Sensing device and control system including the same

Abstract

To provide a sensing device.SOLUTION: A sensing device includes: a housing including a first sidewall member disposed in a vertical direction with respect to a bottom surface; a first handle 110 having at least a portion exposed to the outside of the housing and formed in the shape of a closed curve placed on a predetermined first surface and coupled to the first sidewall member so as to perform an orbital motion along an extension direction of the closed curve at a predetermined one position on the closed curve; a first rotating body rotating around a predetermined first rotation axis in conjunction with the orbital motion of the first handle; a support member coupled to the housing and supporting the first handle so as to maintain the first handle fixed at the predetermined one position; and a first sensor 300 for sensing information on a rotational motion of the first rotating body.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a sensing device and a control system including the same, and more particularly to a sensing device and a control system including the same for remotely controlling a driven member by simulating a surgical action. [Background technology]

[0002] An endoscope is a device designed to insert a machine into the body to observe organ lesions that cannot be directly observed without surgery or autopsy. Recently, various surgical tools have been devised to operate on the inside of organs without cutting open the patient's body.

[0003] Typically, a driven member in the form of a thin, long tube such as a catheter or guidewire is used to perform procedures inside a patient's organs.

[0004] At this time, a radiological marker such as an X-ray marker may be used to accurately determine the position of the catheter or guidewire inserted inside the patient's body, but this may result in a problem in that the surgeon may be exposed to radiation during the surgery.

[0005] To address these problems, control systems have been developed that can remotely control surgical tools such as catheters or guidewires.

[0006] In order for a control system capable of remotely controlling a surgical tool to operate, it is necessary to have a sensing device that can detect a user's input signal, a communication module that transmits the user's input signal, and a surgical tool that can be controlled by receiving the input signal from the communication module.

[0007] Surgical tools such as catheters or guidewires must be precisely controlled as they are inserted inside the patient's organs.

[0008] However, because existing sensing devices are operated using buttons or joysticks, there is a problem in that there is a large discrepancy between the sensation felt when using an actual surgical tool and the sensation felt during the process of inputting a signal into the sensing device.

[0009] Since the success of a surgery can directly affect the life of the patient, such differences in sensations felt during the operation can have a significant impact on the success of the surgery and on the safety of the patient.

[0010] Furthermore, while surgical tools inserted into a patient's organs, such as catheters or guidewires, can be formed in the form of thin, long tubes, existing sensing devices have a linear structure, which limits the displacement that can be operated in one direction.

[0011] Accordingly, control systems using existing sensing devices are limited to continuous one-way control operations.

[0012] For example, in a control system using an existing sensing device, after moving the sensing device a predetermined distance in one direction, a reciprocating motion is required to return the device to its original position for additional movement, which makes the operation process unnatural.

[0013] Accordingly, there is a need for a sensing device and a control system including the same that can control a surgical tool at a distance while allowing continuous operation in one direction, in a manner similar to operating an actual surgical tool. Summary of the Invention [Problem to be solved by the invention]

[0014] The present invention has been made to solve the above problems, and an object of the present invention is to provide a sensing device and a control system including the same that can be operated through operations similar to those using an actual surgical tool.

[0015] Another object of the present invention is to provide a sensing device and a control system including the same, which are capable of continuous operation in one direction without any displacement limitations through an operating portion structure in the form of a closed curve.

[0016] The objects of the present invention are not limited to those mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the following description. [Means for solving the problem]

[0017] According to one aspect of the present invention, there is provided a sensing device including: a housing including a first side wall member disposed vertically relative to a bottom surface; a first handle, at least a portion of which is exposed to the outside of the housing, formed in the form of a closed curve placed on a predetermined first surface and connected to one side of the first side wall member so as to be able to orbitally move at a predetermined position on the closed curve along an extension direction of the closed curve; a first rotor that rotates about a predetermined first rotation axis in conjunction with the orbital movement of the first handle; a support member that is connected to the housing but supports the first handle so that the first handle can maintain a fixed position at the predetermined position; and a first sensor that senses information regarding the rotational movement of the first rotor.

[0018] In this case, the device may further include a second handle formed to be rotatable at a fixed position; a second rotating body that rotates around a predetermined second rotation axis in conjunction with the rotational movement of the second handle; and a second sensor that senses information regarding the rotational movement of the second rotating body.

[0019] In this case, the first surface may be a plane, and the second rotation axis may be parallel to the first surface or belong to the first surface.

[0020] In this case, the second handle may be formed in the form of a pipe including a first hole penetrating the second handle in a direction parallel to the second rotation axis, and at least a portion of the first handle may pass through the first hole.

[0021] In this case, the device further includes a third rotating body that shares a rotation axis with the second handle, is connected to a lower part of the second handle, and rotates integrally with the second handle, and the second rotating body can be rotated by the rotational force of the third rotating body.

[0022] At this time, the third rotating body rotates around a third rotation axis parallel to the second rotation axis, and a belt-shaped second power transmission member is connected to the peripheral portion of the third rotating body and the peripheral portion of the second rotating body, and the second power transmission member can transmit the rotational force of the third rotating body to the second rotating body.

[0023] In this case, the second sensor may be coupled to the second rotating shaft and may sense information regarding the rotational movement of the second rotating body transmitted through the second rotating shaft.

[0024] In this case, the work surface may further include a plate-shaped work surface that crosses the first side wall member at a predetermined height, and the work surface may have a second hole formed therein through which the second handle is passed and to which the second handle is coupled.

[0025] At this time, the second rotation shaft may be received at one end of the work surface, and a receiving groove for supporting the second rotation shaft may be recessed in a direction perpendicular to the axial direction of the second rotation shaft.

[0026] In this case, the first surface is a plane, the first rotating body is placed on the first surface, the peripheral portion of the first handle and the outer peripheral surface of the first rotating body are both connected to a belt-shaped first power transmission member, and the first power transmission member can transmit the driving force due to the orbital motion of the first handle to the first rotating body to rotate the first rotating body.

[0027] In this case, the first sensor may be coupled to a first rotation shaft which is the rotation center of the first rotor, and the first sensor may include a reaction force providing means for rotating the first rotation shaft, and the first sensor may rotate the first rotor and transmit force to the first handle side through the first power transmission member.

[0028] At this time, the first sensor can sense the torque applied to the first rotating shaft.

