Haptic interface device for remote vascular intervention procedure

Abstract

The present disclosure relates to a haptic interface device for a remote vascular intervention procedure, comprising: a tube; a plurality of segments concentrically coupled with the tube; an opening formed on the periphery of the plurality of segments such that a user can move a main body by using his / her finger; an encoder for outputting an electrical signal by sensing at least one of a change in position, a direction, and an angle of the plurality of segments; a first motor unit configured in conjunction with the encoder and outputting feedback corresponding to the movement of the plurality of segments; a second motor unit for outputting feedback corresponding to the movement of the plurality of segments; and a processor for outputting a control signal for controlling the first motor, the second motor, and a slave robot, thereby operating the slave robot that moves a surgical tool in response to displacement data sensed by the encoder.

Description

Haptic interface device for remote vascular intervention

[0001] The present disclosure relates to a haptic interface device. More particularly, it relates to a haptic interface device for remote vascular intervention.

[0002] Recently, remote-controlled robotic systems are being developed to reduce the risk of radiation exposure from imaging equipment used to determine the location of wires and catheters in interventional procedures for the treatment of cardiovascular and peripheral vascular diseases, and to insert wires and catheters more precisely and accurately.

[0003] Among the components of these robotic systems, the master device, the component directly operated by the practitioner, is being researched and developed with a focus on various characteristics, including ease of use, realistic sensations similar to manual procedures, simplicity, and the implementation of complex motions. In particular, master devices are being studied to achieve a similar operating experience to manual procedures.

[0004] However, existing devices that apply prior art technology inevitably require a movement that is different from the movement of pushing the surgical tool in, releasing the fingers (mainly the thumb and index finger), and then grasping the back part and pushing it in again when looking only at the insertion motion in manual surgery, which requires the device to be returned to its original position. This is because the forward movement of the device has a finite stroke, which causes the user to feel uncomfortable because the intended operating feeling is not felt or rather, the operation becomes inconvenient.

[0005] The embodiment disclosed in the present disclosure aims to provide a haptic interface device for remote vascular intervention using a cylindrical segment assembly that allows at least one of repetitive forward, backward, and rotation by a user so as to provide a similar operational feel to manual surgery during robotic vascular intervention.

[0006] The present disclosure provides a haptic interface device for enabling a user console to command the motion of a surgical tool for manipulation and control of the surgical tool within a robotic system or virtual environment.

[0007] The problems to be solved by the present disclosure are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0008] A haptic interface device for remote vascular intervention according to the present disclosure comprises: a tube; a plurality of segments concentrically connected to the tube; an opening formed around the plurality of segments so that a user can move the main body using a finger; an encoder for sensing at least one of a change in position, direction, and angle of the plurality of segments and outputting an electric signal; a first motor configured together with the encoder and outputting feedback corresponding to the movement of the plurality of segments; a second motor for outputting feedback corresponding to the movement of the plurality of segments; and a processor for outputting a control signal for controlling the first motor, the second motor, and the slave robot to move a slave robot that moves a surgical tool in response to displacement data sensed by the encoder, wherein when the surgical tool of the slave robot gets caught on an obstacle, the processor controls the first motor to generate a resistance force in a direction opposite to the direction of movement of the plurality of segments.

[0009] A haptic interface device for remote vascular intervention according to the present disclosure is configured such that the plurality of segments form a segment assembly of a circular structure to enable at least one of repetitive forward movement, backward movement, and rotation of the main body.

[0010] The haptic interface device for remote vascular intervention according to the present disclosure is formed such that the input section portion of the main body has a radius of curvature greater than a threshold value so as to approximate a straight line.

[0011] The haptic interface device for remote vascular intervention according to the present disclosure further includes a wire that allows the plurality of segments to be connected and provides a predetermined tension.

[0012] A haptic interface device for remote vascular intervention according to the present disclosure is characterized in that the wire is connected to the individual segment through a hole in the circumferential portion of the individual segment.

[0013] A haptic interface device for remote vascular intervention according to the present disclosure is provided in which the second motor is installed in a bending portion of a segment assembly in which a plurality of segments are combined, and generates an assistive force so that the segment corresponding to the bending portion can smoothly move forward or backward.

[0014] A haptic interface device for remote vascular intervention according to the present disclosure further includes a first pulley and a second pulley connected to the encoder, wherein the first pulley and the second pulley are arranged diagonally with respect to the longitudinal direction of a specific segment.

[0015] A haptic interface device for remote vascular intervention according to the present disclosure comprises a first encoder and a second encoder, wherein the first pulley and the first encoder are connected concentrically, and the second pulley and the second encoder are connected concentrically.

