Patent Description:
In recent years, endoscopic surgery using a master-slave type surgical assist robot has become widely available. Here, the master means a medical operation apparatus that remotely controls a slave, and the slave means a surgical device that performs surgery in accordance with instructions from the master (see Patent Document <NUM>).

The above-described surgical assist robot has a configuration in which in response to an operator moving a grip of the master, slave forceps are moved in conjunction with the grip. Therefore, the operator who operates the master-slave type surgical assist robot can operate the forceps of the surgical assist robot at will as if they are part of him/herself. Specifically, Patent Document <NUM> discloses a medical operation apparatus in which an operator holds a body so as to wrap it with the palm, places his/her fingers onto an engagement portion of an operation part, and moves the fingers in this state, thereby reflecting the content of the movement. Patent Document <NUM> describes a user input device comprising the ability of the user to further input an open/close motion of a forefinger interface, which is connected to a main body using a link and rotary joint. A minimum displacement and maximum displacement can be measured and used as an additional control signal. A thumb restraint and forefinger restraint supply constraints such that the user maintains control of the main body while moving the grasper throughout its range of motion.

Patent Document <NUM> describes a multi-axis surgical robot and a master system thereof. An end effector constituting the multi-axis surgical robot is composed of multiple axes and the master system for remotely controlling the multi-axis end effector is ergonomically designed.

Patent Document <NUM> describes a parallel wire device capable of translating a target object and rotating the target object in a wide movable range. The parallel wire device includes a movement unit, a rotational movement unit attached to the movement unit so as to be rotatable about at least one axis, a first parallel wire configured to translationally drive the movement unit, and a second parallel wire configured to rotationally drive the rotational movement unit. The rotational movement unit includes a parallel link, and the second parallel wire includes parallel wires configured to drive respective links constituting the parallel link.

Patent Document <NUM> describes a medical manipulation unit having a main body whereto is input the content of a movement of a surgical tool; a fitting unit whereto is input, by means of relative movement of the fitting unit vis-a-vis the main body, the motion content of the surgical tool and which has a portion detachably fitted to an operator's finger; and a handle part that, when the operator's finger is fitted to the fitting unit, extends from the main part to the operator's palm and contacts the palm.

Patent Document <NUM> describes a hand grip apparatus for receiving operator input including a body having a proximal end and a distal interface end for coupling to an input apparatus. A first control lever is attached to the body and extends away from the proximal end and terminates in a finger grip for receiving one of the operator's fingers, the first control lever being laterally moveable away from the body about a pivot joint. A second control lever is attached to the body and extends away from the proximal end terminating in a thumb grip for receiving the operator's thumb, the second control lever being laterally moveable away from the body about a pivot joint. Movement of at least one of the control levers is operable to produce a first control signal representing the movement. An input control is included on the body between the grip ends and has an actuator surface angled towards the finger grip end and configured to produce a second control signal in response to actuation by one of the operator's fingers.

In the above-described medical operation apparatus according to Patent Document <NUM>, a distance between the body and the engagement portion is fixed. Thus, it has been difficult for each of the operators with different finger sizes and finger lengths to properly reflect the content of the movement.

Thus, it is conceivable to provide an adjustment mechanism to adjust the distance between the body and the engagement portion arranged in the operation part. However, if the adjustment mechanism is moved by an unintentional operation by the operator and the operation part is moved in conjunction with the movement of the adjustment mechanism, the content of the movement is reflected based on the unintentional movement of the operation part. As a result, the slave may be remote-controlled based on the unintentional operation by the operator.

In one aspect of the present disclosure, it is preferable to easily inhibit the unintentional operation from being reflected in the medical operation apparatus that is the master.

