Patent Description:
An endoscope is a medical instrument used to directly investigate internal organs or the inside of body cavities. The endoscope is designed to be inserted into the body to observe an organ with a lesion that cannot be directly seen without performing surgery or autopsy. There are many types of endoscopes such as, for example, a bronchoscope, an esophagoscope, a gastroscope, a duodenoscope, a proctoscope, a cystoscope, a laparoscope, and a ureteroscope.

For example, endoscopic surgery using a ureteroscope is known as the most frequently used, reliable method to remove kidney stones. In detail, the method is performed in the manner of inserting the ureteroscope through the ureter to reach a kidney using radiodiagnostic equipment such as C-arm, fragmenting stones with a laser, and extracting the stones using a basket. Here, the laser and the basket are inserted through a channel inside the ureteroscope.

Meanwhile, the radiodiagnostic equipment should be continuously used to check the position of the endoscope in the body. Thus, doctors and patients are at risk of radiation exposure. In particular, surgery is highly difficult since a very slender endoscope like a ureteroscope has a limited degree of freedom (bending <NUM> DOF), and there may be communication issues between two operators who need to perform precise works together. In addition, the surgery precision may decrease when the arms of an operator are fatigued over time as the operator should hold the endoscope for a long time. As described above, the endoscopic surgery requires precision, which results in the high fatigue of the operator. In addition, since it is impossible to accurately measure the size of stone using the endoscope alone, there may occur a medical accident such as hurting the ureter of a patient in the process of withdrawing a stone that is not fragmented sufficiently. If the ureter is damaged, surgery is immediately performed through an incision, and after that, there may be fatal aftereffects.

<CIT> discloses a method for assisting navigation of an endoscopic device using a controller with the aid of a digital image data record which describes an image of an object to be examined with the aid of the endoscopic device in a cavity element. A digital two-dimensional or multi-dimensional model of the object to be examined is determined based on the image data record. An operating action that predetermines a relative location of a sensor of the endoscopic device in relation to the object based on the model is received. The model is registered with the endoscopic device and/or a digital endoscopic data record supplied by the endoscopic device. An initial location of the sensor is compared with the predetermined location, and a navigation signal for navigating the endoscopic device is generated taking into account the predetermined relative location.

<CIT> teaches an endoscope system including an endoscope including an imaging unit that is capable of taking an image of a subject of interest, a display unit for displaying an image taken by the imaging unit, an endoscopic position sensor for detecting a position of the endoscope in the body cavity, a distance measurement unit for measuring a distance from a distal end of the endoscope to the subject of interest, a position calculation unit for computing the positions of the distal end of the endoscope and the subject of interest on the basis of information from the endoscopic position sensor and the distance measurement unit, a position storage unit for storing a position of the subject of interest computed by the position calculation unit, and a direction indication unit for indicating a direction in which the subject of interest is present on the display unit.

<CIT> teaches an endoscope system including a control part to generate driving signals for driving parts to operate a bending part and to drive a flexible tube part inserted into an insertion part channel.

<CIT> discloses a method for capturing an object in a cavity in a patient, wherein a basket is advanced through a working channel of an ureteroscope. The basket is opened within the cavity and is positioned so as to enclose the object. Once the object is captured, the basket is retracted to remove the object out of the cavity.

In consideration of such issues, there is a need for endoscopic equipment that may reduce the risk of radiation exposure of doctors and patients, reduce fatigue, and prevent medical accidents.

<CIT> discloses an endoscope system with a memory that records angle information of respective joint portions.

The above description has been possessed or acquired by the inventor(s) in the course of conceiving the present invention and is not necessarily an art publicly known before the present application is filed.

An aspect provides an autonomous endoscopic system.

The present invention provides an autonomous endoscopic device according to claim <NUM>. Further developments of the invention are defined in the dependent claims. Any embodiments and examples of the description not falling within the scope of the claims do not form part of the invention and are provided for illustrative purposes only.

An endoscope may autonomously drive to a particular position based on kinematic driving records, and thus it is possible to remarkably reduce the surgery fatigue of an operator.

