Master / slave system, synchronous switching control method, and program

Abstract

A master / slave system according to the present disclosure comprises: a determination unit that determines whether a manipulation interface of a master robot manipulated by a user has deviated from a prescribed work area during the operation of the master robot and a slave robot; and a synchronization switching unit that, if the manipulation interface has deviated from the prescribed work area, performs a switch so as to release synchronization between the slave robot and the master robot.

Description

Master-slave system, synchronous switching control method and program

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

[0002] A master-slave system is known that has a master and a slave (hereinafter also referred to as a "robot arm"). The master has an input device that allows an operator to operate the robot arm. The slave has a robot hand (hereinafter also referred to as an "end effector") that is suited to the target task. In a master-slave system, the slave executes movements made by a user (operator) input from the master, either at the same magnification or scaled scale.

[0003] In a master-slave system, operations that switch between synchronous and asynchronous states between the master and slave frequently occur, such as disengaging a clutch to change a tool at the end of a robot arm depending on the task being performed.

[0004] In a synchronous / asynchronous switching operation between the master and slave, such as a clutch operation, the master is operated during asynchronous operation, which causes a deviation in position and posture between the master and slave (hereinafter referred to collectively as "position deviation").Position deviation in a master-slave system can impair operability, so it is essential to correct the position deviation.

[0005] Conventionally, there is a method in which the user aligns the position and orientation of the master with the position and orientation of the slave before switching between synchronous and asynchronous modes. In this method, the user operates the master while referring to the position and orientation of the slave displayed on the screen, and by aligning the position and orientation of the slave, the positional deviation that occurred during asynchronous mode is eliminated.

[0006] Japanese Patent Application Laid-Open No. 2008-228967

[0007] The technology of Patent Document 1 outputs the position and orientation of the slave to a video output device such as a monitor to correct positional deviation between the master and the slave. The user then operates the master with reference to the position and orientation of the slave output to the video output device to align the master with the slave. In the method of Patent Document 1, the master does not move autonomously, so there is no need to install an actuator for autonomous operation.

[0008] However, even if there is no need to install an actuator, operations that switch between synchronous and asynchronous, such as clutch operation, occur frequently in master-slave robot systems, so it is expected that the operation will become more complicated.

[0009] The present disclosure has been made in view of the above-described circumstances, and aims to eliminate positional deviations between the master and slave that frequently occur in master-slave systems, and to improve the operability of the master-slave system.

[0010] The master-slave system of the present disclosure includes a determination unit that determines whether the operation interface of the master robot operated by a user has moved outside a predetermined working area during the operation of the master robot and the slave robot, and a synchronization switching unit that switches the slave robot and the master robot to cancel synchronization when the operation interface has moved outside the predetermined working area.

[0011] 1 is a diagram illustrating the configuration of a master-slave system according to the first embodiment. FIG. 1 is a diagram illustrating an example configuration of a master device and a slave device according to the first embodiment. FIG. 2 is a side view for explaining a slave-side working area and a slave-side safety area. FIG. 3 is a diagram for explaining the definition of a slave-side safety area in a robot model. FIG. 1 is a diagram illustrating an example configuration of left and right master input devices of a master according to the first embodiment. FIG. 2 is a diagram illustrating the left and right master input devices of a master according to the first embodiment when operated by a user. FIG. 3 is a diagram illustrating the state of the left and right master input devices of a master according to the first embodiment when a trigger is executed. FIG. 4 is a top view of a holder and a master operation unit when a holder-type trigger is used according to the first embodiment. FIG. 5 is a side view of a holder and a master operation unit when a holder-type trigger is used according to the first embodiment. FIG. 6 is a flowchart for explaining the operation of the master-slave system according to the first embodiment. FIG. 7 is a diagram illustrating the working area and safety area of ​​a robot. FIG. 8 is a diagram illustrating a state in which the holder on the right side of the master has been automatically moved. FIG. 9 is a diagram illustrating an example of calibration of the safety area according to the first embodiment. FIG. 10 is a diagram illustrating an example configuration of a left master input device and a right master input device of a master-slave system according to a second embodiment. FIG. 11 is a diagram illustrating a state in which a trigger is executed in the right master input device of the master-slave system according to the second embodiment. 1 is a hardware configuration diagram showing an example of a computer that realizes an arithmetic unit of a master-slave system 1 that is an information processing device according to the first and second embodiments.

[0012] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted. The description will be given in the following order.

[0013] 1. Embodiments 1-1. First embodiment 1-1-1. Definition of slave-side working area and slave-side safety area 1-1-2. Master operation interface 1-1-3. Relationship between holder and master operation unit 1-1-4. Operation 1-1-5. Example of calibration method 1-1-6. Effects of first embodiment 1-2. Second embodiment 1-2-1. Operation 1-2-2. Effects of second embodiment 2. Other embodiments 3. Effects 4. Hardware configuration 5. Supplementary notes

[0014] <1. Embodiments> <1-1. First Embodiment> An example of the configuration of a master-slave system 1 according to the first embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a diagram showing the configuration of the master-slave system 1 according to the first embodiment. Fig. 2 is a diagram 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 uses a master-slave type robot (master-slave robot).

[0015] 1, the master-slave system 1 includes a master device 10, a slave device 20, and a control device 30. The control device 30 is communicably connected to each of the master device 10 and the slave device 20. Various information is transmitted and received between the devices. This transmission and reception may be performed via, for example, various types of wireless and / or wired communication networks.

[0016] (Master Device) The master device 10 includes 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 a function of controlling the drive of the slave devices 20 and a function of presenting information from the slave devices 20 to the user.

[0017] The master robot 11 functions as an input device that allows a user such as a surgeon to remotely control the slave device 20, which is equipped with a surgical tool such as forceps. The master robot 11 has a configuration that is suitable for a user to remotely control the slave device 20. The master robot 11 operates based on a drive signal from the robot control unit 12.

[0018] 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 using the master robot 11 or the like. An example of the controlled position is the position of the tip of the master robot 11 (hand position). This control is performed according to information specifying the position of the tip (hand position command). The hand position command is generated according to user operation, or is generated by the control device 30 during bilateral control. The robot control unit 12 controls, for example, the rotation (rotational speed, rotational angular velocity, torque, etc.) of the joints so that the tip of the master robot 11 is positioned in accordance with the hand position command.

[0019] The display unit 13 displays various images. The display unit 13 mainly presents information about the work being performed by the slave unit 20 to the user operating the master robot 11 based on image information acquired by the slave unit 20. The display unit 13 may be, for example, a stationary display or a head-mounted display (HMD) worn on the user's head.

[0020] The communication unit 14 enables communication of various types of information with the control device 30. For example, the communication unit 14 transmits input information for the master robot 11 and sensor information obtained from the sensor unit 15 to the control device 30. The communication unit 14 also receives information transmitted from the control device 30 (for example, control information and various types of information on the slave device 20 side).

