Remote endoscopic diagnosis system

Abstract

According to an embodiment of the present invention, a robotic system for remote endoscopic diagnosis between a first area and a second area separated from the first area comprises: a master device comprising a handle unit operated by a user's manipulation input; and a slave device configured to receive analysis results related to one or more movements of the handle unit according to the operation of the handle unit and perform one or more slave operations corresponding to the one or more received movements of the handle unit. The one or more slave operations include an 8-degree-of-freedom operation.

Description

Endoscopic remote diagnostic system

[0001] The present invention relates to an endoscopic remote diagnostic robot platform, and more particularly, to an endoscopic remote diagnostic robot platform having a master-slave structure for remotely driving a slave device by manipulating a master device, and an operating method thereof.

[0002] An endoscope is a medical device that allows direct viewing of the inside of internal organs or body cavities. It is designed to observe organs that cannot be directly viewed without surgery or an autopsy by inserting a machine into them.

[0003] Endoscopes are generally used by medical professionals to directly explore, examine, and diagnose the inside of a patient's body, such as organs such as the stomach, intestines, and lungs. Recently, they have also been developed for the purpose of examining and operating on the paranasal sinuses in the nose.

[0004] Endoscopic manipulation can be performed manually, with a medical professional directly operating the device to which the endoscope is attached. Alternatively, the endoscopy can be performed automatically, with the medical professional operating the device to which the endoscope is attached, while the device is remotely located and operated by the patient.

[0005] However, even if medical equipment in a remote area is operated automatically, there may be limitations in remote diagnosis by medical professionals if the responsiveness of the medical equipment in the remote area to the operation of the medical equipment is low or if the movement of the medical equipment in the remote area is restricted.

[0006] Therefore, a robotic system capable of operating medical equipment in a remote area with an endoscope attached in real time through remote operation and providing various movements for the medical equipment with an endoscope attached may be required.

[0007] The purpose of the present invention is to provide an endoscopic remote diagnostic robot platform and an operating method thereof for operating a master device to remotely drive a slave device in real time and to provide various movements to a slave device to which an endoscope is attached through a parallel platform of a master-slave structure.

[0008] Meanwhile, the technical tasks to be achieved by the platform and operating method according to the technical idea of ​​the technology disclosed in this specification are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

[0009] A robot system for endoscopic remote diagnosis between a first region and a second region separated from the first region according to an embodiment of the present invention includes a master device including a handle portion driven according to a user's operation input, and a slave device configured to receive analysis results regarding one or more handle portion movements according to the driving of the handle portion, and perform one or more slave drives corresponding to each of the one or more received handle portion movements, wherein the one or more slave drives include eight-degree-of-freedom drives.

[0010] As an embodiment, the master device includes a sensing unit that senses an operation input from a user, a handle driving unit that drives a handle included in the master device according to the sensed input, a motion analysis unit that analyzes one or more handle movement according to the driving of the handle, and a communication unit that transmits an analysis result of the motion analysis unit to a slave device.

[0011] In an embodiment, the handle portion includes a manipulation handle configured to receive manipulation input and an endoscope model coupled to one end of the manipulation handle and configured to act in response to at least a portion of the manipulation input, wherein one or more movements of the handle portion include a three-dimensional movement of the manipulation handle, a rotational movement of the endoscope model, and a linear movement of the endoscope model.

[0012] As an embodiment, the slave device comprises an endoscope configured to be actuated according to a rotational motion or a linear motion of the endoscope model, wherein one or more slave actuations include a six-degree-of-freedom actuation associated with a three-dimensional actuation of the slave device, a one-degree-of-freedom actuation associated with a rotational actuation of the endoscope, and a one-degree-of-freedom actuation associated with a linear actuation of the endoscope.

[0013] As an embodiment, the rotational drive of the endoscope is a rotational drive centered on a first direction of the endoscope, based on an operation input to a rotation wheel coupled to an operation handle, for a rotational drive of the endoscope model.

[0014] As an example, the linear actuation of the endoscope is a linear actuation of the endoscope in a first direction, based on an operating input to a linear wheel coupled to an operating handle.

[0015] As an example, the three-dimensional actuation of the slave device is linear actuation of the slave device in the first direction, the second direction, and the third direction based on linear actuation inputs in the first direction, the second direction, and the third direction to the actuation handle.