[0029] At this time, the peripheral portion of the first handle and the outer circumferential surface of the first rotor may be disposed so as to be in contact with each other.

[0030] At this time, the first rotating body may be rotated by a frictional force generated at a contact portion between the first rotating body and the first handle due to the orbital motion of the first handle.

[0031] In this case, the first handle includes gear teeth provided continuously along its periphery, and the first rotor is formed in the form of a gear that meshes with the gear teeth, so that the first rotor that meshes with the first handle can be rotated by the orbital motion of the first handle.

[0032] In this case, the first handle is formed in a belt shape, the outer circumferential surface of the first rotor is formed to contact the inner circumferential surface of the first handle, and the first rotor can be rotated by the orbital motion of the first handle.

[0033] In this case, the first sensor may be coupled to a first rotation axis which is the rotation center of the first rotor, and the first sensor may include a reaction force providing means for rotating the first rotation axis, and the first sensor may be capable of transmitting a force to the first handle side by rotating the first rotor.

[0034] At this time, the first sensor can sense the torque applied to the first rotating shaft.

[0035] In this case, the support member may be formed of a plurality of pulleys that support the inner or outer circumferential surface of the first handle, and one end of each of the rotation shafts of the plurality of support members may be fixed to the first side wall member.

[0036] In this case, the second sensor may include a reaction force providing means for rotating the second rotary shaft, and the second sensor may rotate the second rotary body and transmit a force to the second handle side through the second power transmission member.

[0037] At this time, the second sensor can sense the torque applied to the second rotating shaft.

[0038] In this case, the first handle may be formed in a circular ring shape.

[0039] According to another aspect of the present invention, there is provided a control system including the sensing device; a driven member to be controlled by information sensed by the sensing device; a communication module capable of exchanging electrical signals with the sensing device and the driven member; and a control unit for controlling the sensing device and the driven member through the communication module, wherein the control unit controls the linear movement of the driven member based on orbital movement information of the first handle sensed by the first sensor, and controls the rotational movement of the driven member based on rotational movement information of the second handle sensed by the second sensor.

[0040] In this case, the driven member includes a pressure sensor that detects pressure, and the control unit can control the first rotating body or the second rotating body to transmit a reaction force corresponding to the pressure detected by the pressure sensor to the first handle or the second handle. [Effects of the Invention]

[0041] With the above-described configuration, the sensing device according to one aspect of the present invention and the control system including the same can remotely control a surgical tool by rotating a closed-curve handle to control the linear movement of the surgical tool and by rotating a cylindrical handle surrounding the closed-curve handle to control the rotational movement of the surgical tool, in a manner similar to the operation of operating an actual surgical tool.

[0042] A sensing device and a control system including the sensing device according to another aspect of the present invention can control linear motion through a handle in the form of a closed curve, thereby controlling linear motion with continuous motion without displacement limitations.

[0043] In accordance with yet another aspect of the present invention, a sensing device and a control system including the same are provided in which a handle responsible for rotational movement surrounds a handle responsible for linear movement, making it easy to simultaneously control linear and rotational movement.

[0044] A sensing device and a control system including the same according to another aspect of the present invention employ a motor and a torque sensor to transmit a reaction force applied to a surgical tool to a handle, thereby transmitting a reaction force similar to that which may be applied when operating an actual surgical tool.

[0045] A sensing device and a control system including the same according to yet another aspect of the present invention allows a user to perform remote control for long periods of time while minimizing fatigue by positioning a handle on a work surface.

[0046] The effects of the present invention are not limited to the effects described above, but should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description of the present invention or the claims. [Brief explanation of the drawings]

[0047] [Figure 1] 1 is a perspective view of a sensing device according to an embodiment of the present invention; [Figure 2] 10 is a perspective view illustrating a sensing device according to an embodiment of the present invention viewed from another direction; FIG. [Figure 3] 1 is a left side view of a sensing device according to an embodiment of the present invention. [Figure 4] 1 is a plan view of a sensing device according to an embodiment of the present invention; [Figure 5] 1 is a front view of a sensing device according to an embodiment of the present invention; [Figure 6]FIG. 2 is a rear view of a sensing device according to an embodiment of the present invention. [Figure 7] 1 is a structural diagram of a sensing device according to an embodiment of the present invention; [Figure 8] 1 is an exploded perspective view of a sensing device according to an embodiment of the present invention; [Figure 9] 2 is a cross-sectional view of a sensing device according to an embodiment of the present invention taken along II' in FIG. 1. FIG. [Figure 10] 1 is a view illustrating components of a sensing device excluding a housing according to an embodiment of the present invention; [Figure 11] 1 is a diagram illustrating a partial configuration related to the rotational movement of a second handle of a sensing device according to an embodiment of the present invention; [Figure 12] 1 is a diagram illustrating a configuration of a part related to a rotational movement of a first handle of a sensing device according to an embodiment of the present invention; [Figure 13] 10 is a diagram illustrating a first modified example of a portion of the configuration related to the rotational movement of a first handle of a sensing device in accordance with an embodiment of the present invention; [Figure 14] 10 is a diagram illustrating a second modified example of a portion of the configuration related to the rotational movement of a first handle of a sensing device in accordance with an embodiment of the present invention. [Figure 15] FIG. 10 is a perspective view of a sensing device according to another embodiment of the present invention. [Figure 16] 10 is a diagram illustrating a configuration of a part related to a rotational movement of a first handle of a sensing device according to another embodiment of the present invention; [Figure 17] 1 is a structural diagram of a control system including a sensing device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0048] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may be embodied in various different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not relevant to the description are omitted, and the same reference numerals are used throughout the specification to refer to the same or similar components.

[0049] The words and terms used in this specification and claims should not be interpreted in a limited manner based on their ordinary or dictionary meanings, but should be interpreted in a manner that is consistent with the technical idea of ​​the present invention, in accordance with the principle that the inventor can define the terms and concepts in order to best describe his or her invention.

[0050] In this specification, the terms "comprise" or "have" and the like are intended to describe the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0051] In the drawings, thicknesses and sizes are exaggerated to clearly show the characteristics of the components, and the thicknesses and sizes of the components shown in the drawings are not necessarily the same as the actual thicknesses and sizes.

