KR101884457B1 - A precision control medical device in conjunction with medical tools and the control method of the medical tools - Google Patents

Abstract

A medical device according to an embodiment of the present invention includes a medical tool inserted into a tube and a guide device connected to the medical tool at the tube end so as to precisely move the medical tool adjacent to the affected part of the patient Can include.

Description

TECHNICAL FIELD [0001] The present invention relates to a medical apparatus and a medical tool position control method which can perform precise control by linking a medical tool with a position,

The present invention relates to a medical instrument and a medical tool position control method capable of precisely controlling the medical instrument so as to be adjacent to the affected part of the patient.

A medical device for diagnosing or treating a lesion by inserting a medical tool such as a diagnostic tool such as an endoscope or an optical probe and a surgical tool such as a catheter or a laser knife into a patient's body is used in a medical field.

Conventionally, there are many problems in the manufactured medical equipment because the physician directly moves the medical tool to the affected part of the patient's hand, and there is a problem that it is difficult to use it in a place where precise control is required.

For example, when an endoscopic camera is moved from a patient's body, there is a risk that the endoscopic camera may collide with the endoscope due to immaturity of the doctor or involuntary movement of the affected part.

In this way, the position of the medical instrument such as the endoscope camera can not be precisely adjusted, so that the scope of the procedure is limited and precise operation is also very difficult.

In addition, it is difficult to keep the distance between the medical instrument and the affected part constant in real time in the body of the surgical intoxicant, and there is a problem that the quality of the image is deteriorated because the endoscopic camera is out of focus.

The present invention can precisely move the medical tool so as to be adjacent to the affected part of the patient and measure the position of the medical tool by measuring the distance between the medical tool and the affected part in real time, We want to provide medical equipment that can be maintained at the desired point.

A medical device according to an embodiment of the present invention includes a medical tool inserted into a tube and a guide device connected to the medical tool at the tube end so as to precisely move the medical tool adjacent to the affected part of the patient .

The medical instrument according to the embodiment of the present invention can precisely move the medical instrument so as to be adjacent to the affected part of the patient and can measure the distance between the medical instrument and the affected part in real time.

1 is a block diagram illustrating signaling of a medical device.
2 is a perspective view of a guide device applied to the medical device of FIG.
3 is an exploded perspective view of the guide device shown in Fig.
FIG. 4 is a view showing a structure of a PZT motor applied to the PZT motor unit shown in FIG. 3. FIG.
5 is a flowchart illustrating a medical tool position control method according to an embodiment of the present invention.
6 is a flowchart showing a method of measuring a separation distance applied to FIG.
7 is a graph showing an example of tomographic information that can be applied to Fig.
FIG. 8 is a flowchart showing a method of setting a moving distance applied to FIG.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

In addition, since the sizes and thicknesses of the respective components shown in the drawings are arbitrarily shown for convenience of explanation, the present invention is not necessarily limited to those shown in the drawings.

Also, throughout the specification, when an element is referred to as "including" an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise.

1 is a block diagram illustrating signaling of a medical device.

1, a medical instrument 1000 includes a guide 500 and a medical instrument 550 and a guide device 100 connected to the end of the tube 500 and a control device (200).

The medical tool 550 refers to a diagnostic tool such as an endoscope camera or an optical probe, or a surgical tool such as a catheter or a laser knife. Hereinafter, an endoscope camera will be described as an example.

The tube 500 is adjacent to the affected part A of the patient to diagnose or operate the affected part A of the patient. When the affected part (A) is in the patient's body, the tube (500) can be inserted into the patient's body.

The tube 500 is made of a soft material and an empty space may be formed therein so that the medical instrument 550 can be inserted into the tube 500. Hereinafter, an example in which the tube 500 is inserted into a patient's body will be described as an example.

The tube 500 may be connected to the control device 200. In one example, the tube 500 may be connected to the robot and may be more precisely manipulated by the robot.