[0016] As an example, the three-dimensional actuation of the slave device is a rotational actuation of the slave device about the first direction, the second direction, and the third direction based on a rotational actuation input about the first direction, the second direction, and the third direction with respect to the operation handle.

[0017] As an example, the three-dimensional driving of the slave device includes a 30-degree rotation driving centered on a first direction, a 20-degree rotation driving centered on a second direction, and a 360-degree rotation driving centered on a third direction.

[0018] In an embodiment, the handle portion includes an endoscope model configured to be actuated in response to at least some of the manipulation inputs, the slave device includes an endoscope configured to be actuated in response to movement of the endoscope model, and when the analysis result is for linear movement of the endoscope model in a first direction, the slave device linearly acts to actuate the endoscope in the first direction in response to the linear movement.

[0019] As an example, if the analysis result is for a rotational movement of the endoscope model around a first direction, the slave device drives the endoscope to rotate around the first direction in response to the rotational movement.

[0020] In an embodiment, the handle portion includes an endoscope model configured to be driven in accordance with at least some of the manipulation inputs, the slave device includes an endoscope configured to be driven in accordance with movement of the endoscope model, and when the analysis result is for linear movement of the endoscope model in a first direction and rotational movement of the endoscope model about the first direction, the slave device linearly drives the endoscope in the first direction and rotationally drives the endoscope about the first direction in response to the linear movement and the rotational movement.

[0021] According to an embodiment of the present invention, a method of operating a robot system comprising a master device including a handle portion driven according to a user's operation input for endoscopic remote diagnosis between a first region and a second region separated from the first region, and a slave device configured to perform one or more slave drives corresponding to each of one or more handle portion movements according to the drive of the handle portion, comprises a step of performing one or more slave drives, wherein the step of performing one or more slave drives comprises a step of performing six-degree-of-freedom drives related to three-dimensional drive of the slave device, one-degree-of-freedom drives related to rotational drive of an endoscope included in the slave device, and one-degree-of-freedom drives related to linear drive of the endoscope.

[0022] According to an embodiment of the present invention, a robotic platform capable of real-time remote control and a variety of movements can be introduced, thereby overcoming geographical constraints, providing medical professionals with enhanced diagnostic capabilities and improving accessibility to medical services. Accordingly, a robotic platform and its operating method can be provided, enabling medical professionals to operate an endoscope and perform a diagnosis on a patient regardless of the patient's location.

[0023] Meanwhile, these effects are merely exemplary, and effects predicted or expected from the detailed configuration of the present invention from the perspective of those skilled in the art may also be added to the inherent effects of the present invention.

[0024] FIG. 1 is a block diagram illustrating an endoscopic remote diagnosis system according to an embodiment of the present invention.

[0025] FIG. 2 is a block diagram illustrating a robot system included in the endoscopic remote diagnosis system of FIG. 1.

[0026] Figure 3 is a schematic diagram of a master device included in the robot system of Figure 2.

[0027] Figure 4 is a schematic diagram of a slave device included in the robot system of Figure 2.

[0028] Figures 5a and 5b illustrate a first embodiment of driving a slave device according to the operation of a master device.

[0029] Figures 6a and 6b illustrate a second embodiment of driving a slave device according to the operation of a master device.

[0030] Figures 7a and 7b illustrate a third embodiment of driving a slave device according to the operation of a master device.

[0031] Figure 8 is a flowchart of an operating method of a robot system according to an embodiment of the present invention.

[0032] Hereinafter, embodiments of the present invention will be described clearly and in detail to the extent that a person having ordinary skill in the art can easily practice the present invention.

[0033] In connection with the description of this specification, it should be understood that terms including ordinal numbers such as first, second, etc. may be used to describe various components, but the components are not limited by the terms. The terms are used solely for the purpose of distinguishing one component from another. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that terms such as "comprises" or "has" are intended to specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0034] Although the present disclosure has been illustrated and described in detail in the drawings and the foregoing description, it is to be understood that the present disclosure is to be considered in an illustrative rather than a restrictive sense, and that only certain embodiments have been illustrated and described, and that all changes and modifications falling within the spirit of the present disclosure are intended to be protected.

[0035] FIG. 1 is a block diagram illustrating an endoscopic remote diagnosis system according to an embodiment of the present invention.

