Robot and teaching method

Abstract

Provided are a robot and a teaching method capable of adjusting a position of a probe during reproduction based on a registration point.　This robot comprises: an arm that can hold a probe of an ultrasonic device; and a control device that controls the operation of the arm. The control device executes: a storage process for changing the position of the probe according to the operation of an operator and storing the changed position of the probe as a registration point in the storage unit; a reproduction process for moving the probe to the position of the registration point stored in the storage unit by the storage process; and an adjustment process for receiving a change in the position of the probe by a teaching operation for manually moving the arm in the reproduction process.

Description

Robot and teaching method

[0001] The present disclosure relates to a robot and a teaching method.

[0002] Conventionally, as a robot of this type, one that has been proposed includes a robot arm that holds an ultrasonic probe and moves the ultrasonic probe along the body surface of a subject, a memory unit that stores instruction trajectory information for moving the ultrasonic probe by the robot arm, and a robot arm control unit that controls the drive of the robot arm so as to move the ultrasonic probe in accordance with the stored instruction trajectory information (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2017-159027

[0004] In the robot described above, the robot arm is controlled to move the ultrasound probe according to the instruction trajectory information stored in the memory unit. If the patient moves while performing treatment by moving the ultrasound probe according to the instruction trajectory information, the object being imaged will move out of the range captured by the ultrasound image. In this case, the operator must adjust the position of the robot arm holding the ultrasound probe.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a robot and a teaching method that can adjust the position of a probe during playback based on registration points.

[0006] In order to solve the above problems, this specification discloses a robot including an arm capable of holding a probe of an ultrasound device and a control device that controls the operation of the arm, wherein the control device performs a storage process that changes the position of the probe in response to an operation by an operator and stores the changed position of the probe in a storage unit as a registered point, a playback process that moves the probe to the position of the registered point stored in the storage unit by the storage process, and an adjustment process that accepts the change in the position of the probe through a teaching operation that manually moves the arm during the playback process. Note that the content of this disclosure is not limited to implementation as a robot, and is extremely useful even when implemented as a teaching method for a robot.

[0007] According to the robot and teaching method disclosed herein, manual teaching operations can be performed during playback in accordance with the registered points stored by memory processing. Teaching can be performed by manually changing the position of the probe at the registered points or on the path between the registered points. This allows the operator to change the position during playback.

[0008] 1 is a perspective view of the appearance of a robot system according to an embodiment of the present invention; 2 is a schematic diagram of a robot; 3 is a partial enlarged view of a robot including a hand; 4 is a partial enlarged view of a robot including a hand; 5 is a block diagram showing the electrical connection relationship of a robot system; 6 is an explanatory diagram showing the movement direction of an ultrasonic probe; 7 is an explanatory diagram showing an example of an operation mode screen displayed on an operation panel; 8 is a diagram showing screen transitions when a registration point is registered; 9 is a diagram showing screen transitions when a teaching operation is performed during playback processing; 10 is a diagram showing screen transitions when a teaching operation is performed during playback processing; 11 is a diagram showing screen transitions when a teaching operation is performed during playback processing.

[0009] An embodiment of a robot according to the present disclosure will be described below with reference to the drawings. FIG. 1 is an external perspective view of a robot system 10 according to this embodiment. FIG. 2 is a schematic configuration diagram of a robot 20. FIGS. 3 and 4 are partial enlarged views of the robot 20 including a hand unit 60. FIG. 5 is a block diagram showing the electrical connections of the robot system 10. In the following description, as shown in FIGS. 1 and 2, the direction as seen by an operator operating an operation panel 90 of the robot 20 is used as a reference, and the front-to-back direction will be referred to as the X-axis direction, the left-to-right direction as the Y-axis direction, and the up-to-down direction as the Z-axis direction.

[0010] 1 to 5, the robot system 10 of this embodiment includes a robot 20 having an articulated robot arm 21, a foot switch 91, an ESR controller 92, a tablet terminal 93, and an emergency stop switch 94. As shown in FIGS. 1 to 4, the robot system 10 holds an ultrasonic probe 101 of an ultrasonic device 100 at the tip of the robot arm 21, and controls the robot 20 to move while pressing the ultrasonic probe 101 against the surface of a human body, thereby causing the ultrasonic device 100 to acquire an ultrasonic echo image of the human body.

[0011] The robot system 10 is used as an ultrasound echo guide during surgery, such as catheter surgery. For example, as a preliminary step, an operator (surgeon) operating a catheter guidewire manually operates the robot arm 21 and places the ultrasound probe 101 held by the robot arm 21 on a patient. While checking the acquired ultrasound echo image, the operator determines a point (image) to be reproduced during surgery and performs direct teaching to register the point as a registered point in the robot 20 (robot control device 80). The point to be reproduced here refers to the position and orientation of the robot 20 that the operator wants to reproduce, i.e., the position and orientation of the ultrasound probe 101 relative to the patient. The operator, for example, instructs the robot 20 to move to the registered point, presses the ultrasound probe 101 against the body surface of the human body (patient), and advances the guidewire while recognizing the positional relationship between the tip of the guidewire and the blood vessel from the acquired ultrasound echo image. This allows the guidewire to accurately pass through the center of an occluded or stenotic site in the blood vessel.

[0012] 1, the ultrasound device 100 includes an ultrasound probe 101 and an ultrasound device main body 110 connected to the ultrasound probe 101 via a cable 102. As shown in Fig. 5, the ultrasound device main body 110 includes an ultrasound diagnosis control unit 111 that controls the entire device, an image processing unit 112 that processes signals received from the ultrasound probe 101 to generate ultrasound echo images, an image display unit 113 that displays the ultrasound echo images, and various operation switches (not shown). Note that the ultrasound probe 101 may be a one-dimensional linear type or convex type, or may be a two-dimensional or three-dimensional multidimensional probe, an H-type probe, or any other shape probe.

[0013] 1 and 2, the robot 20 includes a base 25, a housing 29 installed on the base 25, a robot arm 21 supported by the housing 29, a hand 60 attached to the tip of the robot arm 21, a robot control device 80 that controls the robot arm 21, and an operation panel 90. Casters 26 are attached to the base 25. The base 25 also has a locking section 28 that protrudes vertically downward when a lever 27 is pressed down to lock (fix) the robot 20 so that it cannot move.

[0014] In this embodiment, the robot arm 21 is, for example, a seven-axis articulated arm and includes a first arm 22, a second arm 23, a base 24, a first arm driver 35, a second arm driver 36, a posture holding device 37, a three-axis rotation mechanism 50, and a brake lever 65 (see FIG. 4 ). The base end of the first arm 22 is connected to the base 24 via a first joint shaft 31 extending in the vertical direction (Z-axis direction). The first arm driver 35 includes a motor 35 a, an encoder 35 b, and an amplifier 35 c (see FIG. 5 ). The rotation shaft of the motor 35 a is connected to the first joint shaft 31 via a reducer (not shown). The first arm driver 35 drives the motor 35 a to rotate the first joint shaft 31, thereby rotating (swiveling) the first arm 22 along a horizontal plane (XY plane) around the first joint shaft 31 as a fulcrum. The encoder 35b is, for example, a rotary encoder that uses a rotor attached to the rotary shaft of the motor 35a to detect the amount of rotational displacement of the motor 35a, etc. The amplifier 35c is a drive unit that drives the motor 35a by switching on and off switching elements.

[0015] The base end of the second arm 23 is connected to the tip end of the first arm 22 via a second joint shaft 32 extending in the vertical direction. The second arm driving device 36 includes a motor 36a, an encoder 36b, and an amplifier 36c (see FIG. 5 ). Note that, in the description of the second arm driving device 36, the same components as those of the first arm driving device 35 will not be described. The second arm driving device 36 drives the motor 36a to rotate the second joint shaft 32, thereby rotating the second arm 23 along a horizontal plane around the second joint shaft 32 as a fulcrum. In this embodiment, the first arm 22 and the second arm 23 form a horizontal joint arm. The robot 20 has two arm postures: a right-arm posture mode in which the robot arm 21 operates in a right-arm posture, and a left-arm posture mode in which the robot arm 21 operates in a left-arm posture.

