CN102186434A - Three-dimensional display system for surgical robot and method for controlling same - Google Patents
Three-dimensional display system for surgical robot and method for controlling same Download PDFInfo
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- CN102186434A CN102186434A CN2009801410053A CN200980141005A CN102186434A CN 102186434 A CN102186434 A CN 102186434A CN 2009801410053 A CN2009801410053 A CN 2009801410053A CN 200980141005 A CN200980141005 A CN 200980141005A CN 102186434 A CN102186434 A CN 102186434A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/372—Details of monitor hardware
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/41—Medical
Abstract
Disclosed are a three-dimensional display system for a surgical robot and a method for controlling same. The three-dimensional display system includes a 3D display for displaying 3-dimensional video information acquired from a surgery, a robotic arm coupled to the three-dimensional display, a surgical robot to which the robotic arm is connected, and a controller contained within the surgical robot. The controller drives the robot arm to move the three-dimensional display to a predetermined position. In the display system for a surgical robot of the present invention, a three-dimensional display is mounted on an articulated robotic arm, and the robotic arm is driven in a manual or automated system to enable the three-dimensional display to track and move along the position of the eye of an operator, to thereby eliminate the necessity of changing the posture of the operator even when the operator intends to check three-dimensional video information, and eliminate the necessity of putting a separate display on the body of the operator. Further, the present invention presets the position of the three-dimensional display for each operator, to thereby constantly provide accurate three-dimensional video information irrespective of the operator and the posture thereof.
Description
Technical field
The present invention relates to a kind of 3D display system of operating robot and the control method of this 3D display system.
Background technology
At medical domain, operation is meant that the use armarium cuts or incision or alternate manner operation patient's skin, mucosa or other tissue, to handle the process of pathological condition.May exist such as the operation process of the laparotomy ventrotomy of cutting skin and processing, reconstruct or excision internal etc. etc. lose blood, the problem of side effect, pain and cicatrix, therefore, the use of robot is considered to a kind of welcome alternative at present.
When using operating robot to carry out robotic surgery, operation undergos surgery in the patient body inside of surgeon's 3-D view form on watching the 3D display.An example realizing the 3D display system of surgical robot system is the binocular display system.
The binocular display system can relate to is carrying out robotic surgery when being installed in the microscopic examination surgery location on the operating robot.This has caused existing the surgical shoulder that carries out prolonged operations or cervical pain and can not concentrate on operation or mobile robot's risk improperly.
Second example is that wear-type shows (HMD, head mount display) system, and wherein, user can undergo surgery when helmet-shaped display on the user head is watched 3-D view by being worn over.Yet the helmet in the HMD system is heavy and inconvenient usually, and must take off the helmet at the intra-operative user in order to see other things.
The 3rd example is spectacle polarization display system (glasses-type polarized displaysystem).Because this system utilizes polarized light to realize 3-D view, so image is darker usually, and must remove polarising glass at the intra-operative user in order to see other things.
The inventor has perhaps obtained the information in the above-mentioned background technology in order to research and develop the present invention in research and development process of the present invention.Therefore, should be appreciated that these information needn't belong to the open field before patent application of the present invention day.
Summary of the invention
Technical problem
Aspects more of the present invention comprise, the control method of a kind of 3D display system and 3D display system is provided, wherein, in the robotic surgery process, position mobile 3 D display according to the operator, thereby make the operator when watching 3-D view easily, to carry out robotic surgery, and do not need to change posture or wear display device.
Can easily understand other technical problem that the present invention solves from the following description.
Technical scheme
One aspect of the present invention provides a kind of 3D display system that is used for operating robot, comprising: 3D display, described 3D display are used to show the three-dimensional image information that obtains from surgery location; The robots arm, described robots arm and described 3D display connect; Operating robot, described operating robot is connected with described robots arm; And controller, described controller is included in the described operating robot, and wherein, described controller drives described robots arm, thereby described 3D display is moved to ad-hoc location.
Described image information can be to take and be treated to a displayable group image information on described 3D display by the visible system that inserts patient with operation.Described robots arm can comprise the polylinker connecting rod, and described polylinker connecting rod is driven by described controller, thereby the 3D display is moved to ad-hoc location.Described robots arm's a end can be fixed on the structure in the operating room, and described robots arm is electrically connected with described operating robot.
