Surgical instrument and control method thereof
A surgical instrument includes an end effector, a manipulation unit, a grip detecting unit, a driving unit, and a control unit. When the control unit determines that the end effector is applying the acting force to the target based on the information acquired by the grip detecting unit, the control unit sets an acting force increasing zone of a predetermined range in a first movable range in the first direction of the manipulation unit, sets a neutral zone in a remaining area of the first movable range, controls the driving unit so that the acting force increases with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone, and controls the driving unit so that the acting force is kept constant regardless of the amount of manipulation of the manipulation unit in the neutral zone.
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This application is a continuation application based on PCT/JP2012/070576, filed on Aug. 6, 2012, claiming priority based on Japanese Patent Application No. 2012-031959, filed Feb. 16, 2012 and U.S. Patent Application No. 61/515,203, filed Aug. 4, 2011. The contents of the Japanese Patent Application, U.S. Patent Application and the PCT Application are incorporated herein by reference.
BACKGROUND OF THE INVENTION1. Field of the Invention
The present invention relates to a surgical instrument having an end effector that is opened and closed and a control method thereof.
2. Description of Related Art
In the medical field, various surgical instruments are known. A surgical instrument having an end effector that is opened and closed is known as one of such surgical instruments. Since the end effector is used to grip or exclusion body tissue, it is important to appropriately control an acting force such as a gripping force or a displacing force that the end effector applies to the body tissue.
Japanese Unexamined Patent Application, First Publication No. 2010-076012 discloses a manipulator system as a surgical instrument in which a gripper as an end effector is driven with a motor. In this manipulator system, a gripping-start angle is recognized on the basis of the output of a gripping-start estimating observer. A control is performed so that the gripping force is increased after gripping is started and a desired gripping force is achieved when the opening angle of the gripper reaches the most closed angle.
SUMMARY OF THE INVENTIONAccording to a first aspect of the invention, a surgical instrument including: an end effector that is opened and closed; a manipulation unit configured to manipulate the end effector in a first direction so that the end effector applies an acting force to a target; a grip detecting unit configured to acquire an information used to determine whether the end effector applies the acting force to the target; a driving unit configured to drive the end effector to be opened and closed; and a control unit configured to control the driving unit based on the information input to the manipulation unit, when the control unit determines that the end effector applies the acting force to the target based on the information acquired by the grip detecting unit, the control unit sets an acting force increasing zone of a predetermined range in a first movable range in the first direction of the manipulation unit, sets a neutral zone in a remaining area of the first movable range, controls the driving unit so that the acting force increases with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone, and controls the driving unit so that the acting force is kept constant regardless of the amount of manipulation of the manipulation unit in the neutral zone.
According to a second aspect of the invention, in the first aspect, the acting force increasing zone may be set in an initial area toward the first direction in the first movable range.
According to a third aspect of the invention, in the first aspect or the second aspect, the grip detecting unit may include a camera imaging the end effector.
According to a fourth aspect of the invention, in any one of the first aspect to the third aspect, the grip detecting unit may include a force sensor detecting the acting force.
According to a fifth aspect of the invention, in any one of the first aspect to the fourth aspect, the first movable range of the manipulation unit may be set to be greater than a movable range of the end effector.
According to a sixth aspect of the invention, in the second aspect, the acting force may decrease when the manipulation unit is manipulated in a second direction, and when the manipulation unit may be manipulated in the second direction, the control unit may set an acting force decreasing zone of a predetermined range to an initial area toward the second direction in a second movable range of the second direction of the manipulation unit, and may control the driving unit so that the acting force decreases with a constant gradient with respect to the amount of manipulation of the manipulation unit in the acting force decreasing zone.
According to a seventh aspect of the invention, a control method of a surgical instrument having an end effector that is opened and closed and a manipulation unit configured to manipulate the end effector in a first direction so that the end effector applies an acting force to a target, the control method includes: repeatedly determining whether the end effector applies the acting force to the target; when determining that the end effector applies the acting force to the target, setting an acting force increasing zone of a predetermined range in a first movable range in the first direction of the manipulation unit, setting a neutral zone in a remaining area of the first movable range; causing the acting force to increase with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone; and causing the acting force to be kept constant regardless of the amount of manipulation of the manipulation unit in the neutral zone.
Hereinafter, a first embodiment of the invention will be described.
