KR101180665B1 - Hybrid surgical robot system and control method thereof - Google Patents

Abstract

A hybrid surgical robot system and a surgical robot control method are disclosed. A robot arm, an instrument mounted to the robot arm, the instrument being operated by receiving a driving force from the robot arm, and a handle for applying a driving force to the instrument by a user operation, wherein the instrument is transmitted from the driving force and the handle transmitted from the robot arm. Hybrid surgical robot system, characterized in that performing the operation necessary for the operation by one or more of the driving force, by further adding a manual operation handle to the surgical robot equipped with the instrument, the human and the robot can efficiently perform the operation together When an emergency situation occurs in a remote surgery process using a surgical robot, the doctor next to the patient may directly operate the handle to perform the surgery.

Surgical Robot, Manual Operation, Handle

Description

Hybrid surgical robot system and control method

The present invention relates to a hybrid surgical robot system and a surgical robot control method.

Medically, surgery refers to healing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device. In particular, open surgery, which incise the skin of the surgical site and open, treat, shape, or remove the organs inside of the surgical site, has recently been performed using robots due to problems such as bleeding, side effects, patient pain, and scars. This alternative is in the spotlight.

Such a surgical robot is provided with a robot arm for operation for surgery, the instrument is mounted on the front end of the robot arm, the instrument performs the operation required for surgery by the driving force generated and transmitted from the robot .

However, the conventional robot surgery has a problem that a human manual surgery is required while driving the surgical robot, and in most cases, the entire operation of the operation cannot be performed only by the robot from the beginning to the end. There is a limit. That is, in the conventional robotic surgery, a method of manually performing some surgical procedures using a surgical instrument, driving the surgical robot to perform a robotic operation, and then manually performing the remaining surgical procedures using the surgical instrument again. Has been progressed.

More specifically, since the surgical instruments to be manually operated and the surgical instruments (instruments) mounted on the surgical robot are not compatible with each other, the surgical instruments are manually operated using the surgical instruments, and then used to perform the robot surgery. After removing all the surgical instruments, attach the instrument to the surgical robot to perform the robot operation, and if manual surgery is needed, remove all the instruments again, and then manually perform the operation using the surgical instruments. There was a feeling.

Conventional robotic surgery has to perform a very cumbersome task of inserting or removing a manually operated surgical instrument into the affected area, and both the manually operated surgical instrument and the instrument mounted on the robot must be used during the surgery. There was a problem that the time, effort and cost of surgery would increase.

The background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.

The present invention, the human and the robot can perform the operation as needed, if the emergency situation occurs in the robot surgery process, the person can perform the operation manually, accordingly, also applied to remote surgery or surgery education It is to provide a hybrid surgical robot system and a surgical robot control method that can be.

According to an aspect of the present invention, as an instrument (instrument) mounted on the robot arm (arm) provided in the surgical robot, the instrument is coupled to a manual operation handle (handle), the instrument by a user operation on the handle A hybrid surgical instrument is provided, which performs an operation necessary for surgery.

The hybrid surgical instrument is mounted to the front end of the robot arm, a shaft that receives a driving force from the robot arm and is operated by a driving force, coupled to the driving unit, and receives power transmission means connected to the driving unit therein; An effector coupled to the distal end of the shaft, the effector being coupled to the power transmission means and actuated by a driving force transmitted from any one or more of the robot arm and the handle, the handle being coupled to the drive and powered by a user operation. Driving force can be applied to the means.

An actuator is formed at the front end of the robot arm, and a driver is installed in the driver, and the power transmission means includes a wire coupled to the driver, and the handle is connected to the driver by a user operation. It can transmit the driving force. The handle can be manipulated with degrees of freedom corresponding to the degree of freedom of operation of the effector.

The surgical robot further includes a sensor unit configured to detect a user manipulation of the handle and output a sensing signal, and a controller to generate a control signal in response to the sensing signal, wherein the controller includes a boost-up for the user manipulation. up) function.

On the other hand, according to another aspect of the present invention, the first drive unit is mounted to the front end of the robot arm provided in the surgical robot, and is operated by receiving a driving force from the robot arm, coupled to the first drive unit and the first drive unit therein A shaft coupled to the instrument for receiving a power transmission means connected to the instrument, comprising an effector coupled to the distal end of the shaft and connected to the power transmission means for performing the operation required for the operation according to the operation of the first drive unit As a handle member for manually operating the drive, the second drive unit is mounted to the first drive unit and transmits a driving force to the first drive unit to operate the first drive unit, and coupled to the second drive unit, the second drive unit by a user operation There is provided a manually operated handle member of a surgical instrument comprising a handle for applying a driving force to the.

The first driver is provided with a first driver to be matched to an actuator formed at the tip of the robot arm, the power transmission means includes a wire coupled to the first driver, the second driver is to be matched with the first driver Two drivers are installed, and the handle can transmit the driving force to the second driver by user manipulation.

One surface of the first driving unit may be mounted to the front end of the robot arm, and the second driving unit may be mounted to the other surface of the first driving unit. In this case, the second driving unit is detachably mounted to the first driving unit, and when the second driving unit is separated from the first driving unit, a separate cover member may be coupled to the other surface of the first driving unit.

The surgical robot further includes a sensor unit configured to detect a user manipulation of the handle and output a sensing signal, and a controller to generate a control signal in response to the sensing signal, wherein the controller includes a boost-up for the user manipulation. up) function.

