Method, program and apparatus for generating torque for control of endoscopic scope

Abstract

To provide a method, computer program and apparatus for compensating a torque generated in an endoscope device so that the scope can move to a position desired by a user at a speed also desired by the user.SOLUTION: According to one embodiment, a method of generating a torque for controlling an endoscopic scope is implemented with a computing device including at least one processor. The method includes: obtaining first data regarding a target movement state of the scope included in the endoscope device and second data regarding an estimated movement state of the scope; and computing a torque for causing the scope to follow the position and speed desired by a user by using a mathematical model that uses the first data and the second data as input variables.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to endoscopic control technology, and specifically, to a method, a computer program, and an apparatus for generating torque required for controlling an endoscope scope.

Background Art

[0002] An endoscope is a general term for a medical instrument that observes organs by inserting a scope into the body without performing a procedure or autopsy. An endoscope inserts a scope into the human body, irradiates light, and visualizes the light reflected on the surface of the inner wall. The types of endoscopes are classified according to the purpose and body part, and roughly classified into a rigid endoscope in which the endoscope tube is formed of metal and a flexible endoscope typified by a gastrointestinal endoscope.

[0003] Since a flexible endoscope device includes various devices inside, it is vulnerable to impact, and the inside of the digestive tract into which the flexible endoscope is inserted is also a very soft tissue and has an irregular shape. In addition, since the shape of the inside of the digestive tract varies from patient to patient, even experienced medical staff may not find the process of inserting the endoscope easy.

[0004] Here, as the endoscopic procedure is performed, the endoscope scope is inserted into the digestive tract while being twisted or twisted according to the shape of the digestive tract. At the initial stage of the procedure, since the shape of the scope is relatively simple, the operator can bend or move the scope to a desired angle without applying much force. However, as the procedure progresses to the later stage or when complex movements are involved during the procedure, controlling the scope while considering the characteristics of the scope that is deformed every moment may cause great operational inconvenience to the operator.

[0005] In addition, due to the characteristics of the endoscopic procedure in which the endoscope is inserted into the body, fine control of the scope is required, so a technology for controlling the scope by reflecting physical changes occurring in the endoscopic device in the procedure situation is required.

Prior Art Documents

Patent Document

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] This disclosure is for solving the above-described problems of the prior art, and relates to a method, a computer program, and an apparatus for compensating torque generated in an endoscope device so that a scope can move at a desired position and speed for a user.

[0008] However, the technical problems to be achieved by this embodiment are not limited to the technical problems as described above, and other technical problems may exist.

Means for Solving the Problems

[0009] According to an embodiment of the present disclosure for realizing the above-described problems, a torque generation method for controlling an endoscope scope is disclosed. The method includes obtaining first data about a target movement state of the scope included in the endoscope device and second data about an estimated movement state of the scope, and calculating torque for the scope to follow a desired position and speed of a user using a mathematical model with the first data and the second data as input variables.

[0010] As an alternative, the target movement state of the scope may include at least one of a target position of the scope, a target speed of the scope, or a target acceleration of the scope calculated by an instruction using an operation unit included in the endoscope device.

[0011] As an alternative, the estimated movement state of the scope may include at least one of an estimated position of the scope, an estimated speed of the scope, or an estimated acceleration of the scope, which is calculated based on the actual position data of the motor included in the endoscope device measured by the sensor, the actual speed data of the motor measured by the sensor, and the target speed data of the scope included in the first data.

[0012] As an alternative, the mathematical model can be composed of a combination of dynamics terms based on sliding mode control.

[0013] As an alternative, the dynamics terms may include a first term for inertia with the estimated position of the scope included in the second data as an input variable, a second term for the Coriolis effect with the estimated position of the scope and the estimated speed of the scope included in the second data as input variables, and a third term for the force due to the shape of the scope with the estimated position of the scope as an input variable.

[0014] As an alternative, the combination of the dynamics terms may be calculated by combining a basic mathematical formula including the sum of the first, second, and third terms and a Lyapunov function in a semidefinite form.

[0015] As an alternative, the Lyapunov function may include a detailed term for reflecting the spring effect generated by the string of the scope.

[0016] As an alternative, the Lyapunov function may be formed in a semidefinite form by reflecting a mathematical formula for a sliding surface with the difference between the second data and the first data as an input variable.