Particularly in the case of kidney stone surgery, it is possible to automatically perform repeated works such as repeatedly inserting and withdrawing an endoscope to withdraw a number of stone fragments at a particular site one by one.

Particularly in the case of kidney stone surgery, it is possible to quickly perform work such as repeatedly accessing a particular position, which is very difficult due to the complex internal structure, based on previous driving records. Further, it is possible to access the particular position along the shortest path based on the previous driving records, and thus the operation time may be considerably reduced. Consequently, the time for general anesthesia of a patient may be reduced, which may improve the stability of surgery, in particular, for elderly patients. According to the simulation results, the operation time of <NUM> hours on average may be reduced to <NUM> hour or less.

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Regarding the reference numerals assigned to the components in the drawings, it should be noted that the same components will be designated by the same reference numerals, wherever possible, even though they are shown in different drawings. Also, in the description of the embodiments, detailed description of well-known related structures or functions will be omitted when it is deemed that such description will cause ambiguous interpretation of the present disclosure.

Also, in the description of the components, terms such as first, second, A, B, (a), (b) or the like may be used herein when describing components of the present disclosure. These terms are used only for the purpose of discriminating one constituent element from another constituent element, and the nature, the sequences, or the orders of the constituent elements are not limited by the terms. When one constituent element is described as being "connected", "coupled", or "attached" to another constituent element, it should be understood that one constituent element can be connected or attached directly to another constituent element, and an intervening constituent element can also be "connected", "coupled", or "attached" to the constituent elements.

The same name may be used to describe an element included in the embodiments described above and an element having a common function. Unless otherwise mentioned, the descriptions on the embodiments may be applicable to the following embodiments and thus, duplicated descriptions will be omitted for conciseness.

<FIG> illustrates an apparatus for endoscopic surgery according to an embodiment.

Referring to <FIG>, an apparatus for endoscopic surgery <NUM> may include an endoscope <NUM> and a surgical instrument <NUM>.

The endoscope <NUM> may include a control handle <NUM> to be gripped by an operator with a hand, an instrument hole <NUM> configured to guide the surgical instrument <NUM>, an insertion tube <NUM> connected to the control handle <NUM> and to be inserted into the body, a bending portion <NUM> located at the end of the insertion tube <NUM> and configured to perform a bendable motion, a knob <NUM> provided rotatably in the control handle <NUM> and configured to adjust an angle of the bending portion <NUM> according to manipulation, and a magnetic body <NUM> provided in the insertion tube <NUM>. The function of the magnetic body <NUM> will be described later.

The surgical instrument <NUM> may include an operation part <NUM> to be gripped with a hand and operated by the operator, a surgical instrument cable <NUM> connected to the operation part <NUM> and to be inserted into the insertion tube <NUM> of the endoscope <NUM>, and an action part <NUM> provided at the end of the surgical instrument cable <NUM> and to be operated by the operation part <NUM>. The action part <NUM> may include, for example, a basket capable of gripping a stone present inside the body of a patient. Hereinafter, a case where the action part <NUM> is a basket will be described as an example. However, differently, the action part <NUM> may be another means known to those skilled in the art, such as a laser lithotripter that fragments stones.

For example, the operation part <NUM> may include a first operation unit 921b and a second operation unit 921b, wherein the operation part <NUM> may operate the action part of the surgical instrument <NUM> by moving the second operation unit 921b, which moves relatively with respect to the first operation unit 921b, toward the first operation unit 921b. According to the operation of the operation part <NUM>, the action part <NUM> may perform a particular work (for example, operating the basket or operating the laser lithotripter).

<FIG> is a block diagram illustrating an autonomous endoscopic system according to an embodiment, and <FIG> illustrates a configuration of an autonomous endoscopic system according to an embodiment.

Referring to <FIG> and <FIG>, an autonomous endoscopic system <NUM> may control a movement of the endoscope <NUM> inserted into a protective sheath <NUM> or a movement of the surgical instrument <NUM> inserted through the endoscope <NUM>. For example, the autonomous endoscopic system <NUM> may include an endoscope operating device <NUM>, a control unit <NUM>, a sensor <NUM>, a master device <NUM>, an input unit <NUM>, a clutch <NUM>, a radiodiagnostic device <NUM>, a display <NUM>, and a radiation shield wall W.

