Abstract:
In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.

Description:
BACKGROUND OF THE INVENTION 
     The present invention relates to a master-slave manipulator system and this operation input devices. 
     DESCRIPTION OF RELATED ART 
     There have been developed many master-slave manipulator systems in which a manipulator is operated by an operation input device manipulated by the operator. 
     However, in a usual master-slave manipulator system, even if an obstacle, a hazard area or the like to be avoided is present in an operation range of a manipulator arm, when the operation input device is moved to a position corresponding to the obstacle or the hazard area, the manipulator arm would hit the obstacle or enter the hazard area, which is caused a problem. 
     In order to solve the above-mentioned problem, JP-A-7-124876 (patent document 1) discloses such a configuration that a position restricting member is arranged in an operation range of an operation input device, corresponding to a position of an obstacle against the manipulator arm, in order to prevent the operation input device from entering an area where the operation of the manipulator arm is inhibited. 
     Further, JP-A-2004-223128 (patent document 2) discloses a configuration in which data of an operation range of a manipulator arm is previously acquired from a diagnostic tool, and an area where the manipulator arm can move for treatment is set according to the data, and when the operator comes near to move the manipulator arm out of the set area, a motor provided in an operation input device restricts the operation range of the operation input device so as to prevent the manipulator arm from moving out of the set area. 
     Further, in JP-A-11-333764 (patent document 3), when the arm makes contact with the object, a variable power transmission unit gives a force feedback to an operation input device, so as to make to feel a resistive force. 
     In the conventional master-slave manipulator systems, for preventing the operation input device from moving in an area where the operation of the manipulator arm is inhibited, an operation input device is provided with an actuator for feeding back a force to the operator, so as to restrict the operation of the operation input device. However, the actuator provided in the operation input device would cause an increase in the size of the operation input device, and additionally, a failure thereof or the like results in an excessive large force applied to the operator. 
     Should the operation range and a wall be exhibited as a force feed-back with the use of the actuator in the operation input device, the manipulator system causes problems of complicated control and vibrating behavior at an interface between a zone where a wall is sensed and a free operation zone. 
     Further, in a circumstance where noise causes a problem, a usual motor could be hardly used as the actuator. For example, a surgical support manipulator system utilizing an MRI unit as a diagnostic tool can hardly use an operation input device utilizing a motor which would cause noise interference with the MRI unit. 
     It is noted that, in the configuration disclosed in the patent document 1, there is not required a motor because of restricting the operation range of the operation input device by physically arranging the position restricting member and pins, but it is difficult to control the operation, in a case that the position of an obstacle or a possible operation range varies momentarily. 
     Further, the configuration disclosed in the patent document 2 discloses a method of setting a range where the manipulator arm can be operated, but, does not involve the use of any actuator other than the motor for restricting a possible operation range of the operation input device. 
     The patent document 3 discloses the proposal of presenting a force feed-back in the operation input device when the slave arm makes contact with an object, but it is not adapted to be use for avoiding an obstacle or a hazard zone. Further, it also discloses the mechanism that when the manipulator arm does not make contact with the object the operation is not influenced by a motor with the use of the variable power transmission unit. But even if the manipulator arm makes contact with the object, a force feed-back is presented with the use of a power from the motor. 
     BRIEF SUMMARY OF THE INVENTION 
     An object of the present invention is to provide a master-slave manipulator system and an operation input device therefor, which are capable of presenting an obstacle or a limit to an operation range as a force feed-back with no use of a motor in the operation input device, and which have high reliability, a small-size and good operability. 
     To the above-mentioned end, according to a first aspect of the present invention, there is provided a master-slave manipulator system comprising a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input devise comprises on joints a mode change-over mechanism. In this application, it is defined that the mode change-over mechanism has three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selects one of the above modes and changes over from one mode to the selected mode. 
     Specific configurations according to the first aspect of the present invention are as follows: 
     (1) A master-slave manipulator comprising a sensor or a diagnostic tool capable of acquiring geometrical data or obstacle data in an operation rage of the arm of the manipulator, and a means for setting an area where the arm of the manipulator can be operated, in accordance with the geometrical data or the obstacle data detected by the sensor or the diagnostic tool in the operation range of the arm of the manipulator, wherein the controller causes the mode change-over mechanism provided on each of the joints of the operation input devise, to restrain the operation input device from operating the arm of the manipulator in an area where the operation of the arm of the manipulator is inhibited, when the arm of the manipulator is to be operated by the operation input device in the area where the operation of the arm of the manipulator is inhibited. 
