Patent Publication Number: US-2023157777-A1

Title: System and device for endoscope surgery robot

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This present application claims the benefit of priority to Korean Patent Application No. 10-2021-0161288 entitled “ENDOSCOPE SURGERY ROBOT SYSTEM AND IMAGE CORRECTION METHOD THEREOF,” filed on Nov. 22, 2021, Korean Patent Application No. 10-2021-0173659 entitled “ENDOSCOPE SURGERY ROBOT SYSTEM,” filed on Dec. 7, 2021 and Korean Patent Application No. 10-2022-0139714 entitled “ENDOSCOPE SURGERY ROBOT DEVICE AND ENDOSCOPE SURGERY ROBOT SYSTEM,” filed on Oct. 26, 2022, in the Korean Intellectual Property Office, the entire disclosures of which are incorporated herein by reference. 
     FIELD 
     The present disclosure relates to an endoscope surgical robot control device and an endoscope surgery robot system. 
     BACKGROUND 
     Endoscopic surgery refers to a surgical technique that inserts an instrument with a micro-camera attached thereto into a body to remove an appendage or operate on a specific area. A small incision is used to speed up recovery and give a cosmetic benefit. In recent years, endoscopic surgery is performed using a robot. 
     An endoscope surgical robot includes a master device which is manipulated by a user to generate and transmit an input signal required to drive an endoscopic apparatus and a slave device, which receives a signal from the master device to directly apply manipulation required for the endoscopic apparatus. 
     Generally, a master device for an endoscope surgical robot may include a) a translation part which receives translation manipulation from the user to input translation operation of an insertion tube, b) a roll rotation part which is connected to the translation part and receives joint rotation manipulation around a roll axis from the user to input a roll rotation operation of the insertion tube, c) a pitch rotation part which is connected to the roll rotation part and receives a joint rotation manipulation around a pitch axis from the user to input pitch rotation operation of the insertion tube, and d) a yaw rotation part which is connected to the pitch rotation part and receives a joint rotation manipulation around a yaw axis from the user to input yaw rotation operation of the insertion tube. 
     That is, the master device for the endoscope surgical robot of the related art has a structure in which a control handle to be grasped by a user is connected to the yaw rotation part, the yaw rotation part is connected to the pitch rotation part, and the pitch rotation part is rotatably connected from the roll rotation part. 
     According to this structure, when the user manipulates the master device while watching a display, if the user rotates the roll rotation part for the roll rotation of the insertion tube, as illustrated in  FIGS.  1 A and  1 B , the pitch rotation part and the yaw rotation part rotate around the roll rotation axis according to the rotation of the roll rotation part so that the pitch rotation part and the yaw rotation part also rotate. 
       FIG.  1 A  illustrates a master device for an endoscope surgical robot of the related art. In the master device for an endoscope surgical robot of the related art, a part of controlling translation movement of the endoscopic apparatus is connected to a part of controlling roll rotation of the endoscopic apparatus and the part of controlling roll rotation of the endoscopic apparatus is connected to a part of controlling pitch rotation of the endoscopic apparatus, and the part of controlling pitch rotation of the endoscopic apparatus is connected to a part of controlling yaw rotation of the endoscopic apparatus, and the part of controlling yow rotation of the endoscopic apparatus is connected to a handle grasped by a user. 
       FIG.  1 B  is a view for explaining inconsistency of a screen displayed to an operator and an actual manipulation direction in a master device for an endoscope surgical robot of the related art. 
     As illustrated in  FIG.  1 B , when the user performs the pitch rotation after performing roll rotation, the user moves the operation module to two o’clock and 8 o’clock directions, but the screen moves to 12 o’clock and 6 o’clock directions on the display. This causes an inconsistency between the user’s operation direction and a screen direction on the display making intuitive operation difficult. 
     That is, when an image output to the display or a coordinate system thereof is fixed, when a user manipulates the master device while watching the display and performs a pitch rotation operation or a yaw rotation operation after the roll rotation operation, a direction of the actual pitch rotation axis of the master device is different from a direction of a pitch rotation axis or a yaw rotation axis on the display making it difficult for intuitive operation. 
     The above-described Background was experienced by the inventor during the process of deriving the present disclosure and is not necessarily a known technology which has been disclosed to the general public prior to this application. 
     SUMMARY 
     There is a need for an endoscope surgical robot control device which solves the inconvenience of operating an endoscope surgical robot system as described above. 
     An endoscope surgical robot control device according to an exemplary embodiment is an endoscope surgical robot control device that controls the movement of an insertion tube including: a translation movement part configured to control translation movement of the insertion tube in a translation direction; a pitch rotation part in communication with the translation movement part and configured to control pitch rotation of the insertion tube around a pitch rotation axis; and a roll rotation part in communication with the pitch rotation part and configured to control roll rotation of the insertion tube around a roll rotation axis which is parallel with a translation direction and is perpendicular to the pitch rotation axis. 
     An endoscope surgical robot system according to another exemplary embodiment may include an endoscope apparatus having an insertion tube and an endoscope camera to monitor a surgical procedure where the insertion tube is inserted; a driving module connected to the endoscope apparatus and configured to perform pitch rotation or roll rotation of the insertion tube; the above-described endoscope surgical robot control device; and a controller to control operation of the driving module based on an input signal generated by the endoscope surgical robot control device. 
     An endoscope surgical robot system according to another exemplary embodiment may include an endoscope apparatus having an insertion tube and an endoscope camera to monitor an end image of the insertion tube; a driving module connected to the endoscope apparatus and configured to perform pitch rotation or roll rotation of the insertion tube; an operation module configured to be rotated to generate an input signal required for pitch rotation or roll rotation of the endoscope apparatus by a user; and a controller to control operation of the driving module based on an input signal generated by the operation module. 
     The above-described operation module may include a pitch rotation part which rotates a joint along a pitch rotation axis corresponding to a rotation axis of the pitch rotation of the insertion tube and a control handle which is connected to the pitch rotation part to be grasped by the user and is connected to the pitch rotation part to rotate around the roll rotation axis perpendicular to the pitch rotation axis. 
     Here, the pitch rotation part may include a pitch rotation arm which is configured to rotate around the pitch rotation axis with respect to a member connected to a fixed point of the operation module and a bending arm having one end connected to the pitch rotation arm and the other end extending along the pitch rotation axis to connect the control handle to rotate the joint around the roll rotation axis perpendicular to the pitch rotation axis. The control handle may include a rotation connection part which is connected to the bending arm to rotate around the roll rotation axis and a grasp manipulation part having at least a part which extends along the roll rotation axis to be spaced apart from the rotation connection part to be grasped and manipulated by the user. 
     Here, the bending arm is connected to the pitch rotation arm to rotate around the rotation axis parallel with the roll rotation axis, the rotation connection part and the bending arm of the control handle are perpendicular to each other regardless of the rotation state therebetween, and the bending arm and the pitch rotation arm are perpendicular to each other regardless of the rotation state therebetween. 
     Further, the operation module may further include a translation movement part including a sliding guide extending along a direction parallel with the roll rotation axis and a sliding arm having one end which is guided by the sliding guide to be slidable and the other end to which the pitch rotation arm is joint-rotatably connected around the pitch rotation axis. 
     One end of the sliding arm connected to the sliding guide extends along the pitch rotation axis to be spaced apart from the sliding guide and the other end forms a pitch rotation arm and a joint at a portion which is bent upward perpendicular to the pitch rotation axis and extends and the bending arm extends to be close to the sliding guide along a direction parallel with the pitch rotation axis from a portion connected to the pitch rotation arm. 
