Force sensing with analog-to-digital conversion

Abstract

To provide a solution for enabling a control device to reliably acquire multiple force data of a single curved segment of a flexible tool.SOLUTION: An apparatus includes: a controller; a bendable device having one or more bending segments, each bending segment being configured to bend, rotate, or translate by pulling or pushing a set of drive wires 210; an actuator device having a plurality of driving portions, each drive wire being connected to a driving portion, each driving portion having a driving source connected to force sensors 1, 2, 3 configured to detect force of the drive wire and generate an analog force signal in response to the detected force; one or more ADCs, wherein the analog force signals of the set of drive wires are generated and communicated to a single ADC configured to convert the analog force signals to digital force signals, the digital force signals being serially communicated to the controller, wherein the controller drives the driving sources based on the digital force signals.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the benefit of priority from U.S. Provisional Patent Application No. 63 / 603,518, filed on November 28, 2023, which is hereby incorporated by reference in its entirety.

[0002] The present disclosure generally relates to force sensing mechanisms, and more particularly, to devices, methods, and media for force sensing by analog - to - digital conversion.

Background Art

[0003] To observe the inside of an object, flexible or elongated tools, instruments, and other devices such as catheters, endoscopes, colonoscopes, bronchoscopes, ablation devices, and other devices may be used. Instruments for inspecting or treating regions within an object such as a patient are passed through such tools.

[0004] Continuum robots, snake robots, robot assemblies, robot catheters, robot endoscopes, snake endoscope assemblies, snake catheter assemblies, and other types of assemblies are exemplary arrangements or configurations that can implement flexible devices for performing medical procedures including imaging, diagnosis, endoscopy, biopsy, treatment, surgery, image - guided therapy, and other procedures. Examples of endoscopy procedures include colonoscopy (intestine), gastroscopy (stomach), cystoscopy (bladder), bronchoscopy (lung airway), laparoscopy (abdominal cavity), and other types of procedures.

[0005] These configurations may include a bendable structure with an operating wire and a rotational drive assembly, which can impart translational, rotational, and other types of movements to the operating wires of steerable catheters, endoscopes, and other flexible devices. The drive assembly can be releasably connected to the catheter, and a release mechanism may be used to disconnect the drive assembly from the catheter in response to a detachment force.

[0006] Robotic or snake-like catheters and endoscope assemblies can include, for example, a steerable catheter actuated by a push-pull wire, an electric actuator that drives the movement of the catheter tip via the push-pull wire, a control device that converts user / software commands into the movement of the actuator, and other elements.

[0007] Actuating the wire in both the pushing and pulling directions can cause problems such as crushing of the wire anchor (the wire anchor is a coupling mechanism between the wire and the catheter tip), deviation and protrusion of the wire, and excessive lateral bending forces on internal tissues such as lung tissue due to the tensile and contraction forces applied to the wire. When releasing the wire, there is a risk of the wire breaking at an unexpected location.

[0008] Robotically controlled catheters and endoscopes may include a flexible tubular shaft that operates by actuation forces (pushing and pulling forces) applied through a drive wire disposed along the tubular shaft and controlled by an actuator. Flexible tubular shafts, steerable catheters, and continuum robots may include multiple joint segments configured to bend and rotate continuously like a snake. Typically, a steerable catheter is inserted through a natural opening or small incision in an object such as a patient's body, advances through the patient's body cavity, and reaches a target site (e.g., a site within the patient's anatomical structure designated as the target for an intracavitary procedure such as ablation or biopsy). A handheld controller (e.g., a joystick or gamepad controller) may be used as an interface for interaction between the user and the robotic system to control catheter navigation within the patient's body.

[0009] The navigation of a steerable catheter can be guided by a live view of a camera or a video scope disposed at the distal tip of the catheter shaft. To that end, a display device such as a liquid crystal display (LCD) monitor provided on the system console or mounted on the wall displays an image of the camera's field of view (FOV image) to assist the user in navigating the steerable catheter through the patient's anatomical structure to reach the target site. The orientation of the camera view, the coordinates of the handheld controller, and the posture and shape of the catheter are mapped (calibrated) before the catheter is inserted into the patient's body. When the user operates the catheter within the patient's anatomical structure, the camera transfers the FOV image of the camera to the display device. Ideally, the displayed image should enable the user to interact with the endoscopic image as if the user's own eyes were actually inside the cavity of the endoscope.

[0010] The robotic bronchoscope described above is increasingly being used for the examination of patients with peripheral pulmonary lesions (PPLs) associated with lung cancer. See, for example, Non-Patent Literature 1 (NPL1) by Fielding, D., & Oki, M., “Technologies for targeting the peripheral pulmonary nodule including robotics” (Respirology, 2020, 25(9), 914-923), and NPL2 by Kato et al., “Robotized Catheter with Enhanced Distal Targeting for Peripheral Pulmonary Biopsy” (published in IEEE / ASME Transactions on Mechatronics) (Vol. 26, pp. 2451-2461, No. 5, October 2021).

[0011] A mechanism for monitoring the force of each drive wire using a force sensor is also disclosed in U.S. Provisional Patent Application No. 63 / 310,415 filed on February 15, 2022 and International Application PCT / US23 / 13143 filed on February 15, 2023. The force signal is sent to a differential amplifier and a control unit.

[0012] A single curved section of the catheter has a plurality of (typically two or three) drive wires, and each drive wire is provided with an individual control unit for converting an analog force signal into a digital signal, acquiring the digital signal, and using the data for motor feedback control.

[0013] When switching the control unit including an analog-to-digital converter (ADC) to acquire force data for all of the single curved sections, there is a time loss and there is a risk that the timing of the force data will be shifted. This results in a limitation in speeding up the system.

[0014] In order to minimize glitches when force data is used for feedback control, it is necessary to improve the force data collection of the curved segment of the flexible bendable structure. SUMMARY OF THE INVENTION

[0015] An advantage of the present disclosure is to provide a solution for enabling a control device to reliably acquire a plurality of force data of a single curved segment of a flexible tool. Thereby, the control device can simultaneously acquire the force data of a single curved section in order to minimize glitches when the force data is used for a feedback control signal.

[0016] According to some embodiments, the apparatus may include: a control device; a bendable device having one or more bending segments, each bending segment being configured to bend, rotate, or translate by pushing and pulling a set of drive wires; an actuating device having a plurality of drive parts, each drive wire being connected to a drive part, each drive part having a drive source connected to a force sensor, the force sensor being configured to detect the force of the drive wire and generate an analog force signal according to the detected force; one or more ADCs. When an analog force signal of a set of drive wires is generated, it is transmitted to a single ADC configured to convert the analog force signal into a digital force signal, and the digital force signal is serially transmitted to the control device. The control device drives the drive source based on the digital force signal.

[0017] A set of drive wires may be synchronized by using a single ADC. The apparatus may have a single ADC for each bending segment. The single ADC may be configured as a one-chip ADC. One section of a bendable device with n bending segments and n force sensors may be communicable with one ADC, where n is a number.

[0018] A set of drive wires may include two or three drive wires. In that case, two or three corresponding force signals generated by one ADC for the two or three drive wires are converted into a digital force signal in one ADC. The ADC may be configured to serially transfer a set of force data to the control device. In that case, the set of force data may have a set of digital force signals.

[0019] A bending segment may have a single bending segment and three ADCs. In this case, each of the three ADCs processes an analog force signal corresponding to a single bending segment, the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn.

[0020] The device may have three curved segments and three ADCs. In this case, each ADC processes an analog force signal corresponding to each curved segment, and the three ADCs communicate serially with a control device, which switches each ADC in turn to read force data. The force sensor may have a Wheatstone bridge circuit.

[0021] The ADC may be configured to monitor and convert a reference voltage, which is transferred to the control device for calibration. In this case, the reference voltage is configured to determine the dynamic range of analog-to-digital conversion.

