KR101537899B1 - Rotational motion simulating device and linear motion simulating device for haptic apparatus of simulator for training endoscope operation, haptic apparatus of simulator for training endoscope operation having the same and simulator for training endoscope operation having the same - Google Patents

Abstract

The present invention relates to a simulator, especially, to a haptic interface apparatus of a simulator for training an endoscope operation, and rotational motion and linear motion simulating apparatuses therefor. According to the present invention, the haptic interface apparatus of a simulator for training an endoscope operation comprises: the rotational motion simulating apparatus for simulating a rotational motion of an endoscope tube; and the linear motion simulating apparatus for simulating a linear motion of the endoscope tube. The rotational motion simulating apparatus has a rotary module having the endoscope tube which passes along a first rotary shaft line, and rotating around the first rotary shaft line with the endoscope tube. The linear motion simulating apparatus has a gripper rotating portion grabbing the endoscope tube, and moving the same in a circular arc shape along a longitudinal direction. A section passing the rotary module and the gripper rotating portion among the endoscope tubes is located on a same plane.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a haptic interface device for an endoscopic surgery training simulator, a rotational motion simulation device and a linear motion simulation device for the same, and a simulator for endoscopic surgery training including the same. [0002] HAPTIC APPARATUS OF SIMULATOR FOR TRAINING ENDOSCOPE OPERATION HAVING THE SAME AND SIMULATOR FOR TRAINING ENDOSCOPE OPERATION HAVING THE SAME}

The present invention relates to a simulator, and more particularly, to a haptic interface device of a simulator for endoscopic procedure training, and a rotational motion and a linear motion simulator for the same.

The endoscopic procedure allows the endoscope to be inserted into the body of the subject to check the lesion. Generally, a gastric endoscope is inserted through the oral cavity and a colonoscopic endoscope is inserted through the anus. Such endoscopic procedures require a skilled technician of the operator because of narrow vision and constrained motion.

In general, endoscopic treatment training is to learn endoscopic technique by practicing endoscopic examiners directly under the supervision of a trainee (usually a medical intern) who has learned endoscopic manipulation method under the supervision of a specialist who has abundant endoscopic experience. However, there is a problem that the direct training method for the endoscopist is risky to the examinee.

In order to solve such a problem, there is a need for an endoscopic procedure training using a simulator. A haptic interface device, which is a device that allows the trainee to feel the sense of discomfort and tactile sensation transmitted from the endoscope, is required for the endoscopic procedure training using the simulator. For example, a haptic interface device for a fire extinguisher endoscopy training simulator of Korean Patent Laid- Have been disclosed. However, such a conventional haptic device is required to be improved because it is inconvenient to carry and move because the endoscope is elongated over the insertion section.

An object of the present invention is to provide a haptic interface device of a simulator for an endoscopic procedure training having a structure suitable for miniaturization.

Another object of the present invention is to provide a rotational motion simulation apparatus for a haptic interface device of a simulator for an endoscopic procedure training having a structure suitable for miniaturization.

It is still another object of the present invention to provide a linear motion simulator for a haptic interface device of a simulator for an endoscopic procedure training having a structure suitable for miniaturization.

It is still another object of the present invention to provide a simulator for an endoscopic procedure training including a haptic interface device of a simulator for an endoscopic procedure training having a structure suitable for miniaturization.

According to an aspect of the present invention,

A rotational motion simulation apparatus for a haptic interface device of a simulator for an endoscopic procedure training, the apparatus comprising a rotation module rotating about a rotation axis, the rotation module comprising a plurality of rotation rollers Wherein the plurality of rotation rollers are arranged to rotate correspondingly only to the linear motion of the endoscope tube.

At least two of the plurality of rotation rollers may be located on the rotation axis line and may be arranged along the circumferential direction with respect to the rotation axis line to form one roller group.

The plurality of roller groups may be provided on the rotational axis.

The roller group may be composed of two rotating rollers positioned opposite to each other with the endoscope tube interposed therebetween. At this time, a plurality of roller groups are provided on the rotation axis line, and the plurality of roller groups may be arranged so as to have a phase difference of 90 degrees in order along the rotation axis line.

The roller group may include three or more rotating rollers arranged at regular intervals around the endoscope tube.

The outer circumferential surface of the rotating roller can be subjected to the anti-slip treatment.

The outer peripheral surface of the rotating roller can be processed to have a rough surface.

The rotation module may further include a frame for supporting the plurality of rotation rollers.

The rotating module further includes a shaft to which each of the plurality of rotating rollers is coupled, and the shaft can be coupled to the frame.

The rotation motion simulation unit may further include a rotation direction reaction force providing unit for providing a rotation force to the rotation module. The rotation direction reaction force providing unit may include a rotation direction reaction force providing motor and a rotation direction reaction force providing motor And a rotational force transmitting means for transmitting the rotational force.

The rotational force transmitting means may include a driving pulley coaxially coupled to the rotating module and rotating together, and a rotational force transmitting belt connecting the rotational direction reaction force providing motor and the driving pulley.

The rotation motion simulation unit may further include a rotation measurement device that measures the rotation of the rotation module.

