21) or the operation of the surgical tool (e.g., the yaw, pitch, and opening / closing movements of the forceps) is instructed via the master robot (11). For example, when the control device (30) receives an operation command instructing the yaw, pitch, and opening / closing movements of the forceps, it calculates the rotation angle of each motor of the slave robot (21) to realize the operation of the target forceps and generates an angle command for each motor. A control command including this angle command is transmitted to the slave device (20).

[0064] <1-1-1. Regarding the Definition of Slave-Side Working Area and Slave-Side Safe Area>

[0065] Conventionally, when the user is not operating the master, there is a method in which the master aligns with the position and orientation of the slave. For this reason, the master is equipped with an actuator to compensate for the positional misalignment between the master and the slave. If the master is equipped with an actuator, it becomes large. Additionally, there is a method in which the master itself aligns its position with the position and orientation of the slave by using the enlarged master. In this case, as the master becomes larger, the size of the system also increases. Furthermore, in this method, there is a concern that the user loses control over the operation even if position alignment is performed, because the position and orientation of the slave differ from the position and orientation when the master was being operated.

[0066] In addition, since operations such as clutch operation, which switch between synchronous and asynchronous modes, occur frequently in master-slave systems, it is expected that the complexity of the operation will increase. The master-slave system (1) of the embodiment resolves the positional misalignment between the master and slave that frequently occurs in the master-slave system (1) and improves the operability of the master-slave system (1).

[0067] Specifically, the master-slave system (1) determines whether the operation interface of the master robot (11) operated by the user has moved out of a predetermined work area, and if the operation interface has moved out of the predetermined work area, switches to releasing the synchronization between the slave robot and the master robot. After releasing the synchronization between the slave robot and the master robot, the master-slave system (1) moves the slave robot to a safe area on the slave side. When the master-slave system (1) receives an operation to restore synchronization, it aligns the position with the slave robot located in the safe area on the slave side and starts the synchronization between the master robot and the slave robot. Accordingly, the master-slave system (1) of this embodiment switches to releasing the synchronization between the slave robot and the master robot when the operation interface has moved out of a predetermined work area, thereby preventing frequent positional misalignment between the master and the slave. When the master-slave system (1) receives an operation to restore synchronization, it performs position alignment with the slave robot located in the slave-side safety area, thereby improving operability compared to conventional technology and allowing for correction.

[0068] First, when explaining the operation of the master-slave system (1) according to the first embodiment, the concepts of the slave-side work area and the slave-side safety area are important. Therefore, the slave-side work area and the slave-side safety area will be explained first. FIG. 3 is a side view for explaining the slave-side work area (404) and the slave-side safety area (405). The master-side work area and safety area will be explained in FIG. 10.

[0069] In a master-robot system, as shown in FIG. 3, there exists a slave-side work area (404) in which a slave (401) performs work on a target object (403) in real space according to the user's operation. The slave-side work area (404) is a range in which the robot can contact the target object (451). In the case of an assembly operation, the slave-side work area (404) is a range in which parts can be touched, and in the case of a surgical support robot, a range in which surgical tools can be attached to contact the affected area. The slave-side work area (404) is also the same in the case of a robot equipped with wheels on its legs and capable of moving autonomously during the operator's operation.

[0070] Consider a sphere with a diameter that allows each left and right arm of the robot arm (402) to contact the target object (403), and designate this as the slave-side working area (404). At this time, the outer part of the sphere where the robot arm (402) cannot reach the target object (403) is designated as the slave-side safe area (405), which is a safe and distant area.

[0071] Next, the definitions of the slave-side working area and the slave-side safe area of ​​a robot having one arm different from that of FIG. 3 will be explained. FIG. 4 is a diagram for explaining the definition of the slave-side safe area in a robot model.

[0072] In FIG. 4, the slave-side working area (452) is a hemispherical area with a diameter extending from the center (458) of the stage (450) on which the target object (451) is installed to the end of the stage (450). Here, the slave-side working area (452) is a range in which the robot can contact the target object as described above. The slave-side safe area is a range in which the robot cannot touch the target object (451) and is within the robot's operating range. The arm movable area (453) is a range in which the arm of the robot model can move and is the slave-side safe area. Within the slave-side safe area, the robot can move but cannot touch the target object (451). At this time, the maximum movable range of the arm is a fixed value defined from the information of the robot model, and the slave-side working area (452) is a variable that changes according to the size of the target object (451). Additionally, as a premise, people or objects do not intrude into the movable range (453) of the robot's arm, and there is no risk of contact.

[0073] In FIG. 4, the slave arm is mounted on the base center (454), and the end effector is mounted on the rotation axis (455) of the arm source. The distance between the rotation axis (455) of the arm source and the tip (457) of the end effector becomes the area radius (456) of the arm.

[0074] <1-1-2. Master Operation Interface>

[0075] Next, the operation interface of the master is described. The operation interface of the master has a left master input device (412-1) and a right master input device (412-2). FIG. 5 is a diagram showing an example of the configuration of the left and right master input devices (412-1, 412-2) of the master according to the first embodiment. In this first embodiment, loading the left master input device (412-1) into the left holder (411-1) provided on the circular part of the console is used as a synchronous / asynchronous switching trigger (hereinafter referred to as "holder type trigger"). Additionally, loading the right master input device (412-2) into the right holder (411-2) provided on the circular part of the console is used as a synchronous / asynchronous switching trigger.

[0076] As shown in FIG. 5, the master's operating interface has a left master input device (412-1) and a right master input device (412-2) for controlling the slave robot. Additionally, it has a left holder (411-1) for loading the left master input device (412-1) and a right holder (411-2) for loading the right master input device (412-2).

