Patent Application
20220387120
The present application claims priority to JP2021-096094, which is incorporated herein by reference.
The present disclosure relates to a robotic surgical system, an operator-side apparatus, and a control method of a robotic surgical system, and more particularly, it relates to a robotic surgical system and an operator-side apparatus each including an operation unit to receive an operator's operation, and a control method of the robotic surgical system.
Conventionally, a robotic surgical system including an operation unit to receive an operator's operation is known. For example, a technology that controls movement of a surgical instrument provided on an articulated robot arm as a slave based on the amount of operation received by an operation unit provided in a master control device is disclosed in U.S. Patent Application Publication No. 2004/0243110. In U.S. Patent Application Publication No. 2004/0243110, a tool moves within the patient's body, which is a surgical site.
In U.S. Patent Application Publication No. 2004/0243110, the operation unit provided in the master control device includes an articulated arm including a plurality of links. The articulated arm is suspended from above while being bent in an L shape. Furthermore, the articulated arm includes a motor. Thus, even when an operator does not support the operation unit by hand, the torque of the motor is generated so as to resist the gravity such that the L-shaped bent state of the articulated arm is maintained.
In U.S. Patent Application Publication No. 2004/0243110, the motor generates a force according to an operation speed at which the operator operates the operation unit so as to compensate for the frictional force of a gear or the like provided between the motor and the master control device. Thus, it is possible to lighten an operator's operation on the operation unit.
However, as in the U.S. Patent Application Publication No. 2004/0243110, when generation of the force in the motor of the articulated arm assists in lightening the operation on the operation unit, the operation unit may not be stopped at an appropriate position intended by the operator. Therefore, it is desired to stop the operation unit of the master control device at the appropriate position.
The present disclosure is intended to solve the above problem. The present disclosure aims to provide a robotic surgical system, an operator-side apparatus, and a control method of a robotic surgical system each capable of stopping an operation unit of the operator-side apparatus at an appropriate position.
In order to attain the aforementioned object, a robotic surgical system according to a first aspect of the present disclosure includes a patient-side apparatus including a manipulator arm to which a surgical instrument is attached to a tip end of the manipulator arm, an operator-side apparatus including an operation unit to receive an operation of an operator, and a controller. The operation unit includes a drive to assist the operation, and the controller is configured or programmed to control the drive to exert a braking force when the operation on the operation unit is decelerated and/or accelerated.
In the robotic surgical system according to the first aspect of the present disclosure, as described above, the operation unit includes the drive to assist the operation, and the controller is configured or programmed to control the drive to exert the braking force when the operation on the operation unit is decelerated and/or accelerated. Accordingly, the braking force is exerted during deceleration such that overshoot caused by the inertia of the operation unit when an operator tries to stop the operation unit suddenly is significantly reduced or prevented. Furthermore, the braking force is exerted during acceleration such that movement of the operation unit due to a reaction caused when the operation unit is suddenly stopped, for example, is significantly reduced or prevented. Thus, the operation unit of the operator-side apparatus can be stopped at an appropriate position. The overshoot indicates that the operation unit overshoots the appropriate stop position.
An operator-side apparatus according to a second aspect of the present disclosure operates a patient-side apparatus including a manipulator arm to which a surgical instrument is attached to a tip end of the manipulator arm, and includes the operator-side apparatus including an operation unit to receive an operation of an operator, and a controller. The operation unit includes a drive to assist the operation, and the controller is configured or programmed to control the drive to exert a braking force when the operation on the operation unit is decelerated and/or accelerated.
In the operator-side apparatus according to the second aspect of the present disclosure, as described above, the operation unit includes the drive to assist the operation, and the controller is configured or programmed to control the drive to exert the braking force when the operation on the operation unit is decelerated and/or accelerated. Accordingly, the braking force is exerted during deceleration such that overshoot caused by the inertia of the operation unit when an operator tries to stop the operation unit suddenly is significantly reduced or prevented. Furthermore, the braking force is exerted during acceleration such that movement of the operation unit due to a reaction caused when the operation unit is suddenly stopped, for example, is significantly reduced or prevented. Thus, it is possible to provide the operator-side apparatus capable of being stopped at an appropriate position.
