KR101602763B1 - Method and device for controlling/compensating movement of surgical robot - Google Patents

Abstract

Disclosed is a motion control / compensation method and apparatus for a surgical robot. 1. A motion compensation apparatus for a surgical robot having a surgical treatment section including a surgical instrument on one side of a main body, the motion compensation apparatus comprising: A recognition point information analyzing unit for generating analysis information on a distance and an angle between a recognition point recognized in each of the image information corresponding to the image frames of the specified degree and a preset reference point, A control unit for generating and outputting a control command for adjusting the position of the surgical processing unit so that the displacement amount of the distance and angle included in the displacement amount information is 0, By the motion compensation apparatus of the surgical robot including the generating and outputting unit, It is possible to move the surgical robot to an appropriate position while being inserted into the inside of the surgical robot. Therefore, it is possible to reduce the operation time and the fatigue of the doctor, .

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method and apparatus for motion control / compensation of a surgical robot,

The present invention relates to a motion control / compensation method and apparatus for a surgical robot.

Medically, surgery refers to the act of treating a skin, mucous membrane, or other tissue using a medical device, cutting, manipulating, or manipulating the disease. Particularly, due to problems such as hemorrhage, side effects, patient's pain, scarring, etc., the incision is made by cutting the skin of the surgical site and opening, treating, And is attracting attention as an alternative.

The surgical robot system is generally composed of a master robot and a slave robot, and the master robot and the slave robot may be implemented independently or integrally.

When the operator manipulates a manipulator (e.g., a handle) provided in the master robot, the surgical tool (i.e., an instrument) coupled to the robot arm of the slave robot or held by the robot arm is operated to perform the operation.

The instrument is inserted into the human body through a medical trocar. A medical trocar is a medical device commonly used to access the abdominal cavity. A medical trocar is used to insert a laparoscope, an endoscope, etc. into the body.

In the conventional surgical robot system, when an instrument or the like is inserted into the human body through a medical trocar and the slave robot is moved during the operation, when the instrument or the like is taken out of the human body and the slave robot is moved Then, the instrument was inserted into the human body through a medical trocar to restart the operation.

This is because, when the slave robot is moved while the instrument or the like is inserted into the human body through the medical trocar, the instrument or the like is moved along with the movement locus of the slave robot. Therefore, a serious problem It is because it can cause.

However, in order to move the slave robot, it takes a lot of time to pull out the instrument from the human body and insert the instrument back into the human body after completing movement of the slave robot. As a result, the operation time is prolonged, There is a problem that the physician who is undergoing the surgery in a tense state causes severe fatigue.

Therefore, it is required to develop a surgical robot system that can move freely while the operation is proceeding. This is because, in order to slightly move the surgical robot main body in the process of docking the surgical robot composed of the body (lower body part) provided with the moving part and the part (upper body part) equipped with the robot arms, It is necessary to remove all the instruments mounted on the robot arm, undock the robot arm, move the surgical robot main body, and then dock the instrument again. However, even if the robot body (i.e., the lower body) of the surgical robot moves, if the upper body equipped with the robot arm can rotate and move, the docking and re-docking process may be shortened or omitted.

In addition, in the conventional moving method of the surgical robot system, the operator or the operation assistant has to manually move the slave robot.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

The present invention provides a motion control / compensation method and apparatus for a surgical robot capable of moving a surgical robot to a proper position while an instrument or the like is inserted into a human body.

The present invention also provides a motion control / compensation method for a surgical robot, which allows a surgical robot to freely move to a proper position according to a control command of a surgical operator when moving the position of the surgical robot during a surgical operation on a patient, Device.

The present invention also provides a motion control / compensation method and apparatus for a surgical robot which can change the relative position of a robot arm to a surgical procedure by moving a surgical robot without docking the robot arm will be.

According to an aspect of the present invention, there is provided a motion compensation apparatus for a surgical robot having a surgical treatment unit to which a surgical instrument is mounted on one side of a main body, An image information generation unit for generating corresponding image information; a recognition point information analysis unit for generating analysis information on a distance and an angle between a recognition point recognized in each of the image information corresponding to the image frames of the designated order and a predetermined reference point A displacement amount analyzing unit that generates displacement amount information on a distance and an angle between two pieces of analysis information in which the order of creation is consecutive; And a control command generation and output unit for generating and outputting a control command for the surgical robot / RTI >

The camera unit may be provided on one side of the surgical treatment unit.

A lower portion of the main body may be provided with a moving unit for moving the main body in an arbitrary direction.

The moving part may include an omni-directional wheel, or may be implemented by at least one of a magnetic levitation method and a ball wheel method.

The recognition point may be an identification marker formed on one side of the medical trocar or an object included in an image frame such that predetermined feature points captured to be included in the image information are captured by the camera unit and recognized as an object .

One side of the surgical treatment unit and the main body may be coupled to each other via a coupling unit, and the coupling unit may include a motor assembly for rotating and horizontally moving the surgical treatment unit in accordance with a control command.

According to an embodiment of the present invention, there is provided a surgical robot comprising: a moving unit for moving the surgical robot in an arbitrary direction; a communication unit for receiving a position moving command for moving the moving unit; And a movement operation unit for generating a control signal for causing the movement unit to move along a predetermined movement path and outputting the control signal to the movement unit.

The surgical robot may further include a storage unit for storing movement information related to a moving direction and a moving distance of the moving unit so as to match the position moving command, and the control signal may cause the moving unit to be operated according to the moving information corresponding to the position moving command Signal.

The movement information may include information about a movement direction and a movement distance for movement between a plurality of virtual path points included in a preset movement path.

The predetermined movement route is recognized by recognition means provided in the surgical robot and is displayed as a fluorescent paint on the floor or the ceiling of the operating room to be moved following the recognized movement route, Or magnetic rails.

The surgical robot may further include a sensor for detecting the presence of an object close to the surroundings and outputting a sensing signal. The movement operation unit may include a stop command for stopping the movement of the moving unit when the sensing signal is outputted from the sensor, Or stop generation and output of control signals for the moving operation of the moving part.

The moving part may include an omni-directional wheel, or may be implemented by at least one of a magnetic levitation method and a ball wheel method.

According to another aspect of the present invention, there is provided a surgical robot comprising: a moving unit for moving the surgical robot in an arbitrary direction; a communication unit for receiving a position moving command for moving the moving unit; An external force detection unit for determining whether a force is externally applied to the surgical robot for manipulation; and an external force detection unit for determining whether or not the external force is applied to the surgical robot, A movement control unit for generating a movement control signal for outputting the motion control signal to the movement unit and for resetting a preset movement path for movement according to the position movement command when it is determined that the external force is finished by the external force detection unit There is provided a surgical robot including a path resetting unit.

If it is determined that the external force is present due to the determination of the external force detection unit, the movement control unit may stop generating and outputting the movement control signal until it is determined that no external force is applied.

When the center point of the ROI and the center point of the ROI are not coincident with each other using the image information generated so as to correspond to the provided video signal by photographing the surgical site from the camera unit, the path re- And generate a return control signal for a moving operation of the moving part so that the surgical robot is moved to the matching position and output it to the moving part.

When the ROI is not recognized in the imaging area, the path re-setting unit returns to the moving operation of the MOV to move the surgical robot in a direction opposite to the direction in which the center point of the ROI is distant from the center point of the ROI, A control signal can be generated and output.

The path re-setting unit may reset the movement path closest to the current position moved by the presence of the external force among the plurality of movement paths set in advance to the movement path according to the position movement command.

The surgical robot may further include a sensor for detecting the presence of an object close to the surroundings and outputting a sensing signal. The movement operation unit may include a stop command for stopping the movement of the moving unit when the sensing signal is outputted from the sensor, Or stop generation and output of the movement control signal for the moving operation of the moving part.

The surgical robot may further include a storage unit for storing movement information related to a moving direction and a moving distance of the moving unit so that the moving robot can operate in accordance with the position moving command, Lt; / RTI >

The movement information may include information about a movement direction and a movement distance for movement between a plurality of virtual path points included in the movement path.

The movement path is recognized by recognition means provided in the surgical robot and displayed as a fluorescent paint on the floor or the ceiling of the operating room to be moved following the recognized movement path, Rail.

The moving part may include an omni-directional wheel, or may be implemented by at least one of a magnetic levitation method and a ball wheel method.

According to another embodiment of the present invention, there is provided an operation unit for performing a position shifting operation of a surgical robot, comprising: a display unit for displaying image information photographed by a ceiling camera unit; A storage unit for storing conversion reference information for movement from a current position of the surgical robot to a destination position with reference to image information; a storage unit for storing current position, destination position, A movement information generating unit for generating position movement information for moving the surgical robot to a destination position using the conversion reference information, a command generation unit for generating a position movement command corresponding to the position movement information and providing the position movement command to the surgical robot, An operation unit is provided.

The operation unit may further include an orientation information generating unit for generating orientation information for allowing the front surface of the surgical robot to be positioned in a direction toward the operating table or in a direction specified by the user, A control command can be further generated and provided to the surgical robot.

The conversion reference information may be information for converting the distance and angle between pixels between the current position and the destination position designated by using the image information into the distance and angle at which the surgical robot moves in the operating room.

 The surgical robot includes a moving part for moving the surgical robot in an arbitrary direction, a communication part for receiving a position moving command for moving the moving part, and a moving part moving along a predetermined moving path according to the position moving command. And outputting the generated control signal to the moving unit.

The moving part may include an omni-directional wheel. Also, the moving part may be implemented by at least one of a magnetic levitation method and a ball wheel method.

The operation unit may be at least one of a master robot coupled to the surgical robot through a communication network, an operation panel directly coupled to the surgical robot, and the like.

According to another embodiment of the present invention, there is provided a surgical robot to which a surgical treatment unit is attached to which a surgical instrument is mounted on one side of a main body, comprising: a moving unit for moving the surgical robot in an arbitrary direction; A storage unit for storing target rotation angle information according to a position movement command for the position movement of the surgical robot, a communication unit for receiving rotation angle information according to a surgical site image analysis from the motion compensation apparatus, And a movement operation unit for generating a control signal for operating the movable unit to move along the preset movement path until the remaining rotation angle information obtained by subtracting the respective information becomes 0 do.

In the case where the movement information related to the movement direction, the movement distance and the rotation angle between the virtual path points constituting the movement path is stored in advance in the storage unit in accordance with the position movement command, the movement operation unit receives the rotation angle information received from the motion compensation apparatus It is possible to determine whether or not the rotation angle included in the movement information coincides with within the error range, and to stop the movement operation of the movement unit if there is a mismatch within the error range.

Also, the moving operation unit may include an operation control unit for updating the remaining rotation angle information by reflecting the received total rotation angle information until a rotation angle of zero is received from the motion compensation device, and then moving the movement unit along the movement path Can be resumed.

The motion compensation apparatus includes an image information generation unit that generates image information corresponding to a video signal obtained by photographing a surgical site from a camera unit and a recognition point recognition unit that recognizes recognition points of the image information corresponding to the image frames of the designated order, A recognition point information analyzing unit that generates analysis information on an angle change according to a preset reference line between preset reference points, a rotation calculating unit that calculates rotation angle information using displacement amount information about the angle between two consecutive analysis information And may include each calculation unit.

According to another embodiment of the present invention, there is provided a surgical robot system including a surgical robot having a surgical treatment unit on which a surgical instrument is mounted, the surgical robot system comprising: A tracking unit for generating information on a moving direction and a moving amount of the surgical robot for recognizing the position of the recognition marker and moving the surgical robot to a designated destination position, And a movement operation unit for generating and outputting a control signal for causing the movement unit to move in accordance with the movement amount.

The tracking unit may include one or more of an optical tracker and a magnetic tracker.

