Interface device and surgery assistance robot system

Abstract

Provided is an interface device which is used for a virtual space or a remote operation, and is capable of presenting a reaction force.　The interface device includes at least an Nth link (where N is a positive integer) that rotates about a prescribed rotation axis, and a linear movement axis along which the (N +1)th link linearly moves with respect to the Nth link. The rotation axis is a horizontal rotation axis that intersects the linear movement axis. The interface device further includes an (N-1)th link that supports the Nth link via the horizontal rotation axis, and rotates about a vertical rotation axis which passes through the horizontal rotation axis.

Description

Interface device and surgical support robot system

[0001] The technology disclosed in this specification (hereinafter referred to as "the present disclosure") relates to an interface device and a surgical support robot system used in, for example, virtual space or remote operation.

[0002] In technological fields such as virtual reality and telereality, force-tactile displays, or "haptic devices," are used to present operators with force and touch in addition to visual and auditory information. Using haptic devices, it is possible to simulate in real time a virtual environment in which multiple objects coexist and experience physical interactions such as collisions and contact between them. Specifically, by precisely calculating the collisions between objects and the resulting contact forces in real time, taking into account dynamics, and reproducing these forces using motors, it is possible to present to the user through the haptic device the realistic sensation of touching or grasping objects in the virtual environment.

[0003] In the art, there are known haptic devices that are operated by a user holding a stylus. For example, a force-reaction presentation type haptic interface that supports a stylus using a serial link mechanism (see, for example, Patent Document 1) and a parallel link type haptic input / output device that supports a stylus using a serial link mechanism (see, for example, Patent Document 2) have been proposed.

[0004] JP 2007-510232 A JP 2000-334687 A JP 2015-12560 A

[0005] An object of the present disclosure is to provide an interface device and a surgical support robot system that can be used in, for example, virtual spaces or remote operation and that are capable of presenting a reaction force.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and a first aspect thereof is an interface device including at least an N-th link that rotates about a predetermined rotation axis (N is a positive integer), and a linear axis along which an (N+1)-th link moves linearly relative to the N-th link, wherein the rotation axis is a horizontal rotation axis that intersects with the linear axis.

[0007] The interface device according to a first aspect further includes an (N+1)th rotary motor that generates power for linearly moving the (N+1)th link, a rotary-to-linear motion conversion unit that converts the rotational motion of the (N+1)th rotary motor into linear motion of the (N+1)th link, an Nth rotary motor that generates power for rotationally moving the Nth link, and an Nth transmission unit that transmits the rotational motion of the Nth rotary motor to the horizontal rotation shaft, and the rotation shaft of the (N+1)th rotary motor is arranged on the horizontal rotation shaft.

[0008] The interface device according to the first aspect further includes an (N-1)th link that supports the Nth link via the horizontal rotation shaft and rotates around a vertical rotation shaft that passes through the horizontal rotation shaft.

[0009] A second aspect of the present disclosure is a surgical support robot system comprising: an operation unit including one or more followers to which surgical tools are attached; a console unit including one or more readers operated by an operator; a display device that displays an image of an affected area of ​​a patient undergoing surgery with the surgical tools; and a control device that controls the operation of the followers in response to the operation of the readers, wherein at least one of the readers includes the interface device according to the first aspect.

[0010] However, the term "system" used here refers to a logical collection of multiple devices (or functional modules that realize specific functions), regardless of whether each device or functional module is contained within a single housing. In other words, both a single device consisting of multiple parts or functional modules and a collection of multiple devices are considered "systems."

[0011] According to the present disclosure, it is possible to provide an interface device and a surgical support robot system that support a stylus operated by a user with low friction, achieves high rigidity and light weight, and is capable of presenting a reaction force.

[0012] It should be noted that the effects described in this specification are merely examples, and the effects brought about by the present disclosure are not limited to these. Furthermore, the present disclosure may also bring about additional effects in addition to the effects described above.

[0013] Further objects, features, and advantages of the present disclosure will become apparent from the following detailed description based on the embodiments and accompanying drawings.

[0014] FIG. 1 is a diagram showing a basic configuration of an interface device 100 to which the present disclosure is applied. FIG. 2 is a diagram showing a specific configuration of an interface device 200 to which the present disclosure is applied. FIG. 3 is a diagram showing the configuration of the interface device 200, with a base unit 210 and a first link 201 in cross section. FIG. 4 is a diagram showing the external configuration of the interface device 200. FIG. 5 is a diagram showing the range of motion of the interface device 200. FIG. 6 is a diagram showing the range of motion of the interface device 200. FIG. 7 is a diagram showing the range of motion of the interface device 200. FIG. 8 is a diagram showing a manipulability ellipsoid of the stylus 204 for each position to which the third link 203 is displaced in the linear motion direction. FIG. 9 is a diagram showing a manipulability ellipsoid of the stylus 204 for each position to which the third link 203 is displaced in the linear motion direction. FIG. 10 is a diagram showing a manipulability ellipsoid of the stylus 204 for each position to which the third link 203 is displaced in the linear motion direction. FIG. 11 is a diagram showing another example configuration of an interface device to which the present disclosure is applied. FIG. 12 is a cross-sectional view of the base unit 1110 showing the configuration of the interface device 1100. FIG. 13 is an enlarged view of a cable reduction mechanism corresponding to the perpendicular intersecting axes. FIG. 14 is a diagram showing the appearance of an operation console device configured by arranging two interface devices 200L and 200R side by side. FIG. 15 is a diagram showing the appearance of an operation console device 1400 combined with an immersive display device 1501 into which a user peers. FIG. 16 is a diagram showing the appearance of an operation console device 1400 combined with a glasses-type or goggle-type display device 1601. FIG. 17 is a diagram showing the appearance of an operation console device 1400 combined with a naked-eye display 1701. FIG. 18 is a diagram showing the exterior configuration of a surgery support robot system 1000. FIG. 19 is a diagram showing the functional configuration of the surgery support robot system 1000.

[0015] Hereinafter, embodiments of the present disclosure will be described in the following order with reference to the drawings.

[0016] A. Overview B. Basic configuration of the interface device C. Specific configuration of the interface device C-1. Configuration of degrees of freedom of the interface device C-2. Drive mechanism of the interface device C-3. Presentation of reaction force C-4. Modifications C-5. Summary D. Other configurations of the interface device D-1. Configuration of degrees of freedom of the interface device D-2. Drive mechanism of the interface device E. Application examples

[0017] A. Overview Haptic devices require simpler mechanisms that further enhance rigidity, range of motion, lightness, responsiveness, low cost, and robustness. Haptic devices typically support the stylus operated by the user with a serial link mechanism or parallel link mechanism. If the mechanism supporting the stylus is lightweight, the user can immerse themselves in the operation without feeling the presence of the mechanism. The reduction in operational feel due to the inertial force of the mechanism when the stylus is moved quickly is minimal. The user can easily perceive small reaction forces when presented with a small reaction force, and fatigue is reduced during long-term operation. Serial link mechanisms are relatively lightweight and have a wide range of motion, but their rigidity is easily reduced. If the joints are made highly rigid to increase rigidity, the weight increases and operability decreases. Furthermore, serial link mechanisms have high responsiveness but a narrow range of motion.

