KR20200135106A - Master device for manipulating active steering catheter and catheter system capability controlling bidirection of active steering catheter and master device - Google Patents

Abstract

The present invention relates to a master device and a catheter system and, more particularly, to a master device for operating an active steering catheter and a catheter system capable of bidirectional control of the active steering catheter and the master device. The catheter system according to an embodiment of the present invention comprises: an active steering catheter comprising a catheter capable of insertion and bending motion and outputting catheter information including information on a force acting on a tip of the catheter and direction information on the tip of the catheter; a master device including an operation handle capable of three-dimensional direction expression and outputting master information including three-dimensional direction information of the operation handle; a mapping system for outputting a three-dimensional target model and a three-dimensional catheter model on a display screen and outputting screen information of the display screen; and a control unit for controlling the master device and the active steering catheter based on the catheter information, the master information, and the screen information so that the three-dimensional direction indicated by the operation handle of the master device coincides with the direction of the tip of the catheter output through the display screen of the mapping system.

Description

A master device for manipulating an active steering catheter and a catheter system capable of bidirectional control of the active steering catheter and master device {MASTER DEVICE FOR MANIPULATING ACTIVE STEERING CATHETER AND CATHETER SYSTEM CAPABILITY CONTROLLING BIDIRECTION OF ACTIVE STEERING CATHETER AND MASTER DEVICE}

The present invention relates to a master device and a catheter system, and more particularly, to a master device for operating an active steering catheter, and a catheter system capable of bidirectional control of the active steering catheter and the master device.

Radiofrequency catheter ablation is a procedure to treat arrhythmia by removing or necrosis of the heart tissue that causes arrhythmia. To this end, a surgical tool (catheter) in the form of an elongated tube including an electrode is inserted into the heart through the femoral artery or femoral vein. During the procedure, a two-dimensional (2D) X-ray imaging device is used to check the position of the distal end of the catheter located inside the heart in real time.

Conventionally, in order to reduce the use of X-rays and to intuitively check the position of the catheter tip and the electrocardiogram, a 3D mapping system has been developed. First, the 3D mapping system generates a 3D ECG map using a mapping catheter including an electrode capable of measuring an ECG at a tip portion. Both the mapping catheter and the ablation catheter include a 3D position sensor, and a 3D model of each catheter generated through the measured position information is displayed on the screen in real time along with an ECG map. The ablation catheter has a sensor that measures the force acting on the distal end, and force information is displayed together on the screen.

In order to reduce the radiation exposure of the operator and improve the procedure performance, robotic catheter systems are being developed. The robotic catheter system includes a catheter capable of active steering of a distal end, a slave robot that inserts and rotates the catheter, and an input device for manipulating the catheter. The operator views the real-time screen displayed by the 3D mapping system and controls the movement of the catheter using the input device.

FIG. 1 is a diagram showing a three-dimensional (3D) heart and catheter model that is output in two-dimensional (2D) in a conventional mapping system. FIG. 1A is a front view, and FIG. b) is a side view.

As shown in (a) and (b) of Fig. 1, in the conventional mapping system, since the 3D model is displayed on the screen in 2D, the operator can easily obtain depth direction information only from the information displayed on the 2D screen. none. Therefore, the operator cannot check where the catheter is located in the z-axis direction only with the screen shown in FIG. 1A. There is a problem that the practitioner must rotate and observe the 3D model every time to obtain depth direction information.

In addition, the operator repeatedly rotates the 3D model so that the corresponding part can be seen clearly according to the position of the electrocardiogram to be observed, and the procedure is performed. As with the conventional master device(s), in the case of commanding the relative bending angle of the catheter, there is a problem that the relationship between the driving command of the catheter and the operating direction of the catheter shown on the screen continuously changes as the screen rotates.

)를 기준으로, 카테터 선단부를

방향으로 굽어지도록 명령할 경우, 도 1의 (a)의 화면에서는 카테터 선단부가 전역좌표계(

)를 기준으로

방향으로 움직인다. 하지만, 도 1의 (b)의 화면에서는 카테터 선단부가

방향으로 움직이는 것으로 관찰된다. 카테터의 구동 명령 방향과 화면상의 동작 방향의 관계는 카테터 선단부가 움직이거나 화면이 회전되어 전역좌표계(O)와 카테터의 국부좌표계(O_C)의 관계가 변함에 따라 계속해서 달라진다. 이러한 변화는 카테터 조작의 직관성을 떨어뜨림으로써 시술 안전성과 효율을 저해할 수 있다.For example, in Figure 1 (a) to (b), the local coordinate system located in the catheter (

), the catheter tip

When ordering to bend in the direction, the catheter tip is in the global coordinate system (

) Based on

Move in the direction However, in the screen of Figure 1 (b), the catheter tip

It is observed to move in the direction. The relationship between the driving command direction of the catheter and the operation direction on the screen continuously changes as the relationship between the global coordinate system (O) and the local coordinate system (O _C ) of the catheter changes due to the movement of the catheter tip or rotation of the screen. These changes may impair the safety and efficiency of the procedure by lowering the intuitiveness of catheter manipulation.

On the other hand, Non-Patent Document 3 discloses a haptic interface capable of inputting a translational motion, a roll motion, and a bending motion of the distal end of a catheter. Non-Patent Literature 4 discloses a haptic interface capable of inputting a translational motion of a catheter and a bending motion of two degrees of freedom at the tip end. In the case of the Sensei robotic system of Hansen Medical, a representative commercial catheter robot system, the movement of the catheter tip is controlled using a commercial haptic interface that can input a 3-degree of freedom translational motion.