[0016] As shown in FIG. 2 , an elevator device 40 is provided within the housing 29. The elevator device 40 is installed on the base 25. The base 24 is provided at the base end of the robot arm 21 and is movable up and down relative to the base 25 by the elevator device 40. The elevator device 40 includes a first slider 41, a first guide member 42, a first ball screw shaft 43 (elevation shaft), a motor 44a, an encoder 44b, and an amplifier 44c (see FIG. 5 ). The base 24 is fixed to the first slider 41. The first guide member 42 extends vertically to guide the movement of the first slider 41. The first ball screw shaft 43 extends vertically and is threadedly engaged with a ball screw nut (not shown) fixed to the first slider 41. The motor 44a rotates the first ball screw shaft 43. The amplifier 44c drives the motor 44a. The lifting device 40 rotates the first ball screw shaft 43 using the motor 44a, thereby moving the base 24 fixed to the first slider 41 up and down along the first guide member 42. The encoder 44b is, for example, a linear encoder that detects the vertical position (lift position) of the first slider 41 (base 24).

[0017] As shown in FIGS. 1 and 2 , the three-axis rotation mechanism 50 is connected to the tip of the second arm 23 via an attitude-maintaining shaft 33 extending in the vertical direction. The three-axis rotation mechanism 50 includes a first rotation shaft 51, a second rotation shaft 52, and a third rotation shaft 53 that are perpendicular to one another, a first rotation device 55 that rotates the first rotation shaft 51, a second rotation device 56 that rotates the second rotation shaft 52, and a third rotation device 57 that rotates the third rotation shaft 53. The first rotation shaft 51 is supported in an orientation perpendicular to the attitude-maintaining shaft 33. The second rotation shaft 52 is supported in an orientation perpendicular to the first rotation shaft 51. The third rotation shaft 53 is supported in an orientation perpendicular to the second rotation shaft 52. The first rotation device 55 includes a motor 55a that rotates the first rotating shaft 51, an encoder 55b attached to the rotating shaft of the motor 55a and detecting the rotational displacement of the motor 55a, and an amplifier 55c that drives the motor 55a (see FIG. 5). The second rotation device 56 includes a motor 56a that rotates the second rotating shaft 52, an encoder 56b attached to the rotating shaft of the motor 56a and detecting the rotational displacement of the motor 56a, and an amplifier 56c that drives the motor 56a (see FIG. 5). The third rotation device 57 includes a motor 57a that rotates the third rotating shaft 53, an encoder 57b attached to the rotating shaft of the motor 57a and detecting the rotational displacement of the motor 57a, and an amplifier 57c that drives the motor 57a (see FIG. 5).

[0018] The third rotation device 57 includes a housing 54 to which the second rotation shaft 52 is connected and which rotatably supports the third rotation shaft 53 so as to extend perpendicular to the second rotation shaft 52, a motor 57a that rotates the third rotation shaft 53, and a force sensor 68 (see FIG. 5 ). As shown in FIG. 3 , the housing 54 is, for example, a box-shaped member having a first surface 54b, a second surface 54t, a third surface 54r, and a fourth surface 54f that are connected in the circumferential direction (direction along the outer periphery). The second rotation shaft 52 is connected to the third surface 54r. The third rotation shaft 53 is rotatably supported on the housing 54 so as to extend outward from the first surface 54b perpendicular to the third surface 54r, and is rotationally driven by the motor 57a. For example, when the robot arm 21 is positioned at the origin position, the state shown in FIG. 2 is achieved, with the first surface 54b facing downward. On the second surface 54t of the housing 54, there are arranged an operating handle 66 that is held by the operator when manually operating the ultrasonic probe 101 held by the robot arm 21 during direct teaching, and a stop switch 67 that the operator can operate to temporarily stop the operation of the robot arm 21 when an unexpected movement occurs in the robot arm 21.

[0019] The force sensor 68 is provided inside the housing 54 and attached to the third rotation shaft 53. The force sensor 68 transmits power from the motor 57a provided inside the housing 54 to the third rotation shaft 53 (hand end portion 60), and detects force components acting in the axial directions of the X-axis, Y-axis, and Z-axis as external forces applied to the hand end portion 60 and the operating handle 66, as well as torque components acting around the Ra, Rb, and Rc axes.

[0020] The hand unit 60 is attached to the tip of the third rotation shaft 53. The hand unit 60 has a base 601, a holding unit 602 that holds the ultrasound probe 101 so as to be coaxial with the third rotation shaft 53, and a gripping unit 603 that is held by the operator. The base 601 is a plate-shaped member, and is detachably attached to the third rotation shaft 53 with a snap lock 64. The hand unit 60 (base 601) may also be attached to the third rotation shaft 53 with other fasteners (for example, a ratchet-type fastener, a screw, etc.).

[0021] The holding unit 602 is provided on one surface of the base 601 and holds the ultrasonic probe 101. The holding unit 602 includes, for example, a pair of support walls that support the ultrasonic probe 101 from both sides, and a plate-shaped pressing member that spans from one support wall to the other support wall and presses the ultrasonic probe 101 against the base 601 to hold it. One side of the pressing member is rotatably attached to one support wall via a hinge, and the other side is detachably fixed to the other support wall with a fastener (e.g., a snap lock). Therefore, the pressing member can be opened and closed relative to the pair of support walls, and can be switched between a closed state in which the ultrasonic probe 101 is held and an open state in which the ultrasonic probe 101 can be attached and detached. As a result, the holding unit 602 can be attached to, for example, a linear ultrasonic probe 101 in either orientation.

[0022] The grip portion 603 is gripped by an operator when the operator manually moves the ultrasound probe 101 held by the robot arm 21 during, for example, direct teaching. The grip portion 603 is provided on the surface of the base 601 opposite the surface on which the holding portion 602 is provided, and is formed so as to protrude convexly outward from the other surface. In this embodiment, the grip portion 603 is formed with a convex curved surface as shown in FIGS. 3 and 4 . However, the grip portion 603 may be formed in any shape that can be gripped by the operator, such as a tapered shape, a rod shape, a hemisphere, a rectangular parallelepiped shape, or a cube shape. In addition, a direct teaching switch 61 is provided at the top of the convex portion (convex curved surface portion) of the grip portion 603 to allow the operator to manually operate the robot arm 21 during direct teaching. The location of the direct teaching switch 61 is not limited to the location shown in FIGS. 3 and 4 . For example, the direct teaching switch 61 may be provided on the surface of the gripping portion 603 on the side of the snap lock 64 (cable guide 63, described later). The direct teaching switch 61 may also be provided on a member other than the gripping portion 603. For example, the direct teaching switch 61 may be provided on the second surface 54t of the housing 54. The direct teaching switch 61 may also be provided on a member other than the robot arm 21. For example, the direct teaching switch 61 may be provided on the housing 29. Alternatively, the direct teaching switch 61 may be provided on a member capable of wireless communication with the robot control device 80.

[0023] In this embodiment, the direct teaching switch 61 is configured as a three-position enable switch. One end of a cable 62 is connected to a terminal of the direct teaching switch 61. A cable guide 63 that guides one end of the cable 62 to the direct teaching switch 61 is fixed to the other surface of the base 601 of the hand 60, closer to the housing 54 than the gripping portion 603. The other end of the cable 62 is connected to wiring that runs from the housing 54 along the robot arm 21 to the robot control device 80. In this embodiment, a connector 621 is provided at the other end of the cable 62, and is removably connected to a connector provided on the housing 54. Therefore, by unlocking the snap lock 64 and pulling out the connector 621, the hand 60 can be easily detached from the housing 54, improving maintainability.

[0024] In the robot 20 of this embodiment, the robot arm 21 is operated by a combination of translational motion in three directions, the X-axis, the Y-axis, and the Z-axis, performed by the first arm driving device 35, the second arm driving device 36, and the elevator device 40, and rotational motion in three directions, the X-axis (pitching) Rb, the Y-axis (rolling) Ra, and the Z-axis (yawing) Rc, performed by the three-axis rotation mechanism 50. As a result, as shown in FIG. 6 , the robot 20 can move the ultrasonic probe 101 in each of the X-axis, Y-axis, and Z-axis directions (both forward and reverse directions) and rotate it around each of the Ra, Rb, and Rc axes (both forward and reverse rotation directions). In this embodiment, the X-axis direction is the direction in which the ultrasonic probe 101 is moved away from the housing 29 or moved closer to the housing 29. For example, as shown in FIG. 6 , in the X-axis direction, the direction in which the ultrasonic probe 101 is moved away from the housing 29 is the positive direction, and the direction in which the ultrasonic probe 101 is moved closer to the housing 29 is the negative direction. In addition, in the Y-axis direction, the left direction is the positive direction and the right direction is the negative direction. In addition, in the Z-axis direction, the upward direction is the positive direction and the downward direction is the negative direction. In this embodiment, the positive direction of the X-axis direction extending forward from the housing 29 is aligned with the positive direction Ra around the Y-axis, which rotates the ultrasonic probe 101 forward (forward rotation), thereby aligning the intuitive directions recognized by the operator and improving operability. Note that the definitions of directions and positive / negative directions shown in FIG. 6 are merely examples. For example, the rotation direction Ra may be defined as around the X-axis. In addition, in the robot system 10 of this embodiment, the center of rotation is set so that the holder 602 rotates around the center 123 (see FIG. 6 ) of the tip of the ultrasonic probe 101 held by the holder 602.

