CROSS REFERENCE TO RELATED APPLICATION

This present application is a national stage filing under 35 U.S.C § 371 of PCT application number PCT/KR2017/008213 filed on Jul. 31, 2017 which is based upon and claims the benefit of priority to Korean Patent Application No. 10-2016-0135334 filed on Oct. 18, 2016 respectively in the Korean Intellectual Property Office. The disclosures of the above-listed applications are hereby incorporated by reference herein in their entirety.

BACKGROUND

1. Field of Disclosure

The present disclosure of invention relates a handle unit for interventional procedure, a master device for interventional procedure using the same, and a remote control interventional procedure system using the master device, and more specifically the present disclosure of invention relates to a handle unit for interventional procedure, a master device for interventional procedure using the same, and a remote control interventional procedure system using the master device, transmitting a moving order of an operator to a slave robot and a needle driver, providing an haptic feedback on a limit of degrees of freedom on the operation proper to the interventional procedure and an information generated in the interventional procedure to the operator, in the remote control interventional procedure system developed for performing the interventional procedure with a remote control using a robot.

2. Description of Related Technology

Generally, in interventional procedure, an inside of human beings is monitored by an imaging device and a medical device is inserted into the inside thereof for an operation. The interventional procedure is a general medical technology used for the medical procedures, such as tissue biopsy, enlargement procedure, injection of drug. Needle inserting type interventional procedure using the needle inserted into the inside thereof is an example of the interventional procedure. The needle inserting type interventional procedure may be used in most of the interventional procedure, such as tissue biopsy on chest, abdomen and various focus of body, treatment of high frequency, alcohol, refrigeration, radiation and so on, and access for stent insertion or conduit insertion.

For performing the above-mentioned interventional procedure, the needle is inserted into the body with watching the inside of the body using the radiographic imaging device.

Conventionally, in the interventional procedure, the operator manually inserts the needle into the body, and thus the operator is exposed to the harmful circumstances including the radiation generated from the radiographic imaging device such as the X-ray and so on.

Thus, the operator is hard to be prevented from the harmful circumstances, and the needle is inserted only by the experience or skill of the operator and thus the needle is hard to be correctly inserted.

Accordingly, the interventional procedure using a robot with a remote control is necessary, and for performing the above, a process for the interventional procedure should be newly developed. Here, an order from the operator is provided to a slave robot and a needle inserting module, with optimized processes and types, and thus a maser device for the interventional procedure providing an information in the intervention procedure to the operator is also necessary.

Related prior art is Korean laid-open patent application No. 2013-0015437 which is disclosed on Feb. 14, 2013.

SUMMARY

The present invention is developed to solve the above-mentioned problems of the related arts. The present invention provides a handle unit for interventional procedure capable of transmitting a moving order of an operator to a slave robot and a needle driver, providing an haptic feedback on a limit of degrees of freedom on the operation proper to the interventional procedure and an information generated in the interventional procedure to the operator, in the remote control interventional procedure system developed for performing the interventional procedure with a remote control using a robot.

In addition, the present invention also provides a master device for interventional procedure using the handle unit.

In addition, the present invention also provides a remote control interventional procedure system using the master device

According to an example embodiment, a handle unit is gripped by an operator corresponding to movement of a needle for the interventional procedure. The handle unit includes a gripper, a mode selection module and a linear motion module. The gripper is gripped by the operator. The mode selection module is equipped to the gripper, and selects one of motion modes including a linear motion mode, a rotational motion mode and a plane motion mode. The needle linearly moves with one degree of freedom in the linear motion mode. The needle rotationally moves with two degrees of freedom in the rotational motion mode. The needle moves in a plane with two degrees of freedom in the plane motion mode. The linear motion module performs the linear motion of the needle based on the selection of the mode selection module, and is equipped to the gripper.

In an example, linear motion module may include an inserting guider, an inserting shaft, a linear motion sensor, a combining block and a returning elastic part. The inserting guider may be combined with an inside of the gripper. A guiding rail may be longitudinally formed in a longitudinal direction. The inserting shaft may be combined with the inserting guider at a side of the guiding rail, with moving back and forth. The linear motion sensor may sense a position of the inserting shaft. The combining block may be slidably combined with the guiding rail with combined with the inserting shaft, and be connected to the linear motion sensor. The returning elastic part may be equipped to the guiding rail, and return the combining block to an initial position.