[0022] The force sensor may generate a force sensor output sent to the ADC and the control device for each wire. Each drive source may include a motor control device that communicates with the control device via serial communication. The control device may be a single system control device.

[0023] According to some embodiments, the device may include: a control device; an elongated flexible device having one or more curved segments, each curved segment being configured to curve, rotate or translate by pushing and pulling a set of a plurality of drive wires; an actuating device having a plurality of drive parts, each drive wire being connected to a drive part, each drive part having a drive source, a force sensor, a coupling part, and a drive wire connected to the coupling part, the coupling part being connected to the force sensor and the drive source; one or more analog-to-digital converters (ADCs). The force sensor is configured to generate an analog force signal according to the force of each drive wire of the set of a plurality of drive wires. The analog force signals of the set of a plurality of drive wires are transferred to one ADC, which is configured to convert the analog force signal into a digital force signal, and the digital force signal is serially transmitted to the control device. The control device drives the drive source based on the digital force signal.

[0024] A set of drive wires may be synchronized by the use of one ADC. The device may have a single ADC for each bending segment, in which case the single ADC may be configured as a one-chip ADC. One section of an elongated flexible device having n bending segments and n force sensors is communicable with a single ADC, where n is a number.

[0025] A set of drive wires may include two or three drive wires, and two or three corresponding force signals generated by one ADC for the two or three drive wires may be converted into digital force signals in one ADC.

[0026] One ADC may be configured to serially transfer a set of force data to a control device, and the set of force data may have a set of digital force signals. The flexible bending segment may have a single bending segment and three ADCs. In this case, each ADC processes an analog force signal corresponding to a single bending segment, and the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn.

[0027] The flexible bending device may have three bending segments and three ADCs. In this case, each of the three ADCs processes an analog force signal corresponding to each bending segment, and the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn. The force sensor may have a Wheatstone bridge circuit.

[0028] One ADC may be configured to monitor and convert a reference voltage, and the voltage is transferred to the control device for calibration. In this case, the reference voltage is configured to determine the dynamic range of analog-to-digital conversion.

[0029] The force sensor may generate a force sensor output that is communicable with one ADC and a control device for each wire. Each drive source may have a motor control device that communicates with the control device via serial communication. The control device can be divided into a robot kinematics output section and a motor control device.

[0030] Further features of the present disclosure will become apparent from the following description of exemplary embodiments with reference to the accompanying drawings. Similar structures are denoted by similar reference numerals.

Brief Description of the Drawings

[0031]

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[0032] Various exemplary embodiments, features, and aspects of the present disclosure related to an apparatus, method, storage medium, and other configurations for enabling a control device to reliably acquire force data of a single curved segment of a flexible tool so that the control device can minimize glitches when force data is used for a feedback control signal will be described below with reference to the drawings, which may include different characteristics, advantages, disadvantages, performance parameters, etc.

[0033] An advantage of the present disclosure is to provide a solution for ensuring that a robot control system is equipped with a common analog-to-digital converter chip for a plurality of force data of a single curved segment. Thereby, the control system can simultaneously acquire force data of a single curved section of a catheter so that the system can minimize glitches when force data is used for a feedback control signal.

[0034] In some embodiments, an arrangement or configuration that can implement flexible devices for performing medical procedures including imaging, diagnosis, endoscopy, biopsy, treatment, surgery, image-guided therapy, and other procedures such as continuum robots, snake robots, snake robot assemblies, snake endoscope assemblies, snake robot catheter assemblies, etc. is functionally implemented. Examples of endoscopy procedures include colonoscopy (intestine), gastroscopy (stomach), cystoscopy (bladder), bronchoscopy (lung airway), laparoscopy (abdominal cavity), and other types of procedures.

[0035] In some embodiments, imaging modalities such as CT (Computed Tomography), MRI (Magnetic Resonance Imaging), IVUS (Intravascular Ultrasound), PET (Positron Emission Tomography), X-ray imaging, optical coherence tomography (OCT), swept-source OCT (SS-OCT), optical frequency domain imaging (OFDI), Fourier domain OCT (FD-OCT), time domain OCT (TD-OCT), multimodality OCT (MMOCT), spectral encoded endoscopy (SEE), other imaging modalities, combinations or hybrids thereof, etc. are functionally implemented. Depending on the configuration, it may also be possible to functionally implement a light detection and ranging (LiDAR) configuration used to measure the distance to a remote target. The present disclosure is not limited to any particular configuration.

[0036] Swept-source OCT is an OCT technique that acquires the spectral distribution of interference light by time division, and spectral domain OCT is an OCT technique that acquires the spectral distribution of interference light by spatial division.

[0037] In the configuration embodiments of continuum robots and snake robots, for example, based on inputs received manually, semi-automatically, automatically, or a combination thereof, navigation, insertion, retraction, rolling, joint movement, or a combination thereof can be executed to control flexible devices such as catheters and endoscopes. The flexible device can include one or more wire configurations including control wires, operation wires, drive wires, push wires, pull wires, push-pull wires, wire bundles, tendons, tendon wires, other wire configurations, or combinations thereof.

[0038] The controllable actuator can adjust the wire to adjust a portion such as the distal tip of the flexible device in any geometric direction or angular direction (e.g., up and down, left and right, translation, rotation, or a combination thereof).

[0039] FIG. 1 illustrates an exemplary hardware configuration of an apparatus 100 for enabling the control device 10 to reliably acquire force data of a single curved segment of a flexible tool so that the control device 10 can minimize glitches when force data is used for a feedback control signal according to some embodiments.

[0040] The apparatus 100 includes one or more of a control device 10, an actuator 20, a flexible device 30, a wire 40, a coupling portion 42, a drive source 44, a force sensor 46, an analog-to-digital converter (ADC) 50, a release mechanism 60, an imaging device 70, and a display 80, and may also include other components.

[0041] The control device 10 includes at least one processor, circuit configuration, or a combination thereof, and is configured to function to control all elements of the device 100 so as to be configured to function to control all elements of the device.

[0042] As shown in FIG. 2, the control device 10 includes one or more constituent components including one or more of a processor 11, a memory 12, a sensor 13, an input / output (I / O) interface 14, a communication interface 15, a display or a graphical user interface (GUI) 16, and a power supply 17, and may also have other components. The device 100 may be interconnected with medical devices and various other devices, and the control device 10 may be controlled independently by the control device, or externally, or remotely.

[0043] The processor 11 may be configured as a control circuit, circuit configuration, or a combination thereof (such as a central processing unit (CPU) or a microprocessing unit (MPU), etc.) for executing overall control of the device 100, and may execute programs, instructions, codes, or software stored in the memory 12 to perform various data processing, calculations, algorithm tasks, and other functions of the device 100. The memory 12 may store programs, software, computer instructions, information, other data, or a combination thereof. The memory 12 is used as a working memory. The processor 11 executes the software stored in the memory 12. The I / O interface 14 inputs catheter position information to the control device 10 and outputs information for displaying a navigation screen to the display 16. The power supply 17 adjusts the power supply to the device 100 and may include an external power supply such as a line power supply or an alternating current (AC) power supply from a power outlet, and adapts the power voltage from the power supply to one or more voltages used by the components of the device 100, and can be interconnected with the device 100 via an alternating current / direct current (AC / DC) adapter and a DC / DC converter, or an AC / DC converter.

[0044] The display 16 may be, for example, a graphical user interface (GUI) or a display device configured as a monitor, an LCD (liquid crystal display), an LED (light emitting diode) display, an OLED (organic LED) display, a plasma display, an organic electroluminescence panel, or the like. The control device 10 controls the display 16. Based on the control of the device 100, a navigation screen showing one or more captured images, captured images, captured videos recorded in the storage device, etc. may be displayed on the display 16.

