KR101062189B1 - Surgical Robot System with Multi Output Device - Google Patents

Abstract

Disclosed is a surgical robot system having a multi-output device. According to an aspect of the present invention, a plurality of display units for distinguishing the image information and the biometric information about the patient from the operation site to output by area, control the display unit to output the image information and the biometric information for each display unit Surgical robot system having a display control unit and a multi-output device including a display interface unit for receiving the image information and the biometric information from the external measurement device to the display control unit can output a variety of information to the user during surgery, According to the user's operation there is an effect that can output a different image.

Surgery, Robot, Imaging, Display.

Description

Surgical robot system with multi monitors

The present invention relates to a surgical robot system, and more particularly to a surgical robot system having a multi-output device.

Medically, surgery refers to healing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device. Open surgery during this operation corresponds to surgery to split the abdominal cavity or the skin of the face (skin) and to treat, shape or remove the organs therein.

In particular, when performing a laparotomy or the like, a predetermined space is formed between the skin and the tissue by cutting off the skin and then performing a surgical operation through the space. Therefore, laparotomy is a problem that is slow to heal after surgery because a lot of wounds, laparoscopic surgery is currently attracting attention. In general, laparoscopic surgery is performed by making a small hole in the abdomen of the patient and observing the surgical site of the abdominal cavity through this hole. It is also widely used in obstetrics and gynecology areas. Laparoscopic surgery equipment is a device for diagnosing the internal organs of the body, and is a device in which a small camera is formed. .

During this operation, the doctor needs to view various information about the patient easily and conveniently. In other words, if the image of the operation site and the biometric information of the patient is changed can greatly affect the patient's life, such information should be immediately provided to the doctor undergoing surgery. Currently, there is a need for a system that can easily and easily output and retrieve such information during surgery.

The present invention is to provide a surgical robot system having a multi-output device that can output a variety of information during surgery.

In addition, the present invention is to provide a surgical robot system having a multi-output device capable of outputting different images according to the user's operation during surgery.

Technical problems other than the present invention will be easily understood through the following description.

According to an aspect of the present invention, a plurality of display units for distinguishing the image information and the biometric information about the patient from the operation site to output by area, control the display unit to output the image information and the biometric information for each display unit A surgical robot system having a multi output device including a display controller and a display interface unit for receiving image information and biometric information from an external measurement device and transmitting the same to a display controller is provided.

The image information may be at least one of an image input from a laparoscope in the patient, an entire operating room image, and an image of the patient.

Here, the biometric information may be one or more of body temperature, pulse rate, respiration, and blood pressure of the patient.

The display interface unit may be provided with an input terminal corresponding to an output terminal connected to the biometric information measuring device that detects and outputs biometric information.

In addition, the display interface unit may be connected to a camera unit generating image information.

Here, the display control unit may convert the image information and the biometric information received from the display interface unit into a data format output from the display unit.

In addition, the display unit may be a touch screen.

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

Surgical robot system having a multi-output device according to the present invention can output a variety of information to the user during surgery, there is an effect that can output different images according to the user's operation.

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 changes, equivalents, and substitutes included in the spirit and scope of the present invention.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. As used herein, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on 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.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. In the following description of the present invention, if it is determined that the detailed description of the related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

1 is a view showing a surgical robot system having a multi-output device according to an embodiment of the present invention. Referring to FIG. 1, a master control panel 110, a display control unit 120, a display unit 125, a handle 130, a slave robot 150, a slave robot arm 160, and a surgical patient 170 are illustrated. do.

According to the present exemplary embodiment, a display unit capable of outputting multi-dimensional information such that various situations occurring at the surgical site during the remote surgery, biometric data about the patient, image information, and the like can be observed by the user of the master robot in detail. 125). Hereinafter, a description will be given of a surgical robot system and a display system coupled thereto for implementing the present invention.

