KR102134342B1 - Method for estimating deformation degree of endoscope by tendon-based actuating system and system using the same - Google Patents

Abstract

According to an embodiment of the present invention, in a method of estimating a degree of twist at an end of an endoscope driven in a tendon manner using a computer, a wire through hole formed in a plurality of spacers arranged along a length direction of the endoscope and the Estimating a first degree of twist due to the clearance between the wires passing through the wire through hole, a vertical force applied to the wire by the movement of the end of the endoscope in which the surgical instrument is disposed, and the endoscope from the proximal end of the endoscope Estimating a second degree of twist due to sagging of the wire using the spring constant of the wire extending to the end, and the total degree of twisting at the end of the endoscope using the first degree of twist and the second degree of twist. It provides a method for estimating the degree of torsion of the endoscope end of the tendon driving method, comprising the step of estimating.

Description

Method for estimating deformation degree of endoscope by tendon-based actuating system and system using the same

The present invention relates to a method for estimating the torsion of an endoscope and a system using the same, and more particularly, to a technique for estimating the torsion of an endoscope end of a tendon driving method.

The techniques of surgical operation are constantly changing, and these changes are being made in the direction of improving the long-term and short-term surgical results and improving the quality of life of patients. One of the most popular among these changes is the minimally invasive surger. Minimally invasive surgery is a surgical method that has the same effect as the existing surgical method, but minimizes the effect on the patient. The surgery is performed by inserting medical devices through the mouth, anus, and female genital organs. However, despite the advantage of minimal invasiveness, the entry path of the medical device is limited due to the nature of surgery, and it is very difficult to secure a working area required for surgery.

In order to solve this problem, various endoscopes have been developed to overcome the limited work area in the surgical operation, but most of them are focused on implementing the mechanism of the endoscope, so that the torsion deformation of the endoscope body caused by the force between the end of the endoscope and the target organ is prevented. There is a problem in that it is difficult to control the endoscope due to insufficient consideration of the endoscope, and errors caused by torsional deformation caused by insufficient structural rigidity of the endoscope and the curvature formed by the endoscope body during operation is not constant.

KR 10-2004-0104649 A, 2004.12.10

An object of the present invention is to provide a method for estimating the torsion of an endoscope end and a system using the same for precise control of the endoscope end.

However, these problems are exemplary, and the scope of the present invention is not limited thereby.

According to an embodiment of the present invention, in a method of estimating a degree of twist at an end of an endoscope driven in a tendon manner using a computer, a wire through hole formed in a plurality of spacers arranged along a length direction of the endoscope and the Estimating a first degree of twist due to the clearance between the wires passing through the wire through hole, a vertical force applied to the wire by the movement of the end of the endoscope in which the surgical instrument is disposed, and the endoscope from the proximal end of the endoscope Estimating a second degree of twist due to sagging of the wire using the spring constant of the wire extending to the end, and the total degree of twisting at the end of the endoscope using the first degree of twist and the second degree of twist. It provides a method for estimating the degree of torsion of the end of the endoscope in a tendon driving method, comprising the step of estimating.

In one embodiment of the present invention, the step of estimating the first degree of twist includes: a first diameter of the wire through hole, a second diameter of the wire, and a first distance from the center of the spacer to the center of the wire through hole. The first degree of twist can be estimated using.

In one embodiment of the present invention, the step of estimating the first degree of twist may include between two tangent lines of the wire through-hole passing through the center of the spacer using the first diameter, the second diameter, and the first distance. Calculating a first angle of and a second angle between two tangents of the wire passing through the center of the spacer, and estimating the first degree of twist using a difference between the first angle and the second angle It can be provided.

In an embodiment of the present invention, in the step of estimating the second degree of twist, the normal force applied to the wire may be calculated using the rotational force applied to the end of the endoscope.

In one embodiment of the present invention, the step of estimating the second degree of twist may include calculating the spring constant of the wire using information about the length of the wire, the area of the wire, and the Young's modulus of the wire stored in advance. I can.

An embodiment of the present invention provides a computer program stored in a recording medium to execute any one of the above-described methods using a computer.