In an example, the linear motion module may further include a guiding plate combined with the linear motion sensor and the gripper, and supporting the combining block to move.

In an example, the gripper may include a linear body, a control body and a support body. The linear body may have the linear motion module inside thereof, and may be gripped by the operator. The control body may be protruded at a first side of the linear body to form a sectional area larger than that of the linear body, have the mode selection module, and expose a control lever controlling the linear motion module. The support body may be protruded at a second side of the linear body to form a sectional area larger than that of the linear body.

In an example, the handle unit may further include a haptic generating module vibrating the gripper or the linear motion module.

According to another example embodiment, a master device for interventional procedure includes the handle unit mentioned above, a rotational motion module and a plane motion module. The rotational motion module rotates the needle based on the selection of the rotational motion mode, and is combined with the gripper. The plane motion module moves the needle in a plane based on the selection of the plane motion mode, and is combined with the rotational motion module.

In an example, the handle unit may further include a clutch module determining an operation of one of the linear motion module, the rotational motion module and the plane motion module, corresponding to the motion mode selected by the mode selection module.

In an example, the rotational motion module may further include a first rotation base combined with the plane motion module, a second rotation base combined with the first rotation base to be rotated with a first rotational axis, a gripper combiner combined with the gripper, and combined with the second rotation base to be rotated with a second rotational axis crossing the first rotational axis, a first rotation driver equipped to the first rotation base, and providing rotational reaction force to the second rotation base, and a second rotation driver equipped to the second rotation base, and providing rotational reaction force to the gripper combiner.

In an example, the rotational motion module may further include a first absolute angle detector equipped to the first rotational axis, and detecting a rotational state of the second rotation base, and a second absolute angle detector equipped to the second rotational axis, and detecting a rotational state of the gripper combiner. The rotational motion of the needle may be performed based on the detection of the first absolute angle detector and the detection of the second absolute angle detector, the first rotational driver and the second rotational driver may be respectively operated based on the detection of the first absolute angle detector and the detection of the second absolute angle detector, with a start signal starting the motion of the needle or an end signal finishing the motion of the needle, for returning the handle unit to be a neutral position.

In an example, the rotational motion module may further include a weight balancer maintaining a weight balance between the first rotational base and the second rotational base.

In an example, the plane motion module may include a first plane base, a second plane base spaced apart from the first plane base, a first centering block slidably combined with the first plane base along a first plane direction, with combined with the second plane base, and a second centering block slidably combined with the second plane base along a second plane direction crossing the first plane direction, with combined with the rotational motion module.

In an example, the plane motion module may further include a first plane motion detector detecting a moving state of the first centering block with respect to the first plane base, and a second plane motion detector detecting a moving state of the second centering block with respect to the second plane base. The rotational motion of the needle may be performed based on the detection of the first plane motion detector and the detection of the second plane motion detector. The first rotational driver and the second rotational driver may be respectively operated based on the detection of the first plane motion detector and the detection of the second plane motion detector, with a start signal starting the motion of the needle or an end signal finishing the motion of the needle, for returning the handle unit to be a neutral position.

According to still another example embodiment, a remote control interventional procedure system operating a needle with five degrees of freedom includes the master device mentioned above, a needle driver linearly moving the needle based on an operation of the linear motion module, a slave robot rotationally moving the needle based on an operation of the rotational motion module, or moving the needle in a plane based on an operation of the plane motion module, and an interventional control unit controlling the needle driver and the slave robot based on an operation of the master device.

According to the present example embodiments, in the remote control interventional procedure system for performing the interventional procedure using a robot, an order from the operator may be provided to the slave robot and the needle driver, and an haptic feedback on a limit of degrees of freedom on the operation proper to the interventional procedure and an information generated in the interventional procedure may be provided to the operator.

In addition, the operator grasping the gripper may control the linear motion module and the mode selection module at the same time with one hand of the operator, and may control the linear motion of the needle and a rolling motion of the needle easily.