[0077] The master's operation interface is a terminal for transmitting input operations by a user to a slave, regardless of whether an actuator is installed. When an operation command or instruction is input by a user into the master's operation interface, the operation command is transmitted to the slave via the control unit (31).

[0078] The left holder (411-1) and the right holder (411-2) are installed in a position that fixes the slave in a remote position. The grounding position of the left holder (411-1) and the right holder (411-2) may be a fixed value at a position corresponding to the slave-side safety area. The grounding position of the left holder (411-1) and the right holder (411-2) may be locked at a position corresponding to the slave-side safety area. Additionally, the position of the left holder (411-1) and the right holder (411-2) may be moved manually by another person, such as a user or a nurse, while viewing the image of the slave.

[0079] FIG. 6 is a diagram showing the state of the left master input device (412-1) and the right master input device (412-2) of the master according to the first embodiment when operated by a user. As shown in FIG. 6, when operated by a user, the right master input device (412-1) and the left master input device (412-2) are freely moved by the user. FIG. 7 is a diagram showing the state of the left master input device (412-1) and the right master input device (412-2) of the master according to the first embodiment when triggered. When triggered, the left master input device (412-1) is mounted on the left holder (411-1), or the right master input device (412-2) is mounted on the right holder (411-2). FIG. 7 shows an example in which the right master input device (412-2) is mounted on the right holder (411-2).

[0080] <1-1-3. Relationship between Holder and Master Control Unit>

[0081] The left holder (411-1) and the right holder (411-2) are equipped with, for example, a magnet and a contact sensor. The left holder (411-1) is attracted by magnetic force when the left master input device (412-1) approaches, and the judgment unit (314) detects that the left master input device (412-1) is loaded into the left holder (411-1). The right holder (411-2) is attracted by magnetic force when the right master input device (412-2) approaches, and the judgment unit (314) detects that the right input device (412-2) is loaded into the right holder (411-2). The synchronization switching unit (315) switches between synchronous and non-synchronous states while fixing the position and posture, using the left master input device (412-1) being loaded into the left holder (411-1) as a trigger. Additionally, the synchronization switching unit (315) switches between synchronous and asynchronous states while maintaining a fixed position and posture, triggered by the right master input device (412-2) being loaded into the right holder (411-2). Accordingly, the slave can maintain the same position and posture before and after switching in the safe zone.

[0082] FIG. 8 is a top view of the holder (421) and the master operating part (423) when using the holder-type trigger according to the first embodiment. FIG. 9 is a side view of the holder (421) and the master operating part (423) when using the holder-type trigger according to the first embodiment.

[0083] As shown in FIGS. 8 and 9, the master console is equipped with a holder (421) for loading the master. This holder (421) has a hole for loading the master, and inside this hole, a magnet (422) is loaded to fix the position and orientation when loading the master.

[0084] Additionally, the master operating unit (423) is equipped with a magnet (not shown). Additionally, a switch (424) is installed at the point where the master operating unit (423) and the holder (421) come into contact. The switch (424) detects that a portion including the switch (424) of the master operating unit (423) is loaded into the holder (421). The synchronization switching unit (315) can switch between synchronous and non-synchronous states using the fact that the master is loaded into the holder (421) as a trigger.

[0085] <1-1-4. Action>

[0086] Next, the operation of the master-slave system (1) according to the first embodiment will be described. FIG. 10 is a flowchart for explaining the operation of the master-slave system (1) according to the first embodiment.

[0087] The control unit (31) receives an operation during synchronization from the master and controls the slave according to the operation (step S11). Next, the judgment unit (314) determines whether the master's input device is loaded into the holder (step S12). That is, the judgment unit (314) determines whether the operation interface of the master robot operated by the user has moved out of a predetermined work area.

[0088] Here, "a predetermined work area" refers to the master-side work area corresponding to the area where the slave robot can reach the target object. The master-slave system (1) stores the correspondence between the location of the slave-side work area and the location of the master-side work area. Additionally, the master-slave system (1) stores the correspondence between the location of the slave-side safety area and the safety location of the master safety area.

[0089] For example, in the first embodiment, the master-slave system (1) determines whether it has moved out of a predetermined work area based on whether the operation interface is mounted on the holder. That is, in the first embodiment, the "predetermined work area" refers to "an area excluding the installation location of the holder among the master-side work areas corresponding to the area where the slave robot can reach the target object."

[0090] Specifically, in the first embodiment, for example, in FIGS. 5 to 7, the “predetermined working area” of the master side corresponds to a position other than that of the left holder (411-1) and the right holder (411-2). The area outside the “predetermined working area” of the master side corresponds to the position of the left holder (411-1). When the left master input device (412-1) is mounted on the left holder (411-1), it is determined that the left master input device (412-1) is out of the predetermined working area. Also, when the right master input device (412-2) is mounted on the right holder (411-2), it is determined that it is out of the predetermined working area. In step S12, if the master input device is not loaded into the holder (No in step S12), the process returns to step S11.

[0091] In step S12, if the master's input device is loaded into the holder (Yes in step S12), the synchronization switching unit (315) moves the slave robot to a preset position in the slave-side safe area (step S13).

[0092] After that, the synchronization switching unit (315) makes the master and slave asynchronous (step S14). That is, the synchronization switching unit (315) switches to desynchronizing the slave robot and the master robot when the operation interface moves out of a predetermined work area. The determination unit (314) determines whether the master's input device is separated from the holder (step S15). In step S15, if the master's input device is not separated from the holder (No in step S15), the process returns to step S11.

