KR102146307B1 - Front-rear driving mechanism combined robotic colonoscope system and high safety control method using it - Google Patents

Abstract

It relates to an endoscope robot system of an anterior and posterior hybrid drive system, wherein the endoscope robot system of the anterior and posterior hybrid drive system is a forward traction type including a forward driving force generating unit and a steering unit so that the endoscope is intubated and disposed in the body of the subject of the endoscope, and enables driving in consideration of steering in the body. Endoscopic robot, a rear manual device disposed outside the body of the endoscope subject and connected to the front traction type endoscope robot by a connecting member to control the forward and backward movement of the front traction type endoscope robot in the intubation direction and rotation movement around the intubation direction. It includes an implementation mechanism and a control unit for controlling the driving of the front traction type endoscope robot, wherein the front traction type endoscope robot includes a sensor unit that detects an internal state, and the control unit is recognized based on the detected internal body condition. It is possible to control the driving of the front traction type endoscope robot in consideration of the risk of damage.

Description

Front and rear endoscope robot system and high safety endoscope robot driving control method using the same {FRONT-REAR DRIVING MECHANISM COMBINED ROBOTIC COLONOSCOPE SYSTEM AND HIGH SAFETY CONTROL METHOD USING IT}

The main office is a front and rear combined drive It relates to an endoscope robot system (device) and a high safety endoscope robot driving control method using the same.

The endoscope is a medical device that allows you to directly see the internal organs or the inside of the body cavity.Because the conventional colonoscopy is forcibly intubated by force applied from the outside of the body, it causes pain to patients and other medical accidents such as perforation during the procedure. Can cause. Accordingly, in the preceding studies, an endoscope robot with a power source mounted inside the body was developed, but there is a limitation in movement performance, and it is impossible to install a diagnosis or treatment device in the endoscope robot, so that the existing endoscope device cannot be replaced. .

In addition, the conventional colonoscopy-based examination method has a disadvantage in that the surgeon has to invest excessive time and cost to learn the implantation technique for a safe procedure due to high dependence on the surgeon's manual ability.

The technology behind the present application is disclosed in Korean Patent Publication No. 10-1780326.

The present application is intended to solve the problems of the prior art described above, and a robot pulls the endoscope from the front end using a mechanical mechanism to autonomously drive the body of an endoscope subject, such as a patient, and the rear end in a bent part or a deadlock section where autonomous driving is not possible. An anterior-posterior complex drive that enables effective endoscopy by manipulating the intubated endoscope An object of the present invention is to provide an endoscope robot system and a method of driving a high safety endoscope robot based thereon.

However, the technical problems to be achieved by the embodiments of the present application are not limited to the technical problems as described above, and other technical problems may exist.

As a technical means for achieving the above technical problem, the front and rear composite driving type endoscope robot system according to an embodiment of the present application is disposed intubation in the body of a subject of the endoscope, and a forward driving force generating unit to enable driving in consideration of steering in the body And a front traction type endoscope robot including a steering unit, the front traction type endoscope robot disposed outside the body of the endoscope subject, and the forward traction by a connecting member to control the forward and backward movement of the front traction type endoscope robot in the intubation direction and rotational movement around the intubation direction. And a control unit for controlling the driving of the front traction type endoscope robot and a rear handwriting implementing mechanism connected to the type endoscope robot, wherein the front traction type endoscope robot includes a sensor unit for detecting an internal state, and the control unit is the detected It is possible to control the driving of the front traction type endoscope robot in consideration of the risk of injury to the body recognized based on the internal condition.

In addition, the control unit, when recognizing the risk of internal damage as a low-risk situation, controls the front traction type endoscope robot to autonomously travel by the forward driving force generation unit, and sets the risk of injury to the body more than the low-risk situation. When the risk is recognized as a rising risk situation, the steering unit is controlled to intervene in the autonomous driving of the front traction endoscope robot, and when the risk of internal damage is recognized as a high risk situation with an increased risk than the risk rising situation, The front traction type endoscope robot may be controlled to be driven by the rear handwriting implement mechanism.

In addition, the control unit may recognize that a high risk situation has been reached if the risk status for internal damage is maintained for more than a limit time without changing to a low risk situation.

In addition, the sensor unit includes a pressure sensor for sensing a pressure or force applied to a front end side of the front traction type endoscope robot, and the control unit includes a pressure or force sensed by the pressure sensor to rupture or perforate the inner wall of the body. If it is determined that it is more than the limit value that may cause the injury, it may be recognized that the risk of injury to the body has reached a situation of increasing the risk.

In addition, the sensor unit includes a position sensor that detects the position of the front traction type endoscope robot, and the control unit, when it is determined that the position detected by the position sensor does not change for a predetermined time or longer, the risk of internal damage This risk can also be perceived as reaching an elevated situation.

In addition, the control unit may determine a steering direction by the steering unit in consideration of an image analysis result of the front image in the risk increase situation.