As shown in
One of the plural slave arms 31 is provided with observation device not shown such as an endoscope that captures an image of the field of operation related to a manipulation target site and the other slave arm is provided with a treatment tool performing a variety of treatment to be described later. Known observation device can be appropriately selected and used as the observation device. Each slave arm includes a drive source that drives the treatment tool and the like. For example, a servo motor can be used as the drive source. In the following description, the slave arm provided with a treatment tool out of the slave arms may be also referred to as a “slave arm for treatment”.
The master input unit 2 includes plural master arms 21 to be manipulated by an operator Op and a display unit 22 on which an image acquired by the observation device. Each master arm 21 has a known configuration which can multi-axially move and a grip section (manipulation unit) 21A which is gripped by the operator at a tip end close to the operator Op. The display unit 22 is constructed by a known display or the like and displays an image of a field of operation acquired by the observation device. In this embodiment, two images having a difference corresponding to parallax are projected onto the display unit 22 and the operator Op can stereoscopically view an image through the use of known 3D glasses 101 having a polarizing mechanism, a shutter mechanism, or the like.
The operator Op grips the grip body 25 with his or her hand. The joints of the master arm 21 move with the change in the position and the orientation of the grip body 25, when the position and the orientation of the grip section 21A is changed with the movement of a wrist, an elbow, and a shoulder. The degrees of movement of the joints are detected by position detectors disposed around the joints and a manipulation signal corresponding to the degrees of movement is input to the master controller 41. Thereafter, the slave arm 31 corresponding to the master arm is driven in response to the signal sent from the manipulator controller 42, and the position and the orientation of the end effector of the treatment tool attached to the slave arm correspond to the position and the orientation of the grip body 25.
The end effector manipulating part 26 includes a base 26a and a pair of opening and closing members 26b and 26c opening and closing with respect to the base 26a at the same angle. The opening angle of the opening and closing members 26b and 26c about the base 26a is detected by detection device such as a encoder not shown and is transmitted to the master controller 41.
The treatment tool 50 includes an acting part (end effector) 51, a drive link 52, and a driving part 53 sequentially from the distal end directed to a body cavity of a patient P to the proximal end connected to the treatment slave arm 31. The drive link 52 and the driving part 53 are contained in a cylindrical chassis 54.
The acting part 51 includes, for example, a pair of jaws 51A and 51B that can be opened and closed. When the pair of jaws is closed, the acting part interposes and grips a target such as body tissue or a curved needle therebetween and applies a gripping force (acting force) to the target. The driving part 53 is a rod-shaped member and is connected to a drive rod (to be described later) in the slave arm 31 when the treatment tool 50 is connected to the slave arm 31. The driving part 53 advances or retreats a protopodite of the drive link 52 in the axis direction of the chassis 54 through driving force transmitted from the drive rod. Accordingly, the driving part 53 opens and closes the acting part 51. The drive link 52 connects the acting part 51 and the driving part 53 and a known link mechanism can be used.
A drive rod 34, a linear encoder 35, a linear driving mechanism 36, and a motor (driving unit) 37 are disposed at the distal end of the slave arm 31. The linear driving mechanism 36 has a known configuration including a ball screw 36a and a linear driving block 36b and converts the rotational movement of the motor 37 into the advance or retreat movement of the linear driving block 36b, which opens and closes the acting part 51. The proximal end of the drive rod 34 is connected to the linear driving block 36b, advances or retreats in the length direction thereof with the advance or retreat movement of the linear driving block 36b to cause the driving part 53 of the connected treatment tool 50 to advance or retreat. The amount of movement of the drive rod 34 is detected by the linear encoder 35.
A camera (grip detecting unit) 61 imaging the state of the acting part 51 of the treatment tool 50 and a motor controller 62 controlling the driving of the motor 37 based on input information input to the grip section 21A are disposed at the distal end of the slave arm 31. The camera 61 and the motor controller 62 are connected to the manipulator controller 42. The camera 61 images the acting part 51 at a predetermined time interval such as several tens of millimeter seconds (msec) and sequentially transmits the acquired images to the manipulator controller 42 as an information used to determine whether the acting part 51 grips a target. The motor controller 62 controls the current value applied to the motor 37 and the current application time in response to a command from the manipulator controller 42 and controls the magnitude of the driving force generated in the motor 37 and the driving time.
The operation of the master-slave manipulator 1 having the above-mentioned configuration will be described below.
