KR102616257B1 - Hysteresis compensation apparatus of flexible tube and method thereof - Google Patents

Abstract

The present invention relates to a hysteresis compensation control device and method for a flexible tube, and more specifically, to a hysteresis compensation control device and method for a flexible tube for compensating and controlling the hysteresis of a surgical tool disposed in a channel of an overtube. It's about. For this purpose, an input unit receives the image information and wire tension information of the flexible surgical tool required for mode switching, determines the current state of the surgical tool based on the image information of the surgical tool, and sends a control mode change signal according to the current state of the surgical tool. A mode switching determination unit that generates, a mode switching unit that switches the control mode from flexible tube control based on image information to flexible tube control based on tension information according to the control mode change signal from the mode switching determination unit, and a learning model. A hysteresis compensation control device for a flexible tube is disclosed, which includes a compensation control unit that compensates and controls a flexible tube having hysteresis characteristics based on the tension error value calculated by .

Description

Hysteresis compensation apparatus of flexible tube and method thereof}

The present invention relates to a hysteresis compensation control device and method for a flexible tube, and more specifically, to a hysteresis compensation control device and method for a flexible tube for compensating and controlling the hysteresis of a surgical tool disposed in a channel of an overtube. It's about.

As shown in Figure 1, the flexible overtube 10 includes a plurality of flexible surgical tools 21 and 22. A plurality of flexible surgical tools 21 and 22 are inserted and arranged into each channel 11 and 12 provided in the body of the overtube. As an example, the position and direction of the first surgical tool 21 can be controlled by being pulled by first and second traction wires (not shown).

The flexible surgical tool has a hysteresis section as shown in FIG. 2. In other words, even if the same traction force is given, a hysteresis section occurs depending on the shape of the flexible overtube or surgical tool. Control of the overtube or surgical tool in this hysteresis occurrence section has the disadvantage of not being precise.

US 2019/0290109

Accordingly, the present invention was created to solve the problems described above, and its purpose is to provide an invention that can precisely control a flexible surgical tool even within a hysteresis section.

However, the objects of the present invention are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the description below.

The purpose of the present invention described above is to determine the current state of the surgical tool based on the input unit that receives image information and tension information of the flexible surgical tool required for mode switching, and the image information of the surgical tool, and to determine the current state of the surgical tool according to the current state of the surgical tool. Mode switching judgment unit that generates a control mode change signal, a mode that switches the control mode from flexible overtube control based on image information to flexible overtube control based on tension information according to the control mode change signal from the mode switching judgment unit. This can be achieved by providing a hysteresis compensation control device for a flexible overtube, which includes a switching unit and a compensation control unit that compensates and controls a flexible surgical tool with hysteresis characteristics based on the tension error value calculated by the learning model. .

In addition, the image information that determines the current state of the surgical tool is image information taken of the tip area of the surgical tool that is inserted into the channel of the body of the flexible overtube and pulled by the traction wire.

In addition, the input unit is inserted into the channel of the body of the overtube and includes a surgical tool image capture unit for photographing the surgical tool, a tension measurement unit for measuring the traction force of the traction wire of the surgical tool, and a surgical tool image capture unit photographed by the surgical tool image capture unit. The current state of the surgical tool is determined by transmitting image information of the tip area to the mode switching determination unit.

Additionally, the mode switching determination unit determines whether control is possible in the flexible overtube control mode based on image information based on image information of the tip area of the surgical tool.

In addition, the image information learning unit learns according to a preset learning model based on the image information of the surgical tool and calculates the image error value through learning, and learns according to a preset learning model based on the tension information of the surgical tool, It further includes a tension information learning unit that calculates the tension error value through learning.