KR 2017-0000663 A KR 10-1133268 B1 KR 2017-0132101 A US 9603667 B2 US 8390438 B2

Khan, Ejaz M, et al "First experience with a novel robotic remote catheter system: Amigo™ mapping trial" Journal of Interventional Cardiac Electrophysiology 372 (2013): 121-129. Ernst, Sabine, et al "Initial experience with remote catheter ablation using a novel magnetic navigation system: magnetic remote catheter ablation" Circulation 10912 (2004): 1472-1475. Park, Jun Woo, et al "Development of a force-reflecting robotic platform for cardiac catheter navigation" Artificial organs 3411 (2010): 1034-1039. Rosa, Benoit, et al "Intuitive teleoperation of active catheters for endovascular surgery" Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on IEEE, 2015.

The present invention provides a master device and a catheter system capable of solving a problem that a practitioner must observe while rotating a display screen of a mapping system every time in order to obtain depth direction information of an active steering catheter.

In addition, it provides a master device and catheter system capable of solving the problem that the relationship between the driving command of the catheter and the operating direction of the catheter shown on the screen continuously changes as the 2D screen is rotated.

In addition, it provides a master device and catheter system capable of improving operation intuitiveness by matching the direction of the catheter tip viewed on the screen of the mapping system with the direction of the operation handle of the master device.

In addition, a master device and a catheter system capable of controlling a force applied by an operator to an active steering catheter through a master device when the catheter tip contacts other external objects are provided.

The catheter system according to the embodiment of the present invention includes a catheter capable of insertion and bending movement, and outputs catheter information including information of a force acting on the catheter tip of the catheter and direction information of the catheter tip. Catheter; A master device including an operation handle capable of expressing a three-dimensional direction, and outputting master information including three-dimensional direction information of the operation handle; A mapping system that outputs a 3D target model and a 3D catheter model on a display screen, and outputs screen information of the display screen; And the three-dimensional direction indicated by the operation handle of the master device and the direction of the catheter tip output through the display screen of the mapping system based on the catheter information, the master information, and the screen information. It includes; a control unit for controlling the active steering catheter. According to such a catheter system, there is an advantage of being able to control a master device and an active steering catheter in both directions.

When the master device and the catheter system according to the embodiment of the present invention are used, the three-dimensional direction of the operation handle and the direction of the catheter tip output through the display screen of the mapping system are identical, so that the operator There is an advantage of being able to intuitively recognize the three-dimensional direction of the catheter tip. Therefore, it is not necessary for the operator to rotate the 2D screen output through the mapping system in different directions each time in order to check the 3D direction of the catheter tip.

In addition, even if the direction of the catheter distal end viewed on the screen is changed through the mapping system, the operation direction of the operation handle of the master device and the operation direction of the catheter distal end viewed on the screen become the same. This has the advantage of improving the operation intuitiveness and increasing the safety and efficiency of the procedure.

In addition, there is an advantage in that operation intuitiveness can be improved by matching the direction of the front end of the catheter shown on the screen of the mapping system with the direction of the operation handle of the master device.

In addition, when the catheter tip contacts other external objects, there is an advantage that the operator can control the force exerted on the active steering catheter through the master device.

FIG. 1 is a diagram showing a three-dimensional (3D) heart and catheter model that is output in two-dimensional (2D) in a conventional mapping system. FIG. 1A is a front view, and FIG. b) is a side view.
2 is a schematic block diagram of a catheter system according to an embodiment of the present invention.
3 is a diagram schematically showing the kinematic structure of the master device 100 according to the embodiment of the present invention shown in FIG. 2.
4 to 6 are views for explaining an example of the master device 100 according to the embodiment of the present invention shown in FIG.
FIG. 7 is a diagram for explaining an example degree of freedom of the active steering catheter 300 shown in FIG. 2.
8 is a flowchart illustrating a method of controlling the master device 100 and the active steering catheter 300 according to the embodiment of the present invention shown in FIG. 2.
9 is a view for explaining the relationship between the catheter tip 310, the device 350 for measuring the catheter posture, and the coordinate systems of the virtual camera 750 that determines the direction of the screen displayed by the mapping system.
10 to 11 are diagrams for explaining a control method when the catheter tip 310 is in a non-contact state.
12 to 13 are views for explaining a control method when the catheter tip 310 is in contact.
14(a) shows an example of a 2D screen output through the mapping system 700 shown in FIG. 2, and FIG. 14(b) is a master device in the state of FIG. 14(a). It is an enlarged part of the operation handle 150 of (100).
FIG. 15A shows a 2D screen when the 2D screen output through the mapping system 700 shown in FIG. 14A is rotated in an arbitrary direction, and FIG. 15B ) Is a diagram showing a change in movement of the operation handle 150 of the master device 100 in the situation of FIG. 15A.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, in the following description and the accompanying drawings, detailed descriptions of known functions or configurations that may obscure the subject matter of the present invention will be omitted. In addition, it should be noted that the same components are indicated by the same reference numerals as possible throughout the drawings.

The terms or words used in the present specification and claims described below are not to be construed as being limited to their usual or dictionary meanings, and the inventors are appropriately defined as terms for describing their own invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention based on the principle that it can be done.

Accordingly, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention, and do not represent all the technical ideas of the present invention, and thus various alternatives to these at the time of application It should be understood that there may be equivalents and variations.

In the accompanying drawings, some components are exaggerated, omitted, or schematically illustrated, and the size of each component does not entirely reflect the actual size. The invention is not limited by the relative size or spacing drawn in the accompanying drawings.

When a part of the specification is said to "include" a certain component, it means that other components may be further included rather than excluding other components unless otherwise stated. Further, when a part is said to be "connected" with another part, this includes not only the case of being "directly connected" but also the case of being "electrically connected" with another element interposed therebetween.

Singular expressions include plural expressions unless the context clearly indicates otherwise. Terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations of these described in the specification, but one or more other features, numbers, or steps. It is to be understood that it does not preclude the possibility of the presence or addition of, operations, components, parts, or combinations thereof.

Embodiments of the present invention relate to a master device for operating an active steering catheter capable of active steering for solving the above-described problem, and a control method thereof. If the direction of the catheter tip output on the 2D screen of the mapping system matches the 3D direction indicated by the operation handle of the master device, the above-described conventional problems can be solved.