An exemplary embodiment of the present invention provides an endoscope unit including a plurality of spacers arranged along a length direction and a wire passing through a wire through hole formed in the plurality of spacers, and a driving unit for controlling the movement of the wire of the endoscope unit. And a total torsion degree estimating unit for estimating a total degree of torsion at an end of the endoscope unit generated by the control of the driving unit, and the total torsion degree estimating unit includes a control of the wire through hole and 1 Using a first torsion estimating unit for estimating the degree of torsion, a vertical force applied to the wire by the movement of the end of the endoscope, and a spring constant of the wire extending from the proximal end of the endoscope to the end of the endoscope. A system for estimating the degree of twisting at the end of the endoscope of the tendon driving method, including a second twist estimating unit for estimating a second degree of twisting due to sagging of the wire.

In one embodiment of the present invention, the total torsion degree estimating unit stores the first diameter of the wire through hole, the second diameter of the wire, and a first distance from the center of the spacer to the center of the wire through hole in advance. It may further include a memory unit.

In an embodiment of the present invention, the first twist estimating unit may estimate the first twist degree using the first diameter, the second diameter, and the first distance.

In one embodiment of the present invention, the first twist estimator uses the first diameter, the second diameter, and the first distance to determine a first angle between two tangents of the wire through-hole passing through the center of the spacer. , A second angle between two tangents of the wire passing through the center of the spacer may be calculated, and the first degree of twist may be estimated using a difference between the first angle and the second angle.

In one embodiment of the present invention, the memory unit may further store information on a length of the wire extending from an end of the endoscope to a proximal end of the endoscope, an area of the wire, and a Young's modulus of the wire.

In one embodiment of the present invention, the second torsion estimating unit receives information on a rotational force applied to the end of the endoscope from the driving unit, calculates a vertical force applied to the wire using the rotational force, and The spring constant of the wire may be calculated using information on the length of the wire, the area of the wire, and the Young's modulus of the wire, and the second twisting degree may be estimated using the normal force and the spring constant of the wire.

Other aspects, features, and advantages other than those described above will become apparent from the detailed content, claims and drawings for carrying out the following invention.

According to an embodiment of the present invention made as described above, it is possible to predict torsional deformation at the end of the endoscope due to an external force applied to the endoscope based on a model related to deflection and clearance, and through the predicted torsion deformation, You will be able to precisely control the position.

Of course, the scope of the present invention is not limited by these effects.

1 is a diagram schematically showing a system for estimating a twist at the end of the endoscope of a tendon driving method according to an embodiment of the present invention.
1 is a block diagram of a system for estimating torsion of an endoscope of FIG. 2.
3 is a view for explaining the torsion of the end of the endoscope caused by the movement of the end of the endoscope.
4 is a view showing a part of the endoscope unit of FIG. 1 extracted.
5 is a conceptual diagram schematically showing a method of estimating a degree of twisting of an endoscope end of a tendon driving method according to an embodiment of the present invention.
6 and 7 are diagrams for explaining a method of estimating a first degree of twist.
8 is a diagram for explaining a method of estimating a second degree of twist.

Hereinafter, various embodiments of the present disclosure will be described in connection with the accompanying drawings. Various embodiments of the present disclosure may be subjected to various changes and may have various embodiments, and specific embodiments are illustrated in the drawings and related detailed descriptions are described. However, this is not intended to limit the various embodiments of the present disclosure to specific embodiments, and it should be understood that all changes and/or equivalents or substitutes included in the spirit and scope of the various embodiments of the present disclosure are included. In connection with the description of the drawings, similar reference numerals have been used for similar elements.

Expressions such as "include" or "may include" that may be used in various embodiments of the present disclosure indicate the existence of a corresponding function, operation, or component that is disclosed, and additional one or more functions, operations, or It does not limit components, etc. In addition, in various embodiments of the present disclosure, terms such as "include" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, It is to be understood that it does not preclude the possibility of the presence or addition of one or more other features or numbers, steps, actions, components, parts, or combinations thereof.

In various embodiments of the present disclosure, expressions such as "or" include any and all combinations of words listed together. For example, "A or B" may include A, may include B, or may include both A and B.