     The sliding arm, the pitch rotation arm, the bending arm, and the control handle have a joint link structure in which the sliding arm, the pitch rotation arm, the bending arm, and the control handle are relatively inwardly perpendicularly bent to be sequentially connected while being spaced apart from one another with a predetermined distance or more. 
     According to the endoscope surgical robot system according to the exemplary embodiment, even though the user performs the roll rotation on a control handle, a pitch rotation axis of the operation module is consistently maintained and the pitch rotation direction on the image coordinate output on the display and a rotation direction of the actual pitch rotation part are consistently maintained regardless of the roll rotation so that an intuitive controllability may be provided to a user who operates the operation module. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The patent or application file contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawing(s) will be provided by the Office upon request and payment of the necessary fee. 
       The foregoing and other aspects, features, and advantages of the invention, as well as the following detailed description of the embodiments, will be better understood when read in conjunction with the accompanying drawings. For the purpose of illustrating the present disclosure, there is shown in the drawings an exemplary embodiment, it being understood, however, that the present disclosure is not intended to be limited to the details shown because various modifications and structural changes may be made therein without departing from the spirit of the present disclosure and within the scope and range of equivalents of the claims. The use of the same reference numerals or symbols in different drawings indicates similar or identical items. 
         FIG.  1 A  illustrates a master device for an endoscope surgical robot of the related art; 
         FIG.  1 B  is a view for explaining inconsistency of a screen displayed to an operator and an actual manipulation direction in a master device for an endoscope surgical robot of the related art; 
         FIG.  2    schematically illustrates a usage environment of an endoscope surgical robot system according to an exemplary embodiment; 
         FIG.  3    schematically illustrates a configuration of an endoscope surgical robot system according to an exemplary embodiment; 
         FIG.  4    is a block diagram of an endoscope surgical robot system according to an exemplary embodiment; 
         FIG.  5    is a perspective view of a first operation module which is an endoscope surgical robot control device according to an exemplary embodiment; 
         FIG.  6    is a view illustrating an output image of a display part according to the operation of a first operation module according to an exemplary embodiment and an operation configuration of an endoscope apparatus; 
         FIG.  7    is a view illustrating a configuration of an output image of a display part according to another operation of a first operation module according to an exemplary embodiment; 
         FIG.  8    is a view illustrating a configuration of an output image of a display part according to still another operation of a first operation module according to an exemplary embodiment; 
         FIG.  9    is a view schematically illustrating a configuration of an endoscope surgical robot system according to another exemplary embodiment; 
         FIG.  10    is a perspective view of a second operation module which is an endoscope surgical robot control device according to another exemplary embodiment; 
         FIG.  11    is a kinematic conceptual view of a second operation module according to another exemplary embodiment; 
         FIG.  12    is a view schematically illustrating a change in an output image of a display part according to an operation of a second operation module according to another exemplary embodiment; 
         FIG.  13 A  is a perspective view of a third operation module which is an endoscope surgical robot control device according to another exemplary embodiment; 
         FIG.  13 B  is a view for explaining a handle included in a third operation module according to still another exemplary embodiment in more detail; 
         FIG.  14    is a view for explaining an endoscope surgical robot control system including an endoscope surgical robot control device according to still another exemplary embodiment; 
         FIG.  15    is a view for explaining a forceps device controlled by an endoscope surgical robot control system according to still another exemplary embodiment; 
         FIG.  16    is a view for explaining a laser device controlled by an endoscope surgical robot control system according to still another exemplary embodiment; 
         FIG.  17 A  illustrates a front surface of an additional control device included in an endoscope surgical robot control system according to still another exemplary embodiment; 
         FIG.  17 B  illustrates a rear surface of an additional control device included in an endoscope surgical robot control system according to still another exemplary embodiment; 
         FIG.  17 C  is a view for explaining a joystick of an additional control device according to still another exemplary embodiment; 
         FIG.  18    is a view schematically illustrating a configuration of an endoscope surgical robot system according to an additional exemplary embodiment; 
         FIG.  19    is a block diagram of an endoscope surgical robot system according to an additional exemplary embodiment; 
         FIG.  20    is a perspective view of an operation module according to an additional exemplary embodiment; 
         FIG.  21    is a view illustrating an output image of a display part according to the operation of an operation module according to an additional exemplary embodiment and an operation configuration of an endoscope apparatus; 
         FIG.  22    is a flowchart of a method for correcting an output image of an endoscope surgical robot system according to an additional exemplary embodiment; 
         FIG.  23    is a view illustrating a configuration of an output image of a display part according to an operation of an operation module according to an additional exemplary embodiment; 
         FIG.  24    is a view illustrating a configuration of an output image of a display part according to an operation of an operation module according to an additional exemplary embodiment. 
         FIG.  25    is a graph to compare surgery time taken when using a conventional master device for an endoscope surgical robot and surgery time taken when using a master device according to an exemplary embodiment for an endoscope surgical robot. 
         FIG.  26    is a graph to compare mean number of mistakes occurred when using a conventional master device for an endoscope surgical robot and mean number of mistakes occurred when using a master device according to an exemplary embodiment for an endoscope surgical robot. 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The following description is one of various aspects of exemplary embodiments and the following description forms a part of the detailed description of the exemplary embodiment. 
     In relation to describing one exemplary embodiment, when the detailed description of the relevant known technology or configuration is determined to unnecessarily obscure the gist of the present disclosure, the detailed description may be omitted. 
     Terms or words used in the present specification and claims should not be interpreted as being limited to typical or dictionary meanings, but should be interpreted as having meanings and concepts which comply with the technical spirit of the endoscope surgical robot system according to the exemplary embodiment, based on the principle that an inventor can appropriately define the concept of the term to describe his/her own invention in the best manner. 
     Further, it should be understood that the exemplary embodiment described in the specification and the configuration illustrated in the drawings are merely examples of the endoscope surgical robot system according to the exemplary embodiment, but do not represent all the technical spirits of the endoscope surgical robot system according to the exemplary embodiment so that there may be various equivalent and modifications which may be substituted for them at the time of the present application. 
       FIG.  2    schematically illustrates a usage environment of an endoscope surgical robot system according to an exemplary embodiment. 
       FIG.  2    illustrates a test environment in which a test bed is disposed at the right instead of an actual patient, the endoscope is connected to a slave robot and the slave robot is manipulated by a master device (operation module). The endoscope photographs the inside of the test bed while moving in the test bed in accordance with the operation of the master device and the generated image is displayed on a display of a master console. The user controls a movement of the endoscope while watching the display. 
     Here, the user operates the master device while observing a surgical situation and the movement of the endoscope displayed on a display screen to move the endoscope to be appropriate for a surgical procedure. 
       FIG.  3    is a view schematically illustrating a configuration of an endoscope surgical robot system according to an exemplary embodiment.  FIG.  4    is a block diagram of an endoscope surgical robot system according to an exemplary embodiment.  FIG.  5    is a perspective view of a first operation module which is an endoscope surgical robot control device according to an exemplary embodiment.  FIG.  6    is a view illustrating an output image of a display part according to the driving of a first operation module according to an exemplary embodiment and an operation configuration of an endoscope apparatus.  FIG.   7    is a view illustrating a configuration of an output image of a display part according to another operation of a first operation module according to an exemplary embodiment.  FIG.  8    is a view illustrating a configuration of an output image of a display part according to still another operation of a first operation module according to an exemplary embodiment. 
