[0001]The present disclosure relates to clamping force-feedback device and stylus-type force-feedback device.
BACKGROUND
[0002]For example, when performing endoscopic surgery, and medical device is used that allows an approach to the affected area without increasing incision of the patient's body. In such a medical device, the operation device operator such as a doctor (the user) has an input interface and remote control, the robot apparatus having a surgical instrument in accordance with an operation of the surgeon operates, surgery is performed . In such a medical device, the input interface is an important structure as instruments for user operates directly.
[0003]
　Here, as a surgical instrument for use in endoscopic surgery, forceps, 攝子 or as typified by the cutting instrument such as the form of the surgical instrument for holding the affected area with more components (hereinafter, "gripping type surgical instrument also referred to as ".) there is. The gripping type surgical instrument as an input interface for remote control, in order to realize miniaturization or weight reduction, have been used gripped interface using a cam structure. However, in the grip interface using a cam structure, it is difficult to improve gradually changes or is reduction ratio depending on the angle formed by the components such as the cam angle, the smoothness and durability due to the influence of friction between the cam or. Therefore, although there is also a configuration gripping interface for transmitting power with respect to parallel axes using a wire, in such a gripping interface mechanism portion is increased, the grip interface sometimes large.
[0004]
　In contrast, Patent Document 1, configuration of a power transmission mechanism for transmitting power are disclosed with respect to non-parallel axis with the belt. Specifically, a plurality of conical disks, the power input to any of a plurality of conical disks, as a power transmission medium to transmit to another pulley rotation axis are not parallel, is in fan shape expanded into a plane nonparallel axes transmission mechanism using a certain fan belt have been proposed. Further, Patent Document 2, as an interface that can be used in surgery, and a three degrees of freedom and a user interface, force reflecting haptic interface is disclosed. Specifically, the user connections, force reflecting haptic interface configured has been proposed by the configured stylus type device so that the user can grip.
CITATION
Patent Document
[0005]
Patent Document 1: WO 2011/049013 Patent
Patent Document 2: JP-T 2007-510232 Patent Publication
Summary of the Invention
Problems that the Invention is to Solve
[0006]
　However, the power transmission mechanism using a belt as a power transmission medium, for the hardness of the belt itself is hard, there is a risk of generating a large noise when transmitting a very small force. In the case of using a belt as a power transmission medium, in order to increase the speed reduction ratio, it is necessary to increase the cone pulleys, there is a possibility that equipment is increased in size. Is operated by the user, as gripping interface for presenting the force sense gripping force, small gripping interfaces lightweight and smooth operation feeling is obtained is desired.
Means for Solving the Problems
[0007]
　According to the present disclosure, it has an outer peripheral surface formed by a part of the first virtual conical surface, a first rotary member which rotates around the first cone axis, the second virtual conical surface It is formed by a portion having a facing surface that faces the outer circumferential surface of the first rotary member, a second rotary member which rotates around the second cone axis, the second rotary member at both ends It is connected, and a wire center portion wound around the first rotary member and the second rotary member is rotated by rotating the first rotating member, contacts the second rotary member user comprising of a driving unit for presenting the force sense with respect to the finger, a gripping force-feedback device is provided.
[0008]
　Further, according to the present disclosure, a rotary member that rotates along with the gripping operation by the user, with respect to the rotation member, the rotational torque of reverse direction grants to the rotating direction by user's gripping operation, the user and a driving unit for presenting the force sense, stylus-type force-feedback device is provided.
Effect of the invention
[0009]
　According to the present disclosure described above, miniaturized grasping force-feedback device operated by the user, and it is possible to obtain a lightweight and smooth operation feeling.
[0010]
　Incidentally, the above effect is not necessarily restrictive, with the above effects, or instead of the above effects, any effects shown herein, or other effects that may be grasped from the description, it may be achieved.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011]
It is a perspective view showing a medical device according to the embodiment of FIG. 1 the present disclosure.
FIG. 2 is a perspective view showing a gripping force-feedback device according to the embodiment.
3 is a side view of the gripping force-feedback device according to the embodiment.
Is a bottom view of FIG. 4 gripping force-feedback device according to the embodiment.
5 is a top view of the gripping force-feedback device according to the embodiment.
6 is an explanatory view showing an internal structure of the gripping force-feedback device according to the embodiment.
7 is an enlarged explanatory view showing a power transmission unit.
8 is a diagram of the power transmission section looking in the direction of arrow A shown in FIG.
9 is a perspective view of the power transmission unit.
FIG. 10 is an explanatory diagram showing the outer peripheral surface and the facing surface of the rail portion of the pulley.
11 is an explanatory view showing a configuration of a power transmission unit.
It is an explanatory view showing a configuration of a [12] The power transmission unit.
It is an explanatory diagram showing a use state of FIG. 13 gripping force-feedback device.
FIG. 14 is an explanatory diagram showing the operation of the power transmission unit.
FIG. 15 is an explanatory diagram showing the operation of the power transmission unit.
FIG. 16 is an explanatory diagram showing an example of use of a medical apparatus according to the embodiment.
DESCRIPTION OF THE INVENTION
[0012]
　Reference will now be described in detail preferred embodiments of the present disclosure. In the specification and the drawings, components having substantially the same function and structure are a repeated explanation thereof by referring to the figures.
[0013]
　The description will be made in the following order.
　1. Overall structure of the medical devices
　2. Overall structure of the gripping force-feedback device (stylus type force-feedback device)
　3. The power transmission mechanism
　4. Examples of how to use
　　4-1. Remote control of the gripping type surgical instrument
　　4-2. Haptic
　　4-3. Homing
　5. Summary
[0014]
　<1. Overall Configuration> of the medical device
　First, referring to FIG. 1, illustrating a schematic configuration of a medical device 10 having a gripping force-feedback device 100 according to an embodiment of the present disclosure. Figure 1 shows a perspective view of a medical device 10 according to this embodiment. Medical device 10 shown in FIG. 1, along with slave-side robot device (not shown), the master - constitutes a medical robotic system slave mode. Such medical devices 10, to the slave-side robot apparatus, and transmits the operation command by wired or wireless communication means, may be configured to slave-side robot apparatus as a master-side operation input device for remotely operating. Slave-side robot device operated by a medical device 10, forceps, and held at the tip of the gripping type surgical instrument, such as攝子or cutting instrument, it may be a robot apparatus having an arm having, for example, six degrees of freedom. Slave-side robot, the operation command to alter the position and orientation of the grip-type surgical instrument based from the medical device 10, also performs the gripping action by the gripping-type surgical instrument.