[0016] In a haptic interface device for remote vascular intervention according to the present disclosure, when the main body moves forward, backward, and rotate, the encoder recognizes the forward, backward, and rotational directions by a combination of the rotational directions of the first pulley and the second pulley.

[0017] A haptic interface device for remote vascular intervention according to the present disclosure further includes a plurality of pulleys, wherein the plurality of pulleys are arranged such that the main body maintains a predetermined shape.

[0018] A haptic interface device for remote vascular intervention according to the present disclosure, wherein the plurality of segments are coated with an elastic material.

[0019] A haptic interface device for remote vascular intervention according to the present disclosure controls the processor to generate a resistance force of different magnitudes depending on the degree of obstacle interference.

[0020] The haptic interface device for remote vascular intervention according to the present disclosure controls the first motor (161) to generate a resistance greater than a reference value when the degree of obstruction of the obstacle is greater than a threshold value.

[0021] The haptic interface device for remote vascular intervention according to the present disclosure controls the first motor (161) to generate a resistance force smaller than a reference value when the degree of obstruction of the obstacle is less than a threshold value.

[0022] The haptic interface device for remote vascular intervention according to the present disclosure maintains linearity between the degree of obstruction of the obstacle and the magnitude of the resistance generated by the first motor.

[0023] In addition, a computer program stored in a computer-readable recording medium may be further provided to execute a method for implementing the present disclosure.

[0024] In addition, a computer-readable recording medium recording a computer program for executing a method for implementing the present disclosure may be further provided.

[0025] According to the aforementioned problem solving means of the present disclosure, the cylindrical segment assembly is used to enable the user to perform at least one of repetitive forward, backward, and rotation operations so as to have a similar operational feel to manual surgery during robotic vascular intervention, thereby improving user convenience.

[0026] According to the aforementioned problem solving means of the present disclosure, when a surgical tool is caught in a blood vessel during a robotic vascular intervention procedure, vibration feedback is generated through a motor so that the user can recognize the problem, thereby improving user convenience.

[0027] According to the aforementioned problem solving means of the present disclosure, the risk of radiation exposure due to imaging equipment used to determine the position of a wire or catheter can be reduced, and the wire or catheter can be inserted more accurately, thereby improving user convenience.

[0028] The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

[0029] Figure 1 is a configuration diagram of a remote control robot remote system in an interventional procedure for treating vascular disease according to the present disclosure.

[0030] FIG. 2 is a diagram illustrating a configuration of a master device that implements movements similar to those of a radiologist according to the present disclosure.

[0031] FIG. 3 is a diagram illustrating a configuration of a haptic interface device according to the present disclosure.

[0032] FIG. 4 is a diagram illustrating a configuration of a haptic interface device according to the present disclosure and the generation of input force and resistance force of the first motor.

[0033] FIG. 5 is a drawing illustrating the generation of auxiliary force of a second motor in a curved portion of a haptic interface device according to the present disclosure.

[0034] FIG. 6 is a drawing illustrating a rotational force being input to a haptic interface device according to the present disclosure and being measured.

[0035] FIG. 7 is a drawing illustrating the arrangement of pulleys in a haptic interface device according to the present disclosure.

[0036] FIG. 8 is a diagram illustrating an embodiment of measuring force and rotational force input in the forward and backward directions in a haptic interface device according to the present disclosure.

[0037] FIG. 9 is a drawing illustrating an embodiment of a pulley arrangement that maintains the shape of a haptic interface device according to the present disclosure.

[0038] FIG. 10 is a diagram illustrating a configuration of a haptic interface device according to the present disclosure.

[0039] Throughout this disclosure, the same reference numerals denote the same components. This disclosure does not describe all elements of the embodiments, and any content that is common in the technical field to which this disclosure pertains or that overlaps between embodiments is omitted. The terms "part, module, element, block" used in the specification may be implemented in software or hardware, and depending on the embodiments, multiple "parts, modules, elements, blocks" may be implemented as a single component, or a single "part, module, element, block" may include multiple components.

[0040] Throughout the specification, when a part is said to be "connected" to another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection via a wireless communication network.

[0041] Additionally, when a part is said to "include" a component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise specifically stated.

[0042] Throughout the specification, when we say that an element is "on" another element, this includes not only cases where the element is in contact with the other element, but also cases where another element exists between the two elements.

[0043] The terms first, second, etc. are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

[0044] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0045] The identification codes for each step are used for convenience of explanation and do not describe the order of each step. Each step may be performed in a different order than specified unless the context clearly indicates a specific order.

