WO2024080567A1 - Master device for remote interventional procedure - Google Patents

Abstract

The present invention relates to a master device for a remote interventional procedure, comprising: a frame; a rotating body which is provided in the frame so as to be deformed in shape by a user's manipulation and rotatable, is provided with a hollow portion along a central axis, and has a constant volume; a shape restoration material which is filled in the rotating body so as to restore the shape of the rotating body of which the shape has been deformed; a displacement detection part that measures rotational displacement of the rotating body; and a control part that generates a control signal for remotely controlling a slave robot that moves a surgical tool in response to displacement data measured by the displacement detection part.

Description

Master device for remote interventional procedures

The present invention relates to a master device for remote interventional procedures.

In interventional procedures for the treatment of cardiovascular disease, peripheral vascular disease, etc., the risk of radiation exposure generated by radiography devices used to determine the location of surgical tools inserted into the lesion site is reduced, and the surgical tool is inserted into the lesion site. To ensure accurate insertion, a robotic system for remote interventional procedures was developed.

The robotic system for remote interventional procedures can remotely control the slave robot to insert surgical tools into the lesion site through manipulation of the master device for remote interventional procedures. Here, the master device for remote interventional procedures is the part that the operator directly operates, and is being researched and developed by emphasizing different characteristics such as convenience, realism similar to manual procedures, simplicity, and complex motion implementation.

The master device for remote intervention procedures uses a general-purpose mechanism such as a Stewart platform or joystick to generate and transmit remote control commands from a robotic catheter.

However, the conventional master device for remote intervention requires that when the operator inserts a treatment tool into the lesion area, the operator pushes the operation tool and then pulls the operation tool back to its original position.

Accordingly, the conventional master device for remote intervention has a problem in that the forward motion of the manipulation mechanism has a finite stroke, so that a feeling of manipulation similar to that of the operator's manual procedure is not felt and the operator's operation becomes inconvenient.

The present invention was created to solve the above-mentioned problems, and the purpose of the present invention is to provide a master device for remote interventional procedures that can provide the operator with a feeling of operation similar to manual procedures.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

A master device for remote interventional procedures according to an embodiment of the present invention includes a frame; a rotating body provided in the frame to be rotatable and deformable in shape by a user's manipulation, having a hollow portion provided along the central axis, and having a constant volume; A shape restoration material filled in the rotating body to restore the shape of the deformed rotating body; a displacement detection unit that measures rotational displacement of the rotating body; and a control unit that generates a control signal to remotely control a slave robot that moves the surgical tool in response to the displacement data measured by the displacement detection unit.

In addition, the frame includes a storage portion in which the rotating body is accommodated; And it may include a pair of accommodating parts formed on both sides of the accommodating part, into which both ends of the rotating body are rotatably inserted.

Additionally, the rotating body may have a ring-shaped cross-sectional shape.

In addition, it may further include one or more friction reduction parts provided on the outer surface of the rotating body to reduce friction between the frame and the rotating body.

Additionally, the friction reduction unit may be provided to be able to rotate on the outer surface of the rotating body.

Additionally, the friction reducing portion may have a ball shape.

In addition, the control unit generates a rotation signal to control the slave robot to rotate the surgical tool when rotation in the first direction of the rotating body is confirmed based on the displacement data measured by the displacement detection unit, When rotation in the second direction perpendicular to the first direction of the rotating body is confirmed based on the displacement data measured by the displacement detection unit, a translation signal may be generated to control the slave robot to translate the surgical tool. .

In addition, the control unit may simultaneously generate the rotation signal and the translation signal when rotation in a third direction that deviates from both the first direction and the second direction is detected based on the displacement data measured by the displacement detection unit. there is.

Additionally, the displacement detection unit may include a first roller provided on the frame to be rotatable in the first direction and connected to the rotating body; a first encoder provided on the first roller to detect rotation of the first roller; a second roller provided on the frame to be rotatable in the second direction and connected to the rotating body; and a second encoder provided on the second roller to detect rotation of the second roller.

