MASTER DEVICE FOR INTERVENTIONAL PROCEDURE AND CONROLLING METHOD OF THE MASTER DEVICE FOR INTERVENTIONAL PROCEDURE AND REMOTE CONTROL INTERVENTIONAL PROCEDURE SYSTEM USING THE MASTER DEVICE

摘要

The present invention relates to a master device for interventional procedure, a method to control the master device for interventional procedure, and a remote intervention procedure system using the same. The present invention can: transmit a motion command of an operator to a needle driver and a slave robot in the remote intervention procedure system developed to perform interventional procedure remotely by using a robot; and implement haptic feedback on information generated in freedom restriction and intervention procedure processes about a motion appropriate to an intervention procedure process for an operator. For the above, the master device for interventional procedure includes: a handle unit for an operator to grip; a linear motion module which is included in the handle unit to implement a one-degree-of-freedom linear motion of the needle unit used for interventional procedure; a rotational motion module which is combined with the handle unit to implement a two-degree-of-freedom rotational motion of the needle unit according to movements of the handle unit; a plane motion module which is combined with the rotational motion module to implement a two-degree-of-freedom plane motion of the needle unit according to movements of the handle unit; and a mode selection module which is included in the handle unit to select one among a linear motion mode of operating only the linear motion module, a rotational motion mode of operating only the rotational motion module, and a plane motion mode of operating only the plane motion module.