KR101284087B1 - Surgical robot using visual sensor and system and method for analyzing of the surgical robot and system and method for controling of he surgical robot - Google Patents

Abstract

The present invention relates to a surgical robot using a visual sensor, a position and angle analysis method, a control method, an analysis system and a control system of the surgical robot. More specifically, the outer robot of a flexible material that is inserted into the human body to transfer power; A plurality of robot arms provided at one end of the external robot and receiving power transmitted through the external robot; Surgical instruments installed at the ends of the robot arm; A visual sensor provided at one end of the external robot to capture an image of a robot arm and a surgical tool in real time; A driving unit positioned outside the human body during use and connected to the other end of the external robot to generate power to drive the robot arm through the external robot; A display unit configured to display an image measured by a visual sensor provided at one end of the external robot; Analyzing means for analyzing the image displayed on the display unit to analyze the position, angle, and position of the surgical tool installed at the end of the robot arm; And a control unit which calculates a driving force required by the driving unit based on the information calculated by the analyzing unit, and controls the driving unit to be driven by the calculated driving force. .

Description

Surgical robot using visual sensor, position and angle analysis method of the surgical robot, control method of the surgical robot, position and angle analysis system of the surgical robot and control system of the surgical robot {Surgical robot using visual sensor and system and method for analyzing of the surgical robot and system and method for controling of he surgical robot}

The present invention relates to a surgical robot using a visual sensor, a position and angle analysis method, a control method, an analysis system and a control system of the surgical robot. More specifically, the present invention relates to a surgical robot having a multi-articulated robotic arm with a vision sensor and a control system of a surgical robot improved in accuracy and repeatability by analyzing images captured by the vision sensor. The present invention relates to a surgical robot for driving by using a drive unit composed of a motor and the like, and an accurate driving method thereof. It relates to a surgical robot that enables accurate movement using.

As a surgical method for performing an operation in the abdominal cavity, a conventional open surgery that directly incisions the surgical site was common. Laparoscopic surgery has recently been devised and robots have been applied to the surgery. Laparoscopic surgery is becoming more common for simple laparoscopy such as gallbladder resection. Laparoscopic surgery is a field of minimally invasive surgery (Minimally Invasiv Surgery) that minimizes the incision and pain and has the effect of shortening the hospital stay.

In addition, the concept of non-invasive Surgery (Non-Invasive Surgery) has been introduced to insert the endoscope and surgical tools through NOTES, Natural Orifice Transluminal Endoscopic Surgery, mouth, anus, or vagina Surgery is performed by drilling a hole in the back organ) is drawing attention as the next generation surgery. In addition to endoscopic surgery (Notes), the SPA (Single Port Surgery) surgery, which is currently being actively researched, is performed through a single hole (usually the navel) without any additional incision, and is a concept between laparoscopic surgery and NOTES. can see.

Laparoscopic surgery, SPA surgery, or NOTES all have space constraints, so surgical instruments, external robots, and internal robots that are inserted into the human body have a long and thin shape. Laparoscopic surgical instruments are usually less than 10 mm in diameter and over 40 cm in length. Surgical instruments for NOTES should have a length of about 1m and a diameter of about 5mm depending on the insertion path. Of course, smaller diameters are preferred if they can do the same. Due to the morphological constraints of the surgical tools, the position of the driving unit (actuator, motor, etc.) must be located outside of the robot for surgery, and the external driving unit is mainly driven by using a wire rope or a long link. It will transmit power to the joints.

However, as the distance between the driving part and the driving joint increases, the movement of the joint becomes inaccurate. This may be due to the elastic deformation and friction caused by the tension applied to the driving wire, the play between the parts, and the backlash. . Therefore, there is a difference between the input value (the amount the joint should move or the amount of drive of the motor) and the output value (the amount the joint actually moves), which is called hysteresis. This hysteresis is more severe when the tool is long and curved, such as in surgical instruments or robots for NOTES.