[0017] As an alternative, the Lyapunov function may be created in a semi - definite sign form by reflecting a mathematical formula based on a sign function for compensating the maximum value of uncertainties due to disturbances and a mathematical formula for reducing the tracking error that may occur in the process of compensating the maximum value.

[0018] According to an embodiment of the present disclosure for realizing the above - described problems, there is provided a computer program stored in a computer - readable storage medium. When the computer program is executed by one or more processors, it performs an operation of generating torque for controlling an endoscope scope. The operation may include an operation of acquiring first data about a target movement state of the scope included in the endoscope device and second data about an estimated movement state of the scope, and an operation of calculating torque for causing the scope to follow a desired position and speed of a user using a mathematical model having the first data and the second data as input variables.

[0019] According to an embodiment of the present disclosure for realizing the above - described problems, there is disclosed a computing device for generating torque for controlling an endoscope scope. The device includes a processor including at least one core and a memory including program code executable by the processor. The processor can acquire first data about a target movement state of the scope included in the endoscope device and second data about an estimated movement state of the scope, and calculate torque for causing the scope to follow a desired position and speed of a user using a mathematical model having the first data and the second data as input variables.

Advantages of the Invention

[0020] According to an embodiment of the present disclosure, accurate and delicate scope control is possible by generating torque that causes the scope of the endoscope device to follow the desired position and speed of the user. That is, by reducing the error between the user's operation and the movement of the scope, the convenience and satisfaction of the procedure can be enhanced, and a sense of stability can be given to the patient during the procedure.

Brief Description of the Drawings

[0021]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0022] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those having ordinary knowledge in the technical field of the present disclosure (hereinafter referred to as those skilled in the art) can easily implement them. The embodiments presented in the present disclosure are provided so that those skilled in the art can use or implement the content of the present disclosure. Therefore, various modifications to the embodiments of the present disclosure will be apparent to those skilled in the art. That is, the present disclosure can be embodied in various different forms and is not limited to the following embodiments.

[0023] Throughout the specification of the present disclosure, the same or similar reference numerals refer to the same or similar components. Also, for the sake of clarity in explaining the present disclosure, the reference numerals of the parts not related to the description of the present disclosure can be omitted from the drawings.

[0024] The term "or" as used in this disclosure is intended to mean an inclusive "or" rather than an exclusive "or". That is, in this disclosure, unless otherwise specified or the meaning is not clear from the context, "x uses a or b" should be understood to mean one of the natural inclusive substitutions. For example, in this disclosure, unless otherwise specified or the meaning is not clear from the context, "x uses a or b" can be interpreted as either x uses a, x uses b, or x uses both a and b.

[0025] The term "and / or" as used in this disclosure should be understood to include all possible combinations of one or more of the listed related concepts.

[0026] The terms "comprising" and / or "including" as used in this disclosure should be understood to mean that a particular feature and / or component is present. However, the terms "comprising" and / or "including" should be understood not to exclude the presence or addition of one or more other features, other components, and / or combinations thereof.

[0027] In this disclosure, unless otherwise specified or indicating a singular form and the context is not clear, the singular should generally be interpreted to include "one or more".

[0028] The term "the Nth (N is a natural number)" as used in this disclosure can be understood as an expression used to distinguish the components of this disclosure from each other according to a predetermined criterion such as a functional perspective, a structural perspective, or for the convenience of explanation. For example, in this disclosure, components that perform different functional roles can be distinguished as the first component or the second component. However, components that are substantially the same within the technical idea of this disclosure but need to be distinguished for the convenience of explanation can also be distinguished as the first component or the second component.

[0029] On the one hand, the terms "module" or "unit" used in the present disclosure can be understood as terms indicating an independent functional unit that processes computing resources such as a computer-related entity, firmware, software or a part thereof, hardware or a part thereof, or a combination of software and hardware. Here, a "module" or "unit" may be a unit composed of a single element, or may be a unit represented as a combination or set of multiple elements. For example, as a concept of negotiation, a "module" or "unit" can indicate a hardware element or a set thereof of a computing device, an application program that performs a specific function of software, a processing procedure (procedure) realized by the execution of software, or a set of instruction words for the execution of a program. Also, in a broad sense, a "module" or "unit" may indicate the computing device itself that constitutes a system, or an application executed on the computing device. However, since the above concepts are only examples, the concepts of "module" or "unit" can be defined in various ways within the scope understandable by those skilled in the art based on the content of the present disclosure.