An operator Op manipulates a master arm 21 to cause a corresponding treatment slave arm 31 to move and to cause the acting part 51 of the attached treatment tool 50 to approach a gripping target such as body tissue or a curved needle. When the operator grips the opening and closing members 26b and 26c of the end effector manipulating part 26 in a state where the gripping target is located between a pair of jaws 51A and 51B of the acting part 51, the angle (opening angle) formed by the opening and closing members 26b and 26c gradually decreases. This change is transmitted to the master controller 41 and the manipulator controller 42 as a detection value of the detection device. The manipulator controller 42 creates a control signal to be transmitted to the motor controller 62 based on the state of the end effector manipulating part 26 and the image transmitted from the camera 61, and transmits the created control signal to the motor controller 62. A mode of creating the control signal to be transmitted to the motor controller 62 will be described below in detail.
The manipulator controller 42 sequentially processes the images transmitted from the camera 61 and repeatedly determines whether a target is gripped between a pair of jaws 51A and 51B. A control signal to be transmitted to the motor controller 62 is created so that the amount of manipulation on the end effector manipulating part 26 and the amount of opening and closing of the acting part 51 have predetermined correspondence until the pair of jaws 51A and 51B comes in contact with the target to grip the target between the pair of jaws 51A and 51B. As a result, as shown in
In this embodiment, the opening angle of the pair of jaws 51A and 51B is controlled by controlling the driving of the motor 37 in response to the control signal to the motor controller 62. Alternatively, the opening angle of the pair of jaws may be controlled through an image process on the image acquired by the camera 61 or the opening angle of the pair of jaws may be controlled based on the detection value of the linear encoder 35.
As shown in
The “neutral zone” in the first embodiment of the invention means a zone in which a non-zero gripping force (acting force) applied to a target from the acting part 51 does not vary even when the opening and closing members 26b and 26c are manipulated in the movable range of the opening and closing members 26b and 26c.
In this embodiment, a predetermined angle range (for example, 30 degrees) from the minimum value of the opening angle of the opening and closing members is set as the “gripping force increasing zone” in which the opening-closing member opening angle is proportional to the gripping force, and the other angle range, that is, the angle range from the present opening-closing member opening angle to the gripping force increasing zone, is set as the neutral zone.
When the opening-closing member opening angle is in the neutral zone, the opening angle (hereinafter, also referred to as an “end effector opening angle”) of the pair of jaws 51A and 51B continues to be controlled and the manipulator controller 42 controls the motor controller 62 so that the opening angle does not vary and the gripping force does not vary. For example, a control signal is created to apply low current of an extent not to increase the gripping force to the motor 37.
When an operator closes the opening and closing members 26b and 26c and the opening-closing member opening angle enters the gripping force increasing zone, the manipulator controller 42 creates a control signal so that the gripping force increases in proportion to the variation of the opening-closing member opening angle in the closing direction and the gripping force reaches a predetermined upper limit when the opening-closing member opening angle becomes the minimum value. In this embodiment, the control signal is created so that the current value increases as the opening and closing members 26b and 26c become closed based on the relational expression of a predetermined motor driving current value and the gripping force.
In the neutral zone R2 subsequent to the first zone R1, as the opening-closing member opening angle θM decreases, the end effector opening angle θS is constant and the gripping force FS does not increase but is kept constant.
In the gripping force increasing zone (acting force increasing zone) R3 subsequent to the neutral zone R2, as the opening-closing member opening angle θM decreases, the gripping force FS increases with a constant gradient and reaches the maximum gripping force Fmax at the end of the gripping force increasing zone R3. The behavior of the end effector opening angle θS in the gripping force increasing zone R3 varies depending on the rigidity of the gripping target. For example, when the rigidity is high, the target is not deformed and thus the end effector opening angle θS has a tendency to hardly vary. However, when the rigidity of the target is low, the target is deformed with the increase in gripping force and thus the end effector opening angle θS decreases by a predetermined degree depending on the rigidity.
As described above, in the master-slave manipulator 1 according to this embodiment, it is determined that the gripping of a target by the acting part 51 is started based on the image from the camera 61. Accordingly, the master controller 41 and the manipulator controller 42 of the control unit 4 controls the motor 37 to control the movement of the acting part 51 so that a predetermined angle range in the movable range of the end effector manipulating part 26 of the master arm 21 in the closing direction at that time is set to the gripping force increasing zone and the other range is set to the neutral zone. As a result, the gripping force applied to the acting part 51 when the end effector manipulating part 26 is manipulated in a predetermined angle range becomes the maximum gripping force Fmax and the gradient indicating the relationship between the amount of manipulation of the end effector manipulating part 26 and the amount of increase of the gripping force in the gripping force increasing zone is constant, regardless of the size of the gripping target.