In addition, the image looking at the inner wall of the body is an image or a low light image by which the inner wall of the body is identified, and the low light image corresponds to the illuminance that appears when the image sensor is close to or at least partially contacted the inner wall of the body by a predetermined distance or less. It may be a corresponding image.

In addition, the rear handwriting implementation mechanism includes a length calculation sensor that measures a value corresponding to the intubation length of the front traction type endoscope robot in connection with the connection member, and the control unit includes a length calculation sensor detected by the length sensor. If it is determined that the length has not changed for a predetermined time or longer, it may be recognized that the risk of injury to the body has reached a situation of increasing the risk.

In addition, the rear handwriting implementation mechanism simulates a cam driving unit for moving the connecting member forward or backward in the longitudinal direction so that the pull-in or pull-back of the endoscope is simulated, and the twisting of the endoscope. It may include a rotation driving unit for rotating the connection member about the longitudinal direction.

In addition, the cam drive unit is provided to selectively press the other side of the outer circumference of the connecting member according to a support unit disposed to support one side of the outer circumference of the connecting member, an eccentric axis as a center, and in a pressed state It may include a cam unit disposed to move the connecting member forward or backward according to the rotation direction by rotation, and a cam driving force providing unit provided to rotate the cam unit about the eccentric axis.

In addition, the support unit is provided to rotate about an eccentric shaft while maintaining contact with one side of the outer circumference of the connecting member, and the non-eccentric shaft allows the intubation length of the front traction type endoscope robot to be calculated. A length calculation sensor for measuring the rotation angle of the support unit may be installed.

On the other hand, as a technical means for achieving the above technical problem, the high-safety endoscope robot driving control method using the front and rear endoscope robot system according to an embodiment of the present application enables driving in consideration of steering in the body of the endoscope subject. The step of detecting the internal condition by the sensor unit included in the forward traction type endoscope robot including the forward driving force generating unit and the steering unit so as to be intubated into the body, and considering the perceived internal damage risk situation based on the detected internal condition. Thus, it may include controlling the driving of the front traction type endoscope robot.

On the other hand, as a technical means for achieving the above-described technical task, a program for executing a control method for driving a high-safety endoscope robot using a front and rear endoscope robot system according to an embodiment of the present application can be read by a computer recording a program. It may include a recording medium that is present.

The above-described problem solving means are merely exemplary and should not be construed as limiting the present application. In addition to the above-described exemplary embodiments, additional embodiments may exist in the drawings and detailed description of the invention.

According to the above-described problem solving means of the present application, it is possible to improve the convenience of endoscopy procedures by constructing a colonoscopy robot system comprising a front traction type endoscope robot and a rear handwriting implement mechanism, and a control unit that controls it, and endoscopes such as patients. Safety can be maximized by providing a sensor and driving algorithm that can measure the safety of the subject.

According to the above-described problem solving means of the present application, it is possible to save the time and cost required for the operator to learn the insertion technique for colonoscopy, and minimize pain without pretreatment such as sedatives or analgesics when the endoscopic is inserted. It can improve the efficiency of diagnosis of gastrointestinal diseases, and can be used not only in colonoscopy, but also in endoscopy for examination of other areas (such as stomach, small intestine, obstetrics and gynecology, or otolaryngology).

1 is a schematic diagram of an endoscope robot system (device) for a front and rear combined driving method according to an embodiment of the present application.
2 is a three-dimensional view schematically showing a front traction type endoscope robot according to an embodiment of the present application.
3A is a conceptual diagram schematically showing a state viewed from above of a rear handwriting implement mechanism according to an embodiment of the present application.
3B is a conceptual diagram schematically showing a state as viewed from one side of the rear handwriting implement mechanism according to an embodiment of the present application.
3C is a conceptual diagram schematically showing a state as viewed from the front of a rear handwriting implementing mechanism according to an embodiment of the present application.
FIG. 4 is an operation flow diagram of a method for controlling a high safety endoscope robot using a front and rear complex driving endoscope robot system according to an embodiment of the present application.
5 is an operation flowchart of a method of controlling the driving of a front traction type endoscope robot in consideration of a risk of injury to the body according to an embodiment of the present disclosure.
6A to 6C are diagrams for exemplifying image information by an image sensor included in a sensor unit of a front traction type endoscope robot according to an exemplary embodiment of the present disclosure.
7 is a three-dimensional view showing an example of the external shape of the front traction type endoscope robot according to an embodiment of the present application.
8 is a three-dimensional view showing an example of an external appearance of a rear handwriting implement mechanism according to an embodiment of the present application.
9 is a diagram illustrating an algorithm and a scenario for controlling the driving of an endoscope robot for securing high safety by using the front and rear composite driving endoscope system according to an embodiment of the present application.