[0045] The components are connected to each other by a bus 18 so that the components can communicate with each other. The bus 18 transmits and receives data between these connected hardware components, or transmits commands from the processor 11 to other hardware. The components may be implemented by one or more physical devices that can be coupled to the processor 11 via a communication interface 15 for a communication channel. For example, the control device 10 may be implemented using a circuit configuration in the form of an ASIC (application specific integrated circuit) or the like. Alternatively, the control device 10 may be implemented as a combination of hardware and software, in which case the software is loaded into the processor from a memory or via a network connection. The functions of the control device 10 may be stored in a storage medium, and examples of the storage medium include a random access memory (RAM), a read only memory (ROM), a magnetic disk or an optical disk, a diskette, cloud storage, and the like.

[0046] The actuator 20 may include one or more drive parts 22 motors and may drive the components of the device 100. The flexible device 30 may include one or more curved segments 32 and is configured to inspect or treat areas within an object such as a patient. Examples of the wire 40 include one or more wire configurations including a control wire, an operation wire, a drive wire, a push wire, a pull wire, a push-pull wire, a wire bundle, a tendon, a tendon wire, other wire configurations, or combinations thereof. The coupling part 42 connects the wire 40 to the device100 configured to connect to other components (e.g., actuator 20, drive source 44, force sensor 46, other components, etc.). The drive source 44 is configured to drive the components of the device 100 and may include one or more motors and may operate in relation to the actuator 20.

[0047] The force sensor 46 is configured to measure the pulling and pushing forces applied to the wire 40, and can detect translational forces or movements along the X, Y, and Z axes, and can individually detect rotational forces or movements centered on the yaw axis, pitch axis, roll axis, or other directions. The force sensor 46 100 may include an opto - sensor, a force / torque sensor, or other types of sensors that enable the device to respond electro - mechanically to the movement of the wire 40.

[0048] The force sensor 46 may include one or more or a combination of a processor, a detection circuit configuration, memory, hardware, software, firmware, and may include other circuit configurations, elements, or components. The force sensor 46 may be a plurality of sensors and obtains sensor information output from one or more sensors that detect the force, movement, current position, and operation of the components interconnected with the device 100. The sensor 46 may include a multi - axis acceleration sensor or an accelerometer sensor and a multi - axis gyroscope sensor, may be a combination of an acceleration sensor and a gyroscope sensor, may include other sensors, and may also be configured using a piezoelectric transducer, a mechanical switch, a single - axis accelerometer, a multi - axis accelerometer, or other types of configurations. The sensor 46 100 of the device including one or more or a combination of force, collision, impact, fall, drop, operation, acceleration, deceleration, speed, rotation, temperature, pressure, position, orientation, movement, or other types of data 100Physical data, operation data, quantification data, and other characteristic parameters can be monitored, detected, measured, recorded, or stored in a multi-axis and multi-dimensional manner along the x-axis, y-axis, z-axis, or any combination thereof, and can also generate sensor readings, information, data, digital signals, electrical signals, or other types of information corresponding to the detected state.

[0049] Device 100 can transmit or send sensor reading data to a remote host or server in a wireless or wired manner. Sensor 46 may be capable of receiving queries and generating sensor reading signals or information that can be processed in real time, stored, post-processed, or any combination thereof. The information or data generated by sensor 46 may be processed, demodulated, filtered, or adjusted to remove noise and other types of signals. Examples of sensor 46 include one or more of or a combination of a force sensor, an acceleration sensor, a deceleration sensor or an accelerometer sensor, a gyroscope sensor, a power sensor, a battery sensor, a proximity sensor, a motion sensor, a position sensor, a rotation sensor, a magnetic sensor, a barometric pressure sensor, a lighting sensor, a pressure sensor, an angular position sensor, a temperature sensor, an altimeter sensor, an infrared sensor, an acoustic wave sensor, an air monitoring sensor, a piezoelectric sensor, a strain gauge sensor, an acoustic wave sensor, a vibration sensor, a depth sensor, and other types of sensors may also be included.

[0050] The ADC50 is configured as a data converter for interconnecting analog and digital circuit configurations and performing conversions between analog and digital signals. The detachment mechanism 60 is configured to disconnect the actuator 20 from the flexible device 30 in response to a detachment force. The imaging device 70 may be mechanical, digital, electrical, or a combination thereof, and is configured to record, store, or transmit visual images. The display 80 may be, for example, a GUI or a display device configured to display operation information regarding the apparatus 100 (including information and analysis data, medical information, medical images, captured images, captured videos, other types of information, or combinations thereof). The display 80 may be configured as, for example, a monitor, an LCD, an LED display, an OLED display, a plasma display, an organic electroluminescent panel, or the like. The control device 10 controls the display 80. Based on the control of the apparatus 100, a navigation screen indicating one or more captured images, captured images, captured videos recorded in the storage device, etc. may be displayed on the display 80.

[0051] A set of drive wires may be synchronized by the use of one ADC. The apparatus may have a single ADC for each curved segment, in which case the single ADC may be configured as a one-chip ADC. One section of an elongated flexible device having n curved segments and n force sensors is communicable with a single ADC, where n is a number.

[0052] A set of drive wires may include two or three drive wires, and two or three corresponding force signals generated by one ADC for the two or three drive wires may be converted into digital force signals in one ADC.

[0053] One ADC may be configured to serially transfer a set of force data to a control device, and the set of force data may have a set of digital force signals. The flexible bending segment may have a single bending segment and three ADCs. In this case, each ADC processes an analog force signal corresponding to a single bending segment, the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn.

[0054] The flexible bending device may have three bending segments and three ADCs. In this case, each of the three ADCs processes an analog force signal corresponding to each bending segment, the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn. The force sensor may have a Wheatstone bridge circuit.

[0055] One ADC may be configured to monitor and convert a reference voltage, and the voltage is transferred to the control device for calibration. In this case, the reference voltage is configured to determine the dynamic range of analog-to-digital conversion.

[0056] The force sensor may generate one ADC for each wire and a force sensor output communicable with the control device. Each drive source may have a motor control device that communicates with the control device via serial communication. The control device can be divided into a robot kinematics output unit and a motor control device.

[0057] Device 100 may have other components, such as a wire gripping mechanism or a linear slide mechanism, and may have other components.

[0058] FIG. 3 illustrates an exemplary device or configuration 1000 for enabling a control device to reliably acquire force data of a single bending segment of a flexible tool so that the control device can minimize glitches when force data is used for a feedback control signal, according to some embodiments.

[0059] <Robot Catheter System>

[0060] Referring to FIGS. 3 to 7, an exemplary embodiment of the robot catheter system 1000 will be described. FIG. 3 illustrates a simplified representation of a medical environment such as an operating room, in which the robot catheter system 1000 is illustrated, although other arrangements may be used. FIG. 4 illustrates a functional block diagram of the robot catheter system 1000. FIG. 7 illustrates a logical block diagram of the robot catheter system 1000.

[0061] In this example, the robot catheter system 1000 includes a system console 600 (computer cart) that is operatively connected to the steerable catheter 200 via a robot platform 400. The robot platform 400 includes one or more robot arms 410 and a linear translation stage 420. The steerable catheter 200 and the actuator 300 are interconnected to the robot platform 400 having one or more robot arms 410.

[0062] The system 1000 includes an interface unit (operation unit) for performing a work procedure on an object (for example, an endoluminal procedure on a patient P placed on the operating table B). The user interface may include one or more of a first user interface unit 500 (for example, a first display or a main display), a second user interface unit 510 (for example, a second or secondary display), a third user interface unit 520 (for example, a handheld controller, etc.), or a combination thereof, and may also include other user interface units.

[0063] The main display 500 may include a large display screen attached to the system console 600 or attached to the wall of the operating room. Secondary display 510It may include a small (portable) display device configured to be removably attached to the robot platform 400. Examples of the secondary display 510 may include a portable tablet computer, a mobile communication device (mobile phone), and other components.