The guide device 100 may be connected to the end of the tube 500 and inserted into the patient's body together with the medical instrument 550. The guide device 100 is connected to the medical instrument 550 inserted into the tube 500 and can precisely move the medical instrument 550 in the body of the patient.

The control device 200 may include a monitor 210 coupled to the tube 500 and the medical instrument 550 and capable of displaying the affected portion A of the patient transmitted via the medical instrument 550.

The distance C between the guide device 100 and the affected part A can be measured through the sensor part 400 connected to the guide device 100. [ Accordingly, the moving distance L at which the medical instrument 550 is to be moved can be set.

The sensor unit 400 is connected to the control device 200. The sensor unit 400 includes an optical fiber 440 and the optical fiber 440 may be located inside the guide device 100. For example, the sensor unit 400 receives optical information for measuring a separation distance C between the ring portion A in the patient's body and the guide device 100 through the optical fiber 440, And transmit the information to the control device 200. [

The sensor unit 400 may include a light source unit 410, a spectroscope 420, and a coupler 430.

The light source unit 410 can generate light, and the light generated in the light source unit 410 is transmitted to the coupler 430. The light can be irradiated to the affected part A of the patient's body through the optical fiber 440 connected to the coupler 430.

The optical fiber 440 may be inserted into the tube 500 from the coupler 430 of the sensor unit 400 and extend to the inside of the guide device 100. [ The optical fiber 440 may irradiate light, and the reflected light reflected by the irradiated light may be incident on the optical fiber 440.

The optical fiber 440 may be formed with a diameter of 1 mm or less. The reflected light reflected by the affected part A can be transmitted to the coupler 430 through the optical fiber 440. [

The spectroscope 420 is connected to the coupler 430 and receives the reflected light through the coupler 430 to measure the spectrum of the reflected light. The spectral information measured at the spectroscope 420 is transmitted to the control device 200. For example, the spectroscope 420 may transmit spectral data to the control device 200 via UART communication. The coupler 430 may be, for example, a 2 * 1 coupler, a 2 * 2 coupler, or a circulator.

The driver board 300 is connected to the control device 200. The driver board 300 is connected to the guide device 100 to transmit and receive data to and from the control device 200 and the guide device 100. The driver board 300 controls the guide device 100, ) Can be precisely moved.

The controller 200 is connected to the driver board 300 and the sensor unit 400 and is directly connected to the medical instrument 550.

The driver board 300 can transmit and receive data to and from the control device 200. The driver board 300 is connected to an FPCB (Flexible Printed Circuits Board) 56 and an MR (Magnetic Resonance) sensor 60. The MR sensor 60 can measure the current position of the PZT motor 51. The FPCB 56 is connected to a PZT (Piezo-Electric Transducer) motor unit 50.

The driver board 300 may include an amplifier 310 connected to the MR sensor 60, a motor driver 320 connected to the FPCB 56 connected to the PZT motor 51, and a microcontroller 340.

For example, the MR sensor 60 inside the guide apparatus 100 is connected to the amplifier 310 of the driver board 300. The amplifier 310 may amplify the analog value measured at the MR sensor 60. [ The signal of the amplified MR sensor 60 is sent to the microcontroller 340.

The motor driver 320 may generate the PZT motor 51 driving signal. The driving signal can be transmitted to the PZT motor 51 via the FPCB 56. [ For example, the drive signal may be a UART such as USB or RS-232.

The motor driver 320 is connected to a pulse-width modulation (PWM) module 330. The PWM module 330 transfers the PWM signal generated by the control of the microcontroller 340 to the motor driver 320. The motor driver 320 can generate a driving signal by the transmitted PWM signal.

The microcontroller 340 may measure the signal of the MR sensor 60 transmitted through the amplifier 310 and measure the current position of the PZT motor 51. [ The signal of the microcontroller 340 may be transmitted to the control device 200 through the transceiver 350. [

The transceiver 350 may be a Universal Asynchronous Receiver / Transmitter (UART). In addition to UART communication such as USB (Universal Serial Bus), RS-170, NTSC, Camera Link, IEEE 1394, GigE (Gigabit Ethernet), etc., the transceiver 350 can be variously used have.