[0093] In step S15, if the master's input device is separated from the holder (Yes in step S15), an operation during asynchronous operation (such as clutch operation) is performed (step S16). Next, the judgment unit (314) determines whether the master's input device has been reloaded into the holder (step S17). In step S17, if the master's input device has not been reloaded into the holder (No in step S17), the process returns to step S16.

[0094] In step S17, if the master's input device is reloaded into the holder (Yes in step S17), the master and slave are reconnected by synchronizing (step S18).

[0095] After that, the synchronization switching unit (315) performs position alignment of the master and slave from a distance based on the position of the holder and a preset position (step S19). At this time, in order to display status information of the slave to the user, the display unit (13) may notify that the position alignment of the slave is completed using a GUI (Graphical User Interface).

[0096] Next, the judgment unit (314) determines whether the master's input device is separated from the holder (step S20). In step S20, if the master's input device is not separated from the holder (No in step S20), the process returns to step S19.

[0097] In step S20, if the master's input device is detached from the holder (Yes in step S20), the process returns to step S11. Accordingly, the user can continue the synchronization operation without performing position alignment.

[0098] <1-1-5. An Example of a Calibration Method>

[0099] The above description explained the case where calibration of the safe area is not performed. However, calibration of the safe area may be performed.

[0100] FIG. 11 is a drawing showing the slave-side work area (501) and the slave-side safety area (503) of the robot (500). FIG. 12 is a drawing showing the state in which the holder (601-2) on the right side of the master is automatically moved. FIG. 12 shows an example in which the position of the holder (601-2) is adjusted so that the position of the slave becomes the slave-side safety area (503).

[0101] FIG. 13 is a diagram illustrating an example of the calibration of a safety area according to Embodiment 1. As shown in FIG. 13, preparation of a manual technique is performed. Specifically, the position of the robot is determined (step S21).

[0102] Next, the synchronization switching unit (315) moves the position of the arm to adjust the position of the target object so that it can reach the target within the movable range (step S22). Specifically, the synchronization switching unit (315) moves the arm until the arm reaches within the slave-side working area (501).

[0103] After that, the synchronization switching unit (315) operates the arm to install a remote trigger detection device (e.g., right holder (601-1), left holder (601-2)) at a location outside the slave side working area (501) (step S23).

[0104] <1-1-6. Effects of the First Embodiment>

[0105] According to the master-slave system (1) of the first embodiment, positional misalignment between the master and slave that occurs frequently can be resolved, and the operability of the master-slave system (1) can be improved.

[0106] <1-2. Second Embodiment>

[0107] Next, a master-slave system (1) according to the second embodiment will be described. The configuration of the master-slave system (1) according to the second embodiment is the same as the example shown in FIG. 1 and FIG. 2, but the configuration of the master input device in the second embodiment is different.

[0108] In the second embodiment, the operator switches between synchronous and asynchronous modes between the master and slave by using the operator bringing their hand close to or touching a proximity sensor or switch mounted on a circular surface on the console as a trigger.

[0109] In the second embodiment, as an example, a method for position alignment when the position or orientation is not fixed at a distance is described based on a user interface using a switch. Since the master input device used is similar to the configuration described in the first embodiment, details are omitted.

[0110] In the second embodiment, the master-slave system (1) determines whether it has "moved out of a predetermined work area" based on position and posture information of the operation interface without using a holder. For example, the master-slave system (1) determines that it has "moved out of a predetermined work area" based on whether the operation interface is close to any target. As an example, the master-slave system (1) determines that it has "moved out of a predetermined work area" when it approaches a switch or proximity sensor installed on the master side by a distance exceeding a predetermined distance. In this case, "a predetermined work area" refers to "an area on the master side corresponding to the area where the slave robot can reach the target object, excluding the location where the switch is installed, or an area excluding the detection distance of the proximity sensor."

[0111] FIG. 14 is a diagram showing an example of the configuration of the left master input device (701-1) and the right master input device (701-2) of the master-slave system (1) according to the second embodiment. FIG. 14 shows the state when a user is operating the master. FIG. 15 is a diagram showing the state in which a trigger is executed at the right master input device (701-2) of the master-slave system (1) according to the second embodiment. FIG. 15 shows the state in which the user is holding the left master input device (701-1) and the right master input device (701-2) while pressing the right switch (702-2) with their right hand.

[0112] First, as for the configuration of the interface, as shown in FIG. 14, a left switch (702-1) is installed to move the slave to a safe area (distant). Additionally, a right switch (702-2) is installed to move the slave to a safe area (distant) on the right. Furthermore, a proximity sensor may be installed instead of the left switch (702-1) and the right switch (702-2). The left switch (702-1) and the right switch (702-2) are provided outside the "predetermined working area" on the master side.

[0113] The user holds the left master input device (701-1) and the right master input device (701-2) and presses the left switch (702-1) or the right switch (702-2) (or proximity sensor). Accordingly, the judgment unit (314) of the master-slave system (1) detects a trigger, and the synchronization switching unit (315) can switch between the synchronous and asynchronous states between the master and the slave.

[0114] In the case where a proximity sensor is installed instead of the switch (702-1) and switch (702-2), the user brings the left master input device (701-1) or the right master input device (701-2) close to the proximity sensor. Accordingly, the judgment unit (314) of the master-slave system (1) detects a trigger, and the synchronization switching unit (315) can perform a switching between a synchronous and asynchronous state.