[0030] The term "model" used in the present disclosure can be understood as a system that embodies using mathematical concepts and languages to solve a specific problem, a set of software units for solving a specific problem, or an abstract model for a processing procedure for solving a specific problem. For example, a neural network "model" can indicate the entire system embodied as a neural network having problem-solving ability through learning. Here, the neural network can have problem-solving ability by optimizing parameters (parameters) that connect nodes or neurons through learning. A neural network "model" can include a single neural network, or can also include a set of neural networks combined with multiple neural networks.

[0031] As used in this disclosure, the term "acquire" can be understood to mean not only receiving data via a wired or wireless communication network with an external device or system, but also generating data in an on-device form.

[0032] The above explanations of the terms are for helping to understand this disclosure. Therefore, it should be noted that when the above terms are not explicitly described as limiting matters of the content of this disclosure, the content of this disclosure is not used in the sense of limiting the technical idea.

[0033] FIG. 1 is a configuration diagram of an endoscope device according to an embodiment of this disclosure.

[0034] Referring to FIG. 1, the endoscope device 100 according to an embodiment of this disclosure can be a flexible endoscope, specifically, a gastrointestinal endoscope. The endoscope device 100 can include a configuration capable of acquiring medical images taken inside the digestive tract, and, if necessary, a configuration capable of inserting tools and performing treatment or procedures while viewing the medical images.

[0035] The endoscope device 100 can include an output unit 110, a control unit 120, a drive unit 130, a pump unit 140, and a scope 150, and can further include a light source unit (not shown).

[0036] The output unit 110 can include a display for displaying medical images. The output unit 110 can include a display module capable of outputting visualized information such as a liquid crystal display (LCD), a thin film transistor-driven liquid crystal display (TFTLCD), an organic light-emitting diode (OLED), a flexible display, a three-dimensional display (3D display), etc., or implementing a touch screen.

[0037] The output unit 110 can include various means for providing medical images or information about medical images. The output unit 110 can display the medical images acquired by the scope 150 or the medical images processed by the control unit 120. In addition to visual means, the output unit 110 can provide information via auditory means, and can include, for example, a speaker for audibly providing an alarm for a medical image. On the other hand, in FIG. 2, a single output unit 110 is shown, but the number of output units 110 can be plural. In this case, the output unit 110 for displaying the medical images acquired by the scope 150 and the output unit 110 for displaying the information processed by the control unit 120 can be distinguished.

[0038] The control unit 120 can control the overall operation of the endoscope device 100. For example, the control unit 120 can perform operations such as the operation of shooting medical images by the scope 150, the operation of processing the acquired medical images, the control operations for performing medical operations such as washing water injection and suction, and a series of operations for controlling the movement of the scope 150. The control unit 120 can include all types of devices capable of processing data. According to an exemplary embodiment, the control unit 120 can be a data processing device built into hardware that has a physically structured circuit for performing functions represented by codes or instructions included in a program. As an example of a data processing device built into hardware, it can include processing devices such as a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), and a field programmable gate array (FPGA), but the technical idea of the present disclosure is not limited thereto.

[0039] The control unit 120 can control the movement of the scope 150 via the drive unit 130 connected to the scope 150. That is, the control unit 120 can generate a control signal provided to the drive unit 130 in order to control the movement of the scope 150.

[0040] Exemplarily, a series of operations in which the endoscope apparatus 100 of the present disclosure controls the scope 150 can be executed as follows. The user can input the degree of bending or the bending direction of the scope 150 via the operation unit. The input information is transmitted to the control unit 120, and the control unit 120 can process the input information and generate a signal to be provided to the drive unit 130. For example, the control unit 120 can calculate the position, angle, angular velocity, etc. of the motor corresponding to the degree of bending or the bending direction set by the user and provide them to the drive unit 130. The drive unit 130 can generate power based on the signal of the control unit 120 and transmit it to the scope 150. Therefore, the scope 150 can move or bend corresponding to the value input by the user.

[0041] The drive unit 130 can provide the power required for the process in which the scope 150 is inserted into the body or moves while bending inside the body. For example, the drive unit 130 can include a motor connected to a wire inside the scope 150 and a tension adjustment unit that adjusts the tension of the wire.