[0015]
　The medical device 10 includes a support arm portion 20, a body portion 30, a base portion 40, and a gripping force-feedback device 100. Base unit 40 is a base portion of the medical device 10 may be configured for example by combining an aluminum frame material. However, the configuration of the base portion 40 is not limited to such an example. The base portion 40 is attached a support stand 50 which rests the user's elbow, such as a doctor. User, the support base 50 Hijimata than to perform the gripping force-feedback device 100 in a state carrying the arms, it is possible to obtain a stable operation. The support base 50 may not be attached to the base portion 40, may not be included in the components of the medical device 10.
[0016]
　Support arm unit 20 is supported by the main body portion 30 at the rear end side, supporting the gripping force-feedback device 100 at the tip side. Support arm unit 20 has a first arm portion 20a, a second arm portion 20b, a third arm portion 20c, and a fourth arm 20d. The first arm portion 20a, the second arm portion 20b, and a third arm portion 20c is connected to the fourth arm 20d each distal end is connected to the body portion 30 at the rear end side. The first arm portion 20a, the second arm portion 20b and the third arm portion 20c is (two in the illustrated example) formed link is pivotally connected to each other more. The first arm portion 20a, the second arm portion 20b, and a third arm portion 20c, connecting portion be rotatably connected to one another composed of the fourth arm 20d. Further, the first arm portion 20a, the second arm portion 20b, and a third arm portion 20c, connecting portion be rotatably connected constituted the main body 30.
[0017]
　Connecting portions of the plurality of links becomes joints, mainly in the joints, the angle of each link may vary freely. Thus, the position in space of the gripping force-feedback device 100 which is supported on the distal end side of the support arm 20 can be freely changed. The fourth arm portion 20d supports the gripping force-feedback device 100 at the distal end, the first arm portion 20a at the rear end side, the second arm portion 20b, and the third arm portion 20c It is connected. The fourth arm portion 20d (in the illustrated example, two) more is arms linked structure of each arm is pivotally coupled. Thus, the orientation of the gripping force-feedback device 100 which is supported on the distal end side of the support arm 20 can be freely changed.
[0018]
　The first arm portion 20a of the support arm portion 20, the second arm portion 20b, and the joint portions respectively connecting portion of the third arm portion 20c, provided with a sensor for detecting a rotational angle of each link It is. Further, in the fourth arm 20d, a sensor that detects the pivoting angle of the arms is provided. The sensor for detecting these rotation angles can be used, for example an encoder. Sensor signals from these sensors are sent to the control unit (not shown) provided in the main body portion 30.
[0019]
　Further, the main body portion 30, the first arm portion 20a, the second arm portion 20b, and, at the motor 35 (1 for controlling the rotation of the link in the connection portion between the third arm portion 20c and the main body portion 30 of the is not shown) is provided. Three motors 35, the reaction force imparted to the movement of the gripping force-feedback device 100 operated by a user, presenting the force sense to the movement operation of the gripping force-feedback device 100.
[0020]
　Gripping force-feedback device 100 functions as a gripping interface for operating the surgical tool supported on the slave-side robot device (not shown). Users, by changing the position and orientation of the gripping force-feedback device 100, the posture is changed in the supporting arm 20, the rotation angle and the axis angle of rotation of each arm of each joint portion is changed. Control unit, based on the information on the rotation angle detected by the sensor, and controls the posture of the arm of the slave-side robot apparatus for supporting a surgical instrument, change the position and orientation of the surgical instrument which is supported by the slave-side robot it can be. At this time, the control unit detects an external force applied to the arm of the slave-side robot apparatus, by controlling the driving force of the three motors 35 based on the external force, for movement of the gripping force-feedback device 100 the force may be presented.
[0021]
　Further, the user performs the gripping action by the gripping force-feedback device 100, the control unit from the gripping force-feedback device 100 obtains a predetermined operation signal, based on the operation signal, the slave-side robot it is possible to perform the grasping operation supported-held surgical instrument. At this time, the control unit controls the driving force of the slave-side robot apparatus external force applied to the supported-held surgical instrument detects the motor 187 provided in the gripping force-feedback device 100 based on the external force by force sense it may be presented for grasping operation of the gripping force-feedback device 100.
[0022]
　The support arm 20 including a sensor for detecting the rotation angle and the axial rotation angle of the arms of each joint portion, which may be constructed using a conventionally known support arm unit, the configuration of the support arm portion 20 the details of the description thereof will be omitted. Further, based on the orientation of the support arm portion 20, for the specific method of controlling the attitude of the arm of the slave-side robot apparatus, which may employ conventional control technique, a detailed description of the control unit omitted.
[0023]
　<2. Overall structure of the gripping force-feedback device>
　Next, with reference to FIGS. 2 to 6, the configuration of the gripping force-feedback device 100 according to this embodiment. Figure 2 is a perspective view of a gripping force-feedback device 100, FIG. 3 is a side view of the gripping force-feedback device 100 in FIG. 2 from the front side. Further, FIG. 4 is a bottom view of the gripping force-feedback device 100 in FIG. 2 from below, Fig. 5 is a top view of the gripping force-feedback device 100 in FIG. 2 from the upper side. Further, FIG. 6 is an explanatory view showing an internal structure of the gripping force-feedback device 100 is an internal perspective view of the gripping force-feedback device 100 in FIG. 2 from the back side.
[0024]
　Gripping force-feedback device 100 includes a housing 101 in which the motor 187 and encoder 185 are accommodated inside. The material of the housing 101 is not particularly limited. To reduce the weight of the gripping force-feedback device 100 may be a housing 101 which is formed by a resin material, for example, aluminum or the like. Housing 101, so that the user can easily grasp, with the outer shape of the bar-shaped elongated as a whole. In other words, the gripping force-feedback device 100 according to this embodiment is a so-called stylus type force display device.