The protective sheath <NUM> may be placed in the body of the patient to prevent damage to the body of the patient by friction with the endoscope <NUM>. The protective sheath <NUM> includes a protective hole provided in a length direction thereof to guide the endoscope <NUM>.

The endoscope operating device <NUM> may provide a driving force to drive, roll or bend the endoscope <NUM>, or provide a driving force for the surgical instrument <NUM> to perform a particular work. For example, the endoscope operating device <NUM> may have a structure that is attachable to and detachable from a commercial endoscope and/or a commercial surgical instrument. The endoscope operating device <NUM> may have a structure that is physically fastenable to each operation part of the commercial endoscope and/or the commercial surgical instrument, and may operate the commercial endoscope and/or the commercial surgical instrument based on a signal input through the master device <NUM> by driving the fastened part. Meanwhile, instead of using a commercial endoscope and/or a commercial surgical instrument, an endoscope and/or surgical instrument dedicated to the endoscope operating device <NUM> may be used, and the endoscope operating device <NUM> may be formed integrally with the endoscope and/or surgical instrument. The endoscope operating device <NUM> may include a translation operation part <NUM>, a rolling operation part <NUM>, a bending operation part <NUM>, and a surgical instrument operation part <NUM>.

The translation operation part <NUM> may adjust a relative position of the endoscope <NUM> with respect to the protective sheath <NUM>. For example, the translation operation part <NUM> may include a driving source configured to move the entire endoscope <NUM> forward or backward by moving, along a linear guide rail, a block with the control handle <NUM> of the endoscope <NUM> mounted.

The rolling operation part <NUM> may manipulate a rolling angle of the endoscope <NUM>. For example, the rolling operation part <NUM> may include a driving source configured to rotate, based on an axial direction of the endoscope <NUM>, the block with the control handle <NUM> of the endoscope <NUM> mounted.

The bending operation part <NUM> may adjust a bending angle of the bending portion <NUM> of the endoscope <NUM>. For example, the bending operation part <NUM> may include a driving source configured to pull a wire inserted into the bending portion <NUM>.

The surgical instrument operation part <NUM> may include, on the block with the control handle <NUM> of the endoscope <NUM> mounted, a drive source configured to relatively move with respect to the block and drive another block with the surgical instrument <NUM> mounted.

Meanwhile, the above description is only an example of the endoscope operating device <NUM>. As another example, unless otherwise mentioned, any slave device operable with a master-slave relationship may be used as the endoscope operating device <NUM>, for example, as in <CIT>, <CIT>, and <CIT>.

The control unit <NUM> may control the endoscope operating device <NUM>. The control unit <NUM> may operate the endoscope <NUM> and the surgical instrument <NUM> by controlling the endoscope operating device <NUM> based on control signals input through the sensor <NUM>, the master device <NUM>, the input unit <NUM>, and/or the clutch <NUM>. The control unit <NUM> may enable the endoscope <NUM> to autonomously drive by controlling the endoscope operating device <NUM> based on a driving record of the endoscope <NUM>, which will be described later with reference to <FIG>, and the like. The driving record may include, for example, information about relative movements (translation, rolling, and bending) of the endoscope <NUM> with respect to the protective sheath <NUM>.

The sensor <NUM> may sense information about the relative position of the endoscope <NUM> with respect to the protective sheath <NUM>. The control unit <NUM> may control the endoscope operating device <NUM> based on the information sensed by the sensor <NUM>.