Meanwhile, the purpose of the present invention is to generate a first control mode change signal by determining the current state of the surgical tool based on the image information of the flexible surgical tool or to use predefined tension control modeling based on the tension information of the flexible surgical tool. a mode switching determination unit that generates a second control mode change signal by determining whether the mode is applicable; an image mode switching unit that switches the control mode from flexible overtube control based on tension information to flexible overtube control based on image information; A tension mode switching unit that switches the control mode from flexible overtube control based on image information to flexible overtube control based on tension information, and hysteresis characteristics using compensation error values generated based on tension information or image information. This can be achieved by providing a hysteresis compensation control device for a flexible overtube, which includes a compensation control unit for compensation control of a flexible surgical tool having.

Additionally, the first control mode change signal is generated when the tip area of the surgical tool included in the image information for determining the current state of the surgical tool is not visible or is obscured by another surgical tool.

Additionally, the tension mode switching unit switches the control mode according to the first control mode change signal.

Additionally, the second control mode change signal is generated when there is a change in the load of the surgical tool or when one of the plurality of tension measurement values of the surgical tool is zero and does not correspond to tension control modeling.

Additionally, the image mode switching unit switches the control mode according to the second control mode change signal.

Meanwhile, the purpose of the present invention is to compensate and control a flexible surgical tool having hysteresis characteristics based on image information of the flexible surgical tool, and determine whether the surgical tool is visible based on image information that determines the current state of the surgical tool. , if it is determined that the surgical tool is not visible, switching the control mode from compensation control based on image information to compensation control based on tension information, compensating and controlling the flexible surgical tool with hysteresis characteristics based on the tension information of the flexible surgical tool. This can be achieved by providing a hysteresis compensation control method of a flexible overtube, comprising the steps:

Additionally, after the control mode is changed from compensation control based on image information to compensation control based on tension information,

A step of determining whether the flexible surgical tool corresponds to predefined tension control modeling based on tension information. If it is determined that it does not correspond to predefined tension control modeling, control is changed from compensation control based on tension information to compensation control based on image information. It includes switching modes and compensatingly controlling a flexible surgical tool having hysteresis characteristics based on image information of the flexible surgical tool.

According to the present invention as described above, there is an effect of precisely controlling a flexible surgical tool even within a hysteresis section.

The following drawings attached to this specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical idea of the present invention along with the detailed description of the invention. Therefore, the present invention is limited to the matters described in such drawings. It should not be interpreted in a limited way.
1 is a diagram showing a flexible overtube according to an embodiment of the present invention,
Figure 2 is a diagram showing the hysteresis characteristics or curve of a flexible surgical tool according to an embodiment of the present invention.
Figure 3 is a diagram showing the approximate configuration of a hysteresis compensation control device for a flexible overtube according to an embodiment of the present invention;
Figure 4 is a diagram sequentially explaining the control mode switching from image information-based hysteresis compensation control to tension information-based hysteresis compensation control according to an embodiment of the present invention;
Figure 5 shows the control mode changed from the image information-based hysteresis compensation control to the tension information-based hysteresis compensation control according to an embodiment of the present invention, and then the control mode is changed from the tension information-based hysteresis compensation control to the image information-based hysteresis compensation control. This is a diagram sequentially explaining change and switching.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In addition, one embodiment described below does not unduly limit the content of the present invention described in the claims, and it cannot be said that all of the configurations described in this embodiment are essential as a solution to the present invention. In addition, descriptions of matters that are obvious to those skilled in the art and skilled in the art may be omitted, and descriptions of such omitted components (methods) and functions may be sufficiently referenced without departing from the technical spirit of the present invention.

A hysteresis compensation control device for a flexible tube according to an embodiment of the present invention is a device that compensates and controls hysteresis occurring in a flexible tube. At this time, the flexible tube is a tube that is driven or pulled by a wire, and examples include a flexible overtube or a flexible surgical tool or flexible robotic surgical tool inserted into a channel of the flexible overtube. Hereinafter, the flexible overtube 10 or the flexible surgical tool 21 and 22 will be described as an example of a flexible tube.