The surgical robot system further includes a sensor for detecting the presence of an object close to the surroundings and outputting a sensing signal. When a sensing signal is outputted from the sensor, the movement operation unit outputs a stop command for stopping the movement of the moving unit to the moving unit Or stop generating and outputting the control signal for the moving operation of the moving part.

The moving part may include an omni wheel, or may be implemented by at least one of a magnetic levitation method and a ball wheel method.

According to another embodiment of the present invention, there is provided a motion compensation apparatus for a surgical robot having a surgical treatment section to which a surgical instrument is mounted on one side of a main body, the motion compensation apparatus comprising a recognition point, which is a position of a recognition marker, A tracking unit which generates analysis information on distances and angles between predetermined reference points and generates displacement amount information on the distance and angle between two consecutive analysis information in the order of generation; And a control command generation and output unit for generating and outputting a control command for adjusting the position of the surgical processing unit to be zero.

The tracking unit may be provided on one side of the surgical treatment unit, and a moving unit for moving the body unit in an arbitrary direction may be provided on a lower portion of the body unit.

The recognition point may be a point indicating a position where the recognition marker formed on one side of the medical trocar is recognized, and one side of the surgical treatment unit and the main body unit are coupled to each other through the coupling unit, And a motor assembly for allowing the motor assembly to be rotated and horizontally moved.

According to another aspect of the present invention, there is provided a compensation method for motion of a surgical robot performed by a motion compensation device, comprising: generating image information corresponding to a video signal obtained by photographing a surgical site from a camera unit; The method comprising the steps of: generating analysis information on a distance and an angle between a recognition point recognized in each of the image information corresponding to the image frames of the image frames and a preset reference point; And generating and outputting a control command for adjusting the position of the surgical processing unit so that the displacement amount of the distance and the angle included in the displacement amount information is zero and outputting the control command. / RTI >

 The surgical robot may be configured such that a surgical treatment unit including a surgical instrument is coupled to one side of the main body and the main body, and the camera unit may be provided on one side of the surgical treatment unit.

A lower portion of the main body may be provided with a moving unit for moving the main body in an arbitrary direction.

The moving part may include an omni-directional wheel, or may be implemented by at least one of a magnetic levitation method and a ball wheel method.

The recognition point may be an identification marker formed on one side of the medical trocar or an object included in an image frame such that predetermined feature points captured to be included in the image information are captured by the camera unit and recognized as an object .

One side of the surgical treatment unit and the main body may be coupled to each other via a coupling unit, and the coupling unit may include a motor assembly for rotating and horizontally moving the surgical treatment unit in accordance with a control command.

According to another embodiment of the present invention, there is provided a method of moving a surgical robot having a moving part for moving a surgical robot in an arbitrary direction, the method comprising: receiving a position movement command for moving a moving part; Generating a control signal for moving the moving part along a predetermined moving path according to the position moving command, and outputting the generated control signal to the moving part.

The method for locating a surgical robot includes the steps of: determining whether a sensing signal is input from a sensor for sensing a proximity of an object and outputting a sensing signal; stopping a moving operation of the moving unit when a sensing signal is input; Outputting a stop command for the moving unit to the moving unit or stopping the generation and output of the control signal for the moving operation of the moving unit.

When the predetermined movement path is in the form of a closed curve, the step of outputting includes calculating a movement distance from the current position to a position corresponding to the position movement command as a movement distance in a clockwise direction and a movement distance in a counterclockwise direction, respectively And generating a control signal for causing the moving part to be moved along the moving path in a moving direction of the relatively short moving distance among the calculated moving distances, and outputting the control signal to the moving part.

The movement information on the movement direction and the movement distance of the movement unit may be stored in advance in the storage unit in accordance with the position movement command and the control signal may be a signal that causes the movement unit to be operated according to the movement information corresponding to the position movement command.

The movement information may include information about a movement direction and a movement distance for movement between a plurality of virtual path points included in a preset movement path.

The predetermined movement route is recognized by recognition means provided in the surgical robot and is displayed as a fluorescent paint on the floor or the ceiling of the operating room to be moved following the recognized movement route, Or magnetic rails.

The moving part may include an omni-directional wheel, or may be implemented by at least one of a magnetic levitation method and a ball wheel method.

According to another embodiment of the present invention, there is provided a method of determining a movement path of a surgical robot having a movement unit for moving a surgical robot in an arbitrary direction, the method comprising: receiving a position movement command for a movement operation of the movement unit; A step of determining whether a force is externally applied to the surgical robot for a moving operation using the moving part, and a step of moving the moving part along a predetermined moving path according to a position moving command, And outputting the generated movement control signal to the movement unit; and resetting the preset movement path for movement according to the position movement command if it is determined that the external force is finished after the external force is applied There is provided a method of determining a movement route of a surgical robot.

The step of resetting the movement path includes a step of stopping the generation and output of the movement control signal when it is determined that an external force exists, a step of determining whether or not the existence of the external force is maintained, Resetting a predetermined movement path for movement according to the position movement command and generating a movement control signal for moving the movement part along the reset movement path and outputting the motion control signal to the movement part.

The step of resetting the movement path includes a step of stopping the generation and output of the movement control signal when it is determined that an external force exists, a step of determining whether or not the existence of the external force is maintained, Resetting a predetermined movement path for movement according to the position movement command and generating a movement control signal for moving the movement part along the reset movement path and outputting the motion control signal to the movement part.

The step of re-establishing the movement path may further comprise the steps of capturing a surgical site from the camera unit and recognizing that there is no external force, And generating a return control signal for a moving operation of the moving part so that the surgical robot is moved to a position where the center points coincide if the center points do not coincide with each other and outputting the return control signal to the moving part.

The step of outputting includes the steps of: determining whether the region of interest is recognized in the shooting region if the region of interest is not matched; determining whether the center point of the region of interest is at the center point of the shooting region Generating and outputting a return control signal for a moving operation of the moving part so that the surgical robot is moved in a direction opposite to the moving direction and outputting a return control signal for moving the moving part when the center point coincides with each other, And generating a return control signal for a moving operation of the moving part so that the surgical robot is moved to the moving part.

A method for restoring a path of a surgical robot, the method comprising the steps of: receiving a position movement command for a movement operation of a movement part; and, if it is recognized that an external force does not exist, And outputting the generated motion control signal to the movement unit.

A method of restoring a path of a surgical robot includes the steps of: determining whether a sensing signal is input from a sensor that senses the presence of an object close to the surroundings and outputs a sensing signal; Outputting a stop command for stopping the generation and output of the movement control signal for the operation or stopping the movement operation of the movement unit according to the movement control command to the movement unit.

The movement information related to the movement direction and the movement distance of the movement unit may be stored in advance in the storage unit in accordance with the position movement command and the movement control signal may be a signal that causes the movement unit to be operated according to the movement information corresponding to the position movement command.

The movement information may include information about a movement direction and a movement distance for movement between a plurality of virtual path points included in the movement path.

The movement route is recognized by recognition means provided in the surgical robot and is displayed as a fluorescent paint on the floor or the ceiling of the operation room so as to be moved following the recognized route. Alternatively, a magnet or a magnetic rail As shown in FIG.

The moving part may include an omni-directional wheel, or may be implemented by at least one of a magnetic levitation method and a ball wheel method.

According to yet another embodiment of the present invention, there is provided a method of operating a position of a surgical robot performed by an operation unit, the method comprising: displaying image information photographed by a ceiling camera unit; A step of receiving input of a destination position of the robot and a step of receiving the conversion reference information stored in advance for movement from the current position of the surgical robot to the destination position and the current position and the destination position of the surgical robot, Generating position movement information for allowing the robot to move to a destination position, and transmitting the generated position movement information to the surgical robot.

Further comprising the step of generating posture information for allowing the front side of the surgical robot to be positioned in the direction toward the operating table or in a direction specified by the user, wherein an attitude control command corresponding to the generated posture information is further generated, The robot can be transmitted to the robot.

The conversion reference information may be information for converting the distance and angle between pixels between the current position and the destination position designated by using the image information into the distance and angle at which the surgical robot moves in the operating room.

The surgical robot includes a moving part for moving the surgical robot in an arbitrary direction, a communication part for receiving a position moving command for moving the moving part, and a moving part moving along a predetermined moving path according to the position moving command. And outputting the generated control signal to the moving unit.

The operation unit may be at least one of a master robot coupled to the surgical robot through a communication network, an operation panel directly coupled to the surgical robot, and the like.

According to another embodiment of the present invention, there is provided a method for moving a surgical robot, the surgical robot having a moving part for moving the surgical robot in an arbitrary direction, A step of storing rotation angle information, receiving rotation angle information according to an analysis of a surgical site image from the motion compensation device, and calculating a residual rotation angle information obtained by subtracting rotation angle information from the target rotation angle information, Generating a control signal for operating the mobile unit to move along a predetermined movement path until the mobile unit moves to a predetermined position, and outputting the generated control signal to the mobile unit.

When the movement information about the movement direction, the movement distance and the rotation angle between the virtual path points constituting the movement path so as to match the position movement command is stored in advance in the storage unit,

 Determining whether or not the rotation angle information received from the motion compensation device agrees with the rotation angle included in the movement information within an error range, and stopping the movement operation of the movement unit if the rotation angle information does not match within the error range have.

The method may further include the steps of: determining whether a zero rotation angle is received from the motion compensation device; and if the zero rotation angle is received, reflecting the total rotation angle information received after the movement of the moving unit is stopped Updating the remaining rotation angle information, and restarting operation control for moving the moving part along the movement path.

According to another embodiment of the present invention, there is provided a method of operating a robot for surgical operation performed in a surgical robot system, comprising the steps of: recognizing a position of a recognition marker; referring to a position of a recognized recognition marker, A step of generating information on a moving direction and a moving amount of the surgical robot to move the surgical robot to a predetermined position and a moving direction of the surgical robot, And outputting the generated position information to the robot.

The tracking unit may include one or more of an optical tracker and a magnetic tracker.

A method of moving a surgical robot, the method comprising the steps of: determining whether a sensing signal is input from a sensor that senses the presence of an object proximate to the sensor and outputs a sensing signal; Outputting a stop command for stopping the movement of the moving part to the moving part or stopping the generation and output of the control signal for the moving operation of the moving part.

The moving part may include an omni wheel, and may be implemented by at least one of a magnetic levitation method and a ball wheel method.

According to another embodiment of the present invention, there is provided a method of compensating for movement of a surgical robot performed in a motion compensation device, the method comprising the steps of: calculating a distance and an angle between a recognition point, which is a position of a recognition marker recognized by a specified recognition degree, Generating displacement information on a distance and an angle between two consecutive analysis information in the order of generation; calculating a distance and an amount of displacement included in the displacement amount information to 0 (zero) And generating and outputting a control command for adjusting the position of the surgical robot.

The surgical robot may include a main body and a surgical treatment unit including a surgical instrument on one side of the main body, and the tracking unit may be provided on one side of the surgical treatment unit.

A lower portion of the main body may be provided with a moving portion for moving the body portion in an arbitrary direction, and the recognition point may be a point indicating a recognition position of the recognition marker formed on one side of the medical trocar.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

According to the embodiment of the present invention, since the surgical robot can be moved to a proper position in a state where an instrument or the like is inserted into the human body, there is no need for a pre- and post-procedure for positional movement of the surgical robot, The time can be shortened and the fatigue of the doctor can be alleviated.

In addition, in order to move the surgical robot to a proper position, there is also an effect that the surgical robot can be moved to a proper position only by inputting a control command without requiring the operator and / or the surgical assistant to manually move the surgical robot.