[0042] The drive unit 130 can control the power of the motor to control the scope 150 in various directions. For example, a plurality of motors can be configured corresponding to the direction in which the insertion portion at the end of the scope 150 is to be bent. Alternatively, a plurality of motors can be configured corresponding to the wires inside the scope 150. Specifically, the drive unit 130 can include a first motor that determines the x-axis movement of the scope 150 and a second motor that determines the y-axis movement of the scope 150. Although the x-axis position, y-axis position, z-axis position, roll, pitch, and yaw values of the end of the scope 150 can be determined by the control of the drive unit 130, the configuration of the drive unit 130 is not limited to this.

[0043] The tension adjustment unit can receive power from the motor and generate tension by pulling the wire inside the scope 150. Thereby, the scope 150 can be bent. The tension adjustment unit 330 can adjust the tension acting on the plurality of wires 1000 inside the scope 150 so that the scope 150 can be bent according to the determined bending amount and bending direction.

[0044] The pump unit 140 can include at least one of an air pump that injects air into the body through the scope 150, a suction pump that provides negative pressure or vacuum and inhales air from the body through the scope 150, and a water pump that injects cleaning water into the body through the scope 150. Each pump can include a valve for controlling the flow of fluid. The pump unit 140 can be opened and closed by the control unit 120. At least one of the suction pump, the water pump, and the air pump can be opened and closed by a control signal of a computing device or the control of the control unit 120.

[0045] The scope 150 can include an insertion part 152 inserted into the digestive tract, and an operation part 151 that controls the movement of the insertion part 152 and receives input from the user to perform various operations.

[0046] The insertion part 152 is configured to bend flexibly, and one end thereof is connected to the driving part 130, so that the driving part 130 can determine the degree of bending or the bending direction. Since medical imaging and treatment are performed at the end of the insertion part 152, the scope 150 can include a plurality of cables and tubes extending to the end of the insertion part 152. Inside the scope 150, a light source lens 153, an objective lens 154, a working channel 155, and an air and water channel 156 can be provided. Through the working channel 155, tools for treating and disposing of lesions can be inserted during the endoscopic surgery process. Air can be injected and washing water can be supplied through the air and water channel 156. On the other hand, in FIG. 2, the air and water channel 156 is shown as a passage for supplying washing water, but it is not limited thereto. Exemplarily, a separate water jet channel (not shown) can be provided inside the scope 150, and washing water can also be supplied through the water jet channel.

[0047] On the other hand, the expression described in this specification that the scope 150 is bent by the control part 120 or the driving part 130 may mean that at least a part of the scope 150, for example, the insertion part 152, is bent.

[0048] The operation part 151 can include a plurality of input buttons that provide various functions (such as image shooting, washing water injection, etc.) so that the endoscopic surgeon can control the orientation of the insertion part 152 and perform the surgery through the working channel 155 and the air and water channel 156. For example, the operation part can include a plurality of buttons for instructing the direction of the scope 150 or an input device in the form of a joystick.

[0049] The light source unit can include a light source that irradiates light into the body through the endoscope scope 150. The light source unit can include an illumination device that generates white light, or can include a plurality of illumination devices that generate lights with different wavelength bands. Through the light source unit, the type of light source, the intensity of light, the white balance, etc. can be set. On the other hand, the above-described setting items can also be set via the control unit 120. The light generated by the light source unit can be transmitted to the scope 150 through a path such as an optical fiber.

[0050] FIG. 2 is a block diagram showing a computing device according to an embodiment of the present disclosure.

[0051] A computing device 200 according to an embodiment of the present disclosure may be a hardware device or a part of a hardware device that performs comprehensive processing and calculation of data, or may be a computer environment based on software connected by a communication network. For example, the computing device 200 may be a subordinate device built into the endoscope device and performing an intensive data processing function necessary for the control of the endoscope device. The computing device 200 may be an independent device such as a server that performs an intensive data processing function necessary for the control of the endoscope device via wired or wireless communication with the endoscope device. Since the above description is only an example related to the type of the computing device 200, the type of the computing device 200 can be configured in various ways within the scope understandable by those skilled in the art based on the content of the present disclosure.