[0018] Therefore, the present disclosure proposes an interface device that supports a stylus operated by a user with low friction, has high rigidity, and is lightweight, and is capable of presenting a reaction force.

[0019] B. Basic Configuration of Interface Device Fig. 1 schematically shows the basic configuration of an interface device 100 capable of presenting a reaction force to which the present disclosure is applied. The illustrated interface device 100 includes a vertically disposed first link 101, a first joint 111 that pans the first link 101 relative to a mechanical ground (MG), a second link 102 connected to a distal end of the first link 101, a second joint 112 that tilts the second link 102 relative to the first link 101, a third link 103 connected to a distal end of the second link 102, and a third joint 113 that linearly moves the third link relative to the second link 102. A stylus 104 operated by a user is attached to the distal end of the third link 103 via a fourth joint 114.

[0020] Here, the first joint 111 has a rotational degree of freedom about a vertical rotation axis (first axis) that coincides with the longitudinal direction of the first link 101. The second joint 112 has a rotational degree of freedom about a horizontal rotation axis (second axis) that is perpendicular to the rotation axis (first axis) of the first joint 111. The third joint 113 has a linear motion degree of freedom to be displaced in a linear motion direction that is perpendicular to (or intersects with) the rotation axis (second axis) of the second joint 112. The second link 102 and the third link 103 are arranged so that their longitudinal directions coincide with each other, and are connected by the third joint 113.

[0021] The stylus 104 may have any shape or structure, but is preferably thin and lightweight so that the user can operate it as if holding a pen. The stylus 104 may also be a device that incorporates a sensor, such as an IMU (Inertial Measurement Unit), and is capable of multi-axis measurement, including three axes of attitude. The stylus 104 may be detachably attached to the fourth joint 114 (for example, a dedicated stylus 104 may be attached to the interface device 100 for each user). The fourth joint 114, which connects the stylus 104 to the distal end of the third link 103, may be, for example, a universal joint.

[0022] The position from the base (MG) of the interface device 100 to the distal end of the third link 103 is determined by the rotation angle φ of the first joint 111, the rotation angle θ of the second joint 112, and the distance r from the second joint 112 to the distal end of the third link 103 (or the total length of the second link 102 and the third link 103). In other words, the interface device 100 according to the present disclosure can be said to be a three-axis polar coordinate type of φ, θ, and r. Compared to the serial link type, the polar coordinate type is characterized by being easier to increase rigidity while maintaining a light weight. The interface device 100 according to the present disclosure has a degree of freedom configuration in the order of pan → tilt → linear movement from the mechanical ground to the distal end. In contrast, the force feedback type haptic interface described in Patent Document 1 has a degree of freedom configuration in the order of pan → tilt → tilt from the base to the distal end, which differs from the interface device 100 according to the present disclosure.

[0023] The interface device 100 is equipped with a motor for driving each of the links 101 to 103. The interface device 100 is configured to transmit the driving force of the motor to the links using a speed reduction and transmission mechanism that uses a cable. However, the arrangement of each motor and the power transmission mechanism will be described later.

[0024] C. Specific Configuration of Interface Device FIG. 2 shows a specific configuration of an interface device 200 capable of presenting a reaction force to which the present disclosure is applied. The illustrated interface device 200 includes a first link 201 disposed perpendicular to a base unit 210, a second link 202 connected to the tip of the first link 201, and a third link 203 connected to the tip of the second link 202. As will be described later, the second link 202 is an integral part of the output capstan 242. FIG. 3 shows the interface device 200 viewed from the same direction as FIG. 2, but shows the base unit 210 and the first link 201 in cross section. FIG. 4 also shows the interface device 200 viewed from a different direction than FIG. 2.

[0025] C-1. Degree of Freedom Configuration of Interface Device First, the degree of freedom configuration of the interface device 200 will be described with reference to FIGS.

[0026] The first link 201 has a degree of freedom of rotation about a vertical rotation axis (first axis) 211 that coincides with the longitudinal direction of the first link 201, and pans relative to the base unit 210. The second link 202 has a degree of freedom of rotation about a horizontal rotation axis (second axis) 212 that is disposed on the vertical rotation axis 211, and tilts relative to the first link 201. The third link 203 is disposed so that its longitudinal direction coincides with that of the second link 202, and is displaced in the direction of a linear axis (third axis) 213 that is perpendicular to (or intersects with) the horizontal rotation axis 212 that is the rotation axis of the second link 202.

[0027] C-2. Drive Mechanism of Interface Device Next, the drive mechanism of each of the links 201 to 203 will be described with reference to FIGS.

[0028] 3, the base unit 210 is a box-shaped structure that houses a first motor 221 for driving the first link 201 and supports the first link 201 rotatably around the vertical rotation shaft 211. The first motor 221 is disposed at a distance from the vertical rotation shaft 211 so that its output shaft is parallel to the vertical rotation shaft 211.

[0029] A cable reduction mechanism is used to transmit power from the first motor 221 to the first link 201. As shown in Fig. 4, this cable reduction mechanism consists of a cable reduction gear input capstan (hereinafter simply referred to as the "input capstan") 231 and a cable reduction gear output capstan (hereinafter simply referred to as the "output capstan") 241. The input capstan 231 is coaxially fixed to the output shaft of the first motor 221. On the other hand, the output capstan 241 is a semi-cylindrical structure, and is fixed to the first link 201 so that its central axis coincides with the vertical rotation axis 211.

[0030] 4, a pair of cables 251a and 251b are wound around the input capstan 231 in opposite directions, and the other ends of the cables 251a and 251b are wound around the outer periphery of the output capstan 241 in opposite directions. Therefore, when the first motor 221 rotates in a certain direction, one of the cables is wound around the input capstan 231 (at the same time, the other cable is unwound from the input capstan 231), thereby transmitting the rotation to the output capstan 241 and driving the first link 201 to rotate around the vertical rotation shaft 211. When the first motor 221 rotates in the opposite direction, the first link 201 rotates around the vertical rotation shaft 211 in the opposite direction. The ratio of the radii of the input capstan 231 and the output capstan 241 defines the reduction ratio of this cable reduction mechanism.

[0031] Drive mechanism for second link: The first link 201 is a U-shaped structure, and is supported at the bottom of the U on a base unit 210 so as to be rotatable around a vertical rotation shaft 211. The first link 201 holds, at one leg of the U (the rear side of the page in FIG. 3 ), a second motor 222 for driving the second link 202 and a third motor 223 for driving the third link 203. The second motor 222 is disposed spaced apart from the horizontal rotation shaft 212 so that its output shaft is parallel to the horizontal rotation shaft 212. The third motor 223 is disposed so that its output shaft is coaxial with the horizontal rotation shaft 212.

