Control device, control method, and master-slave system

1. A control device, comprising:

a central processing unit (CPU) configured to:

apply, to a control system of a master-slave system, a restraint force corresponding to an operation in one of a translational direction or a rotational direction by a master;

apply, to the control system of the master-slave system, a movable range limiting force that limits a position and a posture of one of the master or a slave so as not to move beyond a determined movable range of the one of the master or the slave, wherein

the determined movable range of the master is changeable based on a type of a grip portion attached to the master, and

the determined movable range of the slave is changeable based on a type of a medical instrument attached to the slave; and

output, to each of the master and the slave, an acceleration reference signal based on a generated force of the master, the restraint force, and a generated force of the slave.

2. The control device according to claim 1 , wherein the CPU is further configured to apply, to the control system, the restraint force based on a difference between a current position or a current posture of the master and a reference value of a position or a posture to be restrained.

3. The control device according to claim 1 , wherein the CPU is further configured to:

convert the restraint force into an acceleration dimension; and

apply the converted restraint force to the control system.

4. The control device according to claim 1 , wherein the CPU is further configured to apply, to the control system, a plurality of restraint forces, including the restraint force, in a plurality of translational or rotational directions.

5. The control device according to claim 1 , wherein the CPU is further configured to apply, to the control system, the restraint force that restrains all degrees of freedom of the master in a case the master is out of the operation by a user.

6. The control device according to claim 1 , wherein the CPU is further configured to control the restraint force to be applied to the control system based on the operation of a user on an input unit included in the master.

7. The control device according to claim 6 , wherein the CPU is further configured to switch, according to the operation of the user on the input unit, at least one of a type of the restraint force, an axial direction to which the restraint force is applied, a degree of freedom to which the restraint force is applied, or a coordinate system to which the restraint force is applied.

8. The control device according to claim 6 , wherein the CPU is further configured to control display of a situation selected according to the operation of the user on the input unit.

9. The control device according to claim 1 , wherein the CPU is further configured to control the master-slave system by a bilateral control method.

10. The control device according to claim 1 , wherein the CPU is further configured to control the master-slave system by a unilateral control method.

11. A control method, comprising:

applying, to a control system of a master-slave system, a restraint force corresponding to an operation in one of a translational direction or a rotational direction by a master;

applying, to the control system of the master-slave system, a movable range limiting force that limits a position and a posture of one of the master or a slave so as not to move beyond a determined movable range of the one of the master or the slave, wherein

the determined movable range of the master is changeable based on a type of a grip portion attached to the master, and

the determined movable range of the slave is changeable based on a type of a medical instrument attached to the slave; and

outputting, to each of the master and the slave, an acceleration reference signal based on a generated force of the master, the restraint force, and a generated force of the slave.

12. A master-slave system, comprising:

a master;

a slave; and

a central processing unit (CPU) configured to:

control an operation of the slave by the master;

apply, to the master-slave system, a restraint force corresponding to an operation in one of a translational direction or a rotational direction by the master;

apply, to the master-slave system, a movable range limiting force that limits a position and a posture of one of the master or the slave so as not to move beyond a determined movable range of the one of the master or the slave, wherein

the determined movable range of the master is changeable based on a type of a grip portion attached to the master, and

the determined movable range of the slave is changeable based on a type of a medical instrument attached to the slave; and

output, to each of the master and the slave, an acceleration reference signal based on a generated force of the master, the restraint force, and a generated force of the slave.

13. The master-slave system according to claim 12 , wherein

the master includes a support arm unit having a parallel link structure, and

the grip portion is on a side of a distal end of the support arm unit.

14. The master-slave system according to claim 12 , wherein

the slave includes a detection unit configured to detect an external force acting on the medical instrument, and

the master includes a force presentation unit configured to present a force based on the detected external force.

15. The master-slave system according to claim 12 , wherein the slave includes a multi-link arm.

16. The master-slave system according to claim 15 , wherein the medical instrument is at a front end of the multi-link arm.