[0025] The attitude holding device 37 holds the attitude of the three-axis rotation mechanism 50 (the orientation of the first rotation shaft 51) in a constant direction regardless of the attitudes of the first arm 22 and the second arm 23. The attitude holding device 37 includes a motor 37a, an encoder 37b, and an amplifier 37c (see FIG. 5). The rotation shaft of the motor 37a is connected to the attitude holding shaft 33 via a reducer (not shown). The attitude holding device 37 sets a target rotation angle of the attitude holding shaft 33 based on the rotation angles of the first joint shaft 31 and the second joint shaft 32 so that the axial direction of the first rotation shaft 51 is always aligned in the left-right direction (Y-axis direction), and drives and controls the motor 37a so that the attitude holding shaft 33 reaches the target rotation angle. This allows the translational motion in three directions and the rotational motion in three directions to be controlled independently, making control easier.

[0026] Furthermore, mechanical brakes (e.g., disc brakes) are attached to each axis of the robot arm 21 except for the horizontally rotating axis (the first joint axis 31, the second joint axis 32, and the attitude maintaining axis 33). The operator can release the activation of these mechanical brakes by operating the brake lever 65 shown in Figure 4. This allows the operator to manually release the mechanical brakes even if the power supply is cut off due to some abnormality in the robot 20.

[0027] The operation panel 90 is, for example, a touch panel display provided on the top surface of the housing 29, and displays various information related to the robot system 10, and allows various instructions to be input to the robot system 10. The foot switch 91 shown in Fig. 1 is a pedal switch that is turned on when the operator steps on it, and is connected to the robot control device 80 of the robot 20 via a cable. In this embodiment, the foot switch 91 has four switches (first to fourth switches 911, 912, 913, 914) arranged horizontally.

[0028] The ESR controller 92 is an operation controller that is held by the operator with both hands and pressed down by the operator, and is connected wirelessly to the robot control device 80 of the robot 20. The ESR controller 92 may also be connected to the robot control device 80 of the robot 20 via a wire. In this embodiment, as shown in FIG. 1 , the ESR controller 92 has a directional key button 921, a push button 922, a button 923, a button 924, and push buttons 925 and 926. The directional key button 921 has buttons (up button, down button, left button, and right button) that can be operated with the thumb of the left hand. The push button 922 has four buttons (A button, B button, X button, and Y button) that can be operated with the thumb of the right hand and are arranged in a diamond shape. The button 923 has an L1 button and an L2 button that can be operated with the index finger and middle finger of the left hand, respectively. The buttons 924 include an R1 button and an R2 button that can be operated with the index finger and middle finger of the right hand, respectively. A plurality of push buttons 925 and 926 are arranged between the directional key button 921 and the four push buttons 922.

[0029] The tablet terminal 93 includes a control device including a CPU, ROM, RAM, and storage (SSD), a touch panel display that displays various information and allows the operator to input operations, and a communication unit. The tablet terminal 93 is communicably connected to the robot control device 80 of the robot 20 via wireless communication. In this embodiment, the tablet terminal 93 has a remote desktop function that allows the operation panel 90 to be remotely controlled from the tablet terminal 93 via wireless communication.

[0030] The emergency stop switch 94 is a button that forcibly stops the robot 20 in an emergency, and is connected via a cable to the robot control device 80. The emergency stop switch 94 may also be provided on the robot arm 21, the housing 29, etc.

[0031] As shown in FIG. 5 , the robot control device 80 includes a robot control unit 81, a communication unit 84, and a storage unit 85. The robot control unit 81 is configured as a processor including a CPU, ROM, RAM, peripheral circuits, etc. The robot control unit 81 performs various processes related to the control of the robot arm 21 (motors 35 a to 37 a, 44 a, 55 a to 57 a). The communication unit 84 communicates with the robot control device 80 and external devices (foot switch 91, ESR controller 92, tablet terminal 93, emergency stop switch 94, etc.) via wired or wireless connections, and exchanges various signals and data. The storage unit 85 is, for example, a storage device such as RAM, ROM, HDD, or SSD.

[0032] Each of the amplifiers 35c to 37c, 44c, and 55c to 57c includes a motor control unit 71 and a drive power supply unit 72. The drive power supply unit 72 includes, for example, an inverter circuit that supplies the power necessary to drive the motors 35a to 37a, 44a, and 55a to 57a. The motor control unit 71 controls each of the motors 35a to 37a, 44a, and 55a to 57a by, for example, feedback control (switching control) of the switching elements of the inverter circuit of the drive power supply unit 72 based on encoder information from the encoders 35b to 37b, 44b, and 55b to 57b.

[0033] Next, each function of the robot system 10 will be described. Fig. 7 shows an example of an operation screen displayed on the operation panel 90. As shown in Fig. 7, the robot control device 80 displays various buttons and a registration point display section 131 on the operation screen. The robot control device 80 displays an image 133 simulating a human body, as well as registration points P and paths L, which will be described later, on the registration point display section 131. Note that the robot control device 80 does not necessarily have to display the image 133 on the registration point display section 131.

[0034] 7 is operated, the robot controller 80 permits a wireless connection between the tablet terminal 93 and the robot controller 80. When the tablet terminal 93 is wirelessly connected to the robot controller 80, it displays the same screen as that displayed on the operation panel 90 using a remote desktop function, and can accept the same operations as those on the operation panel 90. Therefore, the operations using the operation panel 90 described below can also be performed using the tablet terminal 93. The operation button B2, maintenance button B3, and setting button B4 are buttons for switching between operation mode, maintenance mode, and setting mode, respectively.

[0035] The operation mode is a mode used during surgery, etc. The various functions of the operation mode include direct teaching, point registration, point display, point sorting, point deletion, point replay, 90-degree rotation, fine adjustment, movement to storage position, movement to origin position, etc. The robot control device 80 executes these functions based on operations on the operation panel 90, tablet terminal 93, foot switch 91, ESR controller 92, etc.

[0036] Direct teaching is a function that allows the operator to directly operate the robot arm 21 by grasping the gripping portion 603 of the hand portion 60, the operating handle 66, etc. and applying force. When the direct teaching function is executed, the robot control device 80 generates an assist force by the motors of each axis in the direction of the applied force so that the operator can operate the robot arm with less force. The robot control device 80 may accept a user's selection and change the magnitude of this assist force for each selected user.

[0037] The robot control device 80 enables the direct teaching function only while the direct teaching switch 61 is on. As described above, the direct teaching switch 61 in this embodiment is a three-position enable switch. The robot control device 80 enables the direct teaching function, for example, from the time the user presses the direct teaching switch 61 until the finger pressing the switch is released, or from the time the user presses the direct teaching switch 61 until the switch is further pressed. Furthermore, when the direct teaching switch 61 is turned off, the robot control device 80 stops assisting by the motor. This makes it difficult for the operator to manually operate the robot arm 21.

[0038] Point registration is a function for registering a point to which the robot 20 is to be moved during point reproduction. The robot control device 80 changes the position of the ultrasonic probe 101 in response to an operation by the operator and stores the changed position of the ultrasonic probe 101 in the storage unit 85 as a registered point P (an example of a storage process in the present disclosure). Specifically, for example, the operator operates the direct teaching switch 61 to manually operate the robot arm 21, places the ultrasonic probe 101 held by the robot arm 21 on a patient, and while checking the acquired ultrasonic echo image, places the ultrasonic probe 101 at the position of the registered point P to be reproduced during surgery. When the point record button B5 on the operation panel 90 is operated, the robot control device 80 stores information such as the position of the ultrasonic probe 101 as the registered point P in the storage unit 85, i.e., registers the registered point P. The information about the registered points stored in the memory unit 85 includes, for example, the position and posture of the ultrasound probe 101 (X, Y, and Z coordinate values ​​and the angle values ​​of Ra, Rb, and Rc), the position of each axis of the robot arm 21 (angle values ​​and elevation coordinate values), etc. Similarly to the point recording button B5, the robot control device 80 registers a registered point P based on the acceptance of an operation of the foot switch 91 (e.g., the first switch 911). The robot control device 80 can also accept the registration of a registered point P during surgery. The robot control device 80 can also accept changes to the position and posture of the ultrasound probe 101 and the registration of a registered point P while executing a fine-tuning function (described later). The robot control device 80 displays the stored (registered) registered point P on the registered point display unit 131 and uses it during point playback, etc.