     (2) The mode change-over mechanism provided on each of the joints of the operation input device comprises a two-way clutch, a 3 position solenoid, and a translation joint mechanism using a rack and a pinion. 
     (3) The mode change-over mechanism provided in each of the joints of the operation input device comprises a two-way clutch, a 3 position solenoid and a rotating joint mechanism using two links constituting a joint. 
     (4) The operation input device comprises a grip opening and closing mechanism capable of having the functions of the mode change-over mechanism, and as well capable of optionally limiting the degree of opening of the grip. 
     (5) An MRI unit is used as the diagnostic tool for acquiring the geometrical data in the operation range of the arm of the manipulator. 
     (6) A CT unit is used as the diagnostic tool for acquiring the geometrical data in the operation range of the arm of the manipulator. 
     (7) The controller is constituted to control the selection of the mode change-over mechanism so as to limit the operation range of the arm of the manipulator. 
     (8) The controller is constituted to present a force feed-back when the arm of the manipulator makes contact with an object, by selecting the mode of the mode change-over mechanism multiple times and in a variable manner of duty ratio of disconnection and connection so as to finely change over the connection. 
     Further, according to a second aspect of the present invention, there is provided an operation input device for moving an arm of a manipulator in a master-slave manipulator system, comprising on joints thereof, a mode change-over mechanism which has three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and, in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selects one of the above modes and changes over from one mode to the selected mode. 
     According the present invention, there may be provided a master-slave manipulator system and an operation input device which are capable of presenting an obstacle and a limit to an operation range as a force feed-back with no use of a motor in the operation input device, and which have high reliability, a small-size and good operability. 
     Other objects, features and advantages of the invention will become apparent from the following description of the embodiments of the invention taken in conjunction with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF SEVERAL VIEWS OF THE DRAWING 
         FIG. 1  is a conceptive view illustrating an overall structure of a master-slave manipulation system according to an embodiment of the present invention; 
         FIG. 2  is a conceptive view illustrating an operation input device shown in  FIG. 1 ; 
         FIG. 3  is a conceptive view illustrating a mode change-over mechanism shown in  FIG. 1 ; 
         FIG. 4  is a perspective view illustrating the mode change-over mechanism shown in  FIG. 1 , which is used in a translation joint; 
         FIG. 5  is a perspective view illustrating an operation input device utilizing the mode change-over mechanism shown in  FIG. 4 ; 
         FIG. 6  is a conceptive view illustrating a grip input device shown in  FIG. 5 , in an opened condition; and 
         FIG. 7  is a conceptive view illustrating the grip input device shown in  FIG. 5 , in a closed condition. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Explanation will be hereinbelow made of an embodiment according to the present invention with reference to  FIGS. 1 to 7 . 
       FIG. 1  shows an overall configuration of a master-slave manipulator system according to an embodiment of the present invention, which is used as a surgical support system as an example. 
     An operator  170  may manipulate an endoscopic instrument  135  which is located at the distal end of a second manipulator  130  with the use of an input interface  165  of an operation input device  190 , while referring to the endoscopic instrument  135  an image of which is picked up by an endoscope  125  held by a first manipulator  110 . An image displayed on a reference monitor  100  is picked up from an affected part of the patient  140  by the endoscope  125  held by the first manipulator  110 , and accordingly, the endoscopic instrument  135  may also fall in the viewing field of the endoscope  125  together with the affected part of the patient  140 . It is noted that the first manipulator  110  may be also moved with the use of the operation input device  190 , similar to the second manipulator  130 . 
     Data as to the affected part of the patient  140  is acquired by a diagnostic tool  120  before or during surgical operation, and is delivered to an integrated controller of position datum  115 . With respect to the date of the affected part acquired by the integrated controller of position datum  115 , a safety area where the manipulators  110 ,  130  may be operated, and a hazard area where the manipulators  110 ,  130  have to not move are inputted by the interface  116  or an interface  165  of the operation input device  106 . The data as to the safety area (a possible operation area) or the hazard range may be displayed on the reference monitor  100  through the intermediary of a converter  105 , being overlapped with the image of the endoscope  125 . 