[0115] Additionally, the detection that the user is holding the left master input device (701-1) or the right master input device (701-2) may be detected by a sensor (not shown) having the left master input device (701-1) or the right master input device (701-2). Also, the pressing of the switch (702-1) and the switch (702-2) may be conditioned by the sensor that the user is holding the left master input device (701-1) and the right master input device (701-2). Furthermore, the master-slave system (1) may output a warning message when the sensor of the left master input device (701-1) detects that the user is not holding the left master input device (701-1) and the switch (702-1) is pressed. Additionally, the master-slave system (1) may output a warning message when the sensor of the right master input device (701-2) detects that the user is not holding the right master input device (701-2) and the switch (702-2) is pressed.

[0116] Additionally, in cases where the orientation of the left master input device (701-1) and the right master input device (701-2) is special (e.g., vertical), the master-slave system (1) may perform calibration in the same manner as in the first embodiment. In addition, at this time, the master-slave system (1) may output a message to the user indicating that calibration is required.

[0117] According to the second embodiment, compared to the first embodiment, the operation of placing the left master input device (701-1) and the right master input device (701-2) in the correct position of the holder is not required, so the switch (702-1) or the switch (702-2) can be touched without the effort of finding the holder or being constrained by posture, thus increasing the intuitiveness of the operation.

[0118] <1-2-1. Action>

[0119] Next, the operation of the master-slave system (1) according to the second embodiment will be described. FIG. 16 is a flowchart for explaining the operation of the master-slave system (1) according to the second embodiment.

[0120] The control unit (31) receives an operation during synchronization from the master and controls the slave according to the operation (step S31). Next, the judgment unit (314) determines whether the switch is pressed (step S32). That is, the judgment unit (314) determines whether the operation interface of the master robot operated by the user has moved out of a predetermined work area. In step S32, if the switch is not pressed (No in step S32), the process returns to step S31.

[0121] In the second embodiment, for example, in FIGS. 14 and 15, the “predetermined working area” on the master side corresponds to a position other than that of the left switch (702-1) or the right switch (702-2). Deviation from the “predetermined working area” on the master side corresponds to the switch being pressed down, for example, corresponding to the left switch (702-1) or the right switch (702-2) being pressed down. That is, when the left switch (702-1) or the right switch (702-2) is pressed down, the left master input device (701-1) or the right master input device (701-2) is determined to have moved out of the predetermined working area.

[0122] In step S32, if the switch is pressed (Yes in step S32), the synchronization switching unit (315) moves the slave robot to a preset position within the slave-side safe area (step S33). Additionally, the user presses the switch while holding the left master input device (701-1) and the right master input device (701-2).

[0123] In the second embodiment, while the master and slave are performing a task in a synchronized state, the user executes a trigger by pressing a switch installed on the master while moving the master, thereby switching between the synchronous and asynchronous states.

[0124] After that, the synchronization switching unit (315) makes the master and slave asynchronous (step S34), and the judgment unit (314) determines whether the lowering of the switch has ended (step S35). In step S35, if it is determined that the lowering of the switch has not ended (No in step S35), the process returns to step S35.

[0125] In step S35, if the lowering of the switch is finished (Yes in step S35), an operation during asynchronous operation (such as a clutch operation) is performed (step S36). In the second embodiment, when synchronization between the master and the slave is broken, the slave is in a safe state because it stops at a safe distance away from the work area, and the operator can perform any operation during asynchronous operation.

[0126] Next, the judgment unit (314) determines whether the switch is compressed (step S37). In step S37, if the switch is not compressed (No in step S37), the process returns to step S36.

[0127] In step S37, if the switch is pressed (Yes in step S37), the master and slave are reconnected by synchronizing (step S38).

[0128] Additionally, when a proximity sensor is used instead of a switch, the proximity sensor is provided outside the "predetermined working area" of the master side. Moving out of the "predetermined working area" of the master side corresponds to holding the master input device while bringing the user's hand, or the master input device, so that it is detected by the proximity sensor. If the user's hand, or the master input device itself, is detected by the proximity sensor while holding the master input device, it is determined that the device has moved out of the predetermined working area.

[0129] At this time, compared to the holder type of the first embodiment, in the second embodiment, the position and orientation of the left master input device (701-1) or the right master input device (701-2) are not fixed or determined. Therefore, the position and orientation when the user first presses the switch (hereinafter also described as "master position and orientation during synchronization") and the position and orientation when the trigger is executed again with the switch (hereinafter also described as "master position and orientation during asynchronous operation") are different. Accordingly, the master-slave system (1) must acquire the position and orientation of the master when transitioning from an asynchronous state to a synchronous state.

[0130] In step S38, the synchronization switching unit (315) acquires the master position and attitude during asynchronous operation. The synchronization switching unit (315) compares the acquired master position and attitude with the position and attitude of a stationary slave to calculate the position misalignment that occurred during asynchronous operation. After calculating the position misalignment, the synchronization switching unit (315) moves the position and attitude of the slave to resolve the position misalignment and performs position alignment. The master position and attitude are acquired, for example, by using a gyroscope sensor or a position sensor.

[0131] After that, the synchronization switching unit (315) aligns the position and orientation of the slave in the safe area (distant position) with the position and orientation of the master (step S39). At this time, in order to display the status information of the slave to the user, the display unit (13) may use a GUI to notify that the alignment of the slave's position is complete.