[0046] The operating principle and embodiments of the present disclosure are described below with reference to the attached drawings.

[0047] The present invention can be implemented not only in a server system but also in various devices capable of performing computational processing and providing results to a user. For example, the present invention can include a computer, a server device, and a mobile terminal, or can be implemented in any one of these forms.

[0048] Here, the computer may include, for example, a notebook, desktop, laptop, tablet PC, slate PC, etc. equipped with a web browser.

[0049] The above server device is a server that processes information by communicating with an external device, and may include an application server, a computing server, a database server, a file server, a game server, a mail server, a proxy server, and a web server.

[0050] The above portable terminal may include, for example, a wireless communication device that ensures portability and mobility, and may include all kinds of handheld-based wireless communication devices such as a PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), WiBro (Wireless Broadband Internet) terminal, a smart phone, and a wearable device such as a watch, a ring, a bracelet, an anklet, a necklace, glasses, contact lenses, or a head-mounted device (HMD).

[0051] The artificial intelligence-related functions according to the present disclosure are operated through a processor and memory. The processor may be composed of one or more processors. In this case, one or more processors may be a general-purpose processor such as a CPU, an AP, a DSP (Digital Signal Processor), a graphics-only processor such as a GPU or a VPU (Vision Processing Unit), or an artificial intelligence-only processor such as an NPU. One or more processors control the processing of input data according to predefined operation rules or artificial intelligence models stored in memory. Alternatively, if one or more processors are artificial intelligence-only processors, the artificial intelligence-only processors may be designed with a hardware structure specialized for processing a specific artificial intelligence model.

[0052] The predefined operation rules or artificial intelligence models are characterized by being created through learning. Here, being created through learning means that the basic artificial intelligence model is learned by a learning algorithm using a plurality of learning data, thereby creating a predefined operation rules or artificial intelligence model set to perform a desired characteristic (or purpose). This learning may be performed in the device itself on which the artificial intelligence according to the present disclosure is performed, or may be performed through a separate server and / or system. Examples of the learning algorithm include, but are not limited to, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning.

[0053] An artificial intelligence model may be composed of multiple neural network layers. Each of the multiple neural network layers has multiple weight values, and performs neural network operations through operations between the operation results of the previous layer and the multiple weights. The multiple weights of the multiple neural network layers may be optimized based on the learning results of the artificial intelligence model. For example, the multiple weights may be updated so that the loss value or cost value obtained from the artificial intelligence model is reduced or minimized during the learning process. The artificial neural network may include a deep neural network (DNN), and examples thereof include, but are not limited to, a convolutional neural network (CNN), a deep neural network (DNN), a recurrent neural network (RNN), a restricted boltzmann machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), or deep Q-networks.

[0054] The processor can create a neural network, train (or learn) a neural network, perform computations based on received input data, and generate information signals based on the results of the computations, or retrain the neural network.

[0055] Neural networks include CNN (Convolutional Neural Network), RNN (Recurrent Neural Network), perceptron, multilayer perceptron, FF (Feed Forward), RBF (Radial Basis Network), DFF (Deep Feed Forward), LSTM (Long Short Term Memory), GRU (Gated Recurrent Unit), AE (Auto Encoder), VAE (Variational Auto) Encoder), DAE (Denoising Auto Encoder), SAE (Sparse Auto Encoder), MC (Markov Chain), HN (Hopfield Network), BM (Boltzmann Machine), RBM (Restricted Boltzmann Machine), DBN (Depp Belief Network), DCN (Deep Convolutional Network), DN (Deconvolutional Network), DCIGN (Deep Convolutional Inverse Graphics Network), Generative Adversarial Network (GAN), Liquid State Machine (LSM), Extreme Learning Machine (ELM), It will be understood by those skilled in the art that any neural network may be included, including but not limited to ESN (Echo State Network), DRN (Deep Residual Network), DNC (Differentiable Neural Computer), NTM (Neural Turning Machine), CN (Capsule Network), KN (Kohonen Network), and AN (Attention Network).