     Referring to  FIGS.  3  to  8   , an endoscope surgical robot of an endoscope surgical robot system  1  according to an exemplary embodiment receives an input signal from a first operation module  12  corresponding to a master device which is manipulated by the user to generate and transmit a required input signal. A slave device which is directly connected to the endoscope apparatus  11  receives an input signal and performs an operation corresponding to the input signal to perform the operation of an insertion tube  111  of the endoscope apparatus  11 . 
     For example, the endoscope surgical robot system  1  may include an endoscope apparatus  11 , a driving module  13 , a first operation module  12 , a display part  14 , and a controller  15 . The driving module  13  may be configured by various actuators and gears and the controller  15  may include a processor. 
     The endoscope apparatus  11  may include an insertion tube  111  which is inserted into a body of a patient to perform the translation and rotation and an endoscopic camera  112  which photographs an image at an end portion of the insertion tube  111 . 
     For example, the endoscope apparatus  11  may be connected to the driving module  13  and the driving module  13  is driven to perform the translation and the rotation of the insertion tube  111 . 
     The driving module  13  is connected to the endoscope apparatus  11  to perform the translation and the rotation of the insertion tube  111 . For example, the driving module  13  may be a slave device which receives an input signal from the first operation module  12  corresponding to a master device to directly perform the operation required for the endoscope apparatus  11 . 
     For example, the driving module  13  may include a translation driving part  131  which performs translation P_translation of the insertion tube  111  along a translation movement axis X_T with respect to a length direction of the insertion tube  111 , a roll driving part  132  which performs roll rotation R_roll around a roll rotation axis X_R parallel with the length direction of the insertion tube  111 , and a pitch driving part  133  which performs pitch rotation R_pitch to bend the insertion tube  111  with respect to a pitch rotation axis X_P perpendicular to the roll rotation axis X_R. 
     The first operation module  12  may be an input device manipulated by the user. For example, the first operation module  12  may be a master device which is manipulated by the user to generate an input signal required for driving the endoscope apparatus  11 . 
     For example, the first operation module  12  may include a translation movement part  121 , a pitch rotation part  122 , and a control handle  124 . 
     The translation movement part  121  may slidably move along the translation movement axis X_T corresponding to a forward/backward direction of the insertion tube  111  in a state in which the user grasps the control handle  124  and thus, the controller  15  may control the operation of the translation driving part  131  which performs the forward/backward operation of the insertion tube  111  based on a translation movement displacement of the translation movement part  121 . 
     For example, the translation movement part  121  may include a sliding guide  1211  extending along the translation movement axis X_T, a slider  1213  which is guided by the sliding guide  1211  to slide along the translation movement axis X_T, and a sliding arm  1212  which is fixed to the slider  1213  and extends upward. 
     The sliding arm  1212  may be a connection member which is supported by the pitch rotation part  122  to rotate around the pitch rotation axis X_P. For example, the sliding arm  1212  may extend in a direction perpendicular to the translation movement axis X_T and form a rotatable joint around the pitch rotation axis X_P together with the pitch rotation arm  1221  of the pitch rotation part  122  in an upwardly extending position. 
     One side of the sliding arm  1212  connected to the slider  1213  may extend to be spaced apart from the sliding guide  1211  along the direction of the pitch rotation axis X_P. Another side of the sliding arm  1212  is connected to the pitch rotation arm  1221  and forms a joint with the pitch rotation arm  1221  in a portion which is bent in a direction perpendicular to the roll rotation axis X_R and the pitch rotation axis X_P. 
     The first operation module  12  not only performs pitch rotation and roll rotation of the endoscope apparatus  11 , but also performs yaw rotation. In this case, as illustrated in  FIG.  5   , the sliding arm  1212  may rotate around a yaw rotation axis X_Y perpendicular to the roll rotation axis X_R and the pitch rotation axis X_P with respect to the slider  1213 . The controller  15  may perform the yaw rotation of the endoscope apparatus  111  based on a rotation direction of the sliding arm  1212  around the yaw rotation axis X_Y and an input signal for rotational displacement. 
     The pitch rotation part  122  may rotate a joint along the pitch rotation axis X_P corresponding to a rotation axis of the pitch rotation R_pitch of the insertion tube  111  in a state in which the user grasps the control handle  124 . Accordingly, the controller  15  may control the operation of the pitch driving part  133  which performs the pitch rotation R_pitch of the insertion tube  111  based on a rotation displacement of the pitch rotation part  122 . 
     The pitch rotation part  122  may include a pitch rotation arm  1221  which is configured to rotate around the pitch rotation axis X_P with respect to the sliding arm  1212 , a first rotation encoder  1223  which measures a pitch rotation motion of the pitch rotation arm  1221 , and a bending arm  1222  which is connected to the pitch rotation arm  1221  to extend in a direction perpendicular to a length direction of the pitch rotation arm  1221 . 
     The pitch rotation arm  1221  may include a first joint  12211  which is connected to the sliding arm  1212  to rotate around the pitch rotation axis X_P and a second joint  12212  which is connected to the bending arm  1222  to rotate around a rotation axis parallel with the pitch rotation axis X_P. For example, as illustrated in  FIGS.  5  to  8   , the pitch rotation arm  1221  may be a link member having the first joint  12211  and the second joint  12212  having rotation axes parallel to the pitch rotation axis X_P. 
     The first rotation encoder  1223  may measure a rotation motion of the pitch rotation arm  1221  around the pitch rotation axis X_P with respect to the sliding arm  1212 . 
     The bending arm  1222  may be a connection link member extending in a direction perpendicular to an extending direction of the pitch rotation arm  1221 , that is, a direction parallel with the pitch rotation axis X_P. 
     For example, the bending arm  1222  may extend from a portion connected to the pitch rotation arm  1221  toward sliding guide  1211  along a direction parallel with the pitch rotation axis X_P. According to this structure, the control handle  124  connected from the bending arm  1222  may maintain a distance adjacent to the sliding guide  1211  with respect to the pitch rotation axis X_P direction (horizontal direction) to advantageously optimize a movement/rotation operation by the control handle  124  or stability in a steady state. 
     For example, the bending arm  1222  may include a rotation joint  12221  which rotatably supports the control handle  124  around the roll rotation axis X_R perpendicular to the pitch rotation axis X_P in a portion which extends along a direction parallel with the pitch rotation axis X_P from the pitch rotation arm  1221 . 
     For example, the bending arm  1222  may be rotatably connected to the pitch rotation arm  1221  with respect to a rotation axis parallel with the roll rotation axis X_R. In this case, as illustrated in  FIGS.  7  and  8   , even though the pitch rotation arm  1221  rotates, the bending arm  1222 , the control handle  124 , and the roll rotation axis X_R which mutually rotates do not rotate to guide the control handle  124  to suppress unnecessary posture or a phase change in a direction excluding the pitch rotation axis X_R. 
     As another example, it should be noted that the bending arm  1222  may be formed by an integral configuration which does not rotate with respect to the pitch rotation arm  1221 . 
     The control handle  124  is a member which is connected from the pitch rotation part  122  to be grasped by the user and connected to the bending arm  1222  to rotate around the roll rotation axis X_R. For example, the user may grasp the control handle  124  to move or rotate the control handle  124  along any one or more of the translation movement axis X_T, the roll rotation axis X_R, and the pitch rotation axis X_R. 
     For example, the control handle  124  may include a rotation connection part  1241  which is connected to the bending arm  1222  to be rotatable around the roll rotation axis X_R, a grasp manipulation part  1242  which is connected to the rotation connection part  1241  to be manipulated by being grasped by the user, and a second rotation encoder  1243  which measures the roll rotation motion of the rotation connection part  1241  with respect to a rotation joint  12221  of the bending arm  1222 . 