[0025]
　The encoder 185 corresponds to the position detection sensor for detecting a rotational angle of the motor 187. Means for detecting a rotational angle of the motor 187 is not limited to the encoder 185. The output shaft of the motor 187 is disposed along the longitudinal direction of the gripping force-feedback device 100 is connected to a pulley 170 arranged on the front side of the gripping force-feedback device 100. Thus, the pulley 170 is enabled shaft rotated by the driving torque of the motor 187. Pulley 170 corresponds to the first rotary member according to the techniques of this disclosure, the motor 187 is equivalent to the driving unit according to the techniques of this disclosure. Pulley 170 is exposed to the outside of the housing 101, in one side surface of the gripping force-feedback device 100, the rail portion 120 is opposed to the outer peripheral surface 171 of the pulley 170. The outer peripheral surface 171 of the pulley 170 is formed by a portion of a virtual conical surface (first virtual conical surface) having a conical axis coincident with the axis of the output shaft of the motor 187 (a first cone axis).
[0026]
　The rear end of the housing 101 is provided rotary shaft member 151. The rotary shaft member 151, the link 110 is rotatably connected about a rotation axis member 151, both ends of the rotary shaft member 151 is supported by the bearing portion 155 and the housing 101. Link 110, the one side surface of the gripping force-feedback device 100, an elongated member disposed along the longitudinal direction, extending along a direction intersecting with the axial direction of the rotary shaft member 151 . The appropriate position of the distal end side of the link 110, intersects the direction of rotation of the link 110 and finger contact portion 105 having extending surfaces are provided along the longitudinal direction of the gripping force-feedback device 100 ing. Finger contact part 105 has, for example, mounting portion 107 by the user's index finger is placed. Mounting portion 107, as easily conform to the shape of the user's finger has a concave shape to an arch shape.
[0027]
　Among the side surfaces of the housing 101, the part of the side surface of the side where the link 110 is located, thumb contact portion 103 by the user's thumb is placed is provided. Also, of the side surface of the housing 101, a portion on the side opposite to the side where the link 110 is located, the middle finger contact portion is provided with the middle finger of the user is located. In Figure 6, a portion of the housing 101 is shown with transmission, the middle finger contact portion (not shown). Gripping force-feedback device 100 according to this embodiment, right thumb of the user is disposed in the thumb contact portion 103 of the housing 101, the middle finger is placed on the middle finger contact portion of the housing 101, further, the index finger is finger contact disposed on the placing portion 107 of section 105, it may be gripped to hold the pen for writing. In other words, the gripping force-feedback device 100 has a shape familiar to have a person.
[0028]
　In the gripping force-feedback device 100 according to this embodiment, finger contact portion 105 is fixed by three fixing screws 157 to the link 110. Screw holes 109 according fixing screw 157 is 挿貫 is a long hole having a longitudinal direction along the longitudinal direction of the link 110, depending on the length of the user's finger, the position of the finger contact portion 105 It has become adjustable longitudinally.
[0029]
　Further, in the interior of the housing 101, the rotary shaft member 151, the origin sensor for setting the origin position of the link 110 (the reference position) it is provided. In the gripping force-feedback device 100 according to this embodiment, the origin sensor is connected to the link 110, the origin position setting jig 181 which rotates together with the link 110, the position of the origin position setting jig 181 (rotation angle) and a home sensor board 183 to be detected. These home position setting jig 181 and the origin sensor substrate 183 may be housed in the housing 101. Such origin sensor includes the presence of the edge of the origin position setting jig 181 which rotates with the rotation of the link 110, i.e., the origin of the on-off boundary of the detection of the origin position setting jig 181 by the origin sensor substrate 183 (reference it may be set as an angle).
[0030]
　Further, the rear end surface of the link 110, screw holes 115 leading to bore 113 rotating shaft member 151 is inserted is provided in the interior of the screw holes 115, set screw 159 is disposed (FIG. 4 see.). The tip of such a set screw 159, that is pressed against the rotary shaft member 151, the link 110 is fixed is pressed to the rotation axis member 151. Accordingly, after moving to an appropriate position on the link 110 by loosening the set screw 159, by tightening the set screw 159 again, it is possible to the position of the link 110, to adjust the axial direction of the rotary shaft member 151 . This makes it possible to adjust the position of the finger contact portion 105 and the rail part 120 which is attached to the link 110. In the present embodiment, such a set screw 159 corresponds to the adjusting unit for adjusting the distance between the opposing surface 128 of the outer peripheral surface 171 and the rail portion 120 of the pulley 170 according to the present disclosure.
[0031]
　The distal end side of the link 110, the rail portion 120 extending toward the direction of rotation of the link 110 is provided. Rail unit 120 corresponds to the second rotary member according to the techniques of this disclosure. Rail unit 120 has a substantially arcuate contour, with the rotation of the link 110 to pivot along the extending direction of the rail portion 120. That is, the rail portion 120 is rotated about the rotary shaft member 151. Rail unit 120 has a facing surface 128 that faces the outer peripheral surface 171 of the pulley 170. Facing surface 128 is formed by a portion of a virtual conical surface (second virtual conical surface) of the rotating shaft member 151 and the conical shaft (second cone axis).
[0032]
　The wire groove 173 of the pulley 170, the wire 135 is wound. Both end portions of such wire 135 is disposed on the rail portion 120, the central portion of the wire 135 is wound around the pulley 170. Wire 135 functions as a member for transmitting power, drive torque generated by the motor 187, via a pulley 170 and the wire 135, it is transmitted to the rail portion 120. On the other hand, with the rotation of the rail portion 120, the rotational torque of the rail portion 120 via the wire 135 and pulley 170 may also be transmitted to the motor 187. The diameter of the wire 135 can be, for example, a 0.2 ~ 0.5 mm. It will be described later in detail of the power transmission mechanism.
[0033]
　Between the fourth arm 20d of such gripping force-feedback device 100 and the support arm portion 20 may be provided with a force sensor. The force sensor may for example be configured as six-axis force sensor for detecting a force in three directions 6-axis component which is imparted to the gripping force-feedback device 100 and twisting. The force sensor, when the translational force or twisting force is imparted against the gripping force-feedback device 100 to produce an output corresponding to the moment. Control unit detects the moment, and controls the operation of the arm of the slave-side robot apparatus based on the moment. Thus, it is possible to smoothly move the gripping type surgical instrument which is supported by the slave-side robot apparatus.