Hereinafter, a configuration of a master device according to an embodiment of the present invention capable of expressing any direction in three dimensions will be described, and a method for controlling a master device and an active steering catheter in both directions will be described. In addition, in an embodiment of the present invention, using the coordinate system of the device for measuring the posture of the active steering catheter, the operator (or operator) obtains a direction vector of the catheter tip perceived by the screen of the mapping system, and the direction vector A method of controlling the master device to follow will be described.

Prior to describing a master device for operating an active steering catheter and a method for controlling the same according to an embodiment of the present invention, the entire catheter system including the master device will be described with reference to FIG. 2.

2 is a schematic block diagram of a catheter system according to an embodiment of the present invention.

Referring to FIG. 2, a catheter system according to an embodiment of the present invention may include a master device 100, an active steering catheter 300, a control unit 500, and a mapping system 700.

In the catheter system according to the embodiment of the present invention, the direction of the catheter tip viewed on the screen of the mapping system 700 and the direction of the operation handle of the master device 100 can be matched to improve operation intuitiveness. In addition, the catheter system according to the embodiment of the present invention may enable the operator to adjust the force applied to the active steering catheter 300 through the master device 100 when the catheter tip contacts other external objects.

The master device 100 is a device for controlling or manipulating the active steering catheter 300. The operator may remotely manipulate the active steering catheter 300 using the master device 100. For example, the operator may control the insertion and/or rotational motion of the active steering catheter 300 and the bending motion of the catheter tip 310 by manipulating the master device 100.

The master device 100 outputs master information by manipulation of a practitioner. The output master information is input to the control unit 500. The master information may refer to information or signals output from at least one or more of the elements constituting the master device 100. For example, the master information may include three-dimensional direction information of an operation handle of the master device 100, information on a force applied to the operation handle, and contact information to the operation handle.

Here, the 3D direction information of the manipulation handle may be an encoder sensing signal output from one or more encoders included in the master device 100. The force information applied to the manipulation handle may be a sensing signal output from a force sensor mounted on the manipulation handle. The contact information to the manipulation handle may be a sensing signal output from a touch sensor mounted on the manipulation handle.

The master device 100 includes a manipulation handle capable of expressing a three-dimensional movement or a three-dimensional direction. The position or direction of the operation handle may be changed by the operator's operation. In addition, the position or direction of the operation handle may be changed regardless of the operator's operation by the master driving control signal. For example, by receiving the master drive control signal from the control unit 500, the three-dimensional direction indicated by the operation handle of the master device 100 corresponds to the direction of the catheter tip output on the two-dimensional screen of the mapping system 700 The three-dimensional orientation of the operating handle can be controlled to match.

The active steering catheter 300 may have an elongated tube shape in order to progress organs such as blood vessels or heart inside a patient's body.

The active steering catheter 300 includes a catheter tip portion, and the catheter tip portion is capable of insertion and bending movements.

The active steering catheter 300 can perform insertion and bending movements based on a catheter driving control signal provided from the controller 500.

The active steering catheter 300 may include a force sensor and a position sensor. The force sensor and the position sensor may be disposed at the catheter tip of the active steering catheter 300. The force sensor outputs information on the force acting on the tip of the catheter. Using the force information output from the force sensor, it is possible to sense whether the catheter tip of the active steering catheter 300 is in contact with another external object. The position sensor outputs position and direction information of the catheter tip. The position sensor may be, for example, a sensor that measures the three-axis position and the three-axis direction, and senses the three-dimensional position and direction of the catheter tip of the active steering catheter 300 using position and direction information output from the position sensor. can do. Sensing signals (hereinafter referred to as'catheter information') output from the force sensor and the position sensor are input to the controller 500, and the controller 500 is the catheter of the active steering catheter 300 based on the input catheter information. It is possible to obtain information on whether the tip is in contact with an external object, and information on the 3D position and direction.

The control unit 500 is based on catheter information from the active steering catheter 300, master information from the master device 100, and screen information from the mapping system 700, the three-dimensional operation handle of the master device 100 The master device 100 and the active steering catheter 300 may be controlled so that the direction and the direction of the catheter tip output through the display screen of the mapping system 700 coincide.

The controller 500 may generate a catheter drive control signal for controlling the active steering catheter 300 based on the master information from the master device 100. The generated catheter driving control signal is provided to the active steering catheter 300, and the active steering catheter 300 may be driven based on the provided catheter driving control signal.

The controller 500 may receive catheter information from the active steering catheter 300 to obtain information on whether the active steering catheter 300 contacts an external object at the catheter tip, and 3D position and direction information. Alternatively, the controller 500 may transmit catheter information from the active steering catheter 300 to the mapping system 700.

The controller 500 may provide mapping information to the mapping system 700. The mapping information may include one or more pieces of information required to generate a 3D target model in the mapping system 700. For example, as shown in (a) to (b) of FIG. 1, when the mapping system 700 targets the heart, it includes information on the size and location of the heart required to generate a 3D heart model. can do. Information on the size and location of the heart may be obtained through other separate measuring devices (not shown).

The controller 500 may generate a master driving control signal based on screen information from the mapping system 700. The generated master drive control signal is provided to the master device 100 to drive the master device 100.

As shown in FIG. 2, the control unit 500 may be configured as one or may be configured as a plurality. For example, the control unit 500 may be composed of a master device-side control unit and an active steering catheter-side control unit, and the master device-side control unit and the active steering catheter-side control unit may exchange data with each other through wired/wireless communication. Here, the master device-side controller may be integrally configured with the master device 100, and the active steering catheter-side controller may be integrally configured with the active steering catheter 300.

The mapping system 700 may generate a 3D target model based on mapping information from the controller 500 and may generate a 3D catheter model based on catheter information from the controller 500.