[0064] The steerable catheter 200 operates via the actuator 300. The actuator 300 is attached to the linear movement stage 420 of the robot platform 400. The handheld controller 520 may include a gamepad controller with a joystick having a shift lever and / or push buttons. In one embodiment, the actuator 300 is housed within a housing having the shape of a catheter handle. An access port 310 is provided on or around the catheter handle. The access port 310 is used for inserting and / or withdrawing the end effector tool and / or fluid during the performance of the patient's intervention procedure.

[0065] The system console 600 includes a system control device 700, a display control device 710, and a main display 500 The main display 500 Examples of the main display 500 include conventional display devices such as a liquid crystal display (LCD), an OLED display, a QLED display, etc. The main display 620may be extended, combined, or associated using information obtained from the catheter tip position detector 320 and the catheter tip tracking sensor 270. The catheter tip tracking sensor 270 may include an electromagnetic (EM) sensor, and the catheter tip position detector 320 may include an EM field generator operatively connected to the system control device 700 and may include an EM field generator operatively connected to the system control device 700 . Electromagnetic sensors suitable for use in combination with an actuatable catheter are well known and are described, for example, in U.S. Patent No. 6,201,387 and International Publication WO2020194212A1. Other types of sensors may also be used.

[0066] Similar to FIG. 3, the diagram of FIG. 4 illustrates that the robotic catheter system 1000 includes a system control device 700 operatively connected to a display control device 710, an actuator 300 (via a linear translation stage 420), and a tip position detector 320. The tip position detector 320 is spatially related to a position in the three-dimensional space in which the catheter tip tracking sensor 270 operates. Thus, the tip position detector 320 can track the functional position of the actuatable catheter 200.

[0067] FIG. 5 shows an exemplary embodiment of a steerable catheter 200. The steerable catheter 200 includes a non-steerable proximal section 240, a steerable distal section 230, and a catheter tip 220. The proximal section 240 and the distal section 230 are joined to each other by a plurality of drive wires 210 disposed along the wall of the catheter. The proximal section 240 is configured to include a through hole, groove, or conduit for passing the drive wires 210 from the distal section 230 to the actuator 300. The distal section 230 can include a plurality of curved segments such as, for example, a distal curved segment 230A, an intermediate curved segment 230B, a proximal curved segment 230C, and can also include other segments. Each curved section is bent by the actuation of at least a portion of the plurality of drive wires 210 (drive members). The posture of the catheter 200 can similarly be supported by a support wire (support member), not shown, disposed along the wall of the catheter 200. The proximal ends of the drive wires 210 are connected to individual actuators or motors of the actuator 300, and the distal ends of the drive wires 210 are selectively fixed to anchor members of different curved sections of the distal section 230.

[0068] Each curved section is formed by a plurality of annular components (rings), and a through hole, groove, or conduit is provided along the wall of the ring. The annular component is defined as a wire guiding member 250 or an anchor member 260 according to its function within the catheter. The anchor member 260 is an annular component to which the distal ends of one or more drive wires 210 are attached. The wire guiding member 250 is an annular component through which some of the drive wires 210 slide (without being attached to the member).

[0069] Detail "A" of FIG. 5 illustrates an exemplary embodiment of an annular component (wire guide member 250 or anchor member 260). Each annular component includes a central opening that forms a tool channel 252 and a plurality of conduits 254 (grooves, sub-channels, or through-holes) that are equidistantly disposed longitudinally from the central opening along the annular wall of each annular component. The non-maneuverable proximal section 240 is a flexible tubular shaft made of an extruded polymeric material. The tubular shaft of the proximal section 240 also has a central opening or tool channel 252 and a plurality of conduits 254 along the wall of the shaft that surrounds the tool channel 252. Thus, at least one tool channel 252 formed within the maneuverable catheter 200 enables an imaging device and / or an end effector tool to pass from the insertion port 310 to the distal end of the maneuverable catheter 200.

[0070] Examples of the imaging device 280 that can be inserted through the tool channel 252 include an endoscope camera (video scope) equipped with an illumination optical system (such as an optical fiber or an LED). The illumination optical system provides light for irradiating a lesion target that is the region of interest within the patient. The imaging device 280 can be mechanical, digital, electrical, or a combination thereof, and is configured to record, store, or transmit visual images. The end effector tool refers to an endoscopic surgical instrument such as a clamp, forceps, scissors, stapler, ablation or biopsy needle, and may also include other similar tools that function to manipulate a part of the body (organs or tumor tissues) during an examination or a surgery.

[0071] The actuation section 300 can include one or more servo motors or piezoelectric actuators. The actuation section 300 bends one or more of the curved sections of the catheter by applying a pushing force and / or a pulling force to the drive wire 210. As shown in FIG. 5, the maneuverable catheter 200Each of the three bendable segments has a plurality of drive wires 210. When each bendable segment is actuated by three drive wires 210, the steerable catheter 200 has nine drive wires arranged along the wall of the catheter. By the actuator 300, at least one of these nine drive wires 210 is pushed or pulled, causing each bendable segment of the catheter to bend. To manipulate / steer the catheter into a desired position, a force is applied to the individual drive wires. The actuator 300 assembled with the steerable catheter 200 is installed on the linear translation stage 420 above. The linear translation stage 420 includes a slider and a linear motor. That is, the linear translation stage 420 can be electric and can be controlled by the system control device 700 to insert or remove the steerable catheter 200 into an object (or, for example, a patient's body cavity).

[0072] The force sensor 46 can detect the tension applied to the drive wire 40. The detection signal may be sent to the control device 10, and the control device 10 can control the actuator 20 based on the detection signal. The force sensor 46 can measure compressive force, tensile force, shear force, normal force, force during translation, force during rotation, and other types of forces. The force sensor 46 can have various configurations including, for example, contact force or tactile force, piezoelectric, piezoresistive, fiber optic, magnetic, and other types of configurations.

[0073] The actuator 300 may include one or more force sensors between the drive wire 210 and the motor / actuator 300 to monitor the compressive and tensile forces on the drive wire 210. When an external force is applied to the catheter 200 (for example, pushing on a patient's organ), that force can be transmitted through the drive wire 210 to the force sensor 46. The force sensor 46 Convert force into a change in electrical resistanceIt may be manufactured using a strain gauge. Such a strain gauge may be arranged in a Wheatstone bridge circuit in order to detect changes in electrical resistance with high sensitivity. When an excitation voltage is applied to the bridge circuit, changes in electrical resistance can be detected as voltage changes. Also, an amplifier can be applied to the voltage change to increase the voltage level (analog force signal) and improve the signal-to-noise ratio of analog-to-digital conversion. Then, after the analog force signal is converted into a digital signal, it is sent to the system control device 700 may be sent to.

[0074] The system control device 700 can control the motor or actuator for the drive wire 210 so as to minimize the analog force signal (force feedback control). In order to minimize the analog force signal, the curved segment of the catheter 200 bends in response to an external force. The catheter 200 can be robotically controlled flexibly like a soft tube in a relaxation mode or the like. The user or operator can change the navigation mode to the relaxation mode to release the external force on the catheter and / or minimize the force applied to the patient's organ.

[0075] Figure 8 illustrates a schematic diagram of force control feedback in the case of a single curved segment. In this example, the curved segment has three drive wires. A plurality of analog force signals (three in this example) corresponding to a single curved segment of the catheter are sent to a single analog-to-digital converter (ADC) via an amplifier. The ADC can synchronize the signals from the drive wires and send the analog force signals acquired almost simultaneously to the system control device 700. The ADC ensures that the data captured from different analog signals are time-aligned and their phase relationships are effectively captured. Since the force data 1, 2, 3 from the force sensors 1, 2, 3 can be serially transferred to the system control device 700 as a set of packets, as shown in Figure 8 there is no data transfer, loss / delay time between the force data 1, 2, 3.

