KR20100085487A - Surgical robot for liposuction - Google Patents

Abstract

PURPOSE: A surgical robot for liposuction is provided to accurately perform liposuction by moving a cannula by driving a robot arm. CONSTITUTION: A robot arm(20) is driven according to a control signal received from a controller(10). A cannula(30) is mounted on the robot arm and is extended in one direction. A suction unit(32) is formed on the end of the cannula and is inserted into the surgical part. The suction unit absorbs fat.

Description

Liposuction robot {Surgical robot for liposuction}

The present invention relates to a liposuction robot.

In recent years, interest in liposuction has been rapidly increasing to improve living standards and to treat abdominal obesity. Liposuction surgery refers to an operation that inhales enlarged fat cells in the body by inserting a cannula that looks like a cannula into subcutaneous fat and applying a negative pressure of 0.5 to 1.0 atm. That is, the human skin is composed of the outermost skin layer, the middle fat layer, and the inner muscle layer. Liposuction surgery is a surgery to inhale and discharge the fat layer between the skin layer and the muscle layer.

Such liposuction surgery can remove not only the abdomen but also the thighs, hips, calves, ankles and forearms, as well as the adipose tissue of the face and neck, and is widely used to remove male breasts and lipomas.

Conventional liposuction surgery, as shown in Figure 1, is a process of inhaling fat while moving the cannula 10 as indicated by the arrow after inserting a cannula 12 and a small hole in the skin to inhale fat Proceed. The cannula 12 is in the form of a hollow tube, and a negative pressure is applied to the inside of the cannula 12 through suction to extract fat out of the body.

Liposuction usually takes two to three hours. During the operation, the doctor must move the front, back, left, right, up and down while holding the cannula body 14 by hand and bringing the cannula end to the area where the fat is to be inhaled. This is a very difficult operation for a doctor performing surgery. In addition, in recent years, the electric cannula has been released to reduce the arm movement of the doctor, but rather, the cannula body is heavier, the situation does not improve the convenience of surgery.

The background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.

The present invention is to provide a surgical robot that is equipped with a liposuction cannula to the surgical robot, the surgeon can easily perform liposuction without a lot of force.

According to an aspect of the present invention, a control unit, a robot arm driven by receiving a predetermined control signal from the control unit, a cannula mounted on the robot arm and extending in one direction, and formed at an end of the cannula, There is provided a liposuction robot including a suction unit inserted into a site to suck fat.

The cannula is inserted to a point on the cannula through a hole drilled in the skin of the surgical patient, and the robot arm can be driven such that the point on the cannula is in the remote center of motion (RCM). In this case, the cannula further comprises an angle sensor for measuring the angle is inserted, the control unit may receive a signal from the angle sensor, to generate a control signal for driving the robot arm so that the cannula maintains a predetermined angle range.

The apparatus may further include a haptic sensor measuring a reaction force applied to the tip of the cannula, and the controller may receive a signal from the tactile sensor to generate a control signal for limiting a driving range of the robot arm. In this case, the control unit is connected to the user operation unit, and the control unit may receive a signal from the tactile sensor and generate a control signal to emit an alarm signal from the user operation unit. In addition, the controller may perform an override function of prioritizing a signal received by a user operation over a signal received from the tactile sensor. In addition, the control unit may perform a force feedback function that exerts a reaction force on the manipulation of the user manipulation unit in response to the signal received from the tactile sensor. In addition, the controller may generate a control signal for driving the robot arm to move the suction unit in the set operating area based on the signal received from the tactile sensor.

The tip of the cannula can be treated with a gentle face so as not to damage the surgical site.

The apparatus may further include a vision unit configured to photograph an operation part and provide image information, and the controller may generate a control signal for driving the robot arm to move the suction unit within a set operating area based on the image information. In this case, the operation region may be set from data derived through image analysis of image information. The controller may generate a control signal for driving the robot arm to move the suction unit in the operation region set by the user.

An imaging camera is mounted at the tip of the cannula, and the suction unit may be operated corresponding to the image information received from the imaging camera. In this case, an end of the cannula is combined with a water jet unit for spraying water on the surgical site, and the water jet unit may be operated in correspondence with the image information. The apparatus may further include a calculator configured to determine the degree of bleeding from the data derived through image analysis of the image information, and the suction unit may be operated corresponding to the determination result of the calculator.

On the other hand, the calculation unit, the chemical sensor for detecting the data derived from the image analysis of the image information obtained from the image pickup camera to capture the substance sucked by the suction unit discharged to the body, or the chemical component of the substance discharged to the body The degree of bleeding may be determined from the data obtained by.