The rotation motion simulator further includes a support for supporting the rotation module, and the support may be provided with a bearing so that the rotation module is freely rotatable.

According to another aspect of the present invention, in order to achieve the above object of the present invention,

A haptic interface device for a simulator for an endoscopic procedure training, comprising: a rotational motion simulator for simulating rotational motion of an endoscope tube; And a linear motion simulator for simulating the linear motion of the endoscope tube, wherein the rotational motion simulator is a rotational motion simulator.

The haptic interface device may further include a case for accommodating the rotational motion simulation apparatus and the linear motion simulation apparatus therein, and the case may have an inlet and an outlet through which the endoscope tube passes.

According to another aspect of the present invention,

A linear motion simulation apparatus for a haptic interface device of a simulator for an endoscopic procedure training, comprising: a gripper rotation unit that rotates about a rotation axis; the gripper rotation unit includes a plurality of grippers arranged radially about the rotation axis; And the gripper includes gripping means for gripping the endoscope tube so that the endoscope tube extends in a circumferential direction of the rotation axis.

The gripping means may include a plurality of gripping rollers that are in contact with the endoscope tube, and the plurality of gripping rollers may be aligned so as to rotate correspondingly only to the rotational motion of the endoscope tube.

Wherein the gripping means includes a first gripping portion including two first gripping rollers out of the plurality of gripping rollers and a second gripping portion including two second gripping rollers out of the plurality of gripping rollers, The first gripping portion and the second gripping portion may be relatively spaced apart.

The gripper rotation unit may further include a gripper operation inducing unit for adjusting a relative distance between the two grippers.

The gripper may further include a moving unit connected to the gripping unit by a link structure to change a state of the gripping unit according to a position of the gripping unit. The gripper operation inducing unit may include a circular track Wherein the circular track is provided with a grip section and a non-grip section which are different in height from each other, wherein the gripping means maintains the gripping state during the gripping interval and the gripping means remains non- .

The moving unit may include a wheel that rotates on the circular track.

The circular track may further include two inclined sections connecting both ends of the grip section and both ends of the non-collided section in an inclined manner.

The gripping section may be formed to have an angular range of 95 to 105 degrees about the rotation axis.

The gripper includes a first extension rod extending radially outward from the axis of rotation and provided with the first gripper portion, a support rod movably coupled to the movement portion and fixed to the first extension rod, A first rotating member rotatably coupled to the rod and provided with the second holding portion, a second rotating member rotatably coupled to the first extending rod, and a second rotating member rotatably coupled to the first rotating member and the second rotating member, And a connecting rod rotatably coupled to the second rotating member and the moving unit.

The gripper rotation unit may further include a rotation column located on the rotation axis and rotating about the rotation axis, and the first extension rod may be fixed to the rotation column.

Wherein the linear motion simulation apparatus further includes a linear reaction force providing unit for providing a rotational force to the gripper rotation unit, wherein the linear reaction force providing unit includes: a linear reaction force providing motor; And a rotating force transmitting means for transmitting the rotating force.

The rotational force transmitting means may include a driving pulley coaxially coupled to the gripper rotating unit and rotating together, and a rotational force transmitting belt for connecting the linear reaction force providing motor and the driving pulley.

The plurality of grippers may be fixed to the drive pulley.

The linear reaction force providing unit may further include a tension maintaining unit for narrowing a width of a portion of the torque transmission belt connected to the linear reaction force providing motor to maintain the tension of the torque transmission belt.

The linear motion simulation apparatus may further include a rotation measurement device for measuring the rotation of the gripper rotation part.

According to another aspect of the present invention,

A haptic interface device for a simulator for an endoscopic procedure training, comprising: a rotational motion simulator for simulating rotational motion of an endoscope tube; And a linear motion simulator for simulating the linear motion of the endoscope tube, wherein the linear motion simulator is the linear motion simulator described above.

The haptic interface device may further include a case for accommodating the rotational motion simulation apparatus and the linear motion simulation apparatus therein, and the case may have an inlet and an outlet through which the endoscope tube passes.

According to another aspect of the present invention,

A haptic interface device for a simulator for an endoscopic procedure training, comprising: a rotational motion simulator for simulating rotational motion of an endoscope tube; And a linear motion simulator for simulating the linear motion of the endoscope tube, wherein the rotation motion simulator includes: the endoscope tube that passes along the first axis of rotation and rotates together with the endoscope tube about the first axis of rotation Wherein the linear motion simulation apparatus includes a gripper rotation unit for holding the endoscope tube and moving the endoscope tube in an arc shape along its longitudinal direction, and a section of the endoscope tube passing through the rotation module and the gripper rotation unit is formed in the same plane And the haptic interface device is located on the haptic interface.

The haptic interface device may further include a rotation direction reaction force providing unit for providing a rotation force to the rotation module and a linear reaction force providing unit for providing a rotational force to the gripper rotation unit.

Wherein the haptic interface device further comprises a case accommodating the rotational motion simulation apparatus and the linear motion simulation apparatus therein, the case having an inlet through which the endoscope tube passes and an inlet located adjacent to the rotation module, An exit through which the endoscope tube passes and which is located adjacent to the gripper rotation portion can be formed.