[0052] In the following description of the drawings, each direction is defined based on the coordinate axes shown in Fig. 1. More specifically, the positive direction of the z-axis is defined as the upper side, and the negative direction of the z-axis is defined as the lower side. The positive direction of the y-axis is defined as the forward side, and the negative direction of the y-axis is defined as the backward side. The positive direction of the x-axis is defined as the left side, and the negative direction of the x-axis is defined as the right side.

[0053] In the following description, in order to clarify the features of the present invention, the description of some components may be omitted.

[0054] Unless otherwise clearly indicated in the context, singular expressions include plural expressions.

[0055] A sensing device according to an embodiment of the present invention is a sensing device that senses a user's movement signal in order to remotely control a driven member by imitating the user's movement.

[0056] In this case, the driven member may be a surgical tool such as a catheter or a guidewire, but the driven member with which the sensing device of the present invention can be used is not limited thereto.

[0057] For example, the driven member controlled by the sensing device according to one embodiment of the present invention is not limited to a surgical tool, but may be an object in the form of a thin, long tube, or other types of objects may also be used as the driven member.

[0058] FIG. 1 is a perspective view of a sensing device according to an embodiment of the present invention. FIG. 2 is a perspective view of a sensing device according to an embodiment of the present invention viewed from another direction. FIG. 3 is a left side view of a sensing device according to an embodiment of the present invention. FIG. 4 is a plan view of a sensing device according to an embodiment of the present invention. FIG. 5 is a front view of a sensing device according to an embodiment of the present invention. FIG. 6 is a rear view of a sensing device according to an embodiment of the present invention. FIG. 7 is a structural diagram of a sensing device according to an embodiment of the present invention. FIG. 8 is an exploded perspective view of a sensing device according to an embodiment of the present invention. FIG. 9 is a cross-sectional view of a sensing device according to an embodiment of the present invention taken along line I-I' of FIG. 1. FIG. 10 is a view illustrating components of a sensing device according to an embodiment of the present invention excluding the housing. FIG. 11 is a view illustrating some components related to the rotational movement of a second handle of a sensing device according to an embodiment of the present invention. FIG. 12 is a view illustrating some components related to the rotational movement of a first handle of a sensing device according to an embodiment of the present invention.

[0059] The sensing device 2 according to one embodiment of the present invention may include a first handle 110 and a first rotating body 130 for controlling the unidirectional movement of a driven member, a support member 600 and a housing 500 for supporting the first handle 110, and a first sensor 300.

[0060] In addition, the sensing device 2 according to one embodiment of the present invention may include a second handle 210 and a second rotating body 240 for controlling the rotational movement of the driven member, a housing 500 for supporting the second handle 210, and a second sensor 400.

[0061] In this case, the housing 500 of the sensing device 2 according to one embodiment of the present invention may include a bottom surface 550, a first side wall member 510 arranged vertically relative to the bottom surface 550, a second side wall member 520 that may be arranged alongside the first side wall member 510, a third side wall member 530 arranged toward the front, and a work surface 540 arranged toward the upper side.

[0062] In this case, the first handle 110 of the sensing device 2 according to one embodiment of the present invention is formed in the form of a closed curve placed on a predetermined first plane and can be supported by a support member 600 fixed to the first side wall member 510.

[0063] At this time, the first handle 110 may be connected to the first side wall member 510 so as to be able to move orbitally along the extension direction of the closed curve at a predetermined position on the closed curve that forms the first handle 110.

[0064] More specifically, referring to Figures 1 to 10, the first handle 110 may be formed in the form of a closed curve and connected to the side of the first side wall member 510 by support members including a first support member 610, a second support member 620, and a third support member 630.

[0065] Accordingly, the entire first handle 110 is positioned at a fixed position in space, and each part of the components that make up the first handle 110 can move from one position on the closed curve to another position on the closed curve along the path of the closed curve that forms the first handle 110.

[0066] Accordingly, each part of the components that make up the first handle 110 can make an orbital motion along the path of the closed curve.

[0067] The support member may be comprised of five or more support members, including a first support member 610, a second support member 620, a third support member 630, a fourth support member 640, and a fifth support member 650, as shown.

[0068] Accordingly, the first handle 110 can be supported in various directions, and the position of the first handle 110 in space can be fixed.

[0069] However, the structure and number of the support members are not limited to this, and there are no limitations as long as they have a shape, structure and number that can fix the position of the first handle 110 in space.

[0070] For example, the support members may be configured with only three members so as to support in different directions, or six or more members may be provided.

[0071] Furthermore, as shown in the figure, the support member may be formed in the shape of a plurality of pulleys, including a first support member rotation shaft 612 that serves as the rotation center axis of the first support member 610, a second support member rotation shaft 622 that serves as the rotation center axis of the second support member 620, a third support member rotation shaft 632 that serves as the rotation center axis of the third support member 630, a fourth support member rotation shaft 642 that serves as the rotation center axis of the fourth support member 640, and a fifth support member rotation shaft 652 that serves as the rotation center axis of the fifth support member 650.

[0072] However, the present invention is not limited to this, and the support member may be formed in the form of a rail or a gear, and is not limited to being formed in other structures.

[0073] For example, as shown in Figures 1 to 10, when the first handle 110 is formed in the form of a circular closed curve, the first handle 110 can rotate around a rotation axis perpendicular to the first surface on which the first handle 110 is placed at a fixed position.

[0074] Accordingly, each component of the first handle 110 can make an orbital movement around a rotation axis located at the center of the circular first handle 110 perpendicular to the increased first surface.

[0075] In this way, each part of the components of the first handle 110 can move in an orbital motion without limiting the moving distance along the extension direction of the closed curve that constitutes the first handle 110.

[0076] As a result, even if the length around the closed curve forming the first handle 110 is shorter than the length of the driven member, or the length around the closed curve is shorter than the displacement required to move the driven member, the first handle 110 is capable of infinite orbital movement, making it possible to operate the driven member in one direction without any displacement restrictions.

[0077] For example, if the driven member is a catheter and the first handle 110 is circular, when inserting the catheter into an organ by a displacement corresponding to twice the circumference of the closed curve forming the first handle 110, the catheter can be inserted to the target position by simply rotating the first handle 110 twice.

[0078] In the case of existing sensing devices that are not provided in the shape of a closed curve, the moving member must be operated by moving the sensing device a predetermined distance, realigning the sensing device, and then moving it again a predetermined distance, repeating this process. However, the sensing device 2 according to one embodiment of the present invention can be operated continuously without such limitations.