[0039] The point display is a function for displaying the three-dimensional position of the robot 20, for example, the current three-dimensional position of the tip (such as the center 123) of the ultrasonic probe 101, as a two-dimensional position viewed from a predetermined direction, and is a function for displaying a registered point P on the operation panel 90. As the point display function, the robot control device 80 performs zooming in, zooming out, viewpoint change, etc. based on the operation of the operation panel 90. The registered point display unit 131 in FIG. 7 and FIGS. 8 to 11 described below shows, as an example, a state in which the current position PA of the ultrasonic probe 101 and the registered point P are displayed as two-dimensional positions in the X and Y axis directions.

[0040] The point sort function rearranges the registered points P. For example, the robot control device 80 arranges the points in a playback order from the base of the patient's foot toward the toes. The robot control device 80 rearranges the registered points P based on sorting conditions previously received from the operator when registering a new registered point P or deleting a registered point P. For example, the robot control device 80 displays multiple images showing different combinations of the robot 20, the patient, and the ultrasound device 100 on the operation panel 90 and accepts selection of an image that matches the installation situation from the multiple images. The robot control device 80 sets sorting conditions according to the configuration of the selected image. The sorting conditions here include, for example, the priority of sorting in the three X, Y, and Z axial directions and the sorting direction in one axial direction (e.g., ascending order in the positive direction, ascending order in the negative direction, etc.). As described below, the robot control device 80 sets a path L connecting each of the registered points P according to the sorted order for the registered points P. Note that the path L may also be set manually by the operator.

[0041] The point deletion function is a function for deleting a registered point P. When the select / delete button B7 in Fig. 7 is operated, the robot control device 80 deletes the selected registered point P. When the all-delete button B8 is operated, the robot control device 80 deletes all registered points P.

[0042] Point playback is a function that moves the ultrasonic probe 101 in the sorted order based on the registered points P and the paths L between the registered points P. The robot control device 80 switches the point playback mode based on the operation of the playback mode button B9. By using point playback during surgery, the operator can acquire ultrasonic echo images for each point and operate the catheter while viewing the images. The operator can move the ultrasonic probe 101 from its current position to the next or previous registered point P by operating the movement button B10 on the operation panel 90 or by stepping on the foot switch 91. The robot control device 80 displays the current position PA of the moving ultrasonic probe 101 on the registered point display unit 131 (see FIGS. 8 and 9 ).

[0043] 7 , for example, a “move previous” button and a “move next” button are provided as the movement buttons B10. When the “move previous” button is operated, the robot control device 80 moves the ultrasonic probe 101 from the current position to the previous registered point P, and when the “move next” button is operated, the robot control device 80 moves the ultrasonic probe 101 from the current position to the next registered point P. Furthermore, when the second switch 912 of the foot switch 91 is depressed, the robot control device 80 moves the ultrasonic probe 101 from the current position to the previous registered point P, and when the third switch 913 is depressed, the robot control device 80 moves the ultrasonic probe 101 from the current position to the next registered point P.

[0044] There are three playback modes for point playback, for example, and the playback mode button B9 has a button for switching among three modes: normal movement mode, continuous movement mode, and interpolation movement mode. The normal movement mode is a mode in which the registered points P are advanced or reverted one by one. When the normal movement mode is selected, the robot control device 80 moves the ultrasonic probe 101 to the next or previous registered point P and stops it when a movement button B10 or the like is operated once. When the continuous movement mode is selected, the robot control device 80 continues to operate while the operator touches the movement button B10 or the like or presses the foot switch 91, and stops the robot arm 21 at that position when the touch or press is released. This allows the operator to stop the robot arm 21 at any registered point P or on a path L. The interpolation movement mode is a mode in which an arbitrary movement distance is set and the ultrasonic probe 101 is moved to that position. When the interpolation movement mode is selected, the robot control device 80 automatically calculates a position interpolated from the registered point P based on the set movement distance. The robot control device 80 moves the ultrasonic probe 101 to the interpolated position based on the operation of the movement button B10 etc. As the interpolation method, linear interpolation or circular interpolation can be adopted.

[0045] The robot control device 80 also displays a selection position movement button B17 and a point selection button B18 above it. The robot control device 80 accepts operation of the point selection button B18 and accepts selection of an arbitrary registered point P from among the registered registered points P. Then, when the selection position movement button B17 is operated with an arbitrary registered point P selected, the robot control device 80 moves the ultrasound probe 101 to the selected registered point P.

[0046] Furthermore, while the ultrasonic probe 101 is being moved by the point regeneration function, the robot control device 80 disables operation of the direct teaching switch 61. While the ultrasonic probe 101 is being moved to a destination registered point P or the like, the robot control device 80 does not stop the robot arm 21 or execute the above-described motor-assisted control even if the direct teaching switch 61 is operated.

[0047] Furthermore, the 90-degree rotation button B11 is a button for rotating the ultrasound probe 101 by 90 degrees while maintaining the posture of the robot arm 21 at the time the button is operated. For example, when the 90-degree rotation button B11 is operated once, the robot control device 80 rotates the ultrasound probe 101 by 90 degrees around the third rotation axis 53 while maintaining the posture of the robot arm 21. This makes it possible to acquire an ultrasound echo image of the transverse cross section (cross section in the width direction) of the blood vessel and to check whether the position of the catheter in the blood vessel is deviated from the center of the blood vessel.

[0048] The fine adjustment function enables fine position adjustments based on the stop position during point playback. Even if the ultrasonic probe 101 is moved to a registered point P or along a path L between registered points P using point playback, the acquired ultrasonic echo image may not completely match the ultrasonic echo image acquired in advance using direct teaching. This is because the relationship between the position and posture of the ultrasonic probe 101 at the registered point P or the like and the patient's position and posture changes due to the patient's movement during playback. Note that "playback in progress" refers to a state in which the ultrasonic probe 101 is being moved or stopped at a predetermined position using the point playback function. A plurality of fine adjustment function buttons B12 are provided corresponding to the positive and negative directions along each of the X-axis, Y-axis, and Z-axis, and the positive and negative directions around each of the rotational directions Ra around the Y-axis, Rb around the X-axis, and Rc around the Z-axis. 7, the directions are arranged in the order of X-axis, Y-axis, Z-axis, Ra, Rb, and Rc from left to right, and plus and minus buttons are provided one above the other for each direction. The robot control device 80 moves or rotates the ultrasonic probe 101 in the corresponding direction in response to the operation of the fine adjustment function button B12. The robot control device 80 has two modes when each button of the fine adjustment function button B12 is operated: a step operation mode in which the ultrasonic probe 101 is moved by a preset step amount in response to a single press, and a continue operation mode in which control of the movement of the ultrasonic probe 101 continues while the button is being operated (pressed).