Hereinafter, exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present application. However, the present application may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts not related to the description are omitted in order to clearly describe the present application, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the present specification, when a part is said to be "connected" with another part, this includes not only the case that it is "directly connected", but also the case that it is "electrically connected" with another element interposed therebetween. do.

Throughout this specification, when a member is positioned "on", "upper", "upper", "under", "lower", and "lower" another member, this means that a member is located on another member. This includes not only the case where they are in contact, but also the case where another member exists between the two members.

In the entire specification of the present application, when a certain part "includes" a certain component, it means that other components may be further included rather than excluding other components unless otherwise stated.

The present application relates to a high-safety endoscope robot driving control method using an endoscope robot system of a front and rear composite drive system and a front and rear composite drive endoscope robot system.

1 is a schematic diagram of an endoscope robot system for front and rear combined driving method according to an embodiment of the present application.

The front and rear endoscope robot system 100 according to an embodiment of the present disclosure is a machine including a front-driven endoscope robot device, a rear handwriting implement mechanism device, and a control device that controls the traveling of the front-driven endoscope robot device. It may be a set of instruments or mechanical devices.

Referring to Figure 1, the front-rear composite driving type endoscope robot system 100 according to an embodiment of the present application is placed in the body of the endoscope subject, a front traction type endoscope robot 110 capable of driving in consideration of steering in the body, The connection member 10 is disposed outside the body of the endoscope subject to control the pull in, pull back and twisting in the intubation direction of the front traction type endoscope robot 110. By this, it may include a rear handwriting implement mechanism 120 connected to the front traction type endoscope robot 110 and a control unit 130 for controlling the driving of the front traction type endoscope robot 110.

For example, the connection member 10 is loaded so as to have a sufficient length to reach the target point in the body of the endoscope operator inside the rear handwriting implementation mechanism 120, and the rear end of the front traction type endoscope robot 110 It refers to a structure that physically connects the rear handwriting implementation mechanism 120 to each other, and examples of such a connection member include, but are not limited to, wires, tubes, and pipes for an endoscope.

2 is a three-dimensional view schematically showing a front traction type endoscope robot according to an embodiment of the present application.

A detailed description of the configuration of the front traction type endoscope robot 110 according to an embodiment of the present application is disclosed in Korean Patent Laid-Open Publication No. 10-1840317, which is a prior registered patent by the same inventor as the inventor of the present application.

Referring to Figure 2, the front traction type endoscope robot 110 according to an embodiment of the present application includes a forward driving force generation unit 111 and a steering unit 112 to enable driving in consideration of steering in the body of the endoscope subject. I can.

According to an embodiment of the present application, the forward driving force generation unit 111 utilizes soft robotics to ensure that the front traction type endoscope robot 110 is straight without damaging the mucous membrane of the inner wall of the endoscope operator's body when driving inside the body. It is possible to make autonomous driving in sections, inclined sections and curved sections.

According to an embodiment of the present application, a part of the forward driving force generating unit 111 may be surrounded by a protection unit, and this protection unit is made of a resin such as polytetrafluoroethylene (PTFE), silicone, and polyurethane, It can minimize the friction with the inner wall of the body.

According to an exemplary embodiment of the present disclosure, the steering unit 112 of the front traction type endoscope robot 110 includes a plurality of elastic bodies having flexibility in the leg portion to improve stability when moving inside the body.

According to an exemplary embodiment of the present disclosure, the steering unit 112 may be formed as a bellows tube, and a plurality of steering wires capable of controlling the bending of the bellows tube may be disposed on the inner circumference of the bellows tube. In order to change the direction of the front traction type endoscope robot 110, some of the plurality of steering wires can be pulled to fold only a specific direction of the bellows tube, through which the operator wants the front traction type endoscope robot It is possible to control the movement direction of (110).

According to an embodiment of the present application, a space for mounting a treatment tool capable of a biopsy operation or a polyp removal operation may be provided at the front end of the front traction type endoscope robot 110.

In addition, referring to FIG. 2, the front traction type endoscope robot 110 according to an exemplary embodiment of the present disclosure may include a sensor unit 113 that detects an internal state of the subject of the endoscope.

According to an embodiment of the present application, the control unit 130 is a front traction type endoscope robot in consideration of a risk of injury to the body recognized based on the internal condition detected by the sensor unit 113 of the front traction type endoscope robot 110. The driving of 110 can be controlled.

According to an exemplary embodiment of the present application, when the controller 130 recognizes a risk of injury to the body recognized based on the internal state detected by the sensor unit 113 as a low-risk situation, the front traction type endoscope robot 110 It is possible to control autonomous driving by the forward driving force generation unit 111, and when the risk of internal damage is recognized as a risk of increased risk than the low-risk situation, the front traction type endoscope robot 110 is autonomously driven. The steering unit 112 can be controlled to be intervened in the body, and when the risk of internal damage is recognized as a high-risk situation in which the risk is higher than that of the risk-rising situation, the front traction type endoscope robot 110 can control the rear handwriting implementation mechanism 120 ) Can be controlled to run.