According to another aspect of the present invention,

A haptic interface device comprising: a rotational motion simulator simulating rotational motion of an endoscope tube; and a linear motion simulator simulating linear motion of the endoscope tube; And a controller for controlling the haptic interface device, wherein the haptic interface device is the haptic interface device described above.

The endoscopic procedure training simulator may further include an output device for displaying a graphical representation of a surgical training situation using rotational motion and linear motion data of the endoscope tube transmitted from the control device.

According to the present invention, all of the objects of the present invention described above can be achieved. More specifically, the present invention relates to a rotational motion simulation apparatus having a plurality of rotation rollers that are in contact with an endoscope tube to allow linear motion of the endoscope tube, and a rotation module that rotates together with the rotational motion of the endoscope tube, And a plurality of gripper rollers circumscribing the endoscope tube so as to allow the endoscope tube to move with respect to the endoscope tube, and a plurality of grippers rotating about the same axis of rotation so as to move together with the endoscope tube for the linear motion of the endoscope tube. Since the interface device is provided, it can be miniaturized and simplified to the extent that it is easy to carry.

1 is a perspective view schematically showing a simulator for an endoscopic procedure training according to an embodiment of the present invention.
FIG. 2 is a perspective view of the haptic interface device shown in FIG. 1, with a portion of the case removed to show the internal configuration thereof.
3 is a perspective view of the rotational motion simulation apparatus shown in FIG.
FIG. 4 is a perspective view showing the rotation module shown in FIG. 2. FIG.
5 is a view showing another embodiment of the rotation module.
FIG. 6 is a perspective view of the linear motion simulator shown in FIG. 2. FIG.
FIG. 7 is a perspective view for explaining the linear reaction force providing unit of FIG. 6. FIG.
8 is a perspective view for explaining the gripper operation guide portion of FIG.
Fig. 9 is a perspective view showing the gripper of Fig. 6;
10 is a plan view showing the circular track of Fig.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view schematically showing a simulator 100 for an endoscopic procedure training according to an embodiment of the present invention. 1, the endoscopic procedure training simulator 100 includes a haptic interface device 110, a control device 191, and an output device 195. The endoscopic procedure training simulator 100 provides a linear reaction force and a rotational direction reaction force applied to the hands of a trainee through an endoscope tube to train an endoscopic procedure such as gastric endoscopic surgery or colonoscopy, Graphically. The endoscopic procedure training simulator 100 has a portable form.

FIG. 2 shows the haptic interface device 110 shown in FIG. Referring to FIGS. 1 and 2, the haptic interface device 110 includes an endoscope tube 111, a case 112, a rotation motion simulation unit 120, and a linear motion simulation unit 150. The haptic interface device 110 uses the rotational motion simulator 120 and the linear motion simulator 150 to determine the physical environment that occurs during the endoscope procedure, i.e., the movement of the endoscope tube 111, Thus providing the physical force delivered to the hands of the trainer.

The endoscope tube 111 can be used as it is used in actual endoscopic procedures. The endoscope tube 111 extends through the case 112 to pass therethrough. The endoscope treatment trainee can manually move the endoscope tube 111 from the outside of the case 112 to perform linear motion or rotational motion. In this specification, the linear motion means that the endoscope tube 111 moves in both directions along its extending direction, and the rotational motion means that the endoscope tube 111 rotates in both directions about its extending direction.

Referring to FIGS. 1 and 2, the case 112 provides a space for accommodating the rotational motion simulation apparatus 120 and the linear motion simulation apparatus 130 therein. The case 112 has a bottom plate 112a, an upper plate 112b opposed to the bottom plate 112a, and side walls 112c connecting the bottom plate 112a and the top plate 112b. The interior of the case 112 is divided by a partition plate 113 into a first space lower space 114 located below and a second space 115 located above. The case 112 is provided with an inlet 116 and an outlet 117 positioned opposite to each other on the side wall 112c. The inlet 116 and the outlet 117 communicate with the second space 115 and the outside. The endoscope tube 111 passes through the case 112 through the inlet 116 and the outlet 117. [ The endoscopic trainee trainer grasps the portion of the endoscope tube 111 extending outward from the inlet 116 to linearly move or rotate the endoscope tube 111.

Referring to FIGS. 2 and 3, the rotational motion simulation unit 120 includes a rotation unit 121 and a rotational direction reaction force providing unit 140. The rotational motion simulator 120 provides a reaction force due to the rotational motion of the endoscope tube 111. [ The rotational motion simulation unit 120 is installed in the upper space 115 in the case 112.

The rotation unit 121 includes a support frame 122 fixed to the case 112 and a rotation module 130 rotatably supported on the support frame 122. The rotating portion 121 is located adjacent to the inlet 116 in the second space 115.

The support frame 122 has two supports 123 and 124 fixed to the partition plate 113. [ The rotating module 130 is rotatably coupled to the two supports 123 and 124. Bearings 125 and 126 are installed on the two supports 123 and 124 so that the rotation module 130 is freely rotatable.