Additionally, the displacement sensing unit may include a pair of auxiliary rollers provided on the frame in oppositely inclined directions in a first direction and connected to the rotating body; and a pair of auxiliary encoders provided on each of the pair of auxiliary rollers to detect rotation of the pair of auxiliary rollers in opposite directions or in the same direction.

Additionally, the displacement sensing unit may include a magnetic coil coupled to the circumference of the rotating body; and a displacement sensor provided in the frame to recognize rotational displacement of the rotating body by detecting displacement of a specific area of the magnetic coil in the rotating body.

Additionally, the magnetic coil may have a spiral shape.

Additionally, the shape restoration material may include a viscoelastic material.

Other specific details of the invention are included in the detailed description and drawings.

The master device for remote interventional procedures according to an embodiment of the present invention has the effect of providing the operator with a feeling of operation similar to that of manual procedures.

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

Figure 1 is a perspective view showing a state in which the rotating body of the master device for remote intervention procedures according to the first embodiment of the present invention rotates in the first direction.

Figure 2 is a perspective view showing a state in which the rotating body of the master device for remote intervention procedures according to the first embodiment of the present invention rotates in the second direction.

Figure 3 is a perspective view showing a state in which the rotating body of the master device for remote intervention procedures according to the first embodiment of the present invention rotates in the third direction.

Figure 4 is a perspective view showing a state in which the rotating body of the master device for remote intervention procedures according to the second embodiment of the present invention rotates in the first direction.

Figure 5 is a perspective view showing a state in which the rotating body of the master device for remote intervention procedures according to the second embodiment of the present invention rotates in the second direction.

Figure 6 is a perspective view showing a state in which the rotating body of the master device for remote intervention procedures according to the second embodiment of the present invention rotates in the third direction.

Figure 7 is a perspective view showing a master device for remote intervention procedures according to a third embodiment of the present invention.

Figures 8 and 9 are plan views showing the rotation state of a pair of auxiliary rollers according to rotation of the rotating body in the first direction of the master device for remote interventional procedures according to the third embodiment of the present invention.

Figures 10 and 11 are plan views showing the rotation state of a pair of auxiliary rollers according to rotation in the second direction of the rotating body of the master device for remote interventional procedures according to the third embodiment of the present invention.

Figures 12 and 13 are perspective views showing a master device for remote intervention procedures according to a fourth embodiment of the present invention.

Figure 14 is a perspective view showing a master device for remote intervention procedures according to a fifth embodiment of the present invention.

Figures 15 and 16 are perspective views showing the displacement of a specific area of the magnetic coil detected by the displacement sensor according to the rotation in the first direction of the rotating body of the master device for remote interventional procedures according to the fifth embodiment of the present invention.

Figures 17 and 18 are perspective views showing the displacement of a specific area of the magnetic coil detected by the displacement sensor according to the rotation in the second direction of the rotating body of the master device for remote interventional treatment according to the fifth embodiment of the present invention.

Figures 19 and 20 are perspective views showing the displacement of a specific area of the magnetic coil detected by the displacement sensor according to the third direction rotation of the rotating body of the master device for remote interventional treatment according to the fifth embodiment of the present invention.

Figure 21 is a perspective view showing a robot system for remote interventional procedures to which a master device for remote interventional procedures according to various embodiments of the present invention is applied.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely provided to ensure that the disclosure of the present invention is complete and to provide a general understanding of the technical field to which the present invention pertains. It is provided to fully inform the skilled person of the scope of the present invention, and the present invention is only defined by the scope of the claims.

The terminology used herein is for describing embodiments and is not intended to limit the invention. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used in the specification, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other elements in addition to the mentioned elements. Like reference numerals refer to like elements throughout the specification, and “and/or” includes each and every combination of one or more of the referenced elements. Although “first”, “second”, etc. are used to describe various components, these components are of course not limited by these terms. These terms are merely used to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may also be a second component within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless clearly specifically defined.