On the other hand, according to another aspect of the invention, the adapter (adapter) interposed to mount the instrument to the robot arm provided in the surgical robot, is mounted on the tip of the robot arm, the agent is operated by receiving a driving force from the robot arm An adapter for a hybrid surgical robot is provided that includes a first drive unit and a handle coupled to the first drive unit and configured to apply a driving force to the first drive unit by a user operation.

The instrument is mounted to the first drive unit, the shaft is coupled to the second drive unit and the second drive unit is operated by receiving a driving force from the first drive unit, the power transmission means connected to the second drive unit therein; Is coupled to the distal end of the shaft, may be connected to the power transmission means may include an effector for performing the operation required for the operation in accordance with the operation of the second drive unit.

An actuator is formed at the tip of the robot arm, the first driver is provided with a first driver that is matched to the actuator, the second driver is provided with a second driver that is matched with the first driver, and the power transmission means is a second drive. A wire coupled to the chair, the handle may transmit a driving force to the first driver by a user operation.

One surface of the first driving unit may be mounted to the front end of the robot arm, and the second driving unit may be mounted to the other surface of the first driving unit, and the adapter may be used as a sterile adapter mounted to the surgical robot. The surgical robot further includes a sensor unit configured to detect a user's manipulation of the handle and output a sensing signal, and a controller to generate a control signal in response to the sensing signal, wherein the controller includes a boost-up for the user's manipulation. up) function.

On the other hand, according to another aspect of the present invention, a robot for mounting the instrument to perform the operation, the robot is formed on the tip of the robot arm, the actuator is driven in accordance with the control signal generated from the robot, the robot arm A hybrid surgical robot is provided that is coupled and includes a handle that applies a driving force to the actuator by a user manipulation.

The instrument is mounted to the distal end of the robot arm, the drive unit is operated by receiving a driving force from the robot arm, coupled to the drive unit, a shaft for receiving a power transmission means connected to the drive unit therein, and coupled to the distal end of the shaft It may include an effector connected to the power transmission means for performing an operation required for surgery according to the operation of the drive unit.

The sensor unit may further include a sensor unit configured to detect a user manipulation of the handle and output a sensing signal, and a controller to generate a control signal in response to the sensing signal, wherein the controller performs a boost-up function for the user manipulation. can do.

On the other hand, according to another aspect of the present invention, the robot arm, and the instrument is mounted to the robot arm, and operated to receive a driving force from the robot arm, and includes a handle for applying the driving force to the instrument by a user operation, the instrument is a robot A hybrid surgical robot system is provided that performs operations necessary for surgery by at least one of a driving force transmitted from an arm and a driving force transmitted from a handle.

The handle may be coupled to any one or more of the robot arm and the instrument, and the handle may be made of a separate member and coupled to the instrument, or coupled to a sterile adapter interposed between the robot arm and the instrument.

The sensor unit may further include a sensor unit configured to detect a user manipulation of the handle and output a sensing signal, and a controller to apply a driving force to the robot arm in response to the sensing signal, wherein the controller may include a boost-up function for the user manipulation. Can be performed.

On the other hand, according to another aspect of the present invention, a surgical arm comprising a robot arm, an instrument mounted to the robot arm and operated to receive a driving force from the robot arm, and a manual operation handle for applying the driving force to the instrument by a user operation. A method of controlling a robot, the method comprising the steps of: (a) sensing a predetermined user manipulation to receive a sensing signal output from a sensor, and (b) adjusting a driving force transmitted from the robot arm in response to the sensing signal; Surgical robot control method is provided.

Step (a) may include detecting user manipulation of the handle and / or switch provided in the surgical robot, in which case step (b) may include a drive force or handle transmitted from the robot arm to the instrument. It may include the step of blocking the driving force transmitted from the instrument to the instrument. In addition, step (b) may include adjusting a driving force transmitted from the robot arm such that the user manipulation is boosted up.

On the other hand, according to another aspect of the present invention, a surgical arm comprising a robot arm, an instrument mounted to the robot arm and operated to receive a driving force from the robot arm, and a manual operation handle for applying the driving force to the instrument by a user operation. A method of controlling a robot, the method comprising: receiving a sensing signal generated by a predetermined user operation, allowing a history of driving an instrument according to a user operation on a handle to be stored as history data, and stored history data In accordance with the present invention, a surgical robot control method is provided, the method including driving a force generated from the robot arm so that the instrument is driven.

Meanwhile, according to another aspect of the present invention, in order to perform the above-described surgical robot control method, a program of instructions that can be executed by a digital processing apparatus is tangibly embodied and records a program that can be read by the digital processing apparatus. A record carrier is provided.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to a preferred embodiment of the present invention, by further adding a manual operation handle to the surgical robot equipped with the instrument, the human and the robot can perform the operation together efficiently, emergency in the remote surgery process using the surgical robot If a situation arises, the doctor next to the patient can directly operate the handle to perform the operation.

In addition, in the course of surgical education using a surgical robot, the educator manually manipulates the handle by ignoring the trainee's robot operation if necessary or in case of an emergency, or vice versa. By enabling the operation of the training can be made more interactive (interactive) training.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and redundant description thereof will be omitted. Shall be.

Figure 1a is a conceptual diagram showing a hybrid surgical instrument according to an embodiment of the present invention, Figure 1b is a conceptual diagram showing a hybrid surgical instrument according to another embodiment of the present invention, Figure 2 is an embodiment of the present invention 3 is a view showing the structure of the handle and the operating state of the instrument according to, and Figure 3 is a view showing the structure of the handle and the operating state of the instrument according to another embodiment of the present invention. 1A to 3, the robot arm 3, the actuator 5, the handle 10, the instrument 20, the driver 22, the driver 23, the wire 24, and the shaft 26. Effector 28 is shown.

