MASTER DEVICE FOR INTERVENTIONAL PROCEDURE AND CONROLLING METHOD OF THE MASTER DEVICE FOR INTERVENTIONAL PROCEDURE 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：
KR1020160135335
公开号：
KR1018268480000B1
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 master device for interventional procedure, a method to control the master device for interventional procedure, and a remote intervention procedure system using the same. The present invention can: transmit a motion command of an operator to a needle driver and a slave robot in the remote intervention procedure system developed to perform interventional procedure remotely by using a robot； and implement haptic feedback on information generated in freedom restriction and intervention procedure processes about a motion appropriate to an intervention procedure process for an operator. For the above, the master device for interventional procedure includes: a handle unit for an operator to grip； a linear motion module which is included in the handle unit to implement a one-degree-of-freedom linear motion of the needle unit used for interventional procedure； a rotational motion module which is combined with the handle unit to implement a two-degree-of-freedom rotational motion of the needle unit according to movements of the handle unit； a plane motion module which is combined with the rotational motion module to implement a two-degree-of-freedom plane motion of the needle unit according to movements of the handle unit； and a mode selection module which is included in the handle unit to select one among a linear motion mode of operating only the linear motion module, a rotational motion mode of operating only the rotational motion module, and a plane motion mode of operating only the plane motion module.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 마스터장치와 중재시술용 마스터장치의 제어방법, 그리고 이것을 이용한 원격중재시술시스템에 관한 것이다.이를 위해 중재시술용 마스터장치는 시술자의 파지를 위한 손잡이부와, 중재시술에 이용되는 니들부의 1자유도 직선 운동을 구현하도록 손잡이부에 구비되는 직선운동모듈과, 손잡이부의 이동에 따라 니들부의 2자유도 회전 운동을 구현하도록 손잡이부와 결합되는 회전운동모듈과, 손잡이부의 이동에 따라 니들부의 2자유도 평면 운동을 구현하도록 회전운동모듈과 결합되는 평면운동모듈 및 직선운동모듈만 동작되도록