Spatially relative terms such as “below”, “beneath”, “lower”, “above”, “upper”, etc. are used as a single term as shown in the drawing. It can be used to easily describe the correlation between a component and other components. Spatially relative terms should be understood as terms that include different directions of components during use or operation in addition to the directions shown in the drawings. For example, if a component shown in a drawing is flipped over, a component described as "below" or "beneath" another component will be placed "above" the other component. You can. Accordingly, the illustrative term “down” may include both downward and upward directions. Components can also be oriented in other directions, so spatially relative terms can be interpreted according to orientation.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

Prior to the description of the present invention, in various embodiments, components having the same configuration are typically described in the first embodiment using the same symbols, and in other embodiments, configurations different from the first embodiment are described. Let me explain.

Figure 1 is a perspective view showing a state in which the rotating body 20 of the master device for remote intervention surgery according to the first embodiment of the present invention rotates in the first direction, and Figure 2 is a remote view according to the first embodiment of the present invention. It is a perspective view showing a state in which the rotating body 20 of the master device for interventional procedures rotates in the second direction, and Figure 3 shows the rotating body 20 of the master device for remote interventional procedures according to the first embodiment of the present invention. This is a perspective view showing the state of rotation in three directions.

As shown in Figures 1 to 3, the master device for remote intervention procedures according to the first embodiment of the present invention includes a frame 10, a rotating body 20, a shape restoration material 30, and a displacement detection unit 40. ) and a control unit 50.

In one embodiment, the master device for remote intervention procedures according to the first embodiment of the present invention can remotely control the slave robot by rotating the rotating body 20 through user manipulation. At this time, the shape of the rotating body 20 may be deformed, but the shape of the rotating body 20 can be restored by the shape restoration material 30.

Frame 10 serves as the basic body of the present invention. This frame 10 may be provided so that the rotating body 20, which will be described later, can rotate. For example, the frame 10 may have a plate shape.

Frame 10 may include a receiving portion 12 and a receiving portion 14.

The receiving portion 12 is recessed in the upper surface of the frame 10 and can accommodate the rotating body 20. For example, the receiving portion 12 may have a plate shape.

The pair of receiving parts 14 are respectively recessed on both sides of the receiving part 12, so that both ends of the rotating body 20 can be rotatably inserted. For example, each receiving portion 14 may have a cylindrical shape.

The rotating body 20 may be provided on the frame 10 so as to be rotatable and change shape by the user's manipulation. Here, the rotation direction of the rotating body 20 may be one of the first direction, the second direction, and the third direction. Here, the first direction may be a direction of rotation along the circumference of the rotating body 20 with respect to the central axis of the rotating body 20, and the second direction may be a direction that moves and rotates along the longitudinal direction of the rotating body 20. It may be a direction, and the third direction may be a direction that deviates from both the first direction and the second direction, and may be a direction of rotation along a spiral direction with respect to the central axis of the rotating body 20.

In one embodiment, referring to FIG. 1 , the rotating body 20 may be rotated forward or backward along a first direction by a user's manipulation of rotation in the first direction. Here, the user's rotation operation in the first direction may be an operation of rotating the gripping part of the rotating body 20 along the first direction. Additionally, forward rotation may be clockwise, and reverse rotation may be counterclockwise.

In another embodiment, referring to FIG. 2 , the rotating body 20 may be rotated forward or backward along the second direction by the user's manipulation of rotation in the second direction. Here, the user's rotation operation in the second direction may be an operation of pushing the gripping part of the rotating body 20 in the second direction. At this time, the rotating body 20 may rotate in a circular manner along the second direction.

In another embodiment, referring to FIG. 3, the rotating body 20 may be rotated forward or backward along the third direction by the user's third direction rotation operation. Here, the user's manipulation of rotation in the third direction may be an operation of rotating the gripping part of the rotating body 20 in the third direction.

The rotating body 20 may have a ring-shaped cross-sectional shape. Specifically, the rotating body 20 has a hollow portion 21 hollowed out along the axis direction and may have a constant volume. That is, the rotating body 20 may have an overall donut-shaped shape.

Both ends of the rotating body 20 can be rotatably inserted into the receiving portion 14, and the central portion of the rotating body 20 can be rotatably accommodated in the receiving portion 12.

The material of the rotating body 20 may be made of a flexible material. For example, the flexible material may be vinyl, polyethylene terephthalate, etc.