[0052] Referring to FIG. 2, a computing device 200 according to an embodiment of the present disclosure can include a processor 210, a memory 220, and a network unit 230. However, since FIG. 2 is only an example, the computing device 200 can include other configurations for implementing a computer environment. Also, only a part of the above-described configurations can be included in the computing device 200.

[0053] The processor 210 according to an embodiment of the present disclosure can be understood as a component unit including hardware and / or software for executing computing operations. For example, the processor 210 can read a computer program and execute the processing of data that can be obtained in the control process of the endoscope device. The processor 210 for executing such data processing can include a central processing unit (CPU), a general-purpose graphics processing unit (GPGPU), a tensor processing unit (TPU), an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA), etc. Since the types of the above-described processor 210 are merely examples, the types of the processor 210 can be configured in various ways within the scope understandable by those skilled in the art based on the content of the present disclosure.

[0054] The processor 210 can calculate a torque that causes the scope of the endoscope device to follow the desired position and speed of the user. For example, as in the endoscope device 100 of FIG. 1, when the end of the scope 150 and the drive unit 130 are separated by a certain distance or more, the power of the drive unit 130 cannot be completely transmitted to the end of the scope 150 via the wire, and an error may occur between the control command of the user and the movement of the scope 150. The processor 210 can perform calculations based on the data about the target movement state of the scope 150 and the data about the estimated movement state of the scope 150, and calculate a torque for reducing the error between the control command and the movement of the scope 150. Here, the calculation by the processor 210 can be performed using a mathematical model that reflects the physical characteristics of the endoscope device 100 to calculate the torque value.

[0055] The memory 220 according to an embodiment of the present disclosure can be understood as a component unit including hardware and / or software for storing and managing data processed by the computing device 200. That is, the memory 220 can store any form of data generated or determined by the processor 210 and any form of data received by the network unit 230. For example, the memory 220 can include at least one type of storage medium such as a flash memory type, a hard disk type, a multimedia card micro type, a card type memory, a RAM (random access memory), an SRAM (static random access memory), a ROM (read-only memory), an EEPROM (electrically erasable programmable read-only memory), a PROM (programmable read-only memory), a magnetic memory, a magnetic disk, and an optical disk. Also, the memory 220 can include a database system for controlling and managing data in a predetermined system. Since the types of the memory 220 described above are merely examples, the types of the memory 220 can be configured in various ways within the scope understandable by those skilled in the art based on the content of the present disclosure.

[0056] The memory 220 can structure and organize and manage data, combinations of data, program code executable by the processor 210, etc., necessary for the processor 210 to execute operations. For example, the memory 220 can store program code for operating the processor 210 to calculate torque using a mathematical model, and various data generated by the execution of the program code. Also, the memory 220 can store various data transmitted and received via the network unit 230 described later for use in the torque calculation by the processor 210.

[0057] The network unit 230 according to an embodiment of the present disclosure can be understood as a component for transmitting and receiving data via any form of known wired or wireless communication system. For example, the network unit 230 can execute data transmission and reception using a wired or wireless communication system such as a local area network (LAN), wideband code division multiple access (WCDMA), long term evolution (LTE), wireless broadband internet (WiBro), fifth-generation mobile communication (5G), ultrawide-band wireless communication, ZigBee, radio frequency (RF) communication, wireless LAN, wireless fidelity (Wi-Fi), near field communication (NFC), or Bluetooth (registered trademark). Since the above-described communication systems are merely examples, the wired or wireless communication system for data transmission and reception of the network unit 230 can be variously applied in addition to the above-described examples.

[0058] On the other hand, the data to be processed by the processor 210 can be stored in the memory 220 or received via the network unit 230, and the data generated by the processor 210 can be stored in the memory 220 or transmitted externally via the network unit 230.

[0059] FIG. 3 is a block diagram showing a torque calculation process according to an embodiment of the present disclosure.

[0060] Referring to FIG. 3, a computing device according to an embodiment of the present disclosure can acquire first data 10 regarding a target movement state of a scope included in an endoscope device. Here, the first data 10 can be generated by an instruction using an operation unit 310 included in the endoscope device. When a user inputs an instruction via the operation unit 310, the computing device can acquire the first data 10 according to the instruction input via the operation unit 310. Here, the first data 10 can include at least one of data regarding the target position of the scope, data regarding the target speed of the scope, or data regarding the target acceleration of the scope.