[0021] The sensor unit 15 detects the state of the master robot 11. Examples of the detected state include the torque reference value, angle (joint angle), and angular velocity (joint angular velocity) of the joints, and this information is 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 in an actuator provided at the joint of the master robot 11. The joint angular velocity is obtained by differentiating the joint angle with respect to time. Other examples of the detected state include the acceleration reference value, position, and velocity of the tip end 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 end can be determined, for example, from the joint angle, joint angular velocity, etc. described above and can therefore be detected.

[0022] (Slave Unit) The slave unit 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 unit 20 has a mechanism driven by an actuator such as a motor, and moves according to drive control from the master unit 10. The slave unit 20 also has a function of notifying the master unit 10 of the force and vibration that occur when a work object comes into contact with a part of the slave unit 20 that comes into contact with the object.

[0023] The slave robot 21 is a robot remotely controlled by a user such as a surgeon. For example, the slave robot 21 is an arm-type robot with a multi-joint link structure, and is equipped with a working unit as an end effector at the tip of the robot. The slave robot 21 operates based on a drive signal from a robot control unit 22.

[0024] The robot control unit 22 controls the position of the slave robot 21 in accordance with the value of a position command specified by the user. An example of the controlled position is the position of the tip of the slave robot 21 (hand position). This control is performed in accordance with information specifying the position of the tip (hand position command). The hand position command is generated in accordance with a user operation, or is generated by the control device 30 in the case of bilateral control. The robot control unit 22 controls, for example, the rotation (rotational speed, rotational angular velocity, torque, etc.) of the joints so that the tip of the slave robot 21 is positioned in accordance with the hand position command.

[0025] The imaging unit 23 captures an image of the work range of the target object by imaging. For example, the imaging unit 23 has a zoom mechanism and is capable of changing the imaging magnification (zoom magnification). The zoom magnification of the imaging unit 23 can be controlled by the control device 30. The imaging unit 23 is provided in the slave robot 21. For example, the imaging unit 23 is supported by a robot arm other than the slave arm 212, and the angle of the joint of the robot arm is controlled by the robot control unit 22. This allows the position and posture of the imaging unit 23 to be changed. For example, an RGB camera or a stereo camera is used as the imaging unit 23.

[0026] The communication unit 24 enables communication of various types of information with the control device 30. For example, the communication unit 24 receives information transmitted from the control device 30 (e.g., control information and various types of information on the master device 10 side). The communication unit 24 also transmits sensor information obtained from the sensor unit 25 to the control device 30.

[0027] The sensor unit 25 detects the state of the slave robot 21. Examples of the detected state include the torque reference value, angle (joint angle), and angular velocity (joint angular velocity) of the joint, and this information is 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 unit 20. The joint angle is obtained, for example, from an encoder in an actuator provided at the joint of the slave robot 21. The joint angular velocity is obtained by differentiating the joint angle with respect to time. Other examples of the detected state include the acceleration reference value, position, and velocity of the tip end input to the slave robot 21. The acceleration reference value is a value that forms the basis of the above-mentioned torque reference value and can be detected by the slave unit 20. The position and velocity of the tip end can be determined, for example, from the above-mentioned joint angle, joint angular velocity, etc., and therefore can be detected.

[0028] (Control Device) The control device 30 has a control unit 31, a storage unit 32, and a communication unit 33. The control unit 31 includes a drive control unit 311, a display control unit 312, a region setting unit 313, a determination unit 314, and a synchronization switching unit 315.

[0029] The drive control unit 311 controls each unit 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.

[0030] 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 corresponds to the position of the slave robot 21. The positional correspondence here means that there is a correspondence between the positions of corresponding parts of the master robot 11 and the slave robot 21. 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 are in a corresponding position.

[0031] Furthermore, 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 corresponds to the external force of the slave robot 21. Correspondence of external forces here means that there is a correspondence between the external forces of corresponding parts of the master robot 11 and the slave robot 21. 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 are external forces that have a correspondence relationship.

[0032] The display control unit 312 mainly controls each unit related to video 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 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.

[0033] The area setting unit 313 sets an interference avoidance area for the slave robot 21. The interference avoidance area is, for example, an area in which it is possible to avoid the tip of the slave robot 21 from interfering with the surrounding environment, such as a user or a bed. The interference avoidance area is set in advance. Such an interference avoidance area will be described in detail later.

[0034] The determination unit 314 determines whether or not the operation interface (input device) of the master robot operated by the user has moved out of a predetermined working area during the operation of the master-slave robot. The specific operation of the determination unit 314 will be described later.

[0035] When the operation interface moves out of the predetermined working area, the synchronization switching unit 315 switches to cancel synchronization between the slave robot and the master robot. The specific operation of the synchronization switching unit 315 will be described later.

[0036] The storage unit 32 stores various types of information. For example, the storage 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. The storage unit 32 also stores various types of information (for example, programs) necessary for processing executed by the control device 30.

[0037] The communication unit 33 enables communication of various types of 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 types of information on the master device 10 side and various types of information on the slave device 20 side). The communication unit 33 also transmits various types of information (e.g., control information, sensor information, image information, etc.) to the master device 10 and the slave device 20.

[0038] Such a master-slave system 1 is used, for example, in surgery, as shown in Fig. 2. In the example of Fig. 2, a surgeon (such as a doctor) performing the surgery is illustrated as user U1, and a patient undergoing the surgery is illustrated as user U2. User U2 is lying on, for example, a bed U2a.

[0039] 2, a user U1 operates a master device 10 and remotely controls a slave device 20 to perform surgery on a user U2. Specifically, the master device 10 includes a master robot 11 operated by the user U1. The slave device 20 includes a slave robot 21 remotely controlled by the user U1. 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.

[0040] The master robot 11 has a configuration suitable for the user U1 to remotely control the slave robot 21. The illustrated master robot 11 includes a master arm 111 and a display unit 13. The master arm 111 is an arm operated by the user U1. The content of the operation of the master robot 11 by the user U1 (user operation) is transmitted as control information (input information) from the master device 10 to the slave device 20 via the control device 30. The master robot 11 also has a configuration corresponding to, for example, the slave robot 21 so as to communicate the status of the slave robot 21 to the user U1. The master robot 11 may have, for example, an arm similar to that of the slave robot 21. The user U1 can recognize the status of the slave robot 21 via the master robot 11. A foot switch 112 may be provided on the floor near the master robot 11. When the foot switch 112 is pressed, a signal is transmitted from the master device 10 to the control device 30.