Also, the relative position of the robot arm can be changed to be suitable for the surgical procedure by moving the surgical robot without releasing the docking of the robot arm.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view of a surgical robot according to an embodiment of the present invention; FIG.
2 is a diagram illustrating a configuration of a multi-directional rotation wheel for movement of a surgical robot according to an embodiment of the present invention.
3 illustrates an outer shape of a medical trocar according to an embodiment of the present invention.
4A is a block diagram of a motion compensation apparatus according to an embodiment of the present invention.
FIG. 4B is a diagram illustrating a motion compensation method of a motion compensation apparatus according to an embodiment of the present invention; FIG.
5A to 5C are conceptual diagrams of operation of a motion compensation apparatus according to an embodiment of the present invention.
6 is a flowchart illustrating a motion compensation method according to an embodiment of the present invention;
7 is a view schematically showing a configuration of a main body of a surgical robot according to another embodiment of the present invention.
8A is a view illustrating a movement path of a surgical robot according to another embodiment of the present invention.
FIG. 8B illustrates control reference information of a multi-directional rotating wheel according to another embodiment of the present invention; FIG.
9A to 9C are conceptual diagrams of movement of a surgical robot according to another embodiment of the present invention.
10 is a flowchart illustrating a moving operation method of a surgical robot according to another embodiment of the present invention.
11 is a view schematically showing a configuration of a main body of a surgical robot according to another embodiment of the present invention.
12 is a view illustrating a movement path of a surgical robot according to another embodiment of the present invention.
13 is a view illustrating a concept of return path determination of a surgical robot according to another embodiment of the present invention.
FIG. 14 is a flowchart illustrating a path return control method of a surgical robot according to another embodiment of the present invention. FIG.
15 is a view schematically showing a configuration of a master robot according to another embodiment of the present invention.
16 is an exemplary view of a screen display for a movement operation of a surgical robot according to another embodiment of the present invention.
17 is a flowchart showing a moving operation method of a surgical robot according to another embodiment of the present invention.
18 is a block diagram of a motion compensation apparatus according to another embodiment of the present invention.
19 is a conceptual view illustrating a motion compensation method of a motion compensation apparatus according to another embodiment of the present invention.
20 is a diagram illustrating control reference information of a multi-directional rotating wheel according to another embodiment of the present invention;
21 is a diagram illustrating a concept of calculating a rotation angle according to another embodiment of the present invention;
FIG. 22 is a flowchart illustrating a moving operation method of a surgical robot according to another embodiment of the present invention. FIG.
23A to 23C are schematic diagrams of movement of a surgical robot according to another embodiment of the present invention.

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

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

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Also, the terms "part," "unit," "module," "unit," and the like that may be described in the specification mean units for processing at least one function or operation, Software. ≪ / RTI >

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, .

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to be illustrative, It should be understood that the present invention may be embodied in other forms.

FIG. 1 is a view schematically showing a configuration of a surgical robot according to an embodiment of the present invention. FIG. 2 is a view illustrating a configuration of a multi-directional rotating wheel for moving a surgical robot according to an embodiment of the present invention And FIG. 3 is a view showing an outer shape of a medical trocar according to an embodiment of the present invention.

It should be understood that the shapes of the surgical robot, the multi-directional rotating wheel, and the medical trocar shown in Figs. 1 to 3 are exemplarily shown for explaining the embodiments of the present invention, and the shapes and the like of the respective components are not limited thereto .

Referring to FIG. 1, the surgical robot includes a main body 100, a multi-directional rotating wheel 120, a coupling portion 130, and a surgical treatment portion 140.

The main body 100 is combined with the surgical treatment unit 140 or the like to perform surgery on the patient on the operating table 150. The main body 100 may be a main body of a slave robot connected to the master robot through a communication network, or may be a main body of a surgical robot integrated with a slave robot and a master robot integrally.

The multi-directional rotation wheel 120 is coupled to a lower portion of the main body 100 to move or rotate in an arbitrary direction according to an externally applied force. The multi-directional rotation wheel 120 processes the main body 100 to move in a direction and a magnitude determined according to an externally applied force. For example, as shown in FIG. 2, an omni-directional wheel. < / RTI >

The multi-directional rotation wheel 120 is a multi-directional rotation wheel 120, but the multi-directional rotation wheel 120 may be a magnetically levitated a magnetic levitation system, a ball-shaped ball wheel system, or the like. In this case, the multi-directional rotation wheel 120 may be collectively referred to as a moving unit.

The surgical robot can be actively moved according to a received control command even if there is no force externally applied to move the robot.

In other words, the multi-directional rotation wheel 120 can be moved by a movement command received from a master robot (not shown, the master robot can be implemented separately or integrally with the surgical robot) To the second position on the predetermined path by the movement command to the second position, which is the position of the robot. To this end, the main body 100 is provided with a rotation wheel control unit 740 (see FIG. 7) for outputting a control command for causing the multi-directional rotation wheel 120 to be moved in accordance with a preset route in accordance with the received position movement command .

Of course, the positional movement command for the movement operation of the surgical robot is not provided from the master robot, and the manipulation part for the movement operation of the surgical robot is provided in the surgical robot itself and / or in the inside of the operating room close to the surgical robot It is natural that it is possible.

This is because it is more common to receive the position movement command from the master robot 150 remote from the operating table 150 and to check the operating table 150 and to move the surgical robot in the operating room rather than when the operating robot moves to be.

As described above, the movement operation method for the position movement of the surgical robot may be various, but in this specification, the case of transmitting the position movement command from the master robot to the slave robot will be mainly described. However, it goes without saying that such description does not limit the scope of the present invention.

In addition, when the surgical robot moves away from the predetermined path by a force externally applied while the robot moves from the first position to the second position according to the position movement command, Direction steering wheel 120 to output a control command for performing a return operation to a predetermined path in accordance with the path return command provided from the steering wheel 1130 (see FIG. 11).

The movement operation process of the surgical robot according to the above-described position movement command and / or path return command will be described in detail below with reference to the related drawings.

The engaging portion 130 allows the one side of the main body 100 to be coupled with the surgical treatment portion 140 and the main body portion 100 moves along with the rotation and / The operation processing unit 140 coupled to the lower part according to the control command inputted from the motion compensation device 400 (see FIG. 4A) performs linear movement in the front / back / left / right direction and / As shown in FIG. This allows the image input through the camera device 145 to be consistent regardless of the direction and angle of movement of the main body 100 so that the main body 100 is moved in an arbitrary direction, The inserted surgical tool can be positioned at the same position within the error range regardless of the movement of the main body 100.

The coupling unit 130 may include an operation unit for moving processing in the linear direction and the rotation direction for the movement operation of the surgical processing unit 140 according to the control command. The operation unit can be realized, for example, as a motor assembly for a moving process in a linear direction and a rotational direction.

A method of configuring an operation unit that enables rotational movement and / or linear movement of the surgical processing unit 140 in an arbitrary direction according to an input control command is obvious to a person skilled in the art through the description of the present specification, It is omitted.

The surgical treatment unit 140 includes a surgical arm (for example, at least one of an instrument and a laparoscope) coupled to or held by a robot arm and a robot arm, And is coupled to one side. Although not shown, the surgical treatment unit 140 may include a vertical movement unit for vertically moving the surgical tool downward and / or upward.

The operation processing unit 140 generates image information of a surgical site (for example, a position where the surgical tool is inserted through the medical trocar) according to the movement of the main body 100 and transmits the generated image information to the motion compensating apparatus 400 (Not shown). The motion compensation apparatus 400 determines whether or not the main body unit 100 is moving by using the image information provided from the camera apparatus 145 as described later, 145) to be consistent with each other (i.e., to allow the combining unit 130 to perform a moving operation).

FIG. 3 shows the outer shape of the medical trocar 300 for inserting the surgical tool into the human body.

As shown, the medical trocar 300 may include an upper trocar housing 310, a lower trocar housing 320, a cannula 330, and a housing hole 340. Although not shown, an exhaust pipe for discharging a carcinogenic toxic gas such as carbon monoxide and ammonia, which may be generated inside the human body during surgery, may be further included. The cannula 330 is inserted into the human body through the skin of the cut region by a cutting mechanism such as a surgical scalpel and is inserted into the body through the upper trocar housing 310 and the lower trocar housing 320 connected to the cannula 330, (For example, one or more of an instrument, a laparoscope, etc.) is inserted into the human body through the housing hole 340 formed in the body cavity 340. [

A recognition marker 350 may be formed on one side of the upper trocar housing 310 of the medical trocar 300. The recognition marker 350 is photographed by the camera device 145 and recognized as a recognition point by image analysis of the motion compensation device 400. [ The recognition marker 350 may be formed of, for example, a predetermined color figure or coated with a fluorescent paint or the like for ease of image interpretation of the motion compensation device 400, and may include one or more of the upper trocar housing 310 Or may be formed in plural.

If an optical tracker using infrared rays, a magnetic tracker using a magnetic technique, or other tracking device is used in addition to the camera device 145 for the purpose of tracking the position variation, the recognition marker 350 ) May be a recognition marker for the tracking device.

The medical trocar 300 and the recognition marker 350 of FIG. 3 are assumed to be separated from the surgical robot and fixedly used for insertion of the surgical tool into the human body. If the medical trocar 300 is used in combination with the surgical robot, the surgical robot and the medical trocar 300 are moved together to function as a recognition point (see FIG. 4B) according to the movement of the surgical robot It will not be possible. In this case, despite the positional movement of the surgical robot, any feature point fixed at an absolute position based on the patient under operation (for example, the navel, the inner edge of the surgical cover for allowing only the surgical site to be exposed, etc.) It is natural that the marker 350 can be replaced and used.

FIG. 4A is a block diagram of a motion compensation apparatus according to an embodiment of the present invention, and FIG. 4B is a diagram illustrating a motion compensation method of a motion compensation apparatus according to an embodiment of the present invention.

4A, the motion compensation apparatus 400 includes a camera unit 410, an image information generation unit 420, a recognition point information analysis unit 430, a displacement amount analysis unit 440, a control command generation unit 450, An output unit 460, and a control unit 470. The motion compensation device 400 may be provided in the main body 100 or the surgical treatment unit 140 and provides a control command to the combination unit 130 to move the surgical treatment unit 140. Although not shown, the motion compensation apparatus 400 may further include a storage unit for storing analysis information or the like to be described later.

The camera unit 410 captures an image of a surgical site (that is, an area outside the position where the surgical tool is inserted into the human body through the medical trocar 300), and outputs the generated image signal. The camera unit 410 may include, for example, an image sensor.

The camera unit 410 may be the same as the camera unit 145 described above with reference to FIG. If the motion compensation apparatus 400 is provided in the main body 100, the motion compensation apparatus 400 may be implemented separately from the camera unit 410 provided in the surgical treatment unit 140.

The image information generating unit 420 processes the image signal input from the camera unit 410 and generates image information to be outputted through a display device (not shown) provided in the master robot or a combined image. In addition, the image information generated by the image information generating unit 420 can be generated by the recognition point information analyzing unit 430 in an image format in which pixel information can be analyzed. The image information generating unit 420 performs at least one of processing such as lens shading compensation, noise filtering, flicker detection, auto white balance, and the like An image signal processor (ISP), and a multimedia processor that performs image encoding / decoding processing. The image format that allows the object to be interpreted in the generated image is obvious to those skilled in the art and a description thereof will be omitted.

The recognition point information analysis unit 430 generates coordinate information of an object included in the image information generated by the image information generation unit 420 and analysis information on the distance and angle with the reference point.

The object analyzed by the recognition point information analysis unit 430 may be a recognition marker 350 formed on one side of the upper trocar housing 310 of the medical trocar 300 described above with reference to FIG. 3, For example, a navel), a specific area of a surgical cover, and the like. That is, the recognition point information analysis unit 430 extracts the outline of the recognition marker according to the image processing technique in the image generated by the image information generation unit 420, and calculates the center point of the extracted outline (i.e., (See FIG. 4B)), and then interprets the coordinate information of the recognition point 510. Here, the interpreted coordinate information may be, for example, relative coordinates interpreted by designating the leftmost lowermost point of the image as (0, 0).