[0032] Furthermore, a cable reduction mechanism for transmitting power from the second motor 222 to the second link 202 is disposed inside the U-shape of the first link 201. This cable reduction mechanism comprises an input capstan 232 and an output capstan 242. The input capstan 232 is coaxially fixed to the output shaft of the second motor 222. Meanwhile, the output capstan 242 is a semi-cylindrical structure, the central axis of which coincides with the horizontal rotation shaft 212, and is supported by one leg of the U-shape of the first link 201 (the rear side of the page in FIG. 3 ) so as to be rotatable about the horizontal rotation shaft 212. The output capstan 242 is integral with the second link 202, and the upper end of the output capstan 242 forms the second link 202. A pair of cables 252a and 252b are wound around the input capstan 232 in opposite directions, and the other ends of the cables are wound around the outer periphery of the output capstan 242 in opposite directions. Therefore, when the second motor 222 rotates in a certain direction, one of the cables is wound around the input capstan 232 (at the same time, the other cable is unwound from the input capstan 232), thereby transmitting the rotation to the output capstan 242 and driving the second link 202 to rotate around the horizontal rotation axis 212. When the second motor 222 rotates in the opposite direction, the second link 202 rotates in the opposite direction. The ratio of the radii of the input capstan 232 and the output capstan 242 is the reduction ratio of this cable reduction mechanism.

[0033] The drive mechanism for the second link 202 is not limited to the cable reduction mechanism (see FIGS. 2 and 3) described above. For example, the second motor 222 may be installed on the base unit 210, and the rotational force of the second motor 222 may be transmitted by a right-angle intersecting shaft reduction structure (such as a bevel gear or cable reduction structure) to drive the second link 202 to rotate about the horizontal rotation shaft 212.

[0034] Drive mechanism for third link: The second link 202 is integral with the output capstan 242, and the upper end of the output capstan 242 is the second link 202. The longitudinal direction of the second link 202 is perpendicular to the horizontal rotation axis 212. The third link 203 is mounted on the second link 202 via a sliding member such as a linear guide 243 so that it can move with low friction along the longitudinal direction of the second link 202. The linear guide 243 supports the third link 203 so that the linear axis 213, about which the third link 203 moves in translation, intersects with the horizontal rotation axis 212. Although FIGS. 2 and 3 illustrate the linear guide 243 in a simplified manner, various types of linear guides can be used, such as a circulating ball type, a circulated ball type, or a cross roller type.

[0035] The rotation of the third motor 223 is transmitted to the third link 203 via a cable rotary-linear motion conversion mechanism, thereby moving the third link 203 forward and backward along the linear motion shaft 213. This cable rotary-linear motion transmission mechanism includes an input capstan 233 coaxially fixed to the output shaft of the third motor 223, and a linear guide 243 that supports the third link 203 so that it can reciprocate with low friction along the longitudinal direction of the second link 202. A pair of cables 253a and 253b are wound around the input capstan 233 in opposite directions, and one cable 253a extends directly toward the distal end and is fixed at its terminal end on the upper surface side of the third link 203. By rotating the third motor 223 and winding and pulling the cable 253a around the input capstan 233, the third link 203 moves backward on the linear motion shaft 213. The other cable 253b is folded back at the rear end of the third link 203 toward the bottom side, wraps around the bottom side, then extends toward the distal end and has its terminal end fixed on the bottom side of the third link 203. By rotating the third motor 223 in the reverse direction and winding the cable 253b around the input capstan 233 and pulling it, the third link 203 moves forward on the linear shaft 213. In other words, when the third motor 223 rotates in a certain direction, one cable 253a is pulled, causing the third link 203 to move backward along the linear shaft 213, and when the third motor 223 rotates in the opposite direction, the other cable 253b is pulled, causing the third link 203 to move forward.

[0036] It should be fully understood that the structure in which a cable rotary-to-linear motion conversion mechanism is arranged to drive the third link 203 attached via the linear guide 243 in the interface device 200 is a new and extremely simple structure, which contributes to improved rigidity, weight reduction, and cost reduction.

[0037] As a drive mechanism for the third link 203, instead of the cable rotary-to-linear motion conversion mechanism described above (see Figures 2 and 3), a rack and pinion gear may be used to convert the rotation of the third motor 223 into linear motion.

[0038] C-3. Presentation of Reaction Forces The interface device 200 can present reaction forces of three axes, namely, the vertical rotation shaft 211, the horizontal rotation shaft 212, and the linear motion shaft 213, at the distal end of the third link 203 by driving the first motor 221, the second motor 222, and the third motor 223.

[0039] 2 and 3 , a stylus 204 operated by a user is attached to the distal end of the third link 203. The stylus 204 is connected to the distal end of the third link 203 via a universal joint 214, but of course the stylus 204 may be attached to the distal end of the third link 203 using a joint mechanism other than a universal joint. The user can sense the reaction force provided by the interface device 200 with the fingertips holding the stylus 204.

[0040] The stylus 204 is a device that incorporates a sensor such as an IMU and is capable of measuring six or nine axes, including the three axes of roll, pitch, and yaw. The stylus 204 may be detachably attached (for example, a dedicated stylus 204 may be attached to the interface device 200 for each user).

[0041] The stylus 204 may have any shape or structure, but is preferably thin and lightweight so that the user can operate it as if holding a pen. For example, when the interface device 200 is used as a haptic interface for operating in a virtual space, the stylus 204 may have a shape suitable for an operating handle. Furthermore, when the interface device 200 is used as a haptic interface for a surgical simulator, the stylus 204 may have a shape that realistically reproduces a corresponding surgical tool, such as a scalpel or a pliers.

[0042] The stylus 204 may be provided with a communication means for communicating with an external control device (not shown) separate from the interface device 200 itself, and the detection signal of the IMU sensor may be transmitted directly to the external control device. The communication means may be either wired or wireless. The communication means may utilize short-range communication such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0043] C-4. Modifications At least one of the first motor 221, the second motor 222, and the third motor 223 may be equipped with a brake mechanism. For example, a brake mechanism may be used to present an excessive reaction force to the user's fingertip or to limit the range of motion of the stylus 204 when a reaction force is presented. Furthermore, the first motor 221, the second motor 222, and the third motor 223 may be equipped with a limiter mechanism in addition to the brake mechanism. Alternatively, at least one of the vertical rotation shaft 211, the horizontal rotation shaft 212, and the linear motion shaft 213 may be a passive shaft that has only a brake mechanism instead of a motor.

