Manipulator system

The present invention relates to a manipulator system. For example, it relates to a master-slave type medical manipulator system.

Conventionally, a master-slave type manipulator system is known as a medical manipulator for providing surgical support for surgery. Such a medical manipulator is provided with a surgical instrument (slave operation unit) attached to the slave manipulator, for example, a master grip (master operation unit) for operating and inputting an operation of a forceps or a needle holder, and an operator. The surgeon operates the master grip to transmit the movement of the master grip to this instrument. As such a manipulator system, for example, Patent Document 1 describes a medical robot system that controls an opening / closing operation of an end effector by opening / closing an input handle.

<p num="0003"><patcit num="1"><text>U.S. Pat. No. 7,778,733</text></patcit></p>

<p num="0004"> However, the conventional manipulator system as described above has the following problems. For example, when the slave operating portion is made of forceps or the like and grips a living tissue or a surgical tool, the size and hardness of these objects to be grasped vary. On the other hand, the operator who operates the master operation unit determines the size and hardness of the object to be gripped from limited information such as image information, so that the operation input of the master operation unit does not match the actual object to be gripped. In some cases. For example, if the opening / closing angle input by the operator is too small compared to the opening / closing angle required for gripping, the slave operating unit tries to close according to the command value even after gripping the object to be gripped. At this time, if the object to be gripped is hard, it cannot be closed any more, and the opening / closing angle deviates from the opening / closing angle according to the operation input of the master operation unit. At this time, the interlocking control is temporarily stopped. After that, when the operator who notices that the closing operation cannot be performed performs the opening operation, the interlocking control is restarted at the moment when the opening / closing angle of the slave operating unit matches the opening / closing angle according to the operation input of the master operation unit. become. In this case, since the operator cannot know when the interlocking control is restarted, an unexpected operation may occur. Therefore, there is a problem that proper work cannot be performed and the work may be hindered. For example, the gripped state of the gripped object may be suddenly released and the gripped object may be dropped, or the slave operating portion may move unexpectedly, which may interfere with the surgical operation.</p><p num="0005"> The present invention has been made in view of the above problems, and when the operation of the slave operation unit deviates from the operation corresponding to the operation input of the master operation unit, the slave operation does not interfere with the work. The purpose is to provide a manipulator system that can resume the interlocking of units.</p>

<p num="0006"> In order to solve the above problems, the manipulator system of the present invention analyzes the master operation unit in which the operator inputs an operation input, the slave operation unit that can operate in response to the operation input, and the operation input. A manipulator system including an interlocking control unit that controls the operation of the slave operation unit in conjunction with the operation input, and is operable by the operator, and when operated, the master operation unit It is provided with an interlocking permission input unit that sends an interlocking permission mode signal to the interlocking control unit to enter a mode for permitting interlocking of the slave operation unit based on the operation input.<u style="single">In order to perform the operation input, the master operation unit detects an operation member provided so as to be openable and closable and an opening / closing angle of the operation member, and sends a detected value of the opening / closing angle of the operation member to the interlocking control unit. A master angle detection unit is provided, and the slave operation unit detects an opening / closing operation unit provided so as to be openable / closable and an opening / closing angle of the opening / closing operation unit, and interlocks the detected value of the opening / closing angle of the opening / closing operation unit with the detection value. The interlocking permission input unit includes a slave angle detecting unit that sends out to the control unit, and the interlocking permission input unit detects that the operating member has moved to the maximum open position and generates a position detection switch that generates the interlocking permission mode signal. Prepare,</u>When the operation of the slave operation unit deviates from the operation corresponding to the operation input, the interlocking control unit stops the interlocking control to obtain the operation input of the master operation unit and the operation state of the slave operation unit. Monitor and<u style="single">The position detection switch has occurred</u>After receiving the interlocking permission mode signal,<u style="single">By matching the detected value of the opening / closing angle of the operating member with the detected value of the opening / closing angle of the opening / closing operation unit.</u>When it is detected that the operation input matches the operating state<u style="single">And when the detected value of the opening / closing angle of the operating member changes in the closing direction of the operating member.</u>In addition, the operation of the slave operation unit is linked to the operation according to the operation input.</p><p num="0009"> Further, in the manipulator system of the present invention, it is preferable that the interlocking permission input unit includes a position detection switch that detects that the operating member has moved to the maximum opening position and generates the interlocking permission mode signal.</p><p num="0010"> Further, in the manipulator system of the present invention, it is preferable that the interlocking permission input unit includes an input switch provided on the surface of the master operation unit.</p><p num="0011"> Further, in the manipulator system of the present invention, it is preferable that the interlocking permission input unit includes an input switch provided separately from the master operation unit.</p><p num="0012"> Further, in the manipulator system of the present invention, the input switch preferably comprises a foot switch.</p><p num="0014"> Further, in the manipulator system of the present invention,<u style="single">Before</u>After receiving the interlocking permission mode signal, the interlocking control unit opens / closes the operating member when the detected value of the opening / closing angle of the operating member corresponds to the detected value of the opening / closing angle of the opening / closing operation unit. The detected value of the corner is how to open the operating member<u style="single">In the direction</u>When changing<u style="single">Also</u>, The slave operation unit can be interlocked with the operation according to the operation input, and whether it is interlocked when it is changed in the opening direction or when it is changed in the closing direction. It is preferable that it can be selected.</p>

<p num="0015"> According to the manipulator system of the present invention, since the interlocking permission input unit that can be operated by the operator is provided, it is possible to prevent the interlocking operation from occurring at an unexpected timing, and the operation of the slave operation unit responds to the operation input of the master operation unit. It has the effect that the interlocking of the slave operation unit can be resumed without disturbing the work when the operation deviates from the normal operation.</p>

<figref num="1">It is a schematic perspective view which shows the schematic structure of the manipulator system of embodiment of this invention.</figref><figref num="2">It is a schematic perspective view which shows the other master operation part included in the manipulator system in FIG.</figref><figref num="3">It is a schematic system configuration diagram which shows the system configuration of the main part of the manipulator system of embodiment of this invention.</figref><figref num="4">It is a schematic graph explaining an example of the operation of the manipulator system of embodiment of this invention.</figref><figref num="5">It is operation explanatory drawing of the manipulator system of embodiment of this invention.</figref><figref num="6">FIG. 5 is an operation explanatory view following FIG. 5 of the manipulator system according to the embodiment of the present invention.</figref><figref num="7">It is a schematic diagram which shows an example of the display scene of the manipulator system of embodiment of this invention.</figref><figref num="8">It is a schematic cross-sectional view which shows the master operation part of the manipulator system of the 1st modification of embodiment of this invention.</figref><figref num="9">It is a schematic block diagram which shows the main part of the manipulator system of the 2nd modification of embodiment of this invention.</figref><figref num="10">It is a schematic perspective view which shows the main part of the manipulator system of the 3rd modification of embodiment of this invention.</figref><figref num="11">It is a schematic cross-sectional view which shows the master operation part of the manipulator system of the 4th modification of embodiment of this invention.</figref><figref num="12">It is a schematic block diagram which shows the master operation part which shows the modification (fifth modification) of a spring which is applicable to the embodiment of this invention and each modification.</figref>

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. First, the manipulator system of the present embodiment will be described. FIG. 1 is a schematic perspective view showing a schematic configuration of a manipulator system according to an embodiment of the present invention. FIG. 2 is a schematic perspective view showing another master operation unit included in the manipulator system in FIG. FIG. 3 is a schematic system configuration diagram showing a system configuration of a main part of the manipulator system according to the embodiment of the present invention.