According to an embodiment of the present application, the risk increase situation is that the forward traction type endoscope robot 110 is passing through an area with a narrow diameter of an endoscopic target organ (such as a large intestine) or an area where the target organ is twisted. Only autonomous driving of the endoscope robot 110 may mean a situation in which it is difficult to pass the corresponding section.

According to an exemplary embodiment of the present disclosure, the controller 130 may recognize that the high risk situation has been reached if the risk of internal damage is maintained for more than a limit time without changing to a low risk situation.

In addition, according to an embodiment of the present application, even after entering the risk rising situation and the high risk situation, due to the intervention of the steering unit 112 or the rear manual device 120, the sensor unit 113 When it is recognized that the high-risk situation has passed and returned to the low-risk situation again, the control unit 130 stops the operation of the steering unit 112 or the rear handwriting implementation mechanism 120, and the forward driving force generation unit 111 It can be controlled to restart autonomous driving.

As described above, according to the present application, an endoscopic robot system for movement, diagnosis, and treatment of an endoscopic subject using a mechanical mechanism may be provided. For example, when the front traction type endoscope robot 110 pulls the endoscope to drive autonomously at the tip, and when the front traction type endoscope robot 110 passes through the internal bulge or binding section where autonomous driving is impossible, this sensor The unit 113 detects it and the control unit 130 operates the steering unit 112 by the detection signal, or operates the rear handwriting implementation mechanism 120 located outside the body, so that the front traction endoscope robot 110 Effective endoscopy can be performed by controlling the intubation operation.

According to an embodiment of the present application, the sensor unit 113 of the front traction type endoscope robot 110 may include a pressure sensor that senses a pressure or force applied to the front end side of the front traction type endoscope robot 110. .

According to an embodiment of the present application, if the control unit 130 determines that the pressure or force sensed by the pressure sensor is greater than or equal to a limit value that may cause rupture or perforation of the inner wall of the body, the risk of damage to the body is a risk increase situation. Can be recognized as reaching

According to an embodiment of the present application, a plurality of pressure sensors may be provided on the front end side of the front traction type endoscope robot 110 at intervals along the circumferential direction, and the controller 130 The steering direction by the steering unit 112 may be determined in consideration of the detection result of each sensor. For example, according to an embodiment of the present disclosure, as a result of detection of the plurality of pressure sensors, a pressure or a measured value of force detected by a pressure sensor located in a specific area is a pressure detected by a pressure sensor located in another area or When the force is measured lower than the measured value, the steering unit 112 may be controlled so that the front traction type endoscope robot 110 is steered in the direction in which the pressure sensor derived from the low measured value is located.

According to an embodiment of the present application, the sensor unit 113 of the front traction type endoscope robot 110 may include a position sensor that detects the position of the front traction type endoscope robot 110, and the control unit 130 If it is determined that the position sensed by the position sensor has not changed for a predetermined time or more, it may be recognized that the risk of injury to the body has reached a situation of increasing the risk.

According to an embodiment of the present application, as an example of the position sensor, an optical fiber-based position and twist measurement sensor (FBG sensor, Fiber Bragg Grating sensor) may be mentioned. The FBG sensor is a sensor using a characteristic in which the wavelength of reflected light changes according to changes in external conditions such as temperature change or pressure after engraving an optical fiber Bragg grating on an optical fiber according to a certain length, and the sensor unit 113 ) Is to measure the wavelength change of light by the position sensor based on the FBG sensor, to recognize the pressure (strain) applied to the front traction endoscope robot 110, or the body position information of the front traction endoscope robot 110 Can grasp.

According to an embodiment of the present application, the sensor unit 113 of the front traction type endoscope robot 110 may include an image sensor provided to acquire a front image of the front traction type endoscope robot 110, and the control unit 130 ), when it is determined that the front image obtained by the image sensor maintains the image facing the inner wall of the body for a predetermined time or longer, it may be recognized that the risk of damage to the body has reached a situation of increasing the risk.

According to an embodiment of the present application, the image looking at the inner wall of the body may be an image or a low light image by which the inner wall of the body is identified, and the low light image is, the image sensor is close to the inner wall of the body by a predetermined distance or less It may be an image corresponding to the illuminance that appears when at least part of the contact is made.

However, in the present application, the low-light image is not limited to the low-light image as an image looking at the inner wall of the body. For example, in a situation where the front traction type endoscope robot 110 is not looking at the inner wall of the body but properly looking at the lumen, the center of the lumen may be low light, so the low light image herein also refers to an image including the center of the lumen, which is low light. can do. In other words, the low-light image as an image looking at the inner wall of the body does not include a low-light image as an image including the center of the lumen, which is low light. That is, the control unit may determine that the image identified as including the center of the lumen does not correspond to a low-light image as an image looking at the inner wall of the body, and the front traction type endoscope robot 110 is too close to the inner wall of the body. Alternatively, it may be determined that a low-light image photographed (acquired) in a close contact corresponds to a low-light image as an image looking at the inner wall of the body.