The mapping system 700 may display the generated 3D model and the 3D catheter model on the screen of the display device in real time as shown in FIGS. 1A to 1B. Here, the position and direction at which the display device displays the 3D model is determined by the position and direction of the virtual camera of the mapping system 700. The position and direction that the virtual camera looks at may be changed by the operator's manipulation, and is defined as a value set as a default upon initial screen output.

The mapping system 700 may change the 2D screen displayed on the screen of the display device to another 2D screen and display it on the screen, and screen information including information on the 2D screen currently displayed on the screen of the display device Can be created. The generated screen information may be provided to the controller 500. Here, the screen information may be information on a direction in which the virtual camera looks at the 3D model.

Kinematic configuration of the master device 100

3 is a diagram schematically showing the kinematic structure of the master device 100 according to the embodiment of the present invention shown in FIG. 2.

The master device 100 according to the embodiment of the present invention illustrated in FIG. 3 is a plurality of degrees of freedom and may have three degrees of freedom. Specifically, referring to FIG. 3, the master device 100 according to the embodiment of the present invention is connected to one side of a base, and a plurality of joints (Joint 1, Joint 2, Joint 3) and a plurality of links (Link 0, Link 1, Link 2, Link 3) can be included.

The base includes a surface forming a predetermined angle with the ground. One end of the 0th link (Link 0) is connected to one side of the base and the other end is connected to the first joint (Joint 1). One end of the first link (Link 1) is connected to the first joint (Joint 1) and the other end is connected to the second joint (Joint 2). One end of the second link (Link 2) is connected to the second joint (Joint 2) and the other end is connected to the third joint (Joint 3). One end of the third link (Link 3) is connected to the third joint (Joint 3). The third link Link 3 may include the other end corresponding to the operation handle 150.

The other end of the third link (Link 3) corresponds to the operation handle 150, the operator can hold the operation handle 150, and indirectly manipulate the active steering catheter. Here, the second joint part (Joint 2) and the third joint part (Joint 3) alone can express all three-dimensional directions of the third link corresponding to the operation handle 150, but the second joint in a specific pose The link (Link 2) or the third joint (Joint 3) may collide with the operator's arm holding the operation handle. Therefore, it is desirable to design the manipulation handle 150 to express all three-dimensional directions without colliding with the arm of the operator by adding the first joint 1 and the first link 1.

Detailed configuration of the master device 100

4 to 6 are views for explaining an example of the master device 100 according to the embodiment of the present invention shown in FIG.

As shown in FIGS. 4 to 6, the master device 100 according to the embodiment of the present invention has three degrees of freedom and can express all three-dimensional directions. The master device 100 according to the embodiment of the present invention may rotate based on three rotation axes A1, A2, and A3. The first rotation axis A1 may be a fixed axis perpendicular to one surface of the base 101, and the second rotation axis A2 and the third rotation axis A3 are moving axes that are not parallel to the first rotation axis A1. Cross. The second rotation axis A2 and the third rotation axis A3 also cross each other as moving axes that are not parallel to each other. For example, the first rotation axis A1, the second rotation axis A2, and the third rotation axis A3 may be orthogonal to each other.

At least one or more driving pulleys 113, 123, and 133 may be mounted on each of the rotation shafts A1, A2, and A3. Each of the driving pulleys 113, 123, 133 may be connected to at least one or more driving motors 111, 121, 131. Here, the drive pulleys 113, 123, 133 connected to the corresponding drive motors 111, 121, 131 may be connected through a wire (or belt).

The plurality of drive motors 111, 121, 131 may include a first drive motor 111, a second drive motor 121, and a third drive motor 131, and the plurality of drive pulleys 113, 123, The 133 may include a first driving pulley 113, a second driving pulley 123, and a third driving pulley 133.

The first driving pulley 113 is rotatable based on the first rotation shaft A1, and the first driving motor 111 is interlocked according to the rotation of the first driving pulley 113. The motor rotation angle of the first driving motor 111 may be detected by a first encoder (not shown). The first encoder (not shown) may be disposed adjacent to the first driving motor 111 or may be integrally configured with the first driving motor 111.

The second driving pulley 123 is rotatable based on the second rotation shaft A2, and the second driving motor 121 is interlocked according to the rotation of the second driving pulley 123. The motor rotation angle of the second drive motor 121 may be detected by a second encoder (not shown). The second encoder (not shown) may be disposed adjacent to the second drive motor 121 or may be integrally configured with the second drive motor 121.

The third driving pulley 133 is rotatable along the third rotation shaft A3, and the third driving motor 131 interlocks according to the rotation of the third driving pulley 133. The motor rotation angle of the third driving motor 131 may be detected by a third encoder (not shown). The third encoder (not shown) may be disposed adjacent to the third driving motor 131 or may be integrally configured with the third driving motor 131.

One surface of the base 101 may form a predetermined angle with the ground. For example, one surface of the base 101 may be perpendicular to the ground.

The master device 100 according to the embodiment of the present invention may include a plurality of joint portions 160, 170, 180 and a plurality of links 167, 178, 185.

The plurality of joint portions 160, 170, 180 may include a first joint portion 160, a second joint portion 170, and a third joint portion 180. Each of the joints 160, 170, 180 may include a brake for limiting rotation according to each rotation axis. Here, the brake included in each of the joints 160, 170, and 180 may be turned on or off based on a master driving control signal from the controller 500 shown in FIG. 2.

The first joint 160 is a rotational joint that is rotatable with respect to the first rotational axis A1 and has one degree of freedom. The second joint part 170 is a rotating joint part rotatable with respect to the second rotation axis A2 and has one degree of freedom. The third joint part 180 is a rotating joint part rotatable with respect to the third rotation axis A3 and has one degree of freedom.

The plurality of links 167, 178, 185 may include a first link 167, a second link 178, and a third link 185.

The first link 167 is connected between the first joint portion 160 and the second joint portion 170 and may have at least one bent portion. For example, the first link 167 may have an'L' shape. A second drive motor 121 and a second encoder may be mounted on the first link 167.