     Data of the manipulators  110 ,  130  is delivered to a slave controller  145  while data as to positions and orientations of the manipulators  110 ,  130  is delivered to the integrated controller of position of datum  115 . The integrated controller of position of datum  115  compares data as to the set safety area and the set hazard area with data as to the present positions of the manipulators  110 ,  130 , and calculates a direction in which the manipulators  110 ,  130  should not be moved when the manipulators  110 ,  130  are to be out of the safety area or to enter the hazard area, and transmits the thus obtained data to the slave controller  140 , which in turn transmits the data to a master controller  150 . 
     The master controller  150  energizes solenoids  185  in one or more joints  175  in the operation input device  190  corresponding to the direction in which the manipulators  110 ,  130  should not be moved, so as to connect power transmission of a two-way clutch  180  in order to restrain the input interface  165  of the operation input device  190  from moving in the direction in which the manipulators  110 ,  130  should not be moved. 
     During a normal operation input, the two-way clutch  180  attached to each of the joints  175  is set in a disconnecting condition of power transmission by the solenoid  185 , and accordingly, the operator  170  can optionally move the input interface  165 . Each joint  175  is provided thereto with sensors  155  which include an encoder and a potentiometer and from which acquired data of displacement of the joint is delivered to the master controller  150 . The master controller  150  calculates a direction in which the operator desires to move the manipulators  110 ,  130  and orientations thereof from the data of displacement of the joint, and transmits the thus calculated data to the slave controller  145 . The slave controller  145  therefore calculates inverse kinematics of the manipulators  110 ,  130  so as to drive the joints of the manipulators  110 ,  130  in order to cause the manipulators  110 ,  130  to carry out a motion intended by the operator  170 . Thus, the endoscope  125  and the endoscopic instrument are operated as the operator intends. 
     It is noted that the diagnostic tool  120  may be any one of an MRI unit, a CT unit, an ultrasonic probe, a laser range finder or an endoscope, which can display data of and around an affected part by images, CG or the like. The input interface  116  is a position/orientation input device composed of a mouse, a joystick, a keyboard and the like. 
     Further, the diagnostic image coordination system of the diagnostic tool  120  and the coordination system of the manipulators  110 ,  130  can be synthesized by physically constraining the bases of the diagnostic tool  120  and the manipulators  110 ,  130 , or by synthesizing transformation matrix obtained by measuring the diagnostic tool  120  and the manipulators  110 ,  130  with the use of a three-dimensional position measuring unit which is not shown. 
       FIG. 2  shows such a condition that the operator  170  carries out the handling of the manipulators  110 ,  130  by means of the operation input device  190 . 
     The operator  170  sits on a chair  230 , sets his elbows or forearms on the armrest  235  thereof, grips gripping portions  200  serving as the input interface  165  so as to manipulate the gripping portions  200  while he observes the reference monitor  100  in order to move the manipulators displayed on the reference monitor  100  or the viewing field of the endoscope  125  for transmitting an image to the display monitor  100 . 
     The gripping portions  200  are linked to a console  240  through the intermediary of a plurality of links  205 ,  210 ,  225 ,  220 ,  215  and the like. These links are associated with one another serving as rotating joints and translation joints. By applying the configuration in this embodiment to each joint, as will be explained later, the gripping portions  200  can be optionally moved or can be restrained from moving in a certain direction. The joint mechanism will be detailed later with reference to  FIG. 5 . In  FIG. 2 , although the gripping portion  200  is shown only for the right hand of the operator  170 , there may be provided another gripping portion  200  serving as a similar interface  165  for the left hand. 
     It is noted that the arm rest  235  is arranged on members extended from a center pole of the console  240 , at a position where it does not physically interfere with the operation range of the operation input devise  190 . The member linking the center pole of the console  240  and the armrest  235  is mounted thereon with command input switches for the operation input device  190  and data information presenting lamps which are not shown. 