The problem is solved by a medical operation apparatus according to claim <NUM>. One aspect of the present disclosure is a medical operation apparatus configured to acquire an operation performed by an operator, the medical operation apparatus comprising a body, an operation part, and a holder. The operator grasps the body. The operation part is arranged so as to enable at least a part of the operation part to be moved closer to and away from the body by the operator. The holder is configured to hold fingers of the operator grasping the body, and the holder is configured to transmit a movement of the fingers to the operation part. The holder comprises a contact portion and a connector. The contact portion is configured to be in contact with the body when the operation part is moved closer to the body. The connector supports a relative posture of the holder and the operation part so as to change the relative posture in accordance with a posture change of the fingers of the operator. In the relative arrangement position of the body with which the contact portion is in contact and the operation part, when the relative posture of the holder and the operation part is changed, an amount of change in the relative arrangement position of the body and the operation part is within a specified permissible range.

According to this configuration, the connector supports the relative posture of the holder and the operation part so as to change the relative posture in accordance with the posture change of the fingers of the operator. Therefore, the device is configured to be available for multiple operators with different finger sizes.

Furthermore, in a state where the contact portion is in contact with the body, even if the operator performs an unintentional operation due to a force applied to the fingers and the posture of the operator's fingers and the relative posture of the holder and the operation part are changed, the amount of change in the relative arrangement position of the body and an operation part is within the specified permissible range.

This makes it possible to inhibit the operation part from moving equal to or more than the permissible range even if the unintentional operation is performed by the operator, and makes it easy to inhibit the operation part from moving equal to or more than the permissible range. As a result, in the medical operation apparatus that is the master, it is easier to inhibit the unintentional operation by the operator from being reflected.

A non-inventive embodiment of the present disclosure may further comprise a sensor configured to detect the relative arrangement position of the operation part to the body. The permissible range may be less than a minimum value of an amount of change, detectable by the sensor, between the body and the operation part.

In this configuration, the permissible range is set to less than the minimum value of the amount of change detectable by the sensor. Thus, it is possible to inhibit the operation part from moving equal to or more than the minimum amount of change detectable by the sensor even if the operator performs the unintentional operation. This makes it easy to inhibit the detector from detecting the unintentional operation by the operator as a grasping operation.

In one aspect of the present disclosure, the connector comprises a rotation axis, the holder is configured to rotate around the rotation axis, and the contact portion comprises a convex surface formed into a convex shape, and is configured such that the amount of change in the relative arrangement position of the body and the operation part, based on a variation in a distance between the convex surface and a center of a posture change of the holder which is the rotation axis in the connector, may be within the specified permissible range.

In this configuration, the amount of change in the relative arrangement position of the body and the operation part, based on the variation in the distance between the convex surface of the contact portion and the center of the posture change of the holder in the connector, is within the specified permissible range. This makes it is easy to inhibit the unintentional operation by the operator from being reflected as the grasping operation.

In one aspect of the present disclosure, the connector comprises a rotation axis, the holder is configured to rotate around the rotation axis, and the contact portion comprises contact flat surfaces, and is configured such that the amount of change in the relative arrangement position of the body and the operation part, based on a variation in a distance between each of the contact flat surfaces and a center of a posture change of the holder which is the rotation axis in the connector, may be within the specified permissible range.

In this configuration, the amount of change in the relative arrangement position of the body and the operation part, based on the variation in the distance between each of the flat surfaces of the contact portion and the center of the posture change of the holder in the connector, is within the specified permissible range. This makes it is easy to inhibit the unintentional operation by the operator from being reflected as the grasping operation.

In one aspect of the present disclosure, the connector comprises a rotation axis, the holder is configured to rotate around the rotation axis, and the body comprises a concave surface formed into a concave shape in an area to be in contact with the contact portion, and is configured such that when the contact portion is in contact with the concave surface, the amount of change in the relative arrangement position of the body and the operation part, based on a variation in a distance between the concave surface and a center of a posture change of the holder which is the rotation axis in the connector, may be within the specified permissible range.

In this configuration, when the contact portion is in contact with the concave surface formed into a curved surface in the body, the amount of change in the relative arrangement position of the body and the operation part, based on the variation in the distance between the concave surface and the center of the posture change of the holder in the connector, is within the specified permissible range. This makes it is easy to inhibit the unintentional operation by the operator from being reflected as the grasping operation.