The rotation module 130 is installed on the two supports 123, 124 by two bearings 125, 126 to rotate about a first axis of rotation A extending in a straight line. The first axis of rotation A is preferably arranged to extend along the horizontal direction when the haptic interface device 110 is used. The rotation module 130 includes a plurality of rotation rollers 131, a plurality of shafts 135 to which the plurality of rotation rollers 131 are coupled, and a frame 138 to which the plurality of shafts 135 are supported . The endoscope tube 111 extends along the first axis of rotation A, passes through the rotation module 130, and circumscribes the plurality of rotation rollers 131.

The plurality of rotation rollers 131 are disposed along the extending direction and the circumferential direction of the first rotation axis A so as to circumscribe the endoscope tube 111 passing through the rotation module 130. Each of the plurality of rotating rollers 131 is arranged to rotate only for the linear motion of the endoscope tube 111. That is, when the endoscope tube 111 only rotates without linear movement, the rotation roller 131 does not rotate. The plurality of rotating rollers 131 are disposed on the first rotational axis A and are disposed along the circumferential direction with respect to the first rotational axis A to form a plurality of rollers 133a, 133b. In the present embodiment, it is assumed that the roller group 133 includes two rollers 133a and 133b positioned opposite to each other with the endoscope tube 111 therebetween. A plurality of roller groups 133 are arranged along the first rotational axis A to have a phase difference of 90 degrees. The endoscope tube 111 can be linearly moved along the first axis of rotation A by the arrangement of the rotating roller 131 as described above. The outer circumferential surface 131a of the rotating roller 131 is formed to prevent slippage with the endoscope tube 111 as much as possible. For this purpose, for example, the surface of the outer circumferential surface 131a of the rotating roller 131 can be roughly machined. Accordingly, the rotation of the rotation module 130 can be transmitted to the endoscope tube 111 well. The roller group 133 is provided with the two rollers 133a and 133b positioned opposite to each other with the endoscope tube 111 therebetween. Alternatively, the roller group 133 may be disposed around the endoscope tube 111 It may have three or more rollers. 5, the rotation module 230 according to another embodiment includes a roller 231 having three rollers 231 disposed at regular intervals along the circumferential direction around the endoscope tube 111, Group 233 may be provided.

Referring again to FIG. 4, a plurality of shafts 135 passes through the center of each rotating roller 131, and both ends thereof are coupled to the frame 138. The rotation roller 131 may be fixed to the shaft 135 or may be rotatably coupled to the shaft 135. When the rotation roller 131 is fixed to the shaft 135, And the shaft 135 is fixed to the frame 138 when the rotating roller 131 is rotatably coupled to the shaft 135. [

The frame 138 has both ends of a plurality of shafts 135 coupled to and supported by the frame 138 in such a manner that both ends of the frame 138 in the direction of the first rotational axis A are opened so that the endoscope tube 111 can be linearly moved. When the rotation roller 131 and the shaft 135 are fixed, the shaft 135 and the frame 138 are coupled to rotate relative to each other.

The rotational direction reaction force providing unit 140 includes a rotational direction reaction force providing motor 141, a first driving pulley 142, and a first rotational force transmitting belt 143.

The rotational direction reaction force providing motor 141 is fixed to the partition plate 112 and transmits a rotational force to the first drive pulley 142 through the first rotational force transmitting belt 143 to generate a rotational reaction force in the rotational direction. The rotational direction reaction force providing motor 141 is operated by a control signal transmitted from the control device (191 in FIG. 1) to generate an appropriate rotational direction reaction force.

The first drive pulley 142 is coaxially coupled to the rotation module 130 and rotates around the first rotation axis A. The driving pulley 142 is connected to the rotation-direction reaction force providing motor 141 via the first rotation-force transmission belt 143.

The first rotational force transmission belt 143 connects the rotational direction reaction force providing motor 141 and the first drive pulley 142 and transmits the rotational force of the rotational direction reaction force providing motor 141 to the first drive pulley 142 .

Although not shown, the rotation movement simulation unit 120 is provided with a rotation measurement device such as an encoder for measuring the rotation of the rotation module 130. [ The rotation angle of the rotation module 130 measured by the rotation measuring device is sent to the control device (191 in FIG. 1) to generate a control signal for the rotation direction reaction force providing motor 141, Used to create graphics.

Fig. 6 is a perspective view of the linear motion simulator 150 shown in Fig. 2 and 6, the linear motion simulation unit 150 includes a gripper rotating unit 151 and a linear reaction force providing unit 180. The linear motion simulator 150 provides a reaction force due to the linear motion of the endoscope tube 111. The linear motion simulating part 150 is installed over the first space 114 and the second space 115 in the case 112.

6 to 8, the gripper rotating part 151 is positioned closer to the outlet 117 than the roller rotating part 130 in the case 112. [ The gripper rotation unit 151 includes a rotation column 152, a plurality of grippers 160, and a gripper operation induction unit 178.

The rotation column 152 extends along the second rotation axis C and is rotatable about the second rotation axis C. [ The second rotation axis C is perpendicular to the plane including the first rotation axis A. When the haptic interface device 110 is used, the second axis of rotation C extends in the vertical direction. A plurality of coupling grooves 153 are radially disposed at the upper end of the rotary column 152, such that a plurality of grippers 160 are coupled.