     For example, the rotation connection part  1241  of the control handle  124  may be disposed to be perpendicular to the bending arm  1222  regardless of a rotation state with respect to the bending arm  1222  and similarly, the bending arm  1222  may maintain to be perpendicular to the pitch rotation arm  1221  regardless of the rotation state thereof. 
     As illustrated in  FIG.  5   , the sliding arm  1212 , the pitch rotation arm  1221 , the bending arm  1222 , and the control handle  124  have a joint link structure in which the sliding arm  1212 , the pitch rotation arm  1221 , the bending arm  1222 , and the control handle  124  are relatively inwardly bent to be sequentially connected while being spaced apart from one another with a predetermined distance or more. Therefore, they have an advantageous structure to reduce a moment due to a rotation operation or give stability to each joint portion. Further, it is advantageous to provide an appropriate available space so as not to interfere with the sliding arm  1212 , the pitch rotation arm  1221 , or the bending arm  1222  while the user performs various movement or rotation operations with the grasped control handle  124 . 
     A grasp manipulation part  1242  may provide an input interface to control operations of the endoscope apparatus  11  or various surgical tools used together. 
     For example, the grasp manipulation part  1242  may have a shape extending to be spaced apart from a portion connected to the rotation connection part  1241  along the roll rotation axis X_R. 
     For example, as illustrated in  FIG.  5   , with respect to a default state in which the grasp manipulation part  1242  does not rotate around the roll rotation axis X_R, a part of the grasp manipulation part  1242  extending along the roll rotation axis X_R may project obliquely downward at a predetermined angle so that it can be easily grasped by the user. 
     The display part  14  may receive and output an image generated from the endoscope camera  112 . For example, the controller  15  may receive an image generated by the endoscope camera  112  and transmit the image to the display part  14 . 
     The controller  15  may receive the input signal generated by the operation of the operation module  12  by the user and control the operation of the driving module  13  based on the input signal to drive the endoscope apparatus  11  in response to the input signal. 
     For example, the controller  15  may calculate a direction of rotating the pitch rotation arm  1221  around the pitch rotation axis X_P by the user and a rotation displacement based on a signal measured by the first rotation encoder  1223 . The controller  15  may perform the pitch rotation R_pitch on the insertion tube  111  by driving the pitch driving part  133  so as to correspond to the calculated rotation direction and rotation displacement of the pitch rotation arm  1221 . 
     For example, the controller  15  may calculate a direction of rotating the roll control handle  124  around the roll rotation axis X_R by the user and a rotation displacement based on a signal measured by the second rotation encoder  1243 . The controller  15  may perform the roll rotation R_roll on the insertion tube  111  by driving the roll driving part  132  so as to correspond to the calculated roll rotation direction and roll rotation displacement. 
     In a master device of the endoscope surgical robot system of the related art, in the case of a configuration in which a joint is formed at a point at which a configuration of a pitch rotation joint rotating to input pitch rotation of an insertion tube with respect to an end portion grasped by the user is prior to a configuration of a roll rotation joint rotating to input rotation of the insertion tube, the entire pitch rotation joint rotates in the roll direction in accordance to the roll rotation operation of the user. Consequently, the pitch rotation axis of the pitch rotation joint rotates so that there is a problem in that a pitch driving direction on an image (endoscope camera image) coordinate output from the display by the user does not match a pitch rotation direction of the master device which is actually manipulated. 
     According to the endoscope surgical robot system  1  according to the exemplary embodiment, during a process that the user remotely drives the endoscope apparatus  11  by means of the operation module  12  while observing the display part  14 , as illustrated in  FIGS.  6  and  7   , when the control handle  124  rotates around the rotation axis X_R to implement the roll rotation R_roll of the insertion tube  111 , the pitch rotation axis X_P of the pitch rotation part  122  maintains a fixed state regardless of the rotation of the control handle  124 . Therefore, as illustrated in  FIGS.  7  and  8   , the pitch rotation R_pitch direction on the output image coordinate and the actual rotation direction of the pitch rotation part  122  are set to always be equal allowing intuitive control by the user. 
     The endoscope surgical robot system including the above-described first operation module  12  may include an endoscope apparatus including an endoscope surgical robot insertion tube and an endoscope camera  112  which photographs an end image of the insertion tube, a driving module  13  which is connected to the endoscope apparatus to perform pitch rotation or roll rotation of the insertion tube  111 , a first operation module  12  which is manipulated by the user to rotate and generate an input signal required for the pitch rotation or the roll rotation of the endoscope apparatus, and a controller  15  which controls the operation of the driving module based on an input signal generated by the first operation module. 
     Here, the first operation module  12  may include a pitch rotation part  122  which rotates a joint along the pitch rotation axis corresponding to a rotation axis according to the pitch rotation of the insertion tube and a control handle  124  which is connected from the pitch rotation part  122  to be grasped by the user and connected to the pitch rotation part  122  to rotate around the roll rotation axis perpendicular to the pitch rotation axis. 
     Here, the pitch rotation part  122  may include a pitch rotation arm which is installed to rotate the joint around the pitch rotation axis with respect to a member connected from a fixed point of the first operation module  12  and a bending arm which has one end connected to the pitch rotation arm and the other end extending along the pitch rotation axis to allow the control handle to be connected to rotate the joint around the roll rotation axis perpendicular to the pitch rotation axis. 
     The control handle may include a rotation connection part which is connected to the bending arm to be rotatable around the roll rotation axis, and a grasp manipulation part which extends at least a small amount to be spaced apart from the rotation connection part along the roll rotation axis to be grasped by the user to be manipulated. 
     Here, the bending arm is connected to the pitch rotation arm to rotate around the rotation axis parallel with the roll rotation axis, the rotation connection part and the bending arm of the control handle are perpendicular to each other regardless of the rotation state therebetween, and the bending arm and the pitch rotation arm are perpendicular to each other regardless of the rotation state therebetween. 
     The operation module may further include a translation movement part including a sliding guide extending along a direction parallel with the roll rotation axis and a sliding arm having one side which is guided by the sliding guide to be slidable and the other end to which the pitch rotation arm is joint-rotatably connected around the pitch rotation axis. 
     Here, one end of a part of the sliding arm which is connected to the slide guide extends along the pitch rotation axis so as to be spaced apart from the sliding guide and the other end is upwardly bent to be perpendicular to the pitch rotation axis to extend and project upward to form a joint with the pitch rotation arm. 
     The bending arm is characterized by having a shape which extends from a portion connected to the pitch rotation arm along a direction parallel with the pitch rotation axis to be close to the sliding guide. 
     Here, the sliding arm, the pitch rotation arm, the bending arm, and the control handle are characterized by having a joint link structure in which the sliding arm, the pitch rotation arm, the bending arm, and the control handle are relatively inwardly perpendicularly bent to be sequentially connected while being spaced apart from one another by a predetermined distance. 
       FIG.  9    is a view schematically illustrating a configuration of an endoscope surgical robot system according to another exemplary embodiment. 
     An endoscope surgical robot system of  FIG.  9    includes a second operation module  22  according to another exemplary embodiment and the other configuration excluding the second operation module  22  is the same as that of  FIG.  3   . Accordingly, the configuration other than the second operation module  22  will be replaced with the description of  FIG.  3    and will not be repeated. 
     The second operation module  22  has a structure similar to that of the first operation module  12  in terms of kinematics and a detailed design and a handle portion to be grasped by the user may be different. 
       FIG.  10    is a perspective view of a second operation module which is an endoscope surgical robot control device according to another exemplary embodiment. 
     The second operation module  22  may include a translation movement part  221 , a pitch rotation part  222 , and a roll rotation part  224 . The roll rotation part  224  may correspond to the control handle  124  of the first operation module  12 , but may be designed with a different shape. 