The shape restoration material 30 is filled in the rotating body 20 and may serve to restore the shape of the rotating body 20 whose shape has been deformed. Accordingly, even if the rotating body 20 is deformed in shape by the user's manipulation, the shape can be restored by the shape restoration material 30. For example, the shape restoration material 30 may include a viscoelastic material. This viscoelastic material is a material that has both viscosity and elasticity, and can restore the shape of the deformed portion of the rotating body 20.

The displacement detection unit 40 serves to measure the rotational displacement of the rotating body 20. In this embodiment, the displacement sensor 48 may be used as the displacement detection unit 40.

The control unit 50 may generate a control signal for remotely controlling the slave robot that moves the surgical tool in response to the displacement data measured by the displacement detection unit 40. Here, the control signal may include a rotation signal and a translation signal.

In one embodiment, the control unit 50 controls the slave robot to rotate the surgical tool when rotation in the first direction of the rotating body 20 is confirmed based on the displacement data measured by the displacement detection unit 40. Generates a signal, and controls the slave robot to translate the surgical tool when rotation in the second direction perpendicular to the first direction of the rotating body 20 is confirmed based on the displacement data measured by the displacement detection unit 40. A translation signal can be generated. Afterwards, when a rotation signal is received from the control unit 50, the slave robot can rotate and move the surgical tool by a predetermined angle. Additionally, when a translation signal is received from the control unit 50, the slave robot can translate the surgical tool a predetermined distance.

In another embodiment, the control unit 50 simultaneously generates a rotation signal and a translation signal when a third direction rotation that deviates from both the first and second directions is detected based on the displacement data measured by the displacement detection unit 40. can do. Afterwards, when the slave robot simultaneously receives a rotation signal and a translation signal from the control unit 50, it can rotate the surgical tool by a predetermined angle and translate it a predetermined distance at the same time.

Figure 4 is a perspective view showing the rotating body 20 of the master device for remote intervention according to the second embodiment of the present invention rotating in the first direction, and Figure 5 is a remote view according to the second embodiment of the present invention. It is a perspective view showing the rotating body 20 of the master device for interventional procedures rotating in the second direction, and Figure 6 shows the rotating body 20 of the master device for remote interventional procedures according to the second embodiment of the present invention. This is a perspective view showing the state of rotation in three directions.

As shown in Figures 4 to 6, the master device for remote intervention according to the second embodiment of the present invention is different from the first embodiment, the displacement detection unit 40 includes a first roller 41, a first It may include an encoder 42, a second roller 43, and a second encoder 44.

The first roller 41 is provided on the frame 10 to be rotatable in a first direction and can be connected to the rotating body 20. This first roller 41 can be rotated in the first direction by rotation of the frame 10 in the first direction. Specifically, when the frame 10 rotates forward in the first direction, the first roller 41 may rotate reversely in the first direction, and when the frame 10 rotates reversely in the first direction, the first roller 41 may be rotated forward in the first direction.

In this embodiment, the first roller 41 may be provided in the storage groove 12a of the storage portion 12 of the frame 10. At this time, the storage groove 12a may be formed on the bottom of the storage unit 12.

The first encoder 42 is provided on the first roller 41 and can detect the rotation of the first roller 41. For example, the first encoder 42 may be composed of a pair, and the pair of first encoders 42 may be provided at both ends of the first roller 41, respectively.

The second roller 43 is provided on the frame 10 to be rotatable in a second direction and can be connected to the rotating body 20. For example, the second roller 43 may be provided in the receiving groove 12a of the receiving part 12 of the frame 10. This second roller 43 can be rotated in the second direction by rotation of the frame 10 in the second direction. Specifically, when the frame 10 rotates forward in the second direction, the second roller 43 may rotate reversely in the second direction, and when the frame 10 rotates reversely in the second direction, the second roller 43 may be rotated forward in the second direction.

In this embodiment, the second roller 43 may be provided in the storage groove 12a of the storage portion 12 of the frame 10.