In addition, the reference point may be an arbitrary point specified in advance in the image generated by the image information generating unit 420. [ In the present specification, the case where the midpoint between the width and the height of the display screen on which the image is displayed (i.e., the screen center point 520 (see FIG. 4B) as the midpoint of the display screen) is a reference point is described as an example, Of course. The coordinates of the screen center point 520 may be predetermined and not changed.

The recognition point information analysis unit 430 generates analysis information that is obtained by calculating the distance L1 between the recognition point 510 and the screen center point 520 and the angle a. The reference line for calculating the angle between the recognition point 510 and the screen center point 520 may be variously set, but in this specification, the case where the horizontal line is the reference line will be described as an example.

The recognition point information analysis unit 430 generates the above-described analysis information for the image frames of the predetermined order among the sequence image frames generated by the image information generation unit 420, respectively. For example, the recognition point information analysis unit 430 may generate analysis information for all image frames sequentially generated according to a predetermined reference, or may generate analysis information for even-numbered (i.e., second, fourth, etc.) It will be able to generate the analysis information.

The displacement amount analyzing unit 440 generates displacement amount information about distances and angles between analyzed information generated for each image frame by the recognition point information analyzing unit 430. [

FIG. 4B illustrates the positional changes of the recognition points 510 and 540 in the first image frame and the second image frame due to the movement of the main body 100.

The number of recognition points applied to generate the displacement amount information may be one or more. Two or more recognition points may be required for recognition of distance variation and rotation angle due to movement of the recognition point.

However, even when the recognition point is designated as one, the recognition of the distance change and the rotation angle is analyzed by analyzing the relationship between the screen center point 520, which is a virtual recognition reference point, and one recognition point 510 and 540, It can be possible. In this case, by using the screen center point 520 as an invariable recognition reference point that is not moved, displacement amount information such as a distance change and a rotation angle due to the movement of the recognition points 510 and 540 may be more accurate. Here, it is assumed that the screen center point 520 is valid as a fixed reference point regardless of the positional change of the recognition points 510 and 540 in the image generated by the image information generating unit 420. However, If the screen center point 520 is not valid as a reference point due to a change in position of the recognition points 510 and 540 or the like, the reference point correction process for making the screen center point 520 valid as a reference point (for example, Correction to match the specified reference point, etc.) can be performed. The process of setting and correcting the reference point for calculating the movement (rotation) direction and the movement distance of the recognition point which changes in position will be obvious to those skilled in the art, and a description thereof will be omitted.

First, the recognition point information analysis unit 430 calculates a distance L1 and an angle a between the first recognition point 510 and the screen center point 520 with respect to the first image frame illustrated in (a) As shown in FIG.

The recognition point information analysis unit 430 then calculates the distance L2 and angle b between the second recognition point 540 and the screen center point 520 with respect to the second image frame illustrated in FIG. As shown in FIG. In this case, the screen center point 520 indicates the midpoint of the entire screen area even if the subject image input through the camera is changed. The screen center point 520 exists at a fixed position regardless of the movement of the recognition points 510 and 540 do. Also, the displacement amount analysis unit 440 generates displacement amount information using the analysis information generated for the first image frame and the second image frame, respectively. The displacement amount information may include, for example, a distance displacement amount (L2-L1) and an angular displacement amount (b-a), and the body portion 100 may be interpreted as being moved by an absolute value of the displacement amount.

It will be appreciated that as the main body 100 moves, the surgical treatment unit 140 will move correspondingly and the camera unit 145 provided in the surgical treatment unit 140 will move accordingly. In this case, the image photographed by the movement of the camera device 145 will be displayed as if moved in the direction opposite to the moving direction of the main body 100. Therefore, it can be interpreted that the body portion 100 is moved by (-1) times the displacement amount.

The control command generation unit 450 generates the control command so that the displacement amount information generated by the displacement amount analysis unit 440 becomes 0, that is, the second recognition point 540 becomes the position of the first recognition point 510, A control command for adjusting the engaging part 130 is generated.

The control command is set such that the position of the recognition point is fixedly maintained (that is, the displacement amount information of the surgical processing unit 140 becomes 0) by the moving operation of the engaging part 130, Even if the main body 100 is moved in an arbitrary direction by the operation of the engaging part 130 according to the control command, the position of the surgical processing part 140 is maintained at the position before the main body 100 is moved .

The output unit 460 outputs the control command generated by the control command generation unit 450 to the combining unit 130 in order to make the images input through the camera unit 410 consistent. The image input through the camera unit 410 is consistent, which means that the position of the surgical treatment unit 140 based on the patient lying in the operating table 150 is consistent.

The output unit 460 may transmit the control command to the master robot so that the operation state of the coupling unit 130 for maintaining the position of the surgical processing unit 140 may be recognized. The output unit 460 may transmit the image information generated by the image information generation unit 420 to the master robot so that the image information is output to the master robot or through a combined display device (not shown).

The control unit 470 controls each component of the motion compensation apparatus 400 to perform the above-described functions.

The method of performing the movement operation of the combining unit 130 using the displacement of the analysis information according to the distance and angle between one recognition point and one reference point (for example, screen center point) has been described.

However, if a plurality of medical trocar 300 is inserted into the human body through the skin of the patient's body for surgery, the medical trocar 300 is used separately from the surgical robot, and each medical trocar 300 The center point of the imaginary straight lines connecting the recognition points by the recognition markers 350 may be located at the center of the screen, and the reference point, which is the center point located at the screen center, It is of course possible to adjust the position of the surgical treatment unit 140 using analysis information on the distance and angle between the patient and the patient and displacement amount information therefrom.

5A to 5C are conceptual diagrams of operations of a motion compensation apparatus according to an embodiment of the present invention.

5A to 5C are views showing the relationship between the main body 100, the surgical treatment unit 140, the operating table 150, and the operation patient after the main body 100 has moved and before the main body 100 is moved. For the sake of simplicity, the instrument or the like included in the surgical treatment unit 140 is not shown.

When the main body 100 needs to be moved from the first position shown in Fig. 5A (i.e., the patient's head right position) to the second position shown in Figs. 5B and 5C (i.e., the head left position of the patient) The conventional surgical robot will point the surgical treatment unit 140 in a direction other than the original position and direction as shown in FIG. 5B. In order to prevent an accident that may occur in such a case, a conventional surgical robot has been required to release docking of all the robot arms and reset the robot after movement.

However, as described above, the surgical robot according to the embodiment of the present invention is not limited to the operation processing unit 140 even if the main body 100 is moved from the first position to the second position by performing the function of the motion compensation device 400, The position and direction of the patient can be fixed on the basis of the operation patient as shown in FIG. 5C.

In this case, the movement and / or the rotation of the coupling unit 130 under the control of the motion compensation device 400 and the like may be performed as described above with reference to FIG. 4B, for example, A center point), and determining how the recognition points 510 and 540 have changed with respect to the reference point to find the amount of displacement.

6 is a flowchart illustrating a motion compensation method according to an embodiment of the present invention.

Referring to FIG. 6, in operation 610, the motion compensation apparatus 400 generates image information using a video signal provided from the camera unit 410.

In operation 620, the motion compensation apparatus 400 generates analysis information according to the distance and angle between the recognition point and the reference point using the image information. Here, the analysis information may be generated only for a video frame of a specified degree in order to generate displacement amount information to be described later.

In step 630, the motion compensation apparatus 400 generates displacement amount information on the distance and the angle between the analysis information of the image frames of the designated order to generate the displacement amount information.

In step 640, the motion compensating apparatus 400 determines whether or not there is a displacement amount of the displacement amount information (i.e., it is not zero).

If there is no displacement, proceed to step 610 again.

However, if there is a displacement amount, the process proceeds to step 650, and the motion compensation device 400 generates a control command for setting the displacement amount to 0 and outputs the control command to the combining unit 130. [ The controller 130 outputs the control command for setting the amount of displacement to zero so that the position of the surgical treatment unit 140 is consistent with respect to the patient lying on the operating table 150 So as to be consistent with each other.

FIG. 7 is a schematic view of a main body of a surgical robot according to another embodiment of the present invention. FIG. 8A is a view illustrating a movement path of a surgical robot according to another embodiment of the present invention, and FIG. Is a view illustrating control reference information of a multi-directional rotating wheel according to another embodiment of the present invention.

Referring to FIG. 7, the main body 100 includes a communication unit 710, a storage unit 720, a surgical tool operating unit 730, a rotating wheel operating unit 740, and a control unit 750.

Although not shown, the main body 100 is provided with a proximity sensor for sensing the distance from the operating table 150 or the like in order to prevent the operating table 150 and the surrounding obstacles from colliding with each other during movement along the movement path 810 . Here, the proximity sensor may be a sensor that detects a mechanical contact (for example, a micro switch, a limit switch, or the like) or a detection method according to a contactless method (for example, a high frequency oscillation- A capacitive proximity sensor using an increase or a decrease in capacitance according to the capacitance, etc.).

In addition, as described above, in the movement process of the surgical robot described with reference to FIG. 7 and the like, according to the control command inputted from the motion compensation device 400, A linear movement in the right direction and / or a rotation movement in the clockwise / counterclockwise direction can be performed.

The communication unit 710 receives arbitrary control commands (for example, a position shift command, a surgical tool manipulation command, and the like) from the master robot, or transmits the image information provided from the camera unit 410 to the master robot.

The storage unit 720 stores at least one of an operation program for performing functions of the main body 100, a control command received from the master robot, and the like. Further, the storage unit 720 may further store control reference information for operation of the multi-directional rotation wheel 120 corresponding to the position movement command received from the master robot.

The control reference information stored in the storage unit 720 includes information about the rotation direction of the multi-directional rotation wheel 120 (i.e., the moving direction of the main body 100) for moving between virtual path points as illustrated in FIG. 8B, (I.e., the movement distance or movement amount of the main body 100), and the information may be moved to the destination position information included in the position movement command (which may be specified by the operator) And may be used by the turning wheel manipulation portion 740 for controlling the direction turning wheel 120. [ The control reference information stored in advance for movement of the main body 100 is not limited to that illustrated in FIG. 8B, and may be set in various ways so that the main body 100 can be moved along the predetermined path 810 Of course.

The surgical tool manipulation unit 730 outputs a control signal for manipulating the surgical tool of the surgical manipulation unit 140 (for example, changing the position of the endoscope, cutting the surgical site, etc.) according to a surgical tool manipulation command received from the master robot And outputs it to the surgical processing unit 140.

The rotation wheel control unit 740 generates a control signal for rotating the multi-directional rotation wheel 120 in the corresponding direction and the movement amount according to the position movement command received from the master robot, and outputs the control signal to the multi- do.

When the sensing signal indicating that the operating table 150 or an obstacle near the operating table 150 is positioned nearby is received from the proximity sensor in the movement process along the movement path 810, Directional rotation wheel 120 in order to stop the operation or to stop the generation and output of the control signal for the operation of the multi-directional rotation wheel 120. [

The control unit 750 controls the functions of the respective components included in the main body 100.

8A shows a movement path 810 of a surgical robot relative to the operating table 150. As shown in FIG.

The movement path 810 of the surgical robot may be formed as a series of one or more virtual path points (Px, i.e., P1, P2, etc.), and each virtual path point may be arranged continuously or separately.

The surgical robot may move the virtual path points disposed on the movement path from the current position by a position movement command received from the master robot (which may include information on the destination position information or the virtual path point corresponding to the destination position) To the destination location.

The movement path 810 may be illustrated by being applied to the floor of the operating room or the ceiling with fluorescence paint recognizable by the surgical robot on the basis of the operating table 150.