A control method of a robotic surgical system including a patient-side apparatus that includes a manipulator arm to which a surgical instrument is attached to a tip end of the manipulator arm and an operator-side apparatus that includes an operation unit to receive an operation of an operator, which includes a drive to assist the operation, according to a third aspect of the present disclosure includes receiving the operation on the operation unit, and controlling the drive to exert a braking force when the operation on the operation unit is decelerated and/or accelerated.
As described above, the control method of the robotic surgical system according to the third aspect of the present disclosure includes controlling the drive to exert the braking force when the operation on the operation unit is decelerated and/or accelerated. Accordingly, the braking force is exerted during deceleration such that overshoot caused by the inertia of the operation unit when an operator tries to stop the operation unit suddenly is significantly reduced or prevented. Furthermore, the braking force is exerted during acceleration such that movement of the operation unit due to a reaction caused when the operation unit is suddenly stopped, for example, is significantly reduced or prevented. Thus, it is possible to provide the control method of the robotic surgical system capable of stopping the operation unit of the operator-side apparatus at an appropriate position.
According to the present disclosure, the operation unit of the operator-side apparatus can be stopped at the appropriate position.
The foregoing and other objects, features, aspects and advantages of the present disclosure will become more apparent from the following detailed description of the present disclosure when taken in conjunction with the accompanying drawings.
Embodiments of the present disclosure are hereinafter described with reference to the drawings.
The configuration of a surgical system 100 according to a first embodiment is now described with reference to
The remote control apparatus 2 is arranged inside or outside the operating room, for example. The remote control apparatus 2 includes an operation unit 120 including arms 121 shown in
As shown in
The operation unit 120 includes the substantially L-shaped arms 121. The arms 121 each have a first link 121a, a second link 121b, and a third link 121c. The upper end side of the first link 121a is attached to a main body of the remote control apparatus 2 such that the first link 121a is rotatable about an A1 axis along a vertical direction. The upper end side of the second link 121b is attached to the lower end side of the first link 121a such that the second link 121b is rotatable about an A2 axis along a horizontal direction. A first end side of the third link 121c is attached to the lower end side of the second link 121b such that the third link 121c is rotatable about an A3 axis along the horizontal direction. The operation handle 21 is attached to a second end side of the third link 121c such that the operation handle 21 is rotatable about an A4 axis.
The arms 121 each support the operation handle 21 such that the operation handle 21 is movable within a predetermined three-dimensional operation range. Specifically, the arm 121 supports the operation handle 21 such that the operation handle 21 is movable in an upward-downward direction, a right-left direction, and a forward-rearward direction. Manipulator arms 60 are moved three-dimensionally so as to correspond to the three-dimensional operations of the arms 121.
The operation handle 21 operates a surgical instrument 4. Furthermore, the operation handle 21 receives an operation amount for the surgical instrument 4. The operation handle 21 includes an operation handle 21L located on the left side as viewed from the operator such as a doctor and operated by the operator's left hand, and an operation handle 21R located on the right side and operated by the operator's right hand.
As shown in
In the operation handle 21, the movement amounts of the manipulator arms 60 and the surgical instrument 4 are changed with respect to an operation amount received by the operation handle 21. This change is called scaling. For example, when the scale factor of the movement amounts is set to ½ times, the surgical instrument 4 is controlled to move ½ of the movement distance of the operation handle 21. Thus, fine surgery can be performed accurately.
As shown in
The switching pedal 22a switches a manipulator arm 60 to be operated by the operation handle 21. In the first embodiment, the clutch pedal 22b performs a clutch operation to temporarily disconnect an operation connection between the manipulator arm 60 and the operation handle 21. While the clutch pedal 22b is being pressed by the operator, an operation by the operation handle 21 is not transmitted to the manipulator arms 60. While the camera pedal 22c is being pressed by the operator, the operation handle 21 can operate a manipulator arm 60 to which an endoscope 6 is attached. While the incision pedal 22d or the coagulation pedal 22e is being pressed by the operator, an electrosurgical device (not shown) is activated.
As shown in
The medical cart 3 includes a controller 31 that controls the operation of the medical manipulator 1 and a storage 32 that stores programs or the like to control the operation of the medical manipulator 1. The controller 31 of the medical cart 3 controls the operation of the medical manipulator 1 based on the command input to the remote control apparatus 2.