[0041] The master arm 111 is operated, for example, by both the right and left hands of the user U1. The user U1 places both arms or elbows on a support table and grasps the master arm 111 with each of their right and left hands. In this state, the user U1 operates the master arm 111 while looking at the display unit 13, which displays the surgical field. By displacing the position and orientation of the master arm 111, the user U1 can, for example, remotely control the position or orientation of surgical tools attached to the slave device 20, or remotely control the grasping action of each surgical tool. The master arm 111 can convey to the user U1 the sensation felt when the surgical tool of the slave device 20 comes into contact with the affected area of ​​the patient, etc.

[0042] The slave robot 21 includes, for example, an arm. The illustrated slave robot 21 includes multiple surgical tool units 211A and 211B, a slave arm 212, and a base arm 213. The slave robot 21 has, for example, six degrees of freedom in the tip position and orientation, but the number of degrees of freedom of the robot is not particularly limited. Each of the surgical tool units 211A and 211B is held by the slave arm 212. In the example of FIG. 2 , there are two surgical tool units. Each of the slave arm 212 and the base arm 213 has, for example, multiple link portions and multiple joint portions. The base arm 213 holds, for example, the slave arm 212 and the imaging unit 23. Note that examples of the individual surgical tools of each surgical tool unit 211A and 211B include forceps, a surgical suction cup, scissors, an insufflation tube, an energy treatment device, a retractor, and the like.

[0043] Here, operation commands for remotely controlling the slave robot 21 are input to the master device 10 via the master robot 11. The operation commands include, for example, panning and tilting of the slave arm 212 of the slave robot 21, rotational movements about the longitudinal axis (or roll axis) of each of the surgical tool units 211A, 211B, and movements of the tip ends of each of the surgical tool units 211A, 211B. The control device 30 generates control commands based on the received operation commands and transmits them to the slave device 20. The slave device 20 controls the drive of the slave robot 21 so as to realize movements of the slave robot 21 according to the received control commands.

[0044] For example, the master unit 10 instructs the operation of the slave robot 21 and the operation of the surgical tool (e.g., yaw movement, pitch movement, open / close movement of the forceps, etc.) via the master robot 11. For example, when the control device 30 receives an operation command instructing the yaw movement, pitch movement, or open / close movement of the forceps, it calculates the rotation angle of each motor of the slave robot 21 and generates an angle command for each motor to realize the target forceps movement. A control command including this angle command, etc. is transmitted to the slave unit 20.

[0045] <1-1-1. Definition of Slave-Side Working Area and Slave-Side Safe Area> Conventionally, there is a method in which the master aligns with the position and orientation of the slave when the user is not operating the master. For this reason, the master is equipped with an actuator to accommodate positional deviations between the master and the slave. When an actuator is equipped on a master, the master becomes larger. There is also a method in which a larger master is used and the master itself aligns its position with the position and orientation of the slave. In this case, the larger master increases the size of the system. Furthermore, with this method, the position and orientation of the slave differ from those when the master was being operated, so there is a risk that the user may lose control of the operation even after alignment.

[0046] Furthermore, conventionally, operations such as clutch operation to switch between synchronous and asynchronous modes occur frequently in master-slave systems, which is expected to increase the complexity of the operation. The master-slave system 1 of the embodiment eliminates the positional deviation between the master and slave that frequently occurs in the master-slave system 1, thereby improving the operability of the master-slave system 1.

[0047] Specifically, the master-slave system 1 determines whether the operation interface of the master robot 11 operated by the user has deviated from the predetermined working area, and if the operation interface has deviated from the predetermined working area, switches the slave robot and the master robot to desynchronize. After desynchronizing the slave robot and the master robot, the master-slave system 1 moves the slave robot to the slave-side safety area. When the master-slave system 1 receives an operation to restore synchronization, it aligns the slave robot with the slave robot located in the slave-side safety area and initiates synchronization between the master robot and the slave robot. In this way, the master-slave system 1 of the embodiment switches the slave robot and the master robot to desynchronize when the operation interface deviates from the predetermined working area, which frequently occurs between the master and slave. When the master-slave system 1 receives an operation to restore synchronization, it aligns the slave robot with the slave robot located in the slave-side safety area, thereby improving operability and correction compared to conventional techniques.

[0048] First, when explaining the operation of the master-slave system 1 according to the first embodiment, the concepts of the slave-side working area and the slave-side safety area are important. Therefore, the slave-side working area and the slave-side safety area will be explained first. Fig. 3 is a side view for explaining the slave-side working area 404 and the slave-side safety area 405. The master-side working area and safety area will be explained in Fig. 10.

[0049] In a master-robot system, as shown in Fig. 3, there is a slave-side working area 404 where a slave 401 performs work on a target object 403 in real space in response to user operation. The slave-side working area 404 is the range in which the robot can come into contact with a target object 451. The slave-side working area 404 is the range in which parts can be touched in the case of assembly work, or the range in which surgical tools can be attached and the affected area can be touched in the case of a surgical support robot. The slave-side working area 404 is the same even in the case of a robot that has wheels or the like on its legs and can move autonomously while the operator is working.

[0050] A sphere having a diameter equal to the distance at which each of the left and right arms of the robot arm 402 can come into contact with the target object 403 is considered, and this is defined as the slave-side working area 404. In this case, the area outside the sphere where the robot arm 402 cannot come into contact with the target object 403 is defined as the slave-side safety area 405, which is a safe and distant area.

[0051] Next, we will explain the definitions of the slave-side working area and the slave-side safety area of ​​a robot having one arm different from that in Fig. 3. Fig. 4 is a diagram for explaining the definition of the slave-side safety area in a robot model.

[0052] 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 placed to the edge of the stage 450. Here, the slave-side working area 452 is the range within which the robot can contact the target object, as described above. The slave-side safety area is the operating range of the robot, within which the robot cannot touch the target object 451. The arm movable range 453 is the range within which the arm of the robot model can move, and is the slave-side safety area. Within the slave-side safety area, the robot can move but cannot touch the target object 451. Here, the maximum arm movable range is a fixed value defined based on information about the robot model, and the slave-side working area 452 is a variable that changes depending on the size of the target object 451. It is also assumed that no people or objects enter the robot's arm movable range 453, and there is no risk of contact.

[0053] 4, the slave arm is attached to a base center 454, and the end effector is attached to a rotation axis 455 at the base of the arm. The area between the rotation axis 455 at the base of the arm and the tip 457 of the end effector is an area radius 456 of the arm.

[0054] <1-1-2. Master Operation Interface> Next, the master operation interface will be described. The master operation interface has a left master input device 412-1 and a right master input device 412-2. FIG. 5 is a diagram showing an example configuration of the left and right master input devices 412-1 and 412-2 of the master according to the first embodiment. In this first embodiment, the synchronous / asynchronous switching trigger occurs when a user loads the left master input device 412-1 into the left holder 411-1 provided distally on the console (hereinafter referred to as a "holder-type trigger"). Also, the synchronous / asynchronous switching trigger occurs when a user loads the right master input device 412-2 into the right holder 411-2 provided distally on the console.