In this case, the surgical robot is moved to a position corresponding to the operating room position (i.e., floor, ceiling, etc.) (Not shown) may be further provided. The provided camera device photographs the moving route 810 and provides the moving route 810 to the main body 100. The main body 100 interprets the moving route 810 as image analysis technique in the image information provided by the camera device And then generate and output a control signal for controlling the driving of the multi-directional rotation wheel 120 for movement along the movement path 810.

Alternatively, the movement path 810 described above may be formed of a magnet or / and a magnetic rail embedded under the floor of the operating room with respect to the operating table 150, and the main body 100 may include a multi- A control signal for inducing movement by a magnet embedded in a lower portion of the floor of the operating room and moving along a designated movement path 810 may be generated and output. A method in which a magnet or the like is buried under the floor of the operating room to be guided by the route may be similarly used, for example, a method in which a cart is moved along a cart road designated by a remote control operation in a golf course.

In addition, even if the movement path 810 described above is shown as a fluorescent paint or is not implemented in the form of a magnetic rail, the surgical robot may be moved by determining its relative position. A part of various embodiments in which the relative position is determined and moved will be described in detail with reference to Figs. 8B, 15, and the like.

Other methods for determining the relative position of the surgical robot and the operating table 150 may be, for example, an optical tracker, a magnetic tracker, or other methods for position tracking. That is, if an optical tracker or the like is provided at a specific position in the operating room and a recognition marker (for example, an optical marker) is provided in the surgical robot and the operating table 150 (and / or the operation patient) In addition to the manner in which the surgical robot moves following the predetermined movement path 810, the surgical robot may generate a path that does not collide with the operating table 150 or other objects and may move to a designated destination.

In addition, a camera, such as a surgical robot itself or an operation room ceiling, may be provided, and a path other than a predetermined movement path 810 may be provided by processing and analyzing a captured image of the operating table 150 and / And a method of moving to a destination via the Internet can also be applied. An embodiment in which a surgical robot is moved to a destination using an image provided by a camera provided on an operation room ceiling will be described in detail with reference to the accompanying drawings.

In each of the above-described embodiments of the movement of the surgical robot, the multi-directional rotation wheel 120 will be appropriately controlled according to the moving direction and the moving distance, and if necessary, the coupling part 130 will also be suitably controlled simultaneously (See Figs. 9A to 9C, etc.).

FIG. 8B illustrates control reference information for allowing the main body 100 to be moved along a predetermined movement path 810. FIG.

As described above, the movement path 810 of the surgical robot may be formed as a series of one or more virtual path points (Px, i.e., P1, P2, etc.), and each virtual path point may be arranged continuously or spaced .

The control reference information stored in advance in the storage unit 720 stores the rotation direction of the multi-directional rotation wheel 120 for moving between virtual path points (i.e., the moving direction of the main body 100) (Movement distance or movement amount of the unit 100). For example, in order to move from the virtual path point P3 to the virtual path point P4, the multi-directional turning wheel 120 is moved in a direction inclined by 15 degrees from a predetermined reference direction (for example, a straight line in the transverse direction of the operating room) Information about the amount of movement between virtual path points may be stored in advance in the storage unit 720 in such a manner that the rotation wheel is specified in advance for three rotations.

As described above, when the main body 100 operates and controls the multi-directional rotation wheel 120 according to the previously stored control reference information, the main body 100 can be moved along the predetermined movement path 810. However, since the main body 100 sequentially controls the multi-directional wheel 120 in accordance with the control reference information stored in advance in the order of the virtual path points located in the moving direction and the route, It is necessary to be located on a predetermined movement route at the movement start position. To this end, a movement path may be previously designated in the floor of the operating room.

9A to 9C are conceptual diagrams of movement of a surgical robot according to another embodiment of the present invention.

9A to 9C are diagrams showing the relationship between the main body 100, the surgical treatment unit 140, the operating table 150, and the operation patient after the main body 100 moves before and after the movement. For the sake of simplicity, the instrument or the like included in the surgical treatment unit 140 is not shown.

9A to 9C, when the main body 100 is to move from the right side of the patient's head to the left side, the main body 100 controls the operation of the multi- 100 are sequentially moved to the positions shown in Figs. 9B and 9C.

In this case, as shown in the figure, it can be confirmed that the surgical treatment unit 140 exists in a fixed position and direction in relation to the patient. For this purpose, it will be understood that, in the course of movement of the main body 100, the coupling portion 130 to which the surgical treatment portion 140 is coupled together with the control of the multi-directional rotation wheel 120 is appropriately controlled. That is, the multi-directional rotation wheel 120 and the coupling part 130 can be automatically and appropriately controlled so that the relative position of the surgical treatment part 140 and the surgical patient is not changed.

By using such a complex control method, it is possible to change the relative position of the robot arm to be suitable for the surgical procedure without releasing the docking of the robot arm. Further, There is also an effect that can be removed.

As described in various embodiments herein, the method of moving the main body 100 from the first position to the second position includes a method of moving along the predetermined movement path 810, a method of moving the image A method in which a master robot transmits a control command or moves according to a movement command input by using an operation unit provided in the main body 100, and the like . Of course, those skilled in the art will appreciate that additional methods not described herein may be used variously without limitation for movement of the main body 100.

10 is a flowchart illustrating a moving operation method of a surgical robot according to another embodiment of the present invention.

Referring to FIG. 10, in step 1010, the main body unit 100 receives the position movement command from the master robot and stores the received position movement command in the storage unit 720. The position movement command may include at least destination position information.

In step 1020, the main body 100 recognizes the current position of the surgical robot and the destination position information included in the position movement command. The main body 100 can recognize the current position and the destination position information by using the virtual path point information arranged on the movement path, for example.

The main body 100 may be set in advance in the movement direction (for example, clockwise or counterclockwise) in moving along the movement path using the recognized current position and the destination position information, .

For example, in moving from the first virtual path point to the eighth virtual path point, which is the destination position, it is possible to determine in which direction the movement distance is short, and to determine the direction in which the movement distance is short as the movement direction. At this time, since the movement path 810 is previously set, it can be easily determined whether the movement distance is short in a certain direction based on the current position and the destination position information.

In step 1030, the main body 100 generates and outputs a control signal for controlling the multi-directional wheel 120 to move to a next virtual path point located on the movement path.

As described above, the main body 100 includes a magnet and / or a magnet that is applied with a fluorescent paint to refer to the image information about the illustrated movement path, embedded in the floor of the operating room, And magnetic rail, or may use control reference information stored in advance in the storage unit 720.

In step 1040, the main body unit 100 determines whether the current position moved by the control of the multi-directional turning wheel 120 in step 1030 is a destination position according to the position movement command. For example, it can be judged whether or not the virtual path point according to the current position coincides with the virtual path point according to the destination position.

According to the determination in step 1040, if the current position is not the destination position, the flow advances to step 1030 again.

However, if it is determined at step 1040 that the current position is the destination position, the main body unit 100 receives a new command (for example, at least one of a surgical tool operation command, a position movement command, etc.) And waits until it is received.

FIG. 11 is a view schematically showing a configuration of a main body of a surgical robot according to another embodiment of the present invention, FIG. 12 is a view illustrating a movement path of a surgical robot according to another embodiment of the present invention, FIG. 13 is a diagram illustrating a concept of return path determination of a surgical robot according to another embodiment of the present invention.

11, the main body 100 includes a communication unit 710, a storage unit 720, a proximity sensor unit 1110, an external force detection unit 1120, a return path determination unit 1130, a rotation wheel control unit 740, And a control unit 750. Although not shown, the main body 100 may further include the surgical tool operating unit 730 described above. Although not shown, the main body 100 may further include an alarm performing unit for performing an alarm in a visual and / or audible manner when an obstacle is sensed in a movement process on the movement path 810.

The communication unit 710 receives arbitrary control commands from the master robot or transmits the image information provided from the camera unit 410 to the master robot.

The storage unit 720 stores at least one of an operation program for performing functions of the main body 100, a control command received from the master robot, control reference information for operating the multi-directional wheel 120, and the like.

The proximity sensor 1110 generates and outputs a sensing signal for a distance to an object located in the vicinity. Proximal sensor portion 1110 may include a proximity sensor that is configured to move proximally relative to surgical table 150 and / or travel path 810 as body portion 100 (i.e., surgical robot) And generates a distance sensing signal so as not to collide with the obstacle placed on the display device 810. The proximity sensor may be, for example, a detection system according to mechanical contact (for example, a microswitch or a limit switch) or a detection system according to a contactless method (for example, a high frequency oscillation proximity sensor using energy loss of an induced current, A capacitive proximity sensor using an increase or a decrease in capacitance according to the capacitance of the capacitor).

The external force detection unit 1120 determines whether a force is externally applied to move the surgical robot. Here, the external force refers to a force directly applied by the operator or an assistant to the surgical robot itself for changing the movement path, or to the surgical robot itself and / or to the operating room close to the surgical robot The force applied to change the movement path according to the operation of the operation unit for the movement operation of the surgical robot to the inside position, the force to be changed from the master robot during the movement of the surgical robot described above with reference to Figs. 9A to 9C, A force generated to depart the current movement path by a movement command input by an operator or the like using an operation unit received or provided to perform the operation. However, for convenience of explanation and understanding, the case where the force applied directly by the operator or the operation assistant to the surgical robot itself is defined as an external force will be described as an example.

For example, when an obstacle is detected on the movement route by the proximity sensor unit 1110 while the surgical robot moves along the movement route 810, the rotation wheel operation unit 740 stops the movement of the surgical robot (That is, stopped). At this time, an alarm execution unit (not shown) may perform an alarm in a visual manner (for example, LED blinking) and / or audible manner (warning sound output).

As described above, in the state where the movement of the surgical robot is stopped, whether the multi-directional rotation wheel 120 is rotated or not by applying an external force may determine whether the external force is present. The external force detecting unit 1120 may determine that the obstacle does not exist due to the detection signal of the proximity sensor 1110. In this case, The presence or absence of an external force can be monitored even while the multi-directional rotation wheel 120 is operated and controlled by the rotation wheel control unit 740. [

The return path determining unit 1130 determines whether or not the external force is detected by the external force detecting unit 1120 after the movement is stopped as the external force is applied during the movement of the surgical robot along the predetermined movement path 810 by the position movement command received from the master robot, The movement direction and the movement amount of the surgical robot are controlled so that the surgical robot returns to the movement path 810 using the image information provided from the motion compensation apparatus 400 . Although only one preset route 810 is shown in FIG. 12, it goes without saying that a plurality of routes may be set in advance. The turning wheel operating section 740 will operate and control the multi-directional turning wheel 120 so as to correspond to the return direction command corresponding to the moving direction and the moving amount determined by the return path determining section 1130. [

Of course, the return path determining unit 1130 may determine the moving direction and the moving amount by using the image information provided from the motion compensation apparatus 400, as well as an optical tracker, a magnetic tracker ) Or other methods for position tracking may be used to determine the direction and amount of movement. For example, by setting an arbitrary tracker at a specific position in the operating room and placing the recognition marker on the main body 100 and / or the surgical treatment unit 140, it is possible to determine the position of the surgical robot, have.

The rotation wheel control unit 740 generates a control signal for rotating the multi-directional rotation wheel 120 in the corresponding direction and the movement amount according to the position movement command received from the master robot, and outputs the control signal to the multi- do.

The rotation wheel control unit 740 detects the presence of an obstacle by the proximity sensor unit 1110 while moving the surgical robot along the movement path 810 or detects the presence of the obstacle by the proximity sensor unit 1110 during the movement control along the movement path 810, When the presence of an external force is detected by the return path determination unit 1120, the movement of the surgical robot is stopped. When it is determined that the external force is not present by the external force detection unit 1120, And controls the operation of the multi-directional rotation wheel 120 according to the amount of movement.