Therefore, the development of endoscopy robots with improved accuracy, repeatability and stability by reducing the hysteresis and accurately estimating the position and angle of the surgical tool and the driving joint to reduce the difference between the input value and the actual output value are required. .

Accordingly, the present invention has been made to solve the above problems, and an object of the present invention is to improve an incorrect movement using a visual sensor due to mechanical limitations of the surgical robot.

In addition, according to an embodiment of the present invention has an object of a method for accurately recognizing and analyzing the movement of the surgical robot using a visual sensor. In addition, the purpose is to implement accurate movement according to the command by combining the signal read using the visual sensor and the signal read using the encoder of the motor.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments in conjunction with the accompanying drawings.

A first object of the present invention, the surgical robot, the external robot of a flexible material is inserted into the human body to transfer power; A plurality of robot arms provided at one end of the external robot and receiving power transmitted through the external robot; Surgical instruments installed at the ends of the robot arm; A visual sensor provided at one end of the external robot to capture an image of a robot arm and a surgical tool in real time; And it can be achieved with a male robot using a visual sensor which is located outside the human body during use and connected to the other end of the external robot to generate power to drive the robot arm through an external robot.

The external robot is composed of a wire rope to transfer the power of the driving unit to the robot arm, the diameter is less than 20mm and the visual sensor may be characterized as consisting of an endoscope camera.

The external robot may further include a protrusion protruding laterally from one end of the external robot, and the visual sensor may be provided at the end of the protrusion to photograph an image of the robot arm and a surgical tool.

Robot arm is composed of two, each robot arm may be characterized by having a plurality of links and joints connecting the links.

Each of the robot arms is connected to one end of the external robot, and the first direction of the longitudinal direction forms a specific angle in the longitudinal direction and the outside of the one end of the external robot; Second link and the first link and the first link connected to the first link An elbow-out joint provided between two links; And a driving joint configured to change an angle between the second link and the third link by receiving power from the third link connected to the second link.

The driving joint may be characterized by changing at least one of rotating the third link in the axial direction, changing the left and right angles of the third link, and changing the top and bottom angles of the third link.

At least one marker may be attached to an outer surface of the third link.

The marker may include a pair of first markers attached to each of both ends of the third link and a second marker provided between the pair of first markers.

A second object of the present invention is a robot arm position and angle analysis system of a surgical robot, the surgical robot having the above-mentioned visual sensor; A display unit configured to display an image measured by a visual sensor provided at one end of the external robot; And analyzing means for analyzing the image displayed on the display unit to analyze the position of the current robot arm, and the position of the surgical tool installed at the end of the robot arm. Can be achieved.

The analyzing means may calculate the position of the third link and the surgical tool and the angle of the driving joint by using the information of the position, direction, and size of the marker attached to the third link.

The analyzing means may measure the distance between the third link and the visual sensor and the angle of the driving joint from the size of the pair of first markers attached to the third link and the distance between the pair of first markers in the image displayed on the display unit. And calculating the axial rotation angle of the third link from the position and size of the second marker attached to the third link.

The third object of the present invention is the above-mentioned analysis system; And a control unit for calculating a driving force required by the driving unit based on the information calculated by the analyzing unit of the analysis system, and controlling the driving unit to be driven by the calculated driving force. have.

The control unit inputs the driving force to change the angle of the driving joint of the surgical robot and the position of the surgical tool of the surgical robot with input information input by the user based on the position of the surgical tool and the third link and the driving joint calculated by the analyzing means. It may be characterized by controlling the drive by calculating.

A fourth object of the present invention is a method for analyzing the position and angle of a surgical robot using the above-mentioned analysis system, comprising the steps of: a visual sensor provided at one end of the external robot of the surgical robot to take an image of the robot arm; Displaying an image captured by the display unit; And analyzing the position and direction of the robot arm on the basis of the displayed image by the analyzing means.