The second encoder 44 is provided on the second roller 43 and can detect the rotation of the second roller 43. For example, the second encoder 44 may be composed of a pair, and the pair of second encoders 44 may be provided at both ends of the second roller 43, respectively.

In this embodiment, as shown in FIG. 6, when the frame 10 is rotated in the third direction, the first roller 41 and the second roller 43 are rotated simultaneously, and the first encoder 42 and the second roller 43 are rotated simultaneously. Encoder 2 (44) can simultaneously detect the rotation of the first roller (41) and the second roller (43).

In this embodiment, the control unit 50 may generate a rotation signal when the first encoder 42 detects the rotation of the first roller 41. Additionally, the control unit 50 can generate a translation signal when the second encoder 44 detects the rotation of the second roller 43.

Figure 7 is a perspective view showing the master device for remote intervention procedures according to the third embodiment of the present invention, and Figures 8 and 9 are the rotating body 20 of the master device for remote intervention procedures according to the third embodiment of the present invention. It is a plan view showing the rotation state of a pair of auxiliary rollers according to rotation in the first direction, and Figures 10 and 11 show the second rotating body 20 of the master device for remote intervention according to the third embodiment of the present invention. This is a top view showing the rotation state of a pair of auxiliary rollers according to direction rotation.

As shown in Figure 7, the master device for remote intervention according to the third embodiment of the present invention is different from the first embodiment, the displacement detection unit 40 includes a pair of auxiliary rollers 45 and a pair of It may include an auxiliary encoder (46).

A pair of auxiliary rollers 45 may be provided on the frame 10 in oppositely inclined directions in the first direction and connected to the rotating body 20. This pair of auxiliary rollers 45 may be provided in the storage groove 12a of the storage portion 12 of the frame 10.

In one embodiment, the pair of auxiliary rollers 45 may be rotated in opposite directions by rotation of the frame 10 in the first direction. Specifically, referring to FIG. 8, when the frame 10 rotates forward in the first direction, the one located in the front of the pair of auxiliary rollers 45 rotates forward and the one located in the rear of the pair of auxiliary rollers 45 What you do can be reversed. In addition, referring to FIG. 9, when the frame 10 is reversely rotated in the first direction, the one located in the front of the pair of auxiliary rollers 45 is reversely rotated and the one located in the rear of the pair of auxiliary rollers 45 is rotated in reverse. can be rotated forward

In another embodiment, the pair of auxiliary rollers 45 may rotate in the same direction as the frame 10 rotates in the second direction. Specifically, referring to FIG. 10, when the frame 10 rotates forward in the second direction, both of the pair of auxiliary rollers 45 may rotate forward. Additionally, referring to FIG. 11, when the frame 10 is reversely rotated in the second direction, both of the pair of auxiliary rollers 45 may be reversely rotated.

In this embodiment, when the frame 10 is rotated in the third direction, only one of the pair of auxiliary rollers 45 can be rotated.

A pair of auxiliary encoders 46 are provided on each of the pair of auxiliary rollers 45, and are capable of detecting rotation of the pair of auxiliary rollers 45 in opposite directions or rotation of the auxiliary rollers 45 in the same direction. You can.

Additionally, a pair of auxiliary encoders 46 can detect the rotation of only one of the pair of auxiliary rollers 45.

In this embodiment, the control unit 50 may generate a rotation signal when the pair of auxiliary encoders 46 detects rotation of the pair of auxiliary rollers 45 in opposite directions. Additionally, the control unit 50 may generate a translation signal when the pair of auxiliary encoders 46 detects rotation of the pair of auxiliary rollers 45 in the same direction. Additionally, the control unit 50 can simultaneously generate a rotation signal and a translation signal by detecting only the rotation of one auxiliary roller 45 from a pair of auxiliary encoders 46.

Figures 12 and 13 are perspective views showing a master device for remote intervention procedures according to a fourth embodiment of the present invention.

As shown in Figures 12 and 13, unlike the second embodiment, the master device for remote intervention according to the fourth embodiment of the present invention may further include a friction reduction unit 60. It will be revealed in advance that this friction reduction unit 60 is applicable to all of the first to fifth embodiments.