In one aspect of the present disclosure, the connector comprises a rotation axis, the holder is configured to rotate around the rotation axis, and the body comprises body flat surfaces forming a concave shape in the area to be in contact with the contact portion, and is configured such that when the contact portion is in contact with any of the body flat surfaces, the amount of change in the relative arrangement position of the body and the operation part, based on a variation in a distance between each of the body flat surfaces and a center of a posture change of the holder which is the rotation axis in the connector, may be within the specified permissible range.

In this configuration, when the contact portion is in contact with the concave surface formed by the flat surfaces in the body, the amount of change in the relative arrangement position of the body and the operation part, based on the variation in the distance between each of the body flat surfaces and the center of the posture change of the holder in the connector, is within the specified permissible range. This makes it is easy to inhibit the unintentional operation by the operator from being reflected as the grasping operation.

The operation part is formed into a long shape, and the connector connects the holder and the operation part so that an arrangement position of the holder along a longitudinal direction of the operation part having a long shape is changeable.

In this configuration, the connector connects the holder and the operation part so that an arrangement position of the holder along the longitudinal direction of the operation part having a long shape is changeable. Therefore, the arrangement position of the holder can be varied relative to the operation part in accordance with the size or the like of the operator's fingers.

surgical assist robot, <NUM>, <NUM>. body, <NUM>. medical operation apparatus, 10A. detector, <NUM>, <NUM>. body right surface, <NUM>. long portion, <NUM>. grip, <NUM>,<NUM>. operation part, <NUM>. controller, <NUM>, <NUM>, <NUM>. holder, <NUM>, <NUM>, <NUM><NUM>. connector, <NUM>, <NUM>, <NUM>. contact portion, 33a. convex surface, 33b-33e. holder-side contact flat surfaces, <NUM>. transmitting portion, <NUM>. rotating portion, <NUM>. supporting portion, 63a. concave surface, 63b-<NUM>. body contact flat surfaces.

The surgical assist robot <NUM> shown in this embodiment is a master-slave robot for endoscopic surgery and the like. The surgical assist robot <NUM> includes a master device and a slave device. The operation that has been reflected in the master device is transmitted to the slave device by communications, and the slave device works.

The surgical assist robot <NUM> will be described with reference to <FIG>.

The surgical assist robot <NUM> comprises a master device <NUM>, a controller <NUM>, and a slave device <NUM>.

A medical operation apparatus <NUM> is a part of the master device <NUM>, and is configured to detect a grasping operation performed by an operator, including a medical worker. The medical operation apparatus <NUM> is configured to be able to reflect at least the grasping operation performed by the operator. The detector 10A is configured to detect the operation performed by the operator with a sensor arranged in a body, for example.

The controller <NUM> is configured to control the slave device <NUM> based on the operation performed by the operator that has been detected by the medical operation apparatus <NUM>. The controller <NUM> comprises various control structures and control methods in accordance with the configuration of the slave device <NUM>.

The slave device <NUM> is a slave-side device in the surgical assist robot <NUM>, and is configured to perform a grasping action based on the control by the controller <NUM>. For example, the slave device <NUM> may be a pair of forceps. Examples of a target grasped by the slave device <NUM> may include blood vessels and/or organs of a patient's body.

The target grasped by the slave device <NUM> is not limited to the blood vessels or the organs of the patient's body, and may include various targets that can be grasped by the slave device <NUM>.

Here, in addition to the grasping operation performed by the operator, the medical operation apparatus <NUM> may detect operations to move the slave device <NUM> and to change the posture of the slave device <NUM>. Thus, the controller <NUM> may control the movement and the posture change of the slave device <NUM> in addition to the grasping action. The medical operation apparatus <NUM> is configured to be operated by the operator's right hand; however, the medical operation apparatus <NUM> may be configured to be operated by the left hand.

As shown in <FIG>, the medical operation apparatus <NUM> of this embodiment comprises a body <NUM>, an operation part <NUM>, a holder <NUM>, a rotating part <NUM>, a detector 10A, and a support member <NUM>. The illustration of the structure in which the medical operation apparatus <NUM> is connected to the master device <NUM> is omitted here.