       FIG. 3  shows a condition of disconnection and connection of power transmission with the use of the two-way clutch  180  provided in each of the translation joints  175  of the operation input device  190  shown in  FIG. 1 . In  FIG. 3 , a condition in which the power transmission of the two-way clutch  180  is disconnected is indicated by the solid line, while a condition in which the power transmission of the two-way clutch  180  is connected in either one of directions thereof but the power transmission is disconnected in the other direction so that the joint may be freely rotated, is indicated by the chain line. It is noted that the components indicated by the solid line are denoted by reference numerals with a suffix a while the components indicated by the chain line are denoted by reference numerals with a suffix b or c. However, when the components will be generally explained, the suffixes a to c will be omitted in the explanation. 
     Explanation will be briefly made of the features of the two-way clutch  180  with reference to  FIG. 3 . The two-way clutch  180  is provided with a lever  215 , a housing  320  and a bearing  325 . When the lever  315  is set in the condition indicated by the solid line  315   a  with respect to the housing  320 , a shaft  330  arranged on the inner diameter side of the bearing  325  can be freely rotated. When the lever  315  is turned to the right side in the figure so that the lever  315  is set on the right side with respect to the housing  320  as indicated by the chain line  315   b , the shaft  330  arranged on the inner diameter side of the bearing  325  can not be rotated in the direction of the arrow  345  but may be freely rotated in the direction of the arrow  350 . When the lever  315  is turned to the left side in the figure so that the lever  315  is set on the left side with respect to the housing  320  as indicated by the chain line  315   c , the shaft  330  arranged on the inner diameter side of the bearing  325  can not be rotated in the direction of the arrow  350  but may be freely rotated in the direction of the arrow  345 . 
     The link  305  integrally incorporated with the rod  300  has an elongated hole  306 , and is connected to the lever  315  through the intermediary of the shaft  310 , which is integrally incorporated with the lever  315 . When the lever  310  is located in the condition of the lever  315   c  indicated by the solid line with respect to the housing  320 , the shaft  330  arranged on the inner diameter side of the bearing  325 , can be freely rotated. The shaft  330  is operated in synchronization with a pinion gear  335  coaxial therewith. Further, the pinion gear  335  is meshed with a rack  340 , which is stationary. Since the pinion gear  335  is meshed with the stationary rack  340  and is therefore constrained, the housing  320  may be freely moved in a direction  355  or  360  when a force is exerted to the housing  320  in the direction  355  or  360  if the lever  315  is set in the condition of the lever  315   a  indicated by the solid line. 
     When a force from the left side is applied to the rod  300   a  indicated by the solid line by means of the solenoid  185  or the like so as to set the condition of the rod  300   b  indicated by the chain line, the link  305  integrally incorporated with the rod  300   b  is turned into the condition of the link  305   b  indicated by the chain line. At this stage, the shaft  310  is moved through the elongated hole  306  in the link  305  so as to fall in the condition of the shaft  310   b  indicated by the chain line, and accordingly the lever  315  integrally incorporated with the shaft  310  is changed into the condition of the lever  315   b  indicated by the chain line. At this stage, according to the function of the two-way clutch  180 , the shaft  330  and the pinion gear  335  moved integrally therewith can not be rotated in the direction of the arrow  345  but may be moved only in the direction of the arrow  350 . Thus, even though any force is exerted to the housing  320  in the direction of the arrow  360 , the housing  320  can not be moved in the direction of the arrow  360 . Meanwhile, it may be freely moved in the direction of the arrow  355 . 
     On the contrary, when the rod  300   a  is turned into the rod  300   c  indicated by the chain line by applying a force from a right side thereto by means of the solenoid  185  (refer to  FIG. 1  and  FIG. 4 ) or the like, the link  305  integrally incorporated with the rod  300   c  is turned into a condition of the link  305   c  indicated by the chain line. The shaft  310  is moved through the elongated-hole  306  in the link  305  and is turned into a condition of the shaft  310   c  indicated by the chain line, and the lever  315  integrally incorporated with the shaft  310  is turned into a condition of the lever  315   c  indicated by the chin line. At this time, according to the function of the two-way clutch, the shaft  330  and the pinion gear  335  moved integrally therewith can not be rotated in the direction of the arrow  350 , but may be rotated only in the direction of the arrow  345 . Thus, the housing  320  can not be moved in the direction of the arrow  355  even though a force is exerted to the housing  320  in the direction of the arrow  355 . Meanwhile, it may be freely moved in the direction of the arrow  360 . 