Expressions such as "first", "second", "first", or "second" used in various embodiments of the present disclosure may modify various elements of various embodiments, but do not limit the corresponding elements. Does not. For example, the expressions do not limit the order and/or importance of corresponding elements. The above expressions may be used to distinguish one component from another component. For example, a first user device and a second user device are both user devices and represent different user devices. For example, without departing from the scope of the rights of various embodiments of the present disclosure, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

When a component is referred to as being "connected" or "connected" to another component, the component is directly connected to or may be connected to the other component, but the component and It should be understood that new other components may exist between the other components. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it will be understood that no new other component exists between the component and the other component. Should be able to

The terms used in various embodiments of the present disclosure are only used to describe a specific embodiment, and are not intended to limit the various embodiments of the present disclosure. Singular expressions include plural expressions unless the context clearly indicates otherwise.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which various embodiments of the present disclosure belong.

Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in various embodiments of the present disclosure, ideal or excessively formal It is not interpreted in meaning.

1 is a view schematically showing a twist estimation system 10 at the end of the endoscope of a tendon driving method according to an embodiment of the present invention, and FIG. 1 is a block diagram of the distortion estimation system 10 at the end of the endoscope of FIG. to be. 3 is a view for explaining the torsion of the end of the endoscope caused by the movement of the end of the endoscope, and Figure 4 is a view showing an extract of a part of the endoscope unit 100 of FIG.

1 to 3, a tendon-driven endoscope end-torsion estimation system 10 according to an embodiment of the present invention includes an endoscope unit 100, a driving unit 200, and a total twist estimating unit 300. It may include.

The endoscope unit 100 may include a plurality of spacers 110 arranged along the length direction, and a wire 120 passing through the wire through holes 113 formed in the plurality of spacers 110. In addition, although not shown, the endoscope unit 100 further includes a ball (not shown) to allow the plurality of spacers 110 to pitch or yaw each other between the plurality of spacers 110, It can increase structural rigidity.

The plurality of spacers 110 are disposed to be spaced apart along the longitudinal direction of the endoscope unit 100, and through this, the endoscope unit 100 may be formed of a flexible joint having 2 degrees of freedom or 3 degrees of freedom. A wire through hole 113 through which the wire 120 for controlling the movement of the endoscope unit 100 passes may be formed in the plurality of spacers 110.

In addition, the plurality of spacers 110 may have a hollow 111 through which a power line or a control line for controlling the surgical instrument T can pass. Two wire through holes 113 may be formed in each spacer 110 to implement one degree of freedom, and at least three or more may be formed to control all degrees of freedom. The number of wire through holes 113 may be selected in consideration of the cross-sectional area of the spacer 110, the cross-sectional area of the wire through-hole 113, the cross-sectional area of the hollow 111, and ease of control.

The wire 120 passes through the wire through hole 113 formed in the spacer 110 to provide a driving force so that the spacer 110 can pitch, yaw, and roll, and at the same time, apply force to prevent the spacers 110 from being separated from each other. It can perform a function that works.

The driving unit 200 performs a function of generating and transmitting driving force necessary for the operation of the endoscope unit 100 or the surgical instrument T, and controls the movement of the wire 120 of the endoscope unit 100 operating in a tendon driving method. By controlling, rotational force such as pitching, yawing, and rolling can be applied to the endoscope unit 100.

The total torsional degree estimating unit 300 may estimate the total torsional degree Φ at the end of the endoscope unit 100 generated by the control of the driving unit 200. Specifically, referring to FIG. 3, since the endoscope unit 100 having the above-described structure has low structural rigidity due to the above-described structural features, an axial twist (Φ) may occur due to an external force, For this reason, it may be difficult to accurately estimate the posture. In the present invention, by estimating the degree of torsion (Φ) at the end of the endoscope unit 100 using the total degree of torsion estimating unit 300, it is possible to control the exact position of the end of the endoscope.