The second link 178 is connected between the second joint part 170 and the third joint part 180 and may have at least one bent part. For example, the second link 178 may have an'L' shape. A third driving motor 131 and a third encoder may be mounted on the second link 178.

The third link 185 is connected between the third joint portion 180 and the operation handle 150 and may have a linear shape having a predetermined length.

The manipulation handle 150 is connected to the third link 185 and may have a linear shape having a predetermined length. The manipulation handle 150 may have a size and shape that can be held by the operator's hand. The manipulation handle 150 may be connected to the third link 185 in a direction orthogonal to the length direction of the third link 185. Here, the operation handle 150 and the third link 185 may be integrally configured to form one link.

At least a portion of the operation handle 150 is disposed at a point where the three rotation axes A1, A2, and A3 intersect, so that it can rotate in all three-dimensional directions. For example, one end of the operation handle 150 may be disposed at an intersection where the first to third rotation axes A1, A2, and A3 intersect.

The direction of the operation handle 150 can be detected from the rotation angle of each joint portion measured through a plurality of encoders (not shown) capable of calculating the rotation angle of each motor of the plurality of drive motors 111, 121, 131.

A three-axis force sensor 140 capable of measuring three-axis force is mounted on the operation handle 150 to detect the magnitude of the force applied by the operator to the operation handle 150 of the master device 100. The force sensor 140 may be mounted on any one of a plurality of links of the master device 100 connected to the manipulation handle 150.

In addition, a touch sensor (not shown) may be disposed on the manipulation handle 150. The touch sensor (not shown) may be a capacitive touch sensor, but is not limited thereto. It is possible to detect whether the operator's hand is in contact with the manipulation handle 150 through a touch sensor (not shown).

Configuration of active steering catheter 300

FIG. 7 is a diagram for explaining an example degree of freedom of the active steering catheter 300 shown in FIG. 2.

Referring to FIG. 7, the active steering catheter 300 can move with one degree of freedom (I) in the insertion direction and two degrees of freedom (B1, B2) in the bending direction.

The active steering catheter 300 includes a catheter tip 310. The catheter tip 310 may be bent in a bending direction of 2 degrees of freedom. The catheter tip 310 may be controlled by a slave robot (not shown).

The active steering catheter 300 may include a force sensor (not shown) capable of measuring the magnitude of a force acting on the catheter tip 310. From a sensing signal output through a force sensor (not shown), it is possible to detect whether the catheter tip 310 is in contact with an external object (eg, an inner wall of the heart).

Active steering catheter 300 includes a position sensor (not shown). The position sensor (not shown) may sense the three-dimensional position and direction of the catheter tip 310.

Each of the force sensor (not shown) and the position sensor (not shown) outputs a predetermined electrical signal. The electrical signal(s) output in this way is called catheter information. The catheter information may be provided to the control unit 500 shown in FIG. 2.

Bidirectional control method of master device 100 and active steering catheter 300

8 is a flowchart illustrating a method of controlling the master device 100 and the active steering catheter 300 according to the embodiment of the present invention shown in FIG. 2.

Referring to FIG. 8, the master device 100 and the active steering catheter 300 can be divided into three cases and controlled differently, and the two-way control of the master device 100 and the active steering catheter 300 is shown in FIG. 2. It may be performed by the illustrated control unit 500.

The method for controlling both the master device 100 and the active steering catheter 300 according to the embodiment of the present invention may include an information update step 810. The information update step 810 is a step of receiving predetermined information from the master device 100, the active steering catheter 300, and the mapping system 700, and receives master information from the master device 100 and the active steering catheter 300. It may be a step of receiving catheter information from) and screen information from the mapping system 700. In addition, 3D target information may be received from an external measuring device. The 3D target information may be used as a basis for a 3D target model in the mapping system 700.

Here, the master information is one of a sensing signal output from one or more encoders of the master device 100, a sensing signal from a force sensor of the master device 100, and a sensing signal from a touch sensor of the master device 100 It may include at least one or more. The catheter information may include at least one of a sensing signal from a force sensor of the active steering catheter 300 and a sensing signal from a position sensor. In addition, the screen information may include direction information in which the virtual camera of the mapping system 700 looks at the 3D catheter model.

After the information update step 810, it is determined whether the operator is in a state of holding the operation handle 150 of the master device 100 (830). Whether the operator holds the manipulation handle 150 can be detected from the master information. For example, based on a sensing signal from a force sensor of the master device 100 or a sensing signal from a touch sensor of the master device 100, it may be determined whether the operator holds the manipulation handle 150. If it is determined that the operator holds the manipulation handle 150, the next step 850 is performed, otherwise, the control method of the third case (Case 3) is followed.

After it is determined that the operator is holding the manipulation handle 150, it is determined whether the active steering catheter 300 contacts the catheter tip 310 (850). Whether the catheter tip 310 is in contact with an external object can be detected from catheter information. For example, based on a sensing signal from a force sensor of the active steering catheter 300, it may be determined whether the catheter tip 310 is in contact with an external object. If it is determined that the catheter tip 310 is not in contact with an external object, the brake of the master device 100 is turned off (870), and the control method of the first case (Case 1) is followed. Here, the brake may not be turned off and may follow the control method of the first case (Case 1). On the other hand, when it is determined that the catheter tip 310 is in contact with an external object, the brake of the master device 100 is turned on (890), and the control method of the second case (Case 2) is followed. Here, the brake may not be turned on and may follow the control method of the second case (Case 2).

In the first case (Case 1) shown in FIG. 8, the operator is holding the operation handle 150 of the master device 100, and there is no actual contact with the catheter tip 310 of the active steering catheter 300 ( It is a control method in the non-contact state).

