HANDLE UNIT FOR INTERVENTIONAL PROCEDURE AND MASTER DEVICE FOR INTERVENTIONAL PROCEDURE USING THE HANDLE UNIT AND REMOTE CONTROL INTERVENTIONAL PROCEDURE SYSTEM USING THE MASTER DEVICE
WOO, HYUN SOO,우현수,CHO, JANG HO,조장호,LEE, HYUK JIN,이혁진,JEONG, KI SOO,정기수,WOO, HYUN SOOKR,CHO, JANG HOKR,LEE, HYUK JINKR,JEONG, KI SOOKR
申请号：
KR1020160135334
公开号：
KR1020180042762A
申请日:
2016.10.18
申请国别(地区):
KR
年份:
2018
代理人:
摘要：
The present invention relates to a remote interventional procedure system which is developed to execute an interventional procedure remotely by using a robot. More specifically, the present invention relates to an interventional procedure handle unit which transmits the movement commands from a practitioner to a slave robot and a needle operating unit, limits the degree of freedom in motions of the practitioner suitable for an interventional procedure process, and realizes a haptic feedback on the information generated during the interventional procedure process, a master device for the interventional procedure using the same, and the remote interventional procedure system using the same. The interventional procedure handle unit is gripped by the practitioner to correspond to the movement of a needle unit used in the interventional procedure. The interventional procedure handle unit includes: a handle part gripped by the practitioner； a mode selection module which selects one of movement modes and is arranged on the handle part； and a linear movement module which is arranged on the handle unit and realizes a one-degree-of-freedom linear movement of the needle unit when a linear movement mode is selected. The movement modes of the mode selection unit includes: the linear movement mode for realizing only a one-degree-of-freedom linear movement of the needle unit； a rotational movement mode for realizing only a two-degree-of-freedom rotational movement of the needle unit； and a planar movement mode for realizing a two-degree-of-freedom planar movement of the needle unit.본 발명은 로봇을 이용하여 원격으로 중재시술을 수행하기 위해 개발된 원격중재시술시스템에서 슬레이브로봇 및 니들구동부에 시술자의 움직임 명령을 전달하고, 시술자에게는 중재시술 과정에 맞는 동작에 대한 자유도 제한과 중재시술 과정에서 발생하는 정보에 대한 햅틱 피드백을 구현할 수 있는 중재시술용 손잡이유닛과 이것을 이용한 중재시술용 마스터장치 그리고 이것을 이용한 원격중재시술시스템에 관한 것이다.이를 위해 중재시술용 손잡이유닛은 중재시술을 위한 니들부의 움직임에 대응하여 시술자가 파지하기 위한 손잡이유닛이고, 시술자가 파지하는 손잡이부와, 니들부의 1자유도 직선 운동만을 구현하도록 하는 직선운동모드와 니들부의 2자유도 회전 운동만을 구현하도록 하는 회전운동모드와 니들부의 2자유도 평면 운동만을 구현하도록 하는 평면운동