For example, the sensor <NUM> may include a first magnetic body <NUM> (see <FIG>) and a second magnetic body <NUM> (see <FIG>) provided on the protective sheath <NUM> and the endoscope <NUM>, respectively. For example, the first magnetic body <NUM> may be provided at a particular site on the protective sheath <NUM>, and the second magnetic body <NUM> may be provided at a particular site on the insertion tube <NUM>. The control unit <NUM> may sense the relative position of the endoscope <NUM> with respect to the protective sheath <NUM> based on a magnitude of magnetic force acting between the first magnetic body <NUM> and the second magnetic body <NUM>. For example, the first magnetic body <NUM> may be provided at a position biased to one side with respect to a longitudinal center line of the protective sheath <NUM>. Likewise, the second magnetic body <NUM> may be provided at a position biased to one side with respect to a longitudinal center line of the insertion tube <NUM>. By the structure described above, the control unit <NUM> may sense a relative rolling angle of the endoscope <NUM> with respect to the protective sheath <NUM>.

As another example, the sensor <NUM> may be a displacement sensor connected between the protective sheath <NUM> and the endoscope <NUM> to sense a change in relative position.

As still another example, the sensor <NUM> may sense a translation amount, a rolling angle, a bending angle, and/or an operation of the endoscope <NUM> (for example, whether an operation of gripping a basket is performed), by sensing the operation amount of the endoscope operating device <NUM>.

In the present application, the sensor <NUM> may include any means capable of sensing the information about the relative position of the endoscope <NUM> with respect to the protective sheath <NUM>, in addition to the means exemplarily proposed above. For example, the radiodiagnostic device <NUM> may function as the sensor <NUM>, which will be described later.

The master device <NUM> may be located at a site spaced apart from the endoscope operating device <NUM> and operated by an operator to remotely operate the endoscope operating device <NUM>. The master device <NUM> shown in <FIG> is only an example, and the type of the master device <NUM> is not limited in the scope of the present invention.

The input unit <NUM> may receive an instruction from an operator and transmit the instruction to the control unit <NUM>. For example, the input unit <NUM> may include a known user interface, such as a keyboard or a mouse. The operator may select an interval to store the driving record of the endoscope <NUM> through the input unit <NUM>.

The clutch <NUM> may be operable by the operator, and receive the instruction from the operator and transmit the instruction to the control unit <NUM>, thereby allowing or stopping a continuous drive of the endoscope operating device <NUM>. For example, the clutch <NUM> may have a foot pedal structure which allows input of information through a foot, rather than using a hand of a user, as shown in <FIG>.

The radiodiagnostic device <NUM> may capture and image the inside of the body of the patient. The radiodiagnostic device <NUM> may provide the operator with the position of the endoscope <NUM>. For example, a C-arm may be utilized as the radiodiagnostic device <NUM>.

By the radiodiagnostic device <NUM>, the position of the protective sheath <NUM> may be easily known. Further, the protective sheath <NUM> may maintain a fixed position inside the body of the patient irrespective of the movement of the endoscope <NUM>, and the protective sheath <NUM> and the endoscope operating device <NUM> may remain fixed to each other through a fixing tool. By the structure described above, it is possible to collect the relative position between the protective sheath <NUM> and the endoscope <NUM> through image processing from an image obtained through the radiodiagnostic device <NUM>, and drive the endoscope <NUM> based on the collected information. In other words, when the radiodiagnostic device <NUM> is used, it is possible to operate the endoscope <NUM> even without using the magnetic bodies <NUM> and <NUM> as described above. In detail, the control unit <NUM> may sense the relative position of the endoscope <NUM> with respect to the protective sheath <NUM> based on the image obtained using the radiodiagnostic device <NUM>. In this regard, the radiodiagnostic device <NUM> may be construed as being included in the sensor <NUM>.

The display <NUM> may provide the operator with the image of the inside of the body of the patient through a camera mounted on the radiodiagnostic device <NUM> and/or the endoscope <NUM>. For example, the operator may select, on the display <NUM> by a screen touch or mouse click, the end of the protective sheath <NUM> and the position of a particular part (for example, a minor calyx) of the organs of the patient, and the control unit <NUM> may extract a relative distance between the two selected points and provide the operator with the extracted relative distance.