[0034]
　In such gripping force-feedback device 100, origin sensor substrate 183, a motor 187, an encoder 185 and,, force sensor, by the respective cable (not shown) is electrically connected to the control unit of the main body portion 30. Accordingly, the origin sensor substrate 183, an encoder 185 and, together with the detection signal of the force sensor is output to the control unit, the control signal is input to the motor 187 from the control unit. In the medical device 10 according to the present embodiment, the control unit for controlling the gripping force-feedback device 100, but is provided in the main body portion 30, the control unit can be mounted in the housing 101 good.
[0035]
　<3. The power transmission mechanism>
　far, and the explanation of the overall structure of the gripping force-feedback device 100. Next, more specifically describes the structure of the power transmission mechanism in such gripping force-feedback device 100. As described above, in the gripping force-feedback device 100, the driving torque of the motor 187 may be transmitted to the rail portion 120 via the pulley 170 and the wire 135. Further, the gripping force-feedback device 100, the rotational torque when the rail portion 120 is rotated by the user, may also be transmitted to the motor 187 via the wire 135 and the pulley 170.
[0036]
　7 to 9 are explanatory views showing the structure of a power transmission mechanism. Figure 7 is an explanatory view showing an enlarged vicinity of the pulley 170 and the rail unit 120. Figure 8 is an A arrow view of FIG. Figure 9 is a perspective view showing an enlarged vicinity of the pulley 170 and the rail unit 120.
[0037]
　Pulley 170 which is rotated by the driving force of the motor 187 has a first outer peripheral surface 171 formed by a part of the first virtual conical surface having a cone axis coincident with the axis of the output shaft of the motor 187. That is, such outer peripheral surface 171 is formed in a tapered shape. The outer peripheral surface 171 of the pulley 170, a spiral wire groove 173 to pivot on the outer peripheral surface 171 is provided. Since the gripping force-feedback device 100 is a device used by being gripped by the user, the axial length of the pulley 170 is 8 ~ 15 mm for example, the diameter of the large-diameter portion is, for example, a .PHI.5 ~ 8 mm it may be. This makes it possible to grasp Haptic device 100 is prevented from being large-sized.
[0038]
　Rail unit 120 has a facing surface 128 facing the outer peripheral surface of the pulley 170. Such opposing surface 128 is formed by a portion of the second virtual conical surface to the axis of the rotating shaft member 151 and the second cone axis. The facing surface 128 of the rail portion 120, the first guide portion 121 and the second guide portion 123 for guiding the wire 135 is provided along the circumferential direction of the second virtual conical surface. The first guide portion 121 and the second guide portion 123, for example, be a wall portion of predetermined length projecting from the respective opposing surfaces 128.
[0039]
　Figure 10 is an explanatory view showing the outer peripheral surface 171 of the pulley 170, the relationship between the opposing surfaces 128 of the rail portion 120. The outer peripheral surface 171 of the pulley 170 is formed by a part of the first virtual conical plane C1 having a first cone axis A1. The counter surface 128 of the rail portion 120 is formed by a portion of the second virtual conical surface C2 having a second cone axis A2. The first cone axis A1, coincides with the axis of the output shaft of the motor 187, the vertex P1 of the first virtual conical surface C1 is located at the intersection of the axis of the first cone axis A1 and the rotation axis member 151 . The second cone axis A2 coincides with the axis of the rotary shaft member 151, orthogonal to the first cone axis A1. Vertex P2 of the second virtual conical surface C2 is located on the second cone axis A2, substantially coincides with the vertex P1 of the first virtual conical plane C1.
[0040]
　The diameter of the second imaginary conical surfaces C2 in the portion comprising the opposed surface 128 of the rail portion 120 is larger than the diameter of the first virtual conical plane C1 at the portion which becomes the outer peripheral surface 171 of the pulley 170. Thus, the rotational speed of the pulley 170 driven by a motor 187 is transmitted at a reduced speed to the rail portion 120. Thus, even when rotational torque to be transmitted to the rail portion 120 is small, it can be operated smoothly by the motor 187.
[0041]
　In the gripping force-feedback device 100 according to this embodiment, the radius of the bottom surface of the second virtual conical surface C2, i.e., the distance from the rotary shaft member 151 to the front end portion of the rail portion 120, the index finger of the root of the joint from may be set to a value approximating to the distance to the tip. Accordingly, so as to correspond to the movement of the index finger, the link 110 is rotatable about a rotation axis member 151 facilitates handling of the gripping force-feedback device 100 by the user.
[0042]
　Referring back to FIGS. 7-9. The pulley 170, the wire 135 is wound is means for transmitting the rotational torque of the pulley 170 to the rail portion 120. Wire 135 is wound along a helical wire groove 173 formed on the outer peripheral surface 171 of the pulley 170. Of both end portions of the wire 135 wound around the pulley 170, the wire 135 derived from the front larger diameter side is arranged while being guided by the first guide portion 121. Further, of the two ends of the wire 135 wound around the pulley 170, the wire 135 derived from the smaller diameter rear side is arranged while being guided by the second guide portion 123.
[0043]
　End of the wire 135 which is disposed along the first guide portion 121, through a hole 125 provided on the rail unit 120 is guided to the back side of the opposing surface 128, fixed to a fixing means such as screws It is. Further, of the two ends of the wire 135, the end of the wire 135 disposed along the second guide portion 123, through a hole 127 provided on the rail unit 120, the back side of the opposing surface 128 guided, it is fixed to one end of a spring 130 which is fixed to the rear rail portion 120. Thus, by utilizing the elastic force of the spring 130 the tension is applied to the wire 135, it is possible to suppress the looseness of the wire 135 on the pulley 170 and the rail unit 120. In this embodiment, the spring 130 corresponds to the tension generating unit that applies tension to the wire 135.