Referring to FIG. 6, a plurality of grippers 160 are disposed radially with respect to a second rotational axis C as a center. In the present embodiment, the number of the grippers 160 is eight, but the present invention does not limit the number of the grippers 160 to eight. The plurality of grippers 160 are arranged at regular intervals along the circumferential direction about the second axis of rotation C. The plurality of grippers 160 rotate about the second axis of rotation C. The endoscope tube 111 is gripped by the several grippers 160 which are continuous along the circumferential direction among the plurality of grippers 160 in the shape of an arc centered on the second axis of rotation C. Each gripper 160 has the same configuration. 6 to 9, the gripper 160 includes a first extension bar 161, a support base 168, a moving unit 170, a first rotary member 172, a second rotary member 174, a second extension bar 176, and a connecting rod 177. The first extension bar 161, the moving unit 170, the first rotating member 172, the second rotating member 174, the second extending bar 176 and the connecting rod 177 are linked by a link structure.

The first extension bar 161 extends from the second rotation axis C to the outer side in the radial direction with respect to the second rotation axis C. The radially inner end of the first extension rod 161 is fitted into the coupling groove 153 formed at the upper end of the rotating column 152 and fixed by a fastening means such as a bolt. The plurality of first extension bars 161 are positioned on one plane perpendicular to the second axis C of rotation. A first grip portion 162 is provided at a radially outer end of the first extension bar 161. The first gripper portion 162 includes two first gripper rollers 163 and 164 which are sequentially disposed along the radial direction and are in contact with the endoscope tube 111. Each of the two first gripping rollers 163 and 164 is arranged to rotate only with respect to the rotational motion of the endoscope tube 111. That is, when the endoscope tube 111 performs only a linear movement without rotating, the two first gripping rollers 163 and 164 do not rotate. The outer circumferential surfaces 1631 and 1641 of the two first gripping rollers 163 and 164 are formed so as to prevent slippage with the endoscope tube 111 as much as possible. For this purpose, for example, the surfaces of the outer circumferential surfaces 1631 and 1641 of the two first gripping rollers 163 and 164 can be roughly machined. Accordingly, the rotation of the gripper 160 can be transmitted to the endoscope tube 111 well.

The support rod 168 is located radially inward of the first gripper portion 162 and is fixed to the first extension rod 161. The support rods 168 include two side wall portions 168a and 168b extending downward from both sides of the first extension rod 161 and spaced apart from each other and a bottom portion 169 connected to the lower ends of the two side wall portions 168a and 168b . The bottom portion 169 is provided with a guide portion 169a for guiding the movement of the moving portion 170 up and down. The support base 168 is positioned radially inward of the first gripper portion 162.

The moving part 170 includes a connecting column 170a and a wheel 171. [ The connecting pillar 170a extends vertically and passes through the guide portion 169a. The connecting pillar 170a can move up and down with respect to the supporting stand 168. [ The connection rod 177 and the wheel 171 are connected to the upper and lower ends of the connection pillar 170a, respectively. The wheel 171 is located at the lower end of the connecting column 170a. The wheel 171 is installed such that its rotation axis 171a extends along the radial direction of the second rotation axis C.

The first rotating member 172 is rotatably coupled to the first extending rod 161 at a position corresponding to the first holding portion 162. The first rotating member 172 includes a second gripper 1721 and a connecting portion 173. The second gripper 1721 forms a gripping means together with the first gripper 162. And the second grip portion 1721 is positioned so as to face under the first grip portion 162. [ The second gripper portion 1721 has two second gripper rollers 1722 and 1723 which are arranged in order along the radial direction and are in contact with the endoscope tube 111. Each of the two second gripping rollers 1722 and 1723 is arranged to rotate only with respect to the rotational motion of the endoscope tube 111. That is, when the endoscope tube 111 performs only linear motion without rotating, the two second gripping rollers 1722 and 1723 do not rotate. The outer peripheral surfaces 1724 and 1725 of the two second gripping rollers 1722 and 1723 are formed so as to prevent slippage with the endoscope tube 111 as much as possible. For this purpose, for example, the surfaces of the outer circumferential surfaces 1724 and 1725 of the two second gripping rollers 1722 and 1723 can be roughened. Accordingly, the rotation of the gripper 160 can be transmitted to the endoscope tube 111 well. As a result, the two first gripping rollers 163 and 164 and the two second gripping rollers 1722 and 1723 circumscribe the endoscope tube 111 to grip the endoscope tube 111. The connection portion 173 is located radially inward of the first grip portion 162 and intersects with the first extension bar 161 and extends substantially vertically. The second grip portion 1721 extends radially outward from the lower end of the connecting portion 173. [ The connection portion 173 is rotatably coupled at a point of intersection O with the first extension rod 161. The two grip portions 162 and 1721 are opened or narrowed as the connection portion 173 rotates about the first extension bar 161 at the intersection point O. [ The upper end of the connecting portion 173 is rotatably engaged with the second extending rod 176. In the present embodiment, it is described that all of the gripping rollers 163, 164, 1722, and 1723 are four, but the present invention is not limited thereto. Three gripping rollers may be used (for example, one first gripping roller provided in the first gripping portion 162 and two second gripping rollers provided in the second gripping portion 1721) And falls within the scope of the present invention.

