Master device for vascular intervention procedure

A master device comprising:

• one or more processors;
• and
• one or more memories configured to store instructions to be executed by the one or more processors,
• wherein, the one or more processors are configured to, when the instructions are executed,
• (a) generate a first remote advancement control signal for causing at least one guide device to reach a target branch in response to a user's first advancement operation of at least one operation rod configured to perform translational and rotational motions, and provide the first remote advancement control signal to vascular interventional procedure robot;
• (b) generate a second remote advancement control signal for causing at least one catheter to reach the target branch by following the at least one guide device in response to the user's second advancement operation of the at least one operation rod, and provide the second remote advancement control signal to the vascular interventional procedure robot;
• (c) generate a first remote retraction control signal for removing the at least one guide device from the at least one catheter by withdrawing the at least one guide device in a direction opposite to that of insertion in response to the user's first retraction manipulation of the at least one operation rod, and provide the first remote retraction control signal to the vascular interventional procedure robot;
• and
• (d) generate a third remote advancement control signal for causing at least one procedure device to reach the target branch by following the at least one catheter in response to the user's third advancement operation of the at least one operation rod, and provide the third remote advancement control signal to the vascular interventional procedure robot;
• wherein the at least one operation rod comprises two operation rods, and
• wherein the one or more processors are further configured to:
• generate two corresponding remote control signals based on independent manipulations of the two operation rods, respectively, such that at least two instruments among the at least one guide device, the at least one catheter, and the at least one procedure device move simultaneously but independently;
• and
• generate the two corresponding remote control signals based on motion scaling values adjusted independently for each of the two operation rods, each of the motion scaling values indicating a ratio of a range of movement of a corresponding instrument among the at least two instruments to a range of movement of a corresponding operation rod among the two operation rods.

A method performed by a master device for remotely controlling a vascular interventional procedure robot configured to drive a procedure tool, the method comprising:

• (a) generating a first remote advancement control signal for causing at least one guide device to reach a target branch in response to a user's first advancement operation of at least one operation rod configured to perform translational and rotational motions, and providing the first remote advancement control signal to the vascular interventional procedure robot;
• (b) generating a second remote advancement control signal for causing at least one catheter to reach the target branch by following the at least one guide device in response to the user's second advancement operation of the at least one operation rod, and providing the second remote advancement control signal to the vascular interventional procedure robot;
• and
• (l) injecting a diagnostic agent into the target branch through the at least one catheter,
• wherein after step (b) and before step (l), (c) generating a first remote retraction control signal for removing the at least one guide device from the at least one catheter by withdrawing the at least one guide device in a direction opposite to that of insertion in response to the user's first retraction manipulation of the at least one operation rod, and providing the first remote retraction control signal to the vascular interventional procedure robot.