Specifically, the total torsion degree estimating unit 300 may include a first torsion estimating unit 310, a second torsion estimating unit 320 and a memory unit 330. Here, the total degree of torsion (Φ) is the first degree of torsion (ψ _c ) by the clearance effect that affects the torsion at the end of the endoscope (E1), and the second degree by the sag effect. It can be defined as a concept including the degree of torsion (ψ _s ). A method of estimating the degree of torsion in the total degree of torsion estimating unit 300 will be described later.

The first twist estimating unit 310 may estimate a first degree of twist (ψ _c ) caused by a gap between the wire through hole 113 and the wire 120. The first torsion estimating unit 310 includes a first diameter (d _c ) of the wire through hole 113 previously stored in the memory unit 330, a second diameter (d _w ) of the wire 120, and a spacer 110 The first degree of twisting (ψ _c ) can be estimated by using the first distance R of. Specifically, the first torsion estimation unit 310 is a wire passing through the center (O ₁ ) of the spacer 110 using a first diameter (d _c ), a second diameter (d _w ), and a first distance (R) The first angle between the two tangent lines of the through hole 113 (β, see FIG. 7) and the second angle between the two tangent lines of the wire 120 passing through the center O ₁ of the spacer 110 (γ, FIG. 7) can be calculated. The first twist estimating unit 310 may estimate a first degree of twist ψ _c by using the calculated difference between the first angle β and the second angle γ.

Meanwhile, the second torsion estimating unit 320 includes a vertical force applied to the wire 120 by the movement of the end E1 of the endoscope, and a wire 120 extending from the proximal end E2 of the endoscope to the end E1 of the endoscope. The second degree of twisting (ψ _s ) due to the deflection (δ) of the wire 120 may be estimated using the spring constant (k _w ) of ).

Specifically, the second torsion estimating unit 320 may receive information on the rotational force applied to the end E1 of the endoscope from the driving unit 200. At this time, the second torsion estimating unit 320 may calculate a vertical force applied to the wire 120 by the spacer 110 using the provided rotational force. In addition, the second torsion estimating unit 320 includes information on the length (L) of the wire 120, the area (A) of the wire 120, and the Young's modulus (E) of the wire 120 stored in the memory unit 330 The spring constant (k _w ) of the wire 120 can be calculated using. The second torsion estimating unit 320 may estimate the second degree of torsion ψ _s using the above-described vertical force and the spring constant kw of the wire 120.

The memory unit 330 may perform a function of temporarily or permanently storing data processed by the total torsional degree estimating unit 300. The memory unit 330 may include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited thereto.

The memory unit 330 is a wire from the first diameter (d _c , see FIG. 7) of the wire through hole 113, the second diameter (d _w ) of the wire 120, and the center (O ₁ ) of the spacer 110 The first distance R to the center O _{2 of the} through hole may be stored in advance. In addition, the memory unit 330 relates to the length (L) of the wire 120 extending from the end (E1) of the endoscope to the near end (E2), the area (A) of the wire 120, and the Young's modulus (E) of the wire. You can store more information.

The total torsional degree estimating unit 300 having the above components may include all types of devices capable of processing data, such as a processor. Here, the'processor' may refer to a data processing device embedded in hardware having a circuit physically structured to perform a function represented by a code or instruction included in a program. As an example of such a data processing device built into the hardware, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, and an application-specific integrated (ASIC) Circuit) and processing devices such as a Field Programmable Gate Array (FPGA) may be covered, but the scope of the present invention is not limited thereto.

Hereinafter, a method of estimating the degree of torsion of the end of the endoscope in the total degree of torsion estimating unit 300 will be described in detail with reference to FIGS. 5 to 8.

5 is a conceptual diagram schematically showing a method of estimating a degree of twisting of an endoscope end of a tendon driving method according to an embodiment of the present invention, and FIGS. 6 and 7 are for explaining a method of estimating a first degree of twisting. It is a figure, and FIG. 8 is a figure for demonstrating the method of estimating a 2nd degree of twist.

Referring to FIG. 5, as described above, the total torsion degree estimating unit 300 includes a first degree of torsion (ψ _c ) due to a clearance effect that affects the torsion at the end E1 of the endoscope. , The second degree of torsion (ψ _s ) due to the sag effect is estimated, and the total degree of torsion (Φ) is estimated using the first degree of torsion (ψ _c ) and the second degree of torsion (ψ _s ). I can.