As shown in FIG. 1 (some configurations are shown in FIGS. 2 and 3), the master-slave manipulator 500 (manipulator system) of the present embodiment is, for example, a medical manipulator for performing a surgical operation, and is a slave manipulator 300. It is provided with an operation input device 100 that remotely controls the operation of the slave manipulator 300 by receiving an operation input by the operator Op.

The slave manipulator 300 includes a treatment tool 302, a slave arm 301 that movably supports the treatment tool 302 around the patient P, a slave control unit 303 that controls the operation of the treatment tool 302 and the movable parts of the slave arm 301, and a treatment tool. It includes a 302 and a support 304 that supports the slave arm 301. Since FIG. 1 is a schematic diagram, an example is shown in which one treatment tool 302 and one slave arm 301 are provided, but a plurality of treatment tools 302 and slave arm 301 are provided. You may. When a plurality of units are provided, the operator Op can select two of them and operate the two units at the same time using the right hand and the left hand. In addition, some signals in the functional block diagram are not shown.

As the treatment tool 302, various surgical tools and treatment tools used for surgery can be adopted, but in the following, as an example, as shown in FIG. 3, the tip of the axial portion 312 (toward the body cavity of patient P). An example will be described in a case where an opening / closing unit 311 (slave operating unit, opening / closing operation unit) provided at the side end) and an opening / closing drive unit 313 for opening / closing the opening / closing unit 311 are provided. Examples of such a treatment tool 302 include forceps and a needle holder.

The opening / closing part 311 has an opening / closing center axis O centered on the rotation support shaft 311c.₃₁₁It is equipped with a pair of treatment tool pieces 311b that open and close symmetrically with respect to the left and right. In Fig. 3, the opening / closing center axis O₃₁₁Is drawn so that it is aligned with the central axis of the axial part 312. However, the opening / closing portion 311 may be connected to the axial portion 312 via a joint (not shown), and in this case, the opening / closing center axis O₃₁₁Can also take an inclined posture with respect to the central axis of the axial portion 312.

In the following, the opening / closing center axis O is used as the opening / closing angle of the opening / closing part 311.₃₁₁And the angle θ between the gripping surfaces 311a of each treatment tool piece 311b_SWill be used. That is, the angle θ_SIs half the angle formed by each gripping surface 311a. Therefore, when the treatment tool piece 311b moves in the opening direction, the angle θ_SWill increase. When the treatment tool piece 311b moves in the closing direction, the angle θ_SDecreases. However, this definition of the opening / closing angle is an example, and for example, the angle 2θ which is the angle formed by each gripping surface 311a._SMay be adopted.

The operation of the open / close drive unit 313 is controlled by the drive signal 313a sent from the slave control unit 303 based on the drive command value 403 sent from the control unit 400. Therefore, the open / close drive unit 313 is electrically connected to the control unit 400 via the slave control unit 303, which will be described later. As the configuration of the opening / closing drive unit 313, an appropriate actuator for opening / closing the opening / closing unit 311 can be adopted. Further, the open / close drive unit 313 includes an encoder 314 (slave angle detection unit) that detects the open / close angle of the open / close drive unit 313.

The encoder 314 can generate an output signal 314a corresponding to the detected opening / closing angle and send it to the slave control unit 303. The configuration of the encoder 314 is not particularly limited, and may be, for example, a rotary encoder that directly detects the amount of rotation of the opening / closing unit 311 or detects the amount of movement of the linear motion member that is linked to the opening / closing operation of the opening / closing unit 311. It may be a linear encoder or a rotary encoder that converts this linear motion into a rotation amount and detects it.

Further, the encoder 314 may be an absolute type or an increment type. When the increment type is adopted, an appropriate position calibration means is provided, and this position calibration means monitors whether the treatment tool piece 311b has reached a certain calibration position, and the treatment tool piece 311b reaches the calibration position. When this happens, it is preferable to have a configuration in which the output signal 314a of the encoder 314 is reset. According to such a configuration, since the output signal 314a can be calibrated each time the calibration position is passed, the opening / closing angle of the opening / closing unit 311 can be accurately detected even in the increment type.

The slave arm 301 includes an articulated arm that holds the treatment tool 302 in an appropriate position and posture, is electrically connected to the slave control unit 303, and its operation is controlled in response to a control signal from the slave control unit 303. It has become like.

As shown in FIG. 1, the slave control unit 303 controls the slave manipulator 300 based on a control signal from the manipulator control unit 402, which will be described later, and also provides position information of each movable unit transmitted from the slave manipulator 300. A detection signal or the like required for control is sent to the manipulator control unit 402. Therefore, the slave control unit 303 is electrically connected to each movable unit of the manipulator control unit 402 and the slave manipulator 300 of the control unit 400, which will be described later. For example, the slave control unit 303 sends a drive signal 313a for opening / closing the opening / closing unit 311 based on the drive command value 403 to the opening / closing unit 311 of the treatment tool 302 to perform opening / closing control. Further, the slave control unit 303 acquires the output signal 314a from the encoder 314 and transfers it to the manipulator control unit 402.

As shown in FIG. 1, the operation input device 100 includes a master input unit 200 and a control unit 400 (interlocking control unit). The master input unit 200 functions as a master that transmits the operation by the operator Op to the slave manipulator 300, and is a display unit 201 (information display unit), a master arm 202, and a master grip 203L, 203R (master operation). Part) and.

The display unit 201 is electrically connected to the camera and the control unit 400 (not shown), and displays information from the camera and the control unit 400 so that the operator Op can be seen. The display type of the display unit 201 includes, for example, an image of the operating part of patient P and its vicinity taken by a camera, for example, an operation input screen for performing operation input by an input means (not shown) such as a foot switch, and an operator. Various information about Op, guidance, texts and images such as warning messages can be mentioned.