According to an exemplary embodiment of the present disclosure, the controller 130 may determine a steering direction by the steering unit 112 in consideration of an image analysis result of the front image in the risk increase situation. For example, according to an embodiment of the present application, as a result of image analysis on the front image, when the inner wall partially appears on one side of the image, the steering unit is to steer the front traction type endoscope robot 110 to the other side opposite to one side. (112) can be controlled.

In addition, according to an exemplary embodiment of the present application, when an image analysis result of the front image shows that the image image illuminance increases from one side to the other side, the brightness of the front image increases from one side to the other side. Since it can be recognized that there is a high probability of instructing the correct intra-body driving direction, the steering unit 112 can be controlled so that the front traction type endoscope robot 110 is steered to the other side.

3A to 3C are conceptual diagrams viewed from various directions of the interior of the rear handwriting implementation mechanism in order to explain the configuration of the rear handwriting implementation mechanism according to an embodiment of the present application.

3A to 3C, the posterior manual device 120 according to an embodiment of the present application is a device capable of implementing endoscopic intubation of a gastroenterologist using a mechanical device, and a pull-in of an endoscope Alternatively, the cam driving unit 121 for moving the connecting member 10 forward or backward in the longitudinal direction so that a pull-back is simulated and the connecting member 10 are centered in the longitudinal direction so that the twisting of the endoscope is simulated. It may include a rotation driving unit 122 to rotate.

In addition, according to an embodiment of the present application, the rear handwriting implementation mechanism 120 is a length calculation sensor 123 that measures a value corresponding to the intubation length of the front traction type endoscope robot 110 in connection with the connection member 10 If it is determined that the length detected by the length calculation sensor 123 does not change for a predetermined time or more, the control unit 130 may recognize that the risk of damage to the body has reached a risk increase situation. have.

According to an exemplary embodiment of the present disclosure, as an example of the sensor for calculating the length, an encoder or a tachometer may be used. The encoder may be a device for detecting a rotational angular velocity and a position of a rotating object. The encoder may include an optical encoder and a magnetic encoder according to a means for detecting rotation. The tachometer emits a laser at a rotating object, measures the laser reflected from the rotating object, and calculates the rotation speed of the rotating object based on this.It is used in a device where axis rotation is important to the user. Can be used to determine the number of rotations of the device.

3A is a conceptual diagram schematically showing a state viewed from above of a rear handwriting implement mechanism according to an embodiment of the present application.

3A, the cam driving unit 121 of the rear handwriting implement 120 is a support unit 21 disposed to support one side of the outer periphery of the connecting member 10, and the connecting member according to rotation about an eccentric axis. The cam unit 22 and the cam unit (10) are provided to selectively press the other side of the outer periphery of the outer circumference of (10), and are arranged to move the connecting member 10 forward or backward corresponding to the rotation direction by rotation in the pressed state. It may include a cam driving force providing unit 23 provided to rotate 22) about the eccentric shaft.

For example, the cam driving force providing unit 23 may be a motor, but is not limited thereto, and may be a type of a generator or electric motor that generates rotational force in the cam unit.

According to an embodiment of the present application, when the cam driving force providing unit 23 rotates the cam unit 22 in the first rotation direction, the connection member 10 is advanced along the length direction so that the pull-in of the endoscope can be simulated. , When the cam driving force providing unit 23 rotates the cam unit 22 in a second rotation direction opposite to the first rotation direction, the connection member 10 moves backward along the length direction, so that the pullback of the endoscope can be simulated. . The first rotation direction may mean a rotation direction indicated by an arrow outside the cam unit 22 in FIG. 3A, and the second rotation direction may indicate rotation in a direction opposite to the direction indicated by the arrow. .

According to an embodiment of the present application, the support unit 21 may be provided to rotate about an eccentric axis while maintaining contact with one side of the outer circumference of the connecting member 10, and the non-eccentric axis may be forward traction A length calculation sensor 123 for measuring a rotation angle of the support unit 21 may be installed to calculate the intubation length of the type endoscope robot 110.

In other words, the length calculation sensor 123 measures the rotation angle of the support unit 21 that rotates together with the cam driving unit when the cam driving unit 121 rotates according to the driving of the front traction type endoscope robot 110, According to the driving of the front traction type endoscope robot 110, the connection member 10 can be converted into displacement information that moves from the rear handwriting implement 120 and transmitted to the control unit 130, and the control unit 130 is a normal autonomous driving Based on the error between the intubation length and the displacement information according to the time cam driving, the internal state of the front traction type endoscope robot 110 can be evaluated, and the internal damage risk situation can be recognized based on the internal state.