The second rotating member 174 is located radially inward of the first rotating member 172 and is rotatably coupled to the first extending rod 161. The second rotary member 174 includes a first connection portion 1741 extending generally in the vertical direction and intersecting the first extension rod 161 and a second connection portion 1741 extending radially outward from the lower end of the first connection portion 1741 175). The first connection portion 1741 is rotatably coupled at a point of intersection with the first extension rod 161. Accordingly, the end of the second connection portion 175 can be moved up and down. The upper end of the first connection portion 1741 is rotatably coupled with the second extension rod 176. The second connection portion 175 extends between the two side wall portions 168a, 168b of the support base 168. [ The end of the second connection portion 175 is rotatably coupled with the connection rod 177.

The second extension rod 176 is rotatably coupled to the upper end of the connection portion 173 of the first rotary member 1721 and the upper end of the first connection portion 1741 of the second rotary member 174, respectively.

The connecting rod 177 is rotatably coupled to the upper end of the connecting column 170a of the moving part 170 and the end of the second connecting part 175 of the second rotating member 174, respectively.

The gripper operation inducing portion 178 interacts with the moving portion 170 of the gripper 160 to maintain or change the state of the second gripper portion 1721. [ Referring to FIGS. 6 to 8 and 10, the gripper action induction unit 178 has a circular track 179 formed upward with the second axis of rotation C as a center. The wheel 171 of the moving part 170 is placed on the circular track 179 and moves along the circular track 179. [ The circular track 179 has a non-falling section 1791, a holding section 1792, a first inclined section 1793 and a second inclined section 1794. During the movement of the wheel 171 in the non-collapse section 1791, the second gripper 1721 is positioned below and the non-collision state with respect to the endoscope tube 111 is maintained. The gripping interval 1792 is positioned higher than the non-falling interval 1791. During the movement of the wheel 171 in the gripping section 1792, the second gripper 1721 is positioned adjacent to the first gripper 162 and the gripping state with respect to the endoscope tube 111 is maintained. In this embodiment, the grip section 1792 is described as having an angular range of 95 degrees to 105 degrees (preferably 100 degrees) around the second axis of rotation C, but the present invention is not limited thereto. The two inclined sections 1793 and 1794 are inclined at both ends of the non-falling section 1791 and at both ends of the holding section 1792.

6 and 7, the linear reaction force imparting unit 180 includes a linear reaction force providing motor 181, a second driving pulley 182, a second rotational force transmitting belt 183, (184).

The linear reaction force providing motor 181 is fixed to the bottom plate 112a and transmits a rotational force to the second driving pulley 182 through the second rotational force transmitting belt 183 to generate a linear reaction force. The linear reaction force providing motor 181 is operated by the control signal transmitted from the control device (191 in FIG. 1) to generate a suitable linear reaction force.

The second drive pulley 182 rotates about the second axis of rotation C and is engaged with each first extension rod 161 of the plurality of grippers 160. The second drive pulley 182 is connected to the linear reaction force providing motor 181 via the second rotation force transmission belt 183.

The second rotational force transmission belt 183 connects the linear reaction force providing motor 181 and the second drive pulley 182 and transmits the rotational force of the linear reaction force providing motor 181 to the second drive pulley 182 .

The tension holding portion 184 narrows the width of the portion of the second rotation force transmission belt 183 connected to the linear reaction force providing motor 181 to maintain the tension of the second rotation force transmission belt 183.

Although not shown, the linear motion simulator 150 is provided with a rotation measuring device, such as an encoder, for measuring the rotation of the gripper rotating part 151. The rotation angle of the gripper rotating part 151 measured by the rotation measuring device is sent to the control device (191 in FIG. 1) to generate a control signal for the linear reaction force providing motor (181) Used to create graphics.

The control device 191 outputs driving signals to various driving devices installed in the haptic interface device 110 using linear motion and rotational motion data of the endoscope tube 111 measured from the haptic interface device 110. Accordingly, the haptic interface device 110 provides the treatment trainee with the appropriate linear and rotational reaction force through the endoscope tube 111. Further, the control device 191 transmits the linear direction and rotational direction moving distance data of the endoscope tube 111 measured by the output device 195.

The output device 195 graphically displays the procedure training state using the linear direction and rotational direction moving distance data of the endoscope tube 111 transmitted from the control device 191. [ The control device 191 and the output device 195 may be implemented using a general PC.

The operation of the above embodiment will now be described in detail with reference to the drawings.

1 and 2, the endoscope tube 111 includes an inlet 116 of the case 112, a rotation module 130 of the rotation motion simulation unit 120, a gripper 150 of the linear motion simulation unit 150, The rotating portion 151 and the outlet 117 of the case 112 in this order. 1, the endoscope treatment trainee inserts the endoscope tube 111 from the outside of the inlet 116 side by pushing it along the longitudinal direction thereof (or pulls the endoscope backward in some cases) As shown in FIG. 2, the endoscope tube 111 is in contact with a plurality of rotation rollers 131 while passing through the rotation module 130 in a straight line, is gripped by three grippers 160, and extends in an arc shape.