The flexible overtube 10 has a flexible tube body and a flexible surgical tool is inserted into the channel of the tube. The flexible overtube 10 is inserted into the human body and is a device that performs surgery on the human body by controlling the position and orientation of the flexible tube and surgical tools through a traction wire.

As shown in FIG. 1, the flexible overtube 10 (or tube) includes an overtube body 10a having a flexible body, first and second tubes formed inside the overtube body 10a and having a preset diameter. It includes 3 channels (11, 12, 13), surgical tools and a camera unit inserted into each channel. As shown in Figure 1, the first surgical tool 21 is inserted into the first channel 11, the second surgical tool 22 is inserted into the second channel 12, and the third channel 13 is inserted. The camera unit 23 may be inserted. However, the number of channels and surgical tools may be changed as needed. A camera unit 23 and a surgical tool inserted into each channel protrude from the front end of the overtube body 10a. Accordingly, the camera unit 23 can capture images of the front, and each surgical tool can control surgery to pinch or excise tissue according to the manipulation of the traction wire (or drive wire). An operating unit (or control unit, not shown) that can manipulate a traction wire (not shown) is disposed at the rear end of the overtube body 10a. The traction wire is connected from the operating unit to the overtube body or the front end of the surgical tool. Therefore, the position and direction of the traction wire can be controlled by the user's manipulation of the control panel. At this time, as an example, in order to control the position and direction of the flexible overtube body 10a, the first traction wire 10b and the second traction wire 10c are adjusted by the operating unit, so that the position and direction can be changed according to the traction force. . And, just as the position and direction control of the flexible overtube body 10a, the position and direction control of each surgical tool can be explained using the same principle.

Meanwhile, as shown in FIG. 2, the flexible overtube body 10a or the flexible surgical tools 21 and 22 have a linear slope section according to the traction force of the traction wire to control the position and direction of the surgical tool. You can. However, when controlling a surgical tool using a traction wire, even though the same traction force is provided as shown in FIG. 2, there are sections where the position and direction cannot be consistently controlled to correspond to the traction force. This section can be called a hysteresis area, and in this hysteresis area, the position and direction control of the surgical tool may vary even if the traction force is the same. The reason why this hysteresis occurs is, for example, when a flexible surgical tool or flexible overtube is inserted into the body, its shape or twist may change, which may cause friction between the wire and the wire sheath, or wire elongation due to the use of a traction wire ( elongation may be the cause. Additionally, slack in the wire may cause a so-called dead zone in which there is no change in output even though a control command is input to tow the wire. Additionally, it may be caused by un-uniform tube characteristics due to sheaths or wires within the flexible overtube.

Therefore, in the present invention, the surgical tool can be precisely controlled by compensating and controlling the flexible surgical tool having such hysteresis characteristics.

(Configuration and function of hysteresis compensation control device of flexible overtube)

As shown in Figure 3, the hysteresis compensation control device for a flexible overtube according to an embodiment of the present invention includes an input unit 110, a mode switching determination unit 120, a mode switching unit 130, and a learning unit 140. , and includes a compensation control unit 150.

The input unit 110 receives image information and tension information of the flexible surgical tool required for mode switching for hysteresis control. For this purpose, the input unit 110 includes a surgical tool image capturing unit 111, a tension measuring unit 112, a tension change calculation unit 113, and a tension input value comparison determination unit 114.

The surgical tool image capturing unit 111 is inserted into the third channel 13, and the end effector of the first surgical tool 21 or the tip 21a of the surgical tool is inserted into the first channel 11 and is the subject of hysteresis compensation control. ) Create a captured image of the area. At this time, if the control object is the second surgical tool 22, the second surgical tool 22 may be photographed, and, if necessary, both the first and second surgical tools 21 and 22 may be photographed. Meanwhile, the surgical tool image capture unit 111 may be fixed or inserted and fixed into the channel in a structure that allows movement control as needed. At this time, it is desirable that the shooting conditions of the camera actually inserted into the body for surgery exactly match the shooting position, shooting angle, or shooting area of the surgical tool already used for learning in the learning unit 140.