This embodiment is characterized in that by mounting a handle (handle) for manual operation on the instrument mounted on the surgical robot, the instrument mounted on the robot can be used for both manual surgery and robot surgery. Hereinafter, the instrument used for both manual surgery and robotic surgery as in the present embodiment will be described as 'hybrid surgical instrument'.

The hybrid surgical instrument 20 may be operated by a doctor by hand, as in general manual surgery, or may be mounted on the robot arm 3 to perform robot surgery by allowing the robot to perform a necessary operation. It may be. Hereinafter, in the embodiments to be described later, the human hand holding the handle and manipulating the instrument 20 is called a handheld control, and the robot causes the instrument 20 to operate by being called robotic control. Explain.

In the hybrid surgical instrument 20 according to the present embodiment, the manual operation handle 10 is additionally installed on the instrument originally mounted on the surgical robot, and not only by the driving force generated and transmitted from the robot, but also the handle 10. It is characterized in that the instrument 20 is also operated by the user operation for the).

The instrument 20 is composed of a drive unit 22 mounted to the robot arm 3, a shaft 26 connected to the drive unit 22, and an effector 28 coupled to the end of the shaft 26, 1A and 1B, the manual override handle 10 is further coupled to the drive unit 22.

The driving unit 22 mounted on the robot arm 3 is operated by receiving driving force from the robot arm 3, specifically, an actuator 5 formed on the robot arm 3 and a driver installed on the driving unit 22 ( The driving unit 22 is mounted to the robot arm 3 so that the 23 is connected to each other. In this state, when the actuator 5 is operated (rotation, reciprocating motion, etc.), the driver 23 engaged with the driving unit 23 is operated. The generated driving force is transmitted to the instrument 20. The manner in which the driver 23 is connected to the actuator 5 may be implemented in various ways depending on the shape and structure of the driver 23 and the actuator 5 such as gear coupling, fitting coupling, clutch coupling, and the like.

The drive unit 22 is coupled to the shaft 26 extending in one direction, the shaft 26 serves as a guide rod for mounting the effector 28 at its end to insert the effector 28 to the surgical site . In addition, a plurality of wires 24 for connecting the driver 23 and the effector 28 to each other are accommodated in the shaft 26, so that the shaft 26 is driven between the driving unit 22 and the effector 28. It acts as a transmission pathway. Although a cylindrical rod-shaped shaft 26 is shown in FIGS. 1A and 1B, the shaft 26 of various shapes and structures may be used within a range capable of performing the above-described role.

For example, when the driver 23 and the effector 28 are pulley coupled, the pulley wire 24 is received in the shaft 26. In this case, when the effector 28 moves in four degrees of freedom, four pulley wires 24 each connected to four portions of the effector 28 pass through the shaft 26 and the driver 23 of four pulley structures. ), Respectively. Accordingly, when the instrument 20 is mounted on the robot arm 3, the driver 23 is operated by the operation of the actuator 5, and thus the effector is driven by the wire 24 that is pulley-coupled to the driver 23. The movement of each part of 28 can cause the effector 28 to perform the operation required for surgery.

1A and 1B, when the handle 10 is coupled to the driving unit 22, and the driver 23 installed in the driving unit 22 is operated as the user manipulates the handle 10, the driver ( 23 may be operated according to the operation of the actuator 5, but may also be operated according to the operation of the handle 10, and in any case, the driving force may be applied through the wire 24 according to the operation of the driver 23. Transmitted causes the effector 28 coupled to the end of the shaft 26 to move. In other words, the effector 28 connected with the driver 23 by the wire 24 can be operated by the driving of the robot or by the manipulation of the handle 10.

Even when the instrument 20 is mounted on the robot arm 3, when the driving force transmitted from the robot arm 3 to the instrument 20 is interrupted, the motor of the robot arm 3 can move freely. By directly operating the handle 10, the instrument 20 can be operated to manually perform the surgery. Hereinafter, the manual operation of the instrument 20 while the instrument 20 is mounted on the robot will be described as a local control.

Blocking the driving force transmitted from the robot arm 3 to the instrument 20 can be implemented in various ways, for example, by installing a separate button on the surgical robot or by setting a specific movement of the handle 10 in advance, When the button is pressed or the handle 10 moves as set, the main controller of the robot may detect this to prevent generating a driving force or may not allow the generated driving force to be transmitted to the robot arm 3. Thereby, the robot arm 3 can be made to move freely by external force.

Meanwhile, the surgical robot arm 3 is designed and controlled to rotate about a predetermined pivot center point, for example, the instrument 20 rotates around a point corresponding to a predetermined position of the distal end, and the virtual center point is 'remote center'. Or it is called 'remote center of motion'. In the case of robot surgery performed by puncturing the patient's skin and inserting the effector 28, the robot arm 3 is rotated around the RCM point, thereby preventing the patient's skin from being damaged and minimizing the perforation of the skin. have.

When the instrument 20 according to the present embodiment is operated by local control, the robot arm 3 and the instrument 20 mounted thereon rotate around the RCM point, so that even if a person directly operates the instrument 20. Can move stably without departing from the RCM point. That is, when the handle 10 is moved in the up, down, left and right directions, the end portion (effector 28) of the instrument 20 moves in the bottom, up, right and left directions around the RCM point.

On the other hand, when the instrument 20 according to the present embodiment is separated from the robot arm 3 and operated by hand-held control, the instrument 20 can be operated similarly to a conventional surgical instrument.