[0036] Referring to FIG. 1, the endoscopic remote diagnosis system (1000) may include a master device (110) and a user terminal (11) arranged in a first area, and a slave device (120) and a data analysis device (12) arranged in a second area distinct from the first area.

[0037] For example, the first area may be the area where medical professionals are located, and the second area may be the area where patients are located, but this is not limited to these areas. The first and second areas may refer to geographically distant areas, and hereinafter, the second area will be referred to as a remote area based on the first area in this specification.

[0038] Hereinafter, in this specification, the master device (110) and the slave device (120) are integrated and referred to as a robot platform (or robot system) or an endoscopic remote diagnosis robot platform (or an endoscopic remote diagnosis robot system (100)).

[0039] The endoscopic remote diagnostic robot system (100) may be configured to operate the master device (110) and slave devices (120) included therein based on a conventional parallel Stewart platform. The conventional parallel Stewart platform may be configured with an operating unit, an operating unit, and a control unit responsible for communication between the operating unit and the operating unit. Alternatively, the conventional parallel Stewart platform may be equipped with a communication unit for communication between the operating unit and the operating unit, separate from the control unit.

[0040] In this specification, the master device (110) may be configured to implement an operation unit, a communication unit, and a control unit, and the slave device (120) may be configured to implement an operation unit, a communication unit, and a control unit. The master device (110) and the slave device (120) may transmit and receive data through wired / wireless / remote communication via the communication units provided therein.

[0041] The slave device (120) includes an endoscope and a camera (described later in FIG. 4), and can transmit endoscope image data acquired through these to a data analysis device (12) through a communication unit.

[0042] Hereinafter, the overall configuration of an endoscopic remote diagnosis system (1000) including a robot system (100) is described in FIG. 1. A detailed description of the endoscopic remote diagnosis robot system (100) will be described later, starting with FIG. 2.

[0043] The user terminal (11) and the data analysis device (12) may be electronic devices, and the electronic devices may be mobile devices such as mobile phones, smart phones, tablet personal computers, wearable devices, healthcare devices, or Internet of Things (IoT) devices. However, the electronic devices are not necessarily limited to mobile devices, and may be devices such as personal computers, laptop computers, or servers.

[0044] Although not shown, the electronic device may include one or more of an image capturing device, a user input device, a communication device, a display, a speaker, a power supplying device, and a connecting interface.

[0045] The recording device can capture still images or moving images, and may be a camera, a camcorder, and / or a webcam. Still images or moving images of medical professionals can be acquired through the recording device included in the user terminal (11). Still images or moving images of patients and / or still images or moving images of slave devices (120) can be acquired through the recording device included in the data analysis device (12).

[0046] The user input device can receive various types of data input from users of the electronic device (e.g., healthcare professionals or patients), and may be a touch pad, a keypad, a keyboard, a mouse, and / or a microphone. Healthcare professionals can input voice information through the user input device and input additional diagnostic information for the image analysis results described below.

[0047] A communication device can transmit and receive signals between electronic devices according to various communication protocols. Such a communication device may be implemented by including a 5G modem, an LTE modem, a Wi-Fi relay system, a Wi-Fi wireless LAN antenna, a transceiver, and / or a combination thereof.

[0048] The user terminal (11) and the data analysis device (12) can transmit and receive data via the communication devices included therein. For example, the data analysis device (12) can receive still images or moving images of medical professionals from the user terminal (11), and the user terminal (11) can receive still images or moving images of patients and / or still images or moving images of the slave device (120) from the data analysis device (12). Accordingly, the medical professionals can check the still images or moving images of patients to perform additional medical measures, and can check the still images or moving images of the slave device (120) to perform additional operations on the master device (110).

[0049] Displays and speakers can function as output devices, respectively, providing visual and auditory information to users of electronic devices. The image analysis results described below can be provided to users (e.g., medical professionals or patients) via the display. The audio information from medical professionals can be provided to patients, and vice versa, via the speaker.

[0050] The power supply unit can appropriately convert power supplied from a battery (not shown) built into the electronic device and / or an external power source and supply it to each component of the electronic device.

[0051] A connection interface can provide a connection between electronic devices. The connection interface can be implemented in various interface methods, such as ATA (Advanced Technology Attachment), SATA (Serial ATA), e-SATA (external SATA), SCSI (Small Computer Small Interface), SAS (Serial Attached SCSI), PCI (Peripheral Component Interconnection), PCIe (PCI express), NVMe, IEEE 1394, USB (universal serial bus), SD (secure digital) card, MMC (multi-media card), eMMC, UFS, eUFS (embedded Universal Flash Storage), CF (compact flash) card interface, etc.