The body <NUM> is a part to be grasped by the operator. The body <NUM> comprises a long portion <NUM> formed into a long shape such as a columnar shape, and a grip <NUM> protruding from an end of the long portion <NUM>. In the body <NUM>, the grip <NUM> is formed at one end of the long shape. The body <NUM> is configured to be held by the operator with the grip <NUM> being grasped.

Hereinafter, a longitudinal direction of the long portion <NUM> is assumed as a y-axis direction. The direction from the end with the grip <NUM> to the other end in the long portion <NUM> is assumed as a positive direction of the y-axis. An extending direction of the grip <NUM> perpendicular to the y-axis direction is assumed as a z-axis direction. The direction away from the long portion <NUM> is assumed as a positive direction of the z-axis direction. A direction perpendicular to each of the y-axis direction and the z-axis direction is assumed as an x-axis direction. The x-axis, the y-axis, and the z-axis are configured in accordance with a right-handed coordinate system.

The grip <NUM> is formed into a substantially columnar shape.

Furthermore, the peripheral surface of the grip <NUM> may be formed into a shape easily held by the operator's right hand. Specifically, the peripheral surface of the grip <NUM> may have a concave shape suitable for the shape of the right hand.

The grip <NUM> comprises a supporting portion <NUM> that is arranged near the long portion <NUM> and that has a long shape extending toward a substantially x-axis negative direction. The supporting portion <NUM> comprises a first end that is on a grip <NUM> side and that is connected to the grip <NUM>. The supporting portion <NUM> comprises a second end that is opposite the first end and that comprises a rotating portion <NUM>.

The operation part <NUM> is used to reflect the grasping operation performed by the operator. The operation part <NUM> has a long shape extending from the rotating portion <NUM>.

The rotating portion <NUM> is arranged between the supporting portion <NUM> and the operation part <NUM> and comprises a rotation axis extending in the substantially z-axis direction. The rotating portion <NUM> allows the supporting portion <NUM> and the operation part <NUM> to relatively move around the rotation axis. The rotating portion <NUM> rotates around the rotation axis, thereby enabling a change in the angle formed by a longitudinal direction of the supporting portion <NUM> and a longitudinal direction of the operation part <NUM>.

In other words, when the operation part <NUM> rotates around the rotation axis of the rotating portion <NUM>, the operation part <NUM> moves around the rotation axis. Due to the rotation, the operation part <NUM> moves closer to or away from the body <NUM>.

The detector 10A is configured to detect the angle formed by the longitudinal direction of the supporting portion <NUM> and the longitudinal direction of the operation part <NUM>. The detector 10A is configured to output, to the controller <NUM>, the detected angle as a detection signal. The detector 10A may be arranged any position if the detector 10A can detect the angle formed by the longitudinal direction of the supporting portion <NUM> and the longitudinal direction of the operation part <NUM>. The detector 10A is an angle sensor for measuring the angle formed by the longitudinal direction of the supporting portion <NUM> and the longitudinal direction of the operation part <NUM>. The detector 10A may be a rotary encoder or other angle sensors.

The holder <NUM> is configured to hold fingers of the operator grasping the body <NUM>. The holder <NUM> is configured to transmit, to the operation part <NUM>, the movement of the fingers. The holder <NUM> is provided to the operation part <NUM>, and is configured such that the arrangement position thereof can be changed along the longitudinal direction of the operation part <NUM>.

The holder <NUM> comprises a connector <NUM>, a contact portion <NUM>, and a transmitting portion <NUM>.

The connector <NUM> is connected to the operation part <NUM>. The connector <NUM> may be connected to the operation part <NUM> so that the holder <NUM> is movable along the longitudinal direction of the operation part <NUM>.

The connector <NUM> also comprises a rotation axis along the substantially z-axis direction. The rotation axis allows the contact portion <NUM> and the transmitting portion <NUM> to rotate relative to the connector <NUM>.

The connector <NUM> supports a relative posture between the contact portion <NUM>/the transmitting portion <NUM> and the operation part <NUM> so as to change the relative posture in accordance with the posture change of the fingers on the operation part <NUM>.