[0076] Figures 6A and 6B show exemplary catheter tip manipulations by actuating one or more curved segments of the steerable catheter 200. As shown in FIG. 6A, by operating only the most distal segment 230A of the steerable section, the position and orientation of the catheter tip 220 change. On the other hand, operating one or more curved segments (230B or 230C) other than the most distal segment affects only the position of the catheter tip 220 and does not affect the orientation of the catheter tip 220 . In FIG. 5, actuation of the distal segment 230A causes the catheter tip to change from position P1 with orientation O1 to position P2 with orientation O2, position P3 with orientation O3, position P4 with orientation O4, and so on. In FIG. 6B, actuation of the intermediate segment 230B causes the position of the catheter tip 220 to change from position P1 with orientation O1 to positions P2 and P3 with the same orientation O1. Here, it will be apparent to those skilled in the art that the exemplary catheter tip manipulations shown in FIGS. 6A and 6B can be performed during catheter navigation (i.e., while inserting the catheter 200 through tortuous anatomical structures). In the present disclosure, the exemplary catheter tip manipulations shown in FIGS. 6A and 6B are applied after the catheter tip 220 has been navigated to a predetermined distance (targeting distance) from the target, i.e., applied in the targeting mode.

[0077] FIG. 7 illustrates a logical block diagram of the robotic catheter system 1000. A tracking sensor 270 (e.g., an EM tracking sensor) is attached to the catheter tip 220. In this embodiment, the steerable catheter 200 and the tracking sensor 270 can be tracked by a tip position detector 320. Specifically, the tip position detector 320 detects the position of the tracking sensor 270 and outputs the detected position information to the system control device 700. The system control device 700 receives the position information from the tip position detector 320 and continuously records and displays the position of the steerable catheter 200 with respect to the patient's coordinate system. The system control device 700 controls the actuator 300 and the linear movement stage 420 according to an operation command input by the user U via one or more of the user interface units (the handheld controller 520, the GUI of the main display 500, the buttons on the touch screen of the secondary display 510).

[0078] The system control device 700 of FIG. 7 calculates a movement based on the input of force signals and commands that movement to the motor. By handling multiple analog force signals with a single common ADC, the system can use simultaneous force data from a single curved segment, so the system can minimize glitches when using force data for force control feedback. By using a single common ADC, there is no need to switch several ADC chips during acquisition, so the sampling rate can be increased by the feedback control loop.

[0079] <First Embodiment>

[0080] In the first embodiment, FIG. 8 is a schematic diagram of a single curved segment and force control feedback. In FIG. 8, three drive wires 210 are driven by motors 1, 2, and 3, and the forces applied to the drive wires 210 are detected by force sensors 1, 2, and 3. Based on the detected forces corresponding to a single curved segment of the catheter, the force sensors 1, 2, and 3 generate three separate analog force signals, which are sent to a single ADC via an amplifier. The ADC transmits the analog force signals acquired almost simultaneously to the system control device 700 Since the force data 1, 2, and 3 from the force sensors 1, 2, and 3 can be serially transferred to the system control device as a set of packets, as shown in FIG. 8 there is no data transfer, loss, or delay time between the force data 1, 2, and 3.

[0081] FIG. 9 is an ADC data acquisition time chart showing a configuration in which the force data 1, 2, and 3 are serially transferred from the force sensors 1, 2, and 3 to the system control device 700 as a set of packets in each cycle.

[0082] When the distal section 230 consists of a plurality of curved segments including at least a distal curved segment 230A, an intermediate curved segment 230B, and a proximal curved segment 230C, since the force signals from the force sensors of each curved segment 230A, 230B, 230C are transferred to a single ADC, there are three separate ADCs for the distal curved segment 230A, the intermediate curved segment 230B, and the proximal curved segment 230C. By providing a single ADC for each of the curved segments 230A, 230B, 230C, the feedback loop frequency becomes faster, and each ADC data can be sent to the system control device 700 with a slight delay, as shown in FIG. 9. Therefore, the system control device 700 can efficiently process the motor commands for each of the curved segments 230A, 230B, 230C.

[0083] FIG. 10 is a schematic diagram of a bending segment and force control feedback for three bending segments (e.g., distal bending segment 230A, intermediate bending segment 230B, and proximal bending segment 230C) of a catheter.

[0084] FIG. 11 is an ADC data acquisition time chart, showing a configuration in which, in each cycle, force data 1, 2, 3 are serially transferred as a set of packets from force sensors 1, 2, 3 of the distal bending segment 230A to the system control device, a configuration in which, in each cycle, force data 4, 5, 6 are serially transferred as a set of packets from force sensors 4, 5, 6 of the intermediate bending segment 230B to the system control device, and a configuration in which, in each cycle, force data 7, 8, 9 are serially transferred as a set of packets from force sensors 7, 8, 9 of the proximal bending segment 230C to the system control device.

[0085] The distal bending segment 230A has three drive wires 210 driven by motors 1, 2, 3, and the forces applied to the drive wires 210 are detected by force sensors 1, 2, 3. The force sensors 1, 2, 3 generate three separate analog force signals based on the detected forces corresponding to the distal bending segment of the catheter, and the analog force signals are sent to a single ADC via an amplifier. The ADC of the distal bending segment 230A transmits the analog force signals acquired almost simultaneously to the system control device 700. Since the force data 1, 2, 3 from the force sensors 1, 2, 3 can be serially transferred to the system control device 700 as a set of packets, there is no data transfer, loss, or delay time between the force data 1, 2, 3.

[0086] The intermediate bending segment 230B has three drive wires 210 driven by motors 4, 5, and 6, and the forces applied to the drive wires 210 are detected by force sensors 4, 5, and 6. The force sensors 4, 5, and 6 generate three separate analog force signals based on the detected forces corresponding to the intermediate bending segment of the catheter, and the analog force signals are sent to a single ADC via an amplifier. The ADC of the intermediate bending segment transmits the analog force signals acquired almost simultaneously to the system control device 700. Since the force data 4, 5, and 6 from the force sensors 4, 5, and 6 can be serially transferred to the system control device as a set of packets, there is no data transfer, loss / delay time between the force data 4, 5, and 6.

[0087] Proximal bending segment 230C has three drive wires 210 driven by motors 7, 8, and 9, and the forces applied to the drive wires 210 are detected by force sensors 7, 8, and 9. The force sensors 7, 8, and 9 generate three separate analog force signals based on the detected forces corresponding to the proximal bending segment of the catheter, and the analog force signals are sent to a single ADC via an amplifier. The ADC of the proximal bending segment transmits the analog force signals acquired almost simultaneously to the system control device 700. Since the force data 7, 8, and 9 from the force sensors 7, 8, and 9 can be serially transferred to the system control device as a set of packets, there is no data transfer, loss / delay time between the force data 7, 8, and 9.

[0088] The system control device 700 executes a software program and controls the display control device 710 to display a navigation screen (e.g., live view image 610) on the main display 500 and / or the secondary display 510. The display control device 710 may include a graphics processing unit (GPU) or a video display controller (VDC). The display control device 710generates a three-dimensional (3D) model of an anatomical structure (e.g., a branching structure such as the airway of a patient's lung) based on, for example, preoperative images or intraoperative images such as CT images and MRI images. Alternatively, the 3D model may be received by the system console from another device (e.g., a PACS (picture archiving and communication system) server or other device). Instead of the 3D model, a two-dimensional (2D) model may be used. In this case, the display control device 710 may process the preoperative 3D image (by segmentation) to obtain a slice image (2D image) of the patient's anatomical structure. The image may be stored in a DICOM (digital imaging and communications in medicine) or other file format so that it can be accessed and viewed. The 2D or 3D model may be generated before the start of catheter navigation. Alternatively, the 2D model or 3D model may be generated in real time (in parallel with catheter navigation). In one embodiment, an example of generating a model of a branching structure will be described later. However, the model is not limited to a model of a branching structure. For example, instead of a branching structure, a model of a route towards a target (tumor, nodule, tumor tissue) may be used. Alternatively, for catheter navigation, a model of a large space may be used. The model of the large space may be a model of the location or space where observations and tasks are performed using a robotic catheter, as will be further described below.