[0052] The data analysis device (12) may further include an image analysis model. The image analysis model may be a machine learning model. The data analysis device (12) may receive endoscopic image data from the slave device (120) and execute the machine learning model.

[0053] The machine learning model may include an encoder-decoder architecture. That is, the machine learning model may be a pre-trained model that encodes and decodes endoscopic image data to predict and output image analysis and diagnostic results.

[0054] Alternatively, the machine learning model may be a pre-trained model that classifies and predicts analysis and diagnosis results for each endoscopic image using a classification deep learning learning algorithm for endoscopic image data.

[0055] Machine learning models may include, but are not limited to, ensemble models, convolutional neural networks (CNNs), or autoencoders.

[0056] FIG. 2 is a block diagram illustrating a robot system (200) included in the endoscopic remote diagnosis system (1000) of FIG. 1.

[0057] Referring to FIGS. 1 and 2, the robot system (200) may include a master device (210) for providing movement information thereof according to manipulation by medical professionals, and a slave device (220) for receiving information about the movement of the master device (210) from the master device (210) to drive the endoscope in real time. With respect to the master device (210) and the slave device (220), detailed descriptions that overlap with those mentioned in FIG. 1 are omitted.

[0058] The master device (210) may refer to a robot (or master robot) that includes a manipulation input detection unit (211) for detecting inputs manipulated by medical professionals, a handle driving unit (212) for driving a handle unit (described later in FIG. 3) according to the detected input, a support unit (213) for supporting the handle unit located at the upper portion of the master device (210) from the lower portion of the master device (210), a movement analysis unit (214) for analyzing the movement of the handle unit according to the driving, a communication unit (215) for transmitting the movement analysis result to the slave device (220), and a master control unit (216) for controlling the components of the master device (210) (the manipulation input detection unit (211), the handle driving unit (212), the support unit (213), the movement analysis unit (214), and the communication unit (215)) and the overall operations of the master device (210).

[0059] The manipulation input detection unit (211) may include a plurality of sensors (not shown). The plurality of sensors (not shown) may detect various types of physical quantities that can be obtained from the outside of the master device (210) or from medical professionals, and convert the detected physical quantities into electrical signals.

[0060] Such multiple sensors (not shown) may include a temperature sensor, a pressure sensor, a light sensor, a position sensor, an acceleration sensor, a biosensor, and / or a gyroscope sensor.

[0061] The manipulation input detection unit (211) can detect input (e.g., pressure by contact) (described later in FIGS. 5A to 7B) from medical professionals for manipulation of the master device (210). In addition, the manipulation input detection unit (211) can detect movement of the handle according to manipulation of the master device (210) and calculate the speed, acceleration, movement direction, and / or distance of the handle.

[0062] The slave device (220) can be configured to drive the endoscope in real time by reflecting the movement information of the master device (210) received from the master device (210).

[0063] It may mean a robot (or slave robot) including a rotational driving unit (221) that provides rotational motion to an endoscope according to rotational motion information of a master device (210), a linear driving unit (222) that provides linear motion to an endoscope according to linear motion information of a master device (210), a camera (223) for capturing an endoscope image, a slave driving unit (224) that provides motion to a slave device (220) according to motion information of an operation handle of the master device (210), a communication unit (225) for receiving a motion analysis result of the master device (210), and a slave control unit (226) for controlling components of the slave device (220) (rotary driving unit (221), linear driving unit (222), camera (223), slave driving unit (224), and communication unit (225)) and overall operations of the slave device (220).

[0064] Figure 3 is a schematic diagram of a master device included in the robot system of Figure 2.

[0065] Referring to FIGS. 2 and 3, the master device (210) may include a manipulation handle (32). A linear wheel (31a) and a rotary wheel (31b) may be configured to be coupled to the manipulation handle (32). The manipulation handle (32) may further include a wheel driver (not shown) therein for driving the linear wheel (31a) and the rotary wheel (31b). The wheel driver (not shown) of FIG. 3 may correspond to the handle driving unit (212) of FIG. 2.