The control unit 750 controls the functions of the respective components included in the main body 100.

FIG. 12 illustrates the movement path of the surgical robot, and FIG. 13 illustrates the concept of return path determination of the surgical robot.

12, when an obstacle is detected while the main body 100 (i.e., the surgical robot) moves along the movement path in the illustrated arrow direction, the main body 100 moves from the virtual path point A1 Stop. At this time, the alarm performing unit may perform the alarm in a visual manner and / or audibly.

Then, an operator such as an operator applies an external force to move the robot to the position of B1 and B2 so that the robot can move away from the obstacle. Here, the external force may be a force applied directly to the surgical robot, as described above, or a force applied in accordance with manipulation of the manipulator for moving the surgical robot. Of course, the administrator may further move to the position of the virtual path point A2 so that the surgical robot is located on the movement path.

However, if the manager stops moving the surgical robot only to the position of B2 and stops applying the external force, the main body part 100 refers to the image information provided from the camera part 410 of the motion compensation device 400, It can be determined how far from the movement path 810 the robot is located in which direction.

13, the return path determining unit 1130 refers to the image provided from the camera unit 410 to detect the position of the ROI 1320 in the photographing region 1310 , A route return command for causing the center point of the ROI 1320 to be located at the center point of the shooting area 1310 can be generated and output.

For example, when the center point of the ROI 1320 coincides with the center point of the ROI 1310, the ROI 810 may be set in advance (for example, The return path determining unit 1130 determines whether or not the surgical robot is positioned on a predetermined path by only the positional difference between the center points of the ROI 1320 and the photographing region 1310 . The return path determining unit 1130 may recognize the presence and the position of the ROI 1320 by a method such as an outline extraction based on an image recognition technique. It is natural that the return path determining unit 1130 may use the interpretation / comparison information for two or more recognition points for accurate analysis of the movement, rotation, and the like.

The path return command may include information on the rotational direction and the amount of rotation of the multi-directional rotation wheel 120. [ In this case, when the center point of the area of interest 1320 in the image information provided from the camera section 410 is actually rotated (rotated) about the distance and the angle difference between the center points of the photographing area 1310 May be stored in the storage unit 720 in advance.

While the external force is being sensed so that the information on the rotational direction and the amount of rotation included in the path return command may be more accurate, the return path determination unit 1130 may determine the recognition points 510 and 540 by the motion compensation apparatus 400, And the screen center point 520 may be stopped.

The return path determining unit 1130 determines whether or not the ROI 1320 is located at the center point of the photographing region 1310 in the direction in which the external force is first applied After the ROI is stored in the storage unit 720 and then moved in the reverse direction of the corresponding direction, the ROI is generated and output. After the ROI 1320 starts to be displayed in the ROI 1310 The path return command according to the above-described method can be regenerated and output.

The return path determining unit 1130 determines that the center point of the region of interest 1320 is not recognized if the center point of the region of interest 1320 is not recognized because the region of interest 1320 is only partially identified in the shooting region 1310 The center point of a portion of the current region of interest 1320 that is currently visible may be considered to be a substantial center point of the region of interest 1320 and processed.

11 to 13, if it is recognized that the surgical robot is deviated from one predetermined movement route 810 by an external force, if it is recognized that the external force no longer exists, the robot returns to the movement route 810, The movement according to the command is performed.

However, it goes without saying that the movement path for the movement of the surgical robot may be formed in advance, for example, in a plurality of circular shapes having different radii. In this case, when the surgical robot moves along the first movement path, the robot moves away from the first movement path due to the presence of external force, and when it is positioned on the second movement path, it is recognized that the external force no longer exists It is natural that the surgical robot can perform the position movement according to the position movement command along the second movement route without returning to the first movement route.

For example, the surgical robot may recognize that the fluorescent paint shown on the floor of the operating room or the ceiling is recognized by the recognition means, or that the robot is located on the movement path when a magnetic rail or the like is detected. If the fluorescent paint, the magnetic rail, or the like is not recognized, it may move along the movement path that is first recognized while moving in the reverse direction in which the external force exists, as described above.

When the surgical robot is avoided from the movement path previously located, if the movement is performed along the movement path different from the original movement path, the return path determination unit 1130 may be referred to as a path resetting unit It might be.

FIG. 14 is a flowchart illustrating a path return control method of a surgical robot according to another embodiment of the present invention.

Referring to FIG. 14, in step 1410, the main body 100 receives a position movement command from the master robot and stores the received position movement command in the storage unit 720. The position movement command may include at least destination position information.

In step 1420, the main body 100 determines whether or not an obstacle exists on the movement path 810 using the sensing signal output from the proximity sensor 1110.

If no obstacle is present, proceed to step 1460, and if an obstacle is present, proceed to step 1430.

In step 1430, the main body part 100 controls the operation of the multi-directional rotation wheel 120 so that the movement of the surgical robot is stopped. At this time, the alarm performing unit may perform an operation for alarm processing in a visual manner and / or an audible manner.

In step 1440, the main body 100 determines whether the external force applied to the main body 100 has been terminated by using the detection signal of the external force detection unit 1120. Here, the external force may be a force applied directly to the surgical robot, as described above, or a force applied in accordance with manipulation of the manipulator for moving the surgical robot.

If an external force is applied continuously, the process waits at step 1440, in which case the surgical robot will be moved in the direction and magnitude of the applied external force.

However, if the applied external force is terminated, in step 1450, the main body unit 100 outputs a path return control signal for causing the center point of the ROI 1320 to be located at the center point of the shooting region 1310 (i.e., the screen center point) Directional rotation wheel 120. The multi-

Then, the main body 100 returned to the predetermined movement path 810 outputs a control signal for the position movement according to the position movement command received through the step 1460 to the multi-directional rotation wheel 120.

FIG. 15 is a view schematically showing a configuration of a master robot according to another embodiment of the present invention, and FIG. 16 is an exemplary view illustrating a screen display for a movement operation of a surgical robot according to another embodiment of the present invention.

As described above, the master robot 1500 may be integrally integrated with the surgical robot (i.e., the slave robot) including the main body 100, or may be interconnected through a communication network.

15, the master robot 1500 includes a communication unit 1510, a display unit 1520, an input unit 1530, a movement information generation unit 1540, an orientation information generation unit 1550, an instruction generation unit 1560, And a control unit 1570.

The communication unit 1510 is connected to the main body 100 of the surgical robot through a wired or wireless communication network and transmits at least one of a position movement command and a surgical tool operation command to the main body 100, And the endoscope inserted into the inside of the human body.

In addition, the communication unit 1510 may further receive the video signal for the operating room situation from the ceiling camera unit 1590 installed on the ceiling of the operating room through the wired or wireless communication network. The ceiling camera unit 1590 may include, for example, an image sensor.

The display unit 1520 displays the image information photographed by the camera unit 410 and / or the endoscope received through the communication unit 1510 and the image information photographed by the ceiling camera unit 1590 as visual information Output. An example of display of image information (i.e., operating room image information) photographed by the ceiling camera unit 1590 is illustrated in FIG. 16, and information about the position of the operating table 150 and the position of the surgical robot may be included as visual information have. The image information photographed by the ceiling camera unit 1590 can be displayed through the display unit 1520. The image information can be replaced with a predetermined icon or graphic form by interpreting the image information and displayed on the display unit 1520 Lt; / RTI >

The display unit 1520 may further display information related to the surgical patient (e.g., heart rate, reference image (e.g., CT image, MRI image, etc.)).

The display unit 1520 may include one or more monitor devices and may further perform the function of the input unit 1530 when the display unit 1520 is implemented as a touch screen.

The input unit 1530 is a means for inputting a surgical tool operation command and a position movement command.

Input 1530 may include, for example, one or more manipulators for input of surgical tool manipulation commands. The manipulator can be, for example, a plurality of handles implemented to be capable of performing a surgical operation (e.g., moving, rotating, cutting, etc.) of a robot arm by gripping and operating the operator with both hands. And may be configured to include a main handle and a sub handle when the controller is implemented as a handle. The operator may manipulate the slave robot arm or endoscope with only the main handle, for example, or manipulate the sub handles so that a plurality of surgical instruments are simultaneously operated in real time. The main and subhandles may have a variety of mechanical configurations depending on their manner of operation and may be used to operate a robotic arm of a surgical robot, such as a joystick form, a keypad, a trackball, a touch screen, and / Various input means can be used. Of course, the shape of the manipulator is not limited to a handle, and can be applied without any limitation in a form capable of controlling the operation of the surgical robot through a wired or wireless communication network.

In addition, the input unit 1530 may further include an instruction unit for inputting a position movement command to the surgical robot. The indicating means may be a touch screen, a mouse device, a keyboard device, or the like, which is configured to specify an arbitrary position of the time information displayed on the display portion 1520. [ The process of inputting the position movement command using the input unit 1530 will be described in detail below with reference to the related drawings.

The movement information generating unit 1540 may be configured to move the body part 100 from the operating room image information photographed by the ceiling camera part 1590 and displayed through the display part 1520 to a position specified by the operator using the input part 1530 And generates position movement information to be displayed on the screen.

The movement information generation unit 1540 generates the position movement information by calculating the distance and angle between points specified on the screen by the operator to convert the movement direction and the movement amount of the main body unit 100 for actual movement . For such a conversion process, it is natural that the conversion reference information for the angle calculation method based on the reference direction and the method for converting the on-screen distance into the actual travel distance, etc., may be stored in advance in the storage unit (not shown).

The posture information generation unit 1550 generates a posture information generation unit 1550 for generating a posture information on a specific part of the main body part 100 (for example, the front side) Etc.) in the direction toward the operating table 150 or in the direction designated by the user. The posture information for allowing the surgical robot to be arranged in a form suitable for the operation progression may be determined by the operator using the input unit 1530 to designate the rotation angle and the rotation direction of the main body 100 at a fixed position, If the user designates an arbitrary point in the vicinity of the main body 100, the main body 100 may be rotated so that the designated point is directed to the front of the main body 100.

The command generation unit 1560 generates a position control command corresponding to the position movement information generated by the movement information generation unit 1540 and an orientation control command corresponding to the orientation information generated by the orientation information generation unit 1550 , And transmits it to the main body 100 through a wired or wireless communication network. The command generating unit 1560 further generates an operation tool operation command corresponding to operation tool operation information input by the operator using the input unit 1530 and transmits the operation tool operation command to the body unit 100. [ The main body unit 100 may be controlled to be operated in accordance with the position movement command, the posture control command, and / or the surgical tool manipulation command provided from the command generation unit 1560.

The controller 1570 controls the operation of each component included in the master robot 1500.

FIG. 16 illustrates operating room image information that is photographed by a ceiling camera unit 1590 and displayed through a display unit 1520 for a movement operation of the surgical robot.

Each pixel of the operating room image information displayed through the display unit 1520 can be set in advance so that the position of each point is specified as relative coordinates or absolute coordinates. When each pixel is specified as a relative coordinate, the leftmost bottom-most point can be designated as (0, 0) as shown, and the coordinates of each pixel can be designated based on this.

16, when the current position of the main body 100 is the P0 position, which is the relative coordinate 50, 25, and the destination position is the relative coordinates 48, 115, P3 position, and the P0 position and the P3 position are blocked by the operating table 150.

The operator refers to the operating room image information displayed on the display unit 1520 to refer to the operating room image information to display P1 as the path point for moving the main body unit 100 from the P0 position to the P3 position and the relative position coordinates 10, 95) are sequentially designated. Of course, the position specification of P3 may be made after the designation of the position of P2, and the designation of the position of P0 may be performed before the designation of the position of P1.

Upon completion of designating each position of the operator using the input unit 1530, the movement information generation unit 1540 recognizes the distance and direction using the relative coordinates between the designated positions and refers to the conversion reference information stored in advance in the storage unit Position movement information that is information on the rotational direction of the multi-directional rotation wheel 120 (i.e., the moving direction of the main body 100) and the amount of rotation (i.e., the moving distance or the moving amount of the main body 100).

