Endoscope apparatus with slave device and master device

{
  "publication_number": "US9565990B2",
  "country": "US",
  "kind": "B2",
  "title": "Endoscope apparatus with slave device and master device",
  "abstract": "An endoscope apparatus is provided. An endoscope apparatus includes a slave device including a plurality of drive motors configured to adjust insertion and insertion direction of an insertion tube of an endoscope, and a plurality of load sensors provided on the plurality of drive motors; and a master device including displacement sensors configured to generate signals for driving the drive motors according to an operator manipulation, and resistive motors configured to operate based on loads detected by the load sensors. The drive motors produce drive forces according to the signals generated by the displacement sensors and the resistive motors produce resistive forces corresponding to the operator manipulation based on the loads detected by the load sensors.",
  "claims": [
    "1. An endoscope apparatus comprising: a slave device including a plurality of drive motors configured to adjust insertion and insertion direction of an insertion tube of an endoscope, and a plurality of load sensors configured on the plurality of drive motors; and a master device including displacement sensors configured to generate signals for driving the drive motors according to an operator manipulation, and resistive motors configured to operate based on loads detected by the load sensors, wherein the drive motors produce drive forces according to the signals generated by the displacement sensors and the resistive motors produce resistive forces corresponding to the operator manipulation based on the loads detected by the load sensors, and wherein the slave device further comprises: an insertion drive slave device configured to produce an insertion drive force causing linear movement of the insertion tube, a roll drive force causing twisting of the insertion tube with respect to the insertion direction of the insertion tube, and a pitch drive force bending the insertion tube with respect to the insertion direction of the insertion tube; and a rotation drive slave device configured to produce a second pitch drive force and a yaw drive force for adjusting an orientation of a front end portion of the insertion tube.",
    "2. The endoscope apparatus of claim 1, wherein the load sensors comprise torque sensors.",
    "3. The endoscope apparatus of claim 1, wherein the load sensors sense a reaction force produced in the insertion tube with respect to the drive forces produced by the drive motors.",
    "4. The endoscope apparatus of claim 1, wherein the master device further comprises: an insertion drive master device configured to generate an insertion drive signal for inserting the insertion tube, a roll drive signal for twisting the insertion tube with respect to the insertion direction of the insertion tube, and a pitch drive signal for bending the insertion tube with respect to the insertion direction of the insertion tube; and a rotation drive master device configured to generate a second pitch drive signal and a yaw drive signal for adjusting an orientation of a front end portion of the insertion tube.",
    "5. The endoscope apparatus of claim 4, wherein the insertion drive slave device operates according to drive signals generated by the insertion drive master device, and wherein the rotation drive slave device operates according to drive signals generated by the rotation drive master device.",
    "6. The endoscope apparatus of claim 4, wherein the insertion drive master device comprises: a fixing bracket; a rotation bracket coupled to the fixing bracket, configured to rotate around a first rotation axis; a guide rail extending from the rotation bracket along a second rotation axis that is perpendicular to the first rotation axis; and a slider coupled to the guide rail, configured to rotate around the second rotation axis and to linearly move along the second rotation axis.",
    "7. The endoscope apparatus of claim 6, wherein a plurality of the displacement sensors are provided in the fixing bracket, and among the plurality of displacement sensors provided in the fixing bracket, a first displacement sensor detects linear movement of the slider to generate an insertion drive signal, a second displacement sensor detects rotation of the slider around the second rotation axis to generate a roll drive signal, and a third displacement sensor detects rotation of the rotation bracket around the first rotation axis to generate a pitch drive signal.",
    "8. The endoscope apparatus of claim 6, wherein the insertion drive master device further comprises: a gear assembly configured in the rotation bracket, and a plurality of resistive motors configured in the fixing bracket, wherein the gear assembly delivers resistive forces produced from the resistive motors to the slider and the rotation bracket.",
    "9. The endoscope apparatus of claim 8, wherein the gear assembly comprises a pulley that operates in association with linear movement of the slider.",
