公开(公告)号：KR100802136B1

公开(公告)日：2008-02-12

申请号：KR1020070019522

申请日：2007-02-27

Applicant: 한국과학기술원

Inventor： 이두용 ,  김우석 ,  우현수 ,  안우진 ,  이경노 ,  조장호 ,  이선영

IPC: G09B9/00 ,  G09B23/28 ,  A61B1/04

CPC classification number: G09B9/00 ,  A61B1/04 ,  G09B23/285

Abstract: A haptic device for a gastrointestinal endoscope simulator is provided to offer the sense of touch and haptic interface to a user and to transmit a value output by measuring the operation of a user for a device unit, to a haptic control unit. A haptic device for a gastrointestinal endoscope simulator comprises a support, a rectilinearly moving unit(210), and a roll turning unit(220). The rectilinearly moving unit is installed at the support to move rectilinearly. The rectilinearly moving unit provides information about a rectilinear motion of an endoscope tube generated by the operation of a user, to a control unit of the gastrointestinal endoscope simulator and transmits rectilinear force to the user through a control handle. The roll turning unit is rotatably fixed at the rectilinearly moving unit to turn the endoscope tube. The roll turning unit provides information about a roll rotary motion of the endoscope tube generated by the operation of the user, to the control unit of the gastrointestinal endoscope simulator and transmits rotational torque to the user through the control handle. The rectilinearly moving unit comprises a pair of guide rods of which both ends are fixed to the support, respectively; a first plate installed at a pair of guide rods to move rectilinearly and fix one side of the endoscope tube; a second plate moving rectilinearly by interlocking with the first plate and supporting the endoscope tube to move the endoscope tube freely while passing the front end of the endoscope tube; and a wire driving type motor installed at one side of the second plate to fix both ends of a wire wound around a shaft, to the support.

Abstract translation: 提供了一种用于胃肠内窥镜模拟器的触觉装置，以向用户提供触感和触觉接口，并通过测量用于装置单元的用户的操作来向触觉控制单元传输值输出。 用于胃肠内窥镜模拟器的触觉装置包括支撑件，直线移动单元（210）和滚动转动单元（220）。 直线运动装置安装在支架上以直线移动。 直线运动单元提供关于通过使用者的操作产生的内窥镜管的直线运动的信息，提供给胃肠内窥镜模拟器的控制单元，并且通过控制手柄将直线力传递给用户。 滚动转动单元可旋转地固定在直线移动单元上以转动内窥镜管。 滚动车削单元提供关于通过使用者的操作生成的内窥镜管的滚动旋转运动的信息到胃肠内窥镜模拟器的控制单元，并且通过控制手柄将旋转扭矩传递给用户。 直线运动单元包括一对导杆，其两端分别固定在支架上; 安装在一对导杆上以直线移动并固定内窥镜管一侧的第一板; 通过与所述第一板互锁而直线运动的第二板，并且支撑所述内窥镜管以在使所述内窥镜管通过所述内窥镜管的前端的同时自由移动; 以及安装在所述第二板的一侧的线驱动型电动机，以将缠绕在轴上的线的两端固定到所述支撑件。