[0055] 5, the master operation interface has a left master input device 412-1 and a right master input device 412-2 for controlling the slave robot, and also 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.

[0056] The master operation interface is a terminal for transmitting input operations by a user to a slave, regardless of whether an actuator is installed. When a user inputs an operation command or an operation instruction to the master operation interface, the operation command is transmitted to the slave via the control unit 31.

[0057] The left holder 411-1 and the right holder 411-2 are installed at positions that fix the slave at a distal position. The grounding positions of the left holder 411-1 and the right holder 411-2 may be fixed values ​​corresponding to the slave-side safety area. The grounding positions of the left holder 411-1 and the right holder 411-2 may be locked at positions corresponding to the slave-side safety area. Furthermore, the positions of the left holder 411-1 and the right holder 411-2 may be manually moved by a user, a nurse, or another person while viewing an image of the slave.

[0058] FIG. 6 is a diagram showing 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, during user operation, 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 a trigger is executed. When a trigger is executed, the left master input device 412-1 is attached to the left holder 411-1, or the right master input device 412-2 is attached to the right holder 411-2. FIG. 7 shows an example in which the right master input device 412-2 is attached to the right holder 411-2.

[0059] <1-1-3. Relationship between Holders and Master Operation Unit> The left holder 411-1 and the right holder 411-2 are equipped with, for example, magnets and contact sensors. When the left master input device 412-1 approaches, the left holder 411-1 is attracted by magnetic force, and the determination unit 314 detects that the left master input device 412-1 has been loaded into the left holder 411-1. When the right master input device 412-2 approaches, the right holder 411-2 is attracted by magnetic force, and the determination unit 314 detects that the right input device 412-2 has been loaded into the right holder 411-2. The synchronization switching unit 315 switches between synchronous and asynchronous states while keeping the position and orientation fixed, triggered by the loading of the left master input device 412-1 into the left holder 411-1. Furthermore, the synchronization switching unit 315 switches between synchronous and asynchronous states while keeping the position and posture fixed, triggered by the loading of the right master input device 412-2 into the right holder 411-2. Therefore, the slave can maintain the same position and posture in the safety zone before and after the switching.

[0060] Fig. 8 is a top view of the holder 421 and the master operation unit 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 operation unit 423 when using the holder-type trigger according to the first embodiment.

[0061] 8 and 9, the master console is equipped with a holder 421 for loading a master. This holder 421 has a hole for loading a master, and a magnet 422 is fitted inside this hole to fix the position and orientation of the loaded master.

[0062] The master operation unit 423 also has a magnet (not shown). Furthermore, a switch 424 is attached to the contact point between the master operation unit 423 and the holder 421. The switch 424 detects that a part of the master operation unit 423, including the switch 424, of the master has been loaded into the holder 421. The synchronization switching unit 315 can switch between synchronous and asynchronous states when triggered by the loading of the master into the holder 421.

[0063] <1-1-4. Operation> Next, a description will be given of the operation of the master-slave system 1 according to the first embodiment. Fig. 10 is a flowchart for explaining the operation of the master-slave system 1 according to the first embodiment.

[0064] The control unit 31 receives an operation from the master during synchronization and controls the slave in response to the operation (step S11). Next, the determination unit 314 determines whether the input device of the master is loaded in the holder (step S12). In other words, the determination unit 314 determines whether the operation interface of the master robot operated by the user has moved out of the predetermined working area.

[0065] Here, the "predetermined working area" refers to a working area on the master side that corresponds to an area where the slave robot can touch a target object. The master-slave system 1 stores the correspondence between the position of the slave-side working area and the position of the master-side working area. The master-slave system 1 also stores the correspondence between the position of the slave-side safety area and the safety position of the master safety area.

[0066] For example, in the first embodiment, the master-slave system 1 determines whether or not the robot has moved out of the predetermined working area based on whether or not the operation interface is attached to the holder. That is, in the first embodiment, the "predetermined working area" refers to the area of ​​the master-side working area that corresponds to the area where the slave robot can touch the target object, excluding the location where the holder is installed.

[0067] Specifically, in the first embodiment, for example, in FIGS. 5 to 7, the "predetermined work area" on the master side corresponds to the positions other than the left holder 411-1 and the right holder 411-2. The area outside the "predetermined work area" on the master side corresponds to the position of the left holder 411-1. When the left master input device 412-1 is attached to the left holder 411-1, the left master input device 412-1 is determined to be outside the predetermined work area. Also, when the right master input device 412-2 is attached to the right holder 411-2, it is determined to be outside the predetermined work area. In step S12, if the master input device is not attached to a holder (No in step S12), the process returns to step S11.

[0068] In step S12, if the input device of the master is loaded in the holder (Yes in step S12), the synchronization switching unit 315 moves the slave robot to a preset position within the slave-side safety area (step S13).

[0069] Thereafter, the synchronization switching unit 315 desynchronizes the master and slave (step S14). That is, when the operation interface moves out of the predetermined working area, the synchronization switching unit 315 switches to cancel synchronization between the slave robot and the master robot. The determination unit 314 determines whether the input device of the master has been removed from the holder (step S15). If the input device of the master has not been removed from the holder in step S15 (No in step S15), the process returns to step S11.

[0070] In step S15, if the master input device is removed from the holder (Yes in step S15), an operation during asynchronous operation (such as a clutch operation) is performed (step S16). Next, the determination unit 314 determines whether the master input device is reloaded into the holder (step S17). In step S17, if the master input device is not reloaded into the holder (No in step S17), the process returns to step S16.

[0071] In step S17, if the master input device is re-inserted into the holder (Yes in step S17), the master and slave are synchronized and reconnected (step S18).

[0072] Thereafter, the synchronization switching unit 315 performs distal positioning of the master and the slave based on the position of the holder and the 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 the user that the positioning of the slave has been completed using a GUI (Graphical User Interface).

[0073] Next, the determination unit 314 determines whether the master input device has been removed from the holder (step S20). If the master input device has not been removed from the holder in step S20 (No in step S20), the process returns to step S19.

[0074] In step S20, if the master input device has been removed from the holder (Yes in step S20), the process returns to step S11, allowing the user to continue the synchronization operation without performing alignment.

[0075] <1-1-5. Example of Calibration Method> In the above description, the case where calibration of the safety area is not performed has been described. However, calibration may be performed for the safety area.

[0076] Fig. 11 is a diagram showing the slave-side working area 501 and slave-side safety area 503 of the robot 500. Fig. 12 is a diagram showing the state in which the holder 601-2 on the right side of the master has been automatically moved. Fig. 12 shows an example in which the position of the holder 601-2 has been adjusted so that the slave is positioned in the slave-side safety area 503.

[0077] Fig. 13 is a diagram illustrating an example of calibration of the safety area according to embodiment 1. As shown in Fig. 13, preparations for a procedure are made. Specifically, a location for the robot is determined (step S21).