[0044] Furthermore, the first motor 221, the second motor 222, and the third motor 223 may each be equipped with a rotation angle sensor such as an encoder that measures the rotation angle of the output shaft. In this case, the position of the distal end of the third link 103 (or the stylus 204) can be calculated based on the angles measured by each encoder. In this case, a user can specify a position using the stylus 204, and therefore the interface device 200 can be applied as an input device (such as a controller for a leader-follower type robot system). Furthermore, because the angles measured by each encoder can be used to control the positioning of the first motor 221, the second motor 222, and the third motor 223, the interface device 200 can also be used as a three-axis manipulator.

[0045] In the interface device 200 according to the present disclosure, the distal end of the third link 103 operates in a polar coordinate system (described later). This makes it easy for the user to grasp the range of motion of the stylus 204 attached to the distal end of the third link 103. Furthermore, when the interface device 200 is used as a robot controller or manipulator as described above, calculations of kinematics and inverse kinematics are simplified, making control easier.

[0046] C-5. Summary The interface device 200 according to the present disclosure has three degrees of freedom in three axes, in the order of pan → tilt → linear motion, from the base unit 210 to the third link 203 at the distal end. In addition, since a cable-type power transmission mechanism is used to drive each axis, it has the characteristic of improved backdrivability.

[0047] The interface device 200 according to the present disclosure has low friction by using cable drive for all three axes. Furthermore, since the first axis, the vertical rotation axis 211, is directly connected to the stylus 204 at the distal end (there is no bending joint due to a link), the device is lightweight and has a natural inertial force. Therefore, the interface device 200 provides a high level of operability during free motion.

[0048] 5 to 7 show how the interface device 200 (the distal end of the third link 203) moves within its range of motion. However, due to space limitations, the first link 201 is fixed and does not rotate around the vertical rotation axis 211. As shown in FIGS. 5 to 7, the distal end of the third link 203 (i.e., the stylus 204) has a spherical shell-shaped range of motion 501 that can be expressed in a polar coordinate system, with the intersection of the vertical rotation axis 211 and the horizontal rotation axis 212 as the origin, and consisting of a rotation φ around the vertical rotation axis 211, a rotation θ around the horizontal rotation axis 212, and a linear displacement r of the third link 203.

[0049] 5 to 7, it can be seen that interface device 200 has a structure in which the first axis, vertical rotation axis 211, is directly connected to stylus 204 at the distal end (there is no bending joint due to a link). Therefore, interface device 200 is less likely to interfere with the environment. Furthermore, because there is no bending joint due to a link, the posture of stylus 204 at the distal end hardly changes in any of the positions shown in FIGS. 5 to 7, so the user can always operate stylus 204 as if they were holding a pen.

[0050] 8 to 10 also show manipulability ellipsoids 801, 901, and 1001 of the stylus 204 at the distal end at each position where the third link 203 is displaced in the linear direction. A manipulability ellipsoid represents the direction in which the robot's hand can be easily moved (as is well known). At any linear position of the third link 203 shown in FIGS. 8 to 10, the manipulability ellipsoids 801, 901, and 1001 do not have distorted shapes. Therefore, it can be seen that the user can easily operate the stylus 204 regardless of the posture of the third link 203.

[0051] The structural features of the interface device 200 according to the present disclosure and the effects brought about by each feature are summarized below.

[0052] Feature (1): The third motor 223 has an output shaft that is installed on the horizontal rotation shaft 212, which is the rotation shaft of the second link 202, and on the first link 201. With this configuration, the inertia of the third motor 223 is not transferred to the second link 202, resulting in low inertia and providing the user with a light operational feel.

[0053] Feature (2): There is no bending joint between the horizontal rotation shaft 212, which is the rotation shaft of the second link 202, and the distal end of the third motor 223. Therefore, the extremely simple structure contributes to improved rigidity, weight reduction, and cost reduction.

[0054] Feature (3): A cable reduction mechanism is used for all drive shafts, namely, the vertical rotation shaft 211, the horizontal rotation shaft 212, and the linear motion shaft 213. Therefore, the interface device 200 can achieve backlash-less operation, low friction, and high backdrivability.

[0055] Feature (4): The distal end of the third link 203 (i.e., the stylus 204) operates in a polar coordinate system with the intersection of the vertical rotation axis 211 and the horizontal rotation axis 212 as the origin, and the polar coordinate system is composed of a rotation φ around the vertical rotation axis 211, a rotation θ around the horizontal rotation axis 212, and a linear displacement r of the third link 203. Therefore, the range of motion of the distal end of the third link 203 is spherical, making it easy for the user to grasp the range of motion. Furthermore, when the interface device 200 is used as a robot controller or manipulator, calculations of kinematics and inverse kinematics are simplified, making control easier.

[0056] D. Other Configurations of Interface Devices FIG. 11 shows another example configuration of an interface device capable of presenting a reaction force to which the present disclosure is applied. The illustrated interface device 1100 includes a first link 1101 arranged perpendicular to a base unit 1110, a second link 1102 connected to the tip of the first link 1101, and a third link 1103 connected to the tip of the second link 1102. As described below, the second link 1102 is an integral part of the output capstan 1142. However, the base unit 1110 is depicted as transparent to reveal the internal configuration. Furthermore, FIG. 12 shows the interface device 1100 viewed from the same direction as FIG. 11, but also shows the base unit 1110 and the output capstan 1142 in cross section.

[0057] D-1. Degree of Freedom Configuration of Interface Device First, the degree of freedom configuration of the interface device 1100 will be described.

[0058] The first link 1101 has a degree of freedom of rotation about a vertical rotation axis (first axis) 1111 that coincides with the longitudinal direction of the first link 1101, and pans relative to the base unit 1110. The second link 1102 has a degree of freedom of rotation about a horizontal rotation axis (second axis) 1112 that is disposed on the vertical rotation axis 1111, and tilts relative to the first link 1101. The third link 1103 is disposed so that its longitudinal direction coincides with that of the second link 1102, and displaces in the direction of a linear axis (third axis) 1113 that is perpendicular to (or intersects with) the horizontal rotation axis 1112 that is the rotation axis of the second link 1102.

[0059] D-2. Drive Mechanism of Interface Device Next, the drive mechanism of each of the links 1101 to 1103 will be described.

[0060] Drive mechanism for first link: The base unit 1110 is a box-shaped structure, and as shown in Fig. 11, houses a first motor 1121 for driving the first link 1101. The base unit 1110 also has an eave portion 1110a with an inverted L-shaped cross section, and supports the first link 1101 rotatably around a vertical rotation shaft 1111, with the first link 1101 hanging from the top plate portion of this eave portion 1110a. The first motor 1121 is disposed away from the vertical rotation shaft 1111 so that its output shaft is parallel to the vertical rotation shaft 1111.