[0132] Additionally, the left master input device (701-1) or the right master input device (701-2) is vibrated. The vibration of the master input device (701-1) or the right master input device (701-2) may provide feedback to the user that the slave robot has reached the slave-side safe area. Various methods of feedback can be considered. For example, when the slave robot reaches the slave-side safe area, sound may be output from the left master input device (701-1) or the right master input device (701-2). Additionally, as the slave robot approaches the slave-side safe area, the volume of the vibration or sound generated from the left master input device (701-1) or the right master input device (701-2) may be increased. For example, the control device (30) calculates the distance between the location of the master input device (701-1) on the left side of the slave or the master input device (701-2) on the right side and the location of the slave-side safety area, and outputs a vibration or sound level from the master input device (701-1) on the left side or the master input device (701-2) on the right side according to the calculated distance. Accordingly, the user can check the timing at which the clutch is engaged.

[0133] That is, according to the second embodiment, by pressing the switch on the master console again, the position and orientation between the master and the slave are synchronized in a safe area located at the distance.

[0134] Next, the judgment unit (314) determines whether the compression of the switch has ended (step S40). In step S40, if the compression of the switch has not ended (No in step S40), the process returns to step S40.

[0135] In step S40, if the lowering of the switch is finished (Yes in step S40), the process returns to step S31. Accordingly, the user can continue the synchronization operation without performing position alignment.

[0136] <1-2-2. Effects of the Second Embodiment>

[0137] Therefore, according to the master-slave system (1) of the second embodiment, while position alignment is being performed, the user does not perform any special operations associated with position alignment, so there is no interruption of the work. In addition, since there is no interruption of the work, the user does not lose control of the work.

[0138] In addition, according to the master-slave system (1) of the second embodiment, the switch can be used even when returning from asynchronous to synchronous, so the operation by the user is not interrupted. Also, unlike a holder, the position of the switch is not fixed, so the initial position can be started in any position.

[0139] <2. Other embodiments>

[0140] The processing for each of the embodiments described above may be carried out in various different forms in addition to each of the embodiments.

[0141] Furthermore, among the processes described in each of the above embodiments, all or part of the processes described as being performed automatically may be performed manually, or all or part of the processes described as being performed manually may be performed automatically by known methods. In addition, information including processing procedures, specific names, and various data or parameters shown in the above documents or drawings may be changed at will, except where specifically noted. For example, the various information shown in each drawing is not limited to the information depicted.

[0142] Furthermore, each component of each device described is functionally conceptual and is not required to be physically configured as described. In other words, the specific form of distribution and integration of each device is not limited to what is described, and all or part thereof may be configured by functionally or physically distributing and integrating them into arbitrary units depending on various loads or usage situations.

[0143] In addition, each of the above-described embodiments and variations can be appropriately combined within a range that does not contradict the processing content.

[0144] Furthermore, the effects described in this specification are merely examples and are not limited thereto, and other effects may also be present.

[0145] <3. Effects>

[0146] As described above, the master-slave system (master-slave system (1) in an embodiment) according to the present disclosure comprises a determination unit (determination unit (314) in an embodiment) for determining whether the operation interface of the master robot operated by the user has moved out of a predetermined work area during the operation of the master robot and the slave robot, and a synchronization switching unit (synchronization switching unit (315) in an embodiment) for switching to release synchronization between the slave robot and the master robot when the operation interface (master input device (412-1, 412-2) in an embodiment) has moved out of a predetermined work area.

[0147] As such, the master-slave system according to the present disclosure can resolve positional misalignment between the master and slave by releasing the synchronization between the slave robot and the master robot when the operation interface moves out of a predetermined work area. Furthermore, since the master-slave system of the present disclosure does not require active positional alignment by the master robot, the constraint of mounting an actuator on the master-slave system is eliminated. As a result, the design cost and size of the master-slave system of the present disclosure can be reduced.

[0148] In addition, the synchronization switching unit switches to release synchronization while moving the slave robot to a slave-side safe area when the operation interface moves out of a designated work area.

[0149] As such, the master-slave system according to the present disclosure moves the slave robot to a safe area on the slave side, thereby enabling safe position alignment between the master robot and the slave robot.

[0150] In addition, the judgment unit determines that the master robot's operation interface has moved out of the designated work area when the master robot's operation interface is mounted on a holder installed outside the work area. When the synchronization switching unit determines that the master robot's operation interface has moved out of the designated work area, it controls the slave robot to move to a preset position within the slave-side safety area.

[0151] As such, in the master-slave system according to the present disclosure, when the operation interface is mounted on the holder, the position and orientation of the operation interface are uniquely determined. Therefore, position alignment between the master robot and the slave robot can be performed without the need for processing to acquire position and orientation information of the operation interface. Furthermore, since there is no need to perform active position alignment by the master robot, user operations are not interrupted. Additionally, since position alignment is performed at a safe, distant position, position alignment can be performed safely.

[0152] In addition, when the synchronization switching unit receives an operation from the user to restore synchronization, it aligns the positions of the master robot and the slave robot based on the position of the holder and a preset position within the slave-side safe area, and initiates synchronization between the master robot and the slave robot.

[0153] As such, the master-slave system according to the present disclosure uses the position of the holder for position alignment of the master robot and the slave robot, so the position of the holder can be set to a fixed value and the calculation of position alignment can be simplified.

[0154] In addition, the determination unit acquires position and orientation information of the master robot's operation interface and, based on said position and orientation information, determines whether the master robot's operation interface has moved out of a predetermined work area. When the synchronization switching unit determines that the master robot's operation interface has moved out of a predetermined work area, it controls the slave robot to move to a slave-side safe area.

[0155] As such, the master-slave system according to the present disclosure performs position alignment based on position and posture information of the master robot's operation interface, so there is no need for the master robot to actively perform position alignment. Therefore, user operations are not interrupted. In addition, since the slave robot is moved to a safe area on the slave side, position alignment between the master robot and the slave robot can be performed safely.

