Manipulation input device and manipulator system having the same

• US 9,671,860 B2
• Filed: 01/31/2014
• Issued: 06/06/2017
• Est. Priority Date: 08/04/2011
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Ogawa, Ryohei, Yanagihara, Masaru
• Primary Examiner(s): LEE, NICHOLAS J
• Application Number:
  US14/169,825
• Publication Number:
  US 20140160015A1
• Time in Patent Office: 1,222 Days
• Field of Search: None
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 18/1402 Probes for open surgery
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2090/0803 Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0814 Preventing re-use
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 46/23 with means to retain or hold surgical implements
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G06F 3/01 Input arrangements or combined input and output arrangements for interaction between user and computer G06F3/16 takes precedence
• CPC Class Codes: Y10S 901/08 : Robot
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/30 : End effector
• CPC Class Codes: Y10T 29/49826 : Assembling or joining
• CPC Class Codes: Y10T 74/18056 : Rotary to or from reciprocating or oscillating

Abstract

A manipulation input device includes a master grip having a grip part and manipulation handles movably supported on the grip part, a spring configured to generate manipulation resistance in response to a displacement amount of the manipulation handles when the manipulation handles are manipulated, and a force magnitude adjusting unit configured to adjust the force magnitude of the manipulation resistance relative to the displacement amount.

Claims

1. A manipulation input device comprising:

a manipulation unit comprising;

a manipulation unit main body; and

manipulation handles movably supported on the manipulation unit main body;

a manipulation resistance generator configured to generate manipulation resistance in response to a displacement amount of the manipulation handles when the manipulation handles are manipulated; and

a force magnitude adjusting unit configured to adjust a force magnitude of the manipulation resistance relative to the displacement amount,

wherein the force magnitude adjusting unit is configured to fix a change rate characteristic of the force magnitude of the manipulation resistance relative to the displacement amount, and to change a reference force magnitude value of the force magnitude of the manipulation resistance relative to a reference value of the displacement amount.

2. The manipulation input device according to claim 1,

wherein the manipulation handles are rotatably supported on the manipulation unit main body and are installed to permit opening/closing manipulation.

3. The manipulation input device according to claim 1, wherein:

the manipulation resistance generator includes an elastic member configured to be deformed by displacement manipulation of the manipulation handles and configured to generate the manipulation resistance; and

the force magnitude adjusting unit is configured to deform the elastic member, and to adjust a deformation amount of the elastic member to change the reference force magnitude value.

4. The manipulation input device according to claim 3, wherein the force magnitude adjusting unit includes an actuator configured to change the reference force magnitude value.

5. The manipulation input device according to claim 4, further comprising a manipulation input control unit configured to control an operation of the actuator.

6. The manipulation input device according to claim 5, wherein the manipulation input control unit is configured to acquire identification information about a manipulated device from the manipulated device and to control the operation of the actuator based on the identification information.

7. The manipulation input device according to claim 5, wherein the manipulation unit includes an identification information part that is detachably installed on a manipulation input device main body and transfers identification information about the manipulation unit to the manipulation input control unit when mounted.

8. The manipulation input device according to claim 5, wherein the manipulation input control unit includes a procedure mode input unit configured to receive an input by an operator of a procedure mode to be performed by the manipulated device, and is configured to control the operation of the actuator based on the procedure mode input by the procedure mode input unit.

9. The manipulation input device according to claim 5, wherein the manipulation input control unit includes a time-dependent change detection unit configured to detect a time-dependent change of the manipulation resistance, and is configured to control the operation of the actuator to correct the time-dependent change of the manipulation resistance when the time-dependent change of the manipulation resistance is detected by the time-dependent change detection unit.

10. The manipulation input device according to claim 9, wherein the time-dependent change detection unit is configured to determine the time-dependent change of the manipulation resistance based on a number of times of manipulation of the manipulation resistance generator.

11. The manipulation input device according to claim 9, wherein the time-dependent change detection unit is configured to determine the time-dependent change of the manipulation resistance based on a manipulation time of the manipulation resistance generator.

12. The manipulation input device according to claim 9, further comprising a force detection unit configured to detect a reaction force of the manipulation resistance generator,

wherein the time-dependent change detection unit is configured to determine the time-dependent change of the manipulation resistance based on a force magnitude of the reaction force of the manipulation resistance generator.

13. The manipulation input device according to claim 1, wherein the force magnitude adjusting unit includes a manual adjustment mechanism configured to manually adjust the reference force magnitude value.

14. The manipulation input device according to claim 13, further comprising:

an adjustment target setting means configured to set an adjustment target value of the reference force magnitude value; and

an adjustment detection unit configured to detect a difference of the reference force magnitude value from the adjustment target value when the manual adjustment mechanism operates, and inform of whether or not the reference force magnitude value is identical to the adjustment target value.

15. The manipulation input device according to claim 13, further comprising an adjustment detection unit configured to detect a difference of the reference force magnitude value from a preset adjustment target value when the manual adjustment mechanism operates, and inform of whether or not the reference force magnitude value is identical to the adjustment target value.

16. The manipulation input device according to claim 13, further comprising:

a time-dependent change detection unit configured to detect a time-dependent change of the manipulation resistance; and

a time-dependent change warning unit configured to give a warning when the time-dependent change of the manipulation resistance is detected by the time-dependent change detection unit.

17. The manipulation input device according to claim 16, wherein the time-dependent change detection unit is configured to determine the time-dependent change of the manipulation resistance based on a number of times of manipulation of the manipulation resistance generator.

18. The manipulation input device according to claim 16, wherein the time-dependent change detection unit is configured to determine the time-dependent change of the manipulation resistance based on a manipulation time of the manipulation resistance generator.

19. The manipulation input device according to claim 16, further comprising a force detection unit configured to detect a reaction force of the manipulation resistance generator,

wherein the time-dependent change detection unit is configured to determine the time-dependent change of the manipulation resistance based on a force magnitude of the reaction force of the manipulation resistance generator.

23. A manipulator system comprising the manipulation input device according to claim 1.

20. A manipulation input device comprising:

a manipulation unit comprising;

a manipulation unit main body; and

manipulation handles movably supported on the manipulation unit main body;

a manipulation resistance generator configured to generate manipulation resistance in response to a displacement amount of the manipulation handles when the manipulation handles are manipulated; and

a force magnitude adjusting unit configured to adjust a force magnitude of the manipulation resistance relative to the displacement amount,

wherein the force magnitude adjusting unit is configured to change a change rate characteristic of the force magnitude of the manipulation resistance relative to the displacement amount, and thereby change a reference force magnitude value of the force magnitude of the manipulation resistance relative to a reference value of the displacement amount.

21. The manipulation input device according to claim 20, wherein the manipulation resistance generator includes an elastic member, a spring constant of which is changed depending on the displacement amount.

22. The manipulation input device according to claim 20, wherein the manipulation resistance generator includes a resistance generating actuator configured to generate a reaction force by displacement manipulation of the manipulation handles to generate the manipulation resistance and to make the reaction force adjustable.