The control station unit that is used to receive the operation of user is installed in described operating robot, and described controller is constructed to move described 3D display according to the position of user eyes.In this case, operating grip can be installed on the described control station unit, and described controller is constructed to operate mobile described 3D display according to the user on the described operating grip.
The sensor unit that can detect the position of user eyes can be connected with described controller, and described controller can be constructed to receive the signal from described sensor unit, to move described 3D display according to the position of user eyes.Memory element can be connected with described controller, described memory element can be stored the related data that moves the position of described 3D display according to the position of each user eye, and described controller can be constructed to load the data that are stored in the described memory element according to the unitary user of the described control station of operation, described 3D display is moved to the position of pre-stored.
Another aspect of the present invention provides a kind of control method of 3D display, and described 3D display connects with the robots arm who is electrically connected to operating robot.Described method comprises: the relevant information that obtains the user of the described operating robot of use; And according to the described robots arm of the information-driven that is obtained, to move described 3D display.
Described 3D display is constructed to show by inserting the group image information that the intravital visible system of patient with operation is taken.The described relevant information of described user can comprise the information about the position of described user eyes.
The step of the relevant information of the user of the described operating robot of acquisition use can comprise: by utilizing the position of pick off sensing user eyes; And from described pick off received signal, to obtain the relevant information of user.With the described relevant information about the form storage user of the data of position, to move described 3D display according to the position of user eyes, wherein, the step that obtains described information can comprise loads described data in advance.
Accessory rights require and following printed instructions in, handles others outside above-mentioned, feature and advantage general obviously.
Beneficial effect
According to embodiments of the invention, the 3D display system can be assemblied on the polylinker link robots arm, and can manually or automatically drive described robots arm, with the mobile 3 D display, follow the trail of the position of operator's eyes simultaneously, thereby the operator needn't change posture or wear independent display device in order to watch 3-D view.In addition, the position by for the default 3D display of each operator can provide three-dimensional image information accurately usually, no matter is that what posture which operator or operator are in.
Description of drawings
Fig. 1 is the perspective view according to the 3D display system that is used for operating robot of the embodiment of the invention;
Fig. 2 is the flow chart according to the control method of the 3D display system that is used for operating robot of the embodiment of the invention.
The explanation of the Reference numeral of＜primary clustering 〉
1: operating robot 3: the control station unit
5: operating grip 10:3D display
12: the robots arm 20: controller
22: sensor unit 24: memory element
The specific embodiment
Because the present invention allows various modification and a plurality of embodiment, therefore with shown in the drawings and in printed instructions, describe specific embodiment in detail.Yet this is not intended to and limits the present invention in the concrete embodiment, and should be appreciated that, all modification, coordinate and replacements that do not break away from spirit of the present invention and technical scope all comprise in the present invention.
When describing that an assembly " is connected " with another assembly or during " visit " another assembly, should be understood to that two assemblies can directly connect mutually or directly visit, but also can comprise one or more other assemblies between them.Otherwise an assembly " directly is connected " with another assembly or " directly visit " another assembly if describe, and then being construed as between described two assemblies does not have other assembly.
The term of Shi Yonging only is used to distinguish specific embodiment in this manual, and is not intended to restriction the present invention.As long as can clearly differentiate implication in context, odd number is expressed just can comprise the plural number expression.In this manual, should be appreciated that, term such as " comprising " and " having " is intended to represent to be disclosed in feature, quantity, step, operation, assembly, part or its bonded existence in the description, and does not get rid of and exist or increase one or more different features, quantity, step, operation, assembly, part or it is bonded possible.
And, when providing the description that relates to accompanying drawing, in institute's drawings attached, use identical Reference numeral to represent identical or corresponding assembly, and omit being repeated in this description same components.In printed instructions, when some detailed description of prior art is regarded as unnecessarily making essence of the present invention not know, omit these detailed descriptions.
Fig. 1 is the perspective view according to the 3D display system that is used for operating robot of the embodiment of the invention.Operating robot 1, control station unit 3, operating grip 5,3D display 10, robots arm 12, controller 20, sensor unit 22 and memory element 24 have been shown among Fig. 1.