[0049] The fine adjustment function can be performed by operating the fine adjustment function button B12 on the operation panel 90, or by pressing a corresponding button on the ESR controller 92. For example, in the ESR controller 92, when the up button of the directional key buttons 921 is pressed, the robot control device 80 moves the ultrasonic probe 101 to the plus side in the X-axis direction; when the down button is pressed, the ultrasonic probe 101 moves to the minus side in the X-axis direction; when the left button is pressed, the ultrasonic probe 101 moves to the plus side in the Y-axis direction; and when the right button is pressed, the ultrasonic probe 101 moves to the minus side in the Y-axis direction. When the L1 button 923 is pressed, the robot control device 80 moves the ultrasonic probe 101 to the plus side in the Z-axis direction; and when the L2 button 923 is pressed, the ultrasonic probe 101 moves to the minus side in the Z-axis direction. The A button, B button, X button, and Y button of the buttons 922 are located in positions corresponding to the down button, right button, left button, and up button of the directional key buttons 921, respectively. When the Y push button 922 is pressed, the robot control device 80 rotates the ultrasonic probe 101 in the plus direction in the rotation direction Ra around the Y axis, and when the A push button 922 is pressed, the robot control device 80 rotates the ultrasonic probe 101 in the minus direction in the rotation direction Ra around the Y axis. When the B push button 922 is pressed, the robot control device 80 rotates the ultrasonic probe 101 in the plus direction in the rotation direction Rb around the X axis, and when the X push button 922 is pressed, the robot control device 80 rotates the ultrasonic probe 101 in the minus direction in the rotation direction Rb around the X axis. Therefore, the upper Y button and the lower A button are opposite in the rotation direction Ra, and the left X button and the right B button are opposite in the rotation direction Rb. In this way, the direction of movement when the directional key buttons 921 and 922 are pressed is aligned with the arrangement of the device as seen by the operator. Specifically, by aligning the arrangement of the up button of the directional key button 921, which moves in the positive direction along the X-axis from the housing 29 forward, and the Y button of the button 922, which moves in the positive direction around the Y-axis Ra to rotate the ultrasound probe 101 forward (forward roll), the intuitive directions recognized by the operator are made the same, improving operability.Furthermore, when the R1 button 924 is pressed, the robot control device 80 rotates the ultrasound probe 101 to the plus side in the rotation direction Rc around the Z axis, and when the R2 button 924 is pressed, the robot control device 80 rotates the ultrasound probe 101 to the minus side in the rotation direction Rc. Note that the above-described button arrangement and movement direction are merely examples and may be changed as appropriate.

[0050] Furthermore, when the storage position movement button B13 is operated, the robot control device 80 places the robot arm 21 in the folded storage position, and when the origin position movement button B14 is operated, the robot arm 21 is placed in a predetermined origin position. The X-axis inversion button B15 and the Y-axis inversion button B16 are buttons for inverting the operation direction. For example, when the X-axis inversion button B15 is operated, the robot control device 80 inverts the positive and negative directions in the X-axis direction (positive and negative movement directions) and the positive and negative directions in the rotation direction Ra (positive and negative rotation directions). This allows the direction in which the ultrasound probe 101 (robot 20) actually moves to be inverted in accordance with the fine adjustment function button B12 and the operation buttons of the ESR controller 92.

[0051] Furthermore, when the operation stop button B19 is operated, the robot control device 80 stops the operation that is being performed. For example, when the "next movement" movement button B10 is operated in the normal movement mode and the operation stop button B19 is operated while the robot 20 is moving to the next registered point P, the robot control device 80 stops the robot 20 on the path L that the robot 20 is moving.

[0052] The maintenance mode is a mode in which information regarding maintenance of the robot system 10 can be confirmed. The setting mode is a mode in which various settings can be changed, for example, the assignment of functions to the foot switch 91 and the stop switch 67 can be changed. For example, in the default setting, the first switch 911, the second switch 912, the third switch 913, and the fourth switch 914 of the foot switch 91 are assigned the following functions: point registration, moving to the previous registered point P in point regeneration, moving to the next registered point P in point regeneration, and enabling the ESR controller 92. The robot control device 80 allows operation of the ESR controller 92 only while the fourth switch 914 is depressed, for example.

[0053] (Point Reproduction and Teaching Operation) Next, the teaching operation during point reproduction will be described. First, an example of a storage process for storing registered points P in the storage unit 85 will be described. For example, when storing registered points P, the operator basically registers the registered points P in accordance with the order in which the echo image is checked, specifically in the order from the entrance where the catheter is inserted into the target area toward the end (for example, from the patient's groin toward the toes).

[0054] In the following description, as an example, the positive direction of the Y-axis will be described as the direction from the base of the patient's foot to the toes. The order (e.g., ascending order along the Y-axis) after registration and sorting according to predetermined sorting conditions will be referred to as the sort order. In the sort order, the registered point P immediately preceding the registered point P will be referred to as the front point, and the registered point P immediately following the registered point P will be referred to as the back point. Figure 8 shows the registered point display unit 131 of the operation panel 90 and illustrates the screen transitions when a registered point P is registered. In the following description, the registered points will be collectively referred to as registered point P, and each registered point P will be individually referred to as registered point P1, etc., with a number added. The same applies to the route L. In the following Figures 8 to 11, the image 133 (see Figure 7) in the registered point display unit 131 will be omitted.

[0055] First, the operator registers an initial registration point P1 at an arbitrary position. For example, as shown in the upper left diagram of FIG. 8 , the operator changes the position of the ultrasonic probe 101 while pressing the direct teaching switch 61 in operation mode. The robot control device 80 displays the current position of the ultrasonic probe 101 as a current position PA on the registration point display unit 131. Note that the dashed arrow in the diagram is a schematic representation of the trajectory of the ultrasonic probe 101 for ease of explanation, and is not actually displayed. However, the robot control device 80 may display a trajectory like the dashed arrow.

[0056] The operator registers a registration point P1, for example, by stepping on the first switch 911 of the foot switch 91 at a predetermined position. The robot control device 80 stores information on the position and orientation (X, Y, and Z coordinate values ​​and the angle values ​​of Ra, Rb, and Rc) of the ultrasound probe 101 at the current position PA and the position of each axis of the robot arm 21 (angle values ​​and elevation coordinate values) in the memory unit 85 as information on the registration point P1 (an example of the storage process or storage step disclosed herein). As shown in the second diagram from the top left in Figure 8, the robot control device 80 changes the display of the current position PA to the registration point P1 and displays the number "1" at the registration point P1, indicating that it is the first registration.

[0057] Similarly, as shown in the first and second diagrams from the bottom left of FIG. 8 , after registering registration point P1, the operator moves the ultrasound probe 101 while pressing the direct teaching switch 61, and then depresses the first switch 911 at a predetermined position to register registration point P2. When the robot control device 80 receives the depression of the first switch 911, i.e., the registration operation, it sets a path L between the two registration points P. The robot control device 80 sorts the order of the already registered registration point P1 and the newly registered registration point P of the current position PA according to the sorting conditions. For example, as shown in the second diagram from the bottom left of FIG. 8 , the current position PA is located on the positive side (left side) of the registration point P1 in the ascending order of the Y axis. Therefore, the robot control device 80 places the registration point P of the current position PA second in the order and registers it as registration point P2 (see the bottom left diagram of FIG. 8 ). The robot control device 80 sets a path L1 from registration point P1 to registration point P2 according to the sorting order. The robot control device 80 displays an image of the path L1, which is an arrow pointing from the registered point P1 to the registered point P2, i.e., an arrow indicating the sorting order (playback order). The robot control device 80 sets, for example, in the XYZ coordinate system, a straight line connecting the registered point P1 and the registered point P2, i.e., the path with the shortest distance, as the path L1. When playing back the registered points P1 and P2, the robot control device 80 moves the ultrasound probe 101 along this path L1. Note that the path L1 is not limited to the shortest distance connecting the registered points P1 and P2. For example, the path L1 may be a curve with a predetermined curvature.

[0058] Although detailed description is omitted, similar to the registration points P1 and P2, the operator registers a third registration point P3 and a fourth registration point P4, as shown in the right diagram of FIG. 8 . The robot control device 80 also sorts the registration points P when registering the registration points P or periodically, changes the order of the registration points P, and sets the route L. As a result, from the operator's perspective, the sorting appears to be performed automatically during operation. For example, the robot control device 80 sets a route L2 from the registration point P2 to the registration point P3 and a route L3 from the registration point P3 to the registration point P4. In this way, the robot control device 80 sorts the newly registered points each time a registration operation is performed, and sets the route L according to the sort order. The robot control device 80 may also sort the registration points P or change the route L when the user operates an update button or the like.

[0059] Next, we will explain the playback of registered points and the teaching operation during the playback process. In point playback, the operator can acquire desired echo images in order by playing back the registered points in the order they were registered. However, as described above, due to the patient's movement, the previously confirmed echo image may not be confirmed even when the patient moves along the registered point P or path L. Therefore, the robot control device 80 of this embodiment uses a fine adjustment function to accept changes to the current position PA of the ultrasonic probe 101 and executes operations such as acquiring echo images, registering new registered points P, and deleting previously registered registered points P. Furthermore, the robot control device 80 of this embodiment uses a direct teaching function to accept changes to the position of the ultrasonic probe 101 (robot 20) manually operated by the operator during the playback process of the registered points P. The following explanation will mainly focus on the process of changing the position and orientation of the ultrasonic probe 101 using the direct teaching function during the playback process of the registered points P. Regarding the fine adjustment performed by operating the fine adjustment function button B12 on the operation panel 90 or the ESR controller 92, descriptions of the same content as that of the direct teaching function will be omitted as appropriate.