The user performing the surgery may manipulate the handle 130 provided in the master operating table 110 so that the slave robot 150 and the slave robot arm 160 may be operated. The handle 130 is connected to a master robot that can be directly manipulated by a user. The master robot remotely controls the slave robot arm 160 coupled with the slave robot 150 to perform surgery such as moving and rotating in space and cutting the surgical site.

The user performs the position movement, rotation, and cutting operation of the slave robot arm 160 using the handle 130 and the buttons attached thereto with one or both hands. A laparoscope (not shown) may be inserted to visually identify the surgical site during the surgical procedure. The laparoscope may be inserted in close proximity to the surgical site where the slave robot arm 160 is inserted.

The handle 130 may be composed of a main handle and a sub handle. The slave robot arm 160 or the laparoscope may be operated with only one handle, or a plurality of surgical equipment may be operated in real time by adding a sub handle.

The main handle and the sub handle may have various mechanical configurations depending on their operation, for example, various inputs for operating the slave robot arm 160 and other surgical equipment such as a joystick type, a keypad, a trackball, a touch screen, and the like. Means can be used.

The user may manipulate the handle 130 while viewing the image photographing the inside of the operating room where the slave robot 150 is located with the display unit 125. A camera (not shown) for operating room photography may select and photograph an important scene in the operating room. In addition, the display unit 125 may output an image in the abdominal cavity taken by the laparoscope.

The display unit 125 may output a plurality of images. In this case, the display unit 125 may output image information such as an image input from a laparoscope in a patient, an entire operating room image, and an image of a patient.

In addition, the display 125 may output a plurality of biometric information. In this case, the display 125 may output one or more indicators indicating a patient's condition, for example, biometric information such as body temperature, pulse rate, respiration, and blood pressure. In this case, the display 125 may be divided by area and output corresponding information.

Here, the area of the display unit 125 may be implemented by hardware or software. Image information received from each window of a monitor composed of a plurality of hardware may be output for each area, or various information may be output by dividing a plurality of windows in one monitor by software.

The slave robot 150 may include a slave transceiver for transmitting and receiving data with the master robot and a robot arm controller for directly controlling the movement of the slave robot arm 160.

2 is a view showing a surgical robot system having a multi-output device according to another embodiment of the present invention. Referring to FIG. 2, a biometric information measuring device 210 including a body temperature measuring device 212, a pulse measuring device 214, a respiratory measuring device 216, and a blood pressure measuring device 218 is further illustrated. In the present embodiment, the biometric information output to the display unit 125 and its acquisition process will be described.

In general, the biometric information (vital signs) of patients measured during surgery is largely represented by body temperature, pulse, respiration, and blood pressure. The patient's biometric information indicates the patient's vital signs, and if it is outside the normal range, detailed observation is required and the fluctuations are directly related to the patient's life and should be measured accurately.

The body temperature measuring device 212 includes a thermometer such as a glass thermometer, an electronic thermometer, a tympanometer, and the like, and measures the body temperature. The measured body temperature is converted into digital information and transmitted to the display controller 120. The display control unit 120 converts the received body temperature information into an output format of the display unit 125 and outputs it to the display unit 125.

The body temperature measuring device 212 may be a device generally provided during surgery, and the display unit 125 of the present embodiment may be implemented to be connectable to the body temperature measuring device 212. That is, the display interface unit provided on one side of the display unit 125 may have an input terminal corresponding thereto so as to receive data output from an output terminal connected to the body temperature measuring device 212.

The display interface unit is provided with the above-described input terminal to receive data from the body temperature measuring device 212 that can be used in the operating room in the prior art, the present embodiment outputs the output data related to the conventional biometric information as it is by the remote robot user as it is There is an advantage available.

The above description may also be applied to the biometric information measuring device 210 such as the pulse measuring device 214, the respiratory measuring device 216, and the blood pressure measuring device 218. That is, the biometric information of the patient measured by the biometric information measuring device 210 is converted into digital information and then input to the display interface unit having an input terminal compatible with the output terminal of the biometric information measuring device 210. Thereafter, the display interface unit transmits the corresponding information to the display control unit 120, and the display control unit 120 outputs the information to the display unit 125.