[0066] The operating handle (32) may have a cylindrical shape formed by extending in its longitudinal direction, but is not limited thereto. An endoscope model (37) may be coupled to one end of the operating handle (32). The endoscope model (37) may likewise have a cylindrical shape formed by extending in its longitudinal direction, but is not limited thereto. Hereinafter, in the present specification, the operating handle (32) and the endoscope model (37) will be collectively referred to as a handle portion.

[0067] The linear wheel (31a) may be a flat top tooth shape formed in the longitudinal direction of the operating handle (32), but is not limited thereto, and may be any shape capable of providing linear movement of the endoscope model (37).

[0068] The rotating wheel (31b) may be a flat top circular sawtooth shape formed around the axis direction of the operating handle (32), but is not limited thereto, and may be any shape capable of providing rotational movement of the endoscope model (37).

[0069] Based on the medical professional's manipulation of the linear wheel (31a) (e.g., pressure by contact with the linear wheel (31a), the wheel driver (not shown) can drive the endoscope model (37) to perform linear motion such as forward motion or backward motion. Based on the medical professional's manipulation of the rotary wheel (31b) (e.g., pressure by contact with the rotary wheel (31b), the wheel driver (not shown) can drive the endoscope model (37) to perform leftward rotational motion or rightward rotational motion. By providing the linear wheel (31a) and the rotary wheel (31b), the movement of the endoscope of the slave device (220) can be finely adjusted, thereby providing improved medical services.

[0070] The master device (210) may further include a weight bar (33) connected to the operating handle (32) via a connection portion. The weight bar (33) may be positioned so that the operating handle (32) is balanced through the connection portion for the entire configuration of the master device (210). The weight bar (33) may have a cylindrical shape formed with an axis perpendicular to the longitudinal direction of the operating handle (32), but is not limited thereto. The weight bar (33) of FIG. 3 may correspond to the support portion (213) of FIG. 2.

[0071] The master device (210) may further include one or more loads (35) having one end coupled to one side of the weight bar (33). The other end of the one or more loads (35) may be coupled to an encoder (34).

[0072] Each of the one or more rods (35) may include a plurality of extensions and a plurality of connecting portions connecting the plurality of extensions. Each of the plurality of extensions may have a cylindrical shape formed by extending in its length direction, but is not limited thereto. Each of the plurality of extensions may be configured as a rigid rod for bending actuation of the master device (210) (i.e., three-dimensional movement of the operating handle (32)), but is not limited thereto. Each of the plurality of connecting portions may be a flexible rod that can be flexibly bent within a predetermined angular range, but is not limited thereto.

[0073] Based on manipulation of the manipulation handle (32) by a medical professional (e.g., pressure by contact with the manipulation handle (32)), one or more rods (35) can be driven to cause the master device (210) (specifically, the manipulation handle (32)) to perform three-dimensional movements. Although only four rods are illustrated in FIG. 3, the number of rods is not limited thereto.

[0074] The master device (210) may further include one or more encoders (34) coupled to one end of one of the plurality of extensions. The one or more encoders (34) may analyze the movement of the master device (210) based on a conventional encoding method. The movement of the master device (210) may include linear movement of the endoscope model (37), rotational movement of the endoscope model (37), and three-dimensional movement of the operating handle (32). The one or more encoders (34) of FIG. 3 may correspond to the movement analysis unit (214) of FIG. 2. Although only four encoders are illustrated in FIG. 3, the number of encoders is not limited thereto.

[0075] The master device (210) may further include a controller (36) coupled to the lower surface of one or more encoders (34). The controller (36) may be placed on the lowest surface of the master device (210) and may control the communication unit (215) to transmit movement information of the master device (210) detected by the manipulation input detection unit (211) and analyzed by one or more encoders (34) to the slave device (220). The controller (36) of FIG. 3 may correspond to the master control unit (216) of FIG. 2.

[0076] Figure 4 is a schematic diagram of a slave device included in the robot system of Figure 2.

[0077] Referring to FIGS. 2, 3, and 4, the slave device (220) may include a rotational drive motor (41a) and a timing belt (41b) coupled to the rotational drive motor (41a) via a pulley. The rotational drive motor (41a) and the timing belt (41b) of FIG. 4 may correspond to the rotational drive unit (221) of FIG. 2.