[0089] FIG. 12 illustrates components of the system control device 700 and / or the display control device 710. The system control device 700 and the display control device 710 may be configured separately. Alternatively, the system control device 700 and the display control device 710 may be configured as one device. In any case, the system control device 700 and the display control device 710 include substantially the same components. Specifically, the system control device 700 and the display control device 710 include a central processing unit (CPU 720) composed of one or more processors (microprocessors), a random access memory (RAM 730) module, an input / output (I / O 740) interface, and a read-only memory (ROM 750 ) and may include a data storage device (e.g., a hard disk drive (HDD 760) or a solid state drive (SSD)). The system control device 700 and the display control device 710 may include a plurality of different types of processors and memories as needed.

[0090] The ROM 750 and / or the HDD 760 stores an operating system (OS) software and a software program for executing the functions of the entire robot catheter system 1000. The RAM 730 is used as a workspace memory. The CPU 720 executes the software program stored in the RAM 730. The I / O 740 inputs position information to the display control device 710, for example, and outputs information for displaying a navigation screen to one or more displays (main display 500 and / or secondary display 510). In the embodiments described below, the navigation screen is a graphical user interface (GUI) generated by a software program, but may be generated by firmware or a combination of software and firmware.

[0091] The system control device 700 may control the steerable catheter 200 based on any known kinematics algorithm applicable to a continuum or snake-type catheter robot. For example, the system control device may control the steerable catheter 200 based on an algorithm known as the follow-the-leader (FTL) algorithm. By applying the FTL algorithm, the most distal segment 230A of the steerable section 230 is actively controlled using forward kinematics values, and the intermediate segment 230B and the proximal segment 230C (following section) of the steerable catheter 200 move in the same way as the distal section moves at a first position or a second position near the first position at a first position.

[0092] The display control device 710 acquires the position information of the steerable catheter 200 from the system control device 700. Alternatively, the display control device 710 may directly acquire the position information from the tip position detector 320 . The steerable catheter 200 may be a disposable or limited-specification catheter device. That is, the steerable catheter 200 is detachable from the operating device 300 and may be disposable.

[0093] During the procedure, the display control device 710 generates a live view image or a navigation screen based on a 3D model of the patient's anatomical structure (branching structure) and the position information of at least a part of the catheter 200 (e.g., the position of the catheter tip 220), and outputs it to the main display 500 and / or the secondary display 510 by executing a pre-programmed software routine. The navigation screen shows at least the current position of the catheter tip 220 on the 3D model. By observing the navigation screen, the user can recognize the current position of the manipulable catheter 200 within the branching structure. When the navigation to the desired target is completed, one or more end effector tools can be inserted through the access port 310 at the proximal end of the catheter 200, and the tool can be guided through the tool channel of the catheter body to perform an endoluminal procedure from the distal end 220 of the catheter 200.

[0094] The tool may be a medical tool such as an endoscopic camera, forceps, needle, or other biopsy or ablation tool. In one embodiment, the tool may be described as a surgical tool or a working tool. The working tool is inserted or removed through the working tool access port 310. In the following embodiments, embodiments using a manipulable catheter to guide the tool to the target will be described. The tool may include an endoscopic camera or an end effector tool that can be guided through the manipulable catheter by the same principle. The procedure usually includes a planning procedure, a registration procedure, a targeting procedure, and a surgical procedure.

[0095] <Second Embodiment>

[0096] In the second embodiment, FIG. 13 shows a schematic diagram of the ADC circuit to further explain the ADC circuit for the force sensor. The ADC circuit consists of a power management segment, an ADC chip, and a signal filter segment. The power management segment includes a power / linear regulator to generate a digital inter-line voltage (DVDD), an analog inter-line voltage (AVDD, AVSS), a reference voltage, and an excitation voltage for the force sensor. DVDD is the digital voltage level of the ADC chip, AVDD and AVSS define the input analog voltage range, and the reference voltage defines the dynamic range of the analog-to-digital conversion. An excitation voltage is supplied to the force sensor, and the voltage signal from the force sensor passes through a low-pass filter to remove high-frequency noise, and then the signal is sent to a single ADC chip. Next, the ADC chip communicates with the master CPU via a serial communication protocol.

[0097] In this example, signals from three force sensors are sent to a single ADC chip. The ADC transmits the analog force signals acquired almost simultaneously to the CPU. Since the force data from the force sensors can be serially transferred to the CPU as a set of packets, there is no data transfer, loss, or delay time between the force data. Since the CPU uses the force data as part of a feedback control loop, the control device can minimize glitches. Since no switching of the ADC chip is required during acquisition, the feedback control loop can increase the sampling rate.

[0098] The force sensor may be configured, for example, in the form of one or more strain gauge load cells, or in the form of other types of force sensors. When a force is applied to the strain gauge, its shape changes, and the resistance of the strain gauge can change. The applied force can be measured by reading the change in the voltage that constitutes the resistor of the strain gauge, and in the case of a Wheatstone bridge circuit configuration, four balanced strain gauge resistors will be provided.

[0099] The ADC chip can monitor the excitation voltage output. Since the signal level of the force sensor is proportional to the excitation voltage output, the system can calibrate the output variation by monitoring the output. In this system, the force data can be more accurate.

[0100] The ADC chip can monitor the reference voltage. The digital value after ADC digital conversion refers to the reference voltage. If there is a variation in the reference voltage, the system can calibrate / compensate the value using the monitored reference voltage. By using the same ADC chip, the substrate can eliminate other noise sources.

[0101] In the second embodiment, the feedback control system using the force sensor has a common ADC (Analog-to-Digital Converter) chip. The control system can simultaneously acquire the force data of a single curved segment of the catheter so that the system can minimize the glitches when the force data is used in the feedback control signal.

[0102] <The Third Embodiment>

[0103] In the third embodiment, FIG. 14 is a schematic configuration diagram of single-curved segment, force control feedback. In FIG. 14, three drive wires are driven by motors 1, 2, and 3, and the forces applied to the drive wires are detected by force sensors 1, 2, and 3. The force sensors 1, 2, and 3 generate three separate analog force signals based on the detected forces corresponding to a single curved segment of the catheter, and the analog force signals are sent to the Individual ADC via an amplifier. The ADC sends the analog force signals acquired almost simultaneously to the system control device 700 . Since the force data 1, 2, and 3 from the force sensors 1, 2, and 3 can be serially transferred to the system control device as a set of packets, there will be no data transfer, loss / delay time between the force data 1, 2, and 3.

[0104] The output of each force sensor is sent to each ADC and the motor control device of each wire. Each motor may individually have a motor control device that communicates with the system control device via serial communication. The serial communication of the motors can be made common. The system control device configured in the third embodiment is a single system control device.

[0105] In the lower diagram of FIG. 14, the ADC data acquisition time chart illustrates a configuration in which force data 1, 2, and 3 are serially transferred as a set of packets from force sensors 1, 2, and 3 to the system control device in each cycle.

[0106] <Fourth Embodiment>

[0107] In the fourth embodiment, FIG. 15 is a schematic configuration diagram of a single curved segment with force control feedback. In FIG. 15, three drive wires are driven by motors 1, 2, and 3, and the forces applied to the drive wires are detected by force sensors 1, 2, and 3. The force sensors 1, 2, and 3 generate three separate analog force signals based on the detected forces corresponding to a single curved segment of the catheter, and the analog force signals are sent via an amplifier to Individual the ADC. The ADC sends the analog force signals acquired almost simultaneously to the system control device 700 Since the force data 1, 2, and 3 from the force sensors 1, 2, and 3 can be serially transferred to the system control device as a set of packets, there will be no data transfer, loss, or delay time between the force data 1, 2, and 3.