    "10. The endoscope apparatus of claim 8, wherein the displacement sensors detect a rotation displacement of at least one of gears of the gear assembly to detect a displacement of the slider or the rotation bracket.",
    "11. The endoscope apparatus of claim 6, wherein the insertion drive master device further comprises: a balance weight extending from the rotation bracket along the second rotation axis, wherein the guide rail and the balance weight extend from an outer circumferential surface of a first side of the rotation bracket and from an outer circumferential surface of a second side of the rotation bracket in a direction away from each other, respectively.",
    "12. The endoscope apparatus of claim 4, wherein the rotation drive master device comprises: a second fixing bracket; a second rotation bracket coupled to the second fixing bracket, configured to rotate; and an adjustment grip coupled to the second rotation fixing bracket, configured to pivot, wherein the adjustment grip pivots with respect to a rotation axis that is perpendicular to a rotation axis of the second rotation bracket, rotation of the second rotation bracket generates the second pitch drive signal, and pivoting of the adjustment grip generates the yaw drive signal.",
    "13. The endoscope apparatus of claim 12, wherein the rotation drive master device comprises: displacement sensors mounted on the second fixing bracket; and resistive motors mounted on the second fixing bracket, wherein one of the displacement sensors mounted on the second fixing bracket detects a displacement of the second rotation bracket with respect to the second fixing bracket, and another one of the displacement sensors mounted on the second fixing bracket detects a displacement of the adjustment grip with respect to the second rotation bracket, and wherein the resistive force produced from one of the resistive motors mounted on the second fixing bracket acts on rotation of the second rotation bracket and the resistive force produced from another one of the resistive motors mounted on the second fixing bracket acts on pivoting of the adjustment grip.",
    "14. The endoscope apparatus of claim 13, wherein the rotation drive master device further comprises: a gear assembly mounted in the second rotation bracket, wherein the gear assembly delivers the resistive force produced from another one of the resistive motors mounted on the second fixing bracket to the adjustment grip.",
    "15. The endoscope apparatus of claim 14, wherein the displacement of the adjustment grip is detected based on a displacement of one of gears of the gear assembly."
  ],
  "description_excerpt": "This application claims priority under 35 U.S.C. §119(a) to a Korean Patent Application filed in the Korean Intellectual Property Office on Mar. 27, 2013 and assigned Serial No. 10-2013-0032697, the entire disclosure of which is incorporated herein by reference.\n\n1. Field of the Invention\n\nThe present invention generally relates to medical equipment, and more particularly, to a medical endoscope apparatus.\n\n2. Description of the Related Art\n\nA medical endoscope directly captures images of organs of patients, enabling early diagnosis of lesions and even surgical operations, such as removal of lesions.\n\nFor cultivating endoscopy operators, training using simulation devices is preceded, and in use of a real endoscope apparatus, a simulation device is also used. For example, an endoscope apparatus has been commonly used, which includes a master device manipulated by an operator and a slave device that directly drives an insertion tube of the endoscope apparatus according to the operator's manipulation. When using endoscope apparatuses, an insertion time varies with the skill of each operator; and a technique for making an insertion time or an insertion speed uniform is needed for operating on a patient who receives an endoscopic operation. Moreover, an operator directly moves an endoscope by both hands and uses the master device for clear visibility. At this time, to manipulate the master device, a technique for reducing the fatigue of the operator is required.\n\nSuch endoscope apparatuses are disclosed in U.S. Patent Publication No. 2012/0197082 A1, which published on Aug.",
  "cpc": [
    "A61B 1/00133",
    "A61B 1/00",
    "A61B 1/01",
    "A61B 2017/003",
    "A61B 2034/301",
    "A61B 34/30",
    "A61B 34/32",
    "A61B 34/35",
    "A61B 34/37",
    "A61B 34/75",
    "A61B 34/76",
    "A61M 25/01",
    "A61M 25/0113"
  ],
  "ipc": [
    "A61B 1/00",
    "A61B 1/04",
    "A61M 25/01"
  ],
  "assignees": [
    "Samsung Electronics Co Ltd",
    "Industry University Cooperation Foundation IUCF HYU"
  ],
  "inventors": [
    "Yong-hee Lee",
    "Byung-Ju Yi",
    "Mun-Kue Park",
    "Jin-Won Lee",
    "Su-kwang LIM",
    "Jong-Tae Seo",
    "Jae-Hong Woo"
  ],
  "filing_date": "2014-01-30",
  "publication_date": "2017-02-14",
  "grant_date": "2017-02-14",
  "priority_date": "2013-03-27",
  "application_number": "US-201414168365-A",
  "family_id": "51621496",
  "cited_by_count": 48,
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}