[0060] 9 shows the registration point display unit 131 when the position and posture of the ultrasound probe 101 are changed by a teaching operation during the reproduction process of the registration point P. For example, the operator operates the selected position movement button B17 in time with the start of treatment to move the ultrasound probe 101 to the registration point P1 (top diagram in FIG. 9). The robot control device 80 displays the current position PA at the registration point P1. The operator reproduces the registration point P while operating the catheter. Upon receiving the reproduction instruction, the robot control device 80 moves the ultrasound probe 101 along the paths L1 to L3 in the order of the registration points P1 to P4.

[0061] For example, while checking the echo image, the operator operates the "move forward" button of the movement buttons B10 or the third switch 913 of the foot switch 91 to move the ultrasonic probe 101 to the next registered point P2. As shown in the second diagram from the top in Fig. 9 , the robot control device 80 moves the ultrasonic probe 101 from the registered point P1 along the path L1, while also changing the position of the displayed current position PA. In the state of the second diagram from the top in Fig. 9 , the current position PA is moving along the path L1 from the registered point P1 toward the registered point P2. Note that when the robot control device 80 receives an operation to return to a predetermined registered point P or a forward point midway along the path L, it executes control to return the ultrasonic probe 101 (current position PA).

[0062] For example, when the robot control device 80 starts movement from the registered point P1, the arrow of the path L1 is changed to point not only to the registered point P2 (the destination) but also to the registered point P1 (the origin), i.e., to an arrow pointing in both directions. This makes it easy to see not only the destination but also the registered point to which the robot will return when a return operation is performed. Furthermore, the robot control device 80 uses different colors and shapes for the arrow pointing from the current position PA to the registered point P2 and the arrow pointing from the current position PA to the registered point P1. That is, the arrow pointing from the current position PA to the forward point and the arrow pointing from the current position PA to the backward point are different arrows. For example, the arrow pointing from the current position PA to the backward point (registered point P2) is a thick red arrow (hereinafter referred to as a thick arrow), and the arrow pointing from the current position PA to the forward point (registered point P1) is a thin white arrow (hereinafter referred to as a thin arrow). This makes it easy to see the direction of movement by the color and thickness of the arrows while still displaying the arrows pointing to both the registered points P1 and P2 from the current position PA. The robot control device 80 moves the current position PA on the path L1 in accordance with the position of the ultrasound probe 101, moving it between the registered points P1 and P2. Note that the above-described display method is an example and can be modified as appropriate. For example, the arrow pointing from the current position PA to the forward point and the arrow pointing to the backward point may be the same arrow. Also, the arrow being played back does not have to be a bidirectional arrow.

[0063] 9, for example, when the ultrasonic probe 101 reaches the registration point P2, the robot control device 80 displays the current position PA superimposed on the registration point P2 and stops the movement of the ultrasonic probe 101. The operator performs the same operation while checking the echo image and manipulating the catheter. The operator operates the movement button B10 or the like to move the ultrasonic probe 101 to the next registration point P3.

[0064] For example, if the operator notices that the patient has moved while moving along path L2 and blood vessels are no longer visible in the echo image, he or she operates the operation stop button B19 to stop the movement of the ultrasonic probe 101. As shown in the fourth diagram from the top in Figure 9, the robot control device 80 stops the ultrasonic probe 101 on path L2 based on the operation of the operation stop button B19.

[0065] As described above, the robot control device 80 disables operation of the direct teaching switch 61 while the ultrasonic probe 101 is being moved by the point regeneration function. While the robot 20 is being operated to move the ultrasonic probe 101, the robot control device 80 does not stop the operation of the robot 20 or execute assist control even if the direct teaching switch 61 is operated. Furthermore, after the robot control device 80 stops the movement of the ultrasonic probe 101 by operating the operation stop button B19 or by reaching the next registered point P, the robot control device 80 validates operation of the direct teaching switch 61. The robot control device 80 executes assist control using the motor in accordance with the operation of the direct teaching switch 61, and permits manual operation of the robot 20 by the operator, i.e., direct teaching.

[0066] Note that, when the direct teaching switch 61 is operated while the robot 20 is moving, the robot control device 80 may stop the movement of the robot 20, start assist control, and permit a teaching operation. That is, the robot control device 80 may accept an operation to start teaching even while the ultrasonic probe 101 is moving. Furthermore, the conditions for stopping the robot 20 to permit a teaching operation are not limited to the above-described condition of reaching the next registration point P or the condition of operating the operation stop button B19. As described above, the robot control device 80 stops the operation of the robot 20 and stops the ultrasonic probe 101 when the stop switch 67 is operated. In this case, too, the robot control device 80 may enable operation of the direct teaching switch 61 after stopping the operation and accept a teaching operation. Alternatively, when the force sensor 68 detects an external force equal to or greater than a predetermined reference value, the robot control device 80 may accept a teaching operation after stopping the operation of the robot 20 or after retracting and stopping the ultrasonic probe 101. Furthermore, when the 90-degree rotation button B11 is operated, the robot control device 80 may stop the operation after rotating 90 degrees and accept a teaching operation.

[0067] 9, for example, assume that the ultrasonic probe 101 is moved by a teaching operation to a position deviated from the path L2 in the negative direction of the X coordinate and the positive direction of the Y coordinate. While the position of the ultrasonic probe 101 is being changed by the teaching operation, the robot control device 80 rearranges the order of the already registered registration points P1 to P4, including the current position PA of the ultrasonic probe 101, based on the sorting conditions.

[0068] As described above, the position of the ultrasonic probe 101 whose movement has been stopped can be changed by a teaching operation, or by operating the fine adjustment function button B12 on the operation panel 90 or the ESR controller 92. Therefore, the teaching operation may be performed by operating the direct teaching switch 61 after operating the fine adjustment function button B12 or the ESR controller 92, or the ultrasonic probe 101 may be moved by operating the fine adjustment function button B12 or the like after performing the teaching operation.

[0069] In the state shown in the second diagram from the bottom in FIG. 9 , the sorting order after rearrangement is the same as the state before rearrangement. That is, the current position PA is after the registration point P2 and before the registration point P3. Therefore, the robot control device 80 sets a route between the current position PA and the registration points P2 and P3, which are adjacent to the current position PA in the sorting order. For example, the robot control device 80 moves the current position PA in accordance with the movement of the ultrasonic probe 101, and sets a new route L2 from the current position PA to the registration point P2 and a new route L3 from the current position PA to the registration point P3, and moves the route L3 between the registration points P3 and P4 down to route L4. In addition, the robot control device 80 displays a thin arrow pointing to the front point (registered point P2) and a thick arrow pointing to the rear point (registered point P3) as arrows for the routes L2 and L3. This allows new routes L2 and L3 to be set when the ultrasonic probe 101 is moved to a position deviating from the previously set route L2. The paths L2 and L3 can be changed to follow the current position PA in accordance with the movement of the ultrasonic probe 101, and connect the current position PA to the front and rear points, respectively.

[0070] If a registration operation for a registration point P is performed at the current position PA after movement, the robot control device 80 sorts the already registered registration points P1 to P4, including the new registration point P (current position PA), and sets the order of the registration points P and the route L, etc., according to the sorting order. If the current position PA is the second from the bottom in Figure 9, the robot control device 80 registers the current position PA as registration point P3 and moves the previous registration points P3 and P4 down to registration points P4 and P5, respectively. This makes it possible to register a new registration point P and set a route L connecting the registered points P by a teaching operation during the playback process.

[0071] 10 , for example, if the current position PA becomes more negative in the Y-axis direction than the registered point P2 due to a teaching operation, the robot controller 80 sets a path L1 from the current position PA to the front point (registered point P1) and a path L2 from the current position PA to the rear point (registered point P2) according to the sorting order after rearrangement. The robot controller 80 also sets a path L3 connecting the registered points P2 and P3. Similarly, if the current position PA becomes more positive in the Y-axis direction than the registered point P3, the robot controller 80 resets the paths L2 to L4.

[0072] The bottom diagram in FIG. 9 illustrates a state in which the teaching operation is completed at the current position PA in the second diagram from the bottom, the robot 20 is stopped, and then playback is performed from the changed current position PA toward a backward point, i.e., the ultrasonic probe 101 is moved. For example, when the direct teaching switch 61 is turned off and the "move forward" button of the movement button B10 is operated, the robot control device 80 moves the ultrasonic probe 101 along the path L3 toward the registered point P3. The robot control device 80 sets the position before the movement as a temporary point PB and displays it differently from the current position PA (with a different color or shape). The temporary point PB is a point after the position is changed by the teaching operation and serves as a temporary point that serves as the starting point after the change. The temporary point PB is a point to which the operator has moved the ultrasonic probe 101, deviating from the set path L, and can also be referred to as a point to which the operation to register it as the registered point P has not been performed.