[0044]
　At this time, the pulley 170 and the rail unit 120 are both are wound wire 135 in the plane formed by part of a conical shape. Facing surface 128 of the rail portion 120, since it is formed by a portion of a conical surface as a collision toward the pulley 170 side, I tension coupled with the wire 135, the first on the rail portion 120 of the guide parts 121 and the second guide portion 123 wire 135 disposed along it never float from the opposing surface 128.
[0045]
　However, since the opposing surface of the rail portion 120 is formed by a part of the conical surface, the tension of the wire 135, the wire 135 slides on the opposing surface 128 of the rail portion 120, or the delivery position to the pulley 170 there is a possibility that the shift from the take-up position. Therefore, the first guide portion 121 and the second guide portion 123 is provided on the opposing surface 128 of the rail portion 120, the wire 135 on the rail 120, the tension first guide portion 121 or the second It is pressed against the guide portion 123. Thereby, positional deviation of the wire 135 is prevented. At this time, the wire 135 disposed along the first guide portion 121 and the second guide portion 123, regardless of the position of the rotation angle and the rail portion 120 of the pulley 170, the winding position or the pulley of the pulley 170 It is adapted to position the delivery position from 170. Thus, the wire 135 wound around the pulley 170 is suitably disposed along the wire grooves 173, it is possible to operate the power transmission mechanism smoothly.
[0046]
　The depth of the wire groove 173 provided on the outer peripheral surface 171 of the pulley 170 can be, for example, a radius smaller than the wire 135. Further, the first guide portion 121 and the height of the second guide portion 123 provided on the opposing surface 128 of the rail portion 120 (protruding length), the radius or more wires 135, and may be less in diameter . The depth of the wire groove 173, and the height of the first guide portion 121 and the second guide portion 123 if such a size, the positional deviation of the wire 135 on the pulley 170 and the rail unit 120 can be prevented, and, in close proximity to the pulley 170 and the rail unit 120, it is possible to easily occur rattling of the wire 135 which is sent to the wound or rails 120 on the pulley 170.
[0047]
　11, the depth D of the wire groove 173, the height W2 of the first guide portion 121 and the second guide portion 123, and an explanatory view for explaining a distance W1 between the pulley 170 and the rail portion 120 is there. The depth D of the wire grooves 173 formed in the pulley 170 is a radius of the wire 135 (Φ / 2) or less, the width W2 of the first guide portion 121, the radius of the wire 135 (Φ / 2) or more, and is equal to or less than the diameter of the wire 135 (Φ). The distance W1 between the bottom portion and the first guide portion 121 of the wire grooves 173 is less in diameter Φ of the wire 135. As described above, both end portions of the wire 135 is fixed to the back side of the opposing surface 128, the wire 135, tension is applied. Thus, the wire 135, as well pressed against the first guide portion 121 and is held by a wire groove 173 located opposite. Accordingly, rattling is unlikely to occur in the wire 135, so that the wire 135 is not shifted.
[0048]
　Further, as shown in such FIG. 11, the wire groove 173 of the pulley 170 is formed in an arc shape, it is not easily displaced position of the wire 135 wound around over a predetermined tension. Similarly, the surface of the first guide portion 121 and the second guide portion 123 of the rail portion 120, the wire 135 is arranged, the wire 135 is formed in a circular arc shape, is disposed over a predetermined tension It is less likely to shift position of.
[0049]
　Further, as described above, after appropriately shifted position the position of the link 110 by loosening the set screw 159 provided at the rear end of the link 110, by again tightening the set screws 159, rotating the position of the link 110 it can be adjusted in the axial direction of the shaft member 151. Accordingly, the distance W1 between the outer peripheral surface 171 of the opposing surface 128 and the pulley 170 of the rail portion 120 are possible adjusted, as the wire 135 is not shifted, it is possible to impart proper preload the wire 135.
[0050]
　Further, the first guide portion 121 and the second guide portion 123, respectively, a plane shape is formed in an arc shape. Such first guide portion 121 and the radius of curvature of the second guide portion 123 gradually changes along the direction of arrangement of the first guide portion 121 and the second guide portion 123. For example, when explained by taking Figure 7 as an example, from the pulley 170 to the first guide portion 121 sends the wire 135, also part of the first guide portion 121 winds the wire 135 to the pulley 170, the pulley 170 , or by the rotation angle of the rail portion 120, a distance from the second cone axis A2 is changed. Therefore, even in the rotation angle of the pulley 170 are the same, the length of the wire 135 is wound from the rail portion 120 to the pulley 170, or the length of the wire 135 sent from the pulley 170 to the rail portion 120 may differ .
[0051]
　In the gripping force-feedback device 100 according to this embodiment, while the outer peripheral surface 171 and the opposing surface 128 of the rail portion 120 of the pulley 170 are both conical, by appropriately adjusting the angle of each conical surface, the pulley 170 a delivery amount of the first guide portion 121 or wire 135 in the second guide portion 123, and the take-up amount of the wire 135 by the first guide portion 121 or the second guide portion 123 is made to coincide from . Similarly, the delivery rate of the pulley 170 from the first guide portion 121 or the second guide portion 123, and the take-up amount of the wire 135 by the pulley 170 is made to coincide.
[0052]
　Figure 12 is an explanatory diagram for the inclination angle of the outer peripheral surface 171 of the pulley 170, the the tilt angle of the opposed surface 128 of the rail portion 120 will be described. Figure 12 shows the outer peripheral surface 171 and the rail unit 120 ridgeline L2 formed by ridgeline L1 and the opposing surface 128 of the rail portion 120 forms the outer peripheral surface 171 of the pulley 170 in the facing surface 128 and is closest to the position of the pulley 170 there. As shown in such Figure 12, at a position facing surface 128 of the outer peripheral surface 171 and the rail portion 120 of the pulley 170 is closest, ridgeline L1 of the outer peripheral surface 171 of the pulley 170 is a first cone axis (the axis of the pulley 170 ) and the angle formed with respect to A1, the ridgeline L2 of the opposing surface 128 of the rail portion 120 is coincident with the angle formed with respect to the first cone axis A1. These angles are set so that the delivery rate of the wire 135 from the pulley 170 to the rail portion 120, and the take-up amount of the wire 135 from the rail portion 120 to the pulley 170 matches. Therefore, there is no slack and tension of the wire 135 by the rotation of the pulley 170 and the rail unit 120, it is possible to operate the power transmission mechanism smoothly.