The master arm 202 transmits the operation of the operator Op for operating the position and orientation of the slave arm 301 in the slave manipulator 300 to the slave manipulator 300, and is communicably connected to the control unit 400. The master arm 202 of the present embodiment includes two articulated arms 202L (see FIG. 1) in which the arm base end portion 202b is connected to a fixed position in the master input unit 200 such as the lower part of the display unit 201. It consists of an articulated arm 202R (see Figure 2). The articulated arms 202L and 202R are arranged in front of the display unit 201 so that the operator Op can operate the joint arms while looking at the display unit 201, respectively. In addition, the articulated arms 202L and 202R correspond to the operation input by the left hand and the right hand of the operator Op, respectively. The arm tip 202a on the operator Op side of the articulated arms 202L and 202R is provided with master grips 203L and 203R that the operator Op grips and inputs operations. Each of the articulated arms 202L and 202R is equipped with an encoder that detects the amount of movement of the joint for each joint, and the output of each encoder can be sent to the control unit 400 as an operation signal for each joint.

The master grips 203L and 203R are operated by the left and right hands of the operator Op, respectively, to input operations to the slave arm 301 corresponding to the articulated arms 202L and 202R and the treatment tool 302 provided on the slave arm 301, respectively. Is to do. The master grips 203L and 203R can be provided in a shape that is plane-symmetrical with each other so that they can be easily gripped and operated with the left and right hands, respectively. 3)).

As shown in FIG. 3, the schematic configuration of the master grip 1 is as follows: grip portion 1a, housing portion 1d, operation handle 1b (operation member), spring 3, encoder 4 (master angle detection unit), and position detection switch 6 ( It is equipped with an interlocking permission input unit). Note that FIG. 3 is drawn as a plan view of view A in FIG. 2, but since FIG. 3 is a schematic view, for example, the illustration of the housing portion 1d shown in FIG. 2 is omitted.

As shown in FIG. 2, the grip portion 1a is a tubular body gripped by the operator Op with one hand, and has a housing portion 1d extending toward the arm tip portion 202a at one end. The housing portion 1d is connected to the arm tip portion 202a at its tip portion. In addition, a pair of operation handles 1b are movably supported at the end of the grip portion 1a with the housing portion 1d sandwiched between them, so that the opening / closing angle of the operation handles 1b in a V-shaped open state can be changed. .. In the present embodiment, as shown in FIG. 3, one end of each operation handle 1b is rotatably supported by a rotation support shaft 1c provided inside the grip portion 1a.

Each operation handle 1b can adopt an appropriate shape such as a rod shape or a plate shape as long as it can be opened and closed by locking the finger of the operator Op. For example, an uneven portion may be formed so that the gripping position of the operator Op can be specified. Although not shown, for example, a protrusion that locks the finger to be operated in the opening / closing direction and a finger insertion portion that inserts the finger so that the operation handle 1b can easily follow the movement of the finger of the operator Op. Or the like may be provided.

The spring 3 is a spring member that urges the pair of operation handles 1b in the opening direction, and is mounted between the operation handles 1b at a position closer to the tip (the end opposite to the grip 1a) of the operation handles 1b. Has been done. However, the spring type and mounting position of the spring 3 are not particularly limited as long as each operation handle 1b can be urged in the opening direction with respect to the pair of operation handles 1b. FIG. 3 shows an example in which both ends of the compression coil spring are mounted on the opposite side surfaces of each operation handle 1b. The length of the spring 3 is set so that the opening / closing angle of the operation handle 1b becomes a constant value smaller than the maximum opening / closing angle when no operation is performed.

With such a configuration, when no external force acts on the operation handle 1b (hereinafter referred to as the natural state), the master grip 1 opens and closes constantly due to the urging force of the spring 3 as shown by the solid line in FIG. It is open in a V shape at the corner. Further, when the operator Op grasps the grip portion 1a with his / her hand, for example, grasps each operation handle 1b with his / her thumb and index finger and moves each operation handle 1b, each operation handle 1b becomes a rotation support shaft. Since it rotates around 1c, the opening / closing angle changes. In the following, the opening / closing center axis O is used as the opening / closing angle of the operation handle 1b in the master grip 1.₁Angle between and each operation handle 1b θ_MWill be used. That is, the angle θ_MIs half the angle formed by each operating handle 1b. However, this definition of the opening / closing angle is an example, and for example, the angle 2θ which is the angle formed by each gripping surface 311a._SMay be adopted.

When the operation handle 1b is opened and closed in this way, a reaction force from the spring 3 is generated according to the amount of expansion and contraction of the spring 3, so that the operator Op feels the operation resistance. For example, when the operation handle 1b is closed, the operation resistance increases as the opening / closing angle becomes smaller. Therefore, the pair of operation handles 1b makes it possible for the operator Op to feel as if he / she is actually gripping the object to be gripped. Further, in the present embodiment, the operator Op can further open the operation handle 1b from the natural state. In the following, this maximum opening / closing angle is set to the angle θ._MAIt is represented by. In such an operation of further opening the operation handle 1b from the natural state, an operation resistance due to the elastic restoring force due to the tension of the spring 3 is generated. This operating resistance increases as it approaches the maximum open / close angle.

The encoder 4 detects the opening / closing angle of each operation handle 1b, and sends the detected value corresponding to the opening / closing angle as an output signal 4a to the control unit 400. In the present embodiment, the encoder 4 is provided inside the grip portion 1a and is electrically connected to the control portion 400. In the present embodiment, the encoder 4 adopts a rotary encoder that directly detects the amount of rotation of the operation handle 1b. However, a linear encoder that detects the amount of movement of the linear motion member that is linked to the opening / closing operation of the operation handle 1b, or a rotary encoder that converts this linear motion into a rotation amount and detects it may be used.

Further, the encoder 4 may be an absolute type or an increment type. When the increment type is adopted, an appropriate position calibration means is provided, and this position calibration means monitors whether the operation handle 1b has reached a certain calibration position, and when the operation handle 1b reaches the calibration position. In addition, it is preferable to have a configuration in which the output signal 4a of the encoder 4 is reset. According to such a configuration, since the output signal 4a can be calibrated each time the calibration position is passed, the opening / closing angle of the operation handle 1b can be accurately detected even in the increment type.

The position detection switch 6 detects that the operation handle 1b has opened to the maximum opening / closing angle by detecting the position of one of the operation handles 1b, generates an interlocking permission mode signal 6a, and generates an interlocking permission mode signal 6a. It is a position detector that sends out to the control unit 400, and is electrically connected to the control unit 400. The interlocking permission mode signal 6a is a signal used by the control unit 400 to enter a mode for permitting interlocking of the opening / closing unit 311 based on the operation input of the master grip 1 (hereinafter, interlocking permission mode).

The types of the position detection switch 6 include a contact switch that detects mechanical contact with the operation handle 1b, a position detection sensor that electrically, magnetically, and optically detects the moving position of the operation handle 1b. A speed detection sensor or the like can be adopted.