[0078] The slave device (220) may further include a linear drive motor (42a), a timing belt (42d) coupled to the linear drive motor (42a), a linear guide (42b) coupled to one side of the linear drive motor (42a), and an auxiliary linear guide (42c) coupled to the other side of the linear drive motor (42a) parallel to the one side of the linear drive motor (42a). The linear drive motor (42a), the linear guide (42b), the auxiliary linear guide (42c), and the timing belt (42d) of FIG. 4b may correspond to the linear drive unit (222) of FIG. 2.

[0079] The slave device (220) may further include a camera (43) for capturing endoscopic images of the endoscope (47). Here, the endoscope (47) may function as a lens for obtaining still or moving images of internal organs of a patient's body by means of the camera (43). The camera of FIG. 4 may correspond to the camera (223) of FIG. 2. The endoscope (47) of FIG. 4 may be driven according to the movement of the endoscope model (37) of FIG. 3. The endoscope (47) may have a cylindrical shape formed by extending in its longitudinal direction, but is not limited thereto.

[0080] The slave device (220) may further include a moving platform (45) coupled to one side of the linear guide (42b). The moving platform (45) may be provided on the upper side of the rod (44b) while being coupled to one end of the rod (44b) and positioned below the devices for linear and rotational driving. Through the arrangement of the moving platform (45), the control performance of the base platform (46) (for three-dimensional driving of the slave device (220), rotational driving of the endoscope, and linear driving) may be improved.

[0081] The slave device (220) may further include one or more rods (44b) having one end coupled to the lower surface of the moving platform (45). Each other end of the one or more rods (44b) may be coupled to one or more slave drive motors (44a). The one or more slave drive motors (44a) and the one or more rods (44b) of FIG. 4 are for providing three-dimensional movement of the slave device (220) and may correspond to the slave drive unit (224) of FIG. 2. Although only four rods and four motors are illustrated in FIG. 4, the number of rods and motors is not limited thereto.

[0082] One or more of the loads (44b) of FIG. 4 may have a configuration similar to one or more of the loads (35) of FIG. 3. That is, the load (44b) may include a plurality of extensions and a plurality of connecting portions connecting the extensions. Accordingly, a detailed description of the same content as described for the load (35) of FIG. 3 is omitted.

[0083] The slave device (220) may further include a base platform (46) coupled to the lower surface of one or more slave drive motors (44). The base platform (46) may be placed on the lowest surface of the slave device (210), and the communication unit (225) may receive movement information of the master device (210) and control corresponding components of the slave device (220) so that the slave device (220) performs linear driving, rotational driving, and three-dimensional driving.

[0084] Based on the rotational movement of the endoscope model (37) (see FIG. 3), the base platform (46) can control the rotational drive motor (41a) and the timing belt (41b) to rotate the endoscope (47).

[0085] Based on the linear motion of the endoscope model (37) (see FIG. 3), the base platform (46) can control the linear drive motor (42a), linear guide (42b), auxiliary linear guide (42c), and timing belt (42d) to linearly drive the endoscope (47).

[0086] Based on the three-dimensional movement of the operating handle (32) (see FIG. 3), the base platform (46) can control one or more slave drive motors (44a) and one or more rods (44b) to three-dimensionally drive the slave device (220). The base platform (46) of FIG. 4 can correspond to the slave control device (226) of FIG. 2.

[0087] Figures 5a and 5b illustrate a first embodiment of driving a slave device according to the operation of a master device.

[0088] Figure 5a shows a three-dimensional movement manipulation image of the manipulation handle. Figure 5b shows a three-dimensional driving image of the slave device according to the movement of the manipulation handle.

[0089] Referring to FIGS. 5A and 5B, based on manipulation of the manipulation handle by medical professionals (e.g., applying a first pressure to the manipulation handle), the manipulation handle can move about the x-axis (roll), the y-axis (pitch), and the z-axis (yaw), respectively. Accordingly, the slave device can be driven in three dimensions in real time about the x-axis (roll), the y-axis (pitch), and the z-axis (yaw), respectively.

[0090] For example, the manipulation handle can rotate 30 degrees about the x-axis (roll), thereby causing the slave device to rotate 30 degrees about the x-axis (roll), but is not limited thereto. The manipulation handle can rotate 20 degrees about the y-axis (pitch), thereby causing the slave device to rotate 20 degrees about the y-axis (pitch), but is not limited thereto. The manipulation handle can rotate 360 ​​degrees about the z-axis (yaw), thereby causing the slave device to rotate 360 ​​degrees about the z-axis (yaw), but is not limited thereto.