[0061] The computing device can acquire second data 20 regarding the estimated motion state of the scope. Here, the second data 20 can be generated from the results sensed by a sensor 320 that senses the motion of a motor included in the endoscope device. In order to estimate the motion state of the scope, it is difficult to directly provide a sensor to the scope due to the characteristics and structure of the scope inserted into the human body. Since the motion of the scope is affected by the motion of the motor, the computing device can use the actual position data of the motor measured via the sensor 320 and the actual speed data of the motor measured via the sensor 320 to acquire the second data 20. For example, the computing device can calculate the second data 20 based on the actual position data of the motor, the actual speed data of the motor, and the target speed data of the scope included in the first data 10. The computing device can input the actual position data of the motor, the actual speed data of the motor, and the target speed data of the scope included in the first data 10 into a pre-trained machine learning model to calculate the second data 20. Here, the second data 20 can include at least one of data regarding the estimated position of the scope, data regarding the estimated speed of the scope, or data regarding the estimated acceleration of the scope. The machine learning model can be a model learned by supervised learning, semi-supervised learning, or unsupervised learning, etc. And the machine learning model can include a plurality of neural networks structured according to each learning methodology. On the other hand, since the estimation using the machine learning model is only an example for estimating the motion state of the scope, the present disclosure is not limited to such an example.

[0062] The computing device can generate a torque value 30 using a mathematical model 330 with the first data 10 and the second data 20 as input variables, so that the scope follows the desired position and speed of the user. Here, the mathematical model 330 can be composed of a combination of dynamic terms based on sliding mode control. The dynamic terms include a first term for inertia with the estimated position of the scope included in the second data 20 as an input variable, a second term for the Coriolis effect with the estimated position of the scope and the estimated speed of the scope included in the second data as input variables, and a third term for the force due to the shape of the scope with the estimated position of the scope as an input variable. And the combination of the dynamic terms can be calculated by combining a basic mathematical formula including the sum of the first term, the second term, and the third term with a Lyapunov function in semidefinite form.

[0063] Specifically, the basic mathematical formula for the combination of the dynamic terms constituting the mathematical model 300 can be expressed as in Equation 1.

[0064]

Equation

[0065] The basic form of the Lyapunov function for the combination of the dynamic terms constituting the mathematical model 300 can be expressed as in Equation 2.

[0066]

Equation

[0067] The basic form of the Lyapunov function described above can be in a semi - definite sign form by reflecting a mathematical formula for a sliding surface with the difference between the second data 20 and the first data 10 as an input variable, a mathematical formula based on a sign function for compensating the maximum value of uncertainties due to disturbances, and a mathematical formula for reducing the tracking error that may occur in the process of compensating the maximum value.

[0068] The mathematical formula for the sliding surface with the difference between the second data 20 and the first data 10 as an input variable can be expressed in three ways as shown in Equation 3.

[0069]

Equation

[0070] To convert the Lyapunov function into a semi - definite sign form, substituting Equation 3 into Equation 2 and arranging, it can be derived as shown in Equation 4.

[0071]

Equation

[0072] Then, to design the input so that the Lyapunov function becomes in a semi - definite sign form, creating τ to eliminate the terms for M, C, G excluding Δf from Equation 4, it can be derived as shown in Equation 5.

[0073]

Equation

[0074] Here, in order to additionally design the input so that the Lyapunov function finally becomes a positive semi - definite form, Equation 6, which is a formula based on a sign function for compensating the maximum value of the uncertainty caused by the disturbance and a formula for reducing the tracking error that may occur in the process of compensating the maximum value, can be reflected in Equation 5.

[0075]

Equation

[0076] The result of reflecting α, which is an additional input, in Equation 5 can be expressed as in Equation 7.

[0077]

Equation

[0078] Equation 7 can correspond to a combination of mechanical terms that make up the mathematical model 300. The computing device can calculate the torque that can minimize the end - point tracking error that may occur in the process of controlling the scope by using the mathematical model 300 that reflects the physical characteristics of the endoscope device in this way.

[0079] FIG. 4 is a flowchart showing a torque generation method for controlling an endoscope device according to an embodiment of the present disclosure.