In the photographing step, the visual sensor photographs an image of a surgical tool installed at the end of the robot arm, a third link and a driving joint to which a pair of first and second markers are attached, and the analyzing step includes analyzing means. The distance between the third link and the visual sensor and the driving joint angle are calculated from the size of the pair of first markers attached to the third link and the distance between the pair of first markers, and the second attached to the third link. And calculating an axial rotation angle of the third link from the position and size of the marker.

A fifth object of the present invention is a control method of a surgical robot using the aforementioned control system, the method comprising: photographing an image of a robot arm by a visual sensor provided at one end of an external robot of the surgical robot; Displaying an image measured by the display unit; Analyzing the position and direction of the robot arm based on the displayed image by the analysis means; Inputting, by the user, operation information into the control unit based on the position of the robot arm calculated by the analyzing means; Calculating, by the controller, a displacement value of the robot arm based on the operation information, and calculating a driving amount required to drive the robot arm with the displacement value; Controlling and driving the driving unit based on the driving amount; And it can be achieved by a control method of a surgical robot using a control system, characterized in that it comprises a step of driving the drive unit is the displacement of the robot arm.

In the photographing step, the visual sensor photographs an image of a surgical tool installed at the end of the robot arm, a third link and a driving joint to which a pair of first and second markers are attached, and the analyzing step includes analyzing means. The distance between the third link and the visual sensor and the driving joint angle are calculated from the size of the pair of first markers attached to the third link and the distance between the pair of first markers, and the second attached to the third link. Computing the axial rotation angle of the third link from the position and size of the marker, the operation information in the input step is the distance between the third link and the visual sensor, the angle of the drive joint and the axial rotation angle of the third link The driving amount may be calculated based on the manipulation information, and the controller may calculate the driving amount by calculating an angle change value of the driving joint and a displacement value of the third link and the surgical tool based on the operation information.

Therefore, according to one embodiment of the present invention, as described, using a visual sensor rather than calculating the posture of the robot arm using a signal read by the encoder of the motor located in the drive unit far from the end of the surgical tool of the surgical robot As a result, the posture of the robot arm can be accurately predicted and analyzed. In addition, it has the effect of more accurately calculating the driving amount of the motor required to change to the target next posture.

In addition, by attaching various types of markers to the joints of the robot arm, it is possible to easily read the posture of the robot arm, the position of the joints, the position of the surgical tool, and the angle of the joint.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be appreciated by those skilled in the art that various other modifications and variations can be made without departing from the spirit and scope of the invention, All fall within the scope of the appended claims.

1 is a perspective view of a surgical robot having a visual sensor according to an embodiment of the present invention,
Figure 2a is a partial perspective view showing the robot arm side of the surgical robot with a visual sensor according to an embodiment of the present invention,
Figure 2b is a partial perspective view showing the robot arm side of the surgical robot with a visual sensor on the protrusion according to an embodiment of the present invention,
Figure 3 is a block diagram showing the configuration of a control system of a surgical robot equipped with a visual sensor according to an embodiment of the present invention,
4 is a perspective view illustrating an image displayed by a display unit of an image photographed by a visual sensor according to an exemplary embodiment of the present invention;
FIG. 5 is a partial perspective view illustrating a third link and a surgical tool to which the first marker and the second marker are attached in FIG. 4;
Figure 6a is a partial plan view of the surgical robot in a state in which the angle of the drive joint is converted according to an embodiment of the present invention,
6B is a partial plan view of a surgical robot having elbow-out joints having different shapes according to one embodiment of the present invention;
7 is a flowchart illustrating a control method of a surgical robot having a visual sensor according to an exemplary embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the detailed description of known functions and configurations incorporated herein will be omitted when it may unnecessarily obscure the subject matter of the present invention.

The same reference numerals are used for portions having similar functions and functions throughout the drawings. Throughout the specification, when a part is connected to another part, this includes not only the case where it is directly connected, but also the case where it is indirectly connected with another element in between. In addition, the inclusion of an element does not exclude other elements, but may include other elements, unless specifically stated otherwise.

