Body-insertion device
The present disclosure provides a body-insertion device for a body, which comprises a first moving unit for moving an image acquisition unit; an insertion unit; and a second moving unit for moving the insertion unit. The first moving unit comprises at least one of a 1 - 1 module for moving the image acquisition unit in a 1 - 1 direction, a 1 - 2 module for moving the image acquisition unit in a 1 - 2 direction, and a 1 - 3 module for moving the image acquisition unit in a 1 - 3 direction. The second moving unit comprises at least one of a 2 - 1 module for moving the insertion unit in a 2 - 1 direction, a 2 - 2 module for moving the insertion unit in a 2 - 2 direction, and a 2 - 3 module for moving the insertion unit in a 2 - 3 direction.
1. A body-insertion device for a body, comprising:
a frame comprising a pair of posts and a horizontal bar, the pair of posts being spaced apart from each other in a transverse direction of the body in a body placing unit, and the horizontal bar extending in the transverse direction between the pair of posts;
an image acquisition unit configured to acquire to an image of the body in the body placing unit;
a first moving unit for moving the image acquisition unit, the first moving unit comprising a first guide extending in a 1 - 1 direction and being fixed at a first guide fixing portion of the horizontal bar;
an insertion unit comprising a needle which is configured to be inserted into the body in the body placing unit; and
a second moving unit for moving the insertion unit, the second moving unit comprising a second guide extending in a 2 - 1 direction and being fixed at a second guide fixing portion of the horizontal bar, wherein the second guide fixing portion of the horizontal bar is positioned apart from the first guide fixing portion in a longitudinal direction of the body in the body placing unit,
wherein the first moving unit further comprises a 1 - 1 module for moving the image acquisition unit in the 1 - 1 direction and which is connected to the horizontal bar through a first fixing portion, a 1 - 2 module for moving the image acquisition unit in a 1 - 2 direction, and a 1 - 3 module for moving the image acquisition unit in a 1 - 3 direction and which is connected to the 1 - 1 module and the 1 - 2 module,
wherein the second moving unit further comprises a 2 - 1 module for moving the insertion unit in the 2 - 1 direction and which is connected to the horizontal bar, a 2 - 2 module for moving the insertion unit in a 2 - 2 direction, and a 2 - 3 module for moving the insertion unit in a 2 - 3 direction,
wherein the 1 - 1 module is configured to slidably connect to the first guide, and the 1 - 2 module comprises a third guide extending in the 1 - 2 direction and to which the image acquisition unit is connected,
wherein the 1 - 1 module comprises a pair of spaced first pulleys, a first timing belt which extends between the first pulleys according to the 1 - 1 direction, a first driving unit configured to rotate the first pulleys, and a first connecting portion of the first timing belt to which the 1 - 3 module is connected,
wherein the 1 - 2 module further comprises a pair of spaced second pulleys, a second timing belt which extends between the pair of pulleys according to the 1 - 2 direction, a second driving unit configured to rotate the second pulleys, a first body portion to which the 1 - 3 module is connected,
wherein the third guide is provided in the first body portion,
wherein the 1 - 3 module comprises an output shaft which is connected to the first body portion, and a third driving unit configured to rotate the output shaft,
wherein the 2 - 1 module comprises a first movable member which moves in the 2 - 1 direction and is connected to the 2 - 2 module, the 2 - 2 module comprises a second movable member which moves in the 2 - 2 direction and is connected to the 2 - 3 module, and the 2 - 3 module comprises a third movable member connected to the insertion unit,
wherein the 2 - 1 module further comprises a first screw extending in the 2 - 1 direction, the first movable member configured to move along the first screw when the first screw rotates, a second body portion, and a fourth driving unit,
wherein the 2 - 2 module further comprises a second screw extending in the 2 - 3 direction, the second movable member configured to move along the second screw when the second screw rotates, a third body portion, a fifth driving unit, and a first fixing portion to which the first movable member is fixed,
wherein the 2 - 3 module further comprises a third screw extending in the 2 - 3 direction, a third movable member, a fourth body portion, a second fixing portion to which the second movable is fixed, a sixth driving unit, and a fourth guide which extends along the 2 - 3 direction and is provided at the fourth body portion, and
wherein the image acquisition unit comprises an ultrasound probe, a photoacoustic imaging device, or a time of flight (ToF) sensor comprising a near-infrared light emitting diode for recognizing the position coordinate of light reflected from the inside of the body.
2. The device according to claim 1 , wherein the 1 - 1 direction is a transverse direction of a body portion to be inserted, the 1 - 2 direction is a height direction of the body portion, and the 1 - 3 direction is a rotation direction which is a longitudinal direction of the body portion.
3. The device according to claim 1 , wherein the 2 - 1 direction is the transverse direction of the body, the 2 - 2 direction is a height direction of the body, and the 2 - 3 direction is a direction having a predetermined angle downward with respect to the 1 - 3 direction.
4. A computer-implemented method for controlling the device of claim 1 , the method comprising:
a first step of moving the image acquisition unit to the body by driving at least one of the 1 - 1 module to the 1 - 3 module;
a second step of determining the location of the body based on the analysis of the image acquired by the image acquisition unit;
a third step of inserting a medical instrument of the insertion unit at the determined location by driving at least one of the 2 - 1 module to the 2 - 3 module,
a fourth step of measuring the pressure applied to the body by the image acquisition unit, and
a fifth step of performing machine learning to identify an optimal pressure, an optimal pressing duration, and an optimal pressing location by using the measured pressure and the image corresponding to the measured pressure.
5. The method according to claim 4 ,
further comprising a sixth step of recognizing an extending path of the organ by rotating the image acquisition unit about the 1 - 2 direction or moving the image acquisition unit along the longitudinal direction of the body.
6. A non-transitory computer-readable media storing computer-executable instructions that, when executed by a computer, cause the one or more processors to execute the method of claim 4 .
7. A computer-implemented system comprising:
the body-insertion device of claim 1 ;
one or more processors and one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to:
move the image acquisition unit to the body by driving at least one of the 1 - 1 module to the 1 - 3 module;
determine the location of the body based on the analysis of the image acquired by the image acquisition unit;
a third step of inserting a medical instrument of the insertion unit at the determined location by driving at least one of the 2 - 1 module to the 2 - 3 module,
a fourth step of measuring the pressure applied to the body by the image acquisition unit, and
a fifth step of performing machine learning to identify optimal pressure, optimal pressing duration and optimal pressing location by using the measured pressure and the image corresponding to the measured pressure.