[0078] Next, the synchronization switching unit 315 moves the position of the arm to adjust the position of the target object so that the arm can touch the target within the movable range (step S22). Specifically, the synchronization switching unit 315 moves the arm until the arm reaches the slave-side working area 501.

[0079] Thereafter, the synchronization switching unit 315 operates the arm to place the devices for detecting the distal trigger (for example, the right holder 601-1 and the left holder 601-2) in positions outside the slave-side working area 501 (step S23).

[0080] <1-1-6. Effects of the First Embodiment> According to the master-slave system 1 of the first embodiment, it is possible to eliminate frequently occurring positional deviations between the master and slave, and improve the operability of the master-slave system 1.

[0081] <1-2. Second embodiment> Next, a master-slave system 1 according to a second embodiment will be described. The configuration of the master-slave system 1 according to the second embodiment is similar to the example shown in Figures 1 and 2, but the second embodiment differs in the configuration of the master input device.

[0082] In the second embodiment, the synchronization / asynchronization between the master and slave is switched by the operator bringing his / her hand close to or touching a proximity sensor or switch mounted at a distal position on the console.

[0083] In the second embodiment, as an example, a positioning method will be described in which the position and posture are not fixed at the distal end, based on a user interface using a switch. The master input device used is similar in configuration to that described in the first embodiment, so details will be omitted.

[0084] In the second embodiment, the master-slave system 1 determines whether it has "left the predetermined working area" based on the position and orientation information of the operation interface without using a holder. For example, the master-slave system 1 determines that it has "left the predetermined working area" based on whether the operation interface has come close to an arbitrary object. As an example, the master-slave system 1 determines that it has "left the predetermined working area" when it comes closer than a predetermined distance to a switch or a proximity sensor installed on the master side. In this case, the "predetermined working area" means "the area of ​​the master side working area corresponding to the area where the slave robot can touch the target object, excluding the area where the switch is installed or the area within the sensing distance of the proximity sensor."

[0085] 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 a state when a user is operating the master. Fig. 15 is a diagram showing a state when a trigger is executed on the right master input device 701-2 of the master-slave system 1 according to the second embodiment. Fig. 15 shows a state in which the user is holding the left master input device 701-1 and the right master input device 701-2 and pressing the right switch 702-2 with their right hand.

[0086] First, as shown in FIG. 14, the interface is configured with a left switch 702-1 that moves the slave to a safe area (distal). Also, a right switch 702-2 that moves the slave to a right safe area (distal). Note that proximity sensors 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 located outside the "predetermined working area" on the master side.

[0087] 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 the proximity sensor), which causes the determination unit 314 of the master-slave system 1 to detect a trigger, allowing the synchronization switching unit 315 to switch between the synchronous and asynchronous states between the master and slave.

[0088] If a proximity sensor is installed instead of the switches 702-1 and 702-2, the user brings the left master input device 701-1 or the right master input device 701-2 closer to the proximity sensor, which causes the determination unit 314 of the master-slave system 1 to detect a trigger, allowing the synchronization switching unit 315 to switch between synchronous and asynchronous states.

[0089] Note that the detection of whether 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) provided in the left master input device 701-1 or the right master input device 701-2. The pressing of switches 702-1 and 702-2 may be conditional on the sensor detecting 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 issue 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. Furthermore, the master-slave system 1 may issue 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.

[0090] Furthermore, when the left master input device 701-1 and the right master input device 701-2 are in a special position (for example, vertical), the master-slave system 1 may perform calibration in the same manner as in Example 1. At this time, the master-slave system 1 may also display a message to the user informing them that calibration is required.

[0091] According to the second embodiment, compared to the first embodiment, there is no need to place the left master input device 701-1 and the right master input device 701-2 in their designated positions in the holders. Therefore, the intuitiveness of the operation is improved because it is sufficient to touch switch 702-1 or switch 702-2 without having to go through the trouble of searching for the holders or being concerned with posture.

[0092] <1-2-1. Operation> Next, a description will be given of the operation of the master-slave system 1 according to the second embodiment. Fig. 16 is a flowchart for explaining the operation of the master-slave system 1 according to the second embodiment.

[0093] The control unit 31 receives an operation during synchronization from the master and controls the slave in response to the operation (step S31). Next, the determination unit 314 determines whether a switch has been pressed (step S32). That is, the determination unit 314 determines whether the operation interface of the master robot operated by the user has moved out of the predetermined working area. If the switch has not been pressed in step S32 (No in step S32), the process returns to step S31.

[0094] 14 and 15, for example, the "predetermined work area" on the master side corresponds to a position other than the left switch 702-1 or the right switch 702-2. Leaving the "predetermined work area" on the master side corresponds to a switch being pressed, for example, pressing the left switch 702-1 or the right switch 702-2. In other words, when the left switch 702-1 or the right switch 702-2 is pressed, it is determined that the left master input device 701-1 or the right master input device 701-2 has moved out of the predetermined work area.

[0095] 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 safety area (step S33). Note that the switch is pressed by the user while holding the left master input device 701-1 and the right master input device 701-2.

[0096] In the second embodiment, while the user is working in a synchronized state between the master and slave, he or she triggers the master by pressing a switch installed distal to the master while moving the master, thereby switching between the synchronized and asynchronous states.

[0097] Thereafter, the synchronization switching unit 315 desynchronizes the master and slave (step S34), and the determination unit 314 determines whether the pressing of the switch has finished (step S35). If it is determined in step S35 that the pressing of the switch has not finished (No in step S35), the process returns to step S35.

[0098] In step S35, if the pressing of the switch has 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 lost, the slave stops at a safe distance outside the working area, so it is in a safe state and the operator can perform any operation during asynchronous operation.

[0099] Next, the determination unit 314 determines whether the switch has been pressed (step S37). If the switch has not been pressed in step S37 (No in step S37), the process returns to step S36.

[0100] In step S37, if the switch is pressed (Yes in step S37), the master and slave are synchronized and reconnected (step S38).

[0101] When a proximity sensor is used instead of a switch, the proximity sensor is provided outside the "predetermined working area" on the master side. Leaving the "predetermined working area" on the master side corresponds to the user's hand while holding the master input device, or the master input device being held over the proximity sensor so that it can be detected by the proximity sensor. When the user's hand while holding the master input device, or the master input device, is detected by the proximity sensor, it is determined that the user has left the predetermined working area.

[0102] In this case, unlike 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 but are indefinite. Therefore, the position and orientation when the user first presses the switch (hereinafter also referred to as the "master position and orientation during synchronization") differ from the position and orientation when the switch is triggered again (hereinafter also referred to as the "master position and orientation during asynchronous operation"). For this reason, the master-slave system 1 must acquire the position and orientation of the master when transitioning from an asynchronous state to a synchronous state.

