EP-4737072-A1 - HAND CONTROLLER AND CONSOLE DEVICE

EP4737072A1EP 4737072 A1EP4737072 A1EP 4737072A1EP-4737072-A1

Abstract

The purpose of one or more embodiments of the present disclosure is to prevent mutual contact of left and right articulated link mechanisms. The tab has a first side surface and a second side surface that are oriented oppositely from each other, and has an end surface that is provided from the first side surface to the second side surface. The handle is positioned facing the end surface of the tab, and is attached The operation part is positioned facing the first side surface of the tab, and is attached to the tab so as to come into contact with and separate from the end surface of the tab. The operation part is positioned facing the first side surface of the tab, and is linked to the tab so as to come into contact with and separate from the first side surface of the tab. sensor is provided to the second side surface of the tab, and detects a finger of a hand of an operator.

Inventors

TANAKA YASUSHI

Assignees

Riverfield Inc.

Dates

Publication Date: 20260506
Application Date: 20230713

Claims (14)

A hand controller comprising: a tab that has: a first side surface and a second side surface facing away from the first side surface; and an end surface that extends from the first side surface to the second side surface; a handle that faces the end surface of the tab and is mounted to the tab to allow the handle to be moved in and out of contact with the end surface of the tab; an operation element that faces the first side surface of the tab and is coupled to the tab to allow the operation element to be moved in and out of contact with the first side surface of the tab; and a finger sensor that detects a finger of a hand of an operator, the finger sensor being on the second side surface of the tab.
The hand controller according to claim 1, wherein: the handle is grasped by a palm of the hand; and the tab and the operation element are pinched by the finger of the hand.
The hand controller according to claim 1, wherein: when the finger of the hand is placed on the second side surface, the finger sensor detects the finger of the hand; and when the finger of the hand is released from the second side surface, the finger sensor does not detect the finger of the hand.
A console device comprising: the hand controller according to claim 1; a foot switch that outputs a trigger when pressed by a foot of the operator; an articulated link mechanism that has: a pivotable proximal end; and a distal end to which the hand controller is connected, the articulated link mechanism translatably supporting the hand controller; and a controller that switches between an operation mode in which the controller is capable of controlling a robot and a standby mode in which the controller is incapable of controlling the robot, wherein when the finger sensor detects the finger of the hand and the controller receives the trigger from the foot switch, the controller switches the robot between the operation mode and the standby mode.
The console device according to claim 4, wherein, when the controller is in the standby mode and the controller receives the trigger from the foot switch while the finger sensor is detecting the finger of the hand, the controller switches from the standby mode to the operation mode.
The console device according to claim 4, wherein, when the controller is in the standby mode and the controller receives the trigger from the foot switch while the finger sensor is not detecting the finger of the hand, the controller maintains the standby mode.
The console device according to claim 4, wherein, when the controller is in the operation mode and the controller receives the trigger from the foot switch while the finger sensor is detecting the finger of the hand, the controller switches from the operation mode to the standby mode.
The console device according to claim 4, wherein, when the controller is in the operation mode and the finger sensor no longer detects the finger of the hand, the controller switches from the operation mode to a safe mode in which the controller is incapable of controlling the robot.
The console device according to claim 8, wherein, when the finger sensor detects the finger of the hand before a predetermined time elapses from a time at which the finger sensor starts not to detect the finger of the hand, the controller switches from the safe mode to the operation mode.
The console device according to claim 8, wherein, when the finger sensor has not detected the finger of the hand for the predetermined time since a time at which the finger sensor starts not to detect the finger of the hand, the controller switches from the safe mode to the standby mode.
The console device according to claim 8, 9, or 10, further comprising a driver that applies a torque to a joint of the articulated link mechanism, wherein, when the controller is in the safe mode, the controller controls the driver to apply a resisting torque to the joint of the articulated link mechanism.
The console device according to claim 11, wherein the controller controls the driver such that the resisting torque is balanced by a torque generated at the joint of the articulated link mechanism by a manipulation of the operator.
The console device according to any one of claims 4 to 10, further comprising a driver that applies a torque to a joint of the articulated link mechanism, wherein, when the controller is in the standby mode, the controller controls the driver to apply a resisting torque to the joint of the articulated link mechanism.
The console device according to claim 13, wherein the controller controls the driver such that the resisting torque is balanced by a torque generated at the joint of the articulated link mechanism by a manipulation of the operator.