[0053]
　In addition, the rail portion 120, a stopper 126 is provided. Stopper 126, when the rail unit 120 has reached the limit of the movable range, and has a function to prevent the wire 135 is cut by the impact. Accordingly, when the rail portion 120 is pushed by a user operation, before reaching the excursion limit of the rail portion 120 by providing area of ​​the wire 135, the stopper 126 abuts the housing 101, rail 120 the range of rotation of the is restricted. Also, when the rail portion 120 is rotated to the opposite direction, by supported rear portion of the link 110 to the rotating shaft member 151 comes into contact with the bearing portion 155, the rotation range of the rail portion 120 is restricted It is.
[0054]
　Figure 13 shows how the user rotates the link 110 and the rail unit 120. Upper part of FIG. 13 shows a state in which the link 110 and the rail unit 120 is placed at the origin position. Pulley 170 is opposed to the facing surface 128 at the distal end of the rail portion 120 (see Figure 14). At this time, the rear end side of the link 110 abuts against the bearing portion 155, the maximum range of motion of the link 110 and the rail portion 120 is restricted. Further, the middle of FIG. 13, the link 110 and the rail unit 120, indicates a state of being pushed up about half of the range of motion. Pulley 170 is opposed to the facing surface 128 at the central portion of the rail portion 120 (see Figure 7). Furthermore, the lower part of FIG. 13 shows a state in which the link 110 and the rail portion 120 is pushed most. Pulley 170 is opposed to the facing surface 128 at the base of the rail portion 120. At this time, by the housing 101 abuts against the stopper 126, the maximum range of motion of the link 110 and the rail unit 120 is restricted (see Figure 15). By thus maximum excursion of the link 110 and the rail unit 120 is restricted, the cutting wire 135 can be prevented.
[0055]
　<4. Examples of methods used>
　Now that describes the configuration of the overall structure and the power transmission mechanism of the gripping force-feedback device 100. Hereinafter, examples of how to use the medical device 10 having a gripping force-feedback device 100 according to the present embodiment will be briefly described.
[0056]
　(4-1. Remotely operated gripping type surgical instrument)
　will be described first remote control of the gripping type surgical instrument comprising a basic use of the medical device 10. User such as a doctor, causes grips the gripping force-feedback device 100 is moved to a desired position to change the orientation of the grip force-feedback device 100 in an appropriate orientation. Control unit of the medical device 10 detects the information of the angle and axial rotation angles of the joints of the support arm 20 for supporting the gripping force-feedback device 100. At this time, the control unit, based on the sensor signal of the force sensor provided between the gripping force-feedback device 100 and the fourth arm 20d, a translational movement or twisting operation of the gripping force-feedback device 100 to detect the moment. Control unit on the basis of the posture and the moment of the detected support arm portion 20, and outputs a control command for the arm of the slave side robot, the position and orientation of the grip-type surgical instrument, which is supported by the slave-side robot Control.
[0057]
　Further, the user by pressing a finger contact portion 105 of the gripping force-feedback device 100 by the index finger or the like, the link 110 is rotated about the rotary shaft member 151. When the rail unit 120 is rotated with the rotation of the link 110, the pulley 170 is rotated via the wire 135, thereby, the rotational torque is input to the motor 187. Rotation speed and angle of such a motor 187 is detected by the encoder 185, the control unit on the basis of the detected information by such an encoder 185, and outputs a control command of the gripping type surgical instrument which is supported by the slave-side robot Te, to control the gripping operation of the gripping type surgical instrument.
[0058]
　Figure 16 shows an example of the state of use of the medical device 10 according to this embodiment. 16 is juxtaposed two medical device 10 of the user, place the arms or elbows on the support table 50, to grip the respective gripping force-feedback device 100 with the right hand and left hand. In this state, the user operates the medical device 10 while watching the monitor 210 of surgical field is displayed. The user, by operating each of the medical device 10, to move the position or orientation of the grip-type surgical instrument held by the slave-side robot device (not shown), respectively, or a gripping action by the respective gripping type surgical instrument do.
[0059]
　(4-2. Force-feedback)
　will now be described force feedback operation by the medical device 10. Not shown slave-side robot device includes a sensor for detecting a reaction force or external force is loaded to the arm supporting the gripping type surgical instrument. Such sensors may be, for example, an encoder provided in the joint portion of the arm, in this case, the encoder, the torque of the motor provided in the joint portion can be detected. Control unit acquires information of the torque load on the joint portion of the slave-side robot apparatus controls the driving torque of the motor 35 for controlling the support arm portion 20 of the medical device 10. Thus, in response to an external force to the slave-side robot apparatus supported-held surgical instrument, it can present the force sense to the user operating the gripping force-feedback device 100.
[0060]
　Further, the slave-side robot device (not shown) is provided with a sensor for detecting a reaction force received by the gripping operation of the gripping type surgical instrument. Such sensors may be, for example, an encoder connected to the motor for operating the gripping type surgical instrument, in this case, the encoder, the torque to the motor can be detected. Control unit obtains a reaction force of the information received by the gripping operation of the gripping type surgical instrument, to control the drive torque of the motor 187 provided in the gripping force-feedback device 100. At this time, the user to the rotational direction of the pulley 170 when pushing the finger contact portion 105 of the gripping force-feedback device 100 by the index finger to generate a driving torque in the opposite direction. Thus, the user, a reaction force at the time of gripping the object by the gripping-type surgical instrument slave-side robot apparatus is fed back, the user is able to sense the force.
[0061]
　(4-3. Homing)
　will now be described homing gripping force-feedback device 100. When the user ends the operation for pushing the finger contact portion 105 by the index finger or the like, the torque input from the pulley 170 to the motor 187 becomes zero. In this case, the control unit, as gripping action by the gripping-type surgical instrument is not performed, as well as stops the control of the gripping type surgical instrument slave-side robot apparatus, the home position of the power transmission mechanism gripping force-feedback device 100 to return to. As described above, the gripping force-feedback device 100 has an origin sensor is provided for setting the origin position of the link 110, the control unit, until the link 110 is returned to the home position, drive the motor 187 make. Accordingly, when the gripping operation by the user is not performed, it is possible to return the power transmission mechanism to the home position, the gripping type surgical instrument is returned to the open state.