[0061] A cable reduction mechanism is used to transmit power from the first motor 1121 to the first link 1101. As shown in Figure 11, this cable reduction mechanism consists of an input capstan 1131 and an output capstan 1141. The input capstan 1131 is fixed coaxially to the output shaft of the first motor 1121. On the other hand, the output capstan 1141 is a semi-cylindrical structure, and is fixed to the first link 1101 so that its central axis coincides with the vertical rotation axis 1111.

[0062] A pair of cables 1151a and 1151b are wound around the input capstan 1131 in opposite directions, and the other ends of the cables 1151a and 1151b are wound around the outer periphery of the output capstan 1141 in opposite directions. Therefore, when the first motor 1121 rotates in a certain direction, one of the cables is wound around the input capstan 1131 (at the same time, the other cable is unwound from the input capstan 1131), thereby transmitting the rotation to the output capstan 1141 and driving the first link 1101 to rotate around the vertical rotation axis 1111. When the first motor 1121 rotates in the opposite direction, the first link 1101 rotates around the vertical rotation axis 1111 in the opposite direction. The ratio of the radii of the input capstan 1131 and the output capstan 1141 defines the reduction ratio of this cable reduction mechanism.

[0063] 11 , the base unit 1110 also incorporates a second motor 1122 for driving the second link 1102. The second motor 1122 is arranged so that its output shaft is coaxial with the vertical rotation shaft 1111. The first link 1101 has a square-shaped structure, with an opening 1101b at the bottom of the square for inserting the output shaft of the second motor 1122, and a cable reduction mechanism for transmitting power from the second motor 1122 to the second link 1102 is arranged inside the square. This cable reduction mechanism differs from the cable reduction mechanism for the second axis of the interface device 200 described in Section C above, and has a structure adapted to perpendicular intersecting axes.

[0064] FIG. 13 shows an enlarged view of the cable reduction mechanism corresponding to the perpendicular intersecting axes. This perpendicular intersecting axis cable reduction mechanism comprises an input capstan 1132 and an output capstan 1142. The input capstan 1132 has a vertical rotation axis 1111, while the output capstan 1142 has a horizontal rotation axis 1112, with their rotation axes intersecting at a right angle. The input capstan 1132 is coaxially fixed to the output shaft of a second motor 1122 (not shown in FIG. 13). The output capstan 1142 is a semi-cylindrical structure whose central axis coincides with the horizontal rotation axis 1112 and is supported by the square-shaped wall of the first link 1101 so as to be rotatable about the horizontal rotation axis 1112. The output capstan 1142 is integral with the second link 1102, and as can be seen from FIGS. 12 and 13, the second link 1102 is contained within the semi-cylindrical structure.

[0065] As shown in FIG. 13 , a pair of cables 1152a and 1152b are wound around the input capstan 1132 in opposite directions. The inner wall of the output capstan 1142 is provided with two arcuate linear grooves along its outer periphery for inserting the cables 1152a and 1152b, respectively. The cables 1152a and 1152b are arranged in opposite directions within the respective linear grooves, with their ends fixed. Therefore, when the second motor 1122 rotates in a certain direction, one of the cables is wound around the input capstan 1132 (while the other cable is unwound from the input capstan 1132), thereby transmitting rotation to the output capstan 1142 and driving the second link 1102 to rotate about the horizontal rotation axis 1112. When the second motor 1122 rotates in the opposite direction, the second link 1102 rotates in the opposite direction. The ratio of the radii of the linear grooves formed in an arc shape on the inner walls of the input capstan 1132 and the output capstan 1142 is the reduction ratio of this cable reduction mechanism.

[0066] Third Link Drive Mechanism: The second link 1102 is integral with the output capstan 1142. As can be seen from FIGS. 12 and 13 , the second link 1102 is formed inside the semi-cylindrical structure of the output capstan 1142. The third link 1103 is mounted on the second link 1102 via a sliding member such as a linear guide 1143 so that it can move with low friction along the longitudinal direction of the second link 1102. The linear guide 1143 supports the third link 1103 so that the linear axis 1113 along which the third link 1103 moves in translation intersects with the horizontal rotation axis 1112. Various types of linear guides can be used for the linear guide 1143, such as a circulating ball type, a circulated ball type, or a cross roller type.

[0067] Furthermore, a third motor 1123 for driving the third link 1103 is held by one wall of the square shaped portion of the first link 1101 (the rear side of the paper in FIG. 11 ). The third motor 1123 is disposed so that its output shaft is coaxial with the horizontal rotation shaft 1112. The rotation of the third motor 1123 is transmitted to the third link 1103 via a cable rotary-linear motion conversion mechanism, causing the third link 1103 to move forward and backward along the linear motion shaft 1113.

[0068] 12 and 13 , this cable rotary-linear transmission mechanism comprises an input capstan 1133 coaxially fixed to the output shaft of the third motor 1123, and a linear guide 1143 that supports the third link 1103 so that it can reciprocate with low friction along the longitudinal direction of the second link 1102. A pair of cables 1153a and 1153b are wound around the input capstan 1133 in opposite directions, and the other end of one cable 1153a extends directly toward the distal end and is fixed at its terminal end on the upper surface side of the third link 1103. By rotating the third motor 1123 and winding the cable 1153a around the input capstan 1133 and pulling it, the third link 1103 retreats in the direction of the linear shaft 1113. Furthermore, the other cable 1153b folds back toward the bottom at the rear end of the third link 1103, wraps around the bottom, then extends toward the distal end and has its terminal end fixed on the bottom side of the third link 1103. By rotating the third motor 1123 in the reverse direction and winding the cable 1153b around the input capstan 1133 and pulling it, the third link 1103 moves forward in the direction of the linear shaft 1113. In other words, when the third motor 1123 rotates in a certain direction, one cable 1153a is pulled, causing the third link 1103 to move backward along the linear shaft 1113, and when the third motor 1123 rotates in the opposite direction, the other cable 1153b is pulled, causing the third link 1103 to move forward.

[0069] The structure in which a cable rotary-to-linear motion conversion mechanism is arranged to drive the third link 1103 attached via the linear guide 1143 in the interface device 100 is novel and has an extremely simple structure, which contributes to improved rigidity, weight reduction, and cost reduction.

[0070] Furthermore, the main feature of interface device 1100 is that a cable reduction mechanism adapted to a perpendicular intersecting axis is used to drive the second axis, thereby realizing a structure in which second motor 1122 is disposed inside base unit 1110 together with first motor 1121. This feature enables interface device 1100 to achieve an even lighter feel when operated compared to interface device 200 described in section C above.

[0071] As explained in Section C-4 above, interface device 1100 has stylus 1104 attached to the distal end of third link 1103 via universal joint 1114, and presents a reaction force to the user's hand via stylus 1104. It should also be understood that the modifications explained in Section C-4 above and the features of the interface device explained in Section C-5 above also apply to this interface device 1100.

[0072] The interface device 200 (as well as the interface device 1100) according to the present disclosure can be applied to a haptic device for operating a virtual space. Examples of the virtual space referred to here include a surgical simulator, a metaverse space, a game, and a 3D CAD.