3B is a conceptual diagram schematically showing a state as viewed from one side of the rear handwriting implement mechanism according to an embodiment of the present application.

Referring to FIG. 3B, the rear handwriting implementation mechanism 120 according to an exemplary embodiment of the present disclosure may include a rotation driving unit 122 and a rotation driving force providing unit 24.

According to the exemplary embodiment of the present disclosure, the rotation driving unit 122 may rotate the connection member 10 about the length direction so that the twisting of the front traction type endoscope robot 110 is simulated. For example, the rotation driving force providing unit 24 may be a motor, but is not limited thereto, and may be a type of a generator or an electric motor that generates a rotational force in the rotation driving unit 122.

3C is a conceptual diagram schematically showing a state as viewed from the front inside of a rear handwriting implement mechanism according to an embodiment of the present application.

3C, the rear handwriting implementation mechanism 120 according to an embodiment of the present application rotates the connection member 10 about the length direction through the rotation of the rotation driving force providing unit 24, thereby making the front traction type endoscope robot. The twisting of (110) can be simulated, and the connection member (10) is advanced in the longitudinal direction while the cam unit (22) and the support unit (21) rotate through the rotation of the cam driving force providing unit (23). It can be moved or moved backward.

3A and 3C together, when the cam unit 22 is driven to rotate around an eccentric axis while the support unit 21 supports one side of the outer circumference of the connecting member 10, the cam unit 22 Whenever the long radius side is rotated while pressing the connecting member 10 by a predetermined or more, the connecting member 10 may be frictionally moved in a direction coincident with the rotation direction of the cam unit 22. At this time, the support unit 21 is provided to be rotatable about an eccentric shaft, so that when the connecting member 10 is moved, it can be rotated while maintaining contact with the outer circumferential side of the connecting member 10.

Referring to FIGS. 3B and 3C together, the rotation driving force providing unit 24 and the rotation driving unit 122 may be connected to each other through gear coupling. That is, when the rotation driving force providing unit 24 is rotationally driven, the gear mounted on the drive shaft of the rotation driving force providing unit 24 is also rotated, and the gear of the rotation driving unit 122 meshed with the gear of the rotation driving force providing unit 24 By receiving the rotational driving force, twisting may be simulated while the connection member 10 rotates about the longitudinal direction (in the x direction based on FIG. 3A ).

As described above, according to the present application, when the front traction type endoscope robot 110 running in the body through the rear handwriting implementation mechanism 120 disposed outside the body of the endoscope subject cannot normally travel in the bent portion or the binding section, the rear handwriting implementation mechanism Through the intervention of (120), effective diagnosis and treatment can be made possible by minimizing the impact and internal damage that may be inflicted on the subject of endoscopy and minimizing the intervention of the operator (doctor) during the endoscopic procedure.

FIG. 4 is an operation flow diagram of a method for controlling a high safety endoscope robot using a front and rear complex driving endoscope robot system according to an embodiment of the present application.

The high safety endoscope robot driving control method shown in FIG. 4 may be performed by the front-rear hybrid endoscope robot system 100 described above. Therefore, even if omitted below, the contents described for the front and rear combined driving endoscope robot system 100 may be equally applied to FIG. 4.

Referring to FIG. 4, in step S410, the forward traction type endoscope robot 110 may be intubated into the body of the subject of the endoscope.

Next, in step S420, the internal state of the endoscope subject may be detected by the sensor unit 113 of the front traction type endoscope robot 110. According to an exemplary embodiment of the present disclosure, the sensor unit 113 may include at least one of a pressure sensor, a position sensor, and an image sensor. In addition, according to an exemplary embodiment of the present disclosure, the internal state may be detected by a sensor 123 for calculating a length provided in the rear handwriting implement 120.

Next, in step S430, it is possible to recognize the risk of damage to the body based on the detected body condition. According to an exemplary embodiment of the present disclosure, the risk of injury to the body may be classified as a low-risk situation, a high-risk situation in which the risk is higher than the low-risk situation, or a high-risk situation in which the risk is higher than the risked rising situation.

Next, in step S440, the controller 130 may control the driving of the front traction type endoscope robot 110 in consideration of the risk of internal damage. According to an embodiment of the present application, the control unit 130 may control the front traction type endoscope robot 110 to autonomously travel by the forward driving force generation unit 111 or control the steering unit 112 to intervene. 130 may control the front traction type endoscope robot 110 to travel by the rear handwriting implementation device 120.

In the above description, steps S410 to S440 may be further divided into additional steps or may be combined into fewer steps, according to an embodiment of the present disclosure. In addition, some steps may be omitted as necessary, and the order between steps may be changed.

5 is an operation flowchart of a method of controlling the driving of a front traction type endoscope robot in consideration of a risk of injury to the body according to an embodiment of the present disclosure.