[0073] When the ultrasonic probe 101 (current position PA) starts moving from the temporary point PB, the robot control device 80 maintains the arrow pointing from the current position PA to the registered point P3 as a thick arrow while changing the arrow pointing from the current position PA to the temporary point PB to a thin arrow. The robot control device 80 also maintains the arrow pointing from the temporary point PB to the registered point P2 as a thin arrow. Therefore, the robot control device 80 displays the forward and backward arrows of the current position PA while moving from the temporary point PB to the rear point in the same way as when the previously set route is being followed, while maintaining the arrow pointing from the temporary point PB to the front point as a thin arrow. This allows the positional relationship between the current position PA, the temporary point PB, and the front and rear points to be clearly displayed. The robot control device 80 also performs similar display processing when the ultrasonic probe 101 moves from the temporary point PB to the front point (registered point P2). That is, the robot control device 80 maintains the arrow pointing from the current position PA on the path L2 to the registration point P2 as a thin arrow, while changing the arrow pointing from the current position PA to the temporary point PB to a thick arrow. The robot control device 80 also maintains the arrow pointing from the temporary point PB to the registration point P3 as a thick arrow. In this way, the robot control device 80 accepts teaching operations to change the position and posture of the ultrasonic probe 101 during the point regeneration process in which the ultrasonic probe 101 is moved according to the registration point P. The operator can adjust the position of the ultrasonic probe 101 by manually moving the hand unit 60 while operating the direct teaching switch 61, enabling intuitive position adjustment through direct manual operation. In particular, the robot control device 80 of this embodiment provides a support force for the operator's teaching operation through assist control, smoothing the movement of the robot arm 21. This allows the operator to smoothly perform position adjustments, register new registration points P, and other operations.

[0074] The display mode of the temporary point PB described above is merely an example. Furthermore, as shown in the bottom diagram of FIG. 9 , the robot control device 80 may erase the temporary point PB when the ultrasonic probe 101 reaches the registered point P3 after moving the ultrasonic probe 101 toward the registered point P3. For example, as shown in FIG. 11 , the robot control device 80 erases information about the temporary point PB from the storage unit 85 upon reaching the registered point P3, and hides the temporary point PB and the path L connecting the temporary points PB. The robot control device 80 displays a path L2 from the registered point P2 to the registered point P3, and moves the path from the registered point P3 to the registered point P4 to a path L3. These paths L2 and L3 are the same path L as in the top diagram of FIG. 9 .

[0075] Alternatively, the robot control device 80 may stop midway from the temporary point PB to the registered point P3, and when the teaching operation is performed again, erase the temporary point PB, as shown in the bottom diagram of Fig. 9. Then, the robot control device 80 may connect the changed current position PA to the registered point P2 with a thin arrow, and connect the current position PA to the registered point P3 with a thick arrow, as shown in the second diagram from the bottom of Fig. 9.

[0076] As described above, the operation panel 90 displays a plurality of fine adjustment function buttons B12 (see FIG. 7 ). The ESR controller 92 is also provided with a directional key button 921 and buttons 922, 923, and 924 that accept instructions to change the position of the ultrasonic probe 101 using the fine adjustment function. The robot control device 80 adjusts the position of the ultrasonic probe 101 based on the operation of the fine adjustment function button B12, the directional key button 921, etc., during the reproduction process of the registered point P described above. As described above, the operation of the fine adjustment function button B12 can be performed on either the operation panel 90 or the tablet terminal 93.

[0077] When the step operation mode of the fine adjustment function is set, the robot control device 80 moves the ultrasonic probe 101 in the operation direction by a preset step amount (movement amount) when each button is operated. For example, as shown in the second diagram from the bottom in FIG. 9 , the robot control device 80 can change the current position PA and then fine-tune the position and orientation of the ultrasonic probe 101 by operating the fine adjustment function button B12, etc. Specifically, when the fine adjustment function button B12 for the positive direction of the X axis is touched once, the robot control device 80 moves the ultrasonic probe 101 in the positive direction of the X axis by the movement amount indicated by the step amount. Also, when the fine adjustment function button B12 for the positive direction of the rotation direction Ra is touched once, the robot control device 80 rotates the ultrasonic probe 101 in the positive direction of the rotation direction Ra by the movement amount indicated by the step amount. By setting the step amount to an amount that is difficult to adjust by manual operation such as teaching operation (a fine movement amount of a few millimeters or a few degrees), fine adjustments that are difficult to adjust by manual operation can be performed. By operating the fine adjustment function button B12, etc., fine adjustments can be made in increments of a fixed amount of movement. For example, if the target blood vessel has moved outside the echo image, a large position adjustment can be made by manual teaching. Also, if the target blood vessel is displayed within the echo image, fine adjustments can be made for each movement amount using the fine adjustment function. In other words, the direct teaching function and the fine adjustment function can be used together to quickly adjust the position.

[0078] Furthermore, during point regeneration, the robot control device 80 accepts a change in the position of the ultrasonic probe 101 through a teaching operation by operating the direct teaching switch 61 after stopping the movement of the ultrasonic probe 101. Specifically, the robot control device 80 disables operation of the direct teaching switch 61 while the ultrasonic probe 101 is being moved based on the registered point P and the path L. This allows the start condition for the teaching operation during regeneration to be expanded to include the stoppage of the robot 20's movement in addition to the operation of the direct teaching switch 61. This prevents the ultrasonic probe 101 from moving in an unintended direction due to a teaching operation while moving toward the registered point P. Note that the robot control device 80 may enable operation of the direct teaching switch 61 while the ultrasonic probe 101 is being moved and accept a teaching operation in accordance with the operation of the direct teaching switch 61.

[0079] Furthermore, the robot control device 80 permits teaching operations while the direct teaching switch 61 is operated, and restricts teaching operations when the direct teaching switch 61 is not operated. Specifically, while the direct teaching switch 61 is in the on state, the robot control device 80 executes assist control, applying an assist force from the motor to support the operator in easily operating the robot 20. For example, the robot control device 80 drives a motor (such as motor 57a) to apply a support force that makes it easier for the ultrasonic probe 101 (hand part 60) to move in the direction pressed by the operator. On the other hand, when the direct teaching switch 61 is in the off state, the robot control device 80 turns off the above-described assist control. This makes it difficult for the robot 20 to move in response to external forces generated by teaching operations, etc., and prevents the ultrasonic probe 101 from shifting position. By linking the on / off of the direct teaching switch 61 with the on / off of the assist control, it is possible to improve operability in the operation intended by the operator while suppressing the occurrence of unintended positional deviation of the ultrasonic probe 101 by the operator. Note that the method of restricting the teaching operation when the direct teaching switch 61 is in the off state is not limited to the method of turning off the assist control described above. For example, when the direct teaching switch 61 is turned off, the robot control device 80 may restrict the robot 20 from moving by turning off the power supplied to each motor. Alternatively, when the direct teaching switch 61 is turned off, the robot control device 80 may regulate the rotation by controlling the brakes of each motor.

[0080] Furthermore, when a teaching operation is performed, the robot control device 80 displays a plurality of registration points P and the current position PA of the ultrasonic probe 101 on the registration point display unit 131 of the operation panel 90. When the position of the ultrasonic probe 101 is changed by the teaching operation, the robot control device 80 changes the display position of the current position PA to the changed position. This allows the operator to check the positions of the registration points P and the current position PA together on one screen, and to check changes in the position of the ultrasonic probe 101 in real time. While checking the positional relationship with already registered registration points P, the operator can determine the destination of the ultrasonic probe 101, and can register new registration points P while performing the teaching operation.

[0081] Furthermore, when registering a registration point P, the robot control device 80 displays multiple registration points P1 to P4 and routes L1 to L3 connecting the multiple registration points P1 to P4 on the registration point display unit 131. When a new registration point P is registered, the robot control device 80 sets and displays a route L connecting the previously registered registration point P and the new registration point P (see FIG. 8). When reproducing a registration point P, the robot control device 80 displays the current position PA on the registration point display unit 131 in addition to the multiple registration points P1 to P4 and routes L1 to L3, and changes the display position of the current position PA as the ultrasound probe 101 moves (see FIG. 9). The robot control device 80 accepts operations for registering a registration point P, reproducing a point, and changing the current position PA through a teaching operation while the registration point display unit 131 is displayed. Therefore, the robot control device 80 accepts operations for registering, reproducing, and teaching a registration point P on the same screen, and also displays each piece of information. This allows the operator to smoothly perform the operations of registration, replay, and teaching. It also eliminates mistakes in the position where the registration point P is registered, misrecognition of the order of replay, and misrecognition of the direction of movement during teaching operations.

