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

摘要

The present invention relates to a remote interventional treatment device developed for performing an interventional procedure remotely using a robot and transmits a user's motion command to a slave robot and a needle driver, A master device for intervention, a handle of the device, a control method of a master device for intervention, and a remote intervention device using the same. To this end, the master device for intervention includes a handle for grasping the user, a linear motion module provided on the handle for realizing one-degree-of-freedom linear motion of the needle part, and a handle part A planetary motion module coupled to the rotational motion module to implement a two degree of freedom planar motion of the needle portion and a rotational motion module for operating the rotational motion module, And a mode selecting module provided in the handle to select a rolling motion mode for allowing the needle to perform the rolling motion.