Hereinafter will be described the configuration and operation of the surgical robot 1 having a visual sensor 60 according to an embodiment of the present invention. Surgical robot (1) having a visual sensor 60 according to the present invention can be applied in various ways, such as laparoscopic surgery, SPA surgery or endoscopic surgery will be described below with reference to the endoscope surgical robot (1) as an embodiment.

First, Figure 1 shows a perspective view of a surgical robot 1 having a visual sensor 60 according to an embodiment of the present invention. And, Figure 2a shows a partial perspective view showing the robot arm 40 side of the surgical robot 1 with a vision sensor 60 according to an embodiment of the present invention.

As shown in FIG. 1, the surgical robot 1 having the visual sensor 60 according to an embodiment of the present invention has a drive unit 10 and an external robot having a cylindrical shape having an elongated shape connected to the drive unit 10. 20) and a plurality of robot arms 40 coupled to one end of the external robot 20, the surgery installed on the ends of the visual sensor 60 and the robot arm 40 installed at one end of the external robot 20 Tool 50 and the like.

The external robot 20 of the surgical robot 1 having the visual sensor 60 according to an embodiment of the present invention is provided with the visual sensor 60 and the robot arm 40, and the mouth, anus, vagina, etc. It serves as a guide from the insertion point to the affected part, and transmits the driving force applied from the driving unit to the robot arm. Therefore, in general, the diameter of the external robot 20 is limited to about 20mm or less. And the external robot 20 is composed of a wire rope and the like to transfer the power applied from the drive unit 10 to the drive joint 44, surgical tools 50 described later. The external robot 20 is composed of a flexible shaft and further includes at least one internal robot 30 connected to the robot arm 40 at each end thereof.

At least one robot arm 40 is coupled to one end of the external robot 20. In a specific embodiment, two robot arms 40 are coupled as shown in FIG. 1. And, as will be described in detail later, such a robot arm 40 is composed of a plurality of links and a plurality of joints and the angle of the joint is changed by the power of the drive unit 10 to change the position of the surgical tool 50 do. In addition, the end of the robot arm 40 is coupled to the surgical tool 50, such as forceps.

And, at one end of the external robot 20 is provided with at least one visual sensor 60 for taking an image of the front and the surgical tool 50 and the robot arm 40. The visual sensor 60 is composed of an endoscope camera or the like. In addition, the other end of the external robot 20 includes a drive unit 10 composed of a motor, an encoder and the like.

As shown in FIG. 2A, in a specific embodiment, two robot arms 40 are provided, each of which has a first link 41, an elbow-out joint 42, The second link 43, the drive joint 44 and the third link 45 is included. In general, since the diameter of the external robot 20 is limited to 20 mm or less, the distance between the two robot arms 40 and the visual sensor 60 is too close, and thus there is a problem that the working radius and the field of view are limited. Accordingly, in one embodiment of the present invention, as shown in FIG. 2A, each of the first links 41 of the robot arm 40 has an open shape in an outward direction. It is included.

That is, the elbow-out joint 42 is provided between the first link 41 and the second link 43 connected to one end of the external robot 20. The elbow-out joint 42 in one embodiment of the present invention corresponds to an on / off joint that can only be straightened and bent without adjusting the angle. Of course, the elbow-out joint 42 may be configured to enable a variety of rotation, translation. The specific angle or shape of the elbow-out joint may be provided in various ways, the elbow-out joint may also be configured to change the angle by the driving force and changes in various embodiments may affect the scope of the invention None of course.

In addition, a driving joint 44 is included between the second link 43 and the third link 45. The drive joint 44 is composed of two degrees of freedom joints capable of moving up and down and left and right according to the amount of driving applied from the driving unit 10. In addition, the drive joint 44 may be configured to enable axial rotation. In one embodiment of the present invention has been illustrated that each of the robot arm having one drive joint 44, it may have a plurality of drive joints or may be driven with different degrees of freedom according to the change of the embodiment. Therefore, it is apparent that the number of drive joints, the number of degrees of freedom, and the like do not affect the scope of the present invention.

