INTERVENTIONAL PROCEDURE HANDLE UNIT, INTERVENTIONAL PROCEDURE MASTER DEVICE USING SAME, AND REMOTE INTERVENTIONAL PROCEDURE SYSTEM USING SAME

摘要

The present invention relates to: an interventional procedure handle unit which, in a remote interventional procedure system having been developed to remotely perform an interventional procedure by using a robot, can transfer a movement command of a practitioner to a slave robot and a needle driving unit and can implement, for the practitioner, a limitation to a degree of freedom for a maneuver appropriate to a process of an interventional procedure, and a haptic feedback relating to information generated in a process of the interventional procedure; an interventional procedure master device using the same; and a remote interventional procedure system using the same. To this end, the interventional procedure handle unit is a handle unit to be held by a practitioner in the practitioner's hand in response to a motion of a needle unit for an interventional procedure, and comprises: a handle unit to be held by a practitioner in the practitioner's hand; a mode selecting module disposed on the handle unit to allow selection of one motion mode among a straight motion mode for implementing a first degree-of-freedom straight motion of the needle unit, a rotation motion mode for implementing a second degree-of-freedom rotation motion of the needle unit, and a planar motion mode for implementing a second degree-of-freedom planar motion of the needle unit; and a straight motion module disposed on the handle unit to implement a first degree-of-freedom straight motion of the needle unit in response to selection of the straight motion mode.