[0056] According to an exemplary embodiment of the present disclosure, the processor may be configured to perform a process for generating a CNN (Convolution Neural Network) such as GoogleNet, AlexNet, VGG Network, Region with Convolution Neural Network (R-CNN), Region Proposal Network (RPN), Recurrent Neural Network (RNN), Stacking-based deep Neural Network (S-DNN), State-Space Dynamic Neural Network (S-SDNN), Deconvolution Network, Deep Belief Network (DBN), Restrcted Boltzman Machine (RBM), Fully Convolutional Network, Long Short-Term Memory (LSTM) Network, Classification Network, Generative Modeling, eXplainable AI, Continual AI, Representation Learning, AI for Material Design, BERT, SP-BERT, MRC / QA for natural language processing, Text Analysis, Dialog System, GPT-3, GPT-4, Visual Analytics for vision processing, Visual Understanding, Video Synthesis, ResNet for data intelligence, Anomaly Detection, Prediction, Time-Series Forecasting, Various artificial intelligence structures and algorithms, including optimization, recommendation, and data creation, can be utilized, but are not limited thereto. Hereinafter, embodiments of the present disclosure will be described in detail with reference to the attached drawings.

[0057] Figure 1 is a configuration diagram of a remote control robot remote system in an interventional procedure for treating vascular disease according to the present disclosure.

[0058] As shown in Fig. 1, the remote control robot remote system (1000) includes a master device (100) and a slave robot (200).

[0059] The master device (100) transmits the operation commands of the surgical tool to the slave robot (200) in coronary and peripheral artery interventional procedures performed by the slave robot (200).

[0060] The slave robot (200) receives motion commands from the master device (100) and controls the surgical tool during coronary artery and peripheral artery intervention.

[0061] For example, a slave robot (200) can receive a motion command from a master device (100) and insert a surgical tool, such as a wire or catheter, into the heart.

[0062] The present invention can be performed not only in coronary and peripheral arterial interventional procedures performed remotely using a robot, but also in a virtual environment for simulating or coordinating such procedures.

[0063] FIG. 2 is a diagram illustrating a configuration of a master device that implements movements similar to those of a radiologist according to the present disclosure.

[0064] As illustrated in Fig. 2, among the components of the remote control robot remote system (1000), the master device (100) is the part directly operated by the operator, and is being researched and developed with an emphasis on different characteristics such as ease of operation, realistic feeling similar to manual treatment, simplicity, and implementation of complex motions. In particular, various master devices are being researched to implement a feeling of operation similar to manual treatment.

[0065] FIG. 3 is a diagram illustrating a configuration of a haptic interface device according to the present disclosure.

[0066] Figure 3 includes Figures 3(a) and 3(b).

[0067] Figure 3(a) is a drawing showing the overall appearance of the haptic interface device.

[0068] Figure 3(b) is a drawing showing individual segments of a haptic interface device connected by wires.

[0069] As illustrated in FIG. 3(a), the haptic interface device (100) includes a tube (110), a plurality of segments (120, 122, 126), and a processor (170).

[0070] The tube (110) comprises a circular tube. A plurality of segments (120, 122, 126) are concentrically joined to each other in the tube (110).

[0071] A user can push or pull a specific segment (122, set as an input section) among multiple segments (120, 122, 124) in the forward and backward directions using a finger (20), and can also rotate it in the axial direction. The former linear motion can command the forward and backward movement of a surgical tool in a robot or virtual environment, and the latter rotational motion can command a rotational motion.

[0072] As shown in Fig. 3(b), individual segments (122, 124) are connected to a plurality of wires (132, 134, 136) through holes in the peripheral portion.

[0073] A plurality of wires (132, 134, 136) allow the individual segments (122, 124) to be connected to each other and provide a predetermined tension.

[0074] Individual wires (132, 134, 136) are connected to individual segments through holes in the periphery of the individual segments.

[0075] Openings (140, 142, 144) are formed around the plurality of segments (120, 122, 124) so ​​that a user can move the main body (100) using his or her fingers (20).

[0076] Describes the characteristics of multiple segments.

[0077] The plurality of segments are coated with an elastic material. The plurality of segments may be formed into a tube shape with good friction due to the coating and may have a predetermined stiffness.

[0078] FIG. 4 is a diagram illustrating the configuration of a haptic interface device according to the present disclosure and the generation of input force and resistance force of the first motor.

[0079] As illustrated in FIG. 4, the haptic interface device (100) includes a tube (110), a plurality of segments (120), a plurality of wires (130), an opening (140), an encoder (150), a first motor (161), a second motor (162), a processor (170), a pulley (180), and a communication unit (190).

[0080] The tube (110) includes a circular tube.

[0081] A plurality of segments (120) are concentrically connected to the tube (110).

[0082] The plurality of segments includes individual segments (122, 124, 126).

[0083] The wire (130) allows multiple segments (120) to be connected and provides a predetermined tension. The wire (130) includes individual wires (132, 134, 136).

[0084] An opening (140) is formed around the plurality of segments (120) so that a user can move the main body (100) using his or her fingers (20).