The friction reduction unit 60 may be provided on the outer surface of the rotating body 20 to reduce friction between the frame 10 and the rotating body 20. This friction reduction unit 60 may be provided on the outer surface of the rotating body 20 to be able to rotate. Here, an insertion groove 22 into which the friction reducing part 60 is inserted may be formed on the outer surface of the rotating body 20. Additionally, the friction reduction unit 60 may be comprised of one or more. Here, a plurality of friction reduction units 60 may be provided at intervals on the outer surface of the rotating body 20.

In one embodiment, the friction reduction unit 60 may have a ball shape.

In this embodiment, the first rollers 41 are provided as a pair, and the pair of first rollers 41 may be provided at intervals on the bottom of the storage unit 12.

Some of the plurality of friction reduction units 60 may be provided at intervals along the first direction on the outer surface of the rotating body 20. At this time, the rotation path of each friction reduction unit 60 is divided into a pair of It may be arranged to cross between one roller (41). The group of friction reduction parts 60 prepared in this way can be placed in the center of the receiving part 12, as shown in FIG. 12.

However, since the friction reduction unit 60 group may interfere with the user's manipulation of the rotating body 20, the friction reduction unit 60 group may be disposed adjacent to the receiving unit 14, as shown in FIG. 13. It may be possible.

Figure 14 is a perspective view showing the master device for remote intervention procedures according to the fifth embodiment of the present invention, and Figures 15 and 16 are the rotating body 20 of the master device for remote intervention procedures according to the fifth embodiment of the present invention. It is a perspective view showing the displacement of a specific area of the magnetic coil 47 detected by the displacement sensor 48 according to rotation in the first direction, and Figures 17 and 18 are a master for remote intervention procedures according to the fifth embodiment of the present invention. It is a perspective view showing the displacement of a specific area of the magnetic coil 47 detected by the displacement sensor 48 as the rotating body 20 of the device rotates in the second direction, and Figures 19 and 20 are the fifth embodiment of the present invention. This is a perspective view showing the displacement of a specific area of the magnetic coil 47 detected by the displacement sensor 48 according to the third direction rotation of the rotating body 20 of the master device for remote intervention according to .

As shown in Figure 14, in the master device for remote intervention according to the fifth embodiment of the present invention, unlike the first embodiment, the displacement detection unit 40 includes a magnetic coil 47 and a displacement sensor 48. may include.

The magnetic coil 47 may be coupled to the circumference of the rotating body 20. This magnetic coil 47 may have a spiral shape.

The displacement sensor 48 is provided on the frame 10 and can detect the displacement of a specific area of the magnetic coil 47 in the rotating body 20 and the rotation direction of the rotating body 20.

In one embodiment, referring to FIG. 14 , the displacement sensor 48 may detect the displacement of each of area A (48a), area B (48b), and area C (48c) of the magnetic coil 47. Here, area A (48a) and area B (48b) may be provided at intervals in the second direction, and area B (48b) and area C (48c) may be provided at intervals in the first direction. there is.

Referring to this embodiment and FIG. 15, when the rotating body 20 rotates forward in the second direction, the displacement sensor 48 detects a pair of linear displacements in area A (48a) and detects a pair of linear displacements in area B (48b) In area A (48a), a single linear displacement adjacent to the right linear displacement is detected, and in area C (48c), a single linear displacement is detected on the left among a pair of linear displacements in area A (48a). Adjacent single displacements can be detected. Through this detection, the displacement sensor 48 can recognize that the rotating body 20 is rotating forward in the second direction.

Referring to this embodiment and FIG. 16, when the rotating body 20 rotates in the second direction, the displacement sensor 48 detects a pair of linear displacements in area A (48a) and detects a pair of linear displacements in area B (48b) In area A (48a), a single straight line displacement adjacent to the left straight line displacement is detected among the pair of straight line patterns in area A (48a), and in area C (48c), a single straight line displacement is detected on the right side of the pair of straight line displacements in area A (48a). Adjacent single displacements can be detected. Through this detection, the displacement sensor 48 can recognize that the rotating body 20 is rotating backwards in the second direction.