The medical instrument 550 can be moved in consideration of the current position of the PZT motor 51 measured through the MR sensor 60 and the distance C between the current position of the PZT motor 51 measured through the sensor unit 400 and the affected part A .

FIG. 2 is a perspective view of a guide device applied to the medical equipment of FIG. 1, FIG. 3 is an exploded perspective view of the guide device shown in FIG. 2, and FIG. 4 is a cross-sectional view of the structure of the PZT motor applied to the PZT motor unit shown in FIG. Fig.

1 to 4, the guide apparatus 100 includes a holder 10, a mount 20 on which the holder 10 is mounted, a PZT motor unit 50 connected to the mount 20, and a PZT motor unit 50 (Not shown).

The holder 10 may be inserted with a medical tool 550 inserted therein. For example, the endoscope camera can be connected to and fixed to the holder 10.

The size of the holder 10 may be adjustable according to the size of the medical instrument 550. The holder 10 can be seated on the mount 20. The holder 10 may be provided with a fixing hole 12 for fixing the medical instrument 550. For example, a bolt for fixing the medical instrument 550 to the fixing hole 12 may be fastened.

The PZT motor unit 50 may include a frame 52 and a PZT motor 51 connected to the frame 52 side.

The frame 52 includes a side plate 52b and a base plate 52a vertically connected to the side plate 52b. It may also include a post 52c spaced from the base plate 52a and connected between the side plates 52b.

The PZT motor 51 may be connected to the mount 20 or the base plate 52a of another PZT motor unit 50 through the side plate 52b. The PZT motor 51 can move linearly from one side plate 52b to the other side plate 52b. Accordingly, the MR sensor 60 can measure the current position of the PZT motor 51 in the frame 52. [

The PZT motor unit 50 may be formed in a plurality of units. For example, at least three axes. For example, the PZT motor unit 50 may include a first PZT motor unit 50a, a second PZT motor unit 50b, and a third PZT motor unit 50c. The PZT motor unit 50 may be connected to the driver board 300 through the FPCB 56. [ The FPCB 56 transmits a driving signal to the PZT motor 51 to move the PZT motor 51 to precisely control the position of the medical tool 550. For example, each of the PZT motor sections 50a, 50b, and 50c may be connected in a direction perpendicular to each other. That is, the first, second and third PZT motor sections 50a, 50b and 50c are arranged in the y-axis, x-axis and z-axis directions and can be connected to each other.

For example, when the mount 20 is connected to the post 52c and the PZT motor 51 of the first PZT motor portion 50a in the y-axis direction, the base plate 52a of the first PZT motor portion 50a May be connected to the post 52c of the second PZT motor portion 50b and the PZT motor 51 of the second PZT motor portion 50b arranged in parallel to the x axis direction. The base plate 52a of the second PZT motor portion 50b is connected to the post 52c of the third PZT motor portion 50c and the PZT motor portion 50c of the third PZT motor portion 50c, (Not shown).

That is, the base plate 51 of one PZT motor unit 50 is connected to the post 52c of the other PZT motor unit 50 and the PZT motor 51, It is possible to move the medical instrument 550 more easily in the x-, y-, and z-axis directions of the medical instrument 550 by simplifying the connection and reducing the size of the guide device 100 and moving the PZT motor portion 50 directly.

The PZT motor 51 may include an elastic member 51a and a linear mover 51d. Piezoelectric ceramics 51b and 51c are connected to both sides of the elastic member 51a. The elastic member 51a has elastic properties. For example, if an electric field of several tens to several hundreds of KHz is applied to the piezoelectric ceramics 51b and 51c polarized in one direction, the piezoelectric ceramics 51b and 51c contract or expand due to the polarization direction and the applied electric field direction . The flexural vibration transmits the elastic member 51a to the linear mover 51d so that the linear mover 5d can perform a linear motion.