For example, in an autonomous driving mode, the control unit <NUM> may determine an expected position and pose of the endoscope <NUM> at a point in time after a set time elapses from a current time, and display the expected position and pose through the display <NUM> by overlaying a semitransparent image of the expected position and pose, on the image of the inside of the body of the patient. In this state, the operator may operate the clutch <NUM> to determine whether to continue allowing the autonomous driving of the endoscope <NUM> without an additional operation, or stop or end the autonomous driving as necessary and directly drive the endoscope <NUM> using the master device <NUM>. By the configuration described above, when an error occurs due to aging and a degree of bending angle of the endoscope <NUM>, the operator may correct the error by intervening in the adjustment, whereby the stability of surgery may improve significantly. Further, the control unit <NUM> may collect the information corrected by the operator intervening in the adjustment and use the collected information as big data of a deep learning algorithm to reduce driving errors of the endoscope <NUM>.

The radiation shield wall W may be provided between an area where the operator is located and an area where the patient is located. In other words, the radiation shield wall W may be provided between the master device <NUM> and the endoscope operating device <NUM> to separate two areas, that is, the area where the operator is located and the area where the patient is located. By the radiation shield wall (W) described above, it is possible to reduce the risk of radiation exposure by the radiodiagnostic device <NUM> affecting the operator who performs surgery on a large number of patients.

<FIG> illustrates an endoscope inserted into the body of a patient, and <FIG> illustrates a general procedure of kidney stone removal surgery.

Referring to <FIG> and <FIG>, a procedure of kidney stone removal surgery performed using a ureteroscope is shown. Kidney stones (ks) are mostly located in a minor calyx (me) of the kidney (k). For kidney stone removal surgery, the protective sheath <NUM> is inserted through the urethra (UA) of the patient, passes through the bladder (B) and the ureter (U), and is placed such that the end of the protective sheath <NUM> is located at the renal pelvis (rp), the part connected to the ureter (U) of the kidney k. In this state, the endoscope <NUM> is inserted along the protective sheath <NUM>, and the operator may scan for a kidney stone (ks) by operating the endoscope <NUM> in a state in which the bending portion of the endoscope <NUM> passes through the end of the protective sheath <NUM> to be located in the vicinity of the renal pelvis (rp). Meanwhile, although <FIG> simply illustrates the internal structure of the kidney (k), the kidney (k) has a much more complex internal structure in reality. In addition, there is a problem in that the radioactivity of the radiodiagnostic device <NUM> needs to be continuously used to obtain an image of the movement of the endoscope <NUM> viewed from the third-person point of view. Therefore, a work of finding a kidney stone (ks) is performed through the camera of the endoscope <NUM> mainly at the first-person point of view. However, it is impossible to know the rolling angle and the bending angle from the image viewed through the endoscope <NUM> without using other external information, and thus, it is difficult to determine the directivity. Particularly, a minor calyx (mc) where a kidney stone (ks) is mostly found has a multi-branch structure, and thus, it is not easy to determine a minor calyx (me) to enter.

Further, once a kidney stone (ks) is found, a process of fragmenting the kidney stone and repeatedly withdrawing a number of fragments of the stone from the body of the patient using the basket <NUM> (see <FIG>), together with the endoscope, is required. For example, when a stone with a diameter of <NUM> is deconstructed into pieces with a diameter of <NUM>, a total of <NUM> repetitive insertion and withdrawal works are required. In other words, the process shown in <FIG> should be repeated <NUM> times per <NUM> stone (ks).

In the state in which the stone is fragmented, the endoscope <NUM> needs to move tens of times along the same path to the same minor calyx (mc) to withdraw the stone fragments, and thus, the fatigue of the operator is continuously accumulated. In addition, if the operator places, in reality, the endoscope <NUM> in another minor calyx (mc), rather than placing the endoscope <NUM> at the previous work position in the same minor calyx (mc), the operation time may increase, or the surgery may not be performed perfectly.