     The translation movement part  221  may move forward and backward to control a forward/backward movement of the insertion tube  111  and may be designed to move a predetermined distance in accordance with the parameters of use for the endoscope apparatus. An endoscope control device may be designed to make a movement distance of the translation movement part  221  equal to the actual movement distance of the insertion tube  111  or the endoscope control device may also be designed to make a predetermined ratio of the movement distance of the translation movement part  221  and the actual movement distance of the insertion tube  111 . For example, the endoscope apparatus may be designed such that when the translation movement part  221  moves by d 1 , the insertion tube  111  moves by d 1 /k. For example, k may be a fixed value like 10. 
     In another embodiment, the ratio of the movement distance of the translation movement part  221  and the actual movement distance of the insertion tube  111  is configured to change depending on the distance between the front end of the insertion tube  111  and the inner wall of the organ being detected in the direction in which the front end of the insertion tube  111  is directed. For example, when the distance (d 2 ) from the front end of the insertion tube  111  inserted into the patient’s organ to the inner wall of the organ detected in the direction in which the front end of the insertion tube  111  is directed is 0 to less than 1 cm, k becomes  100 , and if the distance d 2  is 1 to less than 5 cm, k becomes 20, and when the distance d 2  is 5 cm or more, k becomes 10. The distance d 2  between the front end of the insertion tube  111  and the inner wall of the organ may be detected by a distance detection sensor disposed on the insertion tube  111 . For example, the distance detection sensor includes at least one of an ultrasonic sensor, an infrared sensor, etc. In another embodiment, k may be determined to be inversely proportional to the distance d 2 . 
     The k value may be automatically adjusted according to the environment and conditions that the endoscope surgical robot will be used, or may be manually adjusted according to the user’s desired ratio or sensitivity. 
     The pitch rotation part  222  is connected to the translation movement part  221  and may be configured to rotate around the pitch rotation axis to control the pitch rotation of the insertion tube  111 . 
     The torque required for rotation of the pitch rotation part  222  may be configured to change according to the distance between the side of the insertion tube  111  and the inner wall of the organ. For example, the closer the distance between the inner wall of the organ in which the insertion tube  111  is disposed and the side of the insertion tube  111 , the greater the torque required for rotation of the pitch rotation part  222 . The closer the inner wall of the organ is to the side of the insertion tube  111 , the greater the likelihood of colliding with the inner wall of the organ during a pitch rotation, so it may be necessary to adjust the manipulation sensation of the operator. 
     The roll rotation part  224  is connected to the pitch rotation part  222  and may be configured to rotate around the roll rotation axis to control the roll rotation of the insertion tube  111 . In a default state of the second operation module  22 , the roll rotation axis may be designed to be parallel to a translation direction and is perpendicular to the pitch rotation axis. Here, the default state may refer to a state in which the user does not apply a force to the second operation module  22 . 
     In addition, the torque required for rotation of the roll rotation part  224  may be configured to change according to the curvature of the insertion tube  111 . For example, as the curvature of the insertion tube  111  increases, the torque required to rotate the roll rotation part  224  increases. If the insertion tube  111  is bent along the path of the organ, the master device can alert the operator that the insertion tube  111  is in a bent state by adjusting the operator’s sense of manipulation when the roll rotation part  224  rotates. 
     The roll rotation part  224  may be designed to be symmetrical with respect to the roll rotation axis. 
     The translation movement part  221  may be in direct communication with the pitch rotation part  222  and the pitch rotation part  222  may be in direct communication with the roll rotation part  224 . Further, the movement of the translation movement part  221 , the movement of the pitch rotation part  222 , and the movement of the roll rotation part  224  may be independently controlled from one another. 
     The translation movement part  221  may include a sliding guide  2211  and a sliding arm  2213  extending along the translation direction. Here, one end of the sliding arm  2213  may be configured to slide along the sliding guide  2211  and the other end of the sliding arm  2213  extends upward to be connected to the pitch rotation part  222 . 
     The other end of the sliding arm  2213  extending upward may be designed to be connected to be fixed to one end of the sliding arm  2213  so as not to rotate. 
     In another exemplary embodiment, the other end of the sliding arm  2213  extending upward may be rotatably connected to one end of the sliding arm  2213  and in this case, the sliding arm  2213  may be designed to rotate around the yaw rotation axis perpendicular to the pitch rotation axis and the roll rotation axis. 
     In this case, the user may also control the yaw rotation axis of the insertion tube  111 . 
       FIG.  11    is a kinematic conceptual view of a second operation module according to another exemplary embodiment. 
     As illustrated in  FIG.  11   , from the viewpoint of the kinematic conceptual view of the endoscope surgical robot control device, the translation movement part  221 , the pitch rotation part  222  and the roll rotation part  224  may be connected in this order. 
     In the operation module of the related art illustrated in  FIGS.  1 A and  1 B , a part of controlling the translation motion is directly connected to a part of controlling the roll rotation of the endoscope apparatus, and a part of controlling the roll rotation of the endoscope apparatus is directly connected to a part of controlling the pitch rotation of the endoscope apparatus. In contrast, in the endoscope surgical robot control device according to the present disclosure, a part of controlling the translation movement is directly connected to the part of controlling the pitch rotation, and the part of controlling the pitch rotation is directly connected to the part of controlling the roll rotation, which is substantially different in the connection order from the related art. 
       FIG.  12    is a view schematically illustrating a change in an output image of a display part according to an operation of a second operation module according to another exemplary embodiment. 
     As illustrated in  FIG.  12   , after performing the roll rotation by the user, the manipulation direction to perform the pitch rotation may match a movement direction (visual direction) displayed on the display. By doing this, the experience that a screen observed by the user intuitively matches the manipulation performed by the user is provided giving a more accurate and efficient surgical environment. 
       FIG.  13 A  is a perspective view of a third operation module which is an endoscope surgical robot control device according to another exemplary embodiment. 
     The third operation module  32  may include a translation movement part  321 , a pitch rotation part  322 , and a roll rotation part  324 . 
     The pitch rotation part  322  of the third operation module  32  according to still another exemplary embodiment of  FIG.  13 A  is connected to a sliding arm of the translation movement part  321  and has a pitch rotation arm  3223  and a handle  3225 . 
     The pitch rotation arm  3223  may be configured to be connected to the sliding arm of the translation movement part  321  to rotate around the pitch rotation axis. 
     The handle  3225  of the pitch rotation part  322  includes a first end and a second end and the first end of the handle  3225  may be connected to the pitch rotation arm  3223  and the second end of the handle  3225  may be connected to the roll rotation part  324 . 
     The roll rotation part  324  may include a roll rotation arm connected to the handle  3225  and configured to rotate around the roll rotation arm (a protrusion to be grasped by the user). 
     A connection part connected to the pitch rotation arm  3223  may be disposed to be close to the first end of the handle  3225  and a joystick for fine adjustment of the insertion tube  111  may be disposed to be close to the second end of the handle  3225 . 
       FIG.  13 B  is a view for explaining a handle included in a third operation module according to still another exemplary embodiment in more detail. 
     The handle  3225  of  FIG.  13 B  may include a joystick  3225 - 1  which moves in at least four directions to control the fine translation movement of the insertion tube  111  and the fine pitch rotation of the insertion tube. 
     Up-down movement of the joystick  3225 - 1  controls the fine translation movement and left-right movement of the joystick controls the fine pitch rotation. 
     Further, the up and down direction of the joystick  3225 - 1  may be parallel with the roll rotation axis and the left and right direction of the joystick  3225 - 1  may be parallel with the pitch rotation axis. 