In the present embodiment, the position detection switch 6 faces one of the operation handles 1b when the operation handle 1b is fully opened in the support arm member 5 whose one end is fixed to the grip portion 1a on the opening direction side. It is installed like this. As shown by the alternate long and short dash line in FIG. 3, the support arm member 5 has an open / close center axis O with respect to one operation handle 1b when it is opened to the maximum.₁It is extended from the grip portion 1a so as to have a positional relationship opposite to that on the opposite side.

As shown in FIG. 1, the functional configuration of the control unit 400 includes a master control unit 401 and a manipulator control unit 402. The master control unit 401 receives a signal transmitted from the master input unit 200, analyzes the drive amount of the movable unit to be controlled by the slave manipulator 300, and selects the movable unit in order to realize an operation based on this signal. The signal 404 and the drive command value 403 to the movable part selected by the movable part selection signal 404 are sent to the manipulator control unit 402. Here, the movable portion selection signal 404 is independently assigned to each movable portion such as a joint of the slave arm 301 and the opening / closing portion 311 of the treatment tool 302 held by the slave arm 301.

The master control unit 401 analyzes the signals from each joint from the master arm 202, calculates the positions and postures of the master grips 203L and 203R, and in accordance with this, the tip of the treatment tool 302 supported by the slave arm 301. It is possible to generate a drive command value 403 for each movable part of the slave arm 301, which is necessary for controlling the position and posture of the slave arm 301. The drive command value 403 is sent to the slave control unit 303 together with the movable unit selection signal 404 corresponding to each movable unit.

Further, the master control unit 401 also generates a drive command value 403 to be transmitted to the opening / closing unit 311 based on the output signal 4a from each encoder 4 corresponding to the master grips 203L and 203R transmitted to the master control unit 401. , Can be sent to the manipulator control unit 402. In the following, this drive command value 403 will be referred to as an open / close command value 403A. The correspondence between the output signal 4a and the open / close command value 403A is stored in a storage unit (not shown) of the master control unit 401, for example, as a table or conversion type data. This correspondence can be set as needed. For example, the opening / closing angle θ of the operation handle 1b_MAnd the opening / closing angle θ of the opening / closing part 311_SHowever, it may be a matching correspondence, a linear correspondence by an appropriate magnification, or a correspondence having no linearity.

Further, the master control unit 401 can selectively switch between the "interlocking mode" and the "interlocking stop mode" by sending the control signal 405 to the manipulator control unit 402. Here, the "interlocking mode" means that communication is performed between the manipulator control unit 402 and the slave control unit 303 to send an open / close command value 403A to the slave control unit 303, thereby opening and closing the operation of the open / close unit 311. This mode is linked to the operation based on the command value 403A. Further, the "interlocking stop mode" is a state in which the communication from the manipulator control unit 402 to the slave control unit 303 is stopped so that the open / close command value 403A is not sent to the slave control unit 303, whereby the open / close command value 403A is set. This mode stops the interlocking operation based on the above. However, in the interlocking stop mode, the output signal 314a continues to be transmitted from the encoder 314, and this output signal 314a continues to be transmitted to the master control unit 401 via the slave control unit 303 and the manipulator control unit 402.

The interlocking mode is started after the master control unit 401 receives the interlocking permission mode signal 6a, and the opening / closing angle of the operation handle 1b detected by the output signal 4a and the opening / closing detected by the output signal 314a. This is the case when the opening / closing angle of the operation handle 1b corresponds to the opening / closing angle of the unit 311 and the opening / closing angle of the operation handle 1b detected by the output signal 4a changes in the closing direction of the operation handle 1b. Here, the opening / closing angle of the operation handle 1b "corresponds" to the opening / closing angle of the opening / closing unit 311 means that the opening / closing angle represented by the opening / closing command value 403A generated from the output signal 4a is based on the above-mentioned correspondence relationship set in advance. , It means that the opening / closing angles of the opening / closing unit 311 detected by the output signal 314a match. That is, when the above correspondence is expressed by the function f, θ_S= f (θ)_M) Means that there is a relationship. When there is such a correspondence, the operation input by the operation handle 1b and the operating state of the opening / closing unit 311 match based on the correspondence.

The interlocking stop mode is started by the master control unit 401 sending a control signal 405 to the manipulator control unit 402 when the operation of the opening / closing unit 311 deviates from the operation based on the opening / closing command value 403A by an allowable value or more. To. Therefore, the master control unit 401 acquires the output signal 314a transmitted from the encoder 314 via the slave control unit 303 and the manipulator control unit 402, and determines whether the opening / closing unit 311 is interlocked according to the opening / closing command value 403A. It is constantly monitored.

The manipulator control unit 402 and each movable unit of the slave manipulator 300 selected by the movable unit selection signal 404 via the slave control unit 303 in order to realize the operation of the drive command value 403 sent from the master control unit 401. It communicates and controls the operation of each moving part. In particular, the manipulator control unit 402 sends an open / close command value 403A to the slave control unit 303 until the control signal 405 switches to the interlocking stop mode. As a result, the slave control unit 303 controls the opening / closing operation of the opening / closing unit 311 to the opening / closing operation corresponding to the operation input of the master grip 1. Further, when the interlocking stop mode is switched by the control signal 405, the transmission of the opening / closing command value 403A is stopped. Therefore, the operation control of the opening / closing unit 311 is not performed until the interlocking mode is switched by the control signal 405.

In the present embodiment, the device configuration of the control unit 400 employs a computer including a CPU, a memory, an input / output interface, an external storage device, and the like, and the computer executes a control program that realizes the above control functions. It is supposed to be.

Next, the operation of the master-slave manipulator 500 of the present embodiment will be described focusing on the control operation of the opening / closing unit 311 by the master grip 1. FIG. 4 is a schematic graph illustrating an example of the operation of the manipulator system according to the embodiment of the present invention. The horizontal axis is the time t, and the vertical axis is the encoder output θ. FIG. 5 is an operation explanatory view of the manipulator system according to the embodiment of the present invention. FIG. 6 is an operation explanatory view following FIG. 5 of the manipulator system according to the embodiment of the present invention. However, in FIGS. 5 and 6, (a-1), (a-2) and (a-3) indicate the operation of the master operation unit, and (b-1), (b-2) and (b-3) indicate the operation of the master operation unit. The operation of the opening / closing unit 311 corresponding to this is shown. 7 (a), 7 (b), and 7 (c) are schematic views showing an example of a display scene of the manipulator system according to the embodiment of the present invention.

First, the normal operation of the master-slave manipulator 500 will be briefly described. According to the master-slave manipulator 500, as shown in FIG. 1, the operator Op holding the master grips 203L and 203R performs an operation of changing the position or posture of the master grips 203L and 203R while looking at the display unit 201. be able to. Along with this, the output signal of the encoder from each movable part of the master arm 202 is sent to the master control unit 401. The master control unit 401 analyzes these output signals and drives the drive command value 403 of each movable part of the slave arm 301 for driving the slave manipulator 300 corresponding to the respective positions and orientations of the master grips 203L and 203R. Is generated and sent to the manipulator control unit 402. The manipulator control unit 402 converts the transmitted drive command value 403 into a drive signal of the slave arm 301 and sends it to the slave control unit 303. As a result, the slave arm 301 is driven and controlled, and the position and posture of the tip of the treatment tool 302 are controlled according to the positions and postures of the master grips 203L and 203R, respectively.