Meanwhile, since the kidney (k) is a relatively solid organ compared with the other organs, the kidney (k) is generally maintained in the same position during the surgery. Consequently, except the basket job (b) of the procedure shown in <FIG>, at least one of a total of three remaining operations: (a) inserting the end of the endoscope <NUM> to be located at the renal pelvis (rp); (c) withdrawing the endoscope <NUM> from the body of the patient and the protective sheath <NUM> while holding a stone; and (d) releasing the stone from the withdrawn endoscope <NUM> by opening the basket, may be performed automatically, which will be described with reference to <FIG>, and the like. In doing so, it is possible to reduce the fatigue of the operator and to perform stone removal surgery faster and more accurately.

<FIG> is a flowchart illustrating a control method for an autonomous endoscopic system according to an embodiment, and <FIG> and <FIG> illustrate an operation of storing a driving record according to an embodiment.

Referring to <FIG>, a control method for the autonomous endoscopic system <NUM> may be performed as follows. Hereinafter, kidney stone removal surgery will be exemplarily described. However, unless otherwise described, it is obvious to those skilled in the art that the embodiment may also be applicable to other surgery.

First, in operation S11, the operator may insert the protective sheath <NUM> into the body of the patient. The protective sheath <NUM> may be inserted to pass through the urethra, the bladder, and the ureter of the patient such that the end thereof is located in the renal pelvis of the kidney.

In operation S12, the endoscope operating device <NUM> may translate the endoscope <NUM> along the inside of the protective sheath <NUM>. Meanwhile, through information sensed by the sensor <NUM> during the translation movement of the endoscope <NUM>, the control unit <NUM> may control the endoscope operating device <NUM> such that the end of the endoscope <NUM> is located at a particular site with respect to the protective sheath <NUM> and/or at a particular rolling angle. This process may be performed regardless of the driving record of the endoscope <NUM>. Operation S12 may also be referred to as an initialization operation. For example, the control unit <NUM> may initialize the pose of the endoscope <NUM> such that the endoscope <NUM> has a particular rolling angle and a particular bending angle when the end of the endoscope <NUM> is located at a particular site with respect to the protective sheath <NUM>. The particular site may be the renal pelvis from which it is easy for the end of the endoscope <NUM> to access most of the minor calyces.

In operation S13, the operator may scan for a stone by operating the endoscope <NUM> using the master device <NUM>. If a stone is found, the operator may fragment the stone by operating the surgical instrument <NUM> using the master device <NUM>, in operation S14. Thereafter, in operation S15, while the endoscope <NUM> is maintained at the same position and pose, the operator may replace the surgical instrument <NUM> such as a stone fragmenting tool (for example, a laser lithotripter) with a stone gripping tool (for example, a basket). In operation S16, the operator `may perform the basket job of gripping the stone.

While the operator operates the master device <NUM>, the driving record of the endoscope <NUM> from a first point in time to a second point in time may be stored, in operation S21. In operation S21, an operation amount of the endoscope <NUM> operated by the endoscope operating device <NUM> may be recorded over time. Such an operation amount over time may be referred to as an "operation profile". Meanwhile, the "operation amount" may include a translation amount of the endoscope <NUM>, a rolling angle variation of the endoscope <NUM>, and a bending angle variation of the endoscope <NUM>. Examples of the operation profile described above are shown in <FIG> and <FIG>.

For example, as shown in <FIG>, operation S21 of storing the driving record may be performed during an interval between particular events. For example, in operation S21, the control unit <NUM> may determine whether the end of the endoscope <NUM> is located at a particular site with respect to the protective sheath <NUM>, based on a signal sensed through the sensor <NUM> (operation S211), and start storing the driving record from a corresponding point in time (operation S212). In addition, the control unit <NUM> may determine whether the surgical instrument <NUM> has performed a particular work based on the operation amount of the endoscope operating device <NUM> (operation S213), and end storing the driving record at a corresponding point in time (operation S214).

As another example, as shown in <FIG>, operation S21' of storing the driving record may be performed during an interval between optional points in time that may be set based on an instruction from the operator. For example, in operation S21', the driving record may start to be stored depending on whether a driving record start instruction is input by the operator through the input unit <NUM> (operations S211' and S212), and storing the driving record may be ended depending on whether a driving record end instruction is input by the operator through the input unit <NUM> (operations S213,' and S214).