     Further, the handle  3225  may include a first fine adjustment wheel  3225 - 3  configured to control fine translation movement of the insertion tube  111  and a second fine adjustment wheel  3225 - 2  configured to control fine pitch rotation of the insertion tube  111 . Here, the wheel may be replaced with a lever or a slider, and the wheel in the below may be replaced with a lever or a slider. 
     The fine adjustment wheels  3225 - 2  and  3225 - 3  may be designed to control a finer motion than the joystick. 
       FIG.  14    is a view for explaining an endoscope surgical robot control system including an endoscope surgical robot control device according to still another exemplary embodiment. 
     An endoscope surgical robot control system of  FIG.  14    may further include an additional control device  35  and a clutch pedal  37  in addition to a third operation module  32  which controls the insertion tube  111 . The clutch pedal  37  may be used for manipulation of the endoscope apparatus using a foot of the user. The clutch pedal  37  may be used for various functions, and in one embodiment, the clutch pedal  37  may function as a switch that transmits manipulation input signals such as translation, pitch, and roll motion of the third operation module to the driving module. 
     In another embodiment, the clutch pedal  37  may also be used as a master foot clutch, laser foot clutch, and clutch for irrigation and suction. 
     In another embodiment, the clutch pedal  37  may be used as an operation device for controlling the laser device, and the control function of the clutch pedal  37  may be selected and changed according to a user’s setting. 
     The additional control device  35  may be used to control a forceps and/or a laser device used during the endoscope surgery and the user may control the third operation module  32  with one hand and control the additional control device  35  with the other hand. 
     The additional control device  35  may be used to control the forceps device or the laser device to be described below. 
     In another embodiment, the third operation module  32  and the additional control device  35  may be operated to move left and right. 
       FIG.  15    is a view for explaining a forceps device controlled by an endoscope surgical robot control system according to still another exemplary embodiment. 
     When the additional control device  35  is used to control the forceps device, the additional control device  35  may also be referred to as a forceps controller. 
     In this case, the endoscope surgical robot control device may further include a forceps controller to control forceps connected through a link within the insertion tube and the forceps controller may be configured to control translation movement of the forceps and an open and close operation of the forceps. 
     When the additional control device  35  is used to control a basket device, the additional control device  35  may also be referred to as a basket controller. 
     In this case, the endoscope surgical robot control device may further include a basket controller to control a basket connected through a link within the insertion tube  111 . 
     The basket controller may include a translation actuator configured to control translation movement of the basket and an open and close actuator configured to control an open and close operation of the basket. 
     The basket device  41  controlled by the basket controller may include a basket rotation controller  411 , a bevel gear transmission  413 , and a basket  415 . The basket rotation controller  411  moves to rotate the basket and may perform this by the bevel gear transmission  413 . 
       FIG.  16    is a view for explaining a laser device controlled by an endoscope surgical robot control system according to still another exemplary embodiment. 
     When the additional control device  35  is used to control the laser device, the additional control device  35  may also be referred to as a laser controller. 
     In this case, the endoscope surgical robot control device may further include a laser controller to control the laser generation device connected through a link within the insertion tube  111 . 
     The laser controller may be configured to control translation movement and a laser generation operation of the laser generation device. 
     The laser device  51  controlled by the laser controller may include a laser fiber rotation controller  511 , a bevel gear transmission  513 , and a laser fiber  515 . The laser fiber rotation controller  511  can fix the laser fiber not to move. 
       FIG.  17 A  illustrates a front surface of an additional control device included in an endoscope surgical robot control system according to still another exemplary embodiment. 
     Various buttons and wheels may be disposed on the front surface of the additional control device  35  and for example, a wheel or a direction key for translation movement of the basket or the laser fiber, a button for rotation of the basket or the laser fiber, and a button to open or close the basket may be disposed. 
       FIG.  17 B  illustrates a rear surface of an additional control device included in an endoscope surgical robot control system according to still another exemplary embodiment. 
     Another wheel may be disposed on a rear surface of the additional control device  35  and this wheel may be used for an operation wheel to open and close the basket. 
     In another embodiment, the wheel on the rear of the additional control device  35  may be used to perform various functions, such as operation for fixing and releasing the laser fiber, operation of the laser, operation of the flow rate of the irrigation/suction pump, etc. 
       FIG.  17 C  is a view for explaining a joystick of an additional control device according to still another exemplary embodiment. 
     The joystick of the additional control device  35  may include a direction key to automatically position the basket or the laser fiber. Further, the additional control device  35  may include a RUN button for operating the laser, a manipulator such as basket wheel, a lever or a slider for opening and closing the basket, and a Confirm button to confirm a user control instruction and may further include a button customized by a user to perform an arbitrary instruction. 
     Meanwhile, the additional control device  35  of  FIG.  17 C  is only an example, and the functions, positions, and numbers of buttons, wheels, and direction keys may be changed according to usage examples. 
     Buttons and manipulators of the additional control device  35  may be configured for irrigation control via the insertion module  111 , laser operation, position control of the access sheath, etc. and these configurations can be selected and changed by a user. 
     Meanwhile, the first operation module  12 , the second operation module  22 , the third operation module  32 , and the additional control device  35  may include a feedback function related to the performance of the above-described function. Here, the feedback means may include at least one of vibration, resistance, sound, and light. 
     According to the above-described exemplary embodiments, the design of the operation module is changed to solve the inconsistency between the displayed image and the manipulated operation. 
     Hereinafter, another additional method for solving the inconsistency by adjusting a displayed image, instead of changing a design of the operation module will be described. 
     The additional exemplary embodiment provides an endoscope surgical robot system and a method for correcting an output image using the same. 
     An endoscope surgical robot system according to the additional exemplary embodiment may include an endoscope apparatus including an insertion tube and an endoscope camera which photographs an end image of the insertion tube, a driving module connected to the endoscope apparatus to perform pitch rotation or roll rotation of the insertion tube, an operation module which is rotated by the user to generate an input signal required for the pitch rotation or the roll rotation of the endoscope apparatus, a controller which controls an operation of the driving module based on an input signal generated by the operation module, and a display part which receives and outputs an image generated by the endoscope camera, and when an input signal for the roll rotation of the insertion tube is formed by the operation module, the controller may rotate the image generated by the endoscope camera in accordance with a rotation direction and a rotation displacement according to the roll rotation. 
     The operation module may include a control handle grasped by the user, a pitch rotation part which is connected to the control handle and rotates a joint along the pitch rotation axis corresponding to the rotation axis according to the pitch rotation of the insertion tube, and a roll rotation part which is connected to the control handle and rotates a joint along a roll rotation axis which corresponds to a rotation axis according to the roll rotation and is perpendicular to the pitch rotation axis. The operation module may have a joint link structure forming a joint in which a joint part of the pitch rotation part is closer to the j oint link structure that a joint part of the roll rotation part. 
     The roll rotation part may include a roll rotation arm having one end connected to a member connected to a fixed point of the operation module to rotate a joint around the roll rotation axis and the other end connected to the pitch rotation part to rotate a joint around the pitch rotation axis and a rotation encoder which measures a direction in which the roll rotation arm rotates around the roll rotation axis and a rotation displacement. The controller may rotate and correct an image input from the endoscope camera in proportion to a rotation direction and the rotation displacement of the roll rotation arm based on a signal measured by the rotation encoder, and output the rotated and corrected image on the display part. 
     The operation module may further include a sliding guide which is connected to the control handle and extends along a direction parallel with the roll rotation axis and a translation movement part having a sliding arm which has one end of which is guided by the sliding guide to be slidable and the other end of which extends upward to be perpendicular to a direction of the roll rotation axis to rotate the roll rotation part around the roll rotation axis. 