[0091] For example, the operating handle can be driven forward or backward in the x-axis (roll) direction, and accordingly, the slave device can be driven forward or backward in the x-axis (roll) direction. Alternatively, the operating handle can be driven forward or backward in the y-axis (pitch) direction, and accordingly, the slave device can be driven forward or backward in the y-axis (pitch) direction. Alternatively, the operating handle can be driven forward or backward in the z-axis (yaw) direction, and accordingly, the slave device can be driven forward or backward in the z-axis (yaw) direction.

[0092] Figures 6a and 6b illustrate a second embodiment of driving a slave device according to the operation of a master device.

[0093] Figure 6a shows an image of the endoscopic model rotation operation of the master device. Figure 6b shows an image of the endoscopic rotation of the slave device according to the movement of the master device.

[0094] Referring to FIGS. 6A and 6B, the endoscope model can be rotated about the x-axis (roll direction) based on the medical professional's manipulation of the rotation wheel (e.g., applying a second pressure to the rotation wheel). Accordingly, the endoscope can be driven to rotate left or right in real time about the x-axis (roll direction).

[0095] Figures 7a and 7b illustrate a third embodiment of driving a slave device according to the operation of a master device.

[0096] Referring to FIGS. 7A and 7B, the endoscope model can be moved forward or backward about the x-axis (roll direction) based on the medical professional's manipulation of the linear wheel (e.g., applying a third pressure to the linear wheel). Accordingly, the endoscope can be driven forward or backward in real time about the x-axis (roll direction).

[0097] Referring to FIGS. 5A to 7B, compared to a conventional parallel Stewart platform that provides a mechanical mechanism with 6 degrees of freedom, the robot system of the present invention provides a mechanical mechanism with 8 degrees of freedom, so that a robot system with excellent dynamic performance can be provided.

[0098] For example, the robot system of the present invention can provide a mechanical mechanism having eight degrees of freedom, such as a rotational movement of the manipulation handle around the x-axis (roll) direction, a forward and backward movement of the manipulation handle in the x-axis (roll) direction, a rotational movement of the endoscope around the x-axis (roll) direction, a linear movement of the endoscope in the x-axis (roll) direction, a rotational movement of the manipulation handle in the y-axis (pitch) direction, a left-right movement of the manipulation handle in the y-axis (pitch) direction, a rotational movement of the manipulation handle in the z-axis (yaw) direction, and an up-and-down movement of the manipulation handle in the z-axis (yaw) direction.

[0099] Figure 8 is a flowchart of an operating method of a robot system according to an embodiment of the present invention.

[0100] Referring to FIGS. 2 and 8, at step S110, the robot system can detect user input (e.g., pressure) for manipulating the master device. The pressure may be one or more of pressure on the manipulator handle, pressure on the rotary wheel, and pressure on the linear wheel.

[0101] At step S120, the robotic system can actuate the handle based on the sensed pressure. The actuation of the handle can move the operating handle or the endoscope model.

[0102] At step S130, the robotic system can detect movement of the handle. That is, the robotic system can detect one or more of three-dimensional movement of the operating handle, rotational movement of the endoscope, and linear movement of the endoscope.

[0103] At step S140, the robotic system can drive a slave device based on the movements of the handle. The robotic system can drive the slave device by reflecting the movements of the handle in real time. This allows for immediate medical services to be provided to patients in remote areas.

[0104] At step S150, if three-dimensional movement of the handle (specifically, three-dimensional movement of the operating handle) is detected, the robot system can three-dimensionally drive the slave device. Since a parallel Stewart platform structure is used, precise operation of the slave device can be performed according to the precise operation of the master device.

[0105] At step S160, if a rotational movement of the handle part (specifically, a rotational movement with respect to the endoscope model) is detected, the robot system can drive the endoscope to rotate (left rotation drive or right rotation drive).

[0106] At step S170, if linear movement of the handle part (specifically, linear movement with respect to the endoscope model) is detected, the robot system can drive the endoscope linearly (forward or backward).

[0107] The systems and methods described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), 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 singly; however, those skilled in the art will appreciate that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, the processing device may include multiple processors, or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are also possible.