[0073] FIG. 14 shows the external appearance of an operation console device 1400, which is configured by arranging two interface devices 200L and 200R side by side for each hand of the user. Both the interface devices 200L and 200R are equipped with angle sensors such as encoders on each axis, enabling position detection and positioning control of the stylus at the distal end. As shown in FIG. 14, the user can hold the stylus 204L and 204R of each interface device 200L and 200R in each hand to perform operations in the virtual space. In this case, the user can be provided with a light and natural operating feel that makes the interface devices 200L and 200R seem insignificant.

[0074] In the interface devices 200L and 200R, the third link 203 extends straight and long from the device body, making it less susceptible to environmental disturbances during operation and compatible with a variety of display devices. Fig. 15 shows the appearance of an operation console device 1400 combined with an immersive display device 1501 into which a user peers. Fig. 16 shows the appearance of an operation console device 1400 combined with a glasses-type or goggle-type display device 1601 worn on the user's head. Fig. 17 shows the appearance of an operation console device 1400 combined with a naked-eye display 1701. The naked-eye display 1701 is a display device that can present a stereoscopic image to a user with naked eyes (see, for example, Patent Document 3).

[0075] 14 to 17, in the interface devices 200L and 200R, the third link 203 extends straight and long from the main body of the operation console device 1400, and these links do not collide or interfere with each other. Therefore, the user can operate the device with both hands close together, as shown in FIGS.

[0076] As described above, the interface devices 200L and 200R have lightweight mechanisms, providing a high operational feel during free motion. The user can obtain a natural operational feel without feeling the presence of the interface devices 200L and 200R, allowing for immersion in the operation using the stylus 204L and 204R. The operational feel is not significantly affected by the inertial force of the mechanism when the stylus 204L and 204R are moved quickly, making it easy for the user to perceive small reaction forces, and reducing fatigue during long-term operation.

[0077] The styluses 204L and 204R may have any shape or structure, but are preferably thin and lightweight so that the user can operate them as if holding a pen. For example, if the interface device 200 is used as a haptic interface for operating in a virtual space, the stylus 204 may have a shape suitable for a handle for operation.

[0078] For example, when the operation console device 1400 is used as a force sense interface for a surgical simulator or as a leader in a leader-follower type surgical support robot system, the styluses 204L and 204R may have shapes that realistically reproduce the corresponding surgical tools, such as scalpels and pliers. The styluses 204L and 204R excel in providing a small reaction force that is easily perceived by the user, and can therefore provide a force sense to the user's hand, ranging from a slight force used to cut tissue with a scalpel to a relatively large force used to pull up the skin.

[0079] FIG. 18 shows the external configuration of a leader-follower type surgery support robot system 1000 that uses an operation console device 1400 as a leader.

[0080] The surgical robot system 1000 includes a console unit 1010, an operation unit 1020, and a robot control device 1030. The surgical robot system 1000 can use an external network. The console unit 1010 and the operation unit 1020 correspond to the leader device and follower device, respectively, in a leader-follower system. The robot control device 1030 links the console unit 110 and the operation unit 120 to achieve leader-follower control.

[0081] An operator such as a doctor or medical professional operates the console unit 1010 to instruct the operation of the surgical support robot system 1000. On the other hand, the operation unit 1020 is equipped with a robot arm equipped with surgical tools required for surgery, and is configured to operate in response to the operation of the console unit 1010 by the operator, and is placed in the operating room near the operating table 1050 on which the patient lies in order to perform surgery on the patient.

[0082] The console unit 1010 is used, for example, when an operator remotely operates the operation unit 120 from a location in an operating room away from the operating table 150 (or outside the operating room). The console unit 1010 includes an operation console device 1400 (or an interface device 200, an interface device 1100) shown in FIG. 14 as an input means for the operator. When an operation command or instruction from the operator is input via the operation console device 1400, the console unit 1010 transmits the operation command to the operation unit 1020 via the robot control device 1030. The operation unit 1020 operates each arm supporting the surgical tools and imaging device in accordance with the operation command received via the robot control device 1030, thereby performing surgery on a patient.

[0083] The display device 1014 displays a 2D or 3D image of the affected area captured by an imaging unit included in the sensor section 1024 on the operation unit 1020 side. In the example shown in Fig. 18, the display device 1014 is an immersive display device into which the operator looks, but it may also be an eyeglass-type or goggle-type display device worn on the operator's head, or a naked-eye display.

[0084] 18, the operation unit 1020 includes a robot arm 1025 made up of an articulated serial link, a sensor unit 1024 such as an imaging unit mounted on the distal end of the robot arm, one or more followers that hold various surgical tools and operate by following the leader, a surgical tool exchange unit that exchanges the surgical tools attached to the followers, etc. The operation unit 1020 further includes a communication device that can communicate various information with the robot control device 1030.

[0085] 18 , the robot control device 1030 has an external structure that is physically integrated with the operation unit 1020. The robot control device 1030 is configured as a single physical unit (i.e., a single housing) in which the control devices for the console unit 1010, the operation unit 1020, and the imaging unit are all physically integrated. The bottom of the housing of the robot control device 1030 is provided with multiple (e.g., four) wheeled legs as a means of transportation. Therefore, an operator or an assistant can manually push the housing of the robot control device 1030 and the operation unit 1020 to move them in and out of the operating room.

[0086] FIG. 19 schematically illustrates the functional configuration of the surgical support robot system 1000. For simplicity, the robot control device 1030 is not illustrated in FIG. 19 . The functions of the robot control device 1030 are realized by either the console unit 1010 or the operation unit 1020 (or by the cooperative operation of both units). An operator such as a surgeon operates the reader 1012 (operation console device 1400) on the console unit 1010 side, and on the operation unit 1020 side installed in the operating room, surgery can be performed by controlling the drive of the follower 1022 that holds the surgical tool according to the operator's operation of the leader. The surgical tool referred to here is, for example, a medical instrument such as a forceps, an insufflation tube, an energy treatment instrument, a suction device, or a retractor.

[0087] The console unit 1010 includes a reader-side control unit 1011, a reader 1012, a reader-side communication unit 1013, and a display device 1014. The console unit 1010 operates under the overall control of the reader-side control unit 1011.

[0088] The reader 1012 is configured using the operation console device 1400 shown in Fig. 14 and is capable of performing input operations and force feedback in a three-axis polar coordinate system. A user (such as a surgeon) can remotely control or perform 3D operations on a screen with respect to a follower 1022 that carries a surgical tool such as forceps in the operation unit 1020. Using the reader 1012, it is possible to perform, for example, operations with three translational degrees of freedom for translating the surgical tool, three rotational degrees of freedom for changing the posture of the surgical tool, and one degree of freedom for grasping, such as opening and closing the forceps.