The microscopic system or the HMD system that are fixed on control station with the part that shows 3-D view or are worn on the user head are different, the feature that can be known as the present embodiment of " robots arm 3D display (articulated type 3D display) " is, robots arm 12 is connected on the 3D display 10, thereby makes 3D display 10 freely to move.
The 3D display can refer to reproduce any system of 3-D view, and the 3D display is to comprise software engineering that permission 3D watches and the hardware that software content can be embodied as practically 3D rendering thereon.Owing to have the interval of about 65mm between the human eye, therefore provide slightly different image (promptly for left eye and right eye, binocular parallax is provided) can make the people experience the three dimensions sense, this is that so latter two image is perceived as an image by brain because image is transferred to brain by optic nerve.
Therefore, the 3D display is to make user experience the system of spatial virtual sensation from two-dimentional viewing hardware, wherein, two images, be left-side images and image right, be simultaneously displayed on the two-dimentional display device and be provided for the left eye and the right eye of user, thereby provide three-dimensional impression to user.
The example of 3D display comprises: polarized systems, and it utilizes the combination of orthogonal Polarization filter to make the image of left eye and right eye different; Time-division system therein, to change at a high speed left passage and right channel image, simultaneously also making covering such as a pair of shutter eyeglass at a high speed or not cover this screen, thereby makes the image from a direction be offered each eye respectively on a screen; The HMD system, therein, user is worn the display device that forms helmet sample, and before the eyes of user a pair of screen is set directly, and user can utilize lens to receive distinct image by focusing like this; And complementary stero (anaglyph system), therein, utilizing an a pair of typical side is glaucous 2 color eyeglasses for redness and opposite side, can make the color difference of two channel image, thereby 3D effect is provided.
In the present embodiment, as shown in Figure 1, utilize in the above-mentioned various system any one to can be implemented as small-sized, light-duty module for left side and right side provide the 3D display 10 of independent demonstration.3D display 10 can connect with the robots arm 12 with certain degree of freedom, thereby makes that user can be by required mobile 3 D display 10.
For example, 3D display 10 can move according to surgical needs by following the trail of surgical posture, and this does not occur over just the surgeon and is being seated or is standing when carrying out robotic surgery, can be when surgeon's recumbency undergos surgery yet.3D display 10 can move to the position that maximum convenience is provided for user, and the position that can arrive by driven machine people arm 12 manually or automatically.
For this reason, basic structure according to the 3D display system of the operating robot of present embodiment comprises the 3D display 10 that connects with robots arm 12, and the robots arm 12 who is connected with operating robot 1, moving simultaneously by the 3D display 10 that is assemblied in controller 20 controls in the operating robot 1.
3D display 10 is the equipment that shows from the three-dimensional image information of taking such as surgical locations such as operating rooms.Can such as polarized systems, time-division system, complementary stero etc., finish the practical structures of 3D display 10, and this paper will not describe further to this in detail by using above-mentioned various systems.
Visual system is used for providing captured image information at operation process, and visual system can comprise such as instruments such as peritoneoscope, endoscope, microscope, magnifier, reflecting mirrors.To utilize case description to adopt laparoscopically visual system below.
The image that shows via 3D display 10 can be by inserting the captured image of the intravital peritoneoscope of patient with operation.If desired, can carry out Flame Image Process, to produce the data that can on 3D display 10, be shown as 3-D view to image information from acquisitions such as peritoneoscopes.
As mentioned above, can connect with robots arm 12, so that user mobile 3 D display 10 manually or automatically based on the 3D display 10 of this embodiment.As what will describe after a while, in the situation of the signal of telecommunication driven machine people arm 12 that receives according to slave controller 20, can be constructed to the polylinker link assembly based on the robots arm 12 of present embodiment.For example, if utilize robots arm 12 with 3 degree of freedom that 3D display 10 is moved to specified point in the space, then robots arm 12 can form the bar linkage structure that is connected by three joints.
Yet, do not need to form the polylinker link assembly based on the robots arm 12 of present embodiment.Clearly, robots arm 12 can adopt various structures, as long as 3D display 10 can freely move according to the signal that slave controller 20 receives by this structure.
Controller 20 can be determined the final position that 3D display 10 will move to from from user input (for manual system) or from pre-stored data or from the signal (for automatic system) of pick off.Then, if 3D display 10 will move to the final position from current position, then controller 20 can calculating robot's arm 12 will driven angle, can produce and transmit signal then with the angle driven machine people arm 12 that is calculated.