The tension measuring unit 112 measures the traction force of the traction wire of the surgical tool. To measure the traction force, for example, a tension measuring sensor may be placed to measure the tension of the traction wire, or the load of the motor that drives the traction wire placed on the operating unit may be measured.

As shown in Figure 5, after the control mode is switched from the surgical tool hysteresis compensation control based on image information to the surgical tool hysteresis compensation control based on tension information, the mode is additionally switched back to the surgical tool hysteresis compensation control based on image information. It includes a tension change calculation unit 113 and a tension input value comparison determination unit 114.

The tension change amount calculation unit 113 operates when there is no load on the first surgical tool 21, which is the object of hysteresis compensation control, and then a load is suddenly applied, or when a load is applied to the first surgical tool 21 and then the load disappears. Calculate the amount of change in the wire tension value. In order to control one surgical tool with a traction wire, each of the two traction wires must be manipulated as shown in FIG. 1 described above, and accordingly, wire tension or traction force measuring sensors for the first and second traction wires are required.

However, for convenience of explanation, each is described as one traction wire. In reality, 2 traction wires are needed to move 1 degree of freedom, and in the case of 2 degrees of freedom, a total of 4 traction wires are needed. Additionally, one drive motor is required per traction wire, or it can be driven with one drive motor per 2 traction wires.

The tension change calculation unit 113 calculates the change in tension value measured by each measurement sensor. By comparing the amount of change in tension value, you can know when it changes from no load to load or from load to no load. In these two cases, hysteresis compensation control based on tension information is difficult, so the control mode must be switched. In other words, in this case, it is necessary to change from tension information-based control to image information-based control.

The tension input value comparison determination unit 114 finds a case where one of the tension or traction measurement values (or tension values) of the above-described first and second wires is '0'. If one of the tension values of the first and second wires is '0', hysteresis compensation control based on tension information is difficult and the control mode must be switched. In other words, in this case, it is necessary to change from tension information-based control to image information-based control. Hereinafter, the description will be made assuming that the hysteresis compensation control object is the first surgical tool 21. However, hysteresis compensation control of the second surgical tool 22 can also be explained using the same principle.

The mode switching determination unit 120 according to an embodiment of the present invention determines the current state of the first surgical tool 21 based on the image information of the flexible first surgical tool 21, thereby generating a first control mode change signal ( A signal generated to enable mode switching from image information-based hysteresis compensation control to tension information-based hysteresis compensation control) is generated.

The mode switching determination unit 120 determines whether it corresponds to predefined tension control modeling based on the tension information of the flexible first surgical tool 21, thereby transmitting a second control mode change signal (from tension information-based hysteresis compensation control to image information-based A signal generated to enable mode switching through hysteresis compensation control) is generated.

Image information for determining the current state of the first surgical tool 21 is image information obtained by photographing the tip 21a area of the first surgical tool 21.

The mode switching determination unit 120 includes an image analysis and determination unit 121 and a tension modeling analysis and determination unit 122.

The image analysis and determination unit 121 receives a captured image of the tip area of the first surgical tool 21 from the surgical tool image capturing unit 111. The current state of the first surgical tool 21 can be determined through the received captured image. That is, by analyzing the captured image, if the tip area of the first surgical tool 21 included in the captured image is not visible or the first surgical tool 21 is obscured by the second surgical tool 22, image information is provided. Since based compensation control cannot be performed, the image analysis and determination unit 121 generates a first control mode change signal. According to the generation of the first control mode change signal, the control mode is switched from image information-based hysteresis compensation control to tension information-based hysteresis compensation control.