The medical cart 3 includes an input 33. The input 33 receives operations to move a positioner 40, an arm base 50, and a plurality of manipulator arms 60 or change their postures mainly in order to prepare for surgery before the surgery.
The medical manipulator 1 shown in
The positioner 40 includes a 7-axis articulated robot, for example. The positioner 40 is arranged on the medical cart 3. The positioner 40 moves the arm base 50. Specifically, the positioner 40 moves the position of the arm base 50 three-dimensionally.
The positioner 40 includes a base 41 and a plurality of links 42 coupled to the base 41. The plurality of links 42 are coupled to each other by joints 43.
As shown in
As shown in
As shown in
The pair of forceps 4b is attached to the first support 4e so as to rotate about the JT11 axis. The second support 4f supports the first support 4e such that the first support 4e is rotatable about the JT10 axis. That is, the first support 4e is attached to the second support 4f so as to rotate about the JT10 axis. A portion of the first support 4e on the Z1 direction side, which is the tip end side, has a U-shape. TCP1 is set as a tool center point at the center of the tip end of the U-shaped portion of the first support 4e in the JT11 axis.
The pair of forceps 4b as the surgical instrument 4 includes a JT9 axis as a rotation axis of the shaft 4c and a JT12 axis as an opening/closing axis of the pair of forceps 4b. The rotation axis of the shaft 4c is an axis along the direction in which the shaft 4c extends. A plurality of servomotors M2 are provided in the holder 71 of the manipulator arm 60, and rotary bodies of the driven unit 4a are driven by the plurality of servomotors M2. Thus, the surgical instrument 4 is driven around the JT9 axis to the JT12 axis. For example, four servomotors M2 are provided.
As shown in
The configuration of the manipulator arms 60 is now described in detail.
As shown in
As shown in
The translation mechanism 70 is provided at the tip end of the arm portion 61, and the surgical instrument 4 is attached thereto. The translation mechanism 70 translates the surgical instrument 4 in a direction in which the surgical instrument 4 is inserted into the patient P. Furthermore, the translation mechanism 70 translates the surgical instrument 4 relative to the arm portion 61. Specifically, the translation mechanism 70 includes the holder 71 that holds the surgical instrument 4. The servomotors M2 shown in
As shown in
The switch unit 83 includes a switch 83a to move the surgical instrument 4 in the direction in which the surgical instrument 4 is inserted into the patient P, along the longitudinal direction of the surgical instrument 4, and a switch 83b to move the surgical instrument 4 in a direction opposite to the direction in which the surgical instrument 4 is inserted into the patient P. Both the switch 83a and the switch 83b are push-button switches.
As shown in
As shown in
As shown in
As shown in
The mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been taught.
As shown in
As shown in
As shown in
The positioner 40 includes a plurality of servomotors M4, encoders E4, and speed reducers (not shown) so as to correspond to a plurality of joints 43 of the positioner 40. The encoders E4 detect the rotation angles of the servomotors M4. The speed reducers slow down rotation of the servomotors M4 to increase the torques.
The medical cart 3 includes servomotors M5 to drive a plurality of front wheels of the medical cart 3, respectively, encoders E5, and speed reducers. The encoders E5 detect the rotation angles of the servomotors M5. The speed reducers slow down rotation of the servomotors M5 to increase the torques.
The controller 31 of the medical cart 3 includes an arm controller 31a to control movement of the plurality of manipulator arms 60 based on commands, and a positioner controller 31b to control movement of the positioner 40 and driving of the front wheels of the medical cart 3 based on commands. Servo controllers C1 that controls the servomotors M1 to drive the manipulator arm 60 are electrically connected to the arm controller 31a. The encoders E1 that detect the rotation angles of the servomotors M1 are electrically connected to the servo controllers C1.
Servo controllers C2 that control the servomotors M2 to drive the surgical instrument 4 are electrically connected to the arm controller 31a. The encoders E2 that detect the rotation angles of the servomotors M2 are electrically connected to the servo controllers C2. A servo controller C3 that controls the servomotor M3 to translate the translation mechanism 70 is electrically connected to the arm controller 31a. The encoder E3 that detects the rotation angle of the servomotor M3 is electrically connected to the servo controller C3.