For example, when moving from the position P0 to the position P1, the movement information generation unit 1540 calculates the inclined angle and distance using the relative coordinates and the trigonometric function, and then calculates the angle (e.g., -7 degrees) (For example, 8 rotations) calculated by the conversion reference information, and generates the position movement information including the movement distance (for example, 8 rotations) calculated based on the conversion reference information. The reference direction along the rotation direction of the multi-directional rotation wheel 120 is calculated in the horizontal direction of the main body 100 (for example, The operator can recognize the bottom shape of the main body 100 as an image recognition technique (for example, edge detection, etc.) in the operating room image information, and then, based on the reference direction according to the lower shape of the main body 100, The direction of rotation may be property.

In this manner, the position movement information is sequentially generated for each path point and the destination position designated by the operator, and the corresponding position movement command is transmitted to the main body unit 100, , The main body 100) can be moved.

In this case, when the surgical robot moves to the designated position, the surgical tool or the like should be positioned so as to face the patient lying on the operating table 150. This will be more in the case of the safety of the patient when the surgical robot is moved while the surgical tool is inserted into the human body.

When a posture control command is generated by designating the operating table 150 for posture control of the surgical robot before, during, or after the position selection for the positional movement of the main body 100 by the operator, As illustrated, the surgical treatment unit 140 may be controlled so that the multi-directional rotation wheel 120 is rotationally moved in a shape toward the patient.

The method of controlling the positional movement of the surgical robot using the image information photographed by the ceiling camera unit 1590 has been mainly described. However, even if the ceiling camera unit 1590 is not used, the movement of the surgical robot may be controlled using an optical tracker, a magnetic tracker, and other methods for position tracking as described above Of course.

Even if the camera is not installed on the ceiling of the operating room, it may be sufficient if the surgical robot only recognizes the positional relationship with the operating table 150. Therefore, the recognition markers are attached to the operating table 150, A method of recognizing the position and moving the position may be applied.

17 is a flowchart illustrating a moving operation method of a surgical robot according to another embodiment of the present invention.

17, in step 1710, the master robot 1500 displays image information (i.e., operating room image information) processed through the image signal provided from the ceiling camera unit 1590 through the display unit 1520. [

In step 1720, the master robot 1500 refers to the operating room image information displayed on the display unit 1520 from the operator to control the movement of the surgical robot, and outputs the path point position information and the destination position Input information. At this time, as described above, posture information for posture control of the surgical robot can be further input.

In step 1730, the master robot 1500 generates a position movement command for sequentially moving the surgical robot to each position with reference to the position information of the path point and the destination input in step 1720 and the conversion reference information stored in advance in the storage unit And transmits it to the main body 100 through a wired or wireless communication network. At this time, an attitude control command for controlling the posture of the surgical robot may be further generated and transmitted to the main body 100 through the wired or wireless communication network.

The main body 100 will be moved to the destination position designated by the operator by controlling the operation of the multi-directional rotation wheel 120 by the position movement command transmitted in step 1730.

FIG. 18 is a block diagram of a motion compensation apparatus according to another embodiment of the present invention, FIG. 19 is a conceptual view illustrating a motion compensation method of a motion compensation apparatus according to another embodiment of the present invention, FIG. 21 is a diagram illustrating a concept of calculating a rotation angle according to another embodiment of the present invention. FIG. 21 is a diagram illustrating control reference information of a multi-directional rotation wheel according to another embodiment of the present invention.

18, the motion compensation apparatus 400 includes a camera unit 410, an image information generation unit 420, a recognition point information analysis unit 430, a displacement amount analysis unit 440, a control command generation unit 450, An output unit 460, a rotation angle calculation unit 1810, a stop request generation unit 1820, and a control unit 470. The motion compensation device 400 may be provided in the main body 100 or the surgical treatment unit 140 and may provide a control command to the combination unit 130 to move the surgical treatment unit 140 do.

The camera unit 410 photographs a surgical site and outputs a generated image signal. The camera unit 410 may include, for example, an image sensor.

The image information generating unit 420 processes the image signal input from the camera unit 410 and generates image information to be outputted through a display device (not shown) provided in the master robot or a combined image. In addition, the image information generated by the image information generating unit 420 can be generated by the recognition point information analyzing unit 430 in an image format in which pixel information can be analyzed.

The recognition point information analysis unit 430 generates coordinate information of an object included in the image information generated by the image information generation unit 420 and analysis information on the distance and angle with the reference point. The object analyzed by the recognition point information analysis unit 430 may be a recognition marker 350 formed on one side of the upper trocar housing 310 of the medical trocar 300 described above with reference to FIG. 3, For example, a navel), a specific area of a surgical cover, and the like.

The displacement amount analyzing unit 440 generates displacement amount information about distances and angles between analyzed information generated for each image frame by the recognition point information analyzing unit 430. [

The control command generation unit 450 generates a control command for causing the coupling unit 130 to be controlled so that the displacement amount information generated by the displacement amount analysis unit 440 becomes zero. The control command is set such that the position of the recognition point is fixedly maintained (that is, the displacement amount information of the surgical processing unit 140 becomes 0) by the moving operation of the engaging part 130, Even if the main body 100 is moved in an arbitrary direction by the operation of the engaging part 130 according to the control command, the position of the surgical processing part 140 is maintained at the position before the main body 100 is moved .

The output unit 460 may be configured to allow the image input through the camera unit 410 to be consistent (that is, the position of the surgical processing unit 140 based on the patient lying on the operating table 150 is consistent within the error range) And outputs the control command generated by the control command generating unit 450 to the combining unit 130. [

The output unit 460 outputs stop request information generated by the stop request generator 1820 to the main body 100 when the operating table 150 is recognized as being rotated by the rotation angle calculation of the rotation angle calculator 1810 Output.

The output unit 460 transmits the control command to the master robot so that the operation state of the coupling unit 130 for maintaining the position of the surgical processing unit 140 is recognized or generated by the image information generation unit 420 To the master robot so that the image information is output to the master robot or through a combined display device (not shown).

The rotation angle calculating unit 1810 processes the video signal inputted from the camera unit 410 and outputs the rotation angle calculated by the rotation angle calculating unit 1810 to the surgical robot or the operation table (not shown) by using the generated image information and control reference information stored in the storage unit 150) is rotated with respect to the center point. Here, the center point may be, for example, the transverse center point of the operating table 150, or the center point of the operation site.

The rotation angle calculating unit 1810 can generate information about how much the rotation of the operating table 150 has been rotated using the displacement amount information about the angle analyzed by the displacement amount analyzing unit 440, The information may be provided to the main body 100. Also, the rotation angle calculating unit 1810 can recognize how much the remaining rotation angle is in moving to the destination position information according to the position movement command received from the master robot, And / or transmit the calculated remaining rotation angle information to the main body unit 100 so as to be used for control of the multi-directional rotation wheel 120. [

The stop request generator 1820 generates stop request information for stopping the movement of the main body 100 according to the position move command when it is determined that the remaining rotation angle is zero according to the determination of the rotation angle calculator 1810. [ And outputs it to the main body 100 through the output unit 460. If any component included in the main body 100 (for example, the rotating wheel operating portion 740) uses the rotation angle information provided from the rotation angle calculation portion 1810 to determine whether the remaining rotation angle is 0 The stop request generator 1820 may be omitted.

The control unit 470 controls each component of the motion compensation apparatus 400 to perform the above-described functions.

FIG. 19 schematically illustrates a motion compensation method of the motion compensation apparatus, FIG. 20 illustrates control reference information of the multi-directional rotation wheel 120, and FIG. 21 illustrates a concept of calculating a rotation angle.

As shown in FIG. 19, the surgical robot may be moved along a predetermined movement path 810 or the surgical table 150 may be rotated to facilitate smooth operation during the surgical procedure. Here, the movement path 810 may be formed by a plurality of virtual path points, and each virtual path point may be disposed consecutively or separately from each other.

If the surgical robot is moved along the movement path 810 at the current position, the rotation angle from the current position to the destination position may be used. For example, when it is instructed to move from the current position P0 to the position P5, the rotation angle calculation unit 1810 and / or the main body unit 100 determines that the corresponding position movement command is a movement path 810). ≪ / RTI >

The main body unit 100 controls the operation of the multi-directional rotation wheel 120 by referring to the control reference information illustrated in FIG. 20 so that the main body unit 100 is moved to each destination via the virtual path points. The control reference information includes information on how many degrees the reference point information rotates with respect to the center point when moving between virtual path points, and the main body unit 100 compares the target rotation angle information (i.e., rotation angle information from the current position to the destination position) It is possible to recognize whether or not it has been rotated by an angle.

The rotation angle calculating unit 1810 calculates a rotation angle of the main robot 1500 by using a predetermined movement path 810 when receiving the position movement command transmitted to the master robot 1500 or the target rotation angle information corresponding to the position movement command from the main body 100 The rotation angle information obtaining unit 440 can calculate the remaining rotation angle information (that is, the rotation based on the displacement information in the target rotation angle information) by referring to the displacement amount information about the angle provided from the displacement amount analyzing unit 440. [ The value obtained by calculating each information) is 0 (zero). If the main body 100 is configured to continue moving until the stop request information is received from the motion compensating apparatus 400, the rotation angle calculating unit 1810 calculates the stop request information until the remaining rotation angle information becomes zero It may control the stop request generation unit 1820 so as not to be generated.

However, if the operator designates to move the main body 100 to the position P5 and the operation robot 150 is moved, if the rotation of the operating table 150 is additionally performed, the position of the main body 100 to be moved It can be a problem. This is because the initially designated P5 position will be a reasonable position to proceed with the subsequent surgical procedure for the surgical patient lying down on the operating table 150. [

Therefore, if the operating table 150 is rotated by an arbitrary angle in any direction, the position P5, which is the first designated destination position, should be changed to the position P1 to match the rotation of the operating table 150. When the rotation of the operating table 150 is recognized in order to accurately determine the changed destination position, the surgical robot needs to stop the position movement until the rotation of the operating table 150 is completed.

In other words, the main body 100 moves from each virtual path point to the destination position in accordance with the control reference information, and receives the displacement amount information about the angle analyzed by the displacement amount analysis unit 440 from the rotation angle calculation unit 1810 And determines whether or not the provided rotation angle information agrees with the rotation angle information included in the control reference information within an error range. If the discrepancy exceeds the error range, the operation unit 150 is recognized as being rotated and operation of the multi-directional rotation wheel 120 is stopped to stop the movement of the surgical robot. If the rotation angle information other than 0 is received from the rotation angle calculation unit 1810 after the movement of the surgical robot is stopped, the rotation of the operation table 150 is maintained, The rotation angle of the operating table 150 should be reflected in the remaining rotation angle information.

19, while the surgical table 150 rotates in the direction of the arrow shown in Fig. 19 (i.e., in the direction opposite to the rotating direction of the surgical robot) (Refer to FIG. 21 (a)) generated by the image information generating unit 420 is rotated in each direction (refer to FIG. 21 (b) and (c)) Will be displayed.

The image information displayed to be rotated in each direction will be controlled such that the recognition point is positioned at the screen center point, as described with reference to Fig. 4B etc. by the processings of the displacement amount analysis unit 440 and the control command generation unit 450 and the like , It is possible to recognize in which direction the image information is rotated in what direction.

21, if the rotating direction of the operating table 150 is opposite to the rotating direction of the surgical robot, the rotating angle of the operating table 150 is subtracted from the remaining rotating angle information, Destination location information) can be updated. However, if the rotation direction of the surgical table 150 is the same as the rotation direction of the surgical robot, the rotational angle of the operating table 150 may be added to the remaining rotation angle information to update the destination position information.