The handle 10 according to the present embodiment can be manipulated with a degree of freedom corresponding to the degree of freedom of operation of the effector 28. For example, the surgical instrument for manual operation may be designed and manufactured to move at 5 degrees of freedom, and the instrument 20 mounted on the surgical robot may move at 7 degrees of freedom, and may simply grip according to the type of the instrument 20. You can make it possible, or rotate it up, down, left, or right like a wrist.

Thus, the handle 10 according to the present embodiment, by installing a gripper to the handle 10 so that the effector 28 is to grip (grip) operation, by pulling or pushing the gripper accordingly the effector 28 Allows the grip operation. In addition, as shown in FIG. 1A, by configuring the handle 10 and the shaft 26 to be twisted about the same axis of rotation, the shaft 26 can be twisted corresponding to the twisting operation of the handle 10. Furthermore, as shown in FIG. 1B, even when the torsion axes of the handle 10 and the shaft 26 are different (see Z1 axis and Z2 axis in FIG. 1B), the torsion operation of the handle 10 (Z1 axis in FIG. 1B) The shaft 26 may be twisted (rotation around the Z2-axis in FIG. 1B) corresponding to the rotation of the center). As such, the technical idea of the twisting operation of the handle and the shaft may be applied to the embodiments described below.

In addition, when the handle 10 is bent in the up, down, left, and right directions, the effector 28 may be implemented in a bent direction in the bottom, up, right, and left directions.

In addition to this, a user manipulation method for the handle 10 and a method of operating the instrument 20 may be variously implemented. For example, to implement a wrist articulation, the handle ( 10) in a rotatable structure and the method of rotating the handle 10 itself, as shown in Figure 3 to form an operator such as a joystick ('J' in Figure 3) on the handle 10, with a thumb or the like The wrist operation of the instrument 20 and / or the effector 28 may be implemented by a method of operating by pushing in the up, down, left, and right directions.

On the other hand, even if the manual operation handle 10 is installed on the instrument 20 mounted on the robot to operate by hand-held control or local control, there may be a case where an operation that is difficult for a human to perform during surgery is required. . In this case, the robot can be operated to compensate for the human ability by allowing the robot to operate the instrument 20 as it is. As described above, blocking the manual operation by a person and causing the robot to operate the instrument 20 will be described below as a remote control.

In addition, in some cases, the driving force may be insufficient only by manual operation by a person, and in this case, the driving force of the person may be amplified by the help of the driving force transmitted from the robot arm 3. For example, if a person moves the handle 10 to the left and the effector 28 intends to rotate about the RCM point and move to the right, the sensor detects the movement to the left of the handle 10 and the The sensing signal may be transmitted to the main controller, and the controller 9 may generate the driving force by receiving the sensing signal to transmit the driving force through the robot arm 3 so that the effector 28 rotates to the right.

As such, sensing the user's operation intention and generating and transmitting a driving force in the robot to operate the instrument 20 according to the intention is referred to as a 'boost-up function' for the user's operation. In order to perform the boost-up function, the robot's main controller should be equipped with motion control functions based on various control techniques known to those skilled in the art, such as compliance control techniques, and a detailed description thereof will be omitted.

Hereinafter, as described above, the robot is to be intervened to operate the instrument 20 during a manual operation by a human like the above-described boost-up function, which will be described as hybrid control.

As described above, the case in which the manual operation handle 10 is installed in the instrument 20 mounted on the surgical robot to operate in various manners has been described. However, the manual operation handle 10 is not necessarily installed only on the instrument 20, and other embodiments will be described in detail with reference to FIGS. 4 and 5 below.

Figure 4 is a conceptual diagram showing a manual operation handle member of the surgical instrument according to an embodiment of the present invention. Referring to FIG. 4, the robot arm 3, the actuator 5, the handle 10, the handle member 12, the second driver 14, the second driver 15, the instrument 20, and the first The driver 22, the first driver 23, the wire 24, the shaft 26, and the effector 28 are shown.

In the present embodiment, the manual operation handle 10 is manufactured in the form of a separate member, that is, the handle member 12, and is mounted on the instrument 20 so that the instrument 20 can be manually operated. That is, as shown in FIG. 4, a separate handle member 12 may be manufactured and coupled to an opposite surface of the driving unit (first driving unit 22) of the instrument 20 mounted on the robot arm 3. .

In this way, by coupling the handle member 12 to the instrument 20 and manually operating the handle 10, the instrument 20 can be operated by the above-described handheld control, and the instrument 20 Couples the handle member 12 to the instrument 20 and manually operates the handle 10 even when the robot arm 3 is mounted on the robot arm 3, thereby controlling the instrument 20 by the aforementioned local control and / or hybrid control. Can be operated.

On the other hand, when the manual operation by the person is blocked and the robot is in the remote control state to operate the instrument 20, since the manual operation handle 10 is not necessary, the handle member 12 may be separated.

As such, by using the manual operation handle 10 as a separate member to be detachably coupled to the instrument 20, the instrument 20 mounted on the robot is coupled to the handle member 12 (coupling) structure Only by adding it can be manufactured in the same manner as in the prior art, the manufacturing cost of the instrument 20 does not significantly increase, and the instrument 20 can be manufactured without any difference from the robot-specific instrument 20 in appearance.

Referring to Figure 4 with respect to the operation of the handle member 12 and the instrument 20 according to this embodiment, the handle member 12 is composed of a second drive unit 14, the handle 10 coupled thereto. The handle member 12 is mounted to the instrument 20 by coupling the second drive unit 14 to the first drive unit 22.