If a stone is gripped in operation S16, the operator may operate the master device <NUM> to move the endoscope <NUM> backward together with the stone, or automatically operate the endoscope operating device <NUM> by transmitting, to the control unit <NUM> through the input unit <NUM>, information indicating that the stone is gripped, thereby withdrawing the endoscope <NUM> from the protective sheath <NUM> in operation S17 and removing the stone by releasing the stone from the surgical instrument <NUM> in operation S18.

In operation S19, the control unit <NUM> may receive, from the operator, confirmation regarding whether the stone removal has been completed at the previous work position at which the basket job has been performed.

If information indicating that there is a stone remaining at the previous work position is input in operation S19, the control unit <NUM> may automatically cause the endoscope <NUM> to autonomous drive based on the existing driving record of the endoscope <NUM> collected in operation S21, thereby inserting the endoscope <NUM> again such that the end of the endoscope <NUM> is located at the same site of the previous work position, in operation S22. As such, operations S16 to S19 and S22 may be repeatedly performed until all the stones are withdrawn from the position at which the basket has gripped the stones. Through operation S22, the operator does not need to memorize the path that the endoscope <NUM> has passed to reach the previous work position and operate the master device <NUM> along the path. Since the operator only needs to perform the basket job (operation S16), the fatigue of surgery may be significantly reduced. In addition, since there is no trial and error that may occur until the operator finds the previous work position, the operation time may be significantly reduced.

When information indicating that the stone removal has been completed at the previous work position is input in operation S19, the control unit <NUM> may receive, from the operator, confirmation regarding whether the stone removal has been completed at all work positions, in operation S20.

When information indicating that there is a work position at which the stone removal is yet to be performed is input in operation S20, operation S12 may be performed, and sequentially operation S13 of scanning for stones may be performed.

<FIG> illustrates an example of an operation profile represented as a graph showing over time an operation amount of an endoscope operating device operated by an operator during a particular interval.

<FIG> shows a series of operations performed by an operator to move the endoscope <NUM> to a specific work position, wherein the operator moves the endoscope <NUM> forward in an incorrect direction, resulting in the end of the endoscope <NUM> to pass through a particular position (see the interval between <NUM> and <NUM> seconds), moves the endoscope <NUM> backward again (see the interval between <NUM> and <NUM> seconds), and then changes the direction that the end of the endoscope <NUM> faces (see the interval between <NUM> and <NUM> seconds), and moves the endoscope <NUM> forward (see the interval between <NUM> and <NUM> seconds).

Such a phenomenon may occur, for example, when the endoscope <NUM> is stuck in the inner wall of an organ of a patient and receives resistance. Nevertheless, if the endoscope <NUM> autonomously drives to the previous work position through repetition of the same operation using the operation profile without correction, repeated shocks are applied to the organ of the patient, which may cause a medical accident. In addition, the trial and error time for the forward and backward movements unnecessarily increases the operation time. Thus, embodiments for resolving this issue will be described below.

<FIG> illustrate an operation of correcting a driving record according to an embodiment.

Referring to <FIG>, a control method for the autonomous endoscopic system <NUM> may further include operation S23 of correcting the driving record. Operation S23 includes operation S231 of determining whether there is a forward-backward movement interval and operation S232 of generating a shortened profile. Operation S22 may be performed using the shortened profile generated as above (see <FIG>).

Here, the "forward-backward movement interval" refers to an interval, in the operation profile, during which the end of the endoscope <NUM> passes a particular position and returns again, and may be the interval between <NUM> and <NUM> seconds in <FIG>.

If the control unit <NUM> determines that there is a forward-backward movement interval between a first point in time and a second point in time in operation S231, the control unit <NUM> may generate the shortened profile by removing the operation amount over time during the forward-backward movement interval (the interval between <NUM> and <NUM> seconds in <FIG>) from the operation profile, in operation S232.

The control unit <NUM> may control the endoscope operating device <NUM> according to the shortened profile generated as above, thereby preventing a burden to the body of the patient. Further, if the operator finds a correct target site after several trials and errors, by omitting the trials and errors and enabling the endoscope <NUM> to mover directly to the target site along the shortest path, the operation time may be significantly reduced.

