Remote control system, control method for remote control system, and remote control program

A remote control system comprising:

• a master that is operated by a user in order to move a slave that applies a treatment to an object;
• a display that displays captured images captured by an imager that captures images of at least one of the slave and the object, and presents the captured images to the user operating the master;
• a controller that performs action control of at least one of the master and the slave based on detection results of a sensor that is disposed in the slave and detects an operating state of the slave, wherein
• the controller delays the action control to reduce a lag between the action control and display timings of the captured images by the display, and
• the controller receives each detection result from the slave, receives each captured image from the display, and obtains a delay amount in delaying the action control based on a time lag between each detection result and each corresponding captured image by matching a signal waveform of each captured image with a signal waveform of a corresponding detection result;
• and
• an image processor that receives the captured images from the imager and combines each captured image with each respective detection result to generate a combined image signal, wherein
• the image processor encodes the combined image signal as an encoded image signal and transmits the encoded image signal to the controller,
• the controller decodes the encoded image signal and outputs the decoded image signal to the display such that the display displays the captured images combined with the respective detection results, and
• the display displays each captured image together with a sensor signal waveform of each detection result.

A control method for a remote control system including

• a master that is operated by a user,
• a slave that applies a treatment to an object in accordance with an action of the master,
• a sensor that is disposed in the slave and detects an operating state of the slave,
• an imager that captures images of at least one of the slave and the object, and
• a display that displays the captured images captured by the imager and presents the captured images to the user operating the master, the method comprising:
• performing action control of at least one of the master and the slave based on detection results of the sensor;
• delaying the action control to reduce a lag between the action control and display timings of the captured images by the display, wherein
• each detection result is received from the slave, each captured image is received from the display, and a delay amount in delaying the action control is obtained based on a time lag between each detection result and each corresponding captured image by matching a signal waveform of each captured image with a signal waveform of a corresponding detection result;
• receiving the captured images from the imager and combining each captured image with each respective detection result to generate a combined image signal;
• encoding the combined image signal as an encoded image signal and transmitting the encoded image signal;
• and
• decoding the encoded image signal and outputting the decoded image signal to the display such that the display displays the captured images combined with the respective detection results, wherein
• the display displays each captured image together with a sensor signal waveform of each detection result.

A non-transitory recording medium recording a remote control program for causing a computer to execute the function of controlling a remote control system including

• a master that is operated by a user,
• a slave that applies a treatment to an object in accordance with an action of the master,
• a sensor that is disposed in the slave and detects an operating state of the slave,
• an imager that captures images of at least one of the slave and the object, and
• a display that displays the captured images captured by the imager and presents the captured images to the user operating the master, the program causing the computer to execute the functions of:
• performing action control of at least one of the master and the slave based on detection results of the sensor;
• delaying the action control to reduce a lag between the action control and display timings of the captured images by the display, wherein
• each detection result is received from the slave, each captured image is received from the display, and a delay amount in delaying the action control is obtained based on a time lag between each detection result and each corresponding captured image by matching a signal waveform of each captured image with a signal waveform of a corresponding detection result;
• receiving the captured images from the imager and combining each captured image with each respective detection result to generate a combined image signal;
• encoding the combined image signal as an encoded image signal and transmitting the encoded image signal;
• and
• decoding the encoded image signal and outputting the decoded image signal to the display such that the display displays the captured images combined with the respective detection results, wherein
• the display displays each captured image together with a sensor signal waveform of each detection result.