Operation support device

1. An operation support device which includes an operation part into which an operation is input by a manipulator, and an action part to which a surgical tool is attached and which is driven by the operation input, the operation support device comprising:

a drive source which is provided in the operation part and generates a driving force which applies the driving force to the operation part;

a detection part which is provided in the operation part and detects an amount of motion of the operation part in accordance with the operation input; and

a control unit which sets a magnitude and a direction of the driving force based on the operation input to the operation part when the operation is input, the control unit setting the driving force to generate a manipulation resistance to the operation part, the manipulation resistance being adjusted based on a relationship between an amount of change of the amount of motion and an amount of change of the driving force, the control unit being configured to send an operation signal to the action part, the operation signal corresponding to the driving force which is adjusted depending on the operation resistance.

2. The operation support device according to claim 1 , wherein

the operation part comprises a switch,

the control unit sets the driving force based on one of a plurality of modes, and

when the switch is operated by an operator, the mode used when the control unit sets the driving force is switched.

3. The operation support device according to claim 2 , wherein the switch is configured to be operated by a hand or a foot of the operator.

4. The operation support device according to claim 2 , wherein the surgical tool is in an active state when performing an operation, and

the switch combines function to switch the surgical tool to the active state.

5. The operation support device according to claim 1 ,

wherein the control unit sets the driving force so that the driving force is increased as the amount of motion is reduced.

6. The operation support device according to claim 5 , wherein the control unit sets the driving force so as to relatively increase when the amount of motion is equal to or less than a predetermined threshold value.

7. The operation support device according to claim 1 ,

wherein the control unit sets the driving force so that the driving force is increased as the amount of motion is increased, and the relationship between the amount of change of the amount of motion and the amount of change of the driving force is changed depending on a value of the amount of motion.

8. The operation support device according to claim 7 ,

wherein the control unit sets the driving force so as to be relatively increase when the amount of motion is equal to or greater than a predetermined threshold value.

9. The operation support device according to claim 1 , wherein

the surgical tool is provided in a plural number in the action part in an attachable and detachable manner, and the respective surgical tools have identification information, and

the control unit sets the magnitude and the direction of the driving force based on the identification information of the surgical tool mounted on the action part.

10. The operation support device according to claim 1 ,

wherein the amount of motion is a rotational angular speed of an arm of the operation part when rotating the arm around an axis by the operation input, and

the control unit is configured to adjust the operation resistance of the operation part based on a relationship between the rotational angular speed and the driving force.