[0079] Furthermore, even if the first handle 110 is formed in the shape of a closed curve, when operating the first handle 110, it is not necessary to operate the first handle 110 along the shape of the closed curve, and a desired part of the first handle 110 can be operated at one position in space.

[0080] Accordingly, the first handle 110 can be operated by moving a specific portion on the first handle 110 in the tangential direction of the first handle 110.

[0081] More specifically, for example, if the first handle 110 is formed in a circular ring shape, the user does not need to grasp the first handle 110 and operate the first handle 110 along a circular trajectory in order to operate the first handle 110.

[0082] The user can operate the first handle 110 by repeatedly operating only a specific portion of the first handle 110 that enters the second handle 210 at a certain position in space, for example, as viewed from FIG. 1, by pulling the first handle 110 upward or pushing it downward into the second handle 210.

[0083] Accordingly, the user can operate the first handle 110 in a manner similar to operating an actual driven member.

[0084] As shown in the drawings, the first handle 110 may be formed in a circular ring shape, and accordingly, the first surface on which the first handle 110 is disposed may also be formed in a single plane.

[0085] However, this is not necessarily limited to this, and the shape of the first handle 110 may be formed in the shape of a closed curve other than a circle, and the first surface may not necessarily be formed as a flat surface but may be formed as a curved surface.

[0086] In addition, the first handle 110 may be formed of a single closed curved member, and as shown in the figure, the first portion 112 and the second portion 114 may be formed in a form connected via a connecting portion 116.

[0087] The configuration of the first handle 110 is not limited thereto, and the first handle 110 may be formed in a form in which additional components are combined, such as a third portion and a fourth portion (not shown).

[0088] The first handle 110 can transmit information about the orbital movement of the first handle 110 to the first sensor 300 by directly or indirectly rotating the first rotor 130 provided on one side of the first handle 110 .

[0089] A first power transmission member 120 for transmitting power to a first rotating body 130 may be connected to a first handle 110 of the sensing device 2 according to an embodiment of the present invention.

[0090] The first power transmission member 120 of the sensing device 2 according to one embodiment of the present invention may be formed in a belt shape and may be arranged to contact the peripheral portion of the first handle 110 and the outer surface of the first rotating body 130.

[0091] At this time, the first handle 110 has a groove formed along the circumferential direction in which the first power transmission member 120 can be mounted, and the first power transmission member 120 can be mounted in the groove formed in the first handle 110.

[0092] The first rotating body 130 is a rotating body provided on one side of the first handle 110, and can rotate around a first rotation axis 160 perpendicular to the first side wall member 510 as shown in FIGS. 8 to 10.

[0093] The direction of the first rotating shaft 160, which is the central axis of rotation of the first rotating body 130, the position at which the first rotating body 130 is placed, and the shape of the first rotating body 130 are not limited as long as the first rotating body 130 can transmit power from the first handle 110 to the first sensor 300.

[0094] The first power transmission member 120 of the sensing device 2 according to an embodiment of the present invention may be in contact with the first rotating body 130 so as to surround at least a portion of the outer circumferential surface of the first rotating body 130 .

[0095] At the same time, the first power transmission member 120 can contact the first handle 110 so as to surround at least a portion of the outer circumferential surface of the first handle 110 .

[0096] Accordingly, when the first handle 110 moves in an orbital direction, the first handle 110 can cause the first power transmission member 120 to move in an orbital direction in the same direction, and accordingly, the first power transmission member 120 can rotate the first rotating body 130 in a clockwise or counterclockwise direction.

[0097] For example, referring to FIG. 12, if the first handle 110 is formed in a circular ring shape, when the first handle 110 moves in an orbital direction in a clockwise direction, the first power transmission member 120 connected to the first handle 110 can also move in an orbital direction in a clockwise direction as a whole.

[0098] At this time, the first rotor 130 connected to the first power transmission member 120 can also rotate clockwise by the first power transmission member 120 .

[0099] The first power transmission member 120 may be a belt, but is not necessarily limited to this, and may also be a chain, and is not limited to this as long as it can transmit the driving force transmitted through the first handle 110 to the first rotating body 130.

[0100] A first sensor 300 may be disposed at one end in the longitudinal direction of a first rotation shaft 160 that serves as the rotation center axis of the first rotor 130 .

[0101] The first sensor 300 can sense information regarding the rotational movement of the first rotor 130 .

[0102] For this purpose, the first sensor 300 may be an encoder capable of collecting information about the rotational motion of the first rotor 130, such as the rotation amount, angular velocity, and torque.

[0103] Referring to FIGS. 1 to 10, the first sensor 300 may include a first sensor body 310, a rotating part 320, a frame 330, and a fixed part 340.

[0104] In this case, the first rotating body 130 may be disposed relatively rearward of the sensing device 2 according to an embodiment of the present invention.

[0105] Accordingly, a rear housing 570 capable of supporting and covering the first rotating body 130 may be disposed at the rear of the sensing device 2 according to an embodiment of the present invention.

[0106] At this time, a separate third hole 571 is formed in the rear housing 570 at a portion that may physically interfere with the first rotating body 130 so that the first rotating body 130 can rotate smoothly, thereby preventing physical interference.

[0107] The rotating part 320 of the first sensor 300 is coupled to the first rotating shaft 160 and can rotate together with the first rotating shaft 160 .

[0108] As the first rotating shaft 160 rotates together with the first rotating body 130, the rotating part 320 rotates integrally with the first rotating body 130, and information regarding the rotational movement of the first rotating body 130 can be sensed by an encoder provided in the first sensor body 310.

[0109] In this case, an encoder having a reaction force providing means may be disposed within the first sensor body 310 .

[0110] Accordingly, the first sensor 300 can transmit a predetermined reaction force to the first handle 110 side by means of a reaction force providing means provided in the encoder of the first sensor 300 .

[0111] More specifically, the first sensor 300 can transmit a predetermined torque to the first rotating shaft 160 by using a reaction force providing means provided in the encoder of the first sensor 300 .

[0112] The torque transmitted to the first rotating shaft 160 is transmitted to the first rotating body 130, and the torque transmitted to the first rotating body 130 can be transmitted to the first handle 110 side through the first power transmission member 120, or if the first power transmission member 120 is not provided, the first rotating body 130 can transmit the torque directly to the first handle 110 side.