       FIG. 4  is a perspective view illustrating the translation joint mechanism for one axial part using the two-way clutch  180  shown in  FIG. 3 . The translation join mechanism moves a rod  410  in the direction of the arrow  406  or the direction of the arrow  407  with respect to a base  420 , and some similar joint mechanisms are connected subsequent to the base  415  of the next joint, and are finally linked to the gripping portions  200  (refer to  FIG. 2 ). 
     The base  420  is fixed thereto with a linear guide rail  425  and a rack  340 , and a guide base  440  is attached to a guide  430  moved on the linear guide rail  425 . On the guide base  440 , a rod  410  is secured by means of a rod fixture  435 , and the housing  320  is secured by a clutch fixture  405 . To the housing  320  are fixed the two-way clutch and a 3 position solenoid  400  (corresponding to the solenoid  185  shown in  FIG. 1 ) for moving a lever of the two-way clutch. The 3 position solenoid  400  may move and hold the rod  300  in three conditions (rod  300   a ,  300   b  and  300   c ) as explained with reference to  FIG. 3 . 
     When an input force exerted by the operator  170  is transmitted to the base  415  of the next joint through the intermediary of the gripping portions  200  (refer to  FIG. 2 ), a force along the direction of the arrow  406  or  407  is applied to this joint. If the 3 position solenoid  400  holds the rod  300  in the condition of the rod  300   a  indicated by the solid line, the power transmission of the two-way clutch is disconnected and accordingly, the shaft  330  and the pinion gear  335  may be freely rotated. Thus, the pinion gear  335  may be moved on the rack  340  while it is freely rotated, and accordingly, the guide  430  may be freely moved on the linear guide rail  425  in the direction of the arrow  106  or  107  in response to a force exerted to the base  415  of the next joint. 
     Meanwhile, it is estimated that an input force applied by the operator is transmitted to the base  415  of the next joint through the intermediary of the gripping portions  200  (refer to  FIG. 2 ), and accordingly, a force in the direction of the arrow  406  is exerted to this joint. Further, it is estimated that at this time, the master controller  150  (refer to  FIG. 1 ) calculates such a condition that if the operation input device  190  is moved in the direction of the arrow  406 , there is presented a hazard area in the moving direction of the manipulator  110  or  130  which is moved in association with the operation input device  190 , and thus, the manipulator  110  or  130  should not be moved in the direction. In this case, the master controller  150  issues a signal for energizing the 3 position solenoid  400  so as to move the lever  315  and to connect the power transmission function of the two-way clutch, resulting in such a condition that the pinion gear  335  can not be rotated in the direction of the arrow  345  but may be rotated in the direction of the arrow  350 . Accordingly, the guide  430  may move in the direction of the arrow  407  but can not move in the direction of the arrow  406  according to the meshing between the pinion gear  335  and the rack  340 . Thus, the operator  170  may input his manipulation in the direction of the arrow  407  on the safety side but can not input his manipulation in the direction of the arrow  406  toward the hazard area, thereby it is possible to solve such a problem that the manipulator  110  or  130  is moved into the hazard range. 
     Similarly, it is estimated that a force in the direction of the arrow  407  is exerted to the base  415  of the next joint, and the master controller  150  (refer to  FIG. 1 ) calculates such a condition that at the time if the operation input device  190  is to be moved in the direction of the arrow  407 , there is presented a hazard area in the moving direction of the manipulator  110  or  130  which is moved in association with the operation input device  190 , and accordingly, the manipulator should not be moved in this direction. In this case, similarly to the above case, the master controller  150  issues a signal for energizing the 3 position solenoid  400  so as to move the lever  315  and to connect the power transmission connection of the two-way clutch, resulting in such a condition that the pinion gear  335  can not be rotated in the direction of the arrow  350  but may be rotated in the direction of the arrow  345 . Thus, the guide  430  may move in the direction of the arrow  406  but can not move in the direction of the arrow  407  according to the meshing between the pinion gear  335  and the rack  340 . 
     It is noted that the displacement amount of the joint is measured by a linear encoder which is although not shown, and accordingly, a manipulation input amount may be acquired by the master controller  150 . 
       FIG. 5  shows an entire configuration of the operation input device  190  in this embodiment from which the console  240  is eliminated. 