When the operation part <NUM> comes closer to the long portion <NUM> of the body <NUM>, the contact portion <NUM> is in contact with a body right surface <NUM> of the long portion <NUM>. The body right surface <NUM> of the body <NUM> as used herein is the right surface of the body <NUM>, i.e. a side surface located on an x-axis negative side.

Specifically, the contact portion <NUM> is arranged so as to be positioned on an x-axis positive side relative to the connector <NUM>. When positioned on the x-axis positive side, the contact portion <NUM> comprises a convex surface 33a formed into a convex shape that is swelled in an x-axis positive direction. That is, the contact portion <NUM> comprises the convex surface 33a outwardly convex relative to the connector <NUM> of the holder <NUM>.

The convex surface 33a is, for example, a circumferential surface with a rotation axis of the connector <NUM> as a central axis. That is, in a cross sectional view perpendicular to the central axis, the central axis and each point on the convex surface 33a are arranged so that a distance therebetween is substantially constant. Here, the arrangement is not limited to the one in which the distance between the central axis and each point on the convex surface 33a is constant. Specifically, the convex surface 33a may be formed so that a variation in the distance between the central axis and each point on the convex surface 33a is within the permissible range R.

Here, an example of the permissible range R may be a range in which the amount of change in angle between the long portion <NUM> of the body <NUM> and the operation part <NUM>, based on the variation in the distance between the central axis and each point on the convex surface 33a, is less than a minimum value of the amount of change in angle detectable by the detector 10A.

The transmitting portion <NUM> is a flat portion to be in contact with the operator's finger, e.g. the index finger. The transmitting portion <NUM> is a surface opposite the contact portion <NUM> of the holder <NUM>. That is, in the holder <NUM>, the transmitting portion <NUM> is located opposite the contact portion <NUM> relative to the connector <NUM>.

<FIG> shows a state where the holder <NUM> rotates around the rotation axis of the connector <NUM> while the contact portion <NUM> of the holder <NUM> is in contact with the body right surface <NUM> of the long portion <NUM> of the body <NUM>. For example, when the holder <NUM> rotates around the rotation axis of the connector <NUM>, the state thereof changes between a state shown in <FIG> and a state shown in <FIG>.

In the state of <FIG>, on a surface of the convex surface 33a, a point in contact with the body right surface <NUM> is assumed as a first contact point P1, and a distance from the center of the rotation axis of the connector <NUM> to the first contact point P1 is assumed as a first contact distance. When the holder <NUM> is rotated around the rotation axis of the connector <NUM>, in the state of <FIG> and on the surface of the convex surface 33a, a point in contact with the body right surface <NUM> is assumed as a second contact point P2, and a distance from the center of the rotation axis of the connector <NUM> to the second contact point P2 is assumed as a second contact distance D2.

Here, the convex surface 33a is formed into a shape that is a circumferential surface around the rotation axis, and thus, the first contact distance D1 and the second contact distance D2 are the same. In other words, between the state shown in <FIG> and the state shown in <FIG>, a distance between the center of the rotation axis and the body <NUM> does not change even if the holder <NUM> is rotated around the rotation axis of the connector <NUM>. Therefore, a distance between the operation part <NUM> connected by the connector <NUM> and the body <NUM> also does not change due to the rotation.

That is, the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM>, based on the variation in the distance between the convex surface 33a and the central axis that is the center of the posture change of the holder <NUM> in the connector <NUM>, is within a specified permissible range R. In the relative arrangement position of the body <NUM> in contact with the portion <NUM> and the operation part <NUM>, when the relative posture of the holder <NUM> and the operation part <NUM> are changed, the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM> is within the specified permissible range R.

The detector 10A detects a change in the grasping operation based on the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM>. Thus, the detector 10A does not detect a change in the grasping operation performed by the operator. As a result, there is no change in the control by the controller <NUM>, which performs the control based on the change in the grasping operation detected by the detector 10A. Therefore, there is no change in the control of the slave device <NUM> in response to the rotation.