Therefore, it is possible to provide a surgical instrument which can be suitably controlled so that the gripping force applied to the acting part 51 is not excessive and in which the operational feeling of an operator does not vary even when the gripping target is changed.
In the surgical instrument according to the embodiment of the invention, it is necessary to set the movable ranges of the manipulation unit (the end effector manipulating part 26) and the acting part 51 and the correspondence thereof so as to set the gripping force increasing zone of a predetermined angle range for the manipulation unit even when a possible smallest gripping target is gripped. For example, the movable angle range of the manipulation unit may be set to be greater than the movable range of the acting part 51, or the ratio of the amount of manipulation of the manipulation unit and the amount of opening and closing of the acting part 51 may be adjusted to set the acting part to be opened and closed by a predetermined multiple of the amount of manipulation of the manipulation unit. The specific example thereof is not particularly limited.
A second embodiment of the invention will be described below with reference to
In this embodiment, the slave manipulator 31 does not include a camera 61. On the other hand, a force sensor 72 detecting a gripping force applied between a pair of jaws 51A and 51B is provided as the grip detecting unit to the acting part 51 of the treatment tool 50. The value detected by the force sensor 72 is sequentially transmitted to the manipulator controller 42.
The operation of the master-slave manipulator 71 according to this embodiment will be described below.
The manipulator controller 42 determines that a target is gripped between a pair of jaws 51A and 51B when the force sensor 72 starts detecting of the gripping force (when the gripping force becomes non-zero) with normal reference to the value detected by the force sensor 72.
The movable range in the closing direction of the end effector manipulating part 26 after the value of the gripping force FS reaches Fmax is the neutral zone R4. In the neutral zone R4, the gripping force FS is kept Fmax regardless of the decrease of the opening-closing member opening angle θM. Since the manipulator controller 42 controls only the value of the gripping force FS based on the value detected by the force sensor 72, the manipulator controller does not directly control the end effector opening angle θS, but the end effector opening angle θS is almost constant in the neutral zone R4.
In the master-slave manipulator 71 according to this embodiment, similarly to the master-slave manipulator 1 according to the first embodiment, it is possible to provide a surgical instrument which can be suitably controlled so that the gripping force applied to the acting part is not excessive and in which the operational feeling of an operator Op does not vary even when the gripping target is changed.
After it is determined that the gripping of a target is started, the gripping force increasing zone R3 is first set in the movable range in the closing direction of the end effector manipulating part 26. Accordingly, when the operator Op closes the end effector manipulating part 26 after gripping the target, the gripping force applied to the acting part 51 increases at once. Therefore, the operator Op can perform the manipulation more intuitively.
Since the gripping force FS in the gripping force increasing zone R3 is controlled based on the value detected by the force sensor 72 disposed in the acting part 51, it is possible to more accurately control the gripping force.
In this embodiment, the example in which the control of the gripping force is performed based on the value detected by the force sensor 72 is explained, but this configuration is not necessary. That is, although the accuracy is slightly low, it is also possible to control the gripping force by controlling a drive current value of the motor 37, similarly to the first embodiment.
A third embodiment of the invention will be described below with reference to
The mechanical structure of the master-slave manipulator according to this embodiment is the same as the master-slave manipulator 71 according to the second embodiment, and the control of the manipulation in the closing direction of the end effector manipulating part 26 is the same as in the second embodiment. In this embodiment, the manipulation in the opening direction (second direction) of the end effector manipulating part 26 is additionally subjected to a predetermined control.
When the gripping force FS decreases based on the value detected by the force sensor 72, the manipulator controller 42 determines that the manipulation of the end effector manipulating part 26 is performed in the opening direction and applies the control in the opening direction to creating a drive signal to the motor driver 62. As shown in
Subsequently to the gripping force decreasing zone R5, a second zone R6 in which the end effector opening angle θS increases with a constant gradient with the increase of the opening-closing member opening angle θM is set. In the second zone R6, the acting part 51 is separated from a gripping target and the grip is released. Similarly to the first embodiment, the end effector opening angle θS in the second zone R6 is controlled by controlling the drive current of the motor 37. After the acting part 51 is opened to the maximum, the other movable range in the opening direction of the opening and closing members 26b and 26c is set to a margin zone R7 in which the acting part 51 does not move with the manipulation of the opening and closing members 26b and 26c.