In the first case, the master device 100 is controlled so that the operator can freely rotate the operation handle 150. In this first case, the control unit 500 may perform a gravity compensation control to maintain the posture of the master device 100 and control it to reduce a sense of manipulation resistance. The control unit 500 includes the three-dimensional direction indicated by the operation handle 150 of the master device 100 and the catheter tip on the display screen of the mapping system 700 based on the three-dimensional direction information provided from the master device 100. The direction of the catheter tip 310 of the active steering catheter 300 may be controlled so that the direction 310 points to coincide. Here, the control unit 500 is proportional to the force input to the operation handle 150 of the master device 100 based on the force information provided from the master device 100, the speed of the insertion direction of the catheter tip 310 You can also control it to move at one speed.

A control method when the catheter tip 310 is in a non-contact state will be described in detail below.

Control method when the catheter tip 310 is in a non-contact state

-Degree of freedom in the bending direction of the catheter

The bending direction of the active steering catheter 300 is controlled so that the direction indicated by the catheter tip 310 shown on the screen of the mapping system 700 is the same as the direction of the operation handle when viewed by the operator.

)를 기준으로 측정된다.Referring to FIG. 9, a vector e representing the direction of the catheter tip 310 is a coordinate system of the catheter posture measuring device 350 that measures the posture of the active steering catheter 300 (

It is measured based on ).

)에서 바라본 벡터이다.The direction vector e'of the catheter tip 310 displayed on the screen of the mapping system 700 shown in FIG. 10 is the coordinate system of the virtual camera 750 defined on the mapping system 700 (

It is a vector viewed from ).

와

간의 회전 행렬(R)을 이용해서 얻을 수 있다.Therefore, as shown in Equation 1 below, the direction vector e'of the catheter tip 310 seen on the screen of the mapping system 700 is the coordinate system

Wow

It can be obtained by using the rotation matrix (R) of the liver.

As shown in FIG. 10, the degree of freedom in the bending direction of the active steering catheter 300 is controlled so that the direction vector m and the vector e'of the operation handle 150 recognized when the operator looks at the master device 100 match. .

-Degree of freedom in the direction of catheter insertion

는 마스터 장치(100)의 조작 핸들(150)에 가해지는 힘

중에서 조작 핸들(150)의 축 방향에 평행한 성분

에 비례한 속도로 움직이도록 속도 제어한다.11, the speed in the insertion direction of the active steering catheter 300

Is the force applied to the operation handle 150 of the master device 100

Components parallel to the axial direction of the operation handle 150

The speed is controlled to move at a speed proportional to

)는 아래 <수학식 2>와 같이 정의된다.Therefore, a reference input speed (a reference input) that is a reference for speed control in the insertion direction of the active steering catheter 300

) Is defined as in Equation 2 below.

는 비례 게인으로서 조작자의 편의에 따라 조정 가능한 값이다.here,

Is a proportional gain and is a value that can be adjusted according to the operator's convenience.

, Scalar value)은, 아래 <수학식 3>과 같이, 조작 핸들(150)의 힘 센서(140)에서 측정되는 힘 벡터 (

)를 마스터 장치(100)의 조작 핸들(150)의 축 방향인 m 벡터에 투영하여 구할 수 있다.The axial force of the operation handle 150 (

, Scalar value) is a force vector measured by the force sensor 140 of the manipulation handle 150 as shown in Equation 3 below (

) Can be obtained by projecting the m vector in the axial direction of the operation handle 150 of the master device 100.

)가 F_ct보다 크거나 같으면 접촉 상태, 힘의 크기(

)가 F_ct보다 작으면 비접촉 상태로 정의할 수 있다. 접촉 여부의 기준이 되는 특정 기준값(

)은 비접촉 상태에서 힘 센서에서 측정되는 노이즈 값 보다 큰 값으로 설정될 수 있고, 혹은 다른 값으로 조절될 수도 있다.On the other hand, in the second case (Case 2) shown in FIG. 8, the operator is holding the operation handle 150 of the master device 100, a state in which contact occurs with the catheter tip 310 of the active steering catheter 300 This is the control method in Whether the catheter distal end 310 is in contact may be determined by comparing a force F _e measured from a force sensor located at the catheter distal end 310 with a specific reference value F _ct for determining contact. The magnitude of the force measured from the force sensor (

) Is greater than or equal to F _ct , the contact state, the magnitude of the force (

If) is less than F _ct , it can be defined as a non-contact state. A specific reference value (

) May be set to a value larger than the noise value measured by the force sensor in the non-contact state, or may be adjusted to a different value.

In this second case, the control unit 500 performs control of turning on the brake of each joint unit 160, 170, 180 of the master device 100 in order to limit the movement of the master device 100. I can. In a state in which the brake of each of the joints 160, 170, and 180 is turned on so that the movement of the master device 100 is restricted, a force of the operator may be applied to the manipulation handle 150. In this case, the control unit 500 senses the force applied to the operation handle 150 through a force sensor mounted on the operation handle 150, and the force applied by the active steering catheter 300 to the contact object is determined by the operator. It is possible to control the active steering catheter 300 to correspond to (or match) the force applied to the 150.

A control method when the catheter tip 310 is in contact will be described in detail below.

Control method when the tip of the catheter is in contact

)를 인지하고 조절할 수 있어야 한다.Referring to FIG. 12, when the catheter tip 310 comes into contact with an object such as a heart wall, the operator is the force applied by the catheter tip 310 to the target (

) And be able to control it.

)와 능동 조향 카테터(300)가 대상에 가하는 힘(

)이 일치하도록 능동 조향 카테터(300)를 제어하는 것이 필요하다.Therefore, the force vector that the operator feels in the hand (

) And the force applied by the active steering catheter 300 to the target (

) It is necessary to control the active steering catheter 300 to match.

)은 아래 <수학식 4>와 같이 정의된다.At the moment of contact with the catheter tip 310, the operation handle 150 of the master device 100 is fixed so as not to move. For example, the operation handle 150 can be fixed to any strength. In order to prevent the operation handle 150 from rotating, a brake may be used, or the master device 100 may be positioned in a position at the moment when the contact is recognized. When fixing the master device 100 through position control, a reference input (in the direction control of the operation handle 150 of the master device 100)

) Is defined as in Equation 4 below.