The handle member 12 has a structure in which the second driver 14, more specifically, the second driver 15 installed in the second driver 14, is operated as the user manipulates the handle 10. By mounting the second driving unit 14 to the first driving unit 22 and operating the second driving unit 14 by operating the handle 10, the driving force is transmitted to the first driving unit 22 so that the instrument 20 It will work.

The structure of the instrument 20 is the same as the above-described embodiment, except that the structure for operating by mounting the handle member 12 to the drive unit is formed. That is, as shown in FIG. 4, when one surface of the first drive unit 22 is mounted to the robot arm 3, a coupling mechanism for mounting the handle member 12 on the other surface of the first drive unit 22. A mechanism is formed, and the instrument 20 can be operated manually by attaching the second drive unit 14 to it.

However, the 'other surface' of the first driving unit 22 does not necessarily mean a surface opposite to the surface mounted on the robot arm 3, and includes all surfaces other than the surface mounted on the robot arm 3, Of course, the handle member 12 according to the present embodiment may be coupled to either side of the first driving unit 22.

The first driver 22 is provided with a first driver 23 engaged with the actuator 5 of the robot arm 3, and as shown in FIG. 4, the first driver 23 includes a handle member 12. ) Is also exposed to the side where it is combined. Accordingly, the first driver is engaged by coupling the second driver 14 to the first driver 22 so that the second driver 15 installed in the second driver 14 meshes with the first driver 23. 23 is operated not only by the actuator 5 but also by user operation with respect to the handle 10. The connection method between the first driver 23 and the second driver 15 may be implemented in various ways as in the connection method between the actuator 5 and the first driver 23.

On the other hand, in the state in which the second drive unit 14 is mounted on the first drive unit 22, as described above, in the case of the remote control state or the like, the handle member 12 may be separated, but the handle member 12 When is separated, there is a fear that the internal structure (for example, the first driver 23) of the first drive unit 22 is exposed, in this case the other side of the first drive unit 22, that is, the handle member 12 ) May be coupled to a separate cover member to protect the first driving unit 22.

As described above, when the separate handle member 12 is manufactured and used, since the handle member 12 can be mounted and used on the instrument 20 only when the manual operation handle 10 is required, the instrument 20 The total volume does not increase, it can be used to produce a variety of manual operation handle member 12 to meet a variety of needs, such as the need in the surgical process, the user's taste, price.

5 is a conceptual diagram showing an adapter for a hybrid surgical robot according to an embodiment of the present invention. Referring to FIG. 5, the robot arm 3, the actuator 5, the handle 10, the adapter 16, the first driver 18, the first driver 19, the instrument 20, and the second driver 22, second driver 23, wire 24, shaft 26, effector 28 are shown.

This embodiment is an example used as a hybrid surgical robot adapter 16 by installing a handle 10 to a sterile adapter interposed therebetween to mount the instrument 20 to the robot arm 3.

That is, instead of mounting the handle 10 directly to the instrument 20, or to manufacture a separate handle member 12 to the sterile adapter 16 used in the site for connecting the instrument 20 and the robot arm 3 It includes a manual steering wheel function. As such, when the handle 10 is mounted on the sterile adapter 16, the handle 10 does not need to be directly mounted for each instrument 20, thereby reducing the cost.

The hybrid surgical robot adapter 16 according to the present embodiment is an adapter 16 interposed therebetween in the process of mounting the instrument 20 on the robot arm 3, and includes a driving unit (first driving unit 18). And a handle 10 coupled to the first drive unit 18, wherein the first drive unit 18 is mounted on the robot arm 3, and the drive unit (second drive unit 22) of the instrument 20 is first mounted. By coupling to one drive 18, an adapter 16 is interposed between the instrument 20 and the robot arm 3.

Basically, the first driver 18 is coupled to the actuator 5 of the robot arm 3 so that the driving force from the robot arm 3 is driven in such a way that the first driver 19 is operated in accordance with the operation of the actuator 5. Received. In addition, the adapter 16 has a structure in which the first driver 18, more specifically, the first driver 19 installed in the first driver 18 is operated as the user manipulates the handle 10. By mounting the second driver 22 to the first driver 18 and manipulating the handle 10 to operate the first driver 19, the second driver 23 installed in the second driver 22. Is activated so that the instrument 20 can also be operated by manual operation.

In this embodiment, the manual operation is possible by interposing the adapter 16 between the robot arm 3 and the instrument 20. The driving force is transmitted from the robot arm 3 or by the operation of the handle 10. The instrument 20 that is operated by receiving may be manufactured in the same structure as in the prior art within the range that can be mounted on the adapter 16.

When the manual operation function is added to the adapter 16 as described above, one side of the first driving unit 18 is mounted to the robot arm 3 and the second driving unit 22 is mounted on the other side of the first driving unit 18. In this way, the adapter 16 according to the present embodiment is interposed between the robot arm 3 and the instrument 20 so as to function as a handle 10 for manually manipulating the instrument 20. do.

As described above, the adapter 16 according to the present embodiment may be manufactured separately, but may also be manufactured by adding the handle 10 to the sterile adapter originally mounted on the surgical robot, and thus, the handle 10 This manually operated sterilization adapter 16 is manufactured separately, and in the case of general robot surgery, the conventional sterilization adapter is used, and in the case of performing hybrid surgery with manual manipulation, the conventional sterilization adapter is manually operated sterilization. The adapter 16 can be used as a replacement.

6 is a conceptual diagram illustrating a hybrid surgical robot according to an embodiment of the present invention. Referring to FIG. 6, the robot arm 3 actuator 5, the handle 10, the instrument 20, the driver 22, the driver 23, the wire 24, the shaft 26, and the effector 28. ) Is shown.