If robots arm 12 is constructed to aforesaid polylinker link assembly, then controller 20 can calculate the rotational angle of each joint and transmit signal to each joint, thereby each joint can be according to the angular turn of being calculated.
Operating robot 1 can form initiatively and servo system, this system comprises the active robot that produces and transmit desired signal according to the operation of user, and from active robot received signal with in fact to undergo surgery the independently driven robot of required operation of patient, perhaps, operating robot 1 can form active-driven integrated system, in this system, integral type operating robot 1 receives the user operation, and is installed in the required operation that correspondingly undergos surgery of instrument on the operating robot 1.
Be electrically connected with operating robot 1 with robots arm's 12 connections and robots arm 12 by 3D display 10 in this way, 3D display 10 can move to the surgeon desired position, thereby makes the surgeon can take posture arbitrarily.Be not only the surgeon, assistant or nurse also can freely settle 3D display 10 to watch 3-D view.
Be installed in operating robot 1 if be used to import the control station unit 3 of user operation, then can be by coming mobile 3 D display 10 according to the manual operation of user input or by automatic operation according to data pre-configured or that obtain by pick off.Controller 20 can driven machine people arm 12, thereby makes 3D display 10 be positioned at eyes the place ahead of user.
In other words, controller 20 based on present embodiment can be transferred to robots arm 12 with driving signal, thereby make 3D display 10 move to the residing position of eyes of user, the position of definite user eyes such as detection of operation that simultaneously can be by user, pre-configured data, pick off.
In the situation of the manual operation mobile 3 D display 10 that passes through user, control station unit 3 can comprise operating grip 5.When user was operated described operating grip 5 3D display 10 is placed user eyes place, controller 20 can and place 3D display 10 in eyes the place ahead of user according to the input driven machine people arm 12 of operating grip 5.
Operating grip 5 based on present embodiment can be the handle of special mobile 3 D display 10.Perhaps, the main handle that is used for the operation instrument can doublely be done the operating grip 5 that is used for mobile 3 D display 10.In the latter's situation, main handle can be equipped with selector button etc. extraly.Then, when by select button, main handle can also be as the operating grip 5 based on present embodiment when can normally being used to operate described instrument, and operating described handle thus can mobile 3 D display 10.
Operating grip 5 based on present embodiment can also be installed on the 3D display 10, thereby user can be held operating grip 5 and direct mobile 3 D display 10.
Position that can also sensing user eyes also automatically moves to 3D display 10 the place aheads of user eyes.In this case, the sensor unit 22 that detects the user eyes can be connected to controller 20, and because the position of sensor unit 22 sensing user eyes and transmit corresponding signal, so controller 20 can receive described signal and driven machine people arm 12.
Sensor unit 22 can comprise the pick off that is used to detect the user eyes, and the cable that is used to transmit signal, and if desired, can also comprise the processor that is used for processing signals.For example, if imageing sensor is used for determining the position of user eyes, the image that can the analysis image pick off be obtained of processor then, to calculate the coordinate of user eyes present position, and the coordinate that calculates can be transferred to controller 20, and controller 20 can move to 3D display 10 position of user eyes afterwards.
Yet, based on the sensor unit 22 of present embodiment do not need must the sensing user eyes.Can also determine the position of user eyes by the facial or different body parts that detect user, if perhaps user is worn special device, then can determine the position of user eyes, then corresponding signal is transferred to controller 20. by detecting described device
For example, user can carry out robotic surgery in the ad-hoc location wear markers of its health, and described labelling is specifically designed to by sensor unit 22 and detects.Then, sensor unit 22 can detect described labelling,, correspondingly produces then and transmits induced signal from the position of calculating the user eyes according to mark position.
In this way, can detect the position of user or move based on the 3D display system of present embodiment, with when following the trail of the user eyes in specific scope mobile 3 D display 10 automatically.
Perhaps, can be for will operating based on the default position that will place 3D display 10 of each user of the operating robot 1 of present embodiment, thereby when one of them user operation robot 1 mobile 3 D display 10 correspondingly.
In this case, comprise that the memory element 24 of pre-stored data can be connected to controller 20, described pre-stored information is the information about the placement location of each user's 3D display 10 (for example position of eyes).Then, when user used operating robot 1, controller 20 can load the data relevant with user from memory element 24, and driven machine people arm 12, thereby 3D display 10 was placed the place ahead of user eyes.