[0082] Furthermore, the robot control device 80 can execute a registration process to register the position of the ultrasound probe 101 after it has been changed by a teaching operation as a new registration point P. This allows for a change in the position at which a desired echo image can be acquired due to a patient's body movement, by performing a teaching operation during the playback process and registering a new registration point P.

[0083] Furthermore, the robot control device 80 can execute a movement process to move the ultrasonic probe 101 from the position (temporary point PB) of the ultrasonic probe 101 after the change by the teaching operation to the registered registration point P. This allows the ultrasonic probe 101 to return to the originally registered rear point or front point after checking the echo image at the new position. If the change in position is temporary, the operation can continue based on the previously registered registration point P without registering a new registration point P. Note that the robot control device 80 may be configured to be able to execute only one of the above-mentioned registration process and movement process, or may be configured to be unable to execute both processes.

[0084] The content of the teaching operation during the playback process described above is merely an example. For example, the robot control device 80 may accept a teaching operation to adjust the position of an already registered registration point P. For example, when the direct teaching switch 61 is operated to move the ultrasound probe 101 while the robot control device 80 is stopped at an arbitrary registration point P, the robot control device 80 may set the position where the ultrasound probe 101 stopped after the movement as the position of the new registration point P and accept a change to the position of the registration point P. Alternatively, even when the robot control device 80 stops at such a registration point P, the robot control device 80 may change the current position PA and display a temporary point PB without changing the position of the stopped registration point P, as in the case where the robot control device 80 stops on the path L described above.

[0085] Incidentally, the correspondence between the terms used in this embodiment and those described in the claims will be explained below. The robot arm 21 in this embodiment is an example of an arm. The direct teaching switch 61 is an example of a teaching unit. The robot control device 80 is an example of a control device. The operation panel 90 and the ESR controller 92 are examples of a user interface. The ultrasound probe 101 is an example of a probe in the present disclosure. The operation screen of the operation panel 90 and the registration point display unit 131 are examples of a display screen. The fine adjustment function button B12, the directional key button 921, and the buttons 922, 923, and 924 are examples of an operation unit.

[0086] As described above, the present embodiment provides the following advantages. The robot control device 80, which is one aspect of the present embodiment, changes the position of the ultrasonic probe 101 in response to an operator's operation and stores the changed position of the ultrasonic probe 101 in the storage unit 85 as a registered point P ( FIG. 8 , an example of a storage process or storage step). During point playback, the robot control device 80 moves the ultrasonic probe 101 to the position of the registered registered point P ( FIG. 9 , an example of a playback process or playback step). During playback, the robot control device 80 accepts a change in the position of the ultrasonic probe 101 through a teaching operation in which the ultrasonic probe 101 is manually moved (the second diagram from the bottom in FIG. 9 , an example of an adjustment process or adjustment step). This allows manual teaching operations to be performed during playback in accordance with the registered points P. Teaching can be performed by manually changing the position of the ultrasonic probe 101 at the registered points P or along the path L between the registered points P. The operator can change the position during playback.

[0087] The present disclosure is not limited to the above-described embodiment, and various improvements and modifications are possible within the spirit and scope of the present disclosure. For example, the configuration of the robot system 10 in the above-described embodiment is merely an example. For example, the ESR controller 92 may be connected to the robot 20 via a wired connection. Furthermore, the storage unit 85 that stores the registration points P1 to P4 may be a device separate from the robot system 10, such as cloud storage on a network. While the above-described embodiment employs a direct teaching switch 61, which is a three-position enable switch, as the teaching unit of the present disclosure, this is not limiting. For example, the teaching unit may employ a two-position push button or a button (software key) displayed on a touch panel. Furthermore, in the above-described embodiment, the fine-tuning function button B12, an example of an operation unit, is a button on a touch panel, but this is not limiting. The fine-tuning function button B12 may be a hardware key such as a push button. Furthermore, the teaching unit and operation unit of the present disclosure may employ user interfaces other than those described above, such as a slide switch, rotary switch, lever, or other user interface capable of inputting instructions. Therefore, the user interface of the teaching unit or the like may employ various configurations capable of inputting instructions from the user.

[0088] In the above embodiment, the robot 20 is configured as a seven-axis articulated robot capable of translational motion in three directions and rotational motion in three directions. However, any number of axes may be used. The robot 20 may also be configured as a so-called vertical articulated robot or horizontal articulated robot. The ultrasound device disclosed herein is not limited to a device that captures echo images, but may also be a device that captures echo images and performs treatment, such as high-intensity focused ultrasound (HIFU) therapy. In other words, the purpose of use of the ultrasound emitted from the probe can be changed as appropriate.

[0089] The scope of the present disclosure is not limited to the dependent relationships described in the claims. For example, this specification also discloses a technical idea in which "the robot according to claim 1 or claim 2" in claim 5 is changed to "the robot according to any one of claims 1 to 4." It also discloses a technical idea in which "the robot according to claim 1 or claim 2" in claim 7 is changed to "the robot according to any one of claims 1 to 6."

[0090] INDUSTRIAL APPLICABILITY The present disclosure is applicable to the robot manufacturing industry and the like.

[0091] 20 robot, 21 robot arm (arm), 61 direct teaching switch (teaching unit), 80 robot control device (control device), 85 memory unit, 90 operation panel (user interface), 92 ESR controller (user interface), 100 ultrasound device, 101 ultrasound probe (probe), 131 registered point display unit (display screen), 921 directional key button (operation unit), 922, 923, 924 buttons (operation unit), B12 fine adjustment function button (operation unit), L, L1 to L4 route, P, P1 to P4 registered point, PA current position.

Claims

1. A robot comprising an arm capable of holding a probe of an ultrasound device, and a control device that controls the operation of the arm, wherein the control device executes a storage process that changes the position of the probe in response to an operation by an operator and stores the changed position of the probe in a storage unit as a registered point, a playback process that moves the probe to the position of the registered point stored in the storage unit by the storage process, and an adjustment process that accepts the change in the position of the probe by a teaching operation that manually moves the arm during the playback process.

2. The robot of claim 1, further comprising a user interface having a plurality of operating units, wherein the control device, during the playback process, moves the position of the probe in a predetermined direction by a predetermined movement amount based on the operation of the operating units of the user interface.

3. A robot as described in claim 1 or claim 2, wherein the arm is equipped with a teaching unit, and the control device accepts a change in the position of the probe through the teaching operation based on the teaching unit being operated after the movement of the probe has been stopped during the regeneration process.

4. The robot according to claim 3, wherein the control device permits the teaching operation while the teaching unit is being operated, and restricts the teaching operation when the teaching unit is not being operated.

5. A robot as described in claim 1 or claim 2, further comprising a user interface, wherein the control device, during the adjustment process, displays the plurality of registered points and the current position of the probe on a display screen of the user interface, and changes the position displaying the current position to the changed position in response to a change in the position of the probe due to the teaching operation.

6. The robot described in claim 5, wherein the control device: in the storage process, displays on the display screen a plurality of the registered points and routes connecting the plurality of registered points, and when a new registered point is registered, displays the route connecting the already registered registered point and the new registered point; in the playback process, displays on the display screen the current position of the probe in addition to the plurality of registered points and the route, and changes the position where the current position is displayed as the probe moves; and accepts operations for the storage process, the playback process, and the adjustment process with the display screen displayed on the user interface.

7. A robot as described in claim 1 or claim 2, wherein the control device executes at least one of the following processes: a process of storing the position of the probe after being changed by the adjustment process in a memory unit as a new registration point; and a process of moving the probe from the position of the probe after being changed by the adjustment process to the registered registration point.

8. A teaching method for a robot having an arm capable of holding a probe of an ultrasound device, comprising: a storage step of changing the position of the probe in response to an operation by an operator and storing the changed position of the probe in a storage unit as a registered point; a reproduction step of moving the probe to the position of the registered point stored in the storage unit by the storage step; and an adjustment step of accepting the change in the position of the probe by a teaching operation of manually moving the arm in the reproduction step.

Images