An operation command input to the remote control apparatus 2 is input to the arm controller 31a. The arm controller 31a generates position commands based on the input operation command and the rotation angles detected by the encoders E1 to E3, and outputs the position commands to the servo controllers C1 to C3. The servo controllers C1 to C3 generate torque commands based on the position commands input from the arm controller 31a and the rotation angles detected by the encoders E1 to E3, and output the torque commands to the servomotors M1 to M3. Thus, the manipulator arm 60 is moved according to the operation command input to the remote control apparatus 2.
As shown in
The arm controller 31a of the controller 31 operates the manipulator arm 60 based on an input signal from the switch unit 83 of the arm operation unit 80. Specifically, the arm controller 31a generates a position command based on an operation command, which is the input signal input from the switch unit 83, and the rotation angle detected by the encoders E1 or the encoder E3, and outputs the position command to the servo controllers C1 or the servo controller C3. The servo controllers C1 or the servo controller C3 generates a torque command based on the position command input from the arm controller 31a and the rotation angle detected by the encoders E1 or the encoder E3, and outputs the torque command to the servomotors Ml or the servomotor M3. Thus, the manipulator arm 60 is moved according to the operation command input to the switch unit 83.
As shown in
An operation command related to setting a preparation position, for example, is input from the input 33 to the positioner controller 31b. The positioner controller 31b generates position commands based on the operation command input from the input 33 and the rotation angles detected by the encoders E4, and outputs the position commands to the servo controllers C4. The servo controllers C4 generate torque commands based on the position commands input from the positioner controller 31b and the rotation angles detected by the encoders E4, and output the torque commands to the servomotors M4. Thus, the positioner 40 is moved according to the operation command input to the input 33. Similarly, the positioner controller 31b moves the medical cart 3 based on an operation command from the input 33.
As shown in
The controller 110 controls the servomotors M6a to M6g to generate torques that cancel gravitational torques generated on the rotation axes A1 to A7 of the servomotors M6a to M6g according to the posture of the operation unit 120. Thus, the operator can operate the operation unit 120 with a relatively small force.
The controller 110 generates torques on the rotation axes A1 to A7 of the servomotors M6a to M6g according to an operation on the operation unit 120, and controls the servomotors M6a to M6g to assist the operation of the operator. Thus, the operator can operate the operation unit 120 with a relatively small force.
In the first embodiment, the controller 110 controls the servomotors to exert a braking force when an operation on the operation unit 120 is decelerated and/or accelerated. Specifically, as shown in
Specifically, as shown in
In the first embodiment, the controller 110 determines the braking parameters τ of the servomotors M6a, M6b, and M6c according to the operation speed at which the operation unit 120 is operated, and controls the servomotors M6a, M6b, and M6c to exert a braking force using the determined braking parameters τ. In the following description, rotation to a first side about each of the axes of A1, A2, and A3 is defined as rotation in a positive direction, and rotation to a second side is defined as rotation in a negative direction.
In the first embodiment, as shown in
The negative operation speed ω indicates that the servomotor rotates in a reverse direction.
When the operation speed ω is between the threshold ωa1 and the threshold ωa1, the braking parameter τ increases linearly. When the operation speed ω is between the threshold ωa2 and the threshold ωa3, the braking parameter τ decreases linearly. When the operation speed ω is between the threshold −ωa2 and the threshold −ωa3, the braking parameter τ increases linearly. When the operation speed ω is 0, the braking parameter τ is 0.
In the first embodiment, as shown in
Specifically, when the operation speed ω is between the threshold ωb and 0, the braking parameter τ decreases linearly. When the operation speed ω is between the threshold −ωb and 0, the braking parameter τ increases linearly. When the operation speed ω is 0, the braking parameter τ is 0.
In the first embodiment, the controller 110 increases the maximum of the absolute value of the braking parameter τb during deceleration of the operation to greater than the maximum of the absolute value of the braking parameter τa during acceleration of the operation. For example, in the first embodiment, as shown in
In the first embodiment, as shown in
In the first embodiment, as shown in
A control flow of the surgical system 100 is now described with reference to
In step S1, an operation on the operation unit 120 is received. Thus, an operation speed ω corresponding to the received operation is input to the controller 110.