The endoscope is provided with a plurality of spacers 110, and two or more pairs of wires 120 are used to control the posture of the endoscope, and as described above, the wire 120 is a wire through hole formed in the spacer 110 ( 113). At this time, a gap is essentially present between the wire through hole 113 and the wire 120 for the movement of the wire 120, and a torsional deformation occurs due to the gap. In this specification, the degree of twisting will be defined as the first degree of twisting (ψ _c ).

On the other hand, the wire 120 has a certain degree of elasticity in terms of material properties. Accordingly, when an external force is applied to the endoscope end E1, deformation may occur in the wire 120. In particular, when a vertical force is applied due to the movement of the endoscope end (E1), the wire 120 may be deformed according to the sag, and thus the length of the wire 120 is changed, resulting in torsion deformation at the endoscope end (E1). Can be caused. In the present specification, the degree of twisting will be defined as the second degree of twisting (ψ _s ).

6 and 7, the first twist estimating unit 310 includes a first diameter d _c of the wire through hole 113 and a second diameter d _w of the wire 120 and the spacer 110. Using the first distance R from the center O ₁ to the center O ₂ of the wire through hole 113, the first degree of twisting according to the clearance (ψ _c ) can be estimated (S1).

When the endoscope unit 100 is in the first position P1, it can be assumed that the wire 120 is disposed at the center of the wire through hole 113, and the endoscope unit 100 rotates at the first position ( When moving from P1) to the second position P2, ideally, the wire 120 should move in a state coincident with the center of the wire through hole 113. However, since there is always a gap between the wire through hole 113 and the wire 120, when the endoscope unit 100 moves from the first position P1 to the second position P2, it is shown in FIG. As described above, as the wire 120 becomes inconsistent with the center (O ₂ ) of the wire through hole 113, torsion deformation occurs.

This torsional deformation occurs in proportion to the difference in diameter between the wire 120 and the wire through hole 113. In other words, the greater the difference between the diameters of the wire 120 and the wire through hole 113, the greater the degree of torsion deformation. However, since the first degree of twisting (ψ _c ) indicates how much the wire 120 is twisted with respect to the center of the spacer 110 (O ₁ ), the method for estimating the degree of twisting of the end of the endoscope according to an embodiment of the present invention By calculating the difference between the first angle β with respect to the center O ₁ of the spacer of the wire through hole 113 and the second angle γ with respect to the center O ₁ of the spacer of the wire 120, It is possible to more accurately estimate the first degree of twist (ψ _c ). Here, the first angle β is an angle between the two tangent lines of the wire through hole 113 passing through the center O ₁ of the spacer 110, and the second angle γ is the center of the spacer 110 ( O ₁ ) is an angle between two tangents of the wire 120 passing through, and can be derived as in Equation 1 below.

[Equation 1]

Since the first degree of twist (ψ _c ) is proportional to the difference between the first angle (β) and the second angle (γ), it can be derived by Equation 2 below.

[Equation 2]

On the other hand, referring to Figure 8, the second torsion estimation unit 320 is a vertical force applied to the wire 120 by the movement of the endoscope end (E1), from the proximal end (E2) of the endoscope to the end (E1) of the endoscope Using the spring constant (k _w ) of the extended wire 120, the second degree of twisting (ψ _s ) due to the deflection (δ) of the wire may be estimated (S2).

First, the second torsion estimating unit 320 may receive control information on the movement of the endoscope unit 100 from the driving unit 200. The driving unit 200 may move the endoscope unit 100 from the first position P1 to the second position P2, and at this time, the second position by generating control information such as position coordinate information and movement speed information according to the movement. It can be provided to the torsion estimation unit 320. When the control information described above is provided, the second twist estimating unit 320 may calculate a rotational force to be applied to the endoscope end E1 from the control information. When a rotational force is applied to the end E1 of the endoscope unit 100, a vertical force F may be applied to the wire 120 due to the movement of the spacer 110. The second torsion estimating unit 320 may calculate a magnitude of the vertical force F applied to the wire 120 from the calculated rotational force.