[0113] Accordingly, when the driven member comes into contact with an obstacle inside an organ or receives an external force from the surrounding environment, the external force can be transmitted to the first handle 110. Accordingly, a reaction force that can be felt when a user directly grips and operates the driven member can be realized.

[0114] In this case, the first sensor 300 may also include a torque sensor that can sense the torque applied to the first rotating shaft 160 .

[0115] This allows for more accurate realization of the reaction force.

[0116] At this time, the reaction force providing means provided in the encoder of the first sensor 300 and capable of realizing the reaction force may be a motor, but is not limited to a motor and may be any other device capable of realizing the reaction force, such as a clutch.

[0117] In addition, the first sensor 300 of the sensing device 2 according to one embodiment of the present invention may be disposed on one side of the first side wall member 510 and the second side wall member 520 through the first rotating shaft 160 connected to the first rotating body 130, and for this purpose, the second side wall member 520 may be provided with a sensor hole 511 in which the first sensor 300 is disposed.

[0118] The fixing part 340 of the first sensor 300 may be coupled to the sensor hole 511 to stably support the first sensor 300, and a frame 330 extending along the extension direction of the first rotation axis 160 may be disposed near the corner of the fixing part 340.

[0119] In this case, the rotating part 320 of the first sensor 300 , which is coupled to the first rotating shaft 160 and rotates together with the first rotating shaft 160 , may be disposed near the center of the fixed part 340 .

[0120] Accordingly, the rotating part 320 can be protected by the frame 330 surrounding the rotating part 320 while rotating.

[0121] Meanwhile, the sensing device 2 according to an embodiment of the present invention may further include a second handle 210 formed to be rotatable in a direction different from that of the first handle 110 .

[0122] The second handle 210 can rotate about a third rotation axis located therein.

[0123] The user can control the linear movement of the driven member by orbital movement of the first handle 110, and can control the rolling movement of the driven member around its longitudinal axis by second handle 210.

[0124] In this case, the third rotation axis, which is the rotation center axis of the second handle 210, may be arranged to face in a direction different from that of the first rotation axis 160.

[0125] For example, the third rotation shaft of the second handle 210 may be arranged to extend in the vertical direction, unlike the first rotation shaft which extends in the horizontal direction as shown in FIG.

[0126] If the first surface on which the first handle 110 is placed is flat, the third rotation axis may be parallel to or belong to the first surface.

[0127] For example, as shown in FIG. 1, if the first handle 110 is formed in a circular shape and the first plane is a plane containing the circle on which the first handle 110 is formed, the third rotation axis may be included in the first plane and positioned perpendicular to the first rotation axis.

[0128] When the driven member is provided in the form of a long tube, bar or wire, control of the driven member allows the user to control the longitudinal movement of the driven member and the rotational movement of the driven member about its longitudinal axis.

[0129] Such longitudinal movement of the driven member may be controlled through a first handle 110 and rotational movement of the driven member may be controlled through a second handle 210 .

[0130] In this case, in order to remotely control the longitudinal and rotational movements of the driven member in a manner similar to the actual sensation, the second handle 210 may have a first hole 241 penetrated longitudinally by the first handle 110.

[0131] As a result, as shown in the figure, the second handle 210 is formed in the shape of a pipe or a pillar, and at least a portion of the first handle 110 can pass through the second handle 210 and be disposed inside the second handle 210.

[0132] Accordingly, the user can move one tubular member in one direction and freely rotate it through the first handle 110 and the second handle 210 in a manner similar to the actual operation.

[0133] In this case, since the second handle 210 may be provided in a rotatable cylindrical shape, there is no limit to the rotation angle of the second handle 210. The second handle 210 can rotate infinitely without any angle limit when penetrated by the first handle 110.

[0134] At this time, the driving force generated by the rotation of the second handle 210 can be transmitted through the second rotor 240 that rotates in conjunction with the rotational movement of the second handle 210 .

[0135] The second rotating body 240 may be directly or indirectly connected to the second handle 210 .

[0136] For example, the second rotating body 240 may be formed of a gear that operates in conjunction with the teeth of a gear provided on the second handle 210.

[0137] 8 and 9, a third rotating body 230 may be disposed below the second handle 210, and may rotate together with the second handle 210 about a third rotation axis.

[0138] The third rotating body 230 may be formed as a circular member surrounding the second handle 210 and may be connected to the belt-like second power transmission member 220 together with the second rotating body 240 .

[0139] At this time, the third rotating body 230 may perform a function of transmitting the rotational force of the second handle 210 through the second power transmission member 220 .

[0140] For this reason, the shape of the third rotating body 230 is not limited, and it may be formed in the form of a pulley surrounding the second handle 210 or in the form of a gear.

[0141] The second power transmission member 220 may be formed in the shape of a belt that covers at least a portion of the circumference of the third rotating body 230 and at least a portion of the circumference of the second rotating body 240, and the second power transmission member 220 may be a belt, chain, or other member that can transmit the rotational force of the third rotating body 230 to the second rotating body 240, without any restrictions.

[0142] Due to the structure of the second handle 210, the second rotating body 240, and the third rotating body 230 formed in this manner, when the second handle 210 rotates together with the third rotating body 230, the second power transmission member 220 can rotate the second rotating body 240 in a predetermined direction.

[0143] For example, when the second handle 210 rotates clockwise, the third rotating body 230, which rotates integrally with the second handle 210, can also rotate clockwise.

[0144] At this time, due to the clockwise rotation of the third rotor 230, the second power transmission member 220 may also rotate clockwise, and the second rotor 240 connected to the second power transmission member 220 may also rotate clockwise.

[0145] The second rotating body 240 can rotate around a second rotation shaft 260 that passes through the center.

[0146] At this time, a second sensor 400 for sensing rotation information of the second rotating shaft 260 and the second rotating body 240 may be coupled to the end of the second rotating shaft 260 .

[0147] The second rotating shaft 260 can rotate together with the second rotating body 240 at the center of the second rotating body 240 .

[0148] Accordingly, the second sensor 400 senses the rotation information of the second rotating shaft 260, and can sense the rotational movement information of the second rotating body 240, the second power transmission member 220, the third rotating body 230 and the second handle 210.