[0108] The outputs of the respective force sensors are sent to the respective ADCs and to the motor control devices of the respective wires. Each motor may individually have a motor control device that communicates with the system control device via serial communication. The serial communication of the motors can be made common. The system control device configured according to the fourth embodiment in FIG. 15 may include two or more system control devices. Instead of the single system control device shown in FIG. 14, the system control device of the fourth embodiment may include a robot kinematics output unit and a motor control device, and the system control device may be divided into a system control device (robot kinematics output unit) and a motor control device.

[0109] In FIG. 15, the ADC data acquisition time chart illustrates a configuration in which force data 1, 2, and 3 are serially transferred as a set of packets from force sensors 1, 2, and 3 to the system control device in each cycle.

[0110] When the distal section 230 consists of a plurality of curved segments including at least a distal curved segment 230A, an intermediate curved segment 230B, and a proximal curved segment 230C 、 Since the force signals from the force sensors of each curved segment are transferred to a single ADC, there are three separate ADCs for the distal curved segment 230A, the intermediate curved segment 130B, and the proximal curved segment 230C. By providing a single ADC for each curved segment, the feedback loop frequency becomes faster, and each ADC data can be transmitted to the system control device with a slight delay as shown in FIG. 9, so that the system control device can efficiently process the motor commands of each curved segment.

[0111] <Advantages>

[0112] The robot control system can simultaneously acquire the force data of a single curved segment of the catheter so that the system can minimize the glitches when force data is used for the feedback control signal.

[0113] 1. The robot control system may include the following components.

[0114] A catheter part detachably attached to the operating part, the catheter part including one or more curved segments.

[0115] Each curved segment is driven to bend by pushing and pulling a set of drive wires.

[0116] Each drive wire is connected to the coupling part of the operating part.

[0117] An operating part including a plurality of drive parts.

[0118] Each drive part includes a single drive source, a single force sensor, and a single coupling part. A single drive wire is connected to the single coupling part, and the single coupling part is connected to the single force sensor and the single drive source.

[0119] The force sensor generates an analog force signal according to the force of the drive wire.

[0120] The analog force signals of a set of drive wires are connected to a single ADC part. The ADC part converts the analog force signals into digital force signals, and the digital force signals are serially communicated to the robot control part.

[0121] The robot control part drives the drive source based on the digital force signals.

[0122] 2. A set of drive wires consists of two or three wires, and two or three analog force signals are converted into digital force signals in a single ADC.

[0123] 3. The ADC serially transfers a set of force data to the robot control device, and a set of packets includes a set of digital force signals.

[0124] 4. There are three bending segments, and three ADCs are provided. Each ADC processes an analog force signal corresponding to each bending segment. The three ADCs communicate serially with the robot control device, and the robot control device switches the ADCs in sequence to read force data.

[0125] 5. The force sensor may be a Wheatstone bridge circuit.

[0126] 6. The ADC monitors and converts the excitation voltage transferred to the robot control unit for calibration. The excitation voltage is applied to the force sensor.

[0127] 7. The ADC monitors and converts the reference voltage transferred to the robot control unit for calibration. The reference voltage is used to determine the dynamic range of analog-to-digital conversion.

[0128] This disclosure describes a method in which a robot control system has a circuit or chip of a common ADC (analog-to-digital converter) for multiple force data of a single bending segment. Thereby, the control system can simultaneously acquire the force data of a single bending section of the catheter so that the system can minimize glitches when the force data is used for the feedback control signal.

[0129] According to some embodiments, the apparatus may include: a control device; a bendable device having one or more bending segments, each bending segment being configured to bend, rotate or translate by pushing and pulling a set of drive wires; an actuating device having a plurality of drive parts, each drive wire being connected to a drive part, and each drive part having a drive source connected to a force sensor configured to detect the force of the drive wire and generate an analog force signal according to the detected force; one or more ADCs. When an analog force signal of a set of drive wires is generated, it is transmitted to a single ADC configured to convert the analog force signal into a digital force signal, and the digital force signal is serially transmitted to the control device. The control device drives the drive source based on the digital force signal.

[0130] A set of drive wires may be synchronized by using a single ADC. The apparatus may have a single ADC for each bending segment. The single ADC may be configured as a one-chip ADC. One section of a bendable device with n bending segments and n force sensors may be communicable with one ADC, where n is a number.

[0131] A set of drive wires may include two or three drive wires. In that case, two or three corresponding force signals generated by one ADC for the two or three drive wires are converted into a digital force signal in one ADC. The ADC may be configured to serially transfer a set of force data to the control device. In that case, the set of force data may have a set of digital force signals.

[0132] A bending segment may have a single bending segment and three ADCs. In this case, each of the three ADCs processes an analog force signal corresponding to a single bending segment, the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn.

[0133] The device may have three curved segments and three ADCs. In this case, each ADC processes an analog force signal corresponding to each curved segment, and the three ADCs communicate serially with a control device, which switches each ADC in turn to read the force data. The force sensor may have a Wheatstone bridge circuit.

[0134] The ADC may be configured to monitor and convert a reference voltage, which is transferred to the control device for calibration. In this case, the reference voltage is configured to determine the dynamic range of analog-to-digital conversion.

[0135] The force sensor may generate an ADC for each wire and a force sensor output sent to the control device. Each drive source may include a motor control device that communicates with the control device via serial communication. The control device may be a single system control device.

[0136] According to some embodiments, the device may include: a control device; an elongated flexible device having one or more curved segments, each curved segment being configured to curve, rotate, or translate by pushing and pulling a plurality of drive wires; an actuating device having a plurality of drive parts, each drive wire being connected to a drive part, each drive part having a drive source, a force sensor, a coupling part, and a drive wire connected to the coupling part, the coupling part being connected to the force sensor and the drive source; one or more analog-to-digital converters (ADCs). The force sensor is configured to generate an analog force signal in response to the force of each drive wire of a set of a plurality of drive wires. The analog force signals of a set of a plurality of drive wires are transferred to one ADC, which is configured to convert the analog force signal into a digital force signal, and the digital force signal is serially transmitted to the control device. The control device drives the drive source based on the digital force signal.

[0137] A set of drive wires may be synchronized by the use of one ADC. The device may have a single ADC for each bending segment, in which case the single ADC may be configured as a one-chip ADC. One section of an elongated flexible device having n bending segments and n force sensors is communicable with a single ADC, where n is a number.

[0138] A set of drive wires may include two or three drive wires, and two or three corresponding force signals generated by one ADC for the two or three drive wires may be converted into digital force signals in one ADC.

[0139] One ADC may be configured to serially transfer a set of force data to a control device, and the set of force data may have a set of digital force signals. The flexible bending segment may have a single bending segment and three ADCs. In this case, each ADC processes an analog force signal corresponding to a single bending segment, and the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn.

[0140] The flexible bending device may have three bending segments and three ADCs. In this case, each of the three ADCs processes an analog force signal corresponding to each bending segment, and the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn. The force sensor may have a Wheatstone bridge circuit.

[0141] One ADC may be configured to monitor and convert a reference voltage, and the voltage is transferred to the control device for calibration. In this case, the reference voltage is configured to determine the dynamic range of analog-to-digital conversion.

[0142] The force sensor may generate a force sensor output that is communicable with one ADC and a control device per wire. Each drive source may have a motor control device that communicates with the control device via serial communication. The control device can be divided into a robot kinematics output section and a motor control device.

[0143] Also, the advantages of additional features or aspects of the present disclosure are that the control device can implement one or more artificial intelligence (AI) or machine learning algorithms, processes, technologies, etc. to ensure that the control device can reliably obtain the force data of a single curved segment of the flexible tool so that the control device can minimize glitches when force data is used in the feedback control signal. Such AI technologies use neural networks, random forest algorithms, cognitive computing systems, rule-based engines, etc., and are trained based on a series of data to evaluate the type of data and generate an output. For example, the training algorithm can be configured so that the control device can reliably obtain the force data of a single curved segment of the flexible tool so that the control device can minimize glitches when force data is used in the feedback control signal. The model can be configured as software that receives an image as an input and returns a prediction of the specified image as an output. The model can be an instance of a model architecture (a set of parameter values) obtained by training and selecting the model using machine learning and / or optimization algorithms / processes. The model can generally include, for example: source code (e.g., a convolutional neural network including layers of parameterized convolutional kernels and activation functions), and configuration values (parameters, weights, features, etc.) that are first set to random values and then iteratively optimized during training considering a given data example; a function (a loss function); an optimization algorithm (an optimizer), etc.