The angle range of the gripping force decreasing zone R5 varies depending on the state of the end effector manipulating part 26 just before performing the manipulation in the opening direction. In the example shown in
The gradient with which the gripping force decreases in the gripping force decreasing zone R5 is set to a value obtained by multiplying the gradient, with which the gripping force increases in the gripping force increasing zone R3, by −1. By employing this configuration, the operational feeling given to the operator Op when increasing and decreasing the gripping force can be made to be constant in both the opening direction and the closing direction of the end effector manipulating part 26.
In the master-slave manipulator according to this embodiment, similarly to the master-slave manipulators according to the above-mentioned embodiments, it is possible to provide a surgical instrument which can be suitably controlled so that the gripping force applied to the acting part is not excessive and in which the operational feeling of an operator Op does not vary even when the gripping target is changed.
The gripping force decreasing zone R5 is set just after the manipulation in the opening direction of the end effector manipulating part 26 is started, and the manipulator controller 42 performs a control so that the variation gradient of the gripping force becomes the value obtained by multiplying the gradient in the gripping force increasing zone by −1. Accordingly, even in the operation of alternately repeating the manipulation in the closing direction and the manipulation in the opening direction to finely adjust the gripping force of the acting part, it is possible to suitably maintain the operator Op′ operational feeling.
In this embodiment, the example in which the gripping force decreasing zone R5 is set just after the manipulation in the opening direction of the end effector manipulating part 26 is started is explained, but the control in the opening direction is not limited to this configuration.
In a modified example shown in
The information of the detection device disposed in the grip section 21A may be used instead of the value detected by the force sensor 72 to detect that the end effector manipulating part 26 is manipulated in the opening direction.
A fourth embodiment of the invention will be described below with reference to
In the master-slave manipulator according to this embodiment having the above-mentioned treatment tool 80 attached thereto, a pressing force acting on a target is controlled as an acting force by opening the pair of jaws 81A and 81B. Since the pressing force applied to the acting part 81 increases with the manipulation in the opening direction of the end effector manipulating part 90, the opening direction is the first direction.
In the master-slave manipulator according to this embodiment, as shown in
As shown in
Accordingly, when the pair of opening and closing members 90b and 90c is manipulated in the opening direction by a predetermined angle range from the time point at which the pressing is started, the correspondence between the amount of manipulation of the opening and closing members 90b and 90c and the pressing force is controlled so that the value of the pressing force becomes the maximum pressing force Fmax. As a result, it is possible to maintain a predetermined operational feeling regardless of the type of the pressing target.
In this way, the surgical instrument and the control method thereof according to the above-mentioned embodiments of the invention can be applied to a surgical instrument having an end effector applying an acting force on a target by opening the end effector.
In this embodiment, the example in which the control is performed on only the manipulation in the opening direction in which the acting force increases is explained. In the same way of the third embodiment, in addition to the opening direction, the control may be performed in the closing direction of the pair of opening and closing members, which is the opposite direction. Similarly to the first embodiment, the order of the neutral zone and the pressing force increasing zone may be inverted.
While the embodiments of the invention have been described, the technical scope of the invention is not limited to the embodiments, but various modifications may be added to the elements or may be deleted, or the configurations of the embodiments may be combined without departing from the concept of the invention.
For example, as shown in a modified example shown in
Two neutral zones may be set with the acting force increasing zone interposed therebetween. Particularly, when a neutral zone of a small angle range (for example, of about several degrees) is disposed between a zone such as the first zone in which the acting part comes in contact with a target and the acting force increasing zone, the neutral zone serves as a “margin” and a non-gripped state can be smoothly transferred to a gripped state, thereby improving the operational feeling.
When the neutral zone precedes the acting force increasing zone after the acting part comes in contact with a target, it may be difficult to see the boundary between the neutral zone and the acting force increasing zone. Accordingly, when the amount of manipulation of the manipulation unit reaches the boundary, a signal which can be recognized by the operator may be sent. The type of the signal is not particularly limited, but all the types of signals such as a visual signal of light or the like, an auditory signal of sound or the like, and a signal for causing the movement of the opening and closing members to be heavier for a quick moment can be used.
Similarly, when the neutral zone is set subsequent to the acting force increasing zone and a signal which can be recognized by an operator is sent at the boundary between the acting force increasing zone and the neutral zone, the operator does not manipulate the manipulation unit to the limit to further increase the acting force even in the neutral zone. As a result, it is possible to suppress an unnecessary manipulation.