At the end of the cannula, a grinding unit may be formed to grind fat sucked through the suction unit, and the grinding unit may be formed to rotate by suction force acting on the cannula. On the other hand, the cannula may be formed in a structure that is bent at a predetermined point on the cannula.

The cannula may be vibrated at a predetermined frequency to improve the suction efficiency of the suction portion. On the other hand, a storage unit for storing data on the amount of fat in the surgical site, a volume sensor for measuring the amount of fat sucked by the suction unit and discharged out of the body, and measured by the data and volume sensor stored in the storage unit Comparing the data may further include a calculation unit for deriving the degree of progress of the operation.

On the other hand, according to another aspect of the present invention, a program of instructions that can be executed in the surgical robot for liposuction surgery by mounting the cannula extending in one direction and the suction part formed on the end thereof to the robot arm is implemented tangibly, surgery A recording medium that can be read by a robot for robots, the method comprising: (a) generating a first control signal for driving a robot arm such that the suction part is inserted into a surgical site; (b) operating the suction part to suck fat from the surgical site; Providing a recording medium having recorded thereon a program for executing a second control signal, and (c) generating a third control signal for driving the robot arm to move while sucking the fat in the predetermined operating area. do.

The surgical robot further includes a vision unit which photographs the surgical site and provides image information, and an operation region may be set from data derived through image analysis of the image information. In addition, the surgical robot further includes a haptic sensor for measuring the reaction force applied to the tip of the cannula, the operation region may be set based on the signal received from the tactile sensor. An imaging camera is provided at the front end of the cannula to provide image information by photographing a surgical site, and the surgical robot further includes an operation unit that determines a bleeding degree from data derived through image analysis of the image information. The signal may be generated corresponding to the determination result of the calculator. Step (c) compares the data stored in advance about the amount of fat at the surgical site with the data obtained by measuring the amount of fat sucked by the suction unit and discharged out of the body to calculate the extent of the surgery. It may include.

On the other hand, according to another aspect of the present invention, a method for performing liposuction by mounting a cannula extending in one direction and the suction part formed at the end thereof to the robot arm, (a) driving the robot arm, the suction part to the surgical site Inserting, (b) operating the suction unit to suck up fat at the surgical site, and (c) driving the robot arm to move the suction unit while sucking fat within a predetermined operating area; Liposuction surgery methods are provided.

The operation region may be set from data derived through image analysis of image information obtained by photographing a surgical site, or may be set from data derived by measuring reaction force applied to the tip of the cannula. The degree of bleeding may be determined from data derived through image analysis of image information acquired from an imaging camera mounted at the tip of the cannula, and may be performed according to the determination result. Step (c) compares the data stored in advance regarding the amount of fat in the surgical site with the data obtained by measuring the amount of fat sucked by the suction unit and discharged out of the body to calculate the extent of the surgery. It may include.

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

According to a preferred embodiment of the present invention, by attaching a liposuction cannula to the robot arm and driving the robot arm to move the cannula, the surgeon can easily perform liposuction without applying much force. In addition, it automatically controls the surgical robot using a tactile sensor, an angle sensor, etc., analyzes the image information obtained from the vision unit, sets the surgical range automatically, mounts an imaging camera at the tip of the cannula, By analyzing the image information and automatically controlling the operation of the suction unit, liposuction surgery can be performed more conveniently, accurately and safely.

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

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 herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and redundant description thereof will be omitted. Shall be.

Figure 2a is a schematic diagram showing a liposuction robot according to an embodiment of the present invention, Figure 2b is a schematic diagram showing a liposuction surgery robot according to another embodiment of the present invention. 2A and 2B, a controller 10, a robot arm 20, a cannula 30, a suction unit 32, and a tactile sensor 38 are shown.

In this embodiment, the liposuction cannula is mounted on the arm of the surgical robot instead of a person, and the liposuction operation can be performed more easily, accurately and safely by utilizing various automatic control functions of the surgical robot. It is characterized by.

That is, the robot according to the present embodiment has a structure in which a cannula 30 is mounted on the robot arm 20 driven by receiving a control signal from the controller 10, and the cannula 30 is in one direction. At the end thereof, an inlet 32 is inserted into the surgical site and sucks fat. The cannula 30 is a tube-shaped member, and by using a tube having a diameter of 4 mm or less, it is possible to prevent scars from remaining in the process of being inserted into the skin.

The control unit 10 according to the present embodiment may be implemented in the form of a robot or a computer equipped with a microprocessor as a part for generating and transmitting a control signal for driving a surgical robot. Alternatively, it may serve to generate a control signal for driving the robot by receiving signals transmitted from various sensors.