[0089] The display device 1014 presents information about the surgery being performed in the operation unit 1020 to the operator of the reader 1022, mainly based on sensor information acquired by a sensor unit 1024 (described later) on the operation unit 1020 side.

[0090] For example, if the sensor section 1024 on the operation unit 1020 side is equipped with an imaging unit that observes the surface of the affected area from above, or an endoscope for laparoscopic or coloscopic surgery held by the follower 1022, or is equipped with an interface that captures images from these cameras, and this image data is transferred with low latency to the console unit 1010 via the transmission path 1031, the display device 1014 displays the captured image of the affected area on the screen in real time.

[0091] Furthermore, when the sensor unit 1024 is equipped with a function for measuring forces such as external forces and moments acting on the surgical tool carried by the follower 1022, and such force sense information is transferred with low latency to the console unit 1010 via the transmission path 1031, a reaction force can be presented to the operator by the force sense presentation function incorporated in the operation console device 1400. Specifically, the reaction force is presented to the operator by driving the first to third motors of the interface device 200 (or 1100) used in the operation console device 1400.

[0092] The reader-side communication unit 1013 performs processing for transmitting and receiving signals to and from the operation unit 1020 via the transmission path 1031 under the control of the reader-side control unit 1011. For example, if the transmission path 1031 is made of optical fiber, the reader-side communication unit 1013 includes an electrical-to-optical converter that converts electrical signals sent from the console unit 1010 into optical signals, and an optical-to-electrical converter that converts optical signals received from the transmission path 1031 into electrical signals. The reader-side communication unit 1013 transfers operation commands for the follower 1022, which are input by the operator via the console unit 1010, to the operation unit 1020 via the transmission path 1031. The reader-side communication unit 1013 also receives sensor information sent from the operation unit 1020 via the transmission path 1031.

[0093] On the other hand, the operation unit 1020 includes a follower-side control unit 1021, a follower 1022, a sensor unit 1024, and a follower-side communication unit 1024. The operation unit 1020 operates in accordance with instructions from the console unit 1010 under the overall control of the follower-side control unit 1021.

[0094] The follower 1022 is, for example, a robot arm having a multi-joint link structure, and is equipped with a surgical tool or an observation device as an end effector at its tip (or distal end). Examples of the surgical tool include forceps, an insufflation tube, an energy treatment device, a surgeon, and a retractor. Examples of the observation device include an endoscope. The follower-side control unit 1021 interprets operation commands sent from the console unit 1010 via the transmission path 1031, converts the commands into drive signals for actuators that drive each joint of the follower 1022, and outputs the signals. The follower 1022 then operates based on the drive signals from the follower-side control unit 1021.

[0095] The sensor unit 1024 is equipped with a plurality of sensors that detect the status of the affected area during surgery performed by the follower 1022, and is further equipped with an interface for acquiring sensor information from various sensor devices installed in the operating room. The sensor unit 1024 also has a force torque sensor (FTS) for measuring external forces and moments acting on a surgical tool mounted on the tip (distal end) of the follower 1022. The sensor unit 1024 is also equipped with an observation device such as an imaging unit that observes the surface of the affected area during surgery by the follower 1022, an RGB camera that captures microscopic images, or an endoscope for laparoscopic or coloscopic surgery, or an interface for acquiring images captured by these cameras.

[0096] The follower-side communication unit 1024 performs processing for transmitting and receiving signals to and from the console unit 1010 via the transmission path 1031 under the control of the follower-side control unit 1021. For example, if the transmission path 1031 is made of optical fiber, the follower-side communication unit 1024 includes an electrical-to-optical conversion unit that converts an electrical signal sent from the operation unit 1020 into an optical signal, and an optical-to-electrical conversion unit that converts an optical signal received from the transmission path 1031 into an electrical signal.

[0097] The follower-side communication unit 1024 transfers force data of the surgical tool acquired by the sensor unit 1024 and captured images of the imaging unit, endoscope, etc. to the console unit 1010 (operation console device 1400) via the transmission path 1031. In addition, the follower-side communication unit 1024 receives operation commands for the follower 1022 sent from the console unit 1010 via the transmission path 1031.

[0098] On the console unit 1010 side, operation commands for remotely operating the follower 1022 are input via the reader 1012 (operation console device 1400). The operation commands include panning and tilting of the robot arm serving as the follower 1022, and the operation of the surgical tool held by the follower 1022.

[0099] The follower-side control unit 1021 performs drive control so as to realize the operation of the follower 1022 in accordance with the received operation command.

[0100] The present disclosure has been described in detail above with reference to specific embodiments. However, the present disclosure should not be construed as being limited to the above-described embodiments, and it is obvious that those skilled in the art can modify or substitute the embodiments without departing from the spirit of the present disclosure. Furthermore, the effects described in this specification are merely examples, and the effects brought about by the present disclosure are not limited thereto, and additional effects not described in this specification may exist.

[0101] The interface device according to the present disclosure has a wide range of applications. For example, the interface device according to the present disclosure can be used as a haptic interface for operating virtual spaces (e.g., surgical simulators, metaverse spaces, games, 3D CAD, etc.). Furthermore, by equipping each axis with an angle sensor such as an encoder, the interface device according to the present disclosure is capable of position detection and positioning control. Therefore, the interface device according to the present disclosure can be used as a controller for operating remote robots (e.g., surgical robots, service robots, industrial robots, etc.), for robot teaching (e.g., teaching picking tasks using an input device), a three-axis manipulator, etc.

[0102] In short, the present disclosure has been described in the form of examples, and the contents of the specification should not be interpreted as limiting. To determine the gist of the present disclosure, the claims should be taken into consideration.

[0103] The present disclosure may also be configured as follows.

[0104] (1) An interface device including at least an N-th link that rotates around a predetermined rotation axis (N is a positive integer), and a linear axis along which an (N+1)-th link moves linearly relative to the N-th link.

[0105] (2) The interface device according to (1), wherein the rotation axis is a horizontal rotation axis that intersects with the linear axis.

[0106] (3) The interface device according to (2) above, further comprising: an (N+1)th rotary motor that generates power for linearly moving the (N+1)th link; a rotary-linear motion conversion unit that converts the rotary motion of the (N+1)th rotary motor into linear motion of the (N+1)th link; an Nth rotary motor that generates power for rotationally moving the Nth link; and an Nth transmission unit that transmits the rotary motion of the Nth rotary motor to the horizontal rotation shaft.

[0107] (4) The interface device according to (3), wherein the rotation axis of the (N+1)th rotation motor is disposed on the horizontal rotation axis.

[0108] (5) The interface device according to any one of (3) or (4), wherein the Nth transmission unit transmits the rotation of the Nth rotary motor to the Nth link using a cable.

[0109] (6) The interface device according to any one of (3) to (5), wherein the rotary-linear motion conversion unit pulls the (N+1)th link in the linear motion axis direction using a cable wound around the output shaft of the (N+1)th rotary motor.