[0085] The encoder (150) senses at least one of a change in position, direction, and angle of a plurality of segments (120, 122, 124, 126) and outputs an electric signal.

[0086] The encoder (150) includes a first encoder (151) and a second encoder (152).

[0087] The first motor (161) is configured with a first encoder (151) and outputs feedback (40) corresponding to the movement of a plurality of segments (120).

[0088] The second motor (162) is configured with a second encoder (152) and outputs feedback corresponding to the movement of a plurality of segments (120).

[0089] The processor (170) outputs a control signal to control the first motor, the second motor, and the slave robot to move the slave robot (200) that moves the surgical tool in response to the displacement data sensed by the encoder (150).

[0090] When the surgical tool (10) of the slave robot (200) gets caught in an obstacle (blood vessel), the processor (170) controls the first motor (161) to generate a resistance force (50) in the opposite direction to the movement direction (40) of the plurality of segments (120).

[0091] The wire (130) enables the above-mentioned plurality of segments to be connected and provides a predetermined tension.

[0092] The wire (130) is connected to the individual segment through a hole in the circumference of the individual segment.

[0093] A detailed explanation of this is provided in Fig. 3.

[0094] The second motor (162) is installed in a bending portion of a segment assembly in which a plurality of segments are combined, and generates an auxiliary force so that the segment corresponding to the bending portion can move forward or backward smoothly.

[0095] A detailed explanation of this is provided in Fig. 5.

[0096] Explains the arrangement of pulleys and encoders.

[0097] The plurality of pulleys (180) include a first pulley (181) and a second pulley (182).

[0098] The encoder (150) includes a first encoder (151) and a second encoder (152).

[0099] The first pulley (181) is connected to the first encoder (151) and the second pulley (182) is connected to the second encoder (152).

[0100] The first pulley (181) and the second pulley (182) are arranged diagonally with respect to the longitudinal direction of a specific segment.

[0101] The first pulley (181) and the first encoder are connected concentrically.

[0102] The second pulley (182) and the second encoder (152) are connected concentrically.

[0103] A detailed explanation of this is provided in Fig. 7.

[0104] When the main body moves forward, backward, and rotates, the encoder recognizes the forward, backward, and rotational directions by the combination of the rotational directions of the first pulley and the second pulley.

[0105] A detailed explanation of this is provided in Fig. 8.

[0106] Describes multiple segments (120, 122, 124, 126).

[0107] A plurality of segments (120) form a segment combination of a circular structure (series, closed curve shape) to form a structure that can operate like an endless track, which is configured to enable at least one of repeated forward movement, backward movement, and rotation of the main body.

[0108] The input section portion (122) of the main body is formed with a radius of curvature greater than a threshold value so as to approximate a straight line.

[0109] Describes how the first motor generates haptic feedback.

[0110] The first encoder (151) connected to the first motor (161) measures the forward and backward displacement of the segment in the input section (122) and transmits it as the forward and backward displacement value of the surgical tool of the robot or virtual model.

[0111] When a surgical tool (10) is inserted into a blood vessel in a robotic system, when there is an obstacle such as a blockage in the blood vessel, or when the surgical tool (10) gets caught in a blood vessel branch, etc., the first motor can generate haptic feedback. Haptic feedback and vibration generation can occur.

[0112] Specifically, the haptic interface is to provide haptic feedback (or haptic rendering) to the user, and for this purpose, the processor (170) controls the first motor (161) to generate a resistance force in the opposite direction to the direction of the user's hand movement (the direction of movement of the segments).

[0113] Here, the resistance includes haptic feedback and vibration feedback.

[0114] The processor (170) controls the first motor (161) to generate a different amount of resistance depending on the degree of obstruction by the obstacle (the degree of blockage of the blood vessel).

[0115] When the blood vessels are heavily occluded, the first motor produces strong haptic feedback.

[0116] If the blood vessel is slightly blocked, the first motor produces weak haptic feedback.

[0117] When the degree of obstruction by an obstacle is greater than a threshold value, the processor (170) controls the first motor (161) to generate a resistance force greater than a reference value.

[0118] When the degree of obstruction by an obstacle is less than a threshold value, the processor (170) controls the first motor (161) to generate a resistance force smaller than a reference value.

[0119] The degree of occlusion of the blood vessel and the magnitude of the haptic feedback generated by the first motor are linear.

[0120] The degree of obstruction by the obstacle and the magnitude of the resistance generated by the first motor (161) maintain linearity.

[0121] However, the components illustrated in FIG. 4 are not essential for implementing the present invention according to the present disclosure, and thus the present invention described in this specification may have more or fewer components than the components listed above.