[0103] 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 the stopped slave to calculate a positional deviation that occurred during asynchronous operation. After calculating the positional deviation, the synchronization switching unit 315 moves the position and attitude of the slave to eliminate the positional deviation, thereby aligning the slave. The master position and attitude are acquired using, for example, a gyro sensor, a position sensor, or the like.

[0104] Thereafter, the synchronization switching unit 315 aligns the position and orientation of the slave with the position and orientation of the master in the safety area (distal) (step S39). At this time, in order to display status information of the slave to the user, the display unit 13 may notify the user that the alignment of the slave has been completed using a GUI.

[0105] Alternatively, the left master input device 701-1 or the right master input device 701-2 may be 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 safety area. Various feedback methods are possible. For example, when the slave robot reaches the slave-side safety area, a sound may be output from the left master input device 701-1 or the right master input device 701-2. Alternatively, 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 as the slave robot approaches the slave-side safety area. For example, the control device 30 calculates the distance between the position of the left master input device 701-1 or the right master input device 701-2 of the slave and the position of the slave-side safety area, and outputs the vibration or sound volume from the left master input device 701-1 or the right master input device 701-2 according to the calculated distance. This allows the user to confirm the timing at which the clutch will be performed.

[0106] That is, according to the second embodiment, by pressing the switch on the master console again, synchronization of the positions and attitudes between the master and slave begins in the distant safe area.

[0107] Next, the determination unit 314 determines whether the pressing of the switch has finished (step S40). If the pressing of the switch has not finished in step S40 (No in step S40), the process returns to step S40.

[0108] In step S40, if the pressing of the switch has ended (Yes in step S40), the process returns to step S31, allowing the user to continue the synchronization operation without performing alignment.

[0109] <1-2-2. Effects of the Second Embodiment> Therefore, according to the master-slave system 1 of the second embodiment, the user does not need to perform any special operations associated with the alignment while the alignment is being performed, and therefore, work is not interrupted. Furthermore, since the work is not interrupted, the user does not lose the sense of ownership of the work.

[0110] Furthermore, with the master-slave system 1 of the second embodiment, the switch can be used when returning from asynchronous to synchronous, so the user's work is not interrupted. Also, unlike a holder, the switch does not have a fixed position, so the initial position can be set in any position.

[0111] 2. Other Embodiments The processing according to each of the above-described embodiments may be implemented in various different forms other than the above-described embodiments.

[0112] Furthermore, among the processes described in the above embodiments, all or part of the processes described as being performed automatically can be performed manually, or all or part of the processes described as being performed manually can be performed automatically using known methods. Furthermore, the information, including the processing procedures, specific names, various data, and parameters shown in the above documents and drawings, can be changed as desired unless otherwise specified. For example, the various information shown in each drawing is not limited to the information shown in the drawings.

[0113] Furthermore, the components of each device shown in the figure are conceptual functional components and do not necessarily have to be physically configured as shown in the figure. In other words, the specific form of distribution and integration of each device is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc.

[0114] Furthermore, the above-described embodiments and modifications can be combined as appropriate within the scope of not causing any contradiction in the processing content.

[0115] Furthermore, the effects described in this specification are merely examples and are not limiting, and other effects may also be present.

[0116] 3. Effects As described above, the master-slave system according to the present disclosure (master-slave system 1 in the embodiment) includes a determination unit (determination unit 314 in the embodiment) that determines whether or not the operation interface of the master robot operated by the user has moved outside a predetermined working area during the operation of the master robot and the slave robot, and a synchronization switching unit (synchronization switching unit 315 in the embodiment) that switches to cancel synchronization between the slave robot and the master robot when the operation interface (master input devices 412-1 and 412-2 in the embodiment) has moved outside the predetermined working area.

[0117] In this way, the master-slave system according to the present disclosure cancels synchronization between the slave robot and the master robot when the operation interface moves out of the predetermined working area, thereby eliminating misalignment between the master and slave robots. Furthermore, the master-slave system according to the present disclosure does not require the master robot to actively align the master and slave robots, eliminating the constraint of having to install an actuator in the master-slave system. As a result, the design cost and size of the master-slave system according to the present disclosure can be reduced.

[0118] Furthermore, when the operation interface moves out of the predetermined working area, the synchronization switching unit moves the slave robot to the slave-side safety area and switches to cancel synchronization.

[0119] In this way, the master-slave system according to the present disclosure moves the slave robot to the slave-side safety area, so that the master robot and slave robot can be aligned safely.

[0120] Furthermore, the determination unit determines that the operation interface of the master robot has moved out of the predetermined work area when the operation interface of the master robot is attached to a holder installed outside the work area. When the synchronization switching unit determines that the operation interface of the master robot has moved out of the predetermined work area, it controls the slave robot to move to a preset position within the slave-side safety area.

[0121] In this way, in the master-slave system according to the present disclosure, when the operation interface is attached to the holder, the position and orientation of the operation interface are uniquely determined. Therefore, the master robot and slave robot can be aligned without the need for processing to acquire position and orientation information of the operation interface. Furthermore, since there is no need for active alignment by the master robot, the user's work is not interrupted. Furthermore, since alignment is performed at a safe, distant position, alignment can be performed safely.

[0122] In addition, when the synchronization switching unit receives an operation from the user to restore synchronization, it aligns the master robot and the slave robot based on the position of the holder and a predetermined position within the slave side safety area, and begins synchronizing the master robot and the slave robot.

[0123] In this way, the master-slave system according to the present disclosure uses the position of the holder to align the master robot and the slave robot, so the position of the holder can be a fixed value, and alignment calculations can be simplified.

[0124] The determination unit acquires position and orientation information of the operation interface of the master robot and determines whether the operation interface of the master robot has moved out of a predetermined working area based on the position and orientation information. If it is determined that the operation interface of the master robot has moved out of the predetermined working area, the synchronization switching unit controls the slave robot to move into a slave-side safety area.

[0125] In this way, the master-slave system according to the present disclosure performs positioning based on the position and orientation information of the operation interface of the master robot, eliminating the need for the master robot to actively perform positioning. Therefore, the user's work is not interrupted. Furthermore, since the slave robot is moved to the slave-side safety area, the master robot and slave robot can be safely aligned.

[0126] In addition, when the synchronization switching unit receives an operation from the user to restore synchronization, it aligns the master robot with the slave robot located in the safety area based on the position and posture information of the operation interface of the master robot, and starts synchronization between the master robot and the slave robot.

[0127] In this way, the master-slave system according to the present disclosure can restore synchronization within a safe area.

[0128] The master-slave system also has a display unit that displays when the position of the slave robot has been aligned with the position of the master robot.

[0129] In this way, the master-slave system according to the present disclosure allows the user to confirm that alignment has been completed and continue working.

[0130] In addition, in the master-slave system, the operation interface of the master robot has a first magnet, and the holder has a second magnet inside for attracting the first magnet.