In step S2, the controller 110 calculates acceleration from the input operation speed ω. Then, the controller 110 determines whether the current operation corresponds to acceleration or deceleration based on the input operation speed ω and the calculated acceleration. Specifically, when the operation speed ω is positive and the acceleration is positive, it is determined that the current operation is being accelerated. When the operation speed ω is positive and the acceleration is 0, it is determined that the current operation is being accelerated. The acceleration of 0 indicates a constant speed. When the operation speed ω is positive and the acceleration is negative, it is determined that the current operation is being decelerated. When the operation speed ω is 0 and the acceleration is positive, it is determined that the current operation is being accelerated. When the operation speed ω is 0 and the acceleration is 0, it is determined that the current operation is being accelerated. When the operation speed ω is 0 and the acceleration is negative, it is determined that the current operation is being decelerated. When the operation speed ω is negative and the acceleration is positive, it is determined that the current operation is being decelerated. When the operation speed ω is negative and the acceleration is 0, it is determined that the current operation is being decelerated. When the operation speed ω is negative and the acceleration is negative, it is determined that the current operation is being accelerated.
When it is determined in step S2 that the current operation is being accelerated, the process advances to step S3. In step S3, the braking parameter τ for acceleration shown in
When it is determined in step S2 that the current operation is being decelerated, the process advances to step S4. In step S4, the braking parameter τ for deceleration shown in
In step S5, the controller 110 outputs current command values for the servomotors M6a, M6b, and M6c to the servo controllers C6a, C6b, and C6c such that a braking force is exerted using the determined braking parameter τ. The operations in step S2 to step S5 described above are performed in each control cycle of the controller 110, for example.
A braking force acting when the operator tries to stop the operation unit 120 is now described.
First, when the operator tries to stop the operation unit 120, the operation speed ω is decreased. In this case, a braking force during deceleration acts on the operation unit 120. When the operation speed ω becomes equal to or less than the threshold ωb, the braking force decreases as the operation speed ω decreases. Then, the operation unit 120 is stopped. In this manner, the braking force acts during deceleration, and thus overshoot caused by the inertia of the operation unit 120 when the operator tries to stop the operation unit 120 suddenly is significantly reduced or prevented.
Even when the operator tries to make their hand operating the operation unit 120 stationary, their hand may move unintentionally. For example, their hand may move unintentionally due to spasms of the operator's hand muscles or the operator's breathing. When the operation unit 120 advances further than a position at which the operator tries to stop the operation unit 120 due to inertia, the operator may unintentionally try to return the operation unit 120 to a desired position. In such a case, the operation unit 120 is in an accelerated state. During acceleration, a braking force acts so as to increase as the operation speed ω increases such that it is possible to significantly reduce or prevent unintentional movement of the operation unit 120 described above.
According to the first embodiment, the following advantages are achieved.
According to the first embodiment, as described above, the controller 110 is configured or programmed to control the servomotors M6a, M6b, and M6c to exert a braking force when an operation on the operation unit 120 is decelerated and/or accelerated. Accordingly, the braking force is exerted during deceleration such that overshoot caused by the inertia of the operation unit 120 when the operator tries to stop the operation unit 120 suddenly is significantly reduced or prevented. Furthermore, the braking force is exerted during acceleration such that movement of the operation unit 120 due to a reaction caused when the operation unit 120 is suddenly stopped, for example, is significantly reduced or prevented. Thus, the operation unit 120 of the remote control apparatus 2 can be stopped at an appropriate position.
According to the first embodiment, as described above, the controller 110 is configured or programmed to determine the braking parameters τ of the servomotors M6a, M6b, and M6c according to the operation speed at which the operation unit 120 is operated, and to control the servomotors M6a, M6b, and M6c to exert a braking force using the determined braking parameter τ. Accordingly, the braking parameter τ is adjusted such that the braking force can be appropriately exerted.