[0122] The communication module (160) may include one or more components that enable communication with an external device, and may include, for example, at least one of a broadcast reception module, a wired communication module, a wireless communication module, a short-range communication module, and a location information module.

[0123] The input module (110) is for inputting image information (or signal), audio information (or signal), data, or information input from a user, and may include at least one camera, at least one microphone, and at least one user input unit. Voice data or image data collected by the input module (110) may be analyzed and processed into a user control command.

[0124] The display module (140) displays (outputs) information processed in the present invention. For example, the present invention can display execution screen information of a running application program (e.g., an application), or UI (User Interface) or GUI (Graphical User Interface) information based on such execution screen information.

[0125] The memory (150) can store data supporting various functions of the present invention, programs for the operation of the control unit, input / output data (e.g., music files, still images, videos, etc.), and a plurality of application programs (or applications) driven by the artificial intelligence-based user behavior pattern analysis device (100), data for the operation of the device, and commands. At least some of these application programs can be downloaded from an external server via wireless communication.

[0126] The memory (150) may include at least one type of storage medium among a flash memory type, a hard disk type, an SSD (Solid State Disk type), an SDD (Silicon Disk Drive type), a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk. In addition, the memory (150) may be a database connected by wire or wirelessly, although separate from the present invention, and may be implemented as a database system.

[0127] The processor (130) may be implemented as at least one core, a memory storing data for an algorithm for controlling the operation of components within the present invention or a program reproducing the algorithm, and at least one processor (not shown) that performs the aforementioned operations using the data stored in the memory. In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

[0128] In addition, the processor (130) can control any one or a combination of the components discussed above in order to implement various embodiments according to the present disclosure described in FIGS. 2 to 29 below in the present invention.

[0129] At least one component may be added or deleted to correspond to the performance of the components illustrated in Figure 4. Furthermore, it will be readily apparent to those skilled in the art that the relative positions of the components may be altered to correspond to the performance or structure of the system.

[0130] Meanwhile, each component illustrated in FIG. 4 refers to software and / or hardware components such as a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

[0131] FIG. 5 is a drawing illustrating the generation of auxiliary force of a second motor in a curved portion of a haptic interface device according to the present disclosure.

[0132] As shown in Fig. 5, the second motor (162) is installed in a bend of a segment assembly in which a plurality of segments are combined, and generates an auxiliary force (52) so that the segment (124) corresponding to the bend can move forward or backward smoothly.

[0133] The processor (170) controls the second motor (162) to generate auxiliary force (52) in response to the force (42) input to the segment (124) so ​​that the segment (124) can move forward or backward smoothly.

[0134] For example, although the overall configuration of multiple segments is close to a circle, the input section portion (124) is formed with a large radius of curvature so as to be close to a straight line in order to give the user a feeling of moving forward and backward. Therefore, there are some sections with high curvature (small radius of curvature), and this may act as a factor that hinders the movement of the entire segment during forward and backward movements.

[0135] For this purpose, the second motor (162) is installed at an appropriate location (mainly at a bend) and generates an auxiliary force through the second pulley (182) so that the segment (124) of the corresponding part can move forward and backward smoothly.

[0136] Additionally, when the first motor (161) in the input section (124) generates haptic feedback, the processor (170) controls the second motor (162) to generate a reaction force (resistance) accordingly.

[0137] The second motor (162) is placed on the curved surface of the main body to relieve the bending resistance and generate a reaction force (resistance).

[0138] The shape of the body that is the most oval has the least resistance.

[0139] According to the present invention, the bending resistance can be eliminated by placing the second motor at the part of the main body with the smallest radius of curvature.

[0140] FIG. 6 is a drawing illustrating a rotational force being input to a haptic interface device according to the present disclosure and being measured.

[0141] As illustrated in Fig. 6, for the rotation input (60), the rotation angle of the corresponding segments (124) is also measured using the first encoder (151) in the input section (124). Considering the nature of the procedure and the fact that the reaction force (resistance force) is mainly generated when the procedure tool (10) illustrated in Fig. 4 moves forward and backward, no separate haptic feedback is implemented for the rotational motion. However, implementation is possible.

[0142] Additionally, the processor (170) can control the first motor (161) to generate haptic feedback of a predetermined cycle in response to the rotation input (60).

[0143] The specified period can be 1, 2, or 3 second intervals.

[0144] For rotational input, the segment the user is holding may rotate, while the remaining segments may not. However, all segments are rotated by the wire. Different haptic feedback can be generated depending on the direction of rotation.

