Manipulation system and manipulation method

A manipulation method comprising:

• acquiring position information based on a user's input operation for designating a position of a manipulator from a force sensation presentation apparatus;
• controlling, based on the position information acquired, an operation of a manipulator drive mechanism for moving the manipulator;
• imagining a sample manipulated by using the manipulator through an objective lens;
• generating, based on an image captured, force information indicating a magnitude of a force sensation presented to a user;
• and
• controlling an operation of the force sensation presentation apparatus so that a force sensation according to the force information generated is presented to the user.

A non-transitory program recording medium comprising a program comprising computer-implemented modules including:

• a module that acquires position information based on a user's input operation for designating a position of the manipulator from a force sensation presentation apparatus;
• a module that controls, based on the position information acquired, an operation of a manipulator drive mechanism for moving the manipulator;
• a module that acquires an image of a sample manipulated by using the manipulator captured through an objective lens;
• a module that generates, based on the image acquired, force information indicating a magnitude of a force sensation presented to a user;
• and
• a module that controls an operation of the force sensation presentation apparatus so that a force sensation according to the force information generated is presented to the user.

A manipulation system comprising:

• a manipulator for manipulating the sample;
• a manipulator drive mechanism for moving the manipulator;
• a pump that variably controls a suction force and a discharge force at a leading end of the manipulator;
• an input operation apparatus including a holding member held by a user, a link mechanism that supports the holding member so that a position of the holding member is variable according to a user operation, a position sensor for detecting the position of the holding member, a rotating member that rotates with respect to the holding member according to a gripping action of the user, and an angle sensor for detecting a rotation angle of the rotating member;
• and
• a control apparatus that controls an operation of the manipulator drive mechanism based on position information indicating the position of the holding member detected by the position sensor and controls an operation of the pump based on angle information indicating the rotation angle of the rotating member detected by the angle sensor.

A manipulation method comprising:

• acquiring position information indicating a position of a holding member held by a user and supported by a link mechanism so that the position is variable according to a user operation;
• acquiring angle information indicating a rotation angle of a rotating member that rotates with respect to the holding member according to a gripping action of the user;
• controlling, based on the position information acquired, an operation of a manipulator drive mechanism for moving a manipulator for manipulating a sample;
• and
• controlling an operation of a pump that variably controls a suction force and a discharge force at a leading end of the manipulator, based on the angle information acquired.

A non-transitory program recording medium comprising a program comprising computer-implemented modules including:

• a module that acquires position information indicating a position of a holding member held by a user and supported by a link mechanism so that the position is variable according to a user operation;
• a module that acquires angle information indicating a rotation angle of a rotating member that rotates with respect to the holding member according to a gripping action of the user;
• a module that controls, based on the position information acquired, an operation of a manipulator drive mechanism for moving a manipulator for manipulating a sample;
• and
• a module that controls an operation of a pump that variably controls a suction force and a discharge force at a leading end of the manipulator, based on the angle information acquired.