Description

TECHNICAL FIELD This disclosure relates to a hand controller and a console device. BACKGROUND ART Patent Document 1 discloses a system for operating a medical device using an input control console. A sensor detects whether an operator is in contact with the input control console. When the sensor detects operator contact with the input control console, a computer processor issues commands to the medical device based on the operator's manipulation of the input control console. When the sensor does not detect operator contact with the input control console, the computer processor blocks commands to the medical device. CITATION LIST Patent Literature Patent Document 1: Japanese Translation of PCT International Application Publication No. JP-T-2020-529237 SUMMARY OF INVENTION Technical Problem A sensor may be provided on a controller to detect that the operator holds the controller of the console device by hand. If the size of the controller does not match the size of the hand, the hand will not contact the sensor, and the sensor will fail to detect the hand. No matter how much the operator manipulates the controller, commands to a robot, such as medical equipment, will be blocked, and the robot will not operate. Therefore, it is an object of one or more embodiments of the present disclosure to ensure that the fingers of the operator's hand are detected by a sensor, regardless of whether the operator's hand is large or small. Solution to Problem To solve the above problem, according to an aspect of the present disclosure, a hand controller comprises a tab, a handle, an operation element, and a finger sensor. The tab has a first side surface and a second side surface facing away from each other, and an end surface that extends from the first side surface to the second side surface. The handle is disposed facing the end surface of the tab and mounted to the tab to allow the handle to be moved in and out of contact with the end surface of the tab. The operation element is disposed facing the first side surface of the tab and coupled to the tab to allow the operation element to be moved in and out of contact with the first side surface of the tab. The finger sensor is disposed on the second side surface of the tab and detects a finger of a hand of an operator. According to another aspect of the present disclosure, a console device comprises the hand controller, a foot switch, an articulated link mechanism, and a controller. The foot switch outputs a trigger when pressed by a foot of the operator. The articulated link mechanism has a pivotable proximal end and a distal end to which the hand controller is connected and translatably supports the hand controller. The controller switches between an operation mode in which the controller is capable of controlling a robot and a standby mode in which the controller is incapable of controlling the robot. When the finger sensor detects the finger of the hand and the controller receives the trigger from the foot switch, the controller switches the robot between the operation mode and the standby mode Advantageous Effects of Invention The hand controller and the console device of one or more embodiments of the present disclosure contribute to the operator being able to grasp the handle with his/her palm and place his/her finger on the finger sensor, regardless of the size of the operator's hand. The fingers of the operator's hand are detected by the finger sensor, regardless of whether the operator's hand is large or small. BRIEF DESCRIPTION OF DRAWINGS [FIG. 1] This is a block diagram illustrating a remote-controlled robot system.[FIG. 2] This illustrates a console device.[FIG. 3] This illustrates left and right consoles of the console device.[FIG. 4] This illustrates the left and right consoles of the console device.[FIG. 5] This illustrates a gimbal and a hand controller at a distal end of the right console.[FIG. 6] This is a perspective view of the right hand controller.[FIG. 7] This is a perspective view of the right hand controller.[FIG. 8] This is a side view of the right hand controller.[FIG. 9] This is a side view of the right hand controller. DESCRIPTION OF EMBODIMENTS One or more embodiments of the present disclosure are described below with reference to the drawings. The features and technical effects of the embodiments are understood from the following detailed description and drawings. However, the scope of the invention is not limited to the embodiments disclosed below. The drawings are provided for illustrative purposes only, and the scope of the invention is not limited to the examples in the drawings. <1. Overview of Remote-controlled Robot System> FIG. 1 is a block diagram illustrating a remote-controlled robot system. The remote-controlled robot system includes a robot 1 and a console device 2. The console device 2 is a master and the robot 1 is a slave. When an operator, such as a doctor, manipulates the console device 2, the robot 1 operates in accordance