[0145] The processor (170) can control the first motor (161) to generate different haptic feedback depending on the direction of the rotation input (60).

[0146] FIG. 7 is a drawing illustrating the arrangement of pulleys in a haptic interface device according to the present disclosure.

[0147] Measurement of forward, backward and rotational motion inputs of multiple segments can be implemented with pulley arrangements such as those in Figs. 7, 8 and 9.

[0148] As shown in Fig. 7, the encoder (150) includes a first encoder (151) and a second encoder (152).

[0149] The first pulley (181) is connected to the first encoder (151).

[0150] The second pulley (182) is connected to the second encoder (152).

[0151] The first pulley (181) and the first encoder (151) are connected concentrically.

[0152] The second pulley (182) and the second encoder (152) are connected concentrically.

[0153] The first pulley (181) and the second pulley (182) are arranged diagonally with respect to the longitudinal direction of a specific segment (120).

[0154] FIG. 8 is a diagram illustrating an embodiment of measuring force and rotational force input in the forward and backward directions in a haptic interface device according to the present disclosure.

[0155] Referring to Fig. 8, when the main body moves forward, backward, and rotates, the encoder recognizes the forward, backward, and rotational directions by the combination of the rotational directions of the first pulley and the second pulley.

[0156] For example, an embodiment is described.

[0157] When a force in the forward direction is applied, the first pulley (181) rotates in the forward direction around the rotation axis, and the second pulley (182) rotates in the forward direction around the rotation axis.

[0158] The encoder (150) recognizes the forward direction by a combination of the rotational directions of the first pulley (181) and the second pulley.

[0159] When a force in the backward direction is applied, the first pulley (181) rotates in the backward direction around the rotation axis, and the second pulley (182) rotates in the backward direction around the rotation axis.

[0160] The encoder (150) recognizes the reverse direction by a combination of the rotational directions of the first pulley (181) and the second pulley.

[0161] When a downward rotational force is applied, the first pulley (181) rotates downward around the rotational axis, and the second pulley (182) rotates downward around the rotational axis.

[0162] The encoder (150) recognizes the downward direction by a combination of the rotational directions of the first pulley (181) and the second pulley.

[0163] When an upward rotational force is applied, the first pulley (181) rotates upward around the rotational axis, and the second pulley (182) rotates upward around the rotational axis.

[0164] The encoder (150) recognizes the upward direction by the combination of the rotational directions of the first pulley (181) and the second pulley.

[0165] FIG. 9 is a drawing illustrating an embodiment of a pulley arrangement that maintains the shape of a haptic interface device according to the present disclosure.

[0166] As illustrated in FIG. 9, the haptic interface device (100) further includes a plurality of pulleys.

[0167] The plurality of pulleys (180) include a first pulley (181), a second pulley (182), a third pulley (183), and a fourth pulley (184).

[0168] A plurality of pulleys (180) are arranged so that the main body maintains a predetermined shape.

[0169] FIG. 10 is a diagram illustrating a configuration of a haptic interface device according to the present disclosure.

[0170] Referring to FIG. 10, the present invention includes a device (1600). The device (1600) may include a memory (1602), a processor (1603), a transceiver (1604), and a peripheral device (1601). In addition, as an example, the device (1600) may further include other configurations and is not limited to the above-described embodiment.

[0171] More specifically, the device (1600) of FIG. 10 may be an exemplary hardware / software architecture, such as an NDN device, an NDN server, or a content router. As an example, the memory (1602) may be non-removable memory or removable memory. Furthermore, as an example, the peripheral device (1601) may include a display, GPS, or other peripheral devices, and is not limited to the above-described embodiment.

[0172] In addition, as an example, the above-described device (1600) may include a communication circuit such as the transceiver (1604), and may perform communication with an external device based thereon.

[0173] Additionally, as an example, the processor (1603) may be at least one of a general-purpose processor, a digital signal processor (DSP), a DSP core, a controller, a microcontroller, ASICs (Application Specific Integrated Circuits), FPGA (Field Programmable Gate Array) circuits, any other type of integrated circuit (IC), and one or more microprocessors associated with a state machine. In other words, it may be a hardware / software configuration that performs a control role for controlling the above-described device (1600).

[0174] At this time, the processor (1603) may execute computer-executable instructions stored in the memory (1602) to perform various essential functions of the present invention. For example, the processor (1603) may control at least one of signal coding, data processing, power control, input / output processing, and communication operations. In addition, the processor (1603) may control the physical layer, the MAC layer, and the application layers. In addition, for example, the processor (1603) may perform authentication and security procedures in the access layer and / or the application layer, and is not limited to the above-described embodiment.