The tension modeling analysis and determination unit 122 determines whether it corresponds to tension control modeling according to the input value of the tension change amount calculation unit 113 or the tension input value comparison determination unit 114, and performs tension control modeling according to the determination. If it is determined that it is not applicable, hysteresis compensation control based on tension information can no longer be performed, so a second control mode change signal is generated to switch the control mode. That is, the control mode is switched from tension information-based hysteresis compensation control to image information-based hysteresis compensation control. At this time, as an example of a case that does not correspond to tension control modeling, there is a change in the load of the first surgical tool 21 (when there is no load and then a load is applied, when a load is applied and then the load disappears) or the first This is a case where one of the tension measurement values of the first and second traction wires for pulling the surgical tool 21 is '0'. The above-described example is a case where the prediction model is not assumed during deep learning learning by the tension information learning unit 142, which will be described later, and in this case, hysteresis compensation control cannot be performed based on tension information. Therefore, switching of control modes is necessary.

The mode switching unit 130 according to an embodiment of the present invention includes an image mode switching unit 131 and a tension mode switching unit 132.

The image mode switching unit 131 performs the first surgery based on tension information in the compensation control of the first surgical tool 21 based on image information according to the first control mode change signal from the image analysis and determination unit 121. Tool (21) switches the control mode to compensation control.

The tension mode switching unit 132 controls the compensation control of the first surgical tool 21 based on image information according to the second control mode change signal from the tension modeling analysis and determination unit 122 to the first compensation control based on tension information. Switch the control mode to compensation control for the surgical tool (21).

The learning unit 140 according to an embodiment of the present invention performs deep learning or machine learning based on image information or tension information, and calculates an image error value or a tension error value through learning, respectively. For this purpose, the learning unit 140 includes an image information learning unit 141 and a tension information learning unit 142.

The image information learning unit 141 performs machine learning or deep learning based on the captured image of the tip 21a area of the first surgical tool 21. Therefore, it is desirable that the shooting conditions of the camera 23 for acquiring images necessary for learning and the shooting conditions of the camera 23 when actually inserted into the body match each other. The image information learning unit 141 calculates an image compensation control value or an image compensation error value corresponding to the image of the first surgical tool 21 currently captured and inserted into the body through learning according to a predefined learning model. The image compensation error value is transmitted to the compensation control unit 150. Of course, the image compensation error value generated at this time may be information related to the driving of the traction wire drive motor for actually driving the first surgical tool.

The tension information learning unit 142 performs machine learning or deep learning based on the tension information of the traction wire of the first surgical tool 21. The tension information learning unit 142 calculates a tension compensation control value or a tension compensation error value corresponding to the tension measurement value of the first surgical tool 21 inserted into the body by learning according to a predefined learning model. The tension compensation error value is transmitted to the compensation control unit 150.

The compensation control unit 150 compensates and controls the first surgical tool 21 having a hysteresis curve based on the image compensation error value or the tension compensation error value. For this purpose, the compensation control unit 150 includes an image information-based hysteresis compensation control unit 151 and a tension information-based hysteresis compensation control unit 152.

The image information-based hysteresis compensation control unit 151 controls the first surgical tool 21 with hysteresis compensation using the image compensation error value. In other words, hysteresis compensation is controlled using the image compensation error value calculated through learning based on the image information of the currently captured first surgical tool.

The tension information-based hysteresis compensation control unit 152 controls the first surgical tool 21 with hysteresis compensation using the tension compensation error value. That is, hysteresis compensation is controlled using the tension compensation error value calculated through learning based on the currently measured tension information of the first surgical tool.

(Hysteresis compensation control method for flexible overtube)

The hysteresis compensation control method of a flexible overtube according to an embodiment of the present invention includes a first method in which the control mode is changed from the image information-based compensation control shown in FIG. 4 to the tension information-based compensation control and the image information shown in FIG. 5. A second method in which the control mode is changed from based compensation control to tension information-based compensation control, and then again from tension information-based compensation control to image information-based compensation control will be described below.

As shown in FIG. 4, tension information-based compensation control in image information-based compensation control can be achieved by performing the following steps.

The compensation control unit 150 first compensates and controls the first surgical tool 21 having a hysteresis curve based on the image information of the first surgical tool 21 (S11). In more detail, the image information-based hysteresis compensation control unit 151 controls the tension of the traction wire of the first surgical tool 21 based on the image information of the first surgical tool 21.