In addition, the operator may easily grasp the gripper. The mode may be easily converted and one of the linear motion, the rolling motion, the rotational motion and the plane motion may be selected to operate the needle, with operating the clutch module by a finger corresponding to the shape of gripping the gripper by the operator.

In addition, the gripper clarifies the linear motion with one degree of freedom, so as to stably provide the linear motion state of the inserting shaft to the needle. Thus, the linear motion of the needle may be accurately controlled based on the linear motion of the inserting shaft.

In addition, the insertion of the needle into the human body may be detected correspond to the linear motion of the inserting shaft. The operator may detect dangerous situation of the interventional procedure when the needle is in a predetermined cautious area.

Thus, the needle may be prevented from damaging the inside of the human body with the predetermined cautious area, and the patient may be properly protected and the medical accident may be prevented in the interventional procedure.

In addition, for each motion of the gripper, the control position of the gripper may be fixed so that the operator may recognize the arrangement and the inserting of the needle in the slave robot.

In addition, the needle may be motioned more correctly, an absolute position of the needle may be detected, and a weight balance of the handle unit may be maintained.

In addition, an interface for the operator may be simplified and easily used, and the handle unit may be in a neutral position based on the start signal and the end signal, so that the operator may control the handle unit more stably.

In addition, the handle unit may include buttons only necessary for the interventional procedure, a dangerous signal may be provided to the operator using a vibrating motor, and mechanism for operating the clutch module is applied to enhance the operation of the clutch.

In addition, for the rotation motion of the needle with two degree of freedom or the plane motion of the needle with two degree of freedom, belt-pulley mechanism and a connection between a driver and a brake are simplified, and friction force and driving force or fixing force may be properly provided to operate the interventional procedure.

In addition, the friction force generated from the master device in the rotational motion of the needle with two degrees of freedom may be controlled or prevented. The slave robot may be smoothly rotated along the first rotational direction with respect to the first rotational axis, the second rotational direction with respect to the second rotational axis, and the mixed rotational direction crossing the first and second rotational directions.

In addition, the haptic feedback may be performed for the plane motion of the needle with two degrees of freedom and the linear motion of the needle with one degrees of freedom, to protect the patient from the needle.

In addition, the reaction force may be provided corresponding to the motion of the needle with each degree of freedom and the needle may be stopped at the predetermined cautious area.

In addition, the needle may be prevented from damaging the human body at the predetermined cautious area, to protect the patient in the interventional procedure and to protect the medical accident.

In addition, the rotational motion module is not operated with the linear motion mode or the plane motion mode, and quantity of motion of the rotational motion module may be accurately detected for the rotational motion of the gripper with two degrees of freedom.

In addition, the linear motion with one degree of freedom, the rotational motion with two degrees of freedom, and the plane motion with two degrees of freedom may be clearly discriminated, the needle may be precisely controlled for each motion, and the position of the needle may be accurately and precisely controlled.

In addition, each motion may be stably provided to the needle driver and the slave robot, and thus negligent accident due to the malfunction of the mode selection may be prevented.

In addition, using the master device for the interventional procedure, the needle may be automatically inserted into the human body, and the operator may be prevented from being exposed to radiation. In addition, as five degrees of freedom of the needle, the linear motion with one degree of freedom, the rotational motion with two degrees of freedom and the plane motion with two degrees of freedom may be selectively performed, so that the needle may be inserted into the human body more accurately, the needle may be prevented to be vibrated due to the operation of the master device in the inserting into the human body, and the selected motion mode may be only performed without intervening the other motion modes, in controlling the master device.

In addition, the motion of the needle may be enlarged, the degree of freedom of the needle may be also enlarged, and the rotation motion with two degrees of freedom and the plane motion with two degrees of freedom may be limited to prevent the vibration of the needle, and thus the needle may be inserted more stably and more accurately.

In addition, the interface for the master device for the interventional procedure may be simplified in using the master device, and the needle inserting type remote control interventional procedure and the processes thereof may be more optimized.

In addition, the driving input and the reaction force may be freely performed for each motion, each motion of the needle may be separated, each motion mode may be clearly discriminated for each separated motion, and further each individual operation may be easily performed at each motion mode.