For this reason, can comprise extraly based on the operating robot 1 of present embodiment and be used to judge which user is using the ID recognition unit of operating robot 1.The ID recognition unit can be adopt various recognition methodss (such as, utilize the manual identification method of ID card etc., utilize the automatic identifying method of the ID chip that is worn on the user health etc., and the recognition methods that utilizes finger scan) in the device of any means.
When definite concrete user had used operating robot 1, controller 20 can be fetched described user's related data also according to 3D display 10 is placed in the customization that user carried out from memory element 24.
As mentioned above, be not stored in user in the memory element 24 for its data, can come mobile 3 D display 10 by manual operation or sensing, data used herein afterwards can be added in the memory element 24 related data as new user.
Even be stored in user in the memory element 24 for its data, also can upgrade the data relevant where necessary with placing 3D display 10, can be that same user is stored the several data setting according to different posture or move etc.In this case, not only can discern the id information of user, information such as can also discern posture or move, controller 20 can accurately move to desired location for described user loads about the pre-stored data of relevant posture etc. and with 3D display 10 afterwards.
With the method, can be respectively each user based on the 3D display system of present embodiment and store the placement location of 3D display 10, thereby can optimize each user of using operating robot 1 driving 3D display 10 with different healths etc.
Owing to no matter whether adopt the driven robot that is used for the operation instrument, can use 3D display system based on present embodiment, therefore described system also can also be known as " intelligence instrument " as the instrument on the active-driven one operating robot 1.
Fig. 2 is the flow chart of diagram according to the control method of the 3D display system that is used for operating robot of the embodiment of the invention.The control method of above disclosed 3D display system will be described below.
3D display 10 can be electrically connected with operating robot 1, and simultaneously controller 20 can be installed in the mobile of the 3D display 10 that is connected with operating robot 1 with control on the operating robot 1.
Thereby present embodiment relates to position mobile 3 D display 10 by the posture that 3D display 10 is placed the most suitable user and user to adapt to the control method that user uses operating robot 1.For this reason, at first can obtain to use the relevant information (S10) of the user of described operating robot 1.
The relevant information of user can be corresponding to one group of input information that is used for mobile 3 D display 10.For example, if 3D display 10 is placed in the place ahead of user eyes, the coordinate that the relevant information of user can the residing position of the person's of being to use eyes then.
The image that is presented on the 3D display 10 can be by inserting the captured image of the intravital peritoneoscope of patient with operation, and as previously mentioned, can carry out Flame Image Process to image information if desired, to produce the data that can on 3D display 10, be shown as 3-D view from acquisitions such as peritoneoscopes.
The example that obtains the method for user relevant information comprises: utilizes the position (S12) of pick off sensing user eyes, loads the pre-stored data (S16) relevant with the position of user eyes, or the like.
Therefore the detailed structure that is used for the position of sensing user eyes described above no longer repeats here.If use the position of pick off sensing user eyes, then described pick off can produce and transmit signal specific, described signal specific can be received by the controller 20 based on present embodiment, to obtain the relevant information of user, such as the coordinate (S14) of user eyes.
Saved as in advance in the situation of the data that when needing, are loaded in information about the user, can be the different gestures storage data of each user and each user, as mentioned above, these data are stored as the form of position coordinates, the position that to be 3D display 10 will move to according to the position of user eyes, described position.Therefore the form of the data of each pose information that can store each user and user described above and the detailed arrangement of storage and the described data of loading no longer repeat here.
In the position of sensing user eyes (S12) or load position (S16) that 3D display 10 will move to according to pre-stored data afterwards, can be according to the information-driven robots arm 12 who is obtained, with mobile 3 D display 10 (S20).
Therefore, when specific user used operating robot 1 based on present embodiment, 3D display 10 can automatically move to the optimum position into the user customization.
Hereinbefore, the 3D display system that is used for operating robot according to one aspect of the invention as a specific embodiment is disclosed.Yet, the invention is not restricted to the disclosed embodiments, and the different detailed structure that comprises 3D display 10 and operating robot 1, different annexation between robots arm 12 and the operating robot 1, perhaps the layout of the different detail operations of controller 20 etc. is also contained in the scope of the present invention, as long as all processes is identical with effect.Like this, should be appreciated that under situation about not breaking away from by the appended the spirit and scope of the present invention that claim limited, those skilled in the art can carry out various modification and improvement to the present invention.