Referring to this embodiment and FIG. 17, when the rotating body 20 rotates forward in the first direction, the displacement sensor 48 has area A (48a), area B (48b), and area C (48c) all in a single A linear displacement is detected, and the linear displacement detected in area B (48b) may be placed between the linear displacement detected in area A (48a) and the linear displacement detected in area C (48c). Through this detection, the displacement sensor 48 can recognize that the rotating body 20 is rotating forward in the first direction.

Referring to this embodiment and FIG. 18, when the rotating body 20 rotates in the first direction, the displacement sensor 48 has all of area A (48a), area B (48b), and area C (48c) being single. A linear displacement is detected, and the linear displacement detected in area C (48c) may be placed between the linear displacement detected in area A (48a) and the linear displacement detected in area B (48b). Through this detection, the displacement sensor 48 can recognize that the rotating body 20 is rotating backwards in the first direction.

Referring to this embodiment and FIG. 19, when the rotating body 20 rotates forward in the third direction, the displacement sensor 48 is configured to rotate in all areas A (48a), B (48b), and C (48c). 15 to 18 detect a single linear displacement thicker than the linear displacement detected in area C (48c), and the linear displacement detected in area A (48a) and the linear displacement detected in area B (48b) are detected. It can be placed between linear displacements. Through this detection, the displacement sensor 48 can recognize that the rotating body 20 is rotating forward in the third direction.

Referring to this embodiment and FIG. 20, when the rotating body 20 is reversely rotated in the third direction, the displacement sensor 48 moves to area A (48a), area B (48b), and area C (48c). A single linear displacement that is thinner than the linear displacement detected in FIGS. 15 to 18 is detected, and the linear displacement detected in area B (48b) is divided into the linear displacement detected in area A (48a) and the linear displacement detected in area C (48c). It can be placed between linear displacements. Through this detection, the displacement sensor 48 can recognize that the rotating body 20 is rotating reversely in the third direction.

Hereinafter, the operation of the master device for remote intervention procedures according to various embodiments of the present invention will be described.

First, the user rotates the rotating body 20 in one of the first direction, second direction, and third direction. Here, the user's rotation operation in the first direction may be an operation of rotating the gripping part of the rotating body 20 along the first direction. Additionally, the user's rotation operation in the second direction may be an operation of pushing the gripping portion of the rotating body 20 in the second direction. Additionally, the user's manipulation of rotation in the third direction may be an operation of rotating the gripping portion of the rotating body 20 in the third direction.

Next, the displacement detection unit 40 measures the rotational displacement of the rotating body 20.

Subsequently, the control unit 50 may generate a control signal that controls the slave robot to move the surgical tool based on the displacement data measured by the displacement detection unit 40.

Specifically, when the control unit 50 confirms the forward rotation of the rotating body 20 in the first direction based on the displacement data measured by the displacement detection unit 40, the slave robot moves the surgical tool forward by a predetermined angle. It is possible to generate a rotation signal that controls the In addition, when the first direction reverse rotation of the rotating body 20 is confirmed based on the displacement data measured by the displacement detection unit 40, the control unit 50 causes the slave robot to move the surgical tool in reverse rotation by a predetermined angle. A rotation signal can be generated.

In addition, when the second direction forward rotation of the rotating body 20 is confirmed based on the displacement data measured by the displacement detection unit 40, the control unit 50 controls the slave robot to move the surgical tool forward by a predetermined distance. A translation signal can be generated. In addition, when the second direction reverse rotation of the rotating body 20 is confirmed based on the displacement data measured by the displacement detection unit 40, the control unit 50 controls the slave robot to move the surgical tool backward by a predetermined distance. A translation signal can be generated.

In addition, when the control unit 50 confirms the third direction forward rotation of the rotating body 20 based on the displacement data measured by the displacement detection unit 40, the slave robot moves the surgical tool forward and simultaneously moves it forward. A rotation signal and a translation signal can be generated simultaneously. In addition, when the control unit 50 confirms the third direction reverse rotation of the rotating body 20 based on the displacement data measured by the displacement detection unit 40, the slave robot moves the surgical tool backward and simultaneously moves in reverse rotation. A rotation signal and a translation signal can be generated simultaneously.