Meanwhile, the second torsion estimating unit 320 may calculate a spring constant (kw) of the wire 120 by using information on the wire 120 stored in the memory unit 330. Here, the information about the wire 120 is the length (L) of the wire 120 from the endoscope end (E1) to the endoscope near end (E2), the cross-sectional area (A) of the wire 120, the Young's modulus of the wire 120 ( E), and the spring constant (kw) of the wire 120 may be derived from Equation 3 below.

[Equation 3]

Thereafter, the second torsion estimating unit 320 may calculate the sag (δ) using the magnitude of the vertical force (F) applied to the wire 120 and the spring constant (kw) of the wire 120. As shown in Figure 8, the wire 120 may be fixed to the endoscope end (E1) on one side, and when the vertical force (F) is applied while the other side is located at the proximal end of the endoscope (E2), sagging (δ) is Occurs. When the deflection angle according to the deflection (δ) of the wire 120 is θ, the normal force (F) and the restoring force of the wire 120 can be balanced, and through this, a force equilibrium equation is derived as shown in Equation 4 below. can do.

[Equation 4]

는 와이어(120)의 처짐(δ), 와이어(120)의 길이(L), 와이어의 처짐 각(θ)의 관계에 의해 도 8로부터 도해적으로 도출될 수 있다. here,

8 may be derived graphically from FIG. 8 by the relationship between the sag (δ) of the wire 120, the length (L) of the wire 120, and the sag angle (θ) of the wire.

[Equation 5]

를 상기 수학식 4에 대입한 후, 근의 공식을 통해 하기와 같이 정리될 수 있다. The deflection (δ) of the wire 120 is expressed in Equation 5

After substituting in Equation 4, it can be summarized as follows through the formula of the root.

[Equation 6]

On the other hand, the length (L') of the deformed wire 120 can be calculated as in Equation 7 using the deflection (δ) of Equation 6, and by using this, the deformed wire in the spacer 110 having a radius R When the length L'of is applied, a second degree of twisting (ψ _s ) according to the deflection effect can be derived as shown in Equation 8.

[Equation 7]

[Equation 8]

As described above, the total torsional degree estimating unit 300 derives the first degree of twisting (ψ _c ) and the second degree of twisting (ψ _s ), and then, the first degree of twisting (ψ _c ) and the second degree of twisting ( Using ψ _s ), the total degree of twisting (Φ) can be estimated (S3).

[Equation 9]

The method of estimating the degree of twisting at the end of the endoscope of the tendon driving method according to an embodiment of the present invention can predict the torsion deformation at the end of the endoscope due to an external force applied to the endoscope based on a model regarding deflection and clearance, and predicted torsion. Through the deformation, the position of the end of the endoscope can be accurately controlled.

The embodiment according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded in a computer-readable medium. In this case, the medium is a magnetic medium such as a hard disk, a floppy disk, and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magnetic-optical medium such as a floptical disk, and a ROM. A hardware device specially configured to store and execute program instructions, such as, RAM, flash memory, and the like.

Meanwhile, the computer program may be specially designed and configured for the present invention, or may be known and usable to those skilled in the computer software field. Examples of the computer program may include not only machine language codes produced by a compiler but also high-level language codes that can be executed by a computer using an interpreter or the like.

The specific implementations described in the present invention are examples, and do not limit the scope of the present invention in any way. For brevity of the specification, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings exemplarily represent functional connections and/or physical or circuit connections, and in an actual device, various functional connections that can be replaced or additionally It may be referred to as a connection, or circuit connections. In addition, if there is no specific mention such as "essential", "important", etc., it may not be an essential component for the application of the present invention.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the art will understand that various modifications and equivalent other embodiments are possible therefrom. . Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

10: Endoscopic end torsion estimation system
100: endoscope unit
110: spacer
120: wire
200: drive unit
300: Total torsional degree estimation unit
310: first torsion estimation unit
320: second torsion estimation unit
330: memory unit

Claims (12)