[0131] In this way, the master-slave system according to the present disclosure can improve the connection between the operation interface and the holder by using the first magnet and the second magnet.

[0132] In addition, in the master-slave system, the holder has a switch in the portion where the operation interface is attached, and the determination unit determines that the operation interface of the master robot has moved out of the predetermined working area when the switch is pressed.

[0133] 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 the predetermined working area.

[0134] The master robot also has a switch installed outside the working area, and when the switch is pressed, the synchronization switching unit determines that the operation interface has moved out of the specified working area, and desynchronizes the master robot and the slave robot.

[0135] In this way, the master-slave system according to the present disclosure allows the user to desynchronize the master robot and slave robot in any position and posture by using a switch.

[0136] Furthermore, when the switch is pressed after the master robot and the slave robot have been made asynchronous, the synchronization switching unit synchronizes the master robot and the slave robot.

[0137] In this way, the master-slave system according to the present disclosure can use a switch even when returning from asynchronous to synchronous, so the user's work is not interrupted. Also, unlike a holder, a switch does not have a fixed position, so the initial position can be started in any position.

[0138] Furthermore, the determination unit provides feedback to the user when the slave robot reaches the slave-side safety area.

[0139] In this way, the master-slave system according to the present disclosure allows the user to recognize safety.

[0140] Furthermore, the determination unit increases the vibration or sound generated from the operation interface as the slave robot approaches the slave-side safety area.

[0141] In this way, the master-slave system according to the present disclosure allows the user to have a strong sense of safety.

[0142] The determination unit also performs calibration for the slave robot to determine the slave-side safety area.

[0143] In this way, the master-slave system according to the present disclosure can perform calibration so that the determination unit can determine whether the operation interface has moved out of the predetermined working area, even if the position of the operation interface is in a specific case (for example, vertical).

[0144] Furthermore, when an operation for restoring synchronization is received, the synchronization switching unit acquires the position and orientation information of the operation interface of the master robot.

[0145] In this way, the master-slave system according to the present disclosure can use the acquired position and orientation information for alignment when a switch or the like is used to determine whether the system has moved outside a predetermined area.

[0146] 4. Hardware Configuration FIG. 17 is a hardware configuration diagram showing an example of a computer 1000 that realizes the arithmetic unit of the master-slave system 1 that is the information processing device according to the first and second embodiments.

[0147] The computer 1000 includes a CPU 1100, a RAM 1200, a ROM (Read Only Memory) 1300, a HDD (Hard Disk Drive) 1400, a communication interface 1500, and an input / output interface 1600. The components of the computer 1000 are connected by a bus 1050.

[0148] The CPU 1100 operates and controls each component based on programs stored in the ROM 1300 or the HDD 1400. For example, the CPU 1100 loads the programs stored in the ROM 1300 or the HDD 1400 into the RAM 1200 and executes processing corresponding to the various programs.

[0149] The ROM 1300 stores boot programs such as a Basic Input Output System (BIOS) that is executed by the CPU 1100 when the computer 1000 is started, as well as programs that depend on the hardware of the computer 1000 .

[0150] HDD 1400 is a computer-readable recording medium that non-temporarily records programs executed by CPU 1100 and data used by such programs. Specifically, HDD 1400 is a recording medium that records an application program according to the present disclosure, which is an example of program data 1450.

[0151] The communication interface 1500 is an interface for connecting the computer 1000 to an external network 1550 (e.g., the Internet). For example, the CPU 1100 receives data from other devices and transmits data generated by the CPU 1100 to other devices via the communication interface 1500.

[0152] The input / output interface 1600 is an interface for connecting the input / output device 1650 and the computer 1000. For example, the CPU 1100 receives data from input devices such as a keyboard or a mouse via the input / output interface 1600. The CPU 1100 also transmits data to output devices such as a display, a speaker, or a printer via the input / output interface 1600. The input / output interface 1600 may also function as a media interface for reading programs and the like recorded on a predetermined recording medium. Examples of media include optical recording media such as DVDs (Digital Versatile Discs) and PDs (Phase Change Rewritable Discs), magneto-optical recording media such as MOs (Magneto-Optical Discs), tape media, magnetic recording media, and semiconductor memories.

[0153] Although the CPU 1100 reads and executes the program data 1450 from the HDD 1400, as another example, the CPU 1100 may obtain these programs from other devices via an external network 1550.

[0154] Although the preferred 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 such examples. It is clear that a person skilled in the art of the present disclosure can conceive of various modified or altered examples within the scope of the technical idea described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0155] Furthermore, the effects described herein are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that will be apparent to those skilled in the art from the description of this specification, in addition to or in place of the above-described effects.

[0156] 5. Supplementary Notes The present technology can also be configured as follows. (1) A master-slave system including: a determination unit that determines whether an operation interface of the master robot operated by a user has deviated from a predetermined working area during operation of a master robot and a slave robot; and a synchronization switching unit that switches to cancel synchronization between the slave robot and the master robot when the operation interface has deviated from the predetermined working area. (2) The master-slave system described in (1), wherein, when the operation interface has deviated from the predetermined working area, the synchronization switching unit moves the slave robot to a slave-side safety area and switches to cancel the synchronization. (3) The master-slave system described in (2), wherein, when the operation interface of the master robot is attached to a holder installed outside the working area, the determination unit determines that the operation interface of the master robot has deviated from the predetermined working area, and the synchronization switching unit controls the slave robot to move to a preset position within the slave-side safety area when it has determined that the operation interface of the master robot has deviated from the predetermined working area. (4) The master-slave system according to (3), wherein, when receiving an operation to restore synchronization from the user, the synchronization switching unit aligns the master robot and the slave robot based on the position of the holder and a preset position in the slave-side safety area, and starts synchronization between the master robot and the slave robot. (5) The master-slave system according to any of (2) to (4), wherein the determination unit acquires position and orientation information of an operation interface of the master robot, and determines whether the operation interface of the master robot has moved out of a predetermined working area based on the position and orientation information, and when it is determined that the operation interface of the master robot has moved out of the predetermined working area, the synchronization switching unit controls the slave robot to move into the slave-side safety area.(6) The master-slave system according to (5), wherein, when the synchronization switching unit receives an operation to restore synchronization from the user, it aligns the slave robot located in the slave-side safety area with the master robot based on position and orientation information of the operation interface of the master robot, and starts synchronization between the master robot and the slave robot. (7) The master-slave system according to any of (4) to (6), further comprising a display unit that displays a message that the position of the slave robot has been aligned with that of the master robot. (8) The master-slave system according to any of (3) to (7), further comprising: a first magnet in the operation interface of the master robot; and a second magnet inside the holder that attracts the first magnet. (9) The master-slave system according to any of (3) to (8), further comprising: a switch in a portion where the operation interface is attached; and a determination unit that determines, when the switch is pressed, that the operation interface of the master robot has moved out of a predetermined working area. (10) The master-slave system according to any of (6) to (9), further comprising a display unit that displays that the position of the slave robot has been aligned with that of the master robot. (11) The master-slave system according to (5) or (6), further comprising: a switch installed outside the predetermined working area; and a synchronization switching unit that, when the switch is pressed, determines that the operation interface has moved out of the predetermined working area and desynchronizes the master robot and the slave robot. (12) The master-slave system according to (11), further comprising: a synchronization switching unit that, when the switch is pressed after desynchronizing the master robot and the slave robot, synchronizes the master robot and the slave robot. (13) The master-slave system according to (2), further comprising: a determination unit that, when the slave robot has reached the slave-side safety area, provides feedback to the user from the operation interface.(14) The master-slave system according to (13), wherein the determination unit increases the vibration or sound generated from the operation interface as the slave robot approaches the slave-side safety area. (15) The master-slave system according to any of (2) to (14), wherein the determination unit performs calibration on the slave robot to determine the slave-side safety area. (16) The master-slave system according to any of (6) to (15), wherein the synchronization switching unit acquires position and orientation information of the operation interface of the master robot when an operation to restore synchronization is received. (17) A master-slave system having 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, and the control device comprises: a determination unit that determines whether an operation interface of the master robot operated by a user has moved outside a predetermined working 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 outside the predetermined working area, and the master device comprises: an operation interface of the master robot operated by a user; and a holder installed outside the working area, and the determination unit of the control device determines that the operation interface has moved outside the predetermined working area when the operation interface is attached to the holder installed outside the working area. (18) A synchronization switching control method in a master-slave system, in which a computer determines whether or not an operation interface of the master robot operated by a user has moved outside a predetermined working area during operation of the master robot and the slave robot, and when the operation interface has moved outside the predetermined working area, switches the slave robot and the master robot to cancel synchronization.(19) A program for causing a computer to function as: a determination unit that determines whether or not the operation interface of the master robot operated by a user has moved outside a predetermined working area during the operation of a master robot and a slave robot; and a synchronization switching unit that switches the slave robot and the master robot to cancel synchronization when the operation interface has moved outside the predetermined working area.