On the other hand, in parallel with this, the operator Op operates the operation handles 1b of the master grips 203L and 203R to change the opening / closing angle, if necessary. At this time, since the master grips 203L and 203R are provided with the spring 3, the spring 3 is deformed when the operation handle 1b is closed, and an elastic restoring force is generated according to the amount of deformation. Therefore, the operation resistance is felt in the hand of the operator Op who operates the operation handle 1b. By such an operation of the operation handle 1b, the output signal 4a of each encoder 4 of the master grips 203L and 203R is sent to the master control unit 401. Based on the output signal 4a from each encoder 4, the master control unit 401 opens and closes corresponding to the drive signal of the opening / closing drive unit 313, which is a movable unit that opens / closes the opening / closing unit 311 provided at the tip of the treatment tool 302. The command value 403A is generated and sent to the slave control unit 303 together with the movable unit selection signal 404 corresponding to the open / close drive unit 313. As a result, the opening / closing drive unit 313 is driven and controlled, and the opening / closing angle of the opening / closing unit 311 of the treatment tool 302 is controlled according to the opening / closing angle of each operation handle 1b. Therefore, the opening / closing portion 311 can grip and release the object to be gripped.

In this way, the operator Op can remotely control the slave manipulator 300 through the master input unit 200 to perform surgery.

Next, the operation when the opening / closing operation of the opening / closing unit 311 cannot be properly controlled based on the master grips 203L and 203R will be described. Since the master grips 203L and 203R both consist of the master grip 1, the relationship between the master grip 1 and the opening / closing portion 311 will be described below. Also, for simplicity, the opening / closing angle θ of the operation handle 1b_MAnd the opening / closing angle θ of the opening / closing part 311_SAn example will be described in the case of controlling the correspondence relationship in which and is at the same angle. The output signals 4a and 314a of the encoders 4 and 314 represent the magnitude of the opening and closing angle. That is, it is assumed that the encoder output θ of the encoders 4 and 314 indicates that the opening / closing angle of the operation handle 1b and the opening / closing unit 311 is θ.

There are various possible causes for the opening / closing operation of the opening / closing part 311 not to be linked with the opening / closing operation of the master grip 1, but if the operation deviates from the operation input is continued, accurate opening / closing will not be performed, which hinders the work using the opening / closing part 311. Occurs. Therefore, the master control unit 401 constantly monitors the opening / closing operation of the opening / closing unit 311 and switches to the interlocking stop mode by the control signal 405 when the opening / closing angle deviates beyond the permissible value. Such a situation often occurs, especially when gripping an object to be gripped. For example, since the operator Op performs remote control, he / she does not have sufficient information about the size and hardness of the object to be gripped. For example, if the opening / closing angle is closed larger than the size of the object to be gripped even though the object to be gripped is sufficiently hard, the opening / closing portion 311 cannot be closed to the opening / closing angle corresponding to the opening / closing command value 403A, and the operation handle 1b The opening / closing angle of the opening / closing part 311 and the opening / closing angle of the opening / closing part 311 are different. Further, even if the object to be gripped is deformable, if the resistance is large or the closing speed is too fast, the opening / closing portion 311 cannot be closed at the opening / closing angle corresponding to the opening / closing command value 403A.

Time t₀(Hereafter, time t_nThe subscript n indicates a temporal order, and the larger subscript indicates that it is later in time. ), The opening / closing angle of the operation handle 1b and the opening / closing part 311 is θ.₀(However, θ₀&lt;θ_MA), The operation handle 1b shall be closed to grip the gripped object W (see FIG. 5 (a-2)) having flexibility as shown in FIG. 5 (a-2). .. At this time, as shown in FIG. 4, the encoder outputs θ of the encoders 4 and 314 are θ, as shown by the polygonal lines 90 and 91, with time.₀Decreases from. Here, since the operation handle 1b and the opening / closing part 311 are in an interlocking state, the polygonal lines 90 and 91 overlap. It should be noted that the change in the encoder output is represented by a polygonal line as an example, and it is possible to perform an operation input indicating an appropriate curved change depending on the operation method of the operation handle 1b.

Time t, as shown in Figure 4.₁In, for example, in the state where the opening / closing unit 311 grips the object W to be gripped, it cannot be closed according to the operation input (θ = θ).₁, However, θ₁&lt;θ₀) (See Figures 5 (a-1) and (a-2)). In this case, the time t at which the polygonal lines 90 and 91 branch off at the point a in FIG.₁After that, the encoder output θ of the encoder 4 decreases as shown by the polygonal line 90, whereas the encoder output θ of the encoder 314 decreases as shown by the polygonal line 91 (see the thick broken line in the figure).₁Remains. The master control unit 401 sets the time t₁Immediately after, when it is detected that the opening / closing angle deviates by more than the permissible value, the control signal 405 is sent to the manipulator control unit 402 to switch to the interlocking stop mode. As a result, even if the operator Op further opens and closes the operation handle 1b, the corresponding open / close command value 403A is not sent from the manipulator control unit 402 to the slave control unit 303. Therefore, the opening / closing drive unit 313 stops at the opening / closing angle when entering the interlocking stop mote.

Further, when the master control unit 401 switches to the interlocking stop mode, as shown in FIG. 7A, a warning display M1 (for example, interlocking failure occurrence"" indicating that an interlocking failure has occurred on the display screen 201a of the display unit 201 (for example, interlocking failure occurred) ) And the guidance display M2 (for example, Please fully open the grip ) that explains how to deal with the operator Op.

The operator Op looks at the guidance display M2, and as shown in Fig. 4, the time t₂When the operation handle 1b is opened from (see Fig. 5 (b-1)), the encoder output θ of the encoder 4 is θ.₂(However, θ₂&lt;θ₁) To θ_MAIt will increase toward. At that time, time t₃In, the encoder output of the encoder 4 is θ₁(Refer to point c), which matches the encoder output of the encoder 314. At this time, the position detection switch 6 has not detected the operation handle 1b, and the interlocking permission mode signal 6a has not been generated, so that the interlocking permission mode is not set. Further, the master control unit 401 detects that the opening / closing angle of the operation handle 1b is changing in the opening direction from the change of the output signal 4a. Therefore, in the present embodiment, the master control unit 401 does not switch to the interlocking mode, and even if the encoder output of the encoder 4 increases, the opening / closing unit 311 does not interlock, and the encoder output of the encoder 314 is θ = θ.₁Remains. That is, the opening / closing part 311 is not opened by the operation input of the operation handle 1b (see FIG. 5 (a-2)).