As described above, a method of adding the manual operation handle 10 to the surgical robot, a method of adding the handle 10 to the instrument 20, a method of manufacturing and mounting a separate handle member 12, a sterile adapter The manner of adding the handle 10 to 16 has been described. Furthermore, the manual override handle 10 according to the present embodiment may be added directly to the robot arm 3, as shown in FIG. 6.

When the manual arm 10 is additionally installed on the robot arm 3 itself, the existing instrument 20 or the sterilizing adapter 16 can be installed without changing the structure of the instrument 20 or the sterilizing adapter. There is also an advantage that can be used as a hybrid surgical robot.

That is, when the handle 10 is installed on the robot arm 3 according to the present embodiment, the handle 10 is located at the tip end of the robot arm 3, that is, the site where the instrument 20 is mounted on the robot arm 3. The actuator 5 may be configured to be connected to the actuator 5 to be formed and operate the actuator 10 as the user manipulates the handle 10.

In this way, the actuator 5 formed on the robot arm 3 may be driven by a control signal generated and transmitted from the robot, or may be operated by a user operation on the handle 10 connected to the actuator 5. As described above, when the handle 10 is installed on the robot arm 3, the sterilizing adapter and the instrument mounted on the robot arm 3 may have the same structure as the conventional structure.

Meanwhile, the above-described boost-up function may be implemented in the handle 10 installed in the robot arm 3, that is, the user may not recognize the handle 10 by a method such as sensing an initial operation of the handle 10. By grasping the intention to operate in a manner, the actuator 20 can be driven by generating and transmitting a driving force so that the instrument 20 moves as intended by the user.

The surgical robot described above and / or described later includes a sensor unit 7 that detects an initial operation of the handle 10 and outputs a sensing signal, and generates a driving force according to the sensing signal to generate a driving force through the robot arm 3. The controller 9 may be installed to control the driving force to be transmitted to the instrument 20.

The sensor unit 7 may include various types of sensors, such as a contact sensor, an acceleration sensor, and an infrared sensor installed on the handle 10, and the controller 9 may be implemented as a separate microprocessor or a main controller of a surgical robot. It may be implemented in the form of some module.

Figure 7 is a block diagram showing a hybrid surgical robot system according to an embodiment of the present invention. Referring to FIG. 7, the robot arm 3, the sensor unit 7, the controller 9, the handle 10, and the instrument 20 are shown.

The present embodiment relates to a surgical robot system for performing a hybrid surgery by additionally installing a manual operation handle 10, the entire robot system is mounted on the robot arm (3), robot arm (3) (20) And the handle 10 added to the robot system, the instrument 20 may be operated by receiving a driving force from the robot arm 3, or may be operated by receiving a driving force from the handle 10 manipulated by a user. have.

Coupling of the handle 10, as in the above-described embodiment, is coupled to the instrument 20, directly to the robot arm 3, or made of a separate handle member 12 mounted on the instrument 20, It can be coupled in a variety of positions and manners within the range of manual manipulation of the surgical robot system, such as coupled to sterile adapter 16. Among the devices constituting the surgical robot system, the device in which the handle 10 is not installed may have the same structure.

In addition, the surgical robot system according to the present embodiment may have a function of boosting the operation of the handle 10 by the user, for this purpose, the sensor unit for sensing the content of the user operating the handle 10 (7) can be further installed, and the input, processing of the signal sensed by the controller 9 for controlling the system, and control of the driving force for performing the boost-up function accordingly can be performed.

8 is a flow chart showing a surgical robot control method according to an embodiment of the present invention. This embodiment is a robot control method for performing the surgery by the manual operation and the operation by the robot using the above-described surgical robot.

The control mode of the surgical robot according to the present embodiment is largely a handheld control mode in which a person operates the instrument 20 while holding the handle 10 by hand, and the robot 20 is an instrument 20. It can be classified into robotic control mode, which is in some form of intervention.

In the robotic control mode, the local control mode in which the instrument 20 is operated manually while the first instrument 20 is mounted on the robot, the manual operation by the second person is blocked, and the robot is instrumented. Remote control mode (state) to operate (20), hybrid control mode (state) to allow the instrument 20 to operate during the manual operation by a human, such as a third boost-up function ( hybrid control mode) may correspond.

Surgical robot control method according to the present embodiment, basically, by sensing the user's manipulation of the handle 10 and / or a switch provided separately, such as to receive a sensing signal output (S10), according to the sensing signal The robot may be configured as a process of controlling generation and transmission of driving force to be driven to suit various control modes (S20).

For example, the sensing signal is in a local control mode, i.e., although the instrument 20 is mounted on the robot, but is not driven, the human body manipulates the manual control handle 10 to directly manipulate the instrument 20. If it is determined, the main controller of the robot may block the driving force transmitted from the robot arm 3 to the instrument 20 (S22), and allow the instrument 20 to move only by a user's manipulation. However, even in this case, the robot arm 3 may rotate about the RCM point, such that the design and mechanical constraints of the robot itself may be reflected in the manipulation of the instrument 20 as described above.

In addition, when the sensing signal is operating in the remote control mode, that is, the instrument 20 in the robot, and it is determined that the instrument 20 is not operated by the manual operation handle 10, the main controller of the robot Blocks the driving force transmitted from the handle 10 to the instrument 20 (S24), the instrument 20 can be moved only by the operation of the robot.

Mechanisms for blocking the driving force between the robot arm 3 and the instrument 20 and / or between the handle 10 and the instrument 20 can be implemented in a variety of ways, the detailed description of which is omitted herein.

