Surgical robot and controller of surgical robot
A surgical robot includes an operation part that includes a movable part moved by a force applied by an operation by a user, an action part that performs an action according to the operation, a drive part that supplies a driving force to the action part, an operation controller that controls a movement of the movable part, and a controller that implements an operation force setter that sets a magnitude of a resistance force that is a force in a direction opposite to a direction of the movement of the movable part. The operation force setter sets the magnitude of the resistance force based on a resistance parameter set in advance, and the operation controller applies, to the movable part, the resistance force having the magnitude set by the operation force setter.
1 . A surgical robot comprising:
an operation part that includes a movable part moved by a force applied by an operation by a user, the movable part including a grasp body that is rotatable, and a grip;
a grasper that performs an action according to the operation;
an actuator that supplies a driving force to the grasper;
an operation controller that controls a movement of the movable part; and
a controller configured to implement:
a resistance parameters setter that sets a first resistance parameter value for the grasp body and a second resistance parameter value for the grip, and
an operation force setter that sets a first magnitude of a first resistance force for the grasp body, based on the first resistance parameter value, and sets a second magnitude of a second resistance force for the grip, based on the second resistance parameter value, the first resistance force and the second resistance force being forces in directions opposite to directions of the movement of the grasp body and the grip of the movable part, respectively,
wherein the operation controller applies, to the grasp body of the movable part, the first resistance force having the first magnitude set by the operation force setter, and applies, to the grip of the moveable part, the second resistance force having the second magnitude set by the operation force setter,
wherein the actuator actuates the grasper based on at least one of a first operation force applied by an operation of the grasp body by the user being greater than the first magnitude of the first resistance force applied to the grasp body or a second operation force applied by an operation of the grip by the user being greater than the second magnitude of the second resistance force,
wherein the controller is further configured to implement a scaling coefficient setter that sets a scaling coefficient that is a ratio between a first distance of movement of the movable part and a second distance of corresponding movement of the grasper, and
wherein the operation force setter sets the first magnitude of the first resistance force and the second magnitude of the second resistance force based on the first resistance parameter value and the second resistance parameter value that are set based on the scaling coefficient.
2 . The surgical robot according to claim 1 , wherein the controller is further configured to implement an input section that receives an input of information to set the first resistance parameter value and the second resistance parameter values,
wherein the operation force setter sets the first magnitude of the first resistance force and the second magnitude of the second resistance force based on the first resistance parameter value and the second resistance parameter value that are set based on information received by the input section.
3 . The surgical robot according to claim 1 , wherein the controller is further configured to implement a reaction force setter that sets magnitudes of operation reaction forces, the operation reaction forces corresponding to the driving force and being forces in a direction opposite to the direction of the movement of the grasp body and the grip of the movable part, the reaction force setter setting the magnitudes of the operation reaction forces based on change information about a change in the driving force supplied by the actuator when the grasper is actuated according to the operation,
wherein the operation force setter sets the first magnitude of the first resistance force and the second magnitude of the second resistance force based on the first resistance parameter value and the second resistance parameter value, respectively, and
wherein the operation controller applies, to the grasp body and the grip, forces obtained by adding the resistance forces having the magnitudes set by the operation force setter and the operation reaction forces having the magnitudes set by the reaction force setter.
4 . The surgical robot according to claim 1 , wherein the controller is configured to implement an input section that receives input of user information about the user and a storage section that stores the first resistance parameter value and the second resistance parameter value that are set for each user so as to be associated with the user information,
wherein the operation force setter refers to the storage section and sets the first magnitude of the first resistance force based on the first resistance parameter value associated with the user information received by the input section and sets the second magnitude of the second resistance force based on the second resistance parameter value associated with the user information received by the input section.
5 . The surgical robot according to claim 1 , wherein:
the operation part is provided in plural; and
the grasper is provided in plural corresponding to the plurality of operation parts,
wherein the operation force setter sets magnitudes of each resistance force for each of the plurality of operation parts.