Time t₄Then, the operator Op opens the operation handle 1b to the maximum opening / closing angle (see point d in Fig. 4). At this time, as shown in FIG. 5 (c-1), since one of the operation handles 1b is located at the position detection position of the position detection switch 6, the position detection switch 6 uses the interlocking permission mode signal 6a as the master control unit. Send to 401. As a result, the interlocking permission mode is started. As shown in FIG. 7B, the master control unit 401 enters the interlocking permission mode and displays the display screen 201a of the display unit 201 in order to notify the operator Op that the interlocking failure can be resolved. Display the information display M3 (for example, "preparation for interlocking") and the guidance display M4 (for example, "Please close the grip") that explains how to deal with the operator Op.

Since the operator Op can see from the display of FIG. 7B on the display unit 201 that the interlocking will be started by the future operation, the operator Op can prepare in advance the operation when the interlocking is started. The operator Op looks at the guidance display M4 and closes the operation handle 1b. As a result, the encoder output θ of the encoder 4 becomes θ._MAFrom θ₁It decreases toward. At that time, time t₅In, the encoder output of the encoder 4 is θ₁(See point e), which matches the encoder output of encoder 314 (see Figures 6 (a-1) and (a-2)). At this time, the interlocking permission mode is set, and the master control unit 401 detects that the opening / closing angle of the operation handle 1b is changing in the closing direction from the change of the output signal 4a. Therefore, the master control unit 401 sends a control signal 405 to the manipulator control unit 402 to switch the interlocking stop mode to the interlocking mode. Further, as shown in FIG. 7 (c), the master control unit 401 enters the interlocking mode, and in order to notify the operator Op that the interlocking failure has been resolved, the information display M5 (for example, "interlocking") is displayed on the display unit 201. "OK") and the detailed information display M6 (for example, "Slave works together") are displayed.

As a result, the interlocking of the opening / closing part 311 is restarted, and thereafter, the opening / closing angle of the opening / closing part 311 changes in the same manner as the opening / closing angle of the operation handle 1b. Therefore, the operator Op is the time t₁It is possible to continue the operation that was planned to be performed from, for example, closing the object W to be gripped so as to grip it more strongly (the straight lines of FIGS. 6 (b-1), (b-2), and 4). See ef). If necessary, the operation handle 1b can be opened to release the gripped object W (see FIGS. 6 (c-1) and 6 (c-2)). In this case, the operator Op understands that the interlocking has been resumed, and then opens the operation handle 1b. Therefore, the opening speed is adjusted so that the object W to be gripped does not suddenly fall. Alternatively, the master grip 1 can be moved to operate the master arm 202, for example, the opening / closing portion 311 can be moved to a place where it is appropriate to release the grip, and then the grip can be released.

As described above, according to the master-slave manipulator 500, since the position detection switch 6 is provided as the interlocking permission input unit that can be operated by the operator Op, it is possible to prevent the interlocking operation from occurring at an unexpected timing. Therefore, when the operation of the opening / closing unit 311 deviates from the operation corresponding to the operation input of the master grip 1, the workability of the opening / closing unit 311 can be improved.

[First modification] Next, a first modification of the present embodiment will be described. FIG. 8 is a schematic cross-sectional view showing a master operation unit of the manipulator system of the first modification of the embodiment of the present invention.

The master grip 1 of the above embodiment has a configuration in which the interlocking permission mode signal 6a is generated by detecting the position of the operation handle 1b by the position detection switch 6, whereas the master grip 1 of this modification shown in FIG. 10 (master operation unit) detects the position of a member (moving shaft 13a described later) that moves linearly in conjunction with the operation handle 1b, and the position detection switch 6 is built in the grip unit 1a. The master grip 10 of this modification can be used as the master grips 203L and 203R in the master-slave manipulator 500, similarly to the master grip 1 of the above embodiment. Hereinafter, the points different from the above-described embodiment will be mainly described.

The master grip 10 of this modification uses the rotary support shaft 10c, the actuator 13, and the encoder 14 (master angle detector) instead of the rotary support shaft 1c, the spring 3, and the encoder 4 of the master grip 1 of the above embodiment. Be prepared.

The rotary support shaft 10c rotatably supports one end of the operation handle 1b instead of the rotary support shaft 1c of the above embodiment. The rotation support shaft 10c has an opening / closing center axis O inside the grip portion 1a.₁Opening and closing center axis O₁It is arranged at two positions symmetrical with respect to each other, and one end of each operation handle 1b is supported at these two positions.

Actuator 13 opens and closes each operation handle 1b. Central axis O₁This is to enable the opening and closing operation symmetrically with respect to the above, and to generate an operation resistance with the operation of the operation handle 1b. The schematic configuration of the actuator 13 is the opening / closing center axis O.₁A moving shaft 13a that moves linearly along the moving shaft 13a and a resistance generating portion 13b that movably supports one end of the moving shaft 13a and generates a resistance force in the direction opposite to the moving direction are provided.

The other end of the moving shaft 13a is supported by a slide guide 10d provided inside the base end side (the side closer to the grip portion 1a) of the housing portion 1d so as to be movable in a linear motion. The tip 13c at the other end of the moving shaft 13a protrudes from the slide guide 10d toward the base end side of the housing portion 1d. Further, between the intermediate portion of the moving shaft 13a and each operating handle 1b, the rotational movement of each operating handle 1b around the rotating support shaft 10c is transmitted to the moving shaft 13a to move the moving shaft 13a in a linear motion. The link 10e to be made is connected. As a result, the opening / closing angle of the operating handle 1b and the moving amount of the moving shaft 13a have a one-to-one relationship, and the opening / closing angle of the operating handle 1b can be detected from the moving amount of the moving shaft 13a.

In the grip portion 1a, a support plate 10a for arranging the position detection switch 6 is provided in front of the tip 13c of the moving shaft 13a at a position away from the moving range of the tip 13c. The position detection switch 6 on the support plate 10a detects the position of the tip 13c of the moving shaft 13a, and can detect whether the tip 13c has reached the position corresponding to the maximum opening / closing angle of the operation handle 1b. Is located in.

The resistance generating portion 13b includes an elastic member that resists the movement of the moving shaft 13a, for example, a spring member such as a spring, an air spring, or the like, and is fixed inside the tip side (opposite side of the grip portion 1a) of the housing portion 1d. Has been done.

The encoder 14 detects the amount of movement of the moving shaft 13a of the actuator 13 and sends an output signal 14a of this detected value to the master control unit 401. The encoder 14 and the master control unit 401 are electrically connected by wiring (not shown). It is connected to the. The output signal 14a sent to the master control unit 401 is converted into the opening / closing angle of the operation handle 1b by a conversion table or the like stored in advance in the master control unit 401.

