KR100944410B1 - Surgical robot system and operating force measuring method thereof - Google Patents

Abstract

PURPOSE: A surgical robot system and an operation force measuring method thereof are provided to implement solid sense technology by obtaining the information about the operation force of an instrument. CONSTITUTION: A surgical robot system includes a driving motor(120) and an instrument(130). A current measuring unit(140) measures the driving current of the driving motor. A controller(110) converts the current measurement value from a current measuring unit into one current conversion value among a section average value and a section effective current value. The controller measures the operation force of the instrument using the current conversion value. The driving motor includes a motor. The motor rotates with the number of rotation and/or direction corresponding to a control signal.

Description

Surgical robot system and operating force measuring method

The present invention relates to a surgical robot system, and more particularly to a surgical robot and a method of measuring the operating force thereof.

The surgical robot system refers to a robot system having a function that can replace a surgical operation performed by a doctor. Such a surgical robot has the advantage of being capable of accurate and precise operation and remote surgery compared to humans.

In surgery using a surgical robotic system, a surgeon typically operates a master robot to control the movement of the surgical instrument at a surgical location away from the patient (eg, in a different room than where the patient is). . Master robots generally include one or more manual input devices such as handheld wrist gimbal, joysticks, exoskeletal glove, handpieces and the like. The operation of the drive motor unit coupled to the controller unit is controlled by a doctor's operation using a manual input device, whereby control on the position, direction and operation form of the instrument is performed. That is, the driving motor unit controls the instrument to be directly inserted into the open surgical site to have various types of motions (for example, cutting tissue or grabbing blood vessels) in the surgical process.

As described above, since the surgical robot system generally operates on a patient by a doctor's operation performed at a remote location, information about the operating force by the instrument needs to be provided to the doctor.

The information on the operating force of the instrument is related to the force and torque applied to the end of the instrument, but due to the nature of the instrument that is inserted into the patient's body and undergoing surgery, the sensor cannot be attached. have.

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 is to provide a surgical robot system and a method for measuring the operating force to enable the indirect method to measure the information on the operating force of the instrument.

In addition, the present invention is to provide a surgical robot system and a method for measuring the operating force that can implement the sensory device technology by obtaining and providing information about the operating force of the instrument in an indirect manner.

In addition, the present invention is to provide a surgical robot system and a method of measuring the operating force to enable a safer operation through the implementation of sensory device technology.

In addition, the present invention to provide a surgical robot system and a reaction force measuring method that can prevent the damage of the organs when holding the internal organs of the patient during surgery by the strength control through the measurement of the operating force of the instrument and to enable a safe operation It is for.

Other objects of the present invention will be readily understood through the following description.

According to an aspect of the present invention, a surgical robot system comprising a drive motor unit and an instrument, comprising: a current measurement unit for measuring a drive current value of the drive motor unit; There is provided a surgical robot system comprising a controller unit for measuring the actuation force.

The current measuring unit may be connected to an input terminal or an output terminal through which the driving current is input to the driving motor unit, and measure the driving current value.

The controller may convert the current measurement value into one or more current conversion values of the section average value and the section effective current value for measuring the operating force.

For the measurement of the operating force, the proportional relationship characteristic of the operating force and the current conversion value can be used.

The drive motor unit may include a motor.

According to another aspect of the present invention, a method for measuring the effector operating force of a surgical robot system including a drive motor unit and an instrument, the method comprising: receiving a measured current measurement value of the drive current value of the drive motor unit; Is converted to at least one current conversion value of the section average value and the section effective current value, and calculating the operating force of the effector using the current conversion value is provided.

The current measurement value may be measured at an input terminal or an output terminal at which a driving current is input to the driving motor unit.

For the calculation of the operating force, the proportional relationship characteristic of the operating force and the current conversion value can be used.

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 an embodiment of the present invention, there is an effect that can measure the information on the operating force of the instrument in an indirect manner.

In addition, there is an effect to implement the sensory device technology by obtaining and providing information on the operating force of the instrument in an indirect manner.

In addition, the implementation of sensory device technology has the effect of enabling a safer operation.

In addition, it is possible to prevent damage to the organs when gripping the internal organs of the patient during surgery by measuring the strength of the operation force of the instrument there is an effect to enable a safe operation.

In addition, in the case of a general motor, the position control is performed, but when the torque control technique is applied to adjust and control the driving force of the motor, the operating force is used as an input signal. It can also be used as an input signal during control).

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

Terms such as first and second 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, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components will be given the same reference numerals and redundant description thereof will be omitted.

1 is a view conceptually showing the structure of a surgical robot system according to an embodiment of the present invention, Figures 2 and 3 is a graph for measuring the operating force of the instrument of the surgical robot according to an embodiment of the present invention The illustrated figure.

Referring to FIG. 1, the surgical robot system includes a controller unit 110, a driving motor unit 120, an instrument 130, and a current measuring unit 140.

The controller 110 receives the information about the operation from the doctor using the manual input device provided in the master robot and controls the driving motor 120 to operate accordingly. The manual input device may be, for example, a handheld wrist gimbal, a joystick, an exoskeletal glove, a handpiece, or the like.

The driving motor unit 120 calculates information about a motor rotating in a corresponding direction and / or rotational speed according to a control signal input from the controller unit 110, and the rotational speed and / or angular speed of the motor. An encoder provided to 110). The motor may for example be a servomotor.

The driving motor unit 120 may further include a motor driving circuit for causing the motor to rotate in a corresponding direction and / or rotation speed according to a control signal input from the controller unit 110.

For example, the drive motor unit 120 is coupled to a pulley included in the instrument 130, so that an effector connected to the pulley by a wire corresponds to the rotation direction and the rotation speed of the motor. Can be manipulated.