6 . A controller of a surgical robot that controls the surgical robot including an operation part having a movable part that is moved by an operation performed by a user, the movable part including a grasp body that is rotatable, and a grip, and a grasper that performs an action according to the operation, the controller comprising at least one microprocessor configured to:
set a first resistance parameter value for the grasp body and a second resistance parameter value for the grip;
set magnitudes of resistance forces for each of the grasp body and the grip, based on the first resistance parameter value for the grasp body and second resistance parameter value for the grip, respectively, the resistance forces being in a direction opposite to a direction of the movement of the grasp body and the grip of the movable part, respectively; and
control the movement of the grasp body and the grip of the movable part to apply, to the operation part, the resistance forces having the magnitudes, and
control movement of the grasper according to the operation based on operation forces of the operation performed by the user on the movable part being greater than the resistance forces having the magnitudes,
wherein the at least one microprocessor is further configured to:
set a scaling coefficient that is a ratio between a first distance of movement of the movable part and a second distance of corresponding movement of the grasper, and
set the magnitudes of the resistance forces based on the first resistance parameter value and the second resistance parameter value that are set based on the scaling coefficient.
7 . A surgical robot comprising:
an operation device comprising a grasp body and a grip, the operation device being movable to perform an operation by a force applied to the operation device;
a first actuator that controls a movement of the grip of the operation device;
a robot arm on which the operation device is provided;
a second actuator that supplies a driving force to the robot arm; and
a controller configured to set a first resistance parameter value for the grasp body and a second resistance parameter value for the grip, and to set magnitudes of resistance forces for each of the grasp body and the grip, based on the first resistance parameter value that is set for the grasp body and the second resistance parameter value that is set for the grip, respectively, the resistance forces being in a direction opposite to a direction of the movement of the grasp body and the grip of the operation device, respectively,
wherein the first actuator applies, to the grasp body and the grip of the operation device, the resistance forces having the magnitudes, respectively, set by the controller,
wherein the second actuator supplies, to the robot arm, the driving force to actuate the robot arm based on operation forces applied to the grasp body and the grip of the operation device being greater than the resistance forces having the magnitudes, respectively, and
wherein the controller is further configured to:
set a scaling coefficient that is a ratio between a first distance of movement of the operation device and a second distance of corresponding movement of the robot arm, and
set the magnitudes of the resistance forces based on the first resistance parameter value and the second resistance parameter value that are set based on the scaling coefficient.
8 . The surgical robot according to claim 7 , wherein the controller is further configured to receive information for setting the first resistance parameter value and the second resistance parameter value, and
wherein the first resistance parameter value and the second resistance parameter value are set based on the information.
9 . The surgical robot according to claim 7 ,
wherein the controller is further configured to set a magnitude of a reaction force that corresponds to the driving force and that is in a direction opposite to the first direction of the movement of the operation device, based on change information about a change in the driving force, and
wherein the first resistance parameter value and the second resistance parameter value are set based on the magnitude of the reaction force.
10 . The surgical robot according to claim 7 , wherein the surgical robot further comprises a storage that stores specific resistance parameter values that are set for each user of a plurality of users in association with user information of the user,
the controller is configured to receive user information, and read the resistance parameter values associated with a user corresponding to the user information, and
the controller sets the magnitudes of the resistance forces based on each of the resistance parameter values.
11 . The surgical robot according to claim 7 , wherein:
the operation device is provided in plural; and
the controller sets the magnitudes of the resistance forces for each of the plurality of operation devices.
12 . The surgical robot according to claim 7 , wherein the first actuator is a pneumatic actuator.
13 . The surgical robot according to claim 1 , wherein the actuator is a pneumatic actuator.
14 . The surgical robot according to claim 1 , wherein the grip is movable in three dimensions.
15 . The surgical robot according to claim 1 , wherein the operation part comprises a support body,
wherein the grasp body is rotatable with respect to the support body to change an angle therebetween.
16 . The surgical robot according to claim 7 , wherein the operation device comprises a support body,
wherein the grasp body is rotatable with respect to the support body to change an angle therebetween.
17 . The surgical robot according to claim 1 , wherein each resistance parameter value has a certain magnitude of equal to or greater than 0.
18 . The surgical robot according to claim 1 , wherein the actuator actuates the grasper to open/close based on the first operation force applied by the operation of the grasp body by the user being greater than the first magnitude of the first resistance force applied to the grasp body, and actuates the grasper to move positionally based on the second operation force applied by the operation of the grip by the user being greater than the second magnitude of the second resistance force.