According to the master grip 10 of this modification, the position detection switch 6 is transferred to the master control unit 401 by the operation of the operator Op that opens the operation handle 1b to the maximum opening / closing angle, as in the master grip 1 of the above embodiment. The interlocking permission mode signal 6a can be transmitted. Therefore, in the same manner as in the above embodiment, it is possible to prevent the interlocking operation from occurring at an unexpected timing. Therefore, when the operation of the opening / closing unit 311 deviates from the operation corresponding to the operation input of the master grip 10, the opening / closing unit 311 causes the opening / closing unit 311. Workability can be improved.

[Second variant] Next, a second modification of the present embodiment will be described. FIG. 9 is a schematic configuration diagram showing a main part of the manipulator system of the second modification of the embodiment of the present invention.

As shown in FIG. 9, the master-slave manipulator 501 (manipulator system) of this modification includes a master grip 20 instead of the master grip 1 of the master-slave manipulator 500 of the above embodiment, and an input switch 26 (interlocking permission input). Part) is added. Hereinafter, the points different from the above-described embodiment will be mainly described.

The master grip 20 of this modification is obtained by deleting the support arm member 5 and the position detection switch 6 of the master grip 1 of the above embodiment.

The input switch 26 is provided separately from the master grip 20, and when the operator Op operates at an appropriate timing, an interlocking permission mode signal 26a for entering the interlocking permission mode is generated, and this interlocking permission mode signal 26a is generated. Is sent to the master control unit 401. Therefore, the input switch 26 is electrically connected to the master control unit 401. The configuration of the input switch 26 is not particularly limited as long as it is an input switch that can be operated by the operator Op. For example, a push button switch that can be operated by the operator Op by hand, a foot switch that can be operated by the operator Op by foot, or the like can be preferably adopted.

According to the master-slave manipulator 501 of this modification, the interlocking permission mode signal 26a can be generated at an appropriate timing by the operation of the operator Op. Therefore, when the master control unit 401 detects an interlocking failure, the above embodiment In the same way, switch to the interlocking stop mode and replace the guidance display M2 in Fig. 7 (a) with the operator, for example, "Please operate the input switch when you are ready to resume interlocking." Display a message prompting Op to operate the input switch 26. As a result, the operator Op understands that the interlocking failure has occurred due to the warning display M1 and such guidance display. Therefore, the operator Op operates the input switch 26 after preparing to resume the interlocking. , You can enter the interlocking permission mode.

When the interlocking permission mode is entered, the master control unit 401 displays a screen almost the same as in Fig. 7 (b), but the guidance display M4 says, for example, "Open the grip more slowly than when a failure occurred and then close it slowly." Display the message you said. As a result, the operator Op uses the operation handle 1b to output the encoder output θ in FIG.₁It is possible to perform the operation of closing the operation handle 1b from an appropriate opening / closing angle beyond the point c by opening slightly more than. By this operation, the encoder output of the output signal 4a is θ in the closing direction.₁When is matched with, the master control unit 401 switches from the interlocking stop mode to the interlocking mode and resumes interlocking in the same manner as in the above embodiment.

In this way, in this modification, the operator Op can quickly repair the interlocking without opening the opening / closing angle of the operation handle 1b to the maximum opening / closing angle. In addition, since the interlocking can be restarted by opening and closing slightly from the opening / closing angle when the interlocking failure occurs, the interlocking can be started from almost the same operation state as when the interlocking failure occurs. The work used can be continued smoothly. In particular, if a foot switch is adopted as the input switch 26, the operator Op can perform the operation without taking his / her hand off the master grip 20 at all, so that the work can be continued more smoothly.

[Third variant] Next, a third modification of the present embodiment will be described. FIG. 10 is a schematic cross-sectional view showing a main part of the manipulator system of the third modification of the embodiment of the present invention.

As shown in FIG. 10, the master-slave manipulator 502 (manipulator system) of this modification includes a master grip 30 instead of the master grip 1 of the master-slave manipulator 500 of the above embodiment. Hereinafter, the points different from the above-described embodiment will be mainly described.

In the master grip 30 of this modification, the support arm member 5 and the position detection switch 6 of the master grip 1 of the above embodiment are deleted, and the input switch 36 (interlocking permission input unit) is arranged on the surface of the housing portion 1d. It is a thing. That is, the master grip 30 has a configuration in which the input switch 36 is added to the master grip 20 of the second modification.

Since the input switch 36 enters the interlocking permission mode when the operator Op operates at an appropriate timing, the interlocking permission mode signal 26a similar to the above second modification is generated, and the interlocking permission mode signal 26a is mastered. It is sent to the control unit 401 (not shown in FIG. 10). Therefore, the input switch 36 is electrically connected to the master control unit 401. The input switch 36 may be arranged on the surface of the housing portion 1d at any position where the operator Op can operate, but in this modification, the grip portion 1a is used for the operator Op to perform operation input. It is preferable to provide the device in a position where it can be operated with any finger while holding the device. As an example of a preferable arrangement, as shown in FIG. 10, an upper surface 1e of the housing portion 1d, which is the upper side when the grip portion 1a is gripped, can be mentioned. In this case, for example, the input switch 36 can be operated by moving the index finger of the operator Op upward. At this time, the other operation handle 1b can be operated with the thumb of the operator Op, and the opening / closing angle of the operation handle 1b can be maintained at the same angle as when the interlocking failure occurs even if the index finger is released. ..

The configuration of the input switch 36 is not particularly limited as long as it is an input switch that can be operated by the operator Op. For example, a push button switch that can be manually operated by the operator Op can be preferably adopted.

According to the master-slave manipulator 502 of this modification, the operator Op quickly interlocks the operation handle 1b without opening the opening / closing angle to the maximum opening / closing angle, as in the case of the master-slave manipulator 501 of the second modification. Since the interlocking can be started from almost the same operation state as when the interlocking failure occurs, the work using the opening / closing unit 311 can be smoothly continued. In particular, since the input switch 36 is provided on the surface of the housing portion 1d, the input switch 36 can be easily operated even when the grip portion 1a is gripped, so that the work can be continued more smoothly.

[Fourth variant] Next, a fourth modification of the present embodiment will be described. FIG. 11 is a schematic cross-sectional view showing a master operation unit of the manipulator system of the fourth modification of the embodiment of the present invention.

As shown in FIG. 11, in the master grip 40 of the present modification, the position detection switch 6 is deleted from the master grip 10 of the first modification, and the input switch of the third modification is on the side surface 1f of the housing portion 1d. 36 are arranged. The master grip 40 of this modification can be used as the master grips 203L and 203R in the master-slave manipulator 500, similarly to the master grip 1 of the above embodiment. Hereinafter, the points different from the above-described embodiment and the above-mentioned first modification will be mainly described.