FIG. 5 is a flowchart illustrating a method of controlling a position of a medical tool according to an embodiment of the present invention, FIG. 6 is a flowchart illustrating a method of measuring a separation distance applied to FIG. 5, FIG. 8 is a flowchart showing a method of setting the movement distance applied to FIG. 5; FIG.

5 to 8, the method for controlling the position of the medical instrument 550 includes the step S10 of placing the tube 500 to which the guide device 100 connected to the medical instrument 550 is connected, . ≪ / RTI > The tube 500 can be manipulated by a user or a robot to be adjacent to the vicinity of the affected part A of the patient.

Next, the step S20 may include the step of irradiating the affected part A with light, measuring the distance C between the affected part A and the guide device 100, and setting the moved distance L have.

The separation distance C can be measured by irradiating light to the affected part A of the patient and entering reflected light reflected from the affected part A. [ The moving distance L can be set based on the measured distance C to be measured.

Next, the step S30 may include moving the medical instrument 550 to the guide device 100 by the set travel distance L. The medical instrument 550 can be precisely controlled in position near the affected part A of the patient through the guide device 100. [

Since the distance C between the diseased part A and the guide device 100 can be measured in real time, the medical instrument 550 can be kept at a distance from the diseased part A of the patient .

The step S21 of measuring the separation distance C may include a step S211 of separating the reference signal and the sample signal through the spectrum of the reflected light reflected from the diseased part A. [ For example, the spectrum of the reflected light is analyzed to set as a reference signal when there is no information of the affected part (A), and as a sample signal when the information of the patient part (A) is present.

Next, the reference signal may be removed (S212). That is, in the case where there is no signal from the patient portion (A), it means noise, so that information on the patient portion (A) is obtained.

Next, the step S213 of performing Fourier transform on the sample signal to acquire tomogram information of the affected area A may be included, and calculating the distance C from the tomogram information (step S214). More specifically, the calculation of the separation distance C from the tomogram information is performed by the steps of (S214a) detecting the first peak in the tomogram information and (S214b) multiplying the axial resolution of the tomogram information by the number of pixels in the first peak . The first peak of the tomographic information means a point corresponding to the surface of the affected part A. [

For example, axis resolution means distance per pixel in tomographic information. That is, when the axial resolution of the tomographic information is 10 μm and the distance to the first peak is measured as 10 pixels, the separation distance is 100 μm which is the product of 10 μm of the axial resolution and 10, the number of pixels up to the first peak.

Step S22 of setting the moving distance L includes a step S221 of inputting a proper distance D and a step of calculating a difference value F between the proper distance L and the separation distance C (Step S222) and setting the movement distance L through the difference value F (step S223).

For example, the appropriate distance D considering the preset tolerance DELTA d can be set by the following [Expression 1].

[Equation 1]

For example, when the tolerance Δd is set to 20 μm, even if the appropriate distance D is input as 100 μm, the appropriate distance D can be inputted to the control device 200 as 90 μm to 110 μm have. That is, an appropriate distance D is set in consideration of an error of the MR sensor 60 and position information measured by the sensor unit 400. The difference value F between the appropriate distance D and the measured separation distance C is set by [Expression 2].

[Equation 2]

Next, the step S224 of calculating the absolute value of the difference value F is performed. If the absolute value of the difference value F is less than or equal to the half value DELTA d / 2 of the tolerance DELTA d, And setting the moving distance L to zero (S224a).

That is, at this time, the PZT motor 51 does not operate. The fact that the absolute value of the difference value F is smaller than or equal to the half value (? D / 2) of the tolerance means that the PZT motor 51 is within the allowable range.

Next, when the difference value F is a positive number, it may include a step S225 of setting the moving distance L by the following equation (3). If the difference value F is calculated as a positive number, it means that the PZT motor 51 is closer to the affected area than the permitted range.

 [Equation 3]

L = travel distance, D = proper distance Δd = tolerance C = separation distance

Next, when the difference value F is a negative number, it may include a step S226 of setting the moving distance L by the following equation (4). If the difference value F is calculated as a negative value, it means that the PZT motor 51 is far from the permitted range.