[0144] To enable the control device to reliably obtain the force data of a single curved segment of the flexible tool so that the control device can minimize the glitches when force data is used for the feedback control signal, at least a part of the position movement or orientation of the actuator and other components can be used as input data and provided to the training algorithm. Using the input mapping to the model or storing the initial position movement or orientation of the medical device generated through a dedicated investigation in a database can facilitate the precise centering of the fiber core with respect to the ferrule outer diameter, and through machine learning, parameters for the AI process can be found. When the initial position movement or orientation of the medical device is used or input into the AI process or algorithm, it facilitates accurate modeling to accommodate various types of medical procedures, treatments, diagnoses, and other applications. The training algorithm is configured to learn the physical relationships in the input data and best describe such relationships or correlations. The data set includes information based on many factors (such as the position movement or orientation of the actuator and other components) to enable the control device to reliably obtain the force data of a single curved segment of the flexible tool so that the control device can minimize the glitches when force data is used for the feedback control signal. The data is evaluated using weighted evaluation, and the weights are learned through the training process, subject matter specifications, etc. The mechanism of deep learning can expand the AI process to accommodate various types of position detection and detachment configurations or other applications.

[0145] This disclosure has been described with reference to exemplary embodiments. Of course, this disclosure is not limited to the disclosed exemplary embodiments. The following claims should be given the broadest interpretation to encompass all such modifications and equivalent structures and functions.

[0146] Other embodiments Embodiments of the present disclosure can be implemented by reading and executing computer-executable instructions (e.g., one or more programs) recorded on a storage medium (more precisely, which can also be referred to as a "non-transitory computer-readable storage medium") to execute one or more functions of the foregoing embodiments and / or by a computerized configuration of a system or apparatus including one or more circuits (e.g., an application-specific integrated circuit (ASIC)) for executing one or more functions of the foregoing embodiments. Also, the computerized configuration of the system or apparatus can be realized by a method executed by reading and executing computer-executable instructions from a storage medium to execute one or more functions of the foregoing embodiments and / or by controlling one or more circuits to execute one or more functions of the foregoing embodiments. The computerized configuration may include one or more processors, one or more memories, circuit configurations, or combinations thereof (e.g., a central processing unit (CPU), a microprocessing unit (MPU), etc.), and may include a separate computer or a network of separate processors for reading and executing computer-executable instructions. The computer-executable instructions can be provided to the computerized configuration, for example, from a network or a storage medium. The storage medium may include, for example, one or more of a hard disk, a random access memory (RAM), a read-only memory (ROM), the storage of a distributed computing system, an optical disk (such as a compact disk (CD), a digital versatile disk (DVD), or a Blu-ray Disc (BD) (trademark), etc.), a flash memory device, a memory card, and the like.

[0147] Although the present disclosure has been described with reference to exemplary embodiments, it goes without saying that the present disclosure is not limited to the disclosed exemplary embodiments. The following claims should be given the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. A control device, A bendable device having one or more bending segments, each bending segment being configured to bend, rotate, or translate by pushing and pulling a set of drive wires, An operating device having a plurality of drive parts, each drive wire being connected to a drive part, each drive part having a drive source connected to a force sensor, the force sensor being configured to detect the force of the drive wire and generate an analog force signal according to the detected force, One or more analog-to-digital converters (ADCs), A device comprising, When the analog force signal of the set of drive wires is generated, it is transmitted to a single ADC configured to convert the analog force signal into a digital force signal, and the digital force signal is serially transmitted to the control device, The control device drives the drive source based on the digital force signal, Device.

2. The set of drive wires is synchronized by using the single ADC, The device according to claim 1.

3. Further comprising a single ADC for each bending segment, The device according to claim 1.

4. The single ADC is configured as a one-chip ADC, The device according to claim 1.

5. One section of the bendable device comprising n bending segments and n force sensors is communicable with one ADC, where n is a number, The device according to claim 1.

6. The set of drive wires includes two or three drive wires, and the two or three corresponding force signals generated by one ADC for the two or three drive wires are converted into the digital force signal in the one ADC, The device according to claim 1.

7. The ADC is configured to serially transfer the set of force data to the control device, and the set of force data includes a set of digital force signals, The device according to claim 1.

8. The bending segment has a single bending segment and three ADCs, Each of the three ADCs processes the analog force signal corresponding to the single bending segment, the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn, The device according to claim 1.

9. The device comprises three bending segments and three ADCs, Each ADC processes the analog force signal corresponding to each bending segment, and the three ADCs communicate serially with the control device, which reads the force data by switching each ADC in turn. The device according to claim 1.

10. The device according to claim 1, wherein the force sensor has a Wheatstone bridge circuit.

11. The ADC is configured to monitor and convert a reference voltage, which is transferred to the control device for calibration. The reference voltage is configured to determine the dynamic range of analog-to-digital conversion. The device according to claim 1.

12. The force sensor generates a force sensor output sent to the ADC and the control device for each wire. The device according to claim 1.

13. Each drive source has a motor control device that communicates with the control device via serial communication. The device according to claim 1.

14. The device according to claim 1, wherein the control device is a single system control device.

15. A control device, An elongated flexible device having one or more bending segments, each bending segment being configured to bend, rotate or translate by pushing and pulling a set of a plurality of drive wires, the elongated flexible device, An actuating device having a plurality of drive parts, each drive wire being connected to a drive part, each drive part having a drive source, a force sensor, a coupling part, and a drive wire connected to the coupling part, the coupling part being connected to the force sensor and the drive source, the actuating device, One or more analog-to-digital converters (ADCs), A device comprising: The force sensor is configured to generate an analog force signal in response to the force of each drive wire of the set of the plurality of drive wires. The analog force signals of the set of the plurality of drive wires are transferred to one ADC, which is configured to convert the analog force signals into digital force signals, and the digital force signals are serially transmitted to the control device. The control device drives the drive source based on the digital force signals. Device.

16. The set of drive wires is synchronized by the use of the one ADC. The device according to claim 15.

17. Further comprising a single ADC for each bending segment. The device according to claim 15.

18. The single ADC is configured as a one-chip ADC, The device according to claim 17.

19. One section of the elongated flexible device having n curved segments and n force sensors is communicable with a single ADC, where n is a number, The device according to claim 15.

20. The set of drive wires includes two or three drive wires, and the two or three corresponding force signals generated by the one ADC for the two or three drive wires are converted into the digital force signal in the one ADC, The device according to claim 15.

21. The one ADC is configured to serially transfer the set of force data to the control device, and the set of force data includes a set of digital force signals, The device according to claim 15.

22. The flexible curved segment has a single curved segment and three ADCs, Each ADC processes the analog force signal corresponding to the single curved segment, the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn, The device according to claim 15.

23. The flexible curved device has three curved segments and three ADCs, Each of the three ADCs processes the analog force signal corresponding to each curved segment, the three ADCs communicate serially with the control device, and the control device reads the force data by switching each ADC in turn, The device according to claim 15.

24. The device according to claim 15, wherein the force sensor has a Wheatstone bridge circuit.

25. The one ADC is configured to monitor and convert a reference voltage, and the voltage is transferred to the control device for calibration, The reference voltage is configured to determine the dynamic range of analog-to-digital conversion, The device according to claim 1.

26. The force sensor generates a force sensor output transmissible to the one ADC and the control device for each wire, The device according to claim 15.

27. Each drive source has a motor control device that communicates with the control device via serial communication, The device according to claim 15.

28. The control device is divided into a robot kinematics output unit and a motor control device, The device according to claim 15.

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