[0110] (7) The interface device according to any one of (3) to (6), wherein the (N+1)th link is attached to the Nth link via a linear guide.

[0111] (8) The interface device according to any one of (3) to (7) above, further comprising an (N-1)th link supporting the Nth link via the horizontal rotation shaft.

[0112] (9) The interface device according to (8), wherein the (N-1)th link rotates around a vertical rotation axis passing through the horizontal rotation axis.

[0113] (10) The interface device according to (9) above, further comprising: an (N-1)th rotary motor that generates power for rotating the (N-1)th link; and an (N-1)th transmission unit that transmits the rotational motion of the (N-1)th rotary motor to the horizontal rotation shaft.

[0114] (11) The interface device according to (10), wherein the (N-1)th transmission unit transmits the rotation of the (N-1)th rotary motor to the (N-1)th link using a cable.

[0115] (12) The interface device according to any one of (10) or (11), wherein the (N+1)th rotary motor is installed on the (N-1)th link.

[0116] (13) The interface device according to any one of (10) to (12), wherein the N-th rotary motor is installed in the (N-1)-th link.

[0117] (14) The interface device according to any one of (10) to (13), wherein the (N-1)th motor, the Nth motor, and the (N+1)th motor each include an encoder that measures the rotation angle of an output shaft.

[0118] (15) The interface device according to any one of (10) to (14), wherein at least one of the (N-1)th motor, the Nth motor, and the (N+1)th motor includes a brake mechanism.

[0119] (16) A surgical support robot system comprising: an operation unit including one or more followers to which surgical tools are attached; a console unit including one or more readers operated by an operator; a display device that displays captured images of the affected area of ​​a patient undergoing surgery with the surgical tools; and a control device that controls the operation of the followers in response to the operation of the readers, wherein at least one of the readers includes an interface device according to any one of claims 1 to 15.

[0120] DESCRIPTION OF SYMBOLS 100...Interface device, 101...First link, 102...Second link, 103...Third link, 104...Stylus, 111...First joint section, 112...Second joint section, 113...Third joint section, 114...Fourth joint section, 200...Interface device, 201...First link, 202...Second link, 203...Third link, 204...Stylus, 210...Base unit, 211...Vertical rotation shaft, 212...Horizontal rotation shaft, 213...Linear motion shaft, 214...Universal joint, 221...First motor, 222...Second motor, 223...Third motor, 231...Input capstan (vertical rotation shaft), 232...Input capstan (horizontal rotation shaft), 233...Input capstan (linear motion shaft), 241...Output capstan (vertical rotation shaft), 242...Output capstan (horizontal rotation axis), 243...Linear guide 251a, 251b...Cable (vertical rotation axis) 252a, 252b...Cable (horizontal rotation axis) 253a, 253b...Cable (linear axis) 1000...Surgery support robot system, 1010...Console unit 1011...Leader side control unit, 1012...Leader 1013...Leader side communication unit, 1014...Display device 1020...Operation unit, 1021...Follower side control unit 1022...Follower, 1023...Follower side communication unit 1024...Sensor unit, 1025...Robot arm 1030...Robot control device, 1031...Transmission path, 1050...Surgical table 1100...Interface device, 1101...First link 1102...Second link, 1103...Third link 1104...Stylus, 1110...Base unit 1111...Vertical rotation axis, 1112...Horizontal rotation axis 1113...Linear motion axis, 1114...Universal joint 1121...First motor, 1122...Second motor, 1123...Third motor 1131...Input capstan (vertical rotation axis) 1132...Input capstan (horizontal rotation axis) 1133...Input capstan (linear motion axis) 1141...Output capstan (vertical rotation axis) 1142...Output capstan (horizontal rotation axis), 1143...Linear guide 1151a, 1151b...Cable (vertical rotation axis) 1152a, 1152b...Cable (horizontal rotation axis) 1153a, 1153b...Cable (linear motion axis) 1400...Operation console device1501...Display device (immersive type) 1601...Display device (glasses type or goggle type) 1701...Display device (naked-eye display)

Claims

1. An interface device including at least an Nth link that rotates around a predetermined rotation axis (where N is a positive integer), and a linear axis along which the (N+1)th link moves linearly relative to the Nth link.

2. The interface device according to claim 1, wherein the rotation axis is a horizontal rotation axis that intersects with the linear axis.

3. The interface device of claim 2, further comprising: an (N+1)th rotary motor that generates power for linearly moving the (N+1)th link; a rotary-linear motion conversion unit that converts the rotary motion of the (N+1)th rotary motor into linear motion of the (N+1)th link; an Nth rotary motor that generates power for rotationally moving the Nth link; and an Nth transmission unit that transmits the rotary motion of the Nth rotary motor to the horizontal rotation shaft.

4. The interface device according to claim 3, wherein the rotation axis of the (N+1)th rotation motor is disposed on the horizontal rotation axis.

5. The interface device according to claim 3, wherein the Nth transmission unit transmits the rotation of the Nth rotary motor to the Nth link using a cable.

6. The interface device according to claim 3, wherein the rotary-linear motion conversion unit pulls the (N+1)th link in the linear motion axis direction using a cable wound around the output shaft of the (N+1)th rotary motor.

7. The interface device according to claim 3, wherein the (N+1)th link is attached to the Nth link via a linear guide.

8. The interface device of claim 3, further comprising an (N-1)th link supporting the Nth link via the horizontal rotation axis.

9. The interface device according to claim 8, wherein the (N-1)th link rotates about a vertical rotation axis passing through the horizontal rotation axis.

10. The interface device according to claim 9, further comprising: an (N-1)th rotary motor that generates power for rotating the (N-1)th link; and an (N-1)th transmission unit that transmits the rotational motion of the (N-1)th rotary motor to the horizontal rotation shaft.

11. The interface device according to claim 10, wherein the (N-1)th transmission unit transmits the rotation of the (N-1)th rotary motor to the (N-1)th link using a cable.

12. The interface device according to claim 10, wherein the (N+1)th rotary motor is installed on the (N-1)th link.

13. The interface device according to claim 10, wherein the Nth rotary motor is installed on the (N-1)th link.

14. The interface device according to claim 10, wherein the (N-1)th motor, the Nth motor, and the (N+1)th motor each include an encoder that measures the rotation angle of an output shaft.

15. The interface device according to claim 10, wherein at least one of the (N-1)th motor, the Nth motor, and the (N+1)th motor includes a brake mechanism.

16. A surgical support robot system comprising: an operation unit including one or more followers to which surgical tools are attached; a console unit including one or more readers operated by an operator; a display device that displays captured images of the affected area of ​​a patient undergoing surgery with the surgical tools; and a control device that controls the operation of the followers in response to the operation of the readers, wherein at least one of the readers includes an interface device described in any one of claims 1 to 15.

Images