[Equation 4]

L = travel distance, D = proper distance Δd = tolerance C = separation distance

And moving the medical instrument 550 by the set travel distance L (S30).

When the travel distance L is a positive number, the PZT motor 51 is moved in a direction away from the ring portion. When the travel distance L is a negative number, the PZT motor 51 is moved in a direction toward the ring portion.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the following claims. Those who are engaged in the technology field will understand easily.

1000: Medical device 200: Control device
210: Monitor 300: Driver board
310: Amplifier 320: Motor drive
330: PWM module 340: Micro controller
350: Transmitting / receiving unit 360: Power supply
400: sensor part 410: light source part
420: spectroscope 430: coupler
440: Optical fiber 500: Tube
550: medical instrument 100: guide device
10: holder 12: fixed hole
20: Mount
50: PZT motor section 51: PZT motor
51a: elastic members 51b, 51c: piezoelectric ceramic
51d: Linear mover 52: Frame
52a, a base plate 52b: a side plate
52c: post 50a: first PZT motor part
50b: second PZT motor section 50c: third PZT motor section
56: FPCB 60: MR sensor
C: separation distance L: moving distance
D: Proper distance Δd: Tolerance
A:

Claims (10)

Medical tools inserted into the tube; And
And a guide device connected to the medical tool at the tube end to precisely move the medical tool adjacent to the affected part of the patient,
In the guide device,
A holder to which the medical instrument is connected;
A mount coupled to the holder;
A PZT motor part having a frame to which the mount is connected and a PZT motor connected to the mount and capable of moving the mount along the frame; And
And an MR sensor coupled to the frame for measuring the position of the PZT motor within the frame. The method according to claim 1,
And a sensor unit connected to the guide unit for measuring light reflected from the affected part and measuring a distance between the affected part and the guide unit. delete Medical tools inserted into the tube; And
And a guide device connected to the medical tool at the tube end to precisely move the medical tool adjacent to the affected part of the patient,
In the guide device,
A holder to which the medical instrument is connected;
A mount coupled to the holder;
And a PZT motor part having a frame to which the mount is connected and a PZT motor connected to the mount and capable of moving the mount along the frame,
The frame includes:
A side plate spaced apart from each other;
A base plate vertically connected to the side plates; And
And a post spaced from the base plate and connecting between the side plates. 5. The method of claim 4,
The PZT motor unit is formed in a plurality of PZT motor units, and each PZT motor unit is connected in a direction perpendicular to each other,
Wherein the base plate of at least one of the PZT motor portions is connected to a post of another vertically coupled PZT motor portion and to a PZT motor. delete 3. The method of claim 2,
The sensor unit includes: a light source unit for generating the light;
An optical fiber inserted into the tube at one end thereof and positioned inside the guide device, irradiating the light to the affected part and making the reflected light reflected from the affected part enter the optical fiber;
A coupler connected to the other end of the optical fiber and capable of separating the light radiated to the ring part from the reflected light reflected from the ring part; And
And a spectroscope coupled to the coupler for analyzing the spectrum of the reflected light. The method according to claim 1,
And a control device connected to a monitor for indicating the affected part received from the medical instrument, the control device controlling the guide device. 9. The method of claim 8,
And a driver board connected to the control device and the guide device, respectively, for controlling the medical tool with a control signal transmitted / received from the control device. 10. The method of claim 9,
The driver board includes:
An amplifier connected to the MR sensor for amplifying an analog value measured by the MR sensor;
A microcontroller connected to the amplifier and the control device for transmitting a signal received from the amplifier to the control device and receiving the control signal from the control device;
A PWM module connected to the microcontroller and converting the control signal into a PWM (Pulse Width Modulation) signal; And
And a motor driver connected to the PWM module for converting the PWM signal into a drive signal for driving the PZT motor and delivering the drive signal to the PZT motor.

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