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1. WO2022210800 - CONTROL SYSTEM, CONTROL DEVICE, CONTROL METHOD, AND PROGRAM

Publication Number WO/2022/210800
Publication Date 06.10.2022
International Application No. PCT/JP2022/015720
International Filing Date 29.03.2022
IPC
B25J 3/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
3Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
B25J 11/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
A61B 34/37 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
CPC
A61B 34/37
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 3/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
3Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Applicants
  • 学校法人慶應義塾 KEIO UNIVERSITY [JP]/[JP]
  • モーションリブ株式会社 MOTION LIB, INC. [JP]/[JP]
  • テルモ株式会社 TERUMO KABUSHIKI KAISHA [JP]/[JP]
Inventors
  • 大西 公平 OHNISHI Kouhei
  • 溝口 貴弘 MIZOGUCHI Takahiro
  • 牧 伸 MAKI Shin
  • 羽生 能行 HABU Yoshiyuki
  • 藤井 俊弘 FUJII Toshihiro
Agents
  • 杉村 憲司 SUGIMURA Kenji
Priority Data
2021-05853830.03.2021JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) CONTROL SYSTEM, CONTROL DEVICE, CONTROL METHOD, AND PROGRAM
(FR) SYSTÈME DE COMMANDE, DISPOSITIF DE COMMANDE, PROCÉDÉ DE COMMANDE ET PROGRAMME
(JA) 制御システム、制御装置、制御方法及びプログラム
Abstract
(EN) With a view to transmit, to a master device in an easily perceivable manner, a tactile force inputted to a slave device from outside, this control system (1) comprises a master device (10), a slave device (20), and a control device (30). The control device is equipped with a tactile force transmission unit (353) and a mode setting unit (351). The tactile force transmission unit is configured to control the transmission of a tactile force in the master device and the slave device, and the mode setting unit (351) is configured to vary the amplification ratio of the force transmitted to the master device from the slave device in a specific segment where movement is made by a mover of the slave device, on the basis of a physical quantity concerning the mover of the slave device.
(FR) En vue de transmettre, à un dispositif maître d'une manière facilement perceptible, une force tactile entrée dans un dispositif esclave depuis l'extérieur, le présent système de commande (1) comprend un dispositif maître (10), un dispositif esclave (20) et un dispositif de commande (30). Le dispositif de commande est équipé d'une unité de transmission de force tactile (353) et d'une unité de réglage de mode (351). L'unité de transmission de force tactile est configurée pour commander la transmission d'une force tactile dans le dispositif maître et le dispositif esclave, et l'unité de réglage de mode (351) est configurée pour faire varier le rapport d'amplification de la force transmise au dispositif maître à partir du dispositif esclave dans un segment spécifique où le mouvement est effectué par un dispositif de déplacement du dispositif esclave, sur la base d'une quantité physique concernant le dispositif de déplacement du dispositif esclave.
(JA) スレーブ装置に対して外部から入力する力触覚をより容易に知覚できるようにマスタ装置に伝達するべく、制御システム(1)は、マスタ装置(10)と、スレーブ装置(20)と、制御装置(30)と、を備え、前記制御装置は、力触覚伝達部(353)と、モード設定部(351)を備え、前記力触覚伝達部は、前記マスタ装置及び前記スレーブ装置における力触覚の伝達を制御し、モード設定部(351)は、前記スレーブ装置の移動子における物理量に基づいて、前記スレーブ装置の移動子が移動する特定の区間において、前記スレーブ装置から前記マスタ装置に伝達される力の増幅率を変化させるように構成した。
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