As described later in detail, the drive joint 44 according to the exemplary embodiment of the present invention has hysteresis generated in the conventional operation, so that the driving amount of the drive unit 10 cannot be accurately followed, thereby reducing the accuracy and repeatability of the operation. In order to estimate the correct position through the image of the third link 45, the drive joint 44 and the surgical tool 50 through the visual sensor 60 composed of an endoscope camera.

Figure 2b shows a partial perspective view of the robot arm 40 side of the surgical robot 1 is provided with a visual sensor 60 in the protrusion 63 according to an embodiment of the present invention. In one embodiment of the present invention, the visual sensor 60 composed of the endoscope camera is configured to take an image while looking down from the top rather than being attached to one end surface of the external robot 20. That is, in order to more accurately acquire the position image of the third link 45, the driving joint 44 and the surgical tool 50, the outer robot 20 has an L-shaped protrusion 63 on the top of one end, the protrusion Preferably, the visual sensor 60 is provided at the end of the 63.

In addition, as shown in FIG. 2B, two visual sensors 60 are provided, and the first visual sensor 61 is attached to one end surface of the external robot 20 to capture an image of the front, and the protrusion 63 ends. The second visual sensor 62 may be configured to photograph an image of the surgical tool 50 and the third link 45. In addition, the second visual sensor 62 may be configured to allow the projection to be rotated in the axial direction, and to change the vertical angle or the left and right to capture images of various directions.

In addition, various types of markers may be attached and engraved on the third link 45 in order to more accurately estimate the position of the third link 45 and the surgical tool 50 of the visual sensor 60 including the endoscope camera. Such markers may have points, lines, or various shapes, and may have a similar shape and may be distinguished by color or pattern. Therefore, the position and the driving of the third link 45 and the surgical tool 50 of the robot arm 40 by using information such as the position or direction of the marker shown in the image obtained through the visual sensor 60 and the distance between each other. The angle of the joint 44 can be analyzed.

Hereinafter, the configuration and operation of the control system of the surgical robot 1 equipped with the visual sensor 60 according to an embodiment of the present invention. Figure 3 shows a block diagram showing the configuration of a control system of a surgical robot 1 equipped with a visual sensor 60 according to an embodiment of the present invention. The visual sensor 60, which is also configured with an endoscope camera installed at the end of the protrusion 63, captures an image of a portion where the surgical tool 50, the third link 45, and the driving joint 44 are combined in real time. The image captured in real time is transmitted to the display unit 70, and the display unit 70 displays the image received in real time. In addition, when the visual sensor 60 is composed of two or more endoscope cameras, the display unit 70 may display a stereoscopic image using a multiview video processing method.

4 is a perspective view illustrating an image displayed by the display unit 70 for the image captured by the visual sensor 60 according to an exemplary embodiment of the present invention. 5 shows a partial perspective view of the third link 45 and the surgical tool 50 to which the first marker 46 and the second marker 47 are attached. As shown in FIG. 4 and FIG. 5, the image displayed by the display unit 70 may know the thickness change of the robot arm 40 due to the perspective.

Analysis means 80 included in the control system according to an embodiment of the present invention analyzes the image displayed on the display 70, the position of the surgical tool 50 and the third link 45 and the driving joint 44 ) To estimate and analyze the angle. 4 and 5, various markers are attached and engraved on the third link 45 according to the exemplary embodiment of the present invention. In a specific embodiment, the second markers 47 are attached to each other in the form of a twisted shape in the space between the pair of first markers 46 and the first markers 46 provided at each end of each of the third links 45. Is provided.

Therefore, the analysis means 80 analyzes the distance between the visual sensor 60 and the third link 45 and the distance between the visual sensor 60 and the surgical tool 50 from the size of the first marker 46 in the displayed image. The angle of the driving joint 44 may be analyzed from the distance information between the first markers 46. In addition, it is possible to analyze how much the driving joint 44 is rotated in the axial direction through the shape of the second marker 47.