The method of controlling the driving of the front traction type endoscope robot in consideration of the risk of injury to the body shown in FIG. 5 may be performed by the front-rear hybrid endoscope robot system 100 described above. Therefore, even if omitted below, the contents described for the front and rear combined driving endoscope robot system 100 may be equally applied to FIG. 5.

Referring to FIG. 5, in step S510, the internal state of the body may be detected by the sensor unit 113 of the front traction type endoscope robot 110.

Next, in step S520, the controller 130 may evaluate whether the risk of injury to the body is recognized as a low risk situation.

If, as a result of the evaluation of the above-described control unit 130, the risk of damage to the body is identified as a low-risk situation, in step S530, the control unit 130 transmits the forward traction type endoscope robot 110 to the forward driving force generation unit 111 It can be controlled to drive autonomously.

Conversely, as a result of the evaluation of the control unit 130, when the internal damage risk situation is recognized as a risk increase situation in which the risk is higher than the low risk situation, in step S540, the control unit 130 determines the risk increase situation as a preset limit time. It can be judged whether the abnormality is maintained.

As a result of the determination of the above-described control unit 130, when the risk increase situation is not maintained for more than a preset limit time, in step S550, the control unit 130 controls the autonomous driving of the front traction type endoscope robot 110. 112) can be controlled to intervene.

Conversely, as a result of the determination of the control unit 130, when the risk increase situation is maintained for more than a preset limit time, in step S560, the control unit 130 recognizes the internal damage risk situation as a high risk situation, and the front traction endoscope The robot 110 may be controlled to be driven by the rear handwriting implement mechanism 120.

In the above description, steps S510 to S560 may be further divided into additional steps or may be combined into fewer steps, according to an embodiment of the present disclosure. In addition, some steps may be omitted as necessary, and the order between steps may be changed.

6A to 6C are diagrams for exemplifying image information by an image sensor included in a sensor unit of a front traction type endoscope robot according to an exemplary embodiment of the present disclosure.

6A to 6C, according to an embodiment of the present application, using the image information from the image sensor, it is possible to predict or guide the driving route of the front traction type endoscope robot 110, and Based on the shape or roughness of the inner wall (wrinkle), it is possible to predict whether or not to run normally and the correct travel path.

7 is a three-dimensional view showing an example of the external shape of the front traction type endoscope robot according to an embodiment of the present application.

Referring to Figure 7, the front traction type endoscope robot 110 according to an embodiment of the present application may be made of a material having flexibility to ensure the safety of the endoscope subject, and is based on a flexible robot technology to suit the internal environment. It may include a steering module. In addition, a working channel for diagnosis or treatment may be provided at the tip of the front traction type endoscope robot.

8 is a three-dimensional view showing an example of an external appearance of a rear handwriting implement mechanism according to an embodiment of the present application.

Referring to FIG. 8, the apparatus 120 for implementing rear handwriting according to an embodiment of the present disclosure may include a power transmission device for driving the front traction type endoscope robot, and may include an active steering module control device. . In addition, the steering module control device can be designed by installing an optimal driving module to have a high degree of freedom.

9 is a diagram illustrating an algorithm and a scenario for controlling the driving of an endoscope robot for securing high safety by using the front and rear combined driving endoscope system according to an embodiment of the present application.

Referring to Figure 9, the front and rear combined driving type endoscope system 100 according to an embodiment of the present application is obtained by at least one of a pressure sensor, a position sensor, or an image sensor while driving the front traction type endoscope robot 110 By collecting force information applied to the front traction type endoscope robot 110, position information of the endoscope robot, or image information by an image sensor, the internal state of the front traction type endoscope robot 110 can be analyzed in real time. , It is possible to perform a safety assessment based on the collected body condition.

In addition, according to the result of the safety evaluation, the front and rear combined driving endoscope system 100 is a low-risk situation in which the front towed robot 110 is autonomously traveling, and the steering unit ( 112) is intervened or the rear handwriting implementation device 120 intervenes and is divided into a high-risk situation that simulates the handwriting of pull-in, pull-back, or twisting. , The case where the front and rear combined driving type endoscope system 100 operates in the plurality of situations may be referred to as Mode 1, Mode 2, and Mode 3, respectively.

The high-safety endoscope robot driving control method using the front and rear endoscope robot system according to an embodiment of the present application is implemented in the form of a program command or application that can be executed through various computer means and recorded in a computer-readable medium. I can. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of the program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The above-described hardware device may be configured to operate as one or more software modules to perform the operation of the present invention, and vice versa.

In addition, the high safety endoscope robot driving control method using the above-described front and rear endoscope robot system may be implemented in the form of a computer program or application executed by a computer stored in a recording medium.

The foregoing description of the present application is for illustrative purposes only, and those of ordinary skill in the art to which the present application pertains will be able to understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present application. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

The scope of the present application is indicated by the claims to be described later rather than the detailed description, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present application.