2, when the endoscope tube 111 rotates by the trainer's operation, the rotation module 130 rotates together with the endoscope tube 111, and the gripper 160 rotates the endoscope tube 111 Is freely rotated. The rotational motion data related to the rotational motion, such as the rotational angle of the endoscope tube 111, is sent to the control device 191, and the control device 191 outputs an appropriate control signal to the rotational direction reaction force providing motor 141. Accordingly, the rotation direction reaction force providing motor 141 generates a reaction force corresponding to the rotation of the endoscope tube 111, and this reaction force is transmitted to the rotation module 130 so that the rotational force is transmitted to the endoscope tube 111.

2, in the case where the endoscope tube 111 linearly moves by the trainer's operation, the endoscope tube 111 is allowed to freely linearly move in the rotation module 130, and the linear motion simulator 150, It is caught by the three grippers 160 and moves along the arc-shaped path. The gripper 160 grasps the endoscope tube 111 only within the gripping section 1792 of FIG. 10 so that the three grippers 160, which are continuously rotated while the grippers 160 are rotated, sequentially move the endoscope tube 111, . The linear motion data related to the linear motion of the endoscope tube 111 is sent to the control device 191 and the control device 191 outputs the appropriate control signal to the linear reaction force providing motor 181. [ The rectilinear reaction force providing motor 181 generates a reaction force corresponding to the linear movement of the endoscope tube 111 and this reaction force is transmitted to the gripper rotating section 151 to move the gripper 160 holding the endoscope tube 111 To the endoscope tube 111 through the biasing spring (not shown). A section of the endoscope tube 111 passing through the rotation module 130 and the gripper rotation section 150 is positioned on the same plane

Although the present invention has been described with reference to the above embodiments, the present invention is not limited thereto. It is to be understood that the above-described embodiments may be modified or changed without departing from the spirit and scope of the present invention, and those skilled in the art will recognize that such modifications and changes are also within the scope of the present invention.

100: Endoscopy training simulator
110: haptic interface device 111: endoscope tube
112: Case 116: entrance
117: Exit 120: Rotational motion simulator
121: rotation part 130: rotation module
131: rotating roller 135: shaft
138: frame 140: rotation direction reaction force supply
141: rotation direction reaction force providing motor 142: first drive pulley
143: first torque transmission belt 150: linear motion simulator
151: Gripper turning part 152:
160: gripper 161: first extension bar
162: first gripper 163: first gripper roller
164: first grip roller 168: support
170: moving part 171: wheel
172: first rotating member 174: second rotating member
176: second extension bar 177: connecting rod
178: Gripper operation inducing part 179: Circular track
1791: Non-breaker section 1792: Break section
180: Linear reaction force providing unit 181: Linear reaction force providing motor
182: second drive pulley 183: second torque transmission belt
184: tension holding portion 191: control device
195: Output device

Claims (37)