According to the first embodiment, as described above, the controller 110 is configured or programmed to, when the operation is decelerated, maintain the braking parameter τ constant when the operation speed ω is greater than the threshold ωb, and decrease the braking parameter τ as the operation speed ω decreases when the operation speed ω is equal to or less than the threshold ωb. Furthermore, the controller 110 is configured or programmed to, when the operation is decelerated, maintain the braking parameter τ constant when the operation speed ω is less than the threshold −ωb, and increase the braking parameter τ as the operation speed ω increases when the operation speed ω is equal to or greater than the threshold −ωb. Accordingly, when the operation speed ω is near zero, it is possible to significantly reduce a sense of discomfort in operation due to switching between positive and negative braking parameters τ when the operation speed ω is near zero.
According to the first embodiment, as described above, the controller 110 is configured or programmed to, when the operation is accelerated, increase the braking parameter τ as the operation speed ω increases when the operation speed ω is equal to or less than the threshold ωa1, and increase the braking parameter τ as the operation speed ω increases when the operation speed ω is equal to or greater than the threshold −ωa1. Accordingly, it is possible to significantly reduce a sense of discomfort in operation due to switching between positive and negative braking parameters τ when the operation speed ω is near zero. Furthermore, when the operation speed ω is equal to or greater than the threshold ωa3 or equal to or less than the threshold −ωa3, the braking force becomes zero, and thus the operation at high speed can be lightened.
According to the first embodiment, as described above, the controller 110 is configured or programmed to increase the maximum of the absolute value of the braking parameter τ during deceleration of the operation to greater than the maximum of the absolute value of the braking parameter τ during acceleration of the operation. Accordingly, the braking force becomes relatively large during deceleration, and thus the operation unit 120 can be stopped more quickly.
According to the first embodiment, as described above, the controller 110 is configured or programmed to determine the braking parameter τ based on the table stored in the storage 111 in which the operation speed ω and the braking parameter τ are associated with each other. Accordingly, the controller 110 can easily determine the braking parameter τ by referring to the table stored in the storage 111.
According to the first embodiment, as described above, the surgical system 100 includes the braking parameter selector 23a to receive a selection of the magnitude of the braking parameter τ. Accordingly, the magnitude of the braking force can be adjusted according to the preference of the operator.
According to the first embodiment, as described above, the braking parameter selector 23a is provided in the remote control apparatus 2. Accordingly, the braking parameter selector 23a is arranged in the vicinity of the operator who operates the remote control apparatus 2, and thus the operator can easily operate the braking parameter selector 23a.
According to the first embodiment, as described above, the controller 110 is configured or programmed to perform a control to increase a braking force with respect to the servomotors M6a, M6b, and M6c when the operation on the operation unit 120 is decelerated and/or accelerated. Accordingly, when the surgical instrument 4 is moved by the manipulator arm 60, the operation unit 120 of the remote control apparatus 2 can be stopped at an appropriate position.
A braking parameter τ according to a second embodiment is now described with reference to
In the second embodiment, as shown in
When the operation speed ω is between the threshold value ωc3 and the threshold ωc2 and between the threshold −ωc3 and the threshold −ωc2, the absolute value of the braking parameter τ increases linearly. When the operation speed ω is between the threshold ωc1 and 0 and between the threshold −ωc1 and 0, the absolute value of the braking parameter τ decreases linearly. When the operation speed ω is 0, the braking parameter τ is 0. The braking parameter τ during acceleration according to the second embodiment is similar to the braking parameter τ according to the first embodiment shown in
For example, as shown in
According to the second embodiment, the following advantages are achieved.
According to the second embodiment, as described above, when an operation on the operation unit 120 is decelerated, the difference between the braking parameter τ during deceleration and the braking parameter τ during acceleration is decreased. Accordingly, a sense of discomfort in operation can be reduced. Furthermore, when the operation speed ω is equal to or less than the threshold ωc1, the braking parameter τ is decreased as the operation speed ω decreases, and when the operation speed ω is equal to or greater than the threshold −ωc1, the braking parameter τ is increased as the operation speed ω increases. Thus, it is possible to significantly reduce a sense of discomfort in operation due to switching between positive and negative braking parameters when the operation speed ω is near zero.
The embodiments disclosed this time must be considered as illustrative in all points and not restrictive. The scope of the present disclosure is not shown by the above description of the embodiments but by the scope of claims for patent, and all modifications (modified examples) within the meaning and scope equivalent to the scope of claims for patent are further included.