[0156] In addition, when the synchronization switching unit receives an operation from the user to return synchronization, it aligns the positions with the slave robot located in the safe area based on the position and posture information of the master robot's operation interface, and initiates synchronization between the master robot and the slave robot.

[0157] As such, the master-slave system according to the present disclosure can perform synchronization in a safe area even when resetting.

[0158] In addition, the master-slave system has a display unit that indicates that the position of the slave robot has been aligned with the position of the master robot.

[0159] In this way, with the master-slave system according to the present disclosure, the user can confirm that the position alignment is complete and continue the operation.

[0160] In addition, the master-slave system has a first magnet in the master robot's operating interface, and a second magnet inside the holder to attract the first magnet.

[0161] In this way, the master-slave system according to the present disclosure can improve the coupling between the operation interface and the holder by means of the first magnet and the second magnet.

[0162] In addition, the master-slave system has a switch in the part where the operation interface is mounted in the holder, and the judgment unit determines that the operation interface of the master robot has moved out of a predetermined work area when the switch is pressed.

[0163] In this way, the master-slave system according to the present disclosure can reliably determine that the operation interface of the master robot has moved out of a predetermined work area.

[0164] In addition, the master robot is equipped with a switch installed outside the work area, and the synchronization switching unit makes the master robot and the slave robot asynchronous by causing the operation interface to move away from the predetermined work area when the switch is pressed.

[0165] As such, the master-slave system according to the present disclosure allows a user to asynchronously position and pose the master robot and the slave robot by using a switch.

[0166] In addition, the synchronization switching unit synchronizes the master robot and the slave robot when the switch is pressed after the master robot and the slave robot have been desynchronized.

[0167] As such, the master-slave system according to the present disclosure allows the use of a switch even when returning from asynchronous to synchronous, so user operations are not interrupted. Furthermore, unlike a holder, a switch does not have a fixed orientation, so the initial position can be started in any orientation.

[0168] In addition, the judgment unit provides feedback to the user when the slave robot reaches the slave-side safety area.

[0169] In this way, the user can recognize the safety of the master-slave system according to the present disclosure.

[0170] In addition, the judgment unit amplifies the vibration or sound generated from the operation interface as the slave robot approaches the slave-side safety area.

[0171] As such, the user can strongly perceive the safety of the master-slave system according to the present disclosure.

[0172] In addition, the judgment unit performs calibration to determine the slave-side safe area of ​​the slave robot.

[0173] In this way, the master-slave system according to the present disclosure can determine whether the operating interface has moved out of a predetermined working area by the determination unit (143) by performing calibration even when the position of the operating interface is in a specific case (e.g., vertical).

[0174] In addition, when the synchronization switching unit receives an operation to restore synchronization, it acquires position and attitude information of the master robot's operation interface.

[0175] As such, the master-slave system according to the present disclosure may use position orientation information acquired for position alignment when using a switch, etc., to determine whether it has deviated from a predetermined area.

[0176] <4. Hardware Configuration>

[0177] FIG. 17 is a hardware configuration diagram showing an example of a computer (1000) that realizes a computational device of a master-slave system (1), which is an information processing device according to the first and second embodiments.

[0178] The computer (1000) has a CPU (1100), RAM (1200), ROM (Read Only Memory) (1300), HDD (Hard Disk Drive) (1400), a communication interface (1500), and an input / output interface (1600). Each part of the computer (1000) is connected by a bus (1050).

[0179] The CPU (1100) operates based on a program stored in the ROM (1300) or HDD (1400) and controls each part. For example, the CPU (1100) deploys a program stored in the ROM (1300) or HDD (1400) to the RAM (1200) and executes processing corresponding to various programs.

[0180] The ROM (1300) stores boot programs such as the BIOS (Basic Input Output System) that are executed by the CPU (1100) when the computer (1000) starts, or programs that depend on the hardware of the computer (1000).

[0181] The HDD (1400) is a computer-readable recording medium that non-temporarily records programs executed by the CPU (1100) and data used by such programs. Specifically, the HDD (1400) is a recording medium that records an application program according to the present disclosure, which is an example of program data (1450).

[0182] The communication interface (1500) is an interface for the computer (1000) to connect with an external network (1550) (e.g., the Internet). For example, the CPU (1100) receives data from another device or transmits data generated by the CPU (1100) to another device via the communication interface (1500).

[0183] The input / output interface (1600) is an interface for connecting an input / output device (1650) and a computer (1000). For example, the CPU (1100) receives data from an input device, such as a keyboard or a mouse, via the input / output interface (1600). Additionally, the CPU (1100) transmits data to an output device, such as a display, a speaker, or a printer, via the input / output interface (1600). Furthermore, the input / output interface (1600) may function as a media interface for reading programs, etc., recorded on a predetermined recording medium (media). Media is, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or PD (Phase change rewritable Disk), an optical-magnetic recording medium such as a MO (Magneto-Optical Disk), a tape medium, a magnetic recording medium, or a semiconductor memory.

[0184] Additionally, the CPU (1100) reads and executes program data (1450) from the HDD (1400), but as another example, it may obtain such a program from another device via an external network (1550).

[0185] Although suitable embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to these examples. It is evident to those skilled in the art that various modifications or variations may be made within the scope of the technical concept described in the claims, and these are also naturally understood to fall within the technical scope of the present disclosure.

[0186] Furthermore, the effects described in this specification are merely illustrative or exemplary and are not limiting. That is, the technology relating to this disclosure may produce other effects that are obvious to those skilled in the art from the description in this specification, in addition to or instead of the effects described above.