The position of the input switch 36 in this modification is the side surface 1f provided with the operation handle 1b on the side operated by the index finger when the operator Op grips the grip portion 1a, and is located closer to the tip of the operation handle 1b. The position is slightly closer to the tip of the housing 1d. Therefore, the input switch 36 can be operated by moving the index finger of the operator Op to the tip side of the housing portion 1d. At this time, also in this modification, the other operation handle 1b can be operated with the thumb of the operator Op, and even if the index finger is released, the opening / closing angle of the operation handle 1b is the same as when the interlocking failure occurs. Can be kept at an angle.

According to the master grip 40 of this modification, the operator Op can quickly repair the interlocking without opening the opening / closing angle of the operation handle 1b to the maximum opening / closing angle, which is almost the same as when an interlocking failure occurs. Since the interlocking can be started from the operating state, the work using the opening / closing unit 311 can be smoothly continued as in the third modification.

In the description of the above embodiment and each modification, the case where the master operation unit performs the opening / closing operation of the slave operation unit has been described, but the operation input of the master operation unit is not limited to the opening / closing operation. For example, when the slave operation unit performs a linear motion operation and presses an object, the operation input of the linear motion operation may be performed.

Further, in the description of the above-described embodiment and each modification, when the master operation unit performs the opening / closing operation of the slave operation unit, the case of opening / closing symmetrically with respect to the opening / closing center axis has been described. It may open and close asymmetrically with respect to the axis. Further, only the other may move with respect to one of the pair of operating members or the pair of treatment tool pieces to open and close.

Further, in the above embodiment and the description of each modification, the interlocking control unit corresponds to the detection value of the opening / closing angle of the operating member and the detection value of the opening / closing angle of the opening / closing operation unit after receiving the interlocking permission mode signal. In this case, and when the detected value of the opening / closing angle of the operating member changes in the closing direction of the operating member, an example of interlocking the slave operating unit with the operation corresponding to the operating input has been described. With such a configuration, when the interlocking is restarted, the operating member moves in the closing direction, so that the object to be gripped is not accidentally dropped. However, since the interlocking permission mode is started by the interlocking permission mode signal generated in the interlocking permission input unit by the operation of the operator Op, the operator Op can predict the timing of interlocking resumption, and the operation at the time of interlocking resumption. Ready for input. For this reason, there is much less risk of accidentally dropping the gripped object even when the opening / closing unit 311 opens after the start of interlocking, as compared with the case where interlocking cannot be expected and preparations for resuming interlocking cannot be made . Therefore, the interlocking control unit detects the opening / closing angle of the operating member when the detected value of the opening / closing angle of the operating member and the detected value of the opening / closing angle of the opening / closing operation unit correspond to each other after receiving the interlocking permission mode signal. When the value changes in the opening direction of the operation member, it is possible to make the slave operation unit interlock with the operation according to the operation input. In this case, immediately after resuming the interlocking, the opening / closing portion 311 moves in the opening direction, so that no pressing force is applied to the object to be gripped. Therefore, deformation of the object to be gripped can be prevented.

Further, the interlocking control unit detects the opening / closing angle of the operating member when the detected value of the opening / closing angle of the operating member and the detected value of the opening / closing angle of the opening / closing operation unit correspond to each other after receiving the interlocking permission mode signal. When the value changes in the opening direction or the closing direction of the operating member, the slave operating unit can be interlocked with the operation according to the operation input, and when the value changes in the opening direction, it can be interlocked. It is also possible to have a configuration in which it is possible to select whether to interlock when the vehicle is changing in the closing direction. In this case, before the start of the work, the operator Op can select whether the interlocking start condition is the opening direction or the closing direction of the operating member according to the type and characteristics of the object to be gripped. Since the interlocking can be restarted according to the type and characteristics of the object to be gripped, workability can be improved even when an interlocking failure occurs.

Further, in the above-described embodiment and the description of each modification, the master control unit 401 displays on the display unit 201, so that the operator Op is informed of an interlocking failure, transition to the interlocking permission mode, resumption of interlocking, and the like. Although the explanation was given in the case of notifying the above, it is also possible to have a configuration in which the notification is made by sound or voice.

Further, in the above embodiment and the description of each modification, the operating member is not opened at the maximum opening / closing angle when the spring 3 is in the natural state, and the position detection switch 6 is pressed when the spring 3 is further extended from the natural state. As described in the case of the above-mentioned configuration, the installation form of the spring 3 is not limited to such a form. For example, when the spring 3 is in the natural state, it can be opened at the maximum opening / closing angle and pressed by the position detection switch 6. In addition, the configurations shown in FIGS. 12 (a) and 12 (b) are also possible. 12 (a) and 12 (b) are schematic block diagrams showing a master operation unit showing an embodiment of the present invention and a modified example of a spring (fifth modified example) applicable to each modified example. The master grip 1A (master operation unit) of this modification (fifth modification) includes a spring 3A instead of the spring 3 of the master grip 1 of the above embodiment. One end (right side in the figure) of the spring 3A is fixed to the inside of the operation handle 1b on one side (right side in the figure), and the other end (left side in the figure) faces the other operation handle 1b so as to be detachable. As a result, as shown in FIG. 12 (b), when the operation handle 1b is closed to an opening / closing angle where the spring 3A is equal to or less than the natural length, an elastic restoring force of the spring 3A is generated and an operation resistance is generated. .. Further, as shown in FIG. 12A, when the operation handle 1b is opened to an opening / closing angle that is more spaced than the natural length of the spring 3A, the operation resistance by the spring 3A does not occur. According to such a configuration, when the position detection switch 6 is pressed, no operation resistance is generated, so that the position detection switch 6 can be pressed quickly with a light force.

In addition, all the components described in the above-described embodiment and each modification can be implemented by appropriately changing or deleting combinations within the scope of the technical idea of the present invention.

1, 1A, 10, 20, 30, 40, 203L, 203R Master grip (master operation unit) 1a Grip part 1b Operation handle (operation member) 1d housing 1e Top surface (surface of master operation unit) 1f Side surface (surface of master operation unit) 4, 14 encoder (master angle detector) 4a, 14a, 314a output signal 6 Position detection switch (interlocking permission input section) 6a, 26a Interlocking permission mode signal 13 Actuator 13a movement axis 13b Resistance generator 26, 36 input switch (interlocking permission input section) 201 Display (information display) 300 Slave Manipulator 311 Open / close part (open / close operation part) 313 Open / close drive unit 313a drive signal 314 encoder (slave angle detector) 400 Control unit (interlocking control unit) 401 Master control unit 402 Manipulator control unit 403 Drive command value 403A Open / close command value 405 control signal 500, 501, 502 Master-slave manipulator (manipulator system) M1 warning display M2 guidance display M3 information display M4 Guidance display M5 information display M6 Detailed information display Op operator W to be gripped