That is, even if the holder <NUM> is rotated by an unintentional operation due to a force applied to the operator's finger touching the transmitting portion <NUM> in a state where the contact portion <NUM> of the holder <NUM> is in contact with the body <NUM>, it is easy to inhibit a change in the grasping by the slave device <NUM>.

In the medical operation apparatus <NUM> of this embodiment, the connector <NUM> comprises the rotation axis, and the holder <NUM> rotates around the rotation axis, thereby making it possible to cope with the posture change of the fingers.

This allows the connector <NUM> to support the relative posture of the holder <NUM> and the operation part <NUM> so as to change the relative posture in accordance with the posture change of the operator's fingers.

The connector <NUM> is arranged so as to be movable along the longitudinal direction of the operation part <NUM>, and thus adjustable for multiple operators with different finger sizes.

Furthermore, in a state where the contact portion <NUM> is in contact with the body <NUM>, there is a possibility that the operator may perform an unintentional operation due to a force applied to the fingers, and the posture of the operator's fingers and the relative posture of the holder <NUM> and the operation part <NUM> may be changed. When the relative posture of the holder <NUM> and the operation part <NUM> is changed, the distance between the rotation axis of the connector <NUM> and the contact point is unchanged against the change in the position of the contact point. That is, the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM> is within the specified permissible range R.

This makes it possible to inhibit the operation part <NUM> from moving equal to or more than the permissible range R when the unintentional operation by the operator is performed, and makes it easy to inhibit the operation part <NUM> from moving equal to or more than the permissible range R.

Specifically, <FIG> shows a comparative example, in which the holder <NUM> is formed into a rectangular parallelepiped shape and a body <NUM> comprises a flat side surface in a part to be in contact with a contact portion <NUM> of the holder <NUM>. In the case shown in <FIG>, the holder <NUM> rotates around the connector <NUM> in a contact state as shown in <FIG>. Then, with the rotation of the holder <NUM>, a leading end of the operation part <NUM> is moved. When a sensor of a detector detects this movement, a controller controls the slave device <NUM> in accordance with the grasping operation detected by the detector.

Thus, in the contact state, when the holder <NUM> is rotated around the connector <NUM> by the unintentional operation by the operator, the slave device <NUM> is controlled based on the unintentional operation, and the slave device <NUM> will perform an unintentional operation.

The type of surgery for which the surgical assist robot <NUM> of this embodiment is used is not particularly limited. However, when the surgical assist robot <NUM> is used for surgery requiring an operation to grasp targets that are different in hardness, such as blood vessels and organs, an unintentional operation is especially likely to occur. Therefore, the surgical assist robot <NUM> of this embodiment is suitable for use in surgery requiring an operation to grasp targets that are different in hardness.

In this embodiment, even if the unintentional operation by the operator is reflected in the state where the holder <NUM> is in contact with the body <NUM>, the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM> is within the specified permissible range R.

This makes it possible to inhibit an unintentional grasping operation from being reflected in the detector 10A. As a result, it is possible to easily inhibit the slave device <NUM> from performing an unintentional operation based on the unintentional grasping operation.

Furthermore, in the above described embodiment, the distance from the central axis of the connector <NUM> to the convex surface 33a is constant in a cross section perpendicular to the central axis of the connector <NUM>; however, the distance from the central axis of the connector <NUM> to the convex surface 33a is not necessarily constant, and may be varied within the permissible range R. Here, in the above embodiment, the permissible range R is exemplified as a range in which the amount of change in angle between the long portion <NUM> of the body <NUM> and the operation part <NUM>, based on the variation in the distance between the central axis and each point on the convex surface 33a, is less than the minimum value of the amount of change in angle detectable by the detector 10A. That is, the permissible range R is set to a value less than the minimum value of the amount of change detectable by the detector 10A.

Thus, it is possible to inhibit the operation part from moving equal to or more than the minimum value of the amount of change detectable by the detector 10A in response to the unintentional operation by the operator. This makes it easy to inhibit the detector 10A from detecting the unintentional operation by the operator as the grasping operation.