     A base  585  is attached to the rear surface of the console  240  shown in  FIG. 2 . A base  575  and a linear guide rail  580  fixed to the rear surface of the base  585  are linked to each other through the intermediary of translation joints so that the base  575  is moved on the linear guide rail  580  in the direction of the arrow  578 , that is, in the left and right directions. A mode change-over mechanism which according to the present invention is also attached to this translation joints which are moved in the direction of the arrow  578  although it is hidden behind the base  585  so that it is invisible. 
     A rod  560  is translated in the direction of the arrow  563  which is a vertical direction with respect to the base  575  through the intermediary of a mode change-over mechanism  565  meshed with a rack  570  attached to the base  575 . 
     A rod  535  is translated with respect to a base  550  in the direction of the arrow  537  which is a longitudinal direction through the intermediary of a mode change-over mechanism  540  meshed with a rack  545  fixed to the base  550 . 
     A fixture  530  mounted to the rod  535  is connected to a link  520  through the intermediary of a shaft  525 , and the link  520  serves as a rotating joint by means of the shaft  525 . The link  520  is connected a link  510 , using the shaft  515  as a rotary shaft, and the link  510  is connected to the gripping portions  200  through the intermediary of the shaft  505 . 
     The operation input device  190  shown in  FIG. 5  is composed of three translation joints and three rotating joints, and accordingly, the operator may input positions and orientations in six degrees of freedom. It is noted that the gripping portions  200  are provided with opening and closing joints for the endoscopic equipment. 
     The translation joints corresponding to the arrows  563 ,  537  are provided with constant force springs which are not shown, in order to compensate the dead weight of the operation input device. Thus, the operator  170  may freely manipulate the operation input device  190  with no feel of the dead weight thereof when the manipulation is made by holding the gripping portions  200 . 
     Although there are not shown in  FIG. 5  the mode change-over mechanisms on the shafts  525 ,  515 ,  505  serving as rotating joints, the mode change-over mechanism may be materialized in such a way that the shaft  330  shown in  FIG. 3  is used as a joint shaft while the housing  220  is fixed to a link of the base, and a link of the next joint is secured to the shaft  330 , instead of the pinion gear  350 . 
     As shown in  FIG. 5 , by using the mode change-over mechanisms in only three translation joints, the input of an orientation is optional, and accordingly, only the input of a position may be limited. By also providing the mode change-over mechanism in the three rotating joints, the position and orientation in six degrees of freedom may be limited. 
       FIGS. 6 and 7  are plan views illustrating the gripping portion  200  in this embodiment in different conditions. Movable components in the gripping portion  200  are denoted by reference numerals with a suffix a in the condition shown in  FIG. 6 , and with a suffix b in the condition shown in  FIG. 7 . However, the components will be explained being generally denoted by reference numerals with no suffixes a to b. 
     In this gripping portion  200 , the forefinger and the thumb touch blades  625 ,  640  so as to input an opening and closing manipulation to the endoscopic instrument  165 . As to the features of the gripping portion  200 , even by moving only the blade  640  with respect to a base  630 , the blade  625  may be also symmetrically moved, and on the contrary, only by moving the blade  625 , the blade  640  may be also similarly moved. Thus, for the opening and closing manipulation, it is possible to accept three cases, that is, a person desires to use only his thumb, or a person desires only his forefinger, and a person desires to use both thumb and forefinger. 
     A cam retainer  605  integrally incorporated with the base  630  is formed therein with a hole  606  through which a cam plate  610  may be translated. A shaft  615  is serving as a rotating center shaft of the blades  625 ,  640 , and pierces through the base  630  so as to serve as a mode change-over mechanism  645 . Since the shaft  615  is rotated integrally with the blade  625 , the opening angle of the blades may be limited by the mode change-over mechanism  645 . The mode change-over mechanism  645  includes a 3 position solenoid  600 . Further, the opening angle of the blades may be acquired by an encoder which is not shown. 
     Further, the shaft  615  pierces through a cam hole  651  in the cam plate  610 , and a shaft  650  integrally incorporated with the blade  640  and a shaft  620  integrally incorporated with the blade  625  pierce through the cam hole  651  in the cam plate  610 . 