A rotational motion simulator for a haptic interface device of a simulator for endoscopic procedure training,
And a rotation module that rotates about a rotation axis line,
The rotation module includes a plurality of roller groups having two rotation rollers positioned opposite to each other with the endoscope tube interposed therebetween so as to circumscribe the endoscope tube extending along the rotation axis,
The plurality of roller groups are arranged to have a phase difference of 90 degrees in order along the rotation axis line,
Wherein the outer circumferential surface of the rotating roller is non-slip treated. delete delete delete delete delete delete The method according to claim 1,
Wherein the outer circumferential surface of the rotating roller is processed to have a rough surface. The method according to claim 1,
Wherein the rotation module further comprises a frame for supporting the plurality of rotation rollers. The method of claim 9,
Wherein the rotary module further comprises a shaft to which each of the plurality of rotating rollers is coupled, and the shaft is coupled to the frame. The method according to claim 1,
Further comprising a rotation direction reaction force providing section for providing a rotation force to the rotation module,
Wherein the rotational direction reaction force providing unit includes a rotational direction reaction force providing motor and a rotational force transmitting means for transmitting rotational force of the rotational direction reaction force providing motor to the rotational module. The method of claim 11,
Wherein the rotational force transmitting means includes a driving pulley coaxially coupled with the rotating module and rotating together, and a rotational force transmission belt connecting the rotational direction reaction force providing motor and the driving pulley. The method according to claim 1,
Further comprising a rotation measuring device for measuring a rotation of the rotation module. The method according to claim 1,
Further comprising a support for supporting the rotation module,
Wherein the support is provided with a bearing for freely rotating the rotation module. 1. A haptic interface device for a simulator for endoscopic procedure training,
A rotational motion simulator for simulating rotational motion of the endoscope tube; And
And a linear motion simulator for simulating the linear motion of the endoscope tube,
Wherein the rotational motion simulation apparatus is the rotational motion simulation apparatus according to claim 1 or claim 8. 16. The method of claim 15,
And a case for accommodating the rotational motion simulation apparatus and the linear motion simulation apparatus therein,
And an inlet and an outlet through which the endoscope tube passes are formed in the case. A linear motion simulator for a haptic interface device of a simulator for endoscopic surgery training,
And a gripper rotating portion that rotates about a rotation axis line,
Wherein the gripper rotation unit includes a plurality of grippers arranged radially about the rotation axis,
Wherein the gripper includes gripping means for gripping the endoscope tube so that the endoscope tube extends in the circumferential direction of the rotation axis. 18. The method of claim 17,
Wherein the gripping means includes a plurality of gripping rollers which are in contact with the endoscope tube,
Wherein the plurality of gripping rollers are arranged to rotate correspondingly only to the rotational motion of the endoscope tube. 19. The method of claim 18,
Wherein the gripping means includes a first gripping portion including at least one first gripping roller among the plurality of gripping rollers and a second gripping portion between the second gripping rollers except for the first gripping roller, And a grip portion,
Wherein the first gripping portion and the second gripping portion are relatively spaced apart from each other. The method of claim 19,
Wherein the gripper rotating part further comprises a gripper operation inducing part for adjusting a relative distance between the two gripping parts. The method of claim 20,
The gripper further includes a moving unit connected to the gripping unit by a link structure to change the state of the gripping unit according to the position,
Wherein the gripper operation inducing part has a circular track which interacts with the moving part and has the rotation axis as a center, the circular track has a grip section and a non-
Wherein the gripping means maintains the gripping state during the gripping interval and the gripping means maintains the non-gripping state during the non-gripping interval. 23. The method of claim 21,
Wherein the moving unit includes a wheel that rotates on the circular track. 23. The method of claim 21,
Wherein the circular track further comprises two inclined sections connecting both ends of the grip section and both ends of the non-collision section in an inclined manner. 23. The method of claim 21,
The gripper includes a first extension rod extending radially outward from the axis of rotation and provided with the first gripper portion, a support rod movably coupled to the movement portion and fixed to the first extension rod, A first rotating member rotatably coupled to the rod and provided with the second holding portion, a second rotating member rotatably coupled to the first extending rod, and a second rotating member rotatably coupled to the first rotating member and the second rotating member, And a connecting rod rotatably coupled to the second rotating member and the moving unit. 3. The linear motion simulator according to claim 1, 27. The method of claim 24,
Wherein the gripper rotation unit further comprises a rotation column located on the rotation axis and rotating around the rotation axis,
And the first extension rod is fixed to the rotating column. 18. The method of claim 17,
And a linear reaction force providing unit for providing a rotational force to the gripper rotating unit,
Wherein the linear reaction force providing unit includes a linear reaction force providing motor and a torque transmitting means for transmitting the rotational force of the linear reaction force providing motor to the gripper rotating unit. 27. The method of claim 26,
Wherein the rotational force transmitting means includes a driving pulley coaxially coupled to the gripper rotating portion and rotating together, and a rotational force transmitting belt connecting the linear reaction force providing motor and the driving pulley. 28. The method of claim 27,
And the plurality of grippers are fixed to the drive pulley. 28. The method of claim 27,
Wherein the linear reaction force providing unit further comprises a tension holding unit that narrows a width of a portion of the torque transmission belt that is connected to the linear reaction force providing motor to maintain the tension of the torque transmission belt. 18. The method of claim 17,
Further comprising a rotation measuring device for measuring the rotation of the gripper rotating part. 1. A haptic interface device for a simulator for endoscopic procedure training,
A rotational motion simulator for simulating rotational motion of the endoscope tube; And
And a linear motion simulator for simulating the linear motion of the endoscope tube,
Wherein the linear motion simulation apparatus is the linear motion simulation apparatus according to any one of claims 17 to 30. 32. The method of claim 31,
And a case for accommodating the rotational motion simulation apparatus and the linear motion simulation apparatus therein,
And an inlet and an outlet through which the endoscope tube passes are formed in the case. 1. A haptic interface device for a simulator for endoscopic procedure training,
A rotational motion simulator for simulating rotational motion of the endoscope tube; And
And a linear motion simulator that simulates the linear motion of the endoscope tube,
Wherein the rotation motion simulation apparatus includes a rotation module that passes the endoscope tube along a first axis of rotation and rotates together with the endoscope tube about the first axis of rotation,
Wherein the linear motion simulator further comprises a gripper rotating part for holding the endoscope tube and moving the endoscope tube in an arc shape along its longitudinal direction,
Wherein a section of the endoscope tube passing through the rotation module and the gripper rotation section is located on the same plane. 34. The method of claim 33,
Further comprising: a rotation direction reaction force providing unit for providing a rotation force to the rotation module; and a linear reaction force providing unit for providing a rotational force to the gripper rotation unit. 34. The method of claim 33,
And a case for accommodating the rotational motion simulation apparatus and the linear motion simulation apparatus therein,
Wherein the case has an inlet through which the endoscope tube passes, an inlet located adjacent to the rotation module, and an outlet through which the endoscope tube passes and is located adjacent to the gripper rotation portion. As a simulator for an endoscopic procedure training,
A haptic interface device including a rotational motion simulating apparatus for simulating rotational motion of an endoscope tube and a linear motion simulating apparatus for simulating linear motion of the endoscope tube; And
And a control device for controlling the haptic interface device,
Wherein the haptic interface device is the haptic interface device according to any one of claims 33 to 35. 37. The method of claim 36,
Further comprising an output device for displaying a graphical representation of a treatment training situation using rotational motion and linear motion data of the endoscope tube transmitted from the control device.

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