[0149] For this purpose, the second sensor 400 may be an encoder capable of collecting information about the rotational motion of the second rotating body 240, such as the rotation amount, angular velocity, and torque.

[0150] Referring to FIGS. 1 to 10, the second sensor 400 may include a second sensor body 410 and a rotating part 420.

[0151] In this case, the second handle 210, the third rotating body 230, the second power transmission member 220, the second rotating body 240 and the second sensor 400 may be disposed relatively to the front side of the sensing device 2 according to one embodiment of the present invention.

[0152] Accordingly, a second sensor 400 and a front housing 560 capable of supporting and covering the second rotating body 240 and the third rotating body 230 may be disposed in front of the sensing device 2 according to an embodiment of the present invention.

[0153] In this case, the front housing 560 may be formed to cover the second sensor 400 , the second rotating body 240 , and the left and right sides of the second rotating shaft 260 .

[0154] The rotating part 420 of the second sensor 400 is coupled to the second rotating shaft 260 and can rotate together with the second rotating shaft 260 .

[0155] As the second rotating shaft 260 rotates together with the second rotating body 240, the rotating part 420 rotates integrally with the second rotating body 240, and information regarding the rotational movement of the second rotating body 240 can be sensed by an encoder provided in the second sensor body 410.

[0156] In this case, an encoder having a reaction force providing means may be disposed within the second sensor body 410 .

[0157] Accordingly, the second sensor 400 can transmit a predetermined reaction force to the second handle 210 side by means of a reaction force providing means provided in the encoder of the second sensor 400 .

[0158] More specifically, the second sensor 400 can transmit a predetermined torque to the second rotating shaft 260 by using a reaction force providing means provided in the encoder of the second sensor 400 .

[0159] The torque transmitted to the second rotating shaft 260 is transmitted to the second rotating body 240, and the torque transmitted to the second rotating body 240 can be transmitted through the second power transmission member 220 and the third rotating body 230, or if the second power transmission member 220 is not provided, the second rotating body 240 can transmit the torque directly to the third rotating body 230 or the second handle 210.

[0160] Accordingly, when the driven member comes into contact with an obstacle inside an organ or receives an external force from the surrounding environment, the external force can be transmitted to the second handle 210. Accordingly, a reaction force that can be felt when a user directly grips and operates the driven member can be realized.

[0161] In this case, the second sensor 400 may also include a torque sensor that can sense the torque applied to the second rotating shaft 260 .

[0162] This allows for more accurate realization of the reaction force.

[0163] In this case, the reaction force providing means provided in the encoder of the second sensor 400 and capable of providing a reaction force may be provided by a motor, but is not limited to a motor or a device capable of providing a reaction force, such as a clutch. Meanwhile, referring to Figures 1 to 9, the sensing device 2 according to one embodiment of the present invention may include a working surface 540 coupled to the first side wall member 510 at a predetermined angle inclined relative to the first side wall member 510.

[0164] The work surface 540 may be formed such that its top surface is parallel to the bottom surface 550 .

[0165] In addition, the working surface 540 may be provided with a second hole 541 formed to penetrate the working surface 540 in the vertical direction.

[0166] The second handle 210 having the first hole 241 therein may be coupled to the second hole 541 .

[0167] At this time, as the first hole 241 is positioned inside the second hole 541 , the first hole 241 and the second hole 541 can be penetrated together by the first handle 110 .

[0168] At this time, a separate second handle coupling member may be disposed between the second handle 210 and the working surface 540 so that the second handle 210 can be more stably coupled to the working surface 540 through the second hole 541 .

[0169] Accordingly, the second handle 210 can be more firmly coupled to the work surface 540 .

[0170] The work surface 540 may be parallel to the bottom surface 550, and the top surface may be flat.

[0171] Accordingly, the user can operate the sensing device 2 with part of his / her hand or arm resting on the work surface 540.

[0172] Accordingly, the user can control the sensing device 2 more stably and precisely, and at the same time, the user can reduce fatigue even when using the sensing device 2 for a long time.

[0173] At this time, a first insertion groove 551 and a second insertion groove 553 may be formed on the bottom surface 550 to couple the first side wall member 510 and the second side wall member 520 to each other.

[0174] By inserting the first side wall member 510 into the first insertion groove 551 and the second side wall member 520 into the second insertion groove 553, the sensing device 2 according to one embodiment of the present invention can be supported more firmly.

[0175] The sensing device 2 according to an embodiment of the present invention having such a structure is provided with a separate switch 700, which can adjust the power supply to the sensing device 2 or control the connection state with the driven member.

[0176] Modifications and other embodiments of the sensing device 2 according to the embodiment of the present invention having the above structure will be described below with reference to other drawings.

[0177] FIG. 13 is a diagram illustrating a first modified example of a part of the configuration related to the rotational movement of the first handle of the sensing device according to an embodiment of the present invention.

[0178] A first modification of the sensing device 2 according to an embodiment of the present invention, shown in FIG. 13, does not include a first power transmission member 120 connected to the first handle 110.

[0179] In this case, the first rotating body 130 can be arranged to be in contact with the first handle 110, and as a result, the torque caused by the rotation of the first handle 110 can be transmitted directly to the first rotating body 130 by frictional force without the first power transmission member 120.

[0180] In this case, the first handle 110 and the first rotor 130 can be kept in close contact with each other by the elastic force of a spring.

[0181] In this case, the rotation direction of the first rotor 130 and the rotation direction of the first handle 110 may be opposite to each other.

[0182] Referring to FIG. 13, when the first handle 110 rotates clockwise, the first rotor 130 engages with the first handle 110 and rotates counterclockwise.

[0183] In this case, the rotational force is transmitted directly from the first handle 110 to the first rotor 130 without the intervention of the first power transmission member 120, so that the structure can be made simpler.

[0184] FIG. 14 is a diagram illustrating a second modified example of a part of the configuration related to the rotational movement of the first handle of the sensing device according to an embodiment of the present invention.

[0185] In this case, as in the first variant of the sensing device 2 according to one embodiment of the present invention, the first rotating body 130 can be arranged so as to be in contact with the first handle 110, and thus the torque due to the rotation of the first handle 110 can be transmitted directly to the first rotating body 130 without the first power transmission member 120.

[0186] In this case, the first handle 110 may include gear teeth 118 provided continuously along its periphery.