     When a force is exerted to the blade  640   a  shown in  FIG. 6  in the closing direction similar to the blade  640   b  shown in  FIG. 7 , the blade  640   a  is rotated about the shaft  615  as a center, and the shaft  650   a  moved integrally with the blade  640   a  is also moved around the shaft  615  as a rotating center. The shaft  650   a  moves the cam plate  610   a  shown in  FIG. 6 , through the cam hole  651   a , as is similar to the cam plate  610   b  shown in  FIG. 7 . By moving the cam plate  610 , similar to the cam plate  610   b  shown in  FIG. 7 , a force is exerted to the shaft  620   a  so that the shaft  620   a  is turned into the shaft  620   b  shown in  FIG. 7  through the cam hole  651   a . Thus, the blade  625   a  integrally incorporated with the shaft  620   a  is turned into the blade  625   b.    
     In this embodiment, according to the provision of a mechanism for simultaneously opening two blades, it may be manufactured in a simple and inexpensive way in comparison with a parallel link mechanism which has been conventionally used in general. 
     Further, with the use of the mode change-over mechanism  645 , the opening degree of the gripping portion may be limited or the gripping portion may be held in a closed condition. In the operation in which the affected part is to be pressed and opened with the use of the endoscopic instrument blades  640 ,  625 , if it is desired to limit the opening degree of the endoscipic equipment  135 , since the opening degree of the endoscopic equipment blades  640 ,  625  may be limited, it is possible to enhance the safety. Further, since the closed condition may be maintained, the operator  170  may eliminate the necessity of gripping with a strong force while he grips an object such as a needle, thereby it is possible to alleviate fatigue or the like. It is noted that the blades  640 ,  625  are normally opened by springs which are not shown, as shown in  FIG. 6 . 
     An opening and closing base  630  is provided thereto with a micro-switch  635  which responds when it is firmly pressed after the blade  640   a  is turned into the blade  640   b . In this embodiment, when the micro-switch  635  responds, the mode change-over mechanism  645  is operated so that the blades  640 ,  625  are held in the closed condition. It is noted that another button which is not shown is depressed by a finger, and accordingly, the blades  640 ,  625  may be released from the closed condition. 
     When the opening degree of the endoscopic equipment is to be limited, a maximum opening degree has been previously inputted through the input interface  116 , and then, the mode change-over mechanism  645  is used. 
     Further, in the mode change-over mechanism  645 , the directions of connection of the power transmission and the disconnection thereof are controlled by the master controller  150 , and accordingly, softness and hardness upon contact of the manipulator arm with an object may be exhibited as a force feed-back in addition to the exhibition of an obstacle or a wall of a hazard area. That is, the controller  150  selects the mode of the mode change-over mechanism multiple times and in a variable manner of the duty ratio so as to finely change over the connection, and accordingly, a force feed-back is exhibited when the arm of the manipulator  110  or  130  touches the object. 
     As stated above, in this embodiment, when no presentation of a safety area or a hazard area is required, the operation input device  190  may be optionally moved, but when the presentation of the safety area or the hazard area is required, the motion toward the hazard area can be limited with no use of a motor while the motion toward the safety area may be optionally made. Further, an operating range limited by the operator and an obstacle can be presented as a force feed-back without using a motor in the operation input device  190 , and accordingly it is extremely effective in view of miniaturization and control stability of the operation input device  19 , which may exhibits enhanced operability thereof. Further, since no motor is used therein, it is highly effective in an environment in which the affection by noises is desired to be reduced, such as an MRI environment. Further since no motor is used, the operation input device may be manufactured at a low cost. 
     Further, even with the opening manipulation of the endoscopoic equipment  135 , the opening degree of the endoscopic equipment  135  may be limited during press-opening operation by the endoscopic equipment  135 , and a fatigue which is caused by pressing the gripping portions when the endoscopic equipment  135  is closed may be alleviated, thereby it is possible to enhance the operability. 
     It is noted that although explanation has been made of the embodiment in which the two-way clutch is used as the power transmission disconnection and connection mechanism which materializes the mode change-over mechanism, two one-way clutches and two solenoids may be also used to materialize the mode change-over mechanism. 
     Although explanation have been made of the operation input device in the surgical support manipulator in this embodiment, the present invention may be also implemented as an operation input device such as a humanoid arm or an arm of an industrial manipulator. 
     It should be further understood by those skilled in the art that although the foregoing description has been made on embodiments of the invention, the invention is not limited thereto and various changes and modifications may be made without departing from the spirit of the invention and the scope of the appended claims.