Claims (13)
1. 3D display system that is used for operating robot, described 3D display system comprises:
3D display, described 3D display are constructed to show the three-dimensional image information that obtains from surgery location;
The robots arm, described robots arm and described 3D display connect;
Operating robot, described operating robot have connected described robots arm; And
Controller, described controller are included in the described operating robot,
Wherein, described controller is constructed to drive described robots arm, thereby described 3D display is moved to ad-hoc location.
2. 3D display system according to claim 1, wherein, described image information is to take and be treated to a group image information that shows by the visible system that inserts patient with operation on described 3D display.
3. 3D display system according to claim 1, wherein, described robots arm comprises the polylinker connecting rod, described polylinker connecting rod is constructed to be driven by described controller, thereby the 3D display is moved to ad-hoc location.
4. 3D display system according to claim 1, wherein, described robots arm's a end is fixed on the structure of operating room, and described robots arm is electrically connected with described operating robot.
5. 3D display system according to claim 1, wherein, the control station unit is installed on the described operating robot, and described control station unit is constructed to receive the operation of user, and described controller is constructed to move described 3D display according to the position of user eyes.
6. 3D display system according to claim 5, wherein, operating grip is installed on the described control station unit, and described controller is constructed to operate mobile described 3D display according to the user on the described operating grip.
7. 3D display system according to claim 5, wherein, sensor unit is connected with described controller, described sensor unit is constructed to detect the position of user eyes, and described controller is constructed to receive the signal from described sensor unit, to move described 3D display according to the position of user eyes.
8. 3D display system according to claim 5, wherein, memory element is connected with described controller, described memory element is constructed to store the data about the position, be used for moving described 3D display according to the position of each user eye, and described controller is constructed to load the data that are stored in the described memory element according to the unitary user of the described control station of operation, described 3D display is moved to the position of pre-stored.
9. the control method of a 3D display, described 3D display connects with the robots arm who is electrically connected to operating robot, and described method comprises:
Obtain the relevant information of the user of the described operating robot of use; And
According to the described robots arm of the information-driven that is obtained, to move described 3D display.
10. method according to claim 9, wherein, described 3D display is constructed to show by inserting the group image information that the intravital visible system of patient with operation is taken.
11. method according to claim 9, wherein, the described relevant information of described user comprises the information about the position of described user eyes.
12. method according to claim 9, wherein, the step that obtains described information comprises:
Position by pick off sensing user eyes; And
From described pick off received signal, to obtain the relevant information of user.
13. method according to claim 9, wherein, in advance with described relevant information about the form storage user of the data of position, moving described 3D display according to the position of user eyes,
And the step that obtains described information comprises loads described data.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020080081671A KR100998182B1 (en) | 2008-08-21 | 2008-08-21 | 3D display system of surgical robot and control method thereof |
| KR10-2008-0081671 | 2008-08-21 | ||
| PCT/KR2009/001388 WO2010021447A1 (en) | 2008-08-21 | 2009-03-18 | Three-dimensional display system for surgical robot and method for controlling same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102186434A true CN102186434A (en) | 2011-09-14 |