[0108] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or, independently or in combination, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual device, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed across networked computer systems and stored or executed in a distributed manner. The software and data may be stored on one or more computer-readable recording media.

[0109] 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.

[0110] Although the embodiments have been described with limited examples and drawings, those skilled in the art will appreciate that various modifications and variations are possible based on the above description. 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.

[0111] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. A robotic system for endoscopic remote diagnosis between a first area and a second area separated from the first area, A master device including a handle portion that is driven according to a user's operating input; and A slave device configured to receive analysis results regarding one or more handle unit movements according to the operation of the handle unit, and to perform one or more slave operations corresponding to each of the one or more received handle unit movements, wherein said one or more slave drives include 8 degrees of freedom drives, Robotic system.

2. In paragraph 1, The above master device, A sensing unit that detects an operation input from a user; A handle driving unit that drives a handle included in the master device according to the detected input; A motion analysis unit that analyzes the movement of one or more handle parts according to the operation of the handle part; and Including a communication unit that transmits the analysis result of the above motion analysis unit to the slave device, Robotic system.

3. In paragraph 1, The handle portion includes an operating handle configured to receive the operating input and an endoscope model coupled to one end of the operating handle and configured to operate according to at least a part of the operating input. The movement of said one or more handle parts includes a three-dimensional movement of said operating handle, a rotational movement of said endoscope model, and a linear movement of said endoscope model. Robotic system.

4. In paragraph 3, The slave device comprises an endoscope configured to be driven according to a rotational motion or linear motion of the endoscope model, Wherein said one or more slave drives include a six-degree-of-freedom drive associated with three-dimensional drive of said slave device, a one-degree-of-freedom drive associated with rotational drive of said endoscope, and a one-degree-of-freedom drive associated with linear drive of said endoscope. Robotic system.

5. In paragraph 4, The rotational drive of the endoscope is a rotational drive centered on the first direction of the endoscope, based on an operation input to a rotation wheel included in the operation handle, for the rotational drive of the endoscope model. Robotic system.

6. In paragraph 4, The linear drive of the endoscope is a linear drive of the endoscope in a first direction, based on an operation input to a linear wheel included in the operation handle. Robotic system.

7. In paragraph 4, The three-dimensional driving of the slave device is a linear driving of the slave device in the first direction, the second direction, and the third direction based on linear operation inputs in the first direction, the second direction, and the third direction for the operation handle. Robotic system.

8. In paragraph 4, The three-dimensional driving of the slave device is a rotational driving of the slave device centered on the first direction, the second direction, and the third direction based on a rotational operation input centered on the first direction, the second direction, and the third direction for the operation handle. Robotic system.

9. In paragraph 8, The three-dimensional driving of the above slave device is: 30 degree rotation drive centered on the first direction above, A 20 degree rotation drive centered on the second direction, and Including a 360 degree rotation drive centered on the third direction, Robotic system.

10. In paragraph 1, The above handle part includes an endoscope model configured to be driven according to at least some of the above operating inputs, The slave device comprises an endoscope configured to be driven according to the movement of the endoscope model, If the above analysis result is for linear movement of the endoscope model in the first direction, The slave device linearly drives the endoscope in a first direction in response to the linear movement. Robotic system.

11. In paragraph 10, If the above analysis result is about the rotational movement centered on the first direction of the endoscope model, The slave device drives the endoscope to rotate around the first direction in response to the rotational movement. Robotic system.

12. In paragraph 1, The above handle part includes an endoscope model configured to be driven according to at least some of the above operating inputs, The slave device comprises an endoscope configured to be driven according to the movement of the endoscope model, If the above analysis results are for linear movement of the endoscope model in the first direction and rotational movement of the endoscope model around the first direction, The slave device linearly drives the endoscope in a first direction and rotationally drives the endoscope around the first direction in response to the linear movement and rotational movement. Robotic system.

13. A method of operating a robot system, comprising a master device including a handle part driven according to a user's operation input for endoscopic remote diagnosis between a first region and a second region separated from the first region, and a slave device configured to perform one or more slave drives corresponding to each of one or more handle part movements according to the drive of the handle part, The steps to perform one or more slave drives are: A step of performing 6 degrees of freedom driving related to 3D driving of the slave device, 1 degree of freedom driving related to rotational driving of an endoscope included in the slave device, and 1 degree of freedom driving related to linear driving of the endoscope, How the robotic system works.

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