The main body unit 100 recognizes the rotation angle information provided from the rotation angle calculation unit 1810 as rotation angle information by rotation of the operating table 150 and updates the remaining rotation angle information. The updated residual rotation angle information may be provided again to the motion compensation apparatus 400, and the surgical robot will move along the predetermined movement path 810 until the updated remaining rotation angle information becomes zero.

22 is a flowchart illustrating a moving operation method of a surgical robot according to another embodiment of the present invention.

22, in step 2210, the main body 100 receives the position movement command and / or the target rotation angle information (i.e., the rotation angle information from the current position to the destination position) transmitted to the master robot 1500 .

In step 2220, the main body 100 analyzes the image information corresponding to the image signal by the camera unit 410 from the motion compensation apparatus 400, calculates the rotation angle information using the rotation angle information and determines whether the operation table 150 is rotated . When the rotation angle of the main body 100 is larger than or smaller than the rotation angle (see FIG. 20) expected by the rotation movement of the surgical robot according to the position movement command and is recognized and provided by the image information analysis, Can be recognized as being rotated.

If the operating table 150 is recognized as being rotated, proceed to step 2230, otherwise proceed to step 2250.

In step 2230, the main body 100 accurately calculates the rotation angle of the operating table 150, stops the movement operation of the multi-directional rotation wheel 120 to correct the destination position, The rotational angle of the operating table 150 is calculated with reference to the rotational angle information. The motion compensation apparatus 400 may calculate the rotation angle of the operation table 150 by analyzing the image information corresponding to the image signal by the camera unit 410 and may calculate the rotation angle of the operation table 150, Displacement information on angles between analysis information can be used. In addition, the main body 100 can update the remaining rotation angle information by reflecting the rotation angle information according to the rotation of the operating table 150.

In step 2240, the main body 100 determines whether the rotation of the operating table 150 has been completed using the rotation angle information provided from the motion compensation device 400.

If the rotation of the operating table 150 has not been completed, the process returns to step 2230, and if the rotation of the operating table 150 is completed, the process proceeds to step 2250.

In step 2250, the main body unit 100 determines whether the remaining rotation angle information is 0 (i.e., whether the current position of the surgical robot is a destination position in accordance with the position movement command).

If the current position is not the destination position, the process proceeds to step 2260, where the main body unit 100 resumes the movement to the destination position and proceeds to step 2220 again.

However, if it is determined at step 2250 that the current position is the destination position, the process proceeds to step 2270 where the main body unit 400 waits until a subsequent command (for example, a surgical tool operation command, a position movement command) do.

23A to 23C are conceptual diagrams of movement of a surgical robot according to another embodiment of the present invention.

23A to 23C are diagrams showing the relationship between the main body 100, the surgical treatment unit 140, the operating table 150, and the operation patient after the main body 100 moves before and after the movement. To simplify the drawing, the robot arm and the instrument 2310 included in the surgical treatment unit 140 are shown by lines.

As illustrated in FIGS. 23A to 23C, when the main body 100 is to move from the right side of the patient's head to the left side, the main body 100 controls the operation of the multi- 100 are sequentially moved to the positions shown in Figs. 23B and 23C.

However, the surgical treatment unit 140 shown in FIGS. 23B and 23C is controlled so that the position and the direction relative to the patient are not fixed, unlike the case described above.

That is, when the operator wishes to input and display image information that is not the same as the image input at the position shown in FIG. 23A during movement of the main body 100, or by controlling the position of the surgical processing unit 140, When the image information is desired to be input and displayed, the position and direction of the surgical treatment unit 140 can be controlled by suitably controlling the coupling unit 130. However, in this case, the main body 100 may be provided with an insertion position control of the robot arm and the instrument 2310 so that an excessive force is not applied to the insertion position so that the skin, an organ or the like of the operation patient is not damaged by an instrument inserted into the human body, May be required.

That is, if the user does not need to always match the initial screen, the position and / or orientation of the surgical processing unit 140 and the motion of the multi-directional wheel 120 So that the user can present desired video information. The control method of the coupling unit 130 for this purpose can be sufficiently recognized by understanding of the technical idea described in this specification, and a description thereof will be omitted.

If the operator wants to input and display the same image information while the operator is moving, the position and direction of the surgical treatment unit 140 are controlled based on the patient through the control of the coupling unit 130 as described above It is of course also possible to process them to be fixed.

It is a matter of course that the motion control / compensation method of the surgical robot using the camera image can be performed by an automated procedure according to a time series sequence by a software program or the like incorporated in the digital processing apparatus. The codes and code segments that make up the program can be easily deduced by a computer programmer in the field. In addition, the program is stored in a computer readable medium, readable and executed by a computer, thereby implementing the method. The information storage medium includes a magnetic recording medium, an optical recording medium, and a carrier wave medium.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. And changes may be made without departing from the spirit and scope of the invention.

100: main body part 120: multi-directional rotating wheel
130: coupling part 140:
145: camera device 300: medical trocar
400: motion compensation device 410:
420: image information generation unit 430: recognition point information analysis unit
440: displacement amount analysis unit 450: control command generation unit
460: Output unit 470, 750, 1570: Control unit
710, 1510: Communication unit 720:
730: Surgical tool operating part 740: Rotating wheel operating part
1110: proximity sensor unit 1120: external force detection unit
1130: Return path determining unit 1520:
1530: input unit 1540: movement information generating unit
1550: attitude information generating unit 1560:
1810: rotation angle calculating unit 1820: stop request generating unit

Claims (38)

delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete In a surgical robot,
A moving unit for moving the surgical robot in an arbitrary direction;
A communication unit for receiving a position movement command for a movement operation of the movement unit;
An external force detecting unit for determining whether a force is externally applied to the surgical robot for a moving operation using the moving unit;
A movement control unit for generating a movement control signal for causing the movement unit to move along a predetermined movement path in accordance with the position movement command and outputting the movement control signal to the movement unit when an external force does not exist at the judgment of the external force detection unit; And
And a path re-setting unit for re-setting a preset movement path for movement according to the position movement command when it is determined that the application of the external force is ended by the determination of the external force detection unit.
18. The method of claim 17,
Wherein the movement control unit stops generation and output of the movement control signal until it is determined that the external force is not applied, when it is determined that the external force is present by the determination of the external force detection unit.
18. The method of claim 17,
In the case where the center point of the ROI and the center point of the ROI do not coincide with each other using the image information generated so as to correspond to the provided video signal by photographing the surgical site from the camera unit, And generates a return control signal for a moving operation of the moving part so as to move the surgical robot to a position where the points coincide with each other, and outputs the return control signal to the moving part.
20. The method of claim 19,
Wherein the path resetting unit is configured to cause the surgical robot to move in a direction opposite to a direction in which the center point of the ROI is distant from a center point of the imaging region due to an external force applied when the ROI is not recognized in the imaging region, And generates and outputs a return control signal for a moving operation of the moving part.
18. The method of claim 17,
Wherein the path resetting unit resets the movement path closest to the current position moved by the presence of the external force among the plurality of movement paths set in advance to the movement path according to the position movement command.
18. The method of claim 17,
Further comprising a sensor for sensing the presence of an object proximate to the surroundings and outputting a sensing signal,
The moving operation unit outputs to the moving unit a stop command for stopping the moving operation of the moving unit when the sensing signal is outputted from the sensor or stops the generation and output of the moving control signal for the moving operation of the moving unit .
18. The method of claim 17,
Further comprising a storage unit for storing movement information related to a moving direction and a moving distance of the moving unit so as to match the position moving command,
Wherein the movement control signal is a signal for causing the movement unit to operate according to movement information corresponding to the position movement command.
24. The method of claim 23,
Wherein the movement information includes information on a movement direction and a movement distance for movement between a plurality of virtual path points included in the movement path.
18. The method of claim 17,
The movement path is indicated by fluorescent paint on the floor or the ceiling of the operating room so as to be moved following the recognized movement path recognized by the recognizing means of the surgical robot, Wherein the robot is formed of a magnet or a magnetic rail.
18. The method of claim 17,
Wherein the moving part includes an omni-directional wheel.
18. The method of claim 17,
Wherein the moving unit is implemented by at least one of a magnetic levitation system and a ball wheel system.
28. A method of determining a movement path of a surgical robot according to any one of claims 17 to 27,
Receiving, at the communication unit, a position movement command for a moving operation of the moving unit;
Determining whether a force is externally applied to the surgical robot for a moving operation using the moving unit in the external force detecting unit;
The moving operation unit generates a movement control signal for causing the movement unit to move along a predetermined movement path in accordance with the position movement command and outputting the movement control signal to the movement unit when the external force is not present; And
Wherein the path resetting unit is configured to reset a predetermined movement path for movement according to the position movement command if it is determined that the application of the external force is finished after the external force is applied by the determination, Way.
29. The method of claim 28,
Wherein the step of resetting the movement path comprises:
Stopping generation and output of the movement control signal in the movement operation unit when it is determined by the external force detection unit that an external force is present;
Determining whether or not the presence of the external force is maintained in the external force detection unit;
Resetting a predetermined movement path for movement according to the position movement command at the path reconfiguration unit when the application of the external force is finished; And
And generating a movement control signal for causing the movement section to be moved along the reset movement path in the movement operation section and outputting the motion control signal to the movement section.
29. The method of claim 28,
Wherein the step of resetting the movement path comprises:
If it is determined that the external force does not exist, it is determined whether the center point of the ROI matches the center point of the ROI using the image information generated so as to correspond to the provided image signal by photographing the surgical site from the camera unit step; And
Generating a return control signal for a moving operation of the moving part so that the surgical robot is moved to a position where the center points coincide with each other, and outputting the return control signal to the moving part.
31. The method of claim 30,
Generating the return control signal and outputting the return control signal to the moving unit,
Determining whether the region of interest is recognized within the shooting region if each center point does not match;
If the region of interest is not recognized, a return control signal for the moving operation of the moving unit is moved so that the surgical robot is moved in a direction opposite to the direction in which the center point of the ROI is moved away from the center point of the photographing region, Generating and outputting; And
And generating a return control signal for a moving operation of the moving part so that the surgical robot is moved to a position where the center points coincide with each other when the center area is not matched and the ROI is recognized in the shooting area, Wherein the step of moving the surgical robot comprises the steps of:
29. The method of claim 28,
Determining whether a sensing signal is input from a sensor that senses the presence of an object close to the surroundings and outputs a sensing signal; And
A stop command for stopping generation and output of the movement control signal for the movement operation of the movement unit or stopping the movement operation of the movement unit according to the movement control command to the movement unit when the sensing signal is inputted from the sensor Further comprising the step of: determining a movement path of the surgical robot.
29. The method of claim 28,
Wherein the movement information related to the movement direction and the movement distance of the movement unit is stored in advance in the storage unit so that the movement direction corresponds to the position movement command and the movement control signal is a signal for causing the movement unit to be operated according to the movement information corresponding to the position movement command And determining a path of the surgical robot.
34. The method of claim 33,
Wherein the movement information includes information on a movement direction and a movement distance for movement between a plurality of virtual path points included in the movement path.
29. The method of claim 28,
The movement path is shown as fluorescent paint on the floor of the operating room or on the ceiling so as to be moved following the recognized path recognized by the recognizing means of the surgical robot, Or a magnetic rail. The method for determining a movement path of a surgical robot according to claim 1,
29. The method of claim 28,
Wherein the moving part includes an omni-directional wheel.
29. The method of claim 28,
Wherein the moving unit is implemented by at least one of a magnetic levitation system and a ball wheel system.
29. A recording medium on which a program of instructions executable by a digital processing apparatus for implementing a method of determining a movement path of a surgical robot according to claim 28 is implemented tangibly and can be read by a digital processing apparatus.

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