100: Front and rear combined driving endoscope robot system
110: front towed endoscope robot
120: rear handwriting implementation mechanism
130: control unit
10: connection member
111: forward driving force generation unit
112: steering unit
113: sensor unit
121: cam drive unit
122: rotation drive unit
123: sensor for length calculation
21: support unit
22: cam unit
23: cam driving force providing unit
24: rotation driving force providing unit

Claims (13)

As an endoscope robot system with front and rear combined drive method,
A forward traction type endoscope robot including a forward driving force generating unit and a steering unit so as to be intubated into the body of a subject of the endoscope and allow driving in consideration of steering in the body;
A rear handwriting implementation device disposed outside the body of the endoscope subject and connected to the front traction type endoscope robot by a connecting member to control the forward and backward movement in the intubation direction and the rotation movement in the intubation direction of the forward traction type endoscope robot; And
Including a control unit for controlling the driving of the front traction type endoscope robot,
The front traction type endoscope robot includes a sensor unit for detecting an internal state,
The control unit controls the driving of the front traction type endoscope robot in consideration of the recognized danger of internal damage based on the detected internal state,
The rear handwriting implementation mechanism,
A cam driving unit for moving the connecting member forward or backward in the longitudinal direction so as to simulate pull-in or pull-back of the endoscope; And
The endoscope robot system comprising a rotation driving unit for rotating the connection member about a longitudinal direction so that twisting of the endoscope is simulated. The method of claim 1,
The control unit,
When the risk of injury to the body is recognized as a low-risk situation, the front traction endoscope robot is controlled to run autonomously by the forward driving force generating unit,
When the risk of internal damage is recognized as a high-risk situation in which the risk is higher than that of the low-risk situation, the steering unit is controlled to intervene in the autonomous driving of the front traction type endoscope robot,
When the risk of internal damage is recognized as a high-risk situation in which the risk is higher than that of the risk-increased situation, the front traction type endoscope robot is controlled to travel by the rear handwriting implement mechanism. The method of claim 2,
The control unit is to recognize that the high-risk situation has been reached when the risk-rising situation is maintained for more than a limit time without changing the risk of internal damage to a low-risk situation. The method of claim 2,
The sensor unit includes a pressure sensor for sensing a pressure or force applied to the front end side of the front traction type endoscope robot,
The control unit, when it is determined that the pressure or force sensed by the pressure sensor is greater than or equal to a limit value that may cause rupture or perforation of the inner wall of the body, recognizes that the risk of damage to the body has reached a situation of increasing the risk, An endoscope robot system with a front and rear combined drive method. The method of claim 2,
The sensor unit includes a position sensor for detecting the position of the front traction type endoscope robot,
The control unit, when it is determined that the position sensed by the position sensor does not change for a predetermined time or more, recognizes that the internal damage risk situation has reached a risk increase situation, the front-rear hybrid driving type endoscope robot system. The method of claim 2,
The sensor unit includes an image sensor provided to acquire a front image of the front traction type endoscope robot,
When it is determined that the front image acquired by the image sensor maintains the image facing the inner wall of the body for a predetermined time or longer, the control unit recognizes that the risk of damage to the body has reached a situation of increasing the risk. Driven endoscope robot system. The method of claim 6,
The control unit is to determine a steering direction by the steering unit in consideration of an image analysis result of the front image in the risk increase situation, a front-rear hybrid endoscope robot system. The method of claim 2,
The rear handwriting implement mechanism includes a length calculation sensor for measuring a value corresponding to the intubation length of the front traction type endoscope robot in connection with the connection member,
The control unit, when it is determined that the length sensed by the length sensor does not change for a predetermined time or more, recognizes that the internal damage risk situation has reached a risk increase situation, the front and rear combined driving type endoscope robot system. delete The method of claim 1,
The cam driving unit,
A support unit disposed to support one side of the outer periphery of the connecting member;
A cam unit provided to selectively press the other side of the outer circumference of the connecting member according to rotation about an eccentric shaft, and arranged to move the connecting member forward or backward according to the rotation direction by rotation in the pressed state; And
It will include a cam driving force providing unit provided to rotate the cam unit about the eccentric axis, the front and rear composite driving type endoscope robot system. The method of claim 10,
The support unit is provided to rotate around an eccentric axis while maintaining contact with one side of the outer circumference of the connecting member,
The non-eccentric shaft is provided with a length calculation sensor for measuring the rotation angle of the support unit so as to calculate the intubation length of the front traction type endoscope robot. A high safety endoscope robot driving control method using the front and rear composite driving endoscope robot system according to claim 1,
(a) detecting the internal state of the body by a sensor unit included in a forward traction type endoscope robot including a forward driving force generating unit and a steering unit to enable driving in consideration of steering in the body of an endoscope subject; And
(b) Controlling the driving of the front traction type endoscope robot in consideration of the recognized danger of injury to the body based on the detected internal state. A computer-readable recording medium storing a program for executing the method of claim 12 on a computer.

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