In the method of estimating the degree of torsion at the distal end of an endoscope driven in a tendon method using a computer,
Estimating a first degree of twist due to a clearance between a wire through hole formed in a plurality of spacers arranged along a length direction of the endoscope and a wire passing through the wire through hole;
The second twist due to sagging of the wire using a vertical force applied to the wire by the movement of the end of the endoscope on which the surgical instrument is disposed, and the spring constant of the wire extending from the proximal end of the endoscope to the end of the endoscope Estimating the degree; And
Estimating a total degree of twisting at the end of the endoscope using the first degree of twisting and the second degree of twisting; and
The step of estimating the first degree of twist,
The twist of the endoscope end of the tendon driving method, which estimates the degree of the first twist using the first diameter of the wire through hole, the second diameter of the wire, and the first distance from the center of the spacer to the center of the wire through hole How to estimate the degree.

delete The method of claim 1,
The step of estimating the first degree of twist,
A first angle between two tangent lines of the wire through-hole passing through the center of the spacer using the first diameter, the second diameter, and the first distance, and a first angle between two tangent lines of the wire passing through the center of the spacer. 2 calculating the angle; And
Estimating the first degree of twist by using the difference between the first angle and the second angle; including, Tendon driving method of estimating the degree of twist at the end of the endoscope. The method of claim 1,
The step of estimating the second degree of twist,
A method for estimating the degree of twisting of the end of the endoscope using a tendon driving method for calculating a vertical force applied to the wire using the rotational force applied to the end of the endoscope. The method of claim 1,
The step of estimating the second degree of twist,
A method for estimating the degree of twisting of the end of the endoscope of the tendon driving method for calculating the spring constant of the wire using information about the length of the wire, the area of the wire, and the Young's modulus of the wire stored in advance. A computer program stored in a recording medium to execute the method of any one of claims 1 and 3 to 5 using a computer. An endoscope unit including a plurality of spacers arranged along a length direction and a wire passing through the wire through holes formed in the plurality of spacers;
A driving unit for controlling the movement of the wire of the endoscope unit; And
Includes; a total torsion degree estimating unit for estimating the total degree of torsion at the end of the endoscope unit generated by the control of the driving unit,
The total torsion degree estimation unit,
A first twist estimating unit for estimating a first degree of twist due to a clearance between the wire through hole and the wire,
A second degree of twisting due to sagging of the wire is estimated using a vertical force applied to the wire by the movement of the end of the endoscope and a spring constant of the wire extending from the proximal end of the endoscope to the end of the endoscope. 2 A system for estimating the degree of torsion at the end of the endoscope of the tendon driving method, including a torsion estimation unit. The method of claim 7,
The total twisting degree estimating unit further comprises a memory unit for storing in advance a first diameter of the wire through hole, a second diameter of the wire, and a first distance from the center of the spacer to the center of the wire through hole; A system for estimating the degree of torsion at the end of the endoscope with a drive method. The method of claim 8,
The first twist estimating unit estimates the first twist degree using the first diameter, the second diameter, and the first distance, a tendon driving system for estimating a degree of twist at the end of the endoscope. The method of claim 9,
The first twist estimating unit uses the first diameter, the second diameter, and the first distance to provide a first angle between two tangents of the wire through hole passing through the center of the spacer, and the wire passing through the center of the spacer. A system for estimating a degree of twisting at the end of the endoscope of a tendon driving method for calculating a second angle between two tangent lines of and estimating the first degree of twist by using the difference between the first angle and the second angle. The method of claim 8,
The memory unit further stores information on the length of the wire extended from the end of the endoscope to the proximal end of the endoscope, the area of the wire, and the Young's modulus of the wire. The method of claim 11,
The second torsion estimating unit receives information on a rotational force applied to the end of the endoscope from the driving unit, calculates a vertical force applied to the wire using the rotational force, and calculates the length of the wire, the area of the wire, and the A system for estimating the degree of twisting at the end of the endoscope of the tendon driving method for calculating the spring constant of the wire using information on the Young's modulus of the wire, and estimating the second twisting degree using the normal force and the spring constant of the wire.

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