At this time, the image analysis and determination unit 121 determines whether the first surgical tool 21 is visible based on image information that determines the current state of the first surgical tool 21. When the first surgical tool 21 is obscured or disappears from the field of view of the camera unit 23, the current state of the first surgical tool 21 is determined because image information-based compensation control can no longer be performed (S12).

As a result of the determination, if it is determined that the surgical tool is not visible, the mode switching unit 130 switches the control mode from compensation control based on image information to compensation control based on tension information (S13).

According to the switching of the control mode, the tension information-based hysteresis compensation control unit 152 compensates and controls the first surgical tool 21 having a hysteresis curve based on the tension information of the first surgical tool 21.

Meanwhile, as shown in FIG. 5, after performing tension information-based compensation control in image information-based compensation control, image information-based compensation control can be performed again by performing the following steps.

First, as shown in FIGS. 4 and 5, steps S11 to S14 are the same. The tension information-based hysteresis compensation control unit 152 compensates and controls the first surgical tool 21 based on the tension information of the first surgical tool 21.

The tension modeling analysis and determination unit 122 corresponds to predefined tension control modeling based on the tension information of the first surgical tool 21 after the control mode is changed from compensation control based on image information to compensation control based on tension information. Determine whether it is done (S15). This is because compensation control based on tension information can no longer be performed in cases that do not correspond to tension control modeling.

As a result of the determination, if it is determined that it does not correspond to the predefined tension control modeling, the image mode switching unit 131 switches the control mode from compensation control based on tension information to compensation control based on image information (S16).

According to the switching of the control mode, the image information-based hysteresis compensation control unit 151 compensates and controls the first surgical tool 21 having a hysteresis curve based on the image information of the first surgical tool 21.

In explaining the present invention, matters that are obvious to those skilled in the art and skilled in the art may be omitted, and descriptions of such omitted components (methods) and functions may be sufficiently referenced without departing from the technical spirit of the present invention. You will be able to. In addition, the components of the present invention described above are only described for the convenience of explaining the present invention, and components not described herein may be added without departing from the technical spirit of the present invention.

The description of the configuration and function of each part described above is explained separately from each other for convenience of explanation, and if necessary, one configuration and function may be implemented by integrating with other components, or may be implemented in further detail.

Although the present invention has been described above with reference to one embodiment, the present invention is not limited to this, and various modifications and applications are possible. That is, those skilled in the art will easily understand that many modifications are possible without departing from the gist of the present invention. In addition, it should be noted that if a specific description of the known functions and their configurations related to the present invention or the combination relationship between each component of the present invention is judged to unnecessarily obscure the gist of the present invention, the detailed description has been omitted. something to do.

10: Flexible overtube
10a: Overtube body
10b: first traction wire
10c: second traction wire
11: 1st channel
12: 2nd channel
13: Third channel
21: first surgical tool
21a: End effector or surgical tool tip
22: Second surgical tool
22a: End effector or surgical tool tip
23: Camera unit
110: input unit
111: Surgical tool image recording unit
112: Tension measuring unit
113: Tension change calculation unit
114: Tension input value comparison determination unit
120: mode switching determination unit
121: Image analysis and judgment unit
122: Tension modeling analysis and judgment unit
130: mode switching unit
131: Image mode switching unit
132: Tension mode switching unit
140: Learning Department
141: Image information learning unit
142: Tension information learning department
150: compensation control unit
151: Image information-based hysteresis compensation control unit
152: Tension information-based hysteresis compensation control unit

Claims (12)