[0187] <5. Bookmark>

[0188] In addition, the present technology may also take the following configuration.

[0189] (1)

[0190] In the operation of the master robot and the slave robot, a determination unit that determines whether the operation interface of the master robot operated by the user has moved out of a predetermined work area, and

[0191] A synchronization switching unit that switches to release synchronization between the slave robot and the master robot when the above operation interface moves away from a predetermined work area.

[0192] A master-slave system equipped with

[0193] (2)

[0194] The above synchronization switching unit is,

[0195] When the above operation interface moves out of a predetermined work area, the slave robot is moved to a slave-side safe area, and the synchronization is switched to be released.

[0196] The master-slave system described in (1) above.

[0197] (3)

[0198] The above judgment unit is,

[0199] When the operation interface of the above-mentioned master robot is mounted on a holder installed outside the above-mentioned work area, it is determined that the operation interface of the said master robot has moved away from the predetermined work area, and

[0200] The above synchronization switching unit is,

[0201] When it is determined that the operation interface of the master robot has moved out of a predetermined work area, the slave robot is controlled to move to a preset position within the slave-side safety area.

[0202] The master-slave system described in (2) above.

[0203] (4)

[0204] The above synchronization switching unit is,

[0205] When an operation to restore synchronization is received from the above user, the master robot and the slave robot are aligned based on the position of the holder and a preset position among the slave-side safe areas, and synchronization between the master robot and the slave robot is initiated.

[0206] The master-slave system described in (3) above.

[0207] (5)

[0208] The above judgment unit is,

[0209] Acquires position and posture information of the operation interface of the master robot and, based on said position and posture information, determines whether the operation interface of the master robot has moved out of a predetermined work area.

[0210] The above synchronization switching unit is,

[0211] If it is determined that the operation interface of the master robot has moved out of a predetermined work area, the slave robot is controlled to move to the slave-side safety area.

[0212] Master-slave system described in any one of (2) to (4) above.

[0213] (6)

[0214] The above synchronization switching unit is,

[0215] When an operation to restore synchronization is received from the above user, based on the position and posture information of the operation interface of the above master robot, position alignment is performed with the slave robot located in the slave-side safe area, and synchronization between the master robot and the slave robot is initiated.

[0216] The master-slave system described in (5) above.

[0217] (7)

[0218] A display unit having a display unit indicating that the position of the slave robot has been aligned with the position of the master robot.

[0219] Master-slave system described in any one of (4) to (6) above.

[0220] (8)

[0221] The operation interface of the above-mentioned master robot has a first magnet, and

[0222] The interior of the above holder has a second magnet for attracting the first magnet,

[0223] Master-slave system described in any one of (3) to (7) above.

[0224] (9)

[0225] The above holder has a switch in the part where the above operation interface is mounted,

[0226] The above judgment unit is,

[0227] When the above switch is pressed, determining that the operation interface of the master robot has moved out of a predetermined work area,

[0228] Master-slave system described in any one of (3) to (8) above.

[0229] (10)

[0230] A display unit having a display unit indicating that the position of the slave robot has been aligned with the position of the master robot.

[0231] Master-slave system described in any one of (6) to (9) above.

[0232] (11)

[0233] The above master robot is equipped with a switch installed outside the above-mentioned predetermined work area, and

[0234] The above synchronization switching unit is,

[0235] When the above switch is pressed, the operation interface is considered to be out of a predetermined work area, thereby making the master robot and the slave robot asynchronous.

[0236] The master-slave system described in (5) or (6) above.

[0237] (12)

[0238] The above synchronization switching unit is,

[0239] After desynchronizing the master robot and the slave robot, when the switch is pressed, synchronizing the master robot and the slave robot,

[0240] The master-slave system described in (11) above.

[0241] (13)

[0242] The above judgment unit is,

[0243] When the above slave robot reaches the above slave-side safety area, feedback is provided to the user from the operation interface.

[0244] The master-slave system described in (2) above.

[0245] (14)

[0246] The above judgment unit is,

[0247] As the slave robot approaches the slave-side safety area, the vibration or sound generated from the operation interface is amplified.

[0248] The master-slave system described in (13) above.

[0249] (15)

[0250] The above judgment unit is,

[0251] Performing calibration on the above-mentioned slave robot to determine the above-mentioned slave-side safe area,

[0252] Master-slave system described in any one of (2) to (14) above.

[0253] (16)

[0254] The above synchronization switching unit is,

[0255] When an operation to restore the above-mentioned motivation is received, the position and attitude information of the operation interface of the above-mentioned master robot is acquired.

[0256] Master-slave system described in any one of (6) to (15) above.

[0257] (17)

[0258] control device and,

[0259] A master device connected to the above-mentioned control device, and

[0260] Slave device connected to the above control device

[0261] In a master-slave system having,

[0262] The above slave device is,

[0263] Having a slave robot that performs surgery on a patient,

[0264] The above control device is,

[0265] A determination unit that determines whether the operation interface of a master robot operated by a user has moved out of a predetermined work area, and

[0266] A synchronization switching unit that switches to release synchronization between the slave robot and the master robot when the above operation interface moves away from a predetermined work area.

[0267] Equipped with,

[0268] The above master device is,

[0269] The operation interface of the master robot operated by the user, and

[0270] Holder installed outside the above working area

[0271] Equipped with,

[0272] The determination unit of the above-mentioned control device is,

[0273] When the above-mentioned operation interface is mounted on the holder installed outside the above-mentioned work area, determining that the above-mentioned operation interface has moved away from the above-mentioned work area,

[0274] Master-slave system.