[0187] The first rotor 130, like the first handle 110, may be formed of a gear including gear teeth that are continuously provided along the periphery.

[0188] Accordingly, the first rotor 130 meshes with the first handle 110, and the first rotor 130 can be rotated together with the rotation of the first handle 110.

[0189] In this case, the rotation direction of the first rotor 130 and the rotation direction of the first handle 110 may be opposite to each other.

[0190] Fig. 15 is a perspective view of a sensing device according to another embodiment of the present invention, and Fig. 16 is a view illustrating a part of the configuration related to the rotational movement of a first handle of the sensing device according to another embodiment of the present invention.

[0191] Referring to FIG. 15, a sensing device 2 according to another embodiment of the present invention may include a first handle 110 formed in a belt shape.

[0192] Accordingly, the path of the first handle 110 may be formed as a closed curve including a straight portion.

[0193] Referring to FIG. 16, the first handle 110 of the sensing device 2 according to another embodiment of the present invention may be supported by a first support member 610, a second support member 620, a third support member 630 and a first rotor 130.

[0194] In this case, unlike the sensing device 2 according to one embodiment of the present invention in which the support member supports both the outer and inner surfaces of the first handle 110, in the sensing device 2 according to another embodiment of the present invention, the support member can support only the inner surface of the first handle 110.

[0195] At this time, when a user operates the first handle 110, the first handle 110 can be operated in a manner closer to a linear motion than the sensing device 2 according to an embodiment of the present invention.

[0196] The first handle 110 may be made of an elastic material, in which case the position at which the first handle 110 is disposed can be changed in accordance with changes in the position of the support member.

[0197] FIG. 17 is a structural diagram of a control system including a sensing device according to an embodiment of the present invention.

[0198] The sensing device 2 according to one embodiment of the present invention is a sensing device that senses information for controlling the driven member 3, and the driven member 3 can be operated by a communication module 4 that can exchange electrical signals between the sensing device 2 and the driven member 3.

[0199] At this time, the communication method applied to the communication module 4 may be either a wired communication method or a wireless communication method.

[0200] At this time, the electrical signal can be controlled by a separate control unit 5.

[0201] The control unit 5 analyzes the orbital movement information of the first handle 110 and the rotational movement information of the second handle 210 obtained through the sensor 2, and can issue a command to the driven member 3 accordingly.

[0202] For example, when the first handle 110 rotates clockwise, the driven member 3 is controlled in a direction to insert the driven member 3 further into the organ, and when the second handle 210 rotates clockwise, the driven member 3 can be rotated clockwise.

[0203] At this time, the control unit 5 can handle not only the motion information obtained through the sensor 2 but also the information obtained from the driven member 3 .

[0204] For example, when the driven member 3 comes into contact with a predetermined object inside the organ, the repulsive force transmitted to the driven member 3 can be transmitted to the sensing device 2 via the communication module 4 and the control unit 5 as an electrical signal.

[0205] Accordingly, the sensing device 2 can realize a reaction force on the first handle 110 and the second handle 210 by operating the motors built in the first sensor 300 and the second sensor 400 .

[0206] This process can be carried out through a pressure sensor included in the driven member 3 .

[0207] When pressure is sensed, the communication module 4 and the control unit 5 can transmit the pressure to the first handle 110 or the second handle 210 as a reaction force.

[0208] The sensing device 2 according to one embodiment of the present invention and the control system 1 including the same, having the above-described structure, are not limited to those used for surgical tools in the form of tubes such as catheters or guidewires as the driven member 3.

[0209] For example, the sensing device 2 and the control system 1 including the same according to one embodiment of the present invention can be applied to equipment such as an endoscope inserted into a pipe, and the industrial fields to which it can be applied are not limited.

[0210] With this configuration, the sensing device 2 according to one embodiment of the present invention and the control system 1 including the same can remotely control the surgical tool by rotating the first handle 110 in the form of a closed curve to control the linear movement of the surgical tool and by rotating the cylindrical second handle 210 surrounding the first handle 110 to control the rotational movement of the surgical tool, in an operation similar to that of operating an actual surgical tool.

[0211] In addition, the sensing device 2 according to an embodiment of the present invention and the control system 1 including the same control linear motion through the first handle 110, so that linear motion can be controlled with continuous operation without any displacement limitations.

[0212] In addition, the sensing device 2 according to one embodiment of the present invention and the control system 1 including the same are configured such that the second handle 210 responsible for rotational movement surrounds the first handle 110 responsible for linear movement, making it easy to simultaneously control linear movement and rotational movement.

[0213] In addition, the sensing device 2 according to one embodiment of the present invention and the control system 1 including the same employ a motor and a torque sensor inside the first sensor 300 and the second sensor 400, thereby transmitting the reaction force applied to the surgical tool to the handle, and therefore transmitting a reaction force similar to that which may be applied when operating an actual surgical tool.

[0214] In addition, the sensing device 2 according to one embodiment of the present invention and the control system 1 including the same have the first handle 110 and the second handle 210 positioned on the work surface 540, allowing the user to perform remote control for long periods of time while minimizing fatigue.

[0215] Although one embodiment of the present invention has been described above, the concept of the present invention is not limited to the embodiment presented in this specification, and a person skilled in the art who understands the concept of the present invention may easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same concept, which may also be considered to fall within the scope of the concept of the present invention.

[0216] The present invention was developed as part of the following national research project. [Project unique number] 1711186013 [Project number] 2022R1A2C200698611(2204031) [Ministry name] Ministry of Science, ICT and Communication [Name of issue management (specialized) organization] Korea Research Foundation [Research project name] Mid-career researcher support project [Research title] Flexible endoscopic robot and AI-based remote control technology for endoscopic retrograde cholangiopancreatography (ERCP) [Name of research organization] Korea University Industry-Academia Cooperation Group [Research period] March 1, 2022 to February 28, 2026 [Explanation of symbols]