     A method for correcting an output image of an endoscope surgical robot system according to an exemplary embodiment including an operation module including a control handle grasped by the user, a pitch rotation part which is connected to the control handle and has a joint link structure which rotates a joint along the pitch rotation axis corresponding to a rotation axis according to the pitch rotation of the insertion tube of the endoscope apparatus, and a roll rotation part which is connected with a joint link structure following the pitch rotation part with respect to the control handle and rotates a joint along a roll rotation axis which corresponds to a rotation axis according to the roll rotation of the insertion tube and is perpendicular to the pitch rotation axis, a display part which outputs an image generated by an endoscope camera which photographs an end portion of the insertion tube of the endoscope apparatus, and a controller which controls roll rotation or pitch rotation of the insertion tube of the endoscope apparatus based on an input signal formed by rotating the operation module by the user may include: a step of sensing roll rotation of the roll rotation part with respect to the roll rotation axis, by the controller; a step of calculating roll rotation movement information including a direction that the user rotates the roll rotation part and a rotation displacement based on the sensed roll rotation by the controller, a step of rotating and correcting an image generated by the endoscope camera based on the calculated roll rotation movement information by the controller, and a step of transmitting and outputting the corrected image to the display part by the controller. 
     The roll rotation part may include a roll rotation arm having one end connected to a member connected to a fixed point of the operation module to rotate a joint around the roll rotation axis and the other end connected to the pitch rotation part to rotate a joint around the pitch rotation axis and a rotation encoder which measures a direction in which the roll rotation arm rotates around the roll rotation axis and a rotation displacement. In the step of calculating roll rotation movement information, the controller may measure a rotation direction in which the user rotates the roll rotation arm of the roll rotation part around the roll rotation axis and a rotation displacement based on a signal measured by the rotation encoder to calculate the roll rotation movement information. 
     In the step of rotating and correcting an image, the controller may rotate the image generated by the endoscope camera in the same rotation direction and at the same angle as the rotation direction and the rotation displacement of the roll rotation part included in the roll rotation movement information. 
     According to the endoscope surgical robot system according to the additional exemplary embodiment and the method for correcting an output image using the same, as the user rotates the roll rotation part by the control handle, when the pitch rotation axis of the pitch rotation part rotates together, the image of the endoscope camera output on the display rotates in accordance with the rotation movement of the roll rotation so that a pitch rotation direction on the image coordinate output on the display is set to be identical to the actual rotation direction of the pitch rotation part. Accordingly, an intuitive controllability may be provided to the user who manipulates the operation module. 
       FIG.  18    is a view schematically illustrating a configuration of an endoscope surgical robot system according to an exemplary embodiment.  FIG.  19    is a block diagram of an endoscope surgical robot system according to an additional exemplary embodiment,  FIG.  20    is a perspective view of an operation module according to an additional exemplary embodiment, and  FIG.  21    is a view illustrating an output image of a display part according to an operation of an operation module according to an additional exemplary embodiment and an operation configuration of an endoscope apparatus. 
     Referring to  FIGS.  18  to  21   , an endoscope surgical robot system  8  according to the additional exemplary embodiment receives an input signal from a fourth operation module  82  corresponding to a master device which generates and transmits an input signal required for the manipulation of the user to drive the insertion tube  111  of the endoscope apparatus  11  by means of a slave device which is directly connected to the endoscope apparatus  11  to perform an operation corresponding to the input signal. 
     For example, the endoscope surgical robot system  8  may include an endoscope apparatus  11 , a driving module  13 , a fourth operation module  82 , a display part  14 , and a controller  85 . 
     The endoscope apparatus  11  may include an insertion tube  111  which is inserted into a body of a patient to perform the translation and rotation and an endoscopic camera  112  which photographs an image at an end portion of the insertion tube  111 . 
     For example, the endoscope apparatus  11  may be connected to the driving module  13  and the driving module  13  may be driven to perform the translation and the rotation of the insertion tube  111 . 
     The driving module  13  may be connected to the endoscope apparatus  11  to perform the translation and the rotation of the insertion tube  111 . For example, the driving module  13  may be a slave device which receives an input signal from the fourth operation module  82  corresponding to a master device to directly perform the operation required for the endoscope apparatus  11 . 
     For example, the driving module  13  may include a translation driving part  131  which performs translation P_translation of the insertion tube  111  along a translation movement axis X_T with respect to a length direction of the insertion tube  111 , a roll driving part  132  which performs roll rotation R_roll around a roll rotation axis X_R parallel to the length direction of the insertion tube  111 , and a pitch driving part  133  which performs pitch rotation R_pitch to bend the insertion tube  111  with respect to a pitch rotation axis X_P perpendicular to the roll rotation axis X_R. 
     The fourth operation module  82  may be an input device manipulated by the user. For example, the fourth operation module  82  may be a master device which is operated by the user to generate an input signal required for driving the endoscope apparatus  11 . 
     For example, the fourth operation module  82  may include a translation movement part  821 , a roll rotation part  822 , a pitch rotation part  823 , and a control handle  824 . 
     The translation movement part  821  may slidably move along the translation movement axis X_T corresponding to a forward/backward direction of the insertion tube  111  in a state in which the user grasps the control handle  824  and thus, the controller  85  may control the operation of the translation driving part  131  which performs the forward/backward operation of the insertion tube  111  based on a translation movement displacement of the translation movement part  821 . 
     For example, the translation movement part  821  may include a sliding guide  8211  extending along the translation movement axis X_T and a sliding arm  8212  which is guided by the sliding guide  8211  to slide along the translation movement axis X_T. 
     The roll rotation part  822  may rotate the joint along the roll rotation axis X_R corresponding to a rotation axis of the roll rotation R_roll of the insertion tube  111  in a state in which the user grasps the control handle  824 . Accordingly, the controller  85  may control the operation of the roll driving part  132  which performs the roll rotation R_roll of the insertion tube  111  based on the rotation displacement of the roll rotation part  822 . 
     For example, the roll rotation part  822  may include a roll rotation arm  8221  which rotates a joint around the roll rotation axis X_R extending parallel with the translation movement axis X_T with respect to the sliding arm  8212  and a first rotation encoder  8222  which measures a rotation movement of the roll rotation arm  8221 . 
     In the meantime, as another example, in the fourth operation module  82 , a configuration of a translation movement part  821  may be omitted. In this case, it is noted that the roll rotation arm  8221  of the roll driving part  832  may be rotatably installed in an arbitrary member connected from a fixed base point of the fourth operation module  82 . 
     The pitch rotation part  823  may rotate the joint along the pitch rotation axis X_P corresponding to a rotation axis of the pitch rotation R_pitch of the insertion tube  111  in a state in which the user grasps the control handle  824 . Accordingly, the controller  85  may control the operation of the pitch driving part  133  which performs the pitch rotation R_pitch of the insertion tube  111  based on the rotation displacement of the pitch rotation part  823 . 
     For example, the pitch rotation part  823  may include a pitch rotation arm  8231  which rotates a joint around the pitch rotation axis X_P perpendicular to the roll rotation axis X_R with respect to the roll rotation arm  8221  and a second rotation encoder  8232  which measures a rotation movement of the pitch rotation arm  8231 . 
     The control handle  824  may be a member which is connected from the pitch rotation part  823  to be grasped by the user. The user may move or rotate at least one of the translation movement part  821 , the roll rotation part  822 , and the pitch rotation part  823   while grasping the fourth control handle  824 . 