Figure 21 is a perspective view showing a robot system for remote interventional procedures to which a master device for remote interventional procedures according to various embodiments of the present invention is applied.

As shown in FIG. 21, the robot system for remote interventional procedures to which the master device 100 for remote interventional procedures according to various embodiments of the present invention is applied includes the user's rotation operation of the rotating body 20 in the first direction and the second direction. The slave robot 200 is remotely controlled and can move the surgical tool 300 in response to the direction rotation operation or the third direction rotation operation. Here, the surgical tool 300 may be an endoscope, guide wire, catheter, etc.

According to the present invention, the master device for remote interventional procedures according to an embodiment of the present invention has the effect of providing the operator with a feeling of operation similar to that of manual procedures.

Above, embodiments of the present invention have been described with reference to the attached drawings, but those skilled in the art will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. You will be able to understand it. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive.

Claims (13)

1. frame;

   a rotating body provided in the frame to be rotatable and deformable in shape by a user's manipulation, having a hollow portion provided along the central axis, and having a constant volume;

   A shape restoration material filled in the rotating body to restore the shape of the deformed rotating body;

   a displacement detection unit that measures rotational displacement of the rotating body; and

   A master device for remote interventional procedures, including a control unit that generates a control signal for remotely controlling a slave robot that moves a surgical tool in response to the displacement data measured by the displacement detection unit.
2. According to paragraph 1,

   The frame is,

   a storage portion where the rotating body is accommodated; and

   A master device for remote intervention, including a pair of receiving parts formed on both sides of the receiving part, into which both ends of the rotating body are rotatably inserted.
3. According to paragraph 1,

   The master device for remote intervention, wherein the rotating body has a circular cross-sectional shape.
4. According to paragraph 1,

   A master device for remote intervention, further comprising one or more friction reduction units provided on the outer surface of the rotating body to reduce friction between the frame and the rotating body.
5. According to paragraph 4,

   The friction reduction unit is provided to be rotatable on the outer surface of the rotating body.
6. According to paragraph 4,

   A master device for remote intervention, wherein the friction reduction unit has a ball shape.
7. According to paragraph 1,

   The control unit,

   When the rotation of the rotating body in the first direction is confirmed based on the displacement data measured by the displacement detection unit, the slave robot generates a rotation signal to control the surgical tool to rotate,

   Generating a translation signal that controls the slave robot to translate the surgical tool when rotation in the second direction perpendicular to the first direction of the rotating body is confirmed based on the displacement data measured by the displacement detection unit. Master device for remote interventional procedures.
8. In clause 7,

   The control unit, when a third direction rotation that deviates from both the first direction and the second direction is detected based on the displacement data measured by the displacement detection unit, simultaneously generates the rotation signal and the translation signal. Master device for procedures.
9. According to clause 8,

   The displacement detection unit,

   a first roller provided on the frame to be rotatable in the first direction and connected to the rotating body;

   a first encoder provided on the first roller to detect rotation of the first roller;

   a second roller provided on the frame to be rotatable in the second direction and connected to the rotating body; and

   A master device for remote intervention, including a second encoder provided on the second roller and detecting rotation of the second roller.
10. According to clause 8,

    The displacement detection unit,

    a pair of auxiliary rollers provided on the frame in oppositely inclined directions in a first direction and connected to the rotating body; and

    A master device for remote interventional procedures, including a pair of auxiliary encoders provided on each of the pair of auxiliary rollers and detecting rotation in opposite directions or rotation in the same direction of the pair of auxiliary rollers.
11. According to clause 8,

    The displacement detection unit,

    A magnetic coil coupled around the rotating body; and

    A master device for remote interventional procedures, including a displacement sensor provided in the frame and recognizing the rotational displacement of the rotating body by detecting displacement of a specific area of the magnetic coil in the rotating body.
12. According to clause 11,

    The master device for remote intervention, wherein the magnetic coil has a spiral shape.
13. According to paragraph 1,

    The shape restoration material is a master device for remote interventional procedures comprising a viscoelastic material.

Images