The current measurement unit 120 generates a current measurement value measuring the magnitude of the current supplied to the driving motor unit 120 for operation and inputs it to the controller unit 110. The current measuring unit 120 may be connected to, for example, an input terminal through which the current is input to the driving motor unit 120 or an output terminal of the driving motor unit 120 to measure the current.

The controller 110 indirectly measures the operating force of the instrument 130 of the surgical robot system using the current measured value input from the current measuring unit 120. For example, the controller 110 may measure an operating force of the instrument 130 by calculating an average value and / or root mean square (RMS) value by using an input current measurement value. In addition, a calculation table or a conversion table for indirectly measuring the action force of the instrument 130 by the controller 110 using the current measurement value provided from the current measuring unit 140 may be stored in advance in the storage unit. have. For this purpose, a proportional relationship between the current measurement and the force (or torque) can be used.

Hereinafter, a method of indirectly measuring the operating force of the instrument 130 using the current measurement value will be briefly described.

When the instrument 130 grips or hits an object, an external load is applied to the motor, which causes an error in comparison with the intended result. To overcome this load, the control output is increased, which increases the power consumption of the motor.

When the motor in the driving motor unit 120 is controlled by a PWM (Pulse Width Modulation) control method, the power consumption is determined by the amount of current adjusted by PWM pulse width adjustment for a fixed output voltage. Therefore, the amount of current is a direct control variable of power consumption and driving torque. In general, in DC and synchronous AC servo motors, current and torque have a linear proportional relationship (see Equations 1 and 2). Naturally, the above-described control of the motor is not limited to the PWM control method. For example, various control methods such as control using a DA converter may be applied for motor control.

T is torque, P is power consumption, K is efficiency constant, and Vr is angular velocity information provided by encoder.

Here, I denotes a current measurement value input from the current measuring unit 140, and V denotes a fixed output voltage of the motor (for example, having a constant output voltage in a PWM driving servo system). In the case of simple voltage control, the DA input voltage value will be used.

As shown in the above equations, since the torque T is proportional to the power consumption P, and the power consumption is proportional to the current measurement value I, the torque and the current measurement value are also proportional to each other.

2 and 3 illustrate a graph for measuring the operating force of the instrument of the surgical robot.

2 (a) is a graph of a control signal input from the controller unit 110 to the driving motor unit 120 for the operation of the instrument 130, for example, a control signal for controlling the rotation angle of the motor It may be about. 2B is a graph showing the current consumption in the process of the drive motor 120 performs the operation specified by the input control signal. (C) of FIG. 2 is a graph measuring the strength (actuation force of the effector) by a load measuring sensor (for example, a load cell) attached to the effector. for reference). Referring to FIGS. 2A and 2C, it can be seen that an operation according to a control signal provided from the controller unit 110 is normally performed.

120 of FIG. 3 is a current consumption fluctuation line simplified by calculating the current consumption of FIG. 2 as an average value according to unit time, and 130 is before and after the operation point according to the control signal (ie, 40 msec point in FIG. 4). It is the current consumption fluctuation line converted into the average value of the current consumption or the effective current value.

Referring to 130 of FIG. 3, it can be seen that the current consumption shows a form similar to the reaction force shown in FIG. 2C (that is, the graph form of the proportional relationship), and thus is provided by the current measuring unit 140. Using the current measurement value it can be seen that the effect of the effector can be measured indirectly.

The operation force measuring method of the above-described effector may be implemented by a software program or the like. Codes and code segments constituting a program can be easily inferred by a computer programmer in the art. The program is also stored in a computer readable media, and read and executed by a computer to implement the method. The information storage medium includes a magnetic recording medium, an optical recording medium and a carrier wave medium.

Although the above has been described with reference to a preferred embodiment of the present invention, those skilled in the art to which the present invention pertains without departing from the spirit and scope of the invention as set forth in the claims below It will be appreciated that modifications and variations can be made.

1 is a view conceptually showing the structure of a surgical robot system according to an embodiment of the present invention.

2 and 3 illustrate a graph for measuring the operating force of the instrument of the surgical robot according to an embodiment of the present invention.

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

110: controller

120: drive motor unit

130: Instrument

140: current measuring unit

Claims (9)

A surgical robot system comprising a drive motor unit and an instrument, A current measuring unit measuring a driving current value of the driving motor unit; And A surgical robot system including a controller unit converting a current measurement value provided from the current measuring unit into at least one current conversion value among a section average value and a section effective current value and measuring the operating force of the instrument using the current conversion value . The method of claim 1, And the current measuring unit is connected to an input terminal or an output terminal to which a driving current is input to the driving motor unit to measure the driving current value. delete The method of claim 1, Surgical robot system, characterized in that the proportional relationship characteristics of the operating force and the current conversion value is used to measure the operating force. The method of claim 1, The driving motor unit is a surgical robot system, characterized in that it comprises a motor. A method of measuring the effector actuation force of a surgical robot system including a drive motor unit and an instrument, Receiving a current measured value of a driving current value of the driving motor unit; Converting the input current measurement value into at least one current conversion value among a section average value and a section effective current value; And And calculating the operating force of the effector using the current conversion value. The method of claim 6, The current measured value is measured at the input terminal or output terminal, the driving current is input to the drive motor unit, the effector actuation force measuring method. The method of claim 6, Effector operating force measuring method characterized in that the proportional relationship characteristic of the operating force and the current conversion value is used for the calculation of the operating force. 10. A record in which a program of instructions that can be executed by a digital processing apparatus is tangibly implemented to perform the effector actuation force measuring method according to any one of claims 6 to 8, and records a program that can be read by the digital processing apparatus. media.

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