| CN102186434B CN102186434B (en) | 2013-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009801410053A Active CN102186434B (en) | 2008-08-21 | 2009-03-18 | Three-dimensional display system for surgical robot and method for controlling same |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR100998182B1 (en) |
| CN (1) | CN102186434B (en) |
| WO (1) | WO2010021447A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2731756A4 (en) * | 2011-07-15 | 2015-08-26 | Olympus Corp | Manipulator system |
| CN108289600A (en) * | 2016-10-03 | 2018-07-17 | 威博外科公司 | Immersion three dimensional display for robotic surgical |
| WO2019080358A1 (en) * | 2017-10-28 | 2019-05-02 | 深圳市前海安测信息技术有限公司 | Robot for surgical navigation using 3d images and control method thereof |
| CN109806002A (en) * | 2019-01-14 | 2019-05-28 | 微创（上海）医疗机器人有限公司 | A kind of imaging system and operating robot for operating robot |
| CN111538401A (en) * | 2019-01-31 | 2020-08-14 | 创新服务股份有限公司 | Method for positioning human face and eyes by using microscope |
| CN113662494A (en) * | 2021-08-17 | 2021-11-19 | 岱川医疗(深圳)有限责任公司 | Workstation of endoscope, control method thereof, control device thereof, and storage medium |
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| IT1401669B1 (en) | 2010-04-07 | 2013-08-02 | Sofar Spa | ROBOTIC SURGERY SYSTEM WITH PERFECT CONTROL. |
| CN102599876B (en) * | 2012-03-08 | 2014-05-07 | 珠海迈德豪医用科技有限公司 | Endoscope having automatic positioning and viewing unit |
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| KR101706994B1 (en) * | 2016-10-17 | 2017-02-17 | (주)미래컴퍼니 | Surgical robot system and laparoscope handling method thereof |
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| KR102274167B1 (en) | 2019-09-05 | 2021-07-12 | 큐렉소 주식회사 | Robot positioning guide apparautus, method therof and system comprising the same |
| KR102349862B1 (en) | 2020-01-31 | 2022-01-12 | 큐렉소 주식회사 | Apparatus for providing robotic surgery inforamtion during joint replacement robotic surgery, and method thereof |
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| JP3668269B2 (en) * | 1995-01-10 | 2005-07-06 | オリンパス株式会社 | Intrabody cavity manipulator device |
| KR100336804B1 (en) | 1999-10-27 | 2002-05-13 | 김춘호 | A telescope auto control system and the control method |
| GB0011455D0 (en) * | 2000-05-13 | 2000-06-28 | Mathengine Plc | Browser system and method for using it |
| GB0222265D0 (en) * | 2002-09-25 | 2002-10-30 | Imp College Innovations Ltd | Control of robotic manipulation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2731756A4 (en) * | 2011-07-15 | 2015-08-26 | Olympus Corp | Manipulator system |
| US11439478B2 (en) | 2016-10-03 | 2022-09-13 | Verb Surgical Inc. | Immersive three-dimensional display for robotic surgery |
| US10786327B2 (en) | 2016-10-03 | 2020-09-29 | Verb Surgical Inc. | Immersive three-dimensional display for robotic surgery |
| JP2020195798A (en) * | 2016-10-03 | 2020-12-10 | バーブ サージカル インコーポレイテッドＶｅｒｂ Ｓｕｒｇｉｃａｌ Ｉｎｃ． | Immersive three-dimensional display for robotic surgery |
| CN108289600A (en) * | 2016-10-03 | 2018-07-17 | 威博外科公司 | Immersion three dimensional display for robotic surgical |
| JP7175943B2 (en) | 2016-10-03 | 2022-11-21 | バーブ サージカル インコーポレイテッド | Immersive 3D viewing for robotic surgery |
| US11813122B2 (en) | 2016-10-03 | 2023-11-14 | Verb Surgical Inc. | Immersive three-dimensional display for robotic surgery |
| WO2019080358A1 (en) * | 2017-10-28 | 2019-05-02 | 深圳市前海安测信息技术有限公司 | Robot for surgical navigation using 3d images and control method thereof |
| CN109806002A (en) * | 2019-01-14 | 2019-05-28 | 微创（上海）医疗机器人有限公司 | A kind of imaging system and operating robot for operating robot |
| WO2020147691A1 (en) | 2019-01-14 | 2020-07-23 | 微创（上海）医疗机器人有限公司 | Imaging system for surgical robot, and surgical robot |
| CN111538401A (en) * | 2019-01-31 | 2020-08-14 | 创新服务股份有限公司 | Method for positioning human face and eyes by using microscope |
| CN113662494A (en) * | 2021-08-17 | 2021-11-19 | 岱川医疗(深圳)有限责任公司 | Workstation of endoscope, control method thereof, control device thereof, and storage medium |
| CN113662494B (en) * | 2021-08-17 | 2023-12-26 | 岱川医疗(深圳)有限责任公司 | Endoscope workstation, control method thereof, control device thereof, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102186434B (en) | 2013-11-06 |
| WO2010021447A1 (en) | 2010-02-25 |
| KR100998182B1 (en) | 2010-12-03 |
| KR20100023086A (en) | 2010-03-04 |
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