[0062]
　In the case where the grasping operation by the gripping force-feedback device 100 is not performed, as the structure for returning the power transmission mechanism to the home position, regardless of the homing operation control described above, for example to impart elastic force such as a spring with member may be mechanically restored the link 110 to the home position. Alternatively, the finger contact portion 105 provided with a finger securing portion, the index finger or the like by fixing the finger contact portion 105, the link 110 may be returned to the original position.
[0063]
　<5. Conclusion>
　As described above, the gripping force-feedback device 100 according to this embodiment uses a wire 135 as a power transmission means, between the pulley 170 and the rail portion 120 formed by part of a virtual conical surface, respectively to transmit rotation torque between. Such gripping force-feedback device 100, the internal motor 187, an encoder 185, and accommodates the origin sensor, the user is configured as a device for grasping easy pen-type stylus structure size is achieved.
[0064]
　Also, the gripping force-feedback device 100 according to this embodiment, for example, a .PHI.5 ~ 8 mm in diameter of the large diameter portion of the pulley 170, the diameter of the conical surface including the opposing surface 128 of the rail portion 120 and f150 ~ .phi.200 mm be able to. Therefore, even though the reduction ratio at the time of transmitting the rotational torque from the pulley 170 to the rail portion 120 is large, the size of the apparatus is achieved. Also, the gripping force-feedback device 100, regardless of the width of the object to be gripped, it is possible to present a force sense against gripping force.
[0065]
　Also, the gripping force-feedback device 100 according to this embodiment, since the wire 135 is used as a power transmission means, it is possible to reduce the weight. Also, the gripping force-feedback device 100, the wire 135 is used as a power transmission means, because it is configured to transmit power between the pulleys 170 and the rail unit 120, using the belt as a power transmission means as compared to the case, it is possible to reduce the resistance during winding. Moreover, the gripping force-feedback device 100, the wire 135 is used as a power transmission means, because it is configured to transmit power between the pulleys 170 and the rail unit 120 does not include a gear structure , there is no possibility that backlash occurs. Thus, the gripping force-feedback device 100, even when transmitting a very small force, it is possible to suppress the generation of noise.
[0066]
　Also, the gripping force-feedback device 100, the wire 135 is used as a power transmission means, because it is configured to transmit power between the pulleys 170 and the rail 120, pulleys 170 and rail 120 it is possible to switch the direction of rotation smoothly. Thus, the encoder 185 can detect the change in the rotation angle of the motor 187 by an external force, it is possible to easily perform the bilateral control.
[0067]
　In addition, the rail portion 120, regardless of the rotation angle of the pulley 170 and the rail unit 120, so as to correspond to the delivery position of the wire 135 from the winding position and the pulley 170 of the wire 135 by the pulleys 170, a first guide portion 121 and the second guide portion 123 is disposed. Therefore, rattling and the wire 135 twisted is suppressed, it is possible to operate the power transmission mechanism smoothly.
[0068]
　Also, the gripping force-feedback device 100 according to this embodiment, as a delivery amount of the wire 135 from the pulley 170 to the rail portion 120, and the take-up amount of the wire 135 from the rail portion 120 to the pulley 170 matches , the inclination angle and the inclination angle of the opposing surfaces 128 of the rail portion 120 of the outer peripheral surface 171 of the pulley 170 is set. Therefore, slack and tension of the wire 135 is suppressed, it is possible to operate the power transmission mechanism smoothly.
[0069]
　Having described in detail preferred embodiments of the present disclosure with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such an example. It would be appreciated by those skilled in the art of the present disclosure, within the scope of the technical idea described in the claims, it is intended to cover various modifications, combinations, these for it is also understood to belong to the technical scope of the present disclosure.
[0070]
　For example, in the above embodiment, the pen-type grip Haptic device for writing, this technology is not limited to such an example. For example, it may be a scissors-type gripping force-feedback device. For example, the rotation axis of the link that the rail portion is provided is disposed on the front side, it may be configured such that the user can rotate the link and the rail unit by gripping the device.
[0071]
　Further, described in the above embodiment, a pulley, a power transmission mechanism having a rail portion and the wire may be a device other than a gripping force-feedback device, the appropriate device requiring transmission like smooth and lightweight force it is possible to apply.
[0072]
　The effects described herein are not limiting be those that only illustrative or exemplary. In other words, the technology according to the present disclosure, together with the above effects, or instead of the above effects, can exhibit the apparent other effects to those skilled in the art from the description herein.
[0073]
　Also within the scope of the present disclosure the following configurations.
(1) first has an outer peripheral surface formed by a portion of a virtual conical surface, a first rotary member which rotates around the first cone axis, by a portion of the second virtual conical surface is formed having a facing surface that faces the outer peripheral surface of said first rotary member, a second rotary member which rotates around the second cone axis, said second rotary member at both ends It is connected, and a wire center portion wound around the first rotary member, said second rotary member is rotated by rotating said first rotary member, said second rotary member and a driving unit for presenting a force sense to the user's finger in contact with, the gripping force-feedback device.
(2) the first cone axis and said second conical axes are perpendicular, the gripping force-feedback device according to (1).
(3) by the first rotating member or the second rotating member is rotated, one end of said wire wound around the first rotating member is transmitted to the second rotary member, and the other end is taken up from the second rotary member, wherein (1) or gripping force-feedback device according to (2).
(4) the first rotating member has a helical wire groove pivoting on the outer peripheral surface, wherein (1) to the gripping force-feedback device according to any one of (3).
(5) the second rotary member, said facing surface has a guide portion for defining the arrangement position of the wire, the (1) gripping Haptic according to any one of - (4) apparatus.
(6) the distance between the outer peripheral surface of the said guide portion of the second rotary member first rotary member is smaller than the diameter of the wire, gripping force-feedback device according to (5).
(7) the guide portion includes a first guide portion and a second guide portion provided respectively along the circumferential direction of the second virtual conical surface, according to (5) or (6) gripping force-feedback devices.