In addition, the sensing signal may be a hybrid control mode, that is, a human may manually manipulate the handle 10 to operate the instrument 20 to amplify a force that the robot manipulates the handle 10 to operate. ) Is determined to be operated together by the robot and the handle 10, the main controller of the robot controls the driving force transmitted from the robot arm 3 such that the user operation is implemented as intended, for example, boosted up. It may be (S26).

In addition to the boost-up function, hybrid control in various ways is possible, such as a function that allows a robot to intervene in a precise motion or dangerous motion that is difficult for a human to operate, and a detailed description of the control algorithm is omitted here.

As described above, by implementing and controlling the surgical robot system to which the manual operation handle 10 is added, it is possible to perform a surgery that is performed by manual operation by a person and operation by a robot. For example, if there are four robot arms 3, two are manually operated by a person directly by local control, and the other two are operated by a remote control by a doctor (at the console of the surgical robot) This can improve the safety and efficiency of the surgery compared to manipulating all four robotic arms 3 while changing hands by the doctor alone in the surgical robot console.

In addition, in the case of the so-called 'remote surgery' in which a master console and a slave robot transmit and receive signals to each other at a distance from each other and drive the slave robot, only the slave robot is located at the operation site. Therefore, in the state where the instrument 20 is mounted on the robot arm 3, the remote doctor operates the master console to perform the operation remotely, and the on-site doctor watches the operation next to the slave robot.

While performing a remote operation using the surgical robot according to the present embodiment, if an emergency occurs such as a malfunction of the doctor operating the master console or a malfunction of the robot system, the on-site doctor immediately presses a switch to In the control mode, the robot arm 3 can be freely moved to manually operate the instrument 20 to perform an operation directly to overcome the emergency situation.

In this way, manually manipulating the instrument can be performed in the same manner as the conventional manual surgery. In other words, the instrument mounted on the surgical robot can be used similar to the conventional laparoscopic instruments.

When it is necessary to proceed with the manual operation in the conventional robot surgery process, there was a hassle to remove all the instruments mounted on the robot from the patient and then insert the general manual surgical instruments again, according to the above-described embodiment Using robots allows you to directly control instruments mounted on the robot, saving you the time it takes to remove instruments and insert common surgical instruments, making them much safer and faster. It has the advantage of being able to cope with emergencies.

In addition, the surgical training can be performed by using the surgical robot according to the present embodiment, the robot arm (3) in the state in which the instrument 20 is mounted in the local control mode so that the robot does not operate the instrument (20) In addition, the learner can manually operate the instrument 20 to perform the surgery, the educator can sit in the master console to watch the situation where the learner performs the surgery.

In this state, if the learner malfunctions or an emergency situation occurs, the educator can immediately switch the robot to the remote control mode to overcome the emergency situation caused by operating the robot.

Conversely, the learner sits on the master console to perform robotic surgery, the educator watches the instrument 20 operate, and the learner immediately switches the robot to local control mode when the learner malfunctions or has an emergency. It is also possible to overcome the emergency situation caused by manipulating the robot.

In the surgical robot according to the present embodiment, the conversion between various control modes may be implemented by various methods such as manipulating the manual operation handle 10 installed in the robot in a preset manner or pressing a switch provided separately. have.

9 is a flow chart showing a surgical robot control method according to another embodiment of the present invention.

Since the surgical robot according to the present embodiment can be operated both by manual operation and by the robot, the robot can track the contents of the previously input manual operation immediately or later, so that the robot can be used for high difficulty surgery or surgical education.

That is, when it is determined that the sensing signal is input by the user's manipulation (S30) and the contents of manual manipulation are logged in the future, the user operates the handle 10 to record the history of the driving of the instrument 20. The data is stored in the form (S40).

When the instrument 20 is to be driven again according to the user's operation, the robot loads the stored history data to control the robot, so that the robot drives the instrument 20 again in the same manner as the user operated and operated the handle 10. Can be driven (S50).

The surgical robot control method according to the embodiment of the present invention described above may be performed in combination with a predetermined device, for example, a surgical robot system after being stored in a recording medium. Here, the recording medium may be a magnetic or optical recording medium such as a hard disk, a video tape, a CD, a VCD, a DVD, or a database of a client or server computer built offline or online.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

1A is a conceptual diagram illustrating a hybrid surgical instrument according to an embodiment of the present invention.

1B is a conceptual diagram illustrating a hybrid surgical instrument according to another embodiment of the present invention.

Figure 2 is a view showing the structure of the handle according to an embodiment of the present invention and the operating state of the instrument accordingly.

Figure 3 is a view showing the structure of the handle and the operating state of the instrument according to another embodiment of the present invention.

Figure 4 is a conceptual view showing a manual operation handle member of the surgical instrument according to an embodiment of the present invention.

5 is a conceptual diagram showing an adapter for a hybrid surgical robot according to an embodiment of the present invention.

6 is a conceptual diagram showing a hybrid surgical robot according to an embodiment of the present invention.

Figure 7 is a block diagram showing a hybrid surgical robot system according to an embodiment of the present invention.

8 is a flow chart showing a surgical robot control method according to an embodiment of the present invention.