For example, while when an operation is accelerated, the braking parameter τ is set to zero when the operation speed ω is greater than the threshold ωa3 or less than the threshold −ωa3 in the aforementioned first embodiment, the present disclosure is not limited to this. For example, the braking parameter τ may alternatively be set to a value other than 0 when the operation speed ω is greater than the threshold ωa3 or less than the threshold −ωa3.
While the braking parameter τ becomes constant when the operation speed ω is between the threshold ωa1 and the threshold ωa2 and between the threshold −ωa1 and the threshold −ωa2 in the aforementioned first embodiment, the present disclosure is not limited to this. For example, the braking parameter τ may alternatively be decreased when the operation speed ω becomes greater than the threshold ωa1, and the braking parameter τ may alternatively be increased when the operation speed ω becomes less than the threshold −ωa1.
While the braking parameter τ becomes constant when the operation speed ω is between the threshold ωc1 and the threshold ωc2 and between the threshold −ωc1 and the threshold −ωc2 in the aforementioned second embodiment, the present disclosure is not limited to this. For example, the braking parameter τ may alternatively be decreased when the operation speed ω becomes greater than the threshold ωc1, and the braking parameter τ may alternatively be increased when the operation speed ω becomes less than the threshold −ωc1.
While the maximum of the absolute value of the braking parameter τ during deceleration of the operation is increased to greater than the maximum of the absolute value of the braking parameter τ during acceleration of the operation in each of the aforementioned first and second embodiments, the present disclosure is not limited to this. For example, the maximum of the absolute value of the braking parameter τ during deceleration of the operation may alternatively be the same as the maximum of the absolute value of the braking parameter τ during accelerating of the operation.
While the braking parameter selector 23a is provided in the remote control apparatus 2 in each of the aforementioned first and second embodiments, the present disclosure is not limited to this. For example, the braking parameter selector 23a may alternatively be provided in an apparatus other than the remote control apparatus 2.
While the controller 110 of the remote control apparatus 2 performs a control to exert a braking force in each of the aforementioned first and second embodiments, the present disclosure is not limited to this. For example, a controller other than the controller 110 of the remote control apparatus 2 may alternatively perform a control to exert a braking force.
While a change in the braking parameter τ is the same when the operation speed ω decreases and when the operation speed ω increases in each of the aforementioned first and second embodiments, the present disclosure is not limited to this. For example, the hysteresis as shown in
In each of the aforementioned first and second embodiments, before and after switching of control cycles, the braking parameter τ may not be changed to a predetermined value or more. Thus, it is possible to significantly reduce a sense of discomfort in operation such as vibration due to a large change in the magnitude of the braking parameter τ.
While the four manipulator arms 60 are provided in each of the aforementioned first and second embodiments, the present disclosure is not limited to this. In the present disclosure, the number of manipulator arms 60 may alternatively be any number as long as at least one manipulator arm 60 is provided.
While each of the arm portion 61 and the positioner 40 includes a 7-axis articulated robot in each of the aforementioned first and second embodiments, the present disclosure is not limited to this. For example, each of the arm portion 61 and the positioner 40 may alternatively include an articulated robot having an axis configuration other than the 7-axis articulated robot. The axis configuration other than the 7-axis articulated robot refers to six axes or eight axes, for example.
While the medical manipulator 1 includes the medical cart 3, the positioner 40, and the arm base 50 in each of the aforementioned first and second embodiments, the present disclosure is not limited to this. For example, the medical manipulator 1 may not include the medical cart 3, the positioner 40, or the arm base 50, but may include only the manipulator arms 60.
The functionality of the elements disclosed herein may be implemented using circuitry or processing circuitry that includes general purpose processors, special purpose processors, integrated circuits, application specific integrated circuits (ASICs), conventional circuitry and/or combinations thereof that are configured or programmed to perform the disclosed functionality. Processors are considered processing circuitry or circuitry as they include transistors and other circuitry therein. In the present disclosure, the circuitry, units, or means are hardware that carries out or is programmed to perform the recited functionality. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to carry out the recited functionality. When the hardware is a processor that may be considered a type of circuitry, the circuitry, means, or units are a combination of hardware and software, and the software is used to configure the hardware and/or processor.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-096094 | Jun 2021 | JP | national |