는 접촉이 인지된 시간이다.here,

Is the time the contact was recognized.

)와 마스터 장치(100)의 조작 핸들(150)에 가해지는 힘(

)은 아래 <수학식 5>와 같이, 작용반작용의 관계가 된다.When the operator applies force to the operation handle 150 in the direction in which the operator wants to apply force to the catheter tip 310 while the operation handle 150 is fixed, the force that the operator feels in the hand (

) And the force applied to the operation handle 150 of the master device 100 (

) Becomes the relationship of reaction and reaction, as shown in Equation 5 below.

)이 상기

와 일치하도록 힘 제어된다. 여기서, 능동 조향 카테터(300)의 카테터 선단부(310)가 접촉 대상에 가하는 힘이 사전에 정의된 값이 되도록 능동 조향 카테터(300)를 제어할 수도 있다.The force applied to the manipulation handle 150 of the master device 100 is measured through the force sensor 140 and transmitted to the active steering catheter 300, and each degree of freedom of the active steering catheter 300 is determined by the active steering catheter 300. The force (

) Is reminded

The force is controlled to match. Here, the active steering catheter 300 may be controlled so that the force applied by the catheter tip 310 of the active steering catheter 300 to the contact object becomes a predefined value.

)는, 아래 <수학식 6>과 같이, 조작자가 손에서 느끼는 힘과 동일한 크기를 지니게 된다.Therefore, a reference input for force control of the active steering catheter 300 (

), as shown in Equation 6 below, has the same magnitude as the force felt by the operator's hand.

As a result, the operator feels a force equal to or proportional to the force exerted by the active steering catheter 300 on the object and can adjust it.

On the other hand, referring to FIG. 13, when the operator wants to separate the catheter tip 310 from the contact object, a force may be applied in a direction away from the contact object. At this time, the active steering catheter 300 is force-controlled in a direction away from the contact object, so that the contact with the object falls. After the contact with the catheter tip 310 disappears, the active steering catheter 300 is controlled by a control method in a non-contact state.

On the other hand, the third case (Case 3) illustrated in FIG. 8 is a control method in a state in which the operator does not hold the operation handle 150 of the master device 100. In this third case, the active steering catheter 300 is capable of free movement. When the operator changes the view of the screen output through the mapping system 700 or the direction of the catheter tip 310 is changed by a separate external force, the direction indicated by the catheter tip on the screen of the mapping system 700 The direction of the operation handle 150 of the master device 100 is changed. Therefore, at this time, the control unit 500 is the master device 100 so that the direction of the catheter tip 310 shown on the screen of the mapping system 700 and the three-dimensional direction of the actual operation handle 150 of the master device 100 match. The operation handle 150 of the can be controlled.

14(a) shows an example of a 2D screen output through the mapping system 700 shown in FIG. 2, and FIG. 14(b) is a master device in the state of FIG. 14(a). It is an enlarged part of the operation handle 150 of (100).

FIG. 15A shows a 2D screen when the 2D screen output through the mapping system 700 shown in FIG. 14A is rotated in an arbitrary +z direction. (b) is a diagram showing a change in movement of the operation handle 150 of the master device 100 in the situation of (a) of FIG. 15.

)의

방향으로 3차원 모델을 바라본 상태가 출력된다. 따라서, 조작자가 바라보는 방향과, 도 14의 (b)와 도 15의 (b)에 도시된 마스터 장치(100)의 지역좌표계(

)의

을 일치시키고, 매핑 시스템(700)를 통해 출력되는 2차원 화면에서 카테터 선단부(310)가 가리키는 방향 벡터(e')와 마스터 장치(100)의 조작 핸들(150)이 가리키는 3차원 방향 벡터(m)가 일치하도록, 마스터 장치(100)와 능동 조향 카테터(300)를 양방향 제어하면, 조작자가 도 14의 (a)에서 도 15의 (a)로 3차원 모델을 회전시키더라도, 도 15의 (b)에 도시된 바와 같이, 조작 핸들(150)의 조작 방향과 매핑 시스템(700)를 통해 화면상으로 보이는 카테터 선단부(310)의 구동 방향을 항상 일치시킬 수 있다.The 2D screens output through the mapping system 700 of FIGS. 14A and 15A are the virtual camera coordinate system of the mapping system 700 (

)of

The state of looking at the 3D model in the direction is displayed. Accordingly, the direction the operator looks at and the local coordinate system of the master device 100 shown in FIGS. 14B and 15B

)of

And the direction vector e'indicated by the catheter tip 310 on the two-dimensional screen output through the mapping system 700 and the 3D direction vector indicated by the operation handle 150 of the master device 100 (m If the master device 100 and the active steering catheter 300 are controlled in both directions so that) match, even if the operator rotates the 3D model from FIG. 14(a) to FIG. 15(a), the ( As shown in b), the operating direction of the operation handle 150 and the driving direction of the catheter tip 310 shown on the screen through the mapping system 700 can always be matched.

Since the three-dimensional direction of the operation handle 150 and the three-dimensional direction of the actual catheter tip 310 are identical, the operation handle 150 of the master device 100 shows the direction of the catheter tip 310 in three dimensions. . Therefore, since the operator can recognize the 3D information of the catheter tip 310 from the manipulation handle 150 of the master device 100, the operator rotates the 2D screen through the mapping system 700 and the catheter tip ( There is no need to check the depth direction information of 310).

After each of the first to third cases described above is performed, as shown in FIG. 8, the information update step 810 is performed again, and the steps described above may be repeated.

The object operated by the master device and the catheter system according to the embodiment of the present invention described above is a catheter capable of active steering, and in order to implement the proposed control method, the three-dimensional orientation of the catheter tip must be measured. . The robotic cardiac interventional procedure performed using the three-dimensional mapping system described in the embodiment of the present invention meets this condition, and thus the present technology can be applied.