An input unit that receives image information and wire tension information of flexible surgical tools required for mode switching,
A mode switching determination unit that determines the current state of the surgical tool based on image information of the surgical tool and generates a control mode change signal according to the current state of the surgical tool;
A mode switching unit that switches the control mode from flexible tube control based on image information to flexible tube control based on tension information in accordance with a control mode change signal from the mode switching determination unit,
A hysteresis compensation control device for a flexible tube, comprising a compensation control unit that compensates and controls a flexible tube having hysteresis characteristics based on the tension error value calculated by the learning model.
According to claim 1,
Image information that determines the current state of the surgical tool is,
A hysteresis compensation control device for a flexible tube, characterized in that it is image information obtained by photographing the tip area of a surgical tool inserted into a channel of the body of the tube and pulled by a traction wire.
According to claim 2,
The input unit,
A surgical tool image capture unit that is inserted into the channel of the body of the tube and takes pictures of the surgical tool inserted in the channel,
It includes a tension measuring unit that measures the traction force of the traction wire of the surgical tool,
A hysteresis compensation control device for a flexible tube, characterized in that the current state of the surgical tool is determined by transmitting image information of the tip area of the surgical tool captured by the surgical tool image capture unit to the mode switching determination unit.
According to claim 3,
The mode switching determination unit,
A hysteresis compensation control device for a flexible tube, characterized in that it determines whether control is possible in a flexible tube control mode based on image information based on image information of the tip area of the surgical tool.
According to claim 1,
An image information learning unit that learns according to a preset learning model based on the image information of the surgical tool and calculates an image error value through learning;
A hysteresis compensation control device for a flexible tube, further comprising a tension information learning unit that learns according to a preset learning model based on the tension information of the surgical tool and calculates a tension error value through learning.
A first control mode change signal is generated by determining the current state of the surgical tool based on image information of the flexible surgical tool, or by determining whether it corresponds to predefined tension control modeling based on tension information of the flexible surgical tool. 2 A mode switching determination unit that generates a control mode change signal,
An image mode switching unit that switches the control mode from flexible tube control based on the tension information to flexible tube control based on the image information,
A tension mode switching unit that switches the control mode from flexible tube control based on the image information to flexible tube control based on the tension information,
A hysteresis compensation control device for a flexible tube, comprising a compensation control unit that compensates and controls a flexible tube having hysteresis characteristics using a compensation error value generated based on the tension information or image information.
According to claim 6,
The first control mode change signal is,
A hysteresis compensation control device for a flexible tube, characterized in that it is generated when the tip area of the surgical tool included in the image information for determining the current state of the surgical tool is not visible or is obscured by another surgical tool.
According to claim 7,
The tension mode switching unit,
A hysteresis compensation control device for a flexible tube, characterized in that the control mode is switched according to the first control mode change signal.
According to claim 6,
The second control mode change signal is,
Hysteresis compensation of a flexible tube, characterized in that generated when there is a change in the load of the surgical tool or when one of the plurality of tension measurement values of the surgical tool is zero and does not correspond to the tension control modeling. Control device.
According to clause 9,
The image mode switching unit,
A hysteresis compensation control device for a flexible tube, characterized in that the control mode is switched according to the second control mode change signal.
A hysteresis compensation control device compensatingly controlling a flexible surgical tool having hysteresis characteristics based on image information of the flexible surgical tool, which is a flexible tube;
The control device determining whether the surgical tool is visible based on image information that determines the current state of the surgical tool,
When the control device determines that the surgical tool is not visible, switching the control mode from compensation control based on the image information to compensation control based on tension information,
A hysteresis compensation control method for a flexible tube, comprising the step of the control device compensatingly controlling a flexible surgical tool having hysteresis characteristics based on tension information of the flexible surgical tool.
According to claim 11,
After the control mode is changed from compensation control based on the image information to compensation control based on tension information,
Determining whether it corresponds to predefined tension control modeling based on the tension information of the flexible surgical tool,
If it is determined that it does not correspond to predefined tension control modeling, switching the control mode from compensation control based on the tension information to compensation control based on image information;
A hysteresis compensation control method for a flexible tube, comprising the step of compensating and controlling a flexible surgical tool having hysteresis characteristics based on image information of the flexible surgical tool.