[0275] (18)

[0276] The computer,

[0277] In the operation of the master robot and the slave robot, determining whether the operation interface of the master robot operated by the user has moved out of a predetermined work area, and

[0278] When the above operation interface moves out of a predetermined work area, switching to release synchronization between the slave robot and the master robot,

[0279] Synchronous switching control method in a master-slave system.

[0280] (19)

[0281] computer

[0282] In the operation of the master robot and the slave robot, a determination unit that determines whether the operation interface of the master robot operated by the user has moved out of a predetermined work area, and

[0283] A synchronization switching unit that switches to release synchronization between the slave robot and the master robot when the above operation interface moves away from a predetermined work area.

[0284] A program for making it function as. Explanation of the symbols

[0285] 1 : Master-Slave System 314 : Judgment Division 315 : Synchronization switching unit 404, 452: Slave-side work area 405 : Slave-side safe zone 411-1, 411-2 : Holder 412-1, 412-2 : Master input device 422 : Magnet 423 : Master control unit 424 : Switch

Claims

Claim 1 A master-slave system comprising, in the operation of a master robot and a slave robot, a determination unit for determining whether the operation interface of the master robot operated by a user has moved out of a predetermined work area, and a synchronization switching unit for switching to release synchronization between the slave robot and the master robot when the operation interface has moved out of the predetermined work area. Claim 2 In claim 1, the synchronization switching unit switches to release the synchronization while moving the slave robot to a slave-side safe area when the operation interface moves away from a predetermined work area. Claim 3 A master-slave system according to claim 2, wherein the determination unit determines that the operation interface of the master robot has moved away from a predetermined work area when the operation interface of the master robot is mounted on a holder installed outside the work area, and the synchronization switching unit controls the slave robot to move to a preset position within the slave-side safety area when it is determined that the operation interface of the master robot has moved away from the predetermined work area. Claim 4 In claim 3, the synchronization switching unit, when it receives an operation to restore synchronization from the user, aligns the positions of the master robot and the slave robot based on the position of the holder and a preset position among the slave-side safety areas, and initiates synchronization between the master robot and the slave robot, a master-slave system. Claim 5 In claim 2, the determination unit acquires position and posture information of the operation interface of the master robot and, based on said position and posture information, determines whether the operation interface of the master robot has moved away from a predetermined work area, and the synchronization switching unit controls the slave robot to move to the slave-side safe area when it is determined that the operation interface of the master robot has moved away from the predetermined work area, a master-slave system. Claim 6 In claim 5, the synchronization switching unit, when it receives an operation to restore synchronization from the user, performs position alignment with the slave robot located in the slave-side safety area based on the position attitude information of the operation interface of the master robot, and initiates synchronization between the master robot and the slave robot, a master-slave system. Claim 7 A master-slave system according to claim 4, having a display unit indicating that the position of the slave robot has been aligned with the position of the master robot. Claim 8 In claim 3, the operating interface of the master robot has a first magnet, and the holder has a second magnet inside for attracting each other with the first magnet, a master-slave system. Claim 9 In claim 3, the holder has a switch in the part where the operation interface is mounted, and the judgment unit determines that the operation interface of the master robot has moved out of a predetermined work area when the switch is pressed, a master-slave system. Claim 10 A master-slave system according to claim 6, having a display unit indicating that the position of the slave robot has been aligned with the position of the master robot. Claim 11 In claim 6, the master robot is equipped with a switch installed outside the predetermined work area, and the synchronous switching unit makes the master robot and the slave robot asynchronous by causing the operation interface to move away from the predetermined work area when the switch is pressed. Claim 12 In claim 11, the synchronization switching unit synchronizes the master robot and the slave robot when the switch is pressed after the master robot and the slave robot have been desynchronized, in a master-slave system. Claim 13 In claim 2, the judgment unit provides feedback to the user from the operation interface when the slave robot reaches the slave-side safety area, in a master-slave system. Claim 14 In claim 13, the judgment unit amplifies the vibration or sound generated from the operation interface as the slave robot approaches the slave-side safety area, in a master-slave system. Claim 15 In claim 2, the judgment unit performs calibration to determine the slave-side safe area of ​​the slave robot, a master-slave system. Claim 16 In claim 6, the synchronization switching unit acquires position and attitude information of the operation interface of the master robot when it receives an operation to restore the synchronization, a master-slave system. Claim 17 A master-slave system comprising a control device, a master device connected to the control device, and a slave device connected to the control device, wherein the slave device has a slave robot that performs surgery on a patient, the control device has a determination unit that determines whether an operation interface of a master robot operated by a user has moved out of a predetermined work area, and a synchronization switching unit that switches to release synchronization between the slave robot and the master robot when the operation interface has moved out of the predetermined work area, the master device has an operation interface of a master robot operated by a user and a holder installed outside the said work area, and the determination unit of the control device determines that the operation interface has moved out of the said predetermined work area when the operation interface is mounted on the holder installed outside the said work area. Claim 18 A method for controlling synchronization switching in a master-slave system, wherein, in the operation of a master robot and a slave robot, a computer determines whether an operation interface of the master robot operated by a user has moved out of a predetermined work area, and if the operation interface has moved out of the predetermined work area, switches to release synchronization between the slave robot and the master robot. Claim 19 A program for making a computer function as a determination unit that determines whether the operation interface of the master robot operated by a user has moved out of a predetermined work area in the operation of a master robot and a slave robot, and as a synchronization switching unit that switches to release synchronization between the slave robot and the master robot when the operation interface has moved out of the predetermined work area.

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