[0175] For example, the processor (1603) can communicate with other devices via the transceiver (1604). For example, the processor (1603) can control a node to communicate with other nodes via a network through the execution of computer-executable instructions. That is, the communication performed in the present invention can be controlled. For example, the other nodes can be NDN servers, content routers, and other devices. For example, the transceiver (1604) can transmit RF signals via an antenna and transmit signals based on various communication networks.

[0176] In addition, as an example, MIMO technology, beamforming, etc. can be applied as antenna technology, and are not limited to the above-described embodiment. In addition, the signal transmitted and received through the transceiver (1604) can be modulated and demodulated and controlled by the processor (1603), and are not limited to the above-described embodiment.

[0177] The devices described above may be implemented as hardware components, software components, and / or a combination of hardware components and software components. For example, the devices and components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0178] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0179] Although the embodiments described above have been described with limited drawings, those skilled in the art will recognize that various modifications and variations are possible based on the above teachings. For example, appropriate results can be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents. Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the following claims.

Claims

1. In a haptic interface device for remote vascular intervention, tube; A plurality of segments concentrically joined with the above tube; A wire that allows the above-mentioned plurality of segments to be connected and provides a predetermined tension; Openings formed around the plurality of segments to allow a user to move the main body using their fingers; An encoder that senses at least one of a change in position, direction and angle of the plurality of segments and outputs an electric signal; A first motor configured with the above encoder and outputting feedback corresponding to the movement of the plurality of segments; A second motor outputting feedback corresponding to the movement of the plurality of segments; and Including a processor that outputs a control signal that controls the first motor, the second motor, and the slave robot to move the slave robot that moves the surgical tool in response to the displacement data sensed by the encoder, When the surgical tool of the slave robot gets caught in an obstacle, the processor controls the first motor to generate a resistance force in the opposite direction to the movement direction of the plurality of segments. A haptic interface device for remote vascular intervention.

2. In paragraph 1, The above plurality of segments constitute a segment assembly of a circular structure, which is configured to enable at least one of repeated forward movement, backward movement and rotation of the main body. A haptic interface device for remote vascular intervention.

3. In paragraph 1, The input section of the main body is formed with a radius of curvature greater than the threshold value so as to approximate a straight line. A haptic interface device for remote vascular intervention.

4. In paragraph 1, Further comprising a wire that enables the above plurality of segments to be connected and provides a predetermined tension; A haptic interface device for remote vascular intervention.

5. In paragraph 1, The above wires are connected to the individual segments through holes in the periphery of the individual segments, A haptic interface device for remote vascular intervention.

6. In paragraph 1, The second motor is installed in a bend of a segment assembly in which a plurality of segments are combined, and generates an auxiliary force so that the segment corresponding to the bend can move forward or backward smoothly. A haptic interface device for remote vascular intervention.

7. In paragraph 1, Further comprising a first pulley and a second pulley connected to the above encoder, The first pulley and the second pulley are arranged diagonally with respect to the longitudinal direction of a specific segment. A haptic interface device for remote vascular intervention.

8. In paragraph 7, The above encoder comprises a first encoder and a second encoder, The above first pulley and the above first encoder are connected concentrically. The above second pulley and the above second encoder are connected concentrically, A haptic interface device for remote vascular intervention.

9. In paragraph 7, When the main body moves forward, backward and rotates, the encoder recognizes the forward, backward and rotational directions by the combination of the rotational directions of the first pulley and the second pulley. A haptic interface device for remote vascular intervention.

10. In paragraph 1, Including multiple pulleys, The above plural releasing bodies are arranged to maintain a predetermined shape, A haptic interface device for remote vascular intervention.

11. In paragraph 1, The above plurality of segments are coated with an elastic material, A haptic interface device for remote vascular intervention.

12. In the first paragraph, the processor, The above first motor is controlled to generate a resistance force of different magnitude depending on the degree of obstacle interference. A haptic interface device for remote vascular intervention.

13. In the first paragraph, the processor, If the degree of obstruction of the above obstacle is greater than the threshold value, the first motor is controlled to generate a resistance force greater than the reference value. A haptic interface device for remote vascular intervention.

14. In the first paragraph, the processor, If the degree of obstruction of the above obstacle is less than the threshold value, the first motor is controlled to generate a resistance force smaller than the reference value. A haptic interface device for remote vascular intervention.

15. In paragraph 1, The degree of obstruction of the above obstacle and the magnitude of the resistance generated by the first motor maintain linearity. A haptic interface device for remote vascular intervention.

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