[0157] 1 Master-slave system 314 Determination unit 315 Synchronization switching unit 404, 452 Slave side working area 405 Slave side safety area 411-1, 411-2 Holder 412-1, 412-2 Master input device 422 Magnet 423 Master operation unit 424 Switch

Claims

1. In the operations of the master robot and the slave robot, a determination unit that determines whether or not the operation interface of the master robot operated by the user has deviated from a predetermined work area, and a synchronization switching unit that switches to cancel the synchronization between the slave robot and the master robot when the operation interface has deviated from the predetermined work area. A master-slave system comprising:

2. The synchronization switching unit moves the slave robot to a slave-side safety area and switches to cancel the synchronization when the operation interface has deviated from the predetermined work area. The master-slave system according to claim 1.

3. The determination unit determines that the operation interface of the master robot has deviated from the predetermined work area when the operation interface of the master robot is attached to a holder installed outside the work area, and the synchronization switching unit, when it is determined that the operation interface of the master robot has deviated from the predetermined work area, controls to move the slave robot to a preset position in the slave-side safety area. The master-slave system according to claim 2.

4. The synchronization switching unit aligns the positions of the master robot and the slave robot based on the position of the holder and a preset position in the slave-side safety area when receiving an operation for resuming synchronization from the user, and starts the synchronization between the master robot and the slave robot. The master-slave system according to claim 3.

5. The determination unit acquires the position and orientation information of the operation interface of the master robot, and determines whether or not the operation interface of the master robot has deviated from the predetermined work area based on the position and orientation information. The synchronization switching unit controls to move the slave robot to the slave-side safety area when it is determined that the operation interface of the master robot has deviated from the predetermined work area. The master-slave system according to claim 2.

6. The master-slave system according to claim 5, wherein when the synchronization switching unit receives an operation from the user to resume synchronization, it aligns the position with the slave robot located in the slave-side safety area based on the position and orientation information of the operation interface of the master robot, and starts synchronization between the master robot and the slave robot.

7. The master-slave system according to claim 4, further comprising a display unit that displays that the alignment of the position of the slave robot with the position of the master robot has been completed.

8. The master-slave system according to claim 3, wherein the operation interface of the master robot has a first magnet, and the inside of the holder has a second magnet that attracts the first magnet.

9. The master-slave system according to claim 3, wherein the holder has a switch at a portion where the operation interface is mounted, and the determination unit determines that the operation interface of the master robot has deviated from a predetermined work area when the switch is pressed.

10. The master-slave system according to claim 6, further comprising a display unit that displays that the alignment of the position of the slave robot with the position of the master robot has been completed.

11. The master-slave system according to claim 6, wherein the master robot is provided with a switch installed outside the predetermined work area, and when the switch is pressed, the synchronization switching unit sets the master robot and the slave robot to be asynchronous, assuming that the operation interface has deviated from the predetermined work area.

12. The master-slave system according to claim 11, wherein when the switch is pressed after the synchronization switching unit sets the master robot and the slave robot to be asynchronous, the synchronization switching unit synchronizes the master robot and the slave robot.

13. The master-slave system according to claim 2, wherein the determination unit feeds back to the user from the operation interface when the slave robot reaches the slave-side safety area.

14. The master-slave system according to claim 13, wherein the determination unit increases vibration or sound generated from the operation interface as the slave robot approaches the slave-side safety area.

15. The master-slave system according to claim 2, wherein the determination unit performs calibration for determining the slave-side safety area for the slave robot.

16. The master-slave system according to claim 6, wherein the synchronization switching unit acquires position and orientation information of the operation interface of the master robot when receiving an operation for resuming the synchronization.

17. In a master-slave system having a control device, a master device connected to the control device, and a slave device connected to the control device, the slave device includes a slave robot that performs surgery on a patient, and the control device includes a determination unit that determines whether an operation interface of a master robot operated by a user has deviated from 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 deviated from the predetermined work area. The master device includes an operation interface of the master robot operated by the user and a holder installed outside the work area. The determination unit of the control device determines that the operation interface has deviated from the predetermined work area when the operation interface is attached to the holder installed outside the work area. Master-slave system.

18. A synchronization switching control method in a master-slave system, wherein a computer determines whether an operation interface of a master robot operated by a user has deviated from a predetermined work area during operations of the master robot and the slave robot, and switches to release synchronization between the slave robot and the master robot when the operation interface has deviated from the predetermined work area.

19. A program for causing a computer to function as a determination unit that determines whether or not an operation interface of the master robot operated by a user has deviated from a predetermined work area in the operations of the master robot and the slave robot, and a synchronization switching unit that switches to cancel the synchronization between the slave robot and the master robot when the operation interface has deviated from the predetermined work area.

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