PROBLEM TO BE SOLVED: To provide a force feedback device of operation robot forceps capable of feeding back external force applied on forceps during an operation to an operator without much changing the configuration of the forceps, an operation robot system, and a program.SOLUTION: A computing device 200 measures the shape and position of an internal organ surface from a photographed image of an organ, extracts a marker 73 attached to forceps 70 from the photographed image, measures the position of the forceps 70, obtains application force applied to the forceps 70 from the organ based on the results of these measurements, and provides an action according to the obtained application force to the operator. More specifically, a vibration generator 32 is disposed, which provides vibration to the operator. The computing device 200 changes the frequency of the vibration generated by the vibration generator 32 according to the magnitude of the application force applied to the forceps 70 from the organ.SELECTED DRAWING: Figure 6COPYRIGHT: (C)2016,JPO&INPIT【課題】鉗子の構成をさほど変更せずとも、施術の際に鉗子にかかる外力を操作者に帰還可能な手術ロボット鉗子の力帰還装置、手術ロボットシステムおよびプログラムを提供する。【解決手段】演算装置200は、臓器の撮影画像から臓器表面の形状および位置を計測し、鉗子70に付されたマーカー73を撮像画像から抽出して鉗子70の位置を計測し、これら計測結果に基づいて、臓器から鉗子70にかかる印加力を求め、求めた印加力に応じた作用を操作者に付与する。より詳細には、操作者に振動を付与する振動発生器32が配される。演算装置200は、臓器から鉗子70にかかる印加力の大きさに応じて振動発振器32に生じる振動の周波数を変化させる。【選択図】図6
