HANDLE UNIT FOR INTERVENTIONAL PROCEDURE AND MASTER DEVICE FOR INTERVENTIONAL PROCEDURE USING THE HANDLE UNIT AND REMOTE CONTROL INTERVENTIONAL PROCEDURE SYSTEM USING THE MASTER DEVICE

摘要

The present invention relates to a remote interventional procedure system which is developed to execute an interventional procedure remotely by using a robot. More specifically, the present invention relates to an interventional procedure handle unit which transmits the movement commands from a practitioner to a slave robot and a needle operating unit, limits the degree of freedom in motions of the practitioner suitable for an interventional procedure process, and realizes a haptic feedback on the information generated during the interventional procedure process, a master device for the interventional procedure using the same, and the remote interventional procedure system using the same. The interventional procedure handle unit is gripped by the practitioner to correspond to the movement of a needle unit used in the interventional procedure. The interventional procedure handle unit includes: a handle part gripped by the practitioner; a mode selection module which selects one of movement modes and is arranged on the handle part; and a linear movement module which is arranged on the handle unit and realizes a one-degree-of-freedom linear movement of the needle unit when a linear movement mode is selected. The movement modes of the mode selection unit includes: the linear movement mode for realizing only a one-degree-of-freedom linear movement of the needle unit; a rotational movement mode for realizing only a two-degree-of-freedom rotational movement of the needle unit; and a planar movement mode for realizing a two-degree-of-freedom planar movement of the needle unit.