[0217] 1: Control system 2: Sensing device 3: Driven part 4: Communication module 5: Control unit 110: First handle 112: Part 1 114:Second part 116:Joining part 118: Gear teeth 120: First power transmission member 130: First rotating body 160: First rotation axis 210: Second handle 220: Second power transmission member 230: Third rotating body 240: Second rotating body 241: 1st hole 250: Second handle connecting member 260: Second rotation axis 300: First sensor 310: First sensor body 320: Rotating part 330: Frame 340: Fixed part 400: Second sensor 410: Second sensor body 420: Rotating part 500: Housing 510: First side wall member 511: Sensor hole 512: Upper end 520: Second side wall member 522: Upper end 530: Third side wall member 540: Work surface 541: 2nd hole 543: Storage groove 550: Bottom 551: First insertion groove 552: Second insertion groove 560: Front housing 570: Rear housing 571: 3rd Hall 600: Support member 610: First support member 612: First support member rotation axis 620: Second support member 622: Second support member rotation axis 630: Third support member 632: Third support member rotation axis 640: Fourth support member 642: Fourth support member rotation axis 650: Fifth support member 652: Fifth support member rotation axis 700: Switch

Claims

1. a housing including a first sidewall member disposed vertically relative to a bottom surface; a first handle, at least a portion of which is exposed to the outside of the housing, formed in the form of a closed curve placed on a predetermined first plane, and connected to one side of the first side wall member so as to be capable of orbital movement along an extension direction of the closed curve at a predetermined position on the closed curve; a first rotating body that rotates about a predetermined first rotation axis in conjunction with the orbital motion of the first handle; a support member coupled to the housing but supporting the first handle so that the first handle can maintain a fixed position at the predetermined location; and a first sensor for sensing information regarding the rotational movement of the first rotating body;

2. a second handle configured to be rotatable in a fixed position; a second rotating body that rotates about a predetermined second rotation axis in conjunction with the rotational movement of the second handle; and The sensing device according to claim 1 , further comprising: a second sensor that senses information regarding the rotational movement of the second rotating body.

3. 3. The sensing device of claim 2, wherein the first surface is a plane, and the second axis of rotation is parallel to or lies within the first surface.

4. 4. The sensing device of claim 3, wherein the second handle is formed in the form of a pipe including a first hole passing through the second handle in a direction parallel to the second rotation axis, and at least a portion of the first handle passes through the first hole.

5. a third rotating body that shares a rotation axis with the second handle and is connected to a lower part of the second handle to rotate integrally with the second handle; The sensing device according to claim 2 , wherein the second rotating body is rotated by a rotational force of the third rotating body.

6. the third rotating body rotates about a third rotation axis parallel to the second rotation axis, a belt-shaped second power transmission member is connected to a peripheral portion of the third rotating body and a peripheral portion of the second rotating body; The sensing device according to claim 5 , wherein the second power transmission member transmits the rotational force of the third rotating body to the second rotating body.

7. The sensing device of claim 6 , wherein the second sensor is coupled to the second rotating shaft and senses information about the rotational movement of the second rotating body transmitted through the second rotating shaft.

8. further comprising a work surface in the form of a plate intersecting said first sidewall member at a predetermined height; The sensing device according to claim 6 , wherein the work surface has a second hole formed therein, through which the second handle is passed and to which the second handle is coupled.

9. 9. The sensing device of claim 8, wherein the second rotation shaft is received at one end of the work surface, and a receiving groove for supporting the second rotation shaft is recessed in a direction perpendicular to an axial direction of the second rotation shaft.

10. the first surface is a plane, and the first rotating body is disposed on the first surface; The peripheral portion of the first handle and the outer peripheral surface of the first rotor are connected to a belt-like first power transmission member, The sensing device according to claim 2 , wherein the first power transmission member transmits a driving force generated by the orbital motion of the first handle to the first rotor to rotate the first rotor.

11. the first sensor is coupled to a first rotation shaft that is a rotation center of the first rotor, the first sensor includes a reaction force providing means for rotating the first rotation shaft; The sensing device according to claim 10 , wherein the first sensor rotates the first rotor to transmit a force to the first handle side through the first power transmission member.

12. The sensing device of claim 11 , wherein the first sensor is capable of sensing torque applied to the first rotating shaft.

13. The sensing device according to claim 2 , wherein the peripheral portion of the first handle and the outer peripheral surface of the first rotating body are arranged to be in contact with each other.

14. The sensing device according to claim 13 , wherein the first rotating body is rotated by a frictional force generated at a contact portion between the first rotating body and the first handle due to the orbital movement of the first handle.

15. the first handle includes gear teeth disposed continuously along a periphery thereof; the first rotor is formed in the form of a gear that meshes with the teeth of the gear; The sensing device of claim 13 , wherein orbital motion of the first handle rotates the first rotor that engages the first handle.

16. The first handle is formed in a belt shape, The sensing device according to claim 2 , wherein an outer circumferential surface of the first rotor is formed to contact an inner circumferential surface of the first handle, and the first rotor is rotated by orbital motion of the first handle.

17. the first sensor is coupled to a first rotation shaft that is a rotation center of the first rotor, the first sensor includes a reaction force providing means for rotating the first rotation shaft; The sensing device according to claim 13 , wherein the first sensor is capable of transmitting a force to the first handle by rotating the first rotor.

18. 18. The sensing device of claim 17, wherein the first sensor is capable of sensing torque applied to the first rotating shaft.

19. The support member is formed of a plurality of pulleys that support the inner or outer circumferential surface of the first handle, 3. The sensing device according to claim 2, wherein one end of each of the rotation shafts of the plurality of support members is fixed to the first side wall member.

20. the second sensor includes a reaction force providing means for rotating the second rotation shaft; The sensing device according to claim 7 , wherein the second sensor rotates the second rotor to transmit a force to the second handle side through the second power transmission member.

21. 21. The sensing device of claim 20, wherein the second sensor is capable of sensing torque applied to the second rotating shaft.

22. The sensing device of claim 1 , wherein the first handle is formed in a circular ring shape.

23. a driven member for being controlled by the information sensed by said sensing device; a communication module capable of communicating electrical signals to and from the sensing device and the driven member; and a control unit for controlling the sensing device and the driven member through the communication module; The control unit controlling the linear motion of the driven member based on orbital motion information of the first handle sensed by the first sensor; The control system according to any one of claims 2 to 21, wherein the rotational movement of the driven member is controlled based on information about the rotational movement of the second handle sensed by the second sensor.

24. the driven member includes a pressure sensor that senses pressure; The control system of claim 23, wherein the control unit controls the first rotating body or the second rotating body to transmit a reaction force corresponding to the pressure sensed by the pressure sensor to the first handle or the second handle.

Images