(8) the first guide portion defines the arrangement position of the wire end side of said wire wound around the first rotary member extends, the second guide portion, wherein defining the arrangement position of the wire extending from the other end of said wire wound around the first rotary member, the gripping force-feedback device according to (7).
(9) The planar shape of the first guide portion and the second guide portion forms an arcuate, said first guide portion and the second guide portion radius of curvature of the first guide portion and the gradually changes along the arrangement direction of the second guide portion, the (7) or gripping force-feedback device according to (8).
(10) the planar shape of the first guide portion forms an arcuate, even if the position of the second rotary member by the rotation of the second rotary member is changed, the rotation of the first matching the derived position of the one end of the wire wound around the member, the (7) gripping force-feedback device according to any one of - (9).
(11) planar shape of the second guide portion forms an arcuate, even if the position of the second rotary member by the rotation of the second rotary member is changed, the rotation of the first matching the derived position of the other end of the wire wound around the member, the (7) gripping force-feedback device according to any one of - (10).
(12) said second rotary member comprises a finger contact portion to be pressed by a finger of the user, wherein (1) the gripping force-feedback device according to any one of - (11).
(13) comprises the adjusting portions for adjusting the distance between the opposing surfaces of the first outer peripheral surface and the second rotary member of the rotary member, according to any one of (1) to (12) of gripping force-feedback devices.
(14) the comprises a tension generating unit that applies tension to the wire, the (1) gripping force-feedback device according to any one of - (13).
(15) provided with an origin sensor for defining a reference position of said second rotary member, wherein (1) to the gripping force-feedback device according to any one of (14).
(16) the gripping force-feedback device is an input device for performing remote control of a medical of the surgical instrument, wherein (1) the gripping force-feedback device according to any one of - (15).
(17) a surgical instrument for the medical forceps is攝子or cutting instrument, the gripping force-feedback device according to (16).
(18) a rotary member that rotates along with the gripping action by the user, with respect to the rotary member, the rotational torque of reverse direction grants to the rotating direction by the gripping operation of the user, the force to the user and a driving unit for presenting, stylus-type force-feedback device.
DESCRIPTION OF SYMBOLS
[0074]
　100 gripping force-feedback device (stylus type force-feedback
　device) 105 finger contact portion
　110 link
　120 rail section (second rotating
　member) first 121 guide portion
　123 the second guide portion
　135 wire
　170 pulley (first rotating
　member) 185 encoder
　187 motor

WE CLAIM

Has an outer peripheral surface formed by a part of the first virtual conical surface, a first rotary member which rotates around the first cone axis,
　is formed by a portion of the second virtual conical surface, the first has a facing surface that faces the outer peripheral surface of the rotary member, a second rotary member which rotates around the second cone axis,
　is connected to the both end portions the second rotary member, and, a wire center portion wound around the first rotary member,
　said second rotary member is rotated by rotating the first rotating member, contacting the second rotary member a driving unit for presenting a force sense to the user's finger
　comprises a gripping force-feedback device.
[Requested item 2]
　It said first cone axis and said second conical axes are perpendicular, the gripping force-feedback device according to claim 1.
[Requested item 3]
　Wherein by the first rotating member or the second rotating member rotates, one end of said first of said wire wound around the rotating member is transmitted to the second rotary member, and the other end side is wound from the second rotary member, the gripping force-feedback device according to claim 1.
[Requested item 4]
　The first rotating member has a helical wire groove pivoting on the outer peripheral surface, the gripping force-feedback device according to claim 1.
[Requested item 5]
　Said second rotary member, said facing surface has a guide portion for defining the arrangement position of the wire, gripping force-feedback device according to claim 1.
[Requested item 6]
　The distance between the outer peripheral surface of the said guide portion of the second rotary member first rotary member is smaller than the diameter of the wire, gripping force-feedback device according to claim 5.
[Requested item 7]
　The guide portion includes a first guide portion and a second guide portion provided respectively along the circumferential direction of the second virtual conical surface, the gripping force-feedback device according to claim 5.
[Requested item 8]
　The first guide portion defines the arrangement position of the wire end side of said first of said wire wound around the rotary member extends, the second guide portion, said first defining the arrangement position of the wire extending from the other end of said wire wound around the rotary member, the gripping force-feedback device according to claim 7.
[Requested item 9]
　The planar shape of the first guide portion and the second guide portion forms an arcuate, said first guide portion and the second guide portion radius of curvature of the first guide portion and the second of gradually changes along the arrangement direction of the guide portion, the gripping force-feedback device according to claim 7.
[Requested item 10]
　The planar shape of the first guide portion forms an arcuate, even if the position of the second rotary member by the rotation of the second rotating member changes, wound around the first rotating member It was consistent to the derived position of the one end of the wire, gripping force-feedback device according to claim 7.
[Requested item 11]
　The planar shape of the second guide portion forms an arcuate, even if the position of the second rotary member by the rotation of the second rotating member changes, wound around the first rotating member It was consistent to the derived position of the other end of the wire, gripping force-feedback device according to claim 7.
[Requested item 12]
　It said second rotary member comprises a finger contact portion to be pressed by a finger of the user, gripping force-feedback device according to claim 1.
[Requested item 13]
　Comprise adjusting unit for adjusting the distance between the opposing surfaces of the first outer peripheral surface and the second rotary member of the rotary member, the gripping force-feedback device according to claim 1.
[Requested item 14]
　It comprises a tension generating unit which applies tension to the wire, gripping force-feedback device according to claim 1.
[Requested item 15]
　Comprising an origin sensor for defining a reference position of said second rotary member, the gripping force-feedback device according to claim 1.
[Requested item 16]
　The gripping force-feedback device is an input device for performing remote control of a medical of the surgical instrument, the gripping force-feedback device according to claim 1.
[Requested item 17]
　Surgical instrument for the medical forceps is 攝子 or cutting instrument, the gripping force-feedback device according to claim 16.
[Requested item 18]
　A rotating member that rotates along with the gripping action by the user,
　with respect to the rotary member, the rotational torque of reverse direction grants to the rotating direction by the gripping operation of the user, presenting a force sense to the user a drive unit,
　comprising a stylus-type force-feedback device.