A problem to be solved in the embodiment of the present invention is a problem that hinders operation intuition caused by differences in the direction of the driving command and the actual operation direction of the catheter seen through the display screen of the mapping system. This problem occurs not only in the case of a catheter, but also in all cases in which the three-dimensional direction of a specific robot must be controlled using a master device and the posture of the corresponding robot must be observed through a two-dimensional screen. Even in this case, the problem can be solved with the master device and the catheter system according to the embodiment of the present invention. Information required to apply the present invention is information on a three-dimensional direction of a device for photographing a robot. Examples of this condition include a robot catheter for insertion of blood vessels that must be manipulated while viewing an x-ray perspective image in real time, a laparoscopic surgical robot system that must control the orientation of a surgical tool while viewing a laparoscopic image.

According to the National Health Insurance Corporation's 2016 Major Surgical Statistical Yearbook, the number of cardiac catheterization surgeries has increased by an annual average of 34% from 2011 to 2016. This is a high number compared to the 16% annual increase/decrease rate for the 33 major surgeries designated by the National Health Insurance Service. This means that the cardiac catheterization market is growing at a faster rate compared to other surgeries. Therefore, the marketability of this technology applied to cardiac catheter robots is expected to continue to increase in the future.

When the master device and the catheter system according to the embodiment of the present invention are applied to the active steering catheter operation, the direction of the catheter tip portion shown on the display screen of the mapping system always matches the direction of the operation handle of the master device. Therefore, since the three-dimensional direction of the catheter tip can be intuitively recognized from the operation handle of the master device, the limitations of the two-dimensional screen can be supplemented. In addition, even if the direction of the catheter distal end viewed on the screen of the mapping system is changed, the operation handle of the master device and the operation direction of the catheter distal end are always the same. This improves operation intuitiveness, and can increase the safety and efficiency of the procedure.

On the other hand, in Patent Documents 1 to 5 and Non-Patent Documents 1 to 4, the operation handle of the master device according to the embodiment of the present invention can express all three-dimensional directions, and the direction of the catheter tip viewed as a screen provided to the operator and There is no technology disclosed at all to match the direction of the master's control unit and control it.

In addition, in the case of Patent Documents 1 to 5 and Non-Patent Documents 1 to 4, the master devices for controlling the existing active steering catheter have a fixed base and control the catheter by transmitting a relative angle command to the tip of the catheter. . In this case, when the posture of the catheter tip is changed or the direction of the screen displaying the catheter is changed, the operation direction of the master device (drive command direction) and the operation direction of the catheter displayed on the screen are different. However, the master device according to the embodiment of the present invention can express all three-dimensional directions because the base is not fixed, and the direction of the catheter tip of the active steering catheter always coincides with the operation handle of the master device. There is a unique effect that is solved.

As described above, although the embodiments have been described by the limited embodiments and drawings, various modifications and variations are possible from the above description by those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and claims and equivalents fall within the scope of the claims to be described later.

Claims (11)

An active steering catheter comprising a catheter capable of insertion and bending movements, and outputting catheter information including information of a force acting on the catheter tip of the catheter and direction information of the catheter tip;
A master device including an operation handle capable of expressing a three-dimensional direction, and outputting master information including three-dimensional direction information of the operation handle;
A mapping system that outputs a 3D target model and a 3D catheter model on a display screen, and outputs screen information of the display screen; And
Based on the catheter information, the master information, and the screen information, the master device and the active device correspond to the three-dimensional direction indicated by the operation handle of the master device and the direction of the catheter tip output through the display screen of the mapping system. A control unit for controlling the steering catheter;
Containing, catheter system.
The method of claim 1,
The master device includes a force sensor for sensing force information applied to the operation handle,
The catheter system, wherein the force sensor is mounted on one of a plurality of links of the master device.
The method of claim 2,
When the catheter tip is in contact, the control unit controls the manipulation handle to be fixed at an arbitrary strength, and the force applied by the catheter tip to the contact object coincides with or is proportional to the force applied by the operator to the manipulation handle. A catheter system that controls the steering catheter.
The method of claim 1,
The control unit determines whether the operator is in a state of holding the operation handle based on the master information, and determines a contact state of the catheter tip based on the catheter information.
The method of claim 4,
When the operator holds the manipulation handle and the catheter tip is in a non-contact state, the control unit determines that the three-dimensional direction indicated by the manipulation handle of the master device corresponds to the direction indicated by the catheter tip on the two-dimensional screen of the mapping system. The catheter system for controlling the orientation of the catheter tip of the active steering catheter to match.
The method of claim 4,
When the operator holds the manipulation handle and the catheter tip is in contact, the control unit controls the manipulation handle to be fixed at an arbitrary strength, and the force exerted by the catheter tip of the active steering catheter to the contact object is in advance. Controlling the active steering catheter to be a value defined in the catheter system.
The method of claim 4,
When the operator does not hold the operation handle, the control unit 3 of the operation handle of the master device so that the direction of the catheter tip appearing on the display screen of the mapping system matches the three-dimensional direction indicated by the operation handle of the master device. The catheter system, which controls the dimensional orientation.
The method of claim 1,
The control unit includes the master device side control unit and the active steering catheter side control unit,
The master device-side control unit and the active steering catheter-side control unit perform wired or wireless communication.
The method of claim 1,
The master device includes an encoder that senses three-dimensional direction information of the operation handle,
The encoder calculates a motor rotation angle of a drive motor by rotation of each of a plurality of joints of the master device.
The method of claim 1,
The active steering catheter includes a force sensor for sensing force information applied to the catheter tip and a position sensor for sensing the position and direction of the catheter tip,
The force sensor and the position sensor are mounted on the distal end of the catheter.
The method of claim 1,
The control unit performs gravity compensation control of the master device to maintain the posture of the master device and reduce a sense of manipulation resistance, a catheter system.

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