9 is a flow chart showing a surgical robot control method according to another embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

1: surgical robot 3: robot arm

5: Actuator 7: Sensor

9: controller 10: handle

12: handle member 16: adapter

20: instrument 14, 18, 22: drive unit

15, 19, 23: driver 24: wire

26: shaft 28: effector

Claims (32)

delete delete delete As an instrument mounted on a robot arm provided in the surgical robot, A driving unit mounted to the front end of the robot arm and operated by receiving a driving force from the robot arm; A shaft coupled to the drive unit, the shaft receiving a power transmission means connected to the drive unit therein; A handle coupled to the driving unit and configured to apply a driving force to the power transmission means by a user operation; An effector coupled to the distal end of the shaft and connected to the power transmission means, the effector being operated by a driving force transmitted from at least one of the robot arm and the handle to perform an operation necessary for surgery, And said handle is manipulated with a degree of freedom corresponding to the degree of freedom of operation of said effector. The method of claim 4, wherein the surgical robot, A sensor unit for sensing a user's manipulation of the handle and outputting a sensing signal; Further comprising a controller for generating a control signal corresponding to the sensing signal, The controller is a hybrid surgical instrument, characterized in that for performing a boost-up (boost-up) function for the user operation. delete delete delete A handle member coupled to a robotic surgical instrument for manually operating the instrument, The instrument is, A first driving part mounted at one end of the robot arm provided in the surgical robot, the first driving part being operated by receiving a driving force from the robot arm; A shaft coupled to the first drive unit and accommodating therein a power transmission means connected to the first drive unit; An effector coupled to the distal end of the shaft and connected to the power transmission means to perform an operation necessary for surgery according to the operation of the first drive unit; A second driver mounted on the other surface of the first driver and transmitting a driving force to the first driver to operate the first driver; A handle coupled to the second drive unit and configured to apply a driving force to the second drive unit by a user operation; The second driving unit is detachably mounted to the first driving unit, and when the second driving unit is separated from the first driving unit, an additional cover member is coupled to the other surface of the first driving unit. Hand-operated handle member. The method of claim 9, wherein the surgical robot, A sensor unit for sensing a user's manipulation of the handle and outputting a sensing signal; Further comprising a controller for generating a control signal corresponding to the sensing signal, The controller is a manual operation handle member of the surgical instrument, characterized in that for performing a boost-up (boost-up) function for the user operation. delete delete delete delete An adapter interposed to mount an instrument on a robot arm provided in a surgical robot, A first driving part mounted at one end of the robot arm and operated by receiving a driving force from the robot arm; A handle coupled to the first driving unit and configured to apply a driving force to the first driving unit by a user manipulation; The instrument is, A second driving unit mounted to the first driving unit and operated to receive a driving force from the first driving unit; A shaft coupled to the second drive unit and accommodating therein a power transmission means connected to the second drive unit; Is coupled to the distal end of the shaft, connected to the power transmission means including an effector for performing the operation required for the operation in accordance with the operation of the second drive, Adapter for a hybrid surgical robot, characterized in that used as a sterile adapter mounted on the surgical robot (sterile adapter). The method of claim 15, wherein the surgical robot, A sensor unit for sensing a user's manipulation of the handle and outputting a sensing signal; Further comprising a controller for generating a control signal corresponding to the sensing signal, The controller, the surgical robot adapter, characterized in that for performing a boost-up (boost-up) function for the user operation. A robot for performing an operation by mounting an instrument on a robot arm, The instrument is, A driving unit mounted to the front end of the robot arm and operated by receiving a driving force from the robot arm; A shaft coupled to the drive unit, the shaft receiving a power transmission means connected to the drive unit therein; It is coupled to the distal end of the shaft, and connected to the power transmission means including an effector for performing the operation required for the operation in accordance with the operation of the drive unit, A controller for generating a control signal; An actuator formed at the front end of the robot arm and driven according to a control signal generated by the controller; A handle coupled to the robot arm and configured to apply a driving force to the actuator by a user operation; A sensor unit for sensing a user operation on the handle to output a sensing signal, And the controller generates the control signal in response to the sensing signal. delete 18. The method of claim 17, And the controller generates the control signal to perform a boost-up function for a user operation. Robotic arm; An instrument mounted to the robot arm and operated to receive a driving force from the robot arm; A handle coupled to at least one of the robot arm and the instrument and configured to apply a driving force to the instrument by a user's operation; A sensor unit for sensing a user's manipulation of the handle and outputting a sensing signal; A controller for applying a driving force to the robot arm in response to the sensing signal, The instrument is a hybrid surgical robot system, characterized in that for performing the operation required by the at least one of the driving force transmitted from the robot arm and the driving force transmitted from the handle. delete 21. The method of claim 20, The handle is made of a separate member is a hybrid surgical robot system, characterized in that coupled to the instrument. 21. The method of claim 20, And the handle is coupled to a sterile adapter interposed between the robot arm and the instrument. 21. The method of claim 20, The controller is a hybrid surgical robot system, characterized in that for performing a boost-up (boost-up) function for the user operation. A method of controlling a surgical robot including a robot arm, an instrument mounted to the robot arm and operated by receiving a driving force from the robot arm, and a manual operation handle configured to apply a driving force to the instrument by a user operation. (a) detecting a user's manipulation of the handle to generate a sensing signal; And and (b) blocking a driving force transmitted from the robot arm to the instrument or a driving force transmitted from the handle to the instrument in response to the sensing signal. 26. The method of claim 25, The step (a), the surgical robot control method comprising the step of detecting a user operation for the switch provided in the surgical robot. delete delete delete 26. The method of claim 25, The step (b) is a surgical robot control method comprising the step of adjusting the driving force transmitted from the robot arm so that the user operation is boosted up (boost-up). delete A program of instructions that can be executed by a digital processing apparatus for performing the surgical robot control method according to any one of claims 25, 26 and 30 is tangibly embodied and can be read by the digital processing apparatus. Recording medium that records the program.

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