     For example, a control handle  824  may provide an input interface to control operations of the endoscope apparatus  11  or various surgical tools used together. 
     As illustrated in  FIG.  20   , the fourth operation module  82  may have a joint link structure in which the sliding arm  8212 , the roll rotation arm  8221 , the pitch rotation arm  8231 , and the control handle  824  are sequentially and relatively inwardly bent to be connected while being spaced apart from one another. 
     The display part  14  may receive and output an image generated from the endoscope camera  112 . For example, the controller  85  may receive an image generated by the endoscope camera  112  and transmit the image to the display part  14  to output the image. 
     The controller  85  may receive the input signal generated by the fourth operation module  82  manipulated by the user and control the operation of the driving module  13  based on the input signal to drive the endoscope apparatus  11  in response to the input signal. 
     For example, the controller  85  may control the roll rotation R_roll of the insertion tube  111  based on a signal measured by the first rotation encoder  8222  of the roll rotation part  822  and control the pitch rotation R_pitch of the insertion tube  111  based on a signal measured by the second rotation encoder  8232  of the pitch rotation part  823 . 
     For example, during the process of manipulating the fourth operation module  82  by the user, when the roll rotation part  822  rotates around the roll rotation axis X_R, the controller  85  may perform a correction to rotate an image output on the display part  14  together in proportion to a direction of the rotation and the rotation displacement. 
     In other word, the controller  85  may calculate a direction and a displacement of the roll rotation arm  8221  of the roll rotation part  822  rotated by the user through a signal measured by the first rotation encoder  8222  of the roll rotation part  822  and correct the image input from the endoscope camera  112  to be rotated in accordance with the rotation direction and the rotation displacement of the roll rotation arm  8221 , and transmit and output the rotated and corrected image to the display part  14 . 
       FIG.  22    is a flowchart of a method for correcting an output image of an endoscope surgical robot system according to an additional exemplary embodiment,  FIG.  23    is a view illustrating a configuration of an output image of a display part according to an operation of an operation module according to an additional exemplary embodiment, and  FIG.  24    is a view illustrating a configuration of an output image of a display part according to an operation of an operation module according to an additional exemplary embodiment. 
     Referring to  FIGS.  22  to  24   , a method for correcting an output image of an endoscope surgical robot system  8  which generates an input signal of a driving module  13  of an endoscope apparatus  11  through a fourth operation module  82  in which the pitch rotation part  823  is located prior to the roll rotation part  822  with respect to the control handle  824  grasped by a user may be identified. 
     In the meantime, it is noted that in  FIG.  23   , the image output through the display part  14  corresponds to an image which has not been corrected by the method of the present exemplary embodiment and is provided for comparison with  FIG.  24    in which a corrected image is output. 
     The method for correcting an output image according to an additional exemplary embodiment may be described with a configuration of an endoscope surgical robot system  8  according to the exemplary embodiment of  FIGS.  18  to  21   . However, it is merely illustrative and it is noted that it may be applied to all the arbitrary endoscope surgical robot systems including a master device (an operation module) which forms a joint at a point where a configuration of a pitch rotation part which rotates to input a pitch rotation operation of the insertion tube is closer to an end grasped by the user than a configuration of a roll rotation part which rotates to input roll rotation operation of the insertion tube. 
     The method for correcting an output image of an endoscope surgical robot system according to an additional exemplary embodiment may include a step S 81  of sensing a roll rotation movement of a roll rotation part  822  by a controller  85  during a process of manipulating a fourth operation module, by a user, a step S 82  of calculating roll rotation movement information including a direction and a displacement of the roll rotation part  822  rotated by the user based on the sensed roll rotation movement by the controller  85 , a step S 83  of rotating and correcting an image which is generated and transmitted by the endoscope camera  112  based on the calculated roll rotation movement information by the controller  85 , and a step S 84  of transmitting and outputting a corrected image to the display part  15  by the controller  85 . 
     In the step S 81  of sensing a roll rotation movement, the controller  85  may sense the rotation of the roll rotation part  822  around the roll rotation axis X_R through the signal measured by the first rotation encoder  8222  of the roll rotation part  822 . 
     For example, the controller  85  may perform the step S 82  of calculating the roll rotation movement information through the signal applied from the first rotation encoder  8222 . 
     In the step S 82  of calculating roll rotation movement information, the controller  85  may calculate the roll rotation movement information including a direction and a displacement of the roll rotation arm  8221  of the roll rotation part  822  which is rotated around the roll rotation axis X_R by the user based on the signal measured by the first rotation encoder  8222  of the roll rotation part  822 . 
     In the step S 83  of rotating and correcting the image, the controller  85  may rotate an image generated by the endoscope camera  112  in the same direction or rotate the image at an angle proportional to the rotation displacement, based on the rotation direction and the rotation displacement of the roll rotation arm  8221  included in the roll rotation movement information. 
     For example, the controller  85  may rotate the image generated by the endoscope camera  112  at the same angle as the rotation displacement of the roll rotation arm  8221 . 
     According to the endoscope surgical robot system  8  according to an exemplary embodiment and an image correcting method thereof, as illustrated in  FIGS.  23  and  24   , it is understood that when the user rotates the control handle  824  around the roll rotation axis X_R, the pitch rotation part  823  also rotates together so that the pitch rotation axis X_P of the pitch rotation part  823  also rotates around the roll rotation axis X_R. 
     Here, as illustrated in  FIG.  23   , when the image generated by the endoscope camera  112  is output to the display part  14  without being corrected, a pitch rotation R_pitch direction on the output image coordinate and an actual rotation direction of the pitch rotation part  823  do not match, which may cause manipulation confusion to the user who manipulates the fourth operation module  82  while watching the display part  14 . 
     However, as illustrated in  FIG.  24   , when the image which is rotated and corrected in accordance with the rotation of the roll rotation part  822  by the method for correcting an output image according to the exemplary embodiment is output to the display part  14 , the pitch rotation R_pitch direction on the output image coordinate and an actual rotation direction of the pitch rotation part  823  are set to be identical, which allows the user to intuitively manipulate the fourth operation module  82 . 
       FIG.  25    is a graph to compare surgery time taken when using a conventional master device for an endoscope surgical robot and surgery time taken when using a master device according to an exemplary embodiment for an endoscope surgical robot. 
       FIG.  25    shows a time difference between the case where an operation was performed using the master device for the endoscope surgical robot according to the above-described embodiments and the case where the same operation was performed using the conventional master device (shown in  FIGS.  1 A and  1 B ). 
     When using the master device described in the present disclosure, it takes an average of 61.93 seconds, whereas when using the conventional master device, it takes an average of 114.49 seconds. As such, the master device described in the present disclosure enables faster surgery than the conventional master device. 
       FIG.  26    is a graph to compare mean number of mistakes occurred when using a conventional master device for an endoscope surgical robot and mean number of mistakes occurred when using a master device according to an exemplary embodiment for an endoscope surgical robot. 
       FIG.  26    shows that the mean number of mistakes is 6.07 when using the master device for an endoscopic surgical robot according to the embodiments of the present disclosure, and the mean number of mistakes is 12.80 when using the conventional master device. 
     As such, the master device described in the present disclosure enables more accurate surgery than the conventional master device. 
     The present disclosure described as above is not limited by the aspects described herein and accompanying drawings. It should be apparent to those skilled in the art that various substitutions, changes and modifications which are not exemplified herein but are still within the spirit and scope of the present disclosure may be made. Therefore, the scope of the present disclosure is defined not by the detailed description, but by the claims and their equivalents, and all variations within the scope of the claims and their equivalents are to be construed as being included in the present disclosure.