[0080] Referring to FIG. 4, a computing device according to an embodiment of the present disclosure can acquire first data regarding a target movement state of a scope included in an endoscope device and second data regarding an estimated movement state of the scope (S100). For example, when the computing device is a control unit included in the endoscope device, the computing device can process data acquired from an operation unit, a sensor, etc. included in the endoscope device to generate the first data and the second data. When the computing device is an external device independent of the endoscope device, the computing device 100 can receive data acquired from an operation unit, a sensor, etc. via wired or wireless communication with the endoscope device. Then, the computing device 100 can process the received data to generate the first data and the second data.

[0081] The computing device can calculate a torque for causing the scope to follow a desired position and speed of the user by using a mathematical model with the first data and the second data as input variables (S200). Since the calculation process for torque calculation has been specifically described in FIG. 3, the description will be omitted hereinafter.

[0082] The foregoing description of the present disclosure is for illustrative purposes, and it will be understandable to those with ordinary knowledge in the technical field to which the present disclosure pertains that they can easily transform it into other specific forms without changing the technical idea and essential features of the present disclosure. Therefore, it should be understood that the embodiments described above are illustrative in all aspects and not restrictive. For example, each component described as a single type can also be implemented in a distributed manner, and similarly, components described as distributed can also be implemented in a combined form.

Description of Reference Numerals

[0083] 10 First data 20 Second data 30 Torque 100 Endoscope device 110 Output unit 120 Control unit 130 Drive unit 140 Pump unit 150 Scope 200 Computing device 210 Processor 220 Memory 230 Network 310 Operation unit 320 Sensor 330 Mathematical model

Claims

1. 1. A method of generating torque for control of an endoscope, performed by a computing device including at least one processor, comprising: obtaining first data on a target motion state of a scope included in an endoscope device and second data on an estimated motion state of the scope; calculating a torque for causing the scope to follow a position and speed desired by a user using a mathematical model having the first data and the second data as input variables; A method comprising:

2. The method according to claim 1 , wherein the target motion state of the scope includes at least one of a target position of the scope, a target velocity of the scope, or a target acceleration of the scope, which is calculated by a command using an operation unit included in the endoscopic device.

3. The method according to claim 1, wherein the estimated motion state of the scope includes at least one of an estimated position of the scope, an estimated velocity of the scope, or an estimated acceleration of the scope, calculated based on actual position data of a motor included in the endoscopic device measured by a sensor, actual speed data of the motor measured by the sensor, and target speed data of the scope included in the first data.

4. The method of claim 1 , wherein the mathematical model is comprised of a combination of dynamics terms based on a sliding mode control.

5. The dynamics term is a first term for inertia, the first term having the estimated position of the scope included in the second data as an input variable; a second term for the Coriolis effect, the second term having as input variables the estimated position of the scope and the estimated velocity of the scope included in the second data; A third term for forces due to the shape of the scope, the third term having the estimated position of the scope as an input variable; The method of claim 4 , comprising:

6. 6. The method according to claim 5, wherein the combination of dynamic terms is calculated by combining a basic formula including a sum of the first term, the second term, and the third term with a semidefinite Lyapunov function.

7. 7. The method of claim 6, wherein the Lyapunov function includes details to reflect a spring effect caused by a string of the scope.

8. 7. The method of claim 6, wherein the Lyapunov function is generated in a semidefinite form by reflecting an equation for a sliding surface having the difference between the second data and the first data as an input variable.

9. 9. The method of claim 8, wherein the Lyapunov function is made into a semidefinite code form by reflecting an equation based on a sign function for compensating for a maximum value of uncertainty due to disturbance and an equation for reducing a tracking error that may occur in the process of compensating for the maximum value.

10. A computer program stored on a computer readable storage medium, the computer program, when executed by one or more processors, performs operations for generating torque for control of an endoscope, the operations including: An operation of acquiring first data on a target motion state of a scope included in an endoscope device and second data on an estimated motion state of the scope; calculating a torque for causing the scope to follow a position and speed desired by a user using a mathematical model having the first data and the second data as input variables; A computer program comprising:

11. 1. A computing device for generating torque for control of an endoscope, comprising: a processor including at least one core; a memory containing program code executable by the processor; Including, The processor, Obtaining first data on a target motion state of a scope included in an endoscope device and second data on an estimated motion state of the scope; calculating a torque for causing the scope to follow a position and velocity desired by a user using a mathematical model having the first data and the second data as input variables; Device.

Images