As a result, the position of the third link 45 and the surgical tool 50 and the angle of the driving joint 44 can be accurately determined from the image information of the third link 45 to which various types of markers are attached. Then, the control unit 90 receives the analyzed information, the user through the control unit 90 in which direction to move the surgical tool 50, operation information about how to change the angle of the drive joint 44 Will be entered.

When the user inputs the operation information, the control unit 90 interprets the input operation information to calculate the displacement of the surgical tool 50 and the third link 45 and the change of the angle of the driving joint 44. In addition, the controller 90 calculates a driving force necessary to drive the driving joint 44 using the calculated value. Finally, the controller 90 controls the driving unit 10 by applying the calculated driving force to the driving unit 10.

Figure 6a shows a partial plan view of the surgical robot 1 in a state in which the angle of the drive joint 44 is converted according to an embodiment of the present invention, Figure 6b is different according to an embodiment of the present invention A partial plan view of a surgical robot 1 having an elbow-out joint 42 having a shape is shown. As shown in FIGS. 6A and 6B, the robot arm 40 may be configured with elbow-out joints 42 of various angles and shapes. In addition, the shape, the number, the number of degrees of freedom, and the like of the joints illustrated in FIGS. 6A and 6B are exemplary embodiments and the scope of rights should not be construed as being limited thereto.

Hereinafter, a control method of the surgical robot 1 having the visual sensor 60 will be described. First, FIG. 7 shows a flowchart of a control method of a surgical robot 1 having a visual sensor 60 according to an embodiment of the present invention.

First, the visual sensor 60 including the endoscope camera installed at the end of the protrusion 63 captures an image of a portion where the surgical tool 50, the third link 45, and the driving joint 44 are combined in real time. . The image captured in real time is transmitted to the display unit 70 and the display unit 70 displays the image received in real time (S10). In addition, when the visual sensor 60 is composed of two or more endoscope cameras, the display unit 70 may display a stereoscopic image using a multiview video processing method.

In addition, the analyzing means 80 analyzes the image displayed on the display unit 70 to estimate and analyze the position of the surgical tool 50 and the third link 45 and the angle of the driving joint 44 (S20). ). The analyzing means 80 may analyze the distance between the visual sensor 60, the third link 45, and the surgical tool 50 from the size of the first marker 46 in the displayed image, and the first marker 46 The angle of the driving joint 44 can be analyzed from the distance information between the two. In addition, it is possible to analyze how much the driving joint 44 is rotated in the axial direction through the shape of the second marker 47.

As a result, the position of the third link 45 and the surgical tool 50 and the angle of the driving joint 44 can be accurately determined from the image information of the third link 45 to which various types of markers are attached. Then, the control unit 90 receives the analyzed information, the user through the control unit 90 in which direction to move the surgical tool 50, operation information about how to change the angle of the drive joint 44 It is entered (S30).

When the user inputs the operation information, the control unit 90 interprets the input operation information to calculate the displacement of the surgical tool 50 and the third link 45 and the angle change of the driving joint 44 (S40). . In addition, the controller 90 calculates a driving force necessary to drive the driving joint 44 using the calculated value (S50). Finally, the control unit 90 controls the driving unit 10 by applying the calculated driving force to the driving unit 10 (S60). These steps are repeated repeatedly if the user needs to drive the robot arm 40 (S70).