Pulse may be classified into tachycardia, bradycardia, arrhythmia, and the like, which indicate an abnormal state of the body according to the pulse rate. The display unit 125 outputs the pulse rate of the patient by time, and the user may check whether the patient is abnormal from this information. In addition, breathing may indicate abnormality of the patient by measuring the number, depth, characteristics, rhythm, regularity. Blood pressure is a pressure generated when the blood discharged from the heart reaches the blood vessel wall, and may determine whether the patient is abnormal based on the high and low blood pressure.

Therefore, by outputting the biometric information such as the body temperature, pulse, breathing, blood pressure of the patient to the display unit 125, the user of the surgical robot system according to the present embodiment can perform the operation while checking the patient's abnormality multi-dimensionally There are advantages to it.

3 is a view showing a surgical master robot device having a multi-output device according to an embodiment of the present invention. Referring to FIG. 3, a master robot 300 including a display 125, a handle 130, and a display interface 310 is shown.

Although the display unit 125 illustrates a case in which three monitors are hardware, the present invention is not limited to this embodiment, and is not particularly limited to the number of monitors. The number of monitors may be determined according to the type of output information. For example, if the image information is three and the biometric information is four, the display unit 125 may include seven monitors that output respective information.

The display interface 310 may be connected to a camera unit (not shown) that generates image information in order to deliver image information of an operation site. The display interface 310 receives image information, such as an image input from a laparoscope in a patient, an entire operating room image, and an external or open image of the patient, from the camera and transmits the image information to the display controller. The camera unit may be installed around a location for detecting light incident from the laparoscope, one side of the operating room (wall, ceiling, corner, etc.), or the patient, to generate each image information.

In addition, in order to transmit the biometric information of the patient, the display interface unit 310 transmits the image information and the biometric information received from the external measurement device to the above-described display control unit. The input terminal provided in the display interface 310 is provided to be compatible with the output terminal connected to the biometric information measuring device 210 for detecting and outputting biometric information.

Meanwhile, according to another exemplary embodiment, the display unit 125 may be manufactured in a small size and light weight, and may be coupled to a separate robot arm (not shown). That is, the display robot arm to which the display unit 125 is coupled at one end may be provided in the master robot 300. According to the present embodiment, the display unit 125 may be coupled to a display robot arm having a degree of freedom and positioned in accordance with a comfortable posture desired by a user. At this time, the robot arm for display is manually or automatically moved to be the most comfortable position for the user. The display unit 125 may also be used in surgery where the user sits or stands. The mounting portion of the robot arm for display may be the master robot 300 or the ceiling for the operating table. This allows not only the physician but also the assistant physicians and nurses to view the 3D image. In addition, the display unit 125 may detect the movement of the user and follow the movement of the face of the user within a certain range, and may store and manage the location setting for each user.

4 is a diagram illustrating a screen output to the multi output device of the surgical master robot device according to an embodiment of the present invention. Referring to FIG. 4, the display unit 125 may output an MRI image 125a, an image of one end of the instrument 125b used for laparoscopic surgery, and an entire operating room image 125c on each monitor. The output image is not limited to the illustrated image, and may be various images such as an ultrasound image, a CT image, and biometric information.

The display unit 125 may be implemented as a monitor such as an LCD, a PDP, an OLED, or a CRT. In addition, the user may perform a function of changing, scaling, rotating, and moving information output to each of the monitors 125a, 125b, and 125c by using a button provided in the handle 130. In order to perform this function, the handle 130 may include an image selection button, a scale button, a rotation button, and a movement button. The image selection button is a button for selecting information such as image information or biometric information that the user wants to output to the corresponding monitor. The selection button may correspond to the output image for each monitor. The scale button is a button that can reduce or enlarge the size of the output information. For example, the user may adjust the scale of the image by selecting a specific monitor and clicking a button to enlarge or reduce the size of the output information.