The surgical instrument according to the embodiments of the invention is not limited to the master-slave manipulators described in the above-mentioned embodiments. The surgical instrument according to the invention may be applied to, for example, a surgical instrument in which the manipulation part and the end effector are disposed in the same body and a remote manipulation is not performed.
The manipulation unit is not limited to the configuration having a pair of opening and closing members. For example, a configuration including a manipulation member which can get closer to and be separated from a base and opening and closing the acting part by bringing the manipulation member closer to and separated from the base may be used. Various manipulations such as a sliding manipulation, a twisting manipulation, and a pushing manipulation in the first direction and the second direction may be employed instead of the closing manipulation and the opening manipulation.
The maximum value of the acting force may be set to a desired value through the use of various input mechanisms such as a switch or a dial or a user interface displayed on the display unit.
While preferred embodiments of the present invention have been described, the present invention is not limited to the embodiments.
Additions, omissions, substitutions, and other variations may be made to the present invention without departing from the spirit and scope of the present invention. The present invention is not limited by the above description, but by the appended claims.
Claims
1. A surgical instrument comprising:
- an end effector that is opened and closed;
- a manipulation unit which has an opening and closing member that is capable of opening and closing and which is configured to open and close the end effector by manipulating the opening and closing member in a first direction by a user so that the end effector applies an acting force to a target;
- a grip detecting unit configured to acquire an information to determine whether the end effector applies the acting force to the target;
- a driving unit configured to drive the end effector to be opened and closed; and
- a control unit configured to control the driving unit based on the information input to the manipulation unit,
- wherein when the control unit determines that the end effector applies the acting force to the target based on the information acquired by the grip detecting unit, the control unit: sets an acting force increasing zone of a predetermined range in a first movable range in the first direction of the opening and closing member, sets a neutral zone in a remaining area of the first movable range, controls the driving unit so that the acting force increases with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone, and controls the driving unit so that the acting force is kept constant and non-zero regardless of the amount of manipulation of the manipulation unit in the neutral zone.
2. The surgical instrument according to claim 1, wherein the acting force increasing zone is set in an initial area toward the first direction in the first movable range.
3. The surgical instrument according to claim 1, wherein the grip detecting unit includes a camera imaging the end effector.
4. The surgical instrument according to claim 1, wherein the grip detecting unit includes a force sensor detecting the acting force.
5. The surgical instrument according to claim 1, wherein the first movable range of the manipulation unit is set to be greater than a movable range of the end effector.
6. The surgical instrument according to claim 2, wherein the acting force decreases when the opening and closing member is manipulated in a second direction, and
- wherein when the opening and closing member is manipulated in the second direction, the control unit
- sets an acting force decreasing zone of a predetermined range to an initial area toward the second direction in a second movable range of the second direction of the manipulation unit, and
- controls the driving unit so that the acting force decreases with a constant gradient with respect to the amount of manipulation of the manipulation unit in the acting force decreasing zone.
7. A control method of a surgical instrument having an end effector that is opened and closed and a manipulation unit which has an opening and closing member that is capable of opening and closing and which is configured to open and close the end effector by manipulating the opening and closing member in a first direction by a user so that the end effector applies an acting force to a target, the control method comprising:
- repeatedly determining whether the end effector applies the acting force to the target;
- when determining that the end effector applies the acting force to the target,
- setting an acting force increasing zone of a predetermined range in a first movable range in the first direction of the opening and closing member,
- setting a neutral zone in a remaining area of the first movable range; causing the acting force to increase with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone; and causing the acting force to be kept constant and non-zero regardless of the amount of manipulation of the manipulation unit in the neutral zone.
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Type: Grant
Filed: Jan 31, 2014
Date of Patent: Dec 15, 2015
Patent Publication Number: 20140148819
Assignee: OLYMPUS CORPORATION (Tokyo)
Inventors: Shintaro Inoue (Asaka), Kosuke Kishi (Tokyo)
Primary Examiner: Dalena Tran
Assistant Examiner: Jaime Figueroa
Application Number: 14/169,675
International Classification: G06F 19/00 (20110101); G06F 3/01 (20060101); A61B 19/00 (20060101); B25J 9/16 (20060101); A61B 17/29 (20060101); A61B 17/32 (20060101); A61B 18/14 (20060101); A61B 19/08 (20060101); B25J 13/02 (20060101); A61B 17/068 (20060101); A61B 19/10 (20060101); A61B 17/00 (20060101);