<FIG> illustrates another example of an operation profile represented as a graph showing over time an operation amount of an endoscope operating device operated by an operator during a particular interval.

<FIG> shows a series of operations performed by an operator to move the endoscope <NUM> to a specific work position, wherein the operator moves the endoscope <NUM> forward in an incorrect direction, resulting in the end of the endoscope <NUM> to pass through a particular position (see the interval between <NUM> and <NUM> seconds), moves the endoscope <NUM> backward again (see the interval between <NUM> and <NUM> seconds), and then moves the endoscope <NUM> forward (see the interval between <NUM> and <NUM> seconds). The difference from the example of <FIG> is in that there are changes in a rolling angle and a bending angle. In this example, simply removing the forward-backward movement interval (the interval between <NUM> and <NUM> seconds) is not sufficient. Thus, an embodiment for resolving this issue will be described below.

<FIG> illustrates an operation of correcting a driving record according to another embodiment, and <FIG> illustrates a shortened profile generated by performing the operation of correcting a driving record according to another embodiment.

Referring to <FIG> and <FIG>, operation S23' of correcting the driving record includes operation S231' of determining whether there is a forward-backward movement interval, operation S232' of generating a corrected profile, and operation S233' of generating a shortened profile. Operation S22 may be performed using the shortened profile generated as above (see <FIG>).

In operation S232', the "corrected profile" may be, for example, an operation amount over time that includes a rolling angle variation and a bending angle variation during the forward-backward movement interval and that does not include a translation amount during the forward-backward movement interval.

In operation S233', the control unit <NUM> may generate the shortened profile by replacing the operation amount over time during the forward-backward movement interval in the operation profile with the corrected profile.

By this method, even if the moving direction of the end of the endoscope <NUM> changes during the forward-backward movement interval, the change may be reflected in the driving record of the endoscope <NUM>, and unnecessary repetition of forward and backward translations during the autonomous driving of the endoscope <NUM> may be prevented. In addition, as shown in <FIG>, the corrected profile may be performed at a higher rate of change for a time shorter than the forward-backward movement interval, thereby further shortening the operation time.

A number of embodiments have been described above. Nevertheless, it should be understood that various modifications may be made to these embodiments. For example, suitable results may be achieved if the described techniques are performed in a different order and/or if components in a described system, architecture, device, or circuit are combined in a different manner and/or replaced or supplemented by other components or their equivalents.

Claim 1:
An autonomous endoscopic system (<NUM>) capable of controlling movement of an endoscope (<NUM>) inserted into a protective sheath (<NUM>) installed in the body of a patient, the autonomous endoscopic system (<NUM>) comprising:
an endoscope operating device (<NUM>) comprising a translation operation part (<NUM>) capable of adjusting a relative position of the endoscope (<NUM>) with respect to the protective sheath (<NUM>), a rolling operation part (<NUM>) capable of adjusting a rolling angle of the endoscope (<NUM>), and a bending operation part (<NUM>) capable of adjusting a bending angle of a bending portion (<NUM>) of the endoscope (<NUM>) which is located at the end of the endoscope (<NUM>) and is bendable; and
a control unit (<NUM>) for controlling the endoscope operating device (<NUM>),
the control unit (<NUM>) is configured to record a driving record of the endoscope (<NUM>), in which an operation amount by which the endoscope (<NUM>) has been operated by the endoscope operating device (<NUM>) over time is recorded, the operation amount including a translation amount of the endoscope, a rolling angle variation of the endoscope, and a bending angle variation of the endoscope,
the control unit (<NUM>) is configured to control the endoscope operating device (<NUM>) on the basis of the driving record of the endoscope (<NUM>), and
the control unit (<NUM>) is configured to autonomously drive the endoscope (<NUM>) based on the driving record of the endoscope (<NUM>), wherein the driving record includes an operation profile that shows an operation amount of the endoscope operation device (<NUM>) over time from a first point in time to a second point in time.