In other words, the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM>, based on the variation in the distance between the convex surface 33a of the contact portion <NUM> and the center of the posture change of the holder <NUM> in the connector <NUM>, is within the specified permissible range R. This makes it is easy to inhibit the unintentional operation by the operator from being reflected as the grasping operation.

(<NUM>) In the above-described embodiment, as shown in <FIG>, the contact portion <NUM> comprises the convex surface 33a that is a circumferential surface; however, the configuration is not limited to the one comprising the circumferential surface. As shown in <FIG>, the contact portion <NUM> may comprise holder-side contact flat surfaces 33b-33e. The variation in a distance between each of the holder-side contact flat surfaces 33b-33e and the central axis of the connector <NUM> that is the center of the posture change of the holder <NUM> in the connector <NUM> may be within the permissible range R.

That is, based on the variation in the above distance, the variation in the distance between the central axis of the connector <NUM> and the body <NUM> may be configured to be within the permissible range R in a state where one of the holder-side contact flat surfaces 33b-33e of the contact portion <NUM> is in contact with the body <NUM> and a in state where any other surface is in contact with the body <NUM>.

With this configuration, the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM>, based on the variation in the distance between each of the holder-side contact flat surfaces 33b-33e of the contact portion <NUM> and the center of the posture change of the holder <NUM> in the connector <NUM>, is within the specified permissible range R. This makes it is easy to inhibit the unintentional operation by the operator from being reflected as the grasping operation.

Note that the number of the holder-side contact flat surfaces 33b-33e is not limited to four as shown in <FIG>, and the number may be four or more and four or less.

(<NUM>) In the above-described embodiment, a configuration has been explained in which the operator operates the device with the right hand. However, the medical operation apparatus <NUM> is not limited to the configuration applied to the right-handed operation. That is, the device may be applicable to a left-handed operation. In this case, for example, each component constituting the medical operation apparatus <NUM> may be relatively arranged so as to be operated with the left hand. Specifically, they may be arranged to have a positional relationship that is mirrored relative to a y-z flat surface.

(<NUM>) In the above-described embodiment, the sensor of the detector 10A is an angle sensor; however, the sensor of the detector 10A is not limited to the angle sensor. The sensor may be any sensors if they can detect the arrangement position of the operation part <NUM> relative to the body <NUM>. For example, various kinds of sensors including a position sensor may be used.

(<NUM>) In the above-described embodiment, the contact portion <NUM> of the holder <NUM> comprises the convex surface 33a. This makes it possible not to change the distance between the body <NUM> and the operation part <NUM> even if the holder <NUM> rotates around the central axis of the connector <NUM> in response to the posture change of the operator's fingers in a state where the convex surface 33a is in contact with the body <NUM>. However, the configuration in which the distance between the body <NUM> and the operation part <NUM> does not change is not limited to the configuration in which the holder <NUM> comprises the convex surface 33a.

For example, as shown in <FIG>, the body <NUM> may be formed to comprise, on a body right surface <NUM> of the body <NUM>, a concave surface 63a concavely formed in an area to be in contact with the contact portion <NUM>. The shape of a contact portion <NUM> of a holder <NUM> may be formed into a shape corresponding to the concave surface 63a of the body <NUM>.

Specifically, the concave surface 63a may be formed into a shape allowing the distance between a contact point and the rotation axis of the connector 71a to be constant assuming that a point where the concave surface 63a is in contact with the contact portion <NUM> as the contact point when the contact portion <NUM> of the holder <NUM> is in contact with the concave surface 63a. The holder <NUM> may be formed into a shape, such as a rectangular parallelepiped shape, in which the contact portion <NUM> does not comprise the convex surface 33a, for example.

That is, the concave surface 63a may be configured such that the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM>, based on the variation in the distance between the concave surface 63a and the center of the posture change of the holder <NUM> in the connector <NUM>, is within the permissible range R when the contact portion <NUM> of the holder <NUM> is in contact with the concave surface 63a.

With this configuration, when the contact portion <NUM> is in contact with the concave surface 63a formed into a curved surface in the body <NUM>, the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM>, based on the variation in the distance between the concave surface 63a and the center of the posture change of the holder <NUM> in the connector <NUM>, is within the specified permissible range R.