The rotation button may include a button indicating 0 degrees, 90 degrees, 180 degrees, or 270 degrees to rotate the image output to each monitor. The move button is a button for moving the image up, down, left, and right to view the currently invisible part when the actual information is larger than the image displayed on the monitor.

The image selection button, the scale button, the rotation button, and the movement button may be implemented by a combination of a function selection button and an adjustment button. For example, the function selection button selects one of the following functions: image selection, scale, rotation, and movement, and the control buttons correspond to each function to select, scale, rotate, and move. Or you can adjust the direction.

In addition, the display unit 125 has a function of a touch screen, and a user may perform the above-described functions of selecting, scaling, rotating, and moving the image on the touch screen. For example, if the user places a finger on the MRI image 125a with the finger pinched and then stretches the finger, the touch screen controller interprets the user's motion as an image magnification and scales the output image corresponding to the degree of the finger spread. Can be controlled. In addition, when the user's finger moves or rotates in one direction on the MRI image 125a, the output image may also move or rotate in correspondence with the moving direction or the rotating direction.

In addition, a specific embedded system for a surgical robot system having a multi output device according to an embodiment of the present invention, a common platform technology such as O / S, communication protocol, interface standardization technology such as an I / O interface, an actuator, a battery, Detailed description of parts standardization technology such as a camera and a sensor will be omitted.

In the above, the surgical robot system having a multi-output device according to an embodiment of the present invention described the configuration of the display unit and the handle unit according to an embodiment, but is not necessarily limited to this, the display unit or If the position, number, shape, etc. of the handle portion is different, but the overall operation and effects are not different, such other configuration may be included in the scope of the present invention, and those skilled in the art to the following claims It will be understood that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as described.

1 is a view showing a surgical robot system having a multi-output device according to an embodiment of the present invention.

2 is a view showing a surgical robot system having a multi-output device according to another embodiment of the present invention.

3 is a view showing a surgical master robot device having a multi-output device according to an embodiment of the present invention.

4 is a view showing a screen output to the multi output device of the surgical master robot device according to an embodiment of the present invention.

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

110: master control panel 120: display control unit

125 display unit 130 handle

150: slave robot 160: slave robot arm

210: biometric information measuring device 212: body temperature measuring device

214: pulse measuring device 216: respiratory measuring device

218: blood pressure measuring device 310: display interface unit

Claims (7)

A plurality of display units provided in the master robot at the time of the remote surgery to distinguish the image information captured from the surgery site where the slave robot is located and the biometric information of the patient and output the information for each region-the image information is input from the laparoscope in the patient. At least one of an operating room full image and an image of the patient, wherein the biometric information is at least one of body temperature, pulse rate, respiration, and blood pressure of the patient; A display controller configured to control the display unit to output the image information and the biometric information to each display unit, wherein the number of regions of the display unit is determined according to the number of types of output information; A display interface unit configured to receive the image information and the biometric information from an external measurement device and transmit the image information and the biometric information to the display controller; A robot arm coupled to one end of the display unit, setting a position of the display unit, and coupled to the master robot; An image selection button for selecting the image information or the biometric information to be output to the display unit; A scale button for reducing or enlarging the size of the information output to the display unit; A rotation button for rotating the information output on the display unit; And It includes a move button for moving the information output to the display unit, Surgical robot system having a multi-output device, characterized in that the biometric information of the patient is measured from the biometric information measuring device provided at the surgical site where the slave robot is located. delete delete The method of claim 1, The display interface unit, And an input terminal corresponding to an output terminal connected to the biometric information measuring device for detecting and outputting the biometric information. The method of claim 1, The display interface unit, Surgical robot system having a multi-output device, characterized in that connected to the camera unit for generating the image information. The method of claim 1, The display control unit, And the image information and the biometric information received from the display interface unit to a data format output from the display unit. The method of claim 1, Surgical robot system having a multi-output device, characterized in that the display unit is a touch screen.

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