1: surgical robot
10: drive unit
20: external robot
30: internal robot
40: Robot arm
41: The first link
42: Elbow-out joint
43: second link
44: driving joint
45: third link
46: First marker
47: second marker
50: surgical instruments
60: Visual sensor
61: first visual sensor
62: second visual sensor
63: protrusion
70: display unit
80: Analysis means
90:

Claims (17)

In a surgical robot,
An external robot of a flexible material inserted into the human body to transmit power;
A plurality of robot arms provided at one end of the external robot and receiving power transmitted through the external robot;
A surgical tool installed at the end of the robot arm;
A visual sensor provided at one end of the external robot to capture an image of the robot arm and the surgical tool in real time; And
Surgical robot using a visual sensor that is located outside the human body during use and connected to the other end of the external robot to generate power to drive the robot arm through the external robot.
The method of claim 1,
The external robot is composed of a wire rope to transfer the power of the drive unit to the robot arm, the diameter is less than 20mm
The visual sensor is a surgical robot using a visual sensor, characterized in that consisting of the endoscope camera.
The method of claim 1,
The external robot further includes a protrusion protruding laterally from one end of the external robot,
The visual sensor is provided at the end of the projection robot for surgery using a visual sensor, characterized in that for taking images of the robot arm and the surgical tool.
The method of claim 1,
The robot arm is composed of two, each of the robot arm is a surgical robot using a visual sensor, characterized in that it has a plurality of links and joints connecting the links.
5. The method of claim 4,
Each of the first and second robot arms connected to one end of the external robot and having a longitudinal direction defining a specific angle in a length direction and an outside of one end of the external robot;
An elbow-out joint provided between the second link connected to the first link and the first link and the second link; And
And a driving joint configured to change an angle between the second link and the third link by receiving a third link and the power connected to the second link.
6. The method of claim 5,
The drive joint is a surgical robot using a visual sensor, characterized in that for rotating at least one of the rotation of the third link, the change of the left and right angles of the third link and the change of the vertical angle of the third link.
6. The method of claim 5,
Surgical robot using a visual sensor, characterized in that at least one marker is attached to the outer surface of the third link.
8. The method of claim 7,
The marker includes a pair of first markers attached to each end of each of the third link and a surgical robot using a visual sensor, characterized in that it comprises a second marker provided between the pair of first markers.
In the robot arm position and angle analysis system of the surgical robot,
Surgical robot of claim 8;
A display unit displaying an image measured by a visual sensor provided at one end of the external robot; And
Analyze the position and angle analysis system of the surgical robot, characterized in that for analyzing the image displayed on the display unit for analyzing the current position of the robot arm, the position of the surgical instrument installed on the end of the robot arm; .
The method of claim 9,
The analyzing means
Position and angle analysis system of the surgical robot, characterized in that for calculating the position of the third link and the surgical tool and the angle of the driving joint using the information of the position, direction and size of the marker attached to the third link.
The method of claim 10,
The analysis means,
The distance between the third link and the visual sensor and the angle of the driving joint from the size of the pair of first markers attached to the third link and the distance between the pair of first markers in the image displayed on the display unit And calculating the axial rotation angle of the third link from the position and size of the second marker attached to the third link.
An analysis system of claim 11; And
And a control unit for calculating a driving force required by the driving unit based on the information calculated by the analyzing unit of the analysis system and controlling the driving unit to be driven by the calculated driving force.
13. The method of claim 12,
The control unit
The driving force such that the angle of the driving joint of the surgical robot and the position of the surgical tool of the surgical robot are changed by input information input by the user based on the position of the surgical tool and the third link and the driving joint calculated by the analyzing means. The control system of the surgical robot, characterized in that for controlling the drive unit.
In the method for analyzing the position and angle of the surgical robot using the analysis system of claim 9,
Photographing an image of a robot arm by a visual sensor provided at one end of an external robot of the surgical robot;
Displaying the image captured by the display unit; And
And analyzing the position and direction of the robot arm based on the image displayed by the analysis means.
The method of claim 14,
In the photographing step,
The visual sensor photographs an image of a third link and a driving joint to which a surgical tool installed at the end of the robot arm, a pair of first markers and a second marker are attached,
Wherein the analyzing step comprises:
The analyzing means calculates the distance between the third link and the visual sensor and the angle of the driving joint from the size of the pair of first markers attached to the third link and the distance between the pair of first markers. And calculating the axial rotation angle of the third link from the position and size of the second marker attached to the third link.
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