This makes it is easy to inhibit the unintentional operation by the operator from being reflected as the grasping operation.

The concave surface 63a is not limited to a shape allowing a distance between the contact point and the rotation axis of the connector <NUM> to be constant assuming that the point where the concave surface 63a is in contact with the contact portion <NUM> as the contact point when the contact portion <NUM> of the holder <NUM> is in contact with the concave surface 63a. That is, the shape of the concave surface 63a may be any shape if the variation in the distance between the contact point and the connector <NUM> of the rotation axis is within the permissible range R.

(<NUM>) Furthermore, as shown in <FIG>, the body <NUM> may comprise body contact flat surfaces 63b-<NUM> forming a concave shape in an area to be in contact with the contact portion <NUM>. When the contact portion <NUM> is in contact with any of the body contact flat surfaces 63b-<NUM>, the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM>, based on the variation in the distance between each of the body contact flat surfaces 63b-<NUM> and the center of the posture change of the holder <NUM> in the connector <NUM>, may be within the specified permissible range R.

The distance between each of the body contact flat surface 63b-<NUM> and the center of the posture change of the holder <NUM> in the connector <NUM> as used herein may mean, for example, a length of a perpendicular line drawn from each of the body contact flat surfaces 63b-<NUM> towards the central axis of the connector <NUM>.

In this configuration, when the contact portion <NUM> is in contact with the concave surface consisting of the body contact flat surfaces 63b-<NUM> of the body <NUM>, the amount of change in the relative arrangement position of the body <NUM> and the operation part <NUM>, based on the variation in the distance between each of the body contact flat surfaces 63b-<NUM> and the center of the posture change of the holder <NUM> in the connector <NUM>, is within the specified permissible range R. This makes it is easy to inhibit the unintentional operation by the operator from being reflected as the grasping operation.

(<NUM>) Note that the number of the body contact flat surfaces 63b-<NUM> is not limited to six as shown in <FIG>, and the number may be six or more and six or less.

Claim 1:
A medical operation apparatus (<NUM>) for a master- slave robot configured to acquire an operation performed by an operator, the medical operation apparatus comprising:
a body (<NUM>; <NUM>) configured to be grasped by the operator;
an operation part (<NUM>) formed into a long shape and arranged so as to enable at least a part of the operation part (<NUM>) to be moved closer to and away from the body (<NUM>, <NUM>) by the operator;
a detector (10A) configured to detect an angle between the body (<NUM>) and the operation part (<NUM>) and output the detected angle; and
a holder (<NUM>; <NUM>) configured to hold fingers of the operator grasping the body (<NUM>, <NUM>), the holder (<NUM>, <NUM>) being configured to transmit a movement of the fingers to the operation part (<NUM>),
wherein the holder (<NUM>, <NUM>) comprises:
a contact portion (<NUM>; <NUM>) configured to be in contact with the body (<NUM>, <NUM>) when the operation part (<NUM>) is moved closer to the body (<NUM>, <NUM>), and
a connector (<NUM>, <NUM>) supporting a relative posture of the holder (<NUM>, <NUM>) and the operation part (<NUM>) so as to change the relative posture in accordance with a posture change of the fingers of the operator, wherein the connector (<NUM>, <NUM>) connects the holder (<NUM>, <NUM>) and the operation part (<NUM>) so that an arrangement position of the holder (<NUM>, <NUM>) along a longitudinal direction of the operation part (<NUM>) having the long shape is changeable, and
wherein the contact portion (<NUM>, <NUM>) or the body (<NUM>, <NUM>) is configured such that, in a relative arrangement position of the body (<NUM>, <NUM>) with which the contact portion (<NUM>, <NUM>) is in contact and the operation part (<NUM>), when the relative posture of the holder (<NUM>, <NUM>) and the operation part (<NUM>) is changed, an amount of change in the relative arrangement position of the body (<NUM>, <NUM>) and the operation part (<NUM>) is within a specified permissible range.