In addition, a processor for controlling reception, processing, analysis, and operation of a suction acting on the cannula 30 may be implemented in an integrated form.

When performing the operation by mounting the cannula 30 to the surgical robot arm 20, the skin of the patient is damaged by the movement of the cannula 30, or conversely interferes with the skin of the patient to freely open the cannula 30. Problems with movement can occur.

Therefore, the robot arm 20 can be controlled to set a virtual pivot center point at a predetermined position on the cannula 30 and rotate the cannula 30 about this point, which is referred to as 'remote center' or the like. It is called 'remote center of motion'.

That is, the cannula 30 mounted on the robot arm 20 according to the present embodiment is inserted to a predetermined point ('R' in FIG. 2A) on the cannula 30 through a hole drilled in the patient's skin during the surgery. In this case, by applying the RCM function to the robot arm 20 to be a remote center, the liposuction can be performed while freely rotating the cannula 30 mounted on the robot arm 20. In this case, the cannula 30 mounted on the robot arm 20 sucks fat while moving freely before, after, left, right, up, and down according to the driving of the robot arm 20. For example, the cannula 30 may rotate around 360 degrees while drawing a cone-shaped trajectory about a hole drilled in the skin of the patient, and may suck fat while rotating about the RCM point.

However, the robot arm in which the RCM is implemented according to the present embodiment is not necessarily configured to have a shape and a structure as shown in FIGS. 2A and 2B.

On the other hand, when the cannula 30 is inserted into the skin at a predetermined angle (for example, 'A' in FIG. 2A) or more, the tip of the cannula 30 may invade into the muscle, and thus the cannula 30 Install an angle sensor (not shown) capable of detecting an angle inserted into the skin, and receive a signal from the angle sensor so that the cannula 30 does not operate above a certain angle, that is, the cannula 30 is previously The robot arm 20 may be driven to operate only within a set angle range.

On the other hand, if the cannula 30 is excessively moved during the liposuction process, the skin layer or the muscle layer may be damaged in addition to the fat layer. In order to prevent this, the front end, that is, the end portion of the cannula 30 is made into a blunt shape or a smooth surface By treatment with, the surgical site can be prevented from being excessively damaged even if excessive force is applied to some extent such that the skin layer and the muscle layer are not pierced.

In addition, in order to prevent this, as shown in FIG. 2B, a haptic sensor 38 is installed at an appropriate position such as a portion where the cannula 30 is mounted on the robot arm 20, thereby preventing the cannula 30 of the cannula 30. You can sense the reaction force applied to the tip. The control unit 10 for controlling the robot arm 20 receives a signal sensed from the tactile sensor 38, and when a greater force is applied to the end of the cannula 30, for example, the cannula 30. If the end of the skin or muscle tissue is in contact, the driving range of the robot arm 20 can be limited so as to no longer advance the cannula (30).

This is because the skin and muscles tend to be quite tough, but since the adipose tissue is relatively soft, the reaction force applied to the cannula 30 varies depending on the contact area of the end of the cannula 30, and the tactile sensor 38 By detecting the reaction force at the end of the cannula 30, the surgical robot can automatically detect the skin and muscles, accordingly, the robot arm 20 can proceed liposuction surgery while moving the cannula 30 automatically have.

On the other hand, the surgical robot according to the present embodiment can be connected to the user operation unit, in this case, the doctor using the three-dimensional joystick, etc. installed in the user operation robot arm 20 before, after, left, right, up, down. You can control the operation. As such, when a doctor operates the robot, the tip of the cannula 30 touches skin or muscles other than fat, it is detected by the tactile sensor 38 and a beep sounds on the user's control panel according to a signal from the tactile sensor 38. Etc., an appropriate alarm signal can be issued to prevent the cannula 30 from advancing further.

In this way, by automatically detecting the skin, fat, muscle can be controlled so that the intake 32 moves only in the fat layer, in some cases, even if the inhalation 32 is located in adipose tissue, the doctor judges The sensor 38 may recognize this as skin or muscle so that an error may occur that the robot arm 20 does not move further.

On the other hand, the surgical robot according to the present embodiment overrides the signal received from the tactile sensor 38 by the user's operation, that is, overrides the doctor to force the robot as necessary. (override) 'function may be included.

Furthermore, the reaction force is applied to the operation of the joystick or the like installed in the user's control unit according to the signal received from the tactile sensor 38, thereby 'force feedback' to reproduce the feeling when the doctor performs the procedure by hand. It may also include functionality. That is, when the tip portion of the cannula 30 touches skin or muscles other than fat, the tactile sensor 38 detects this and mounts a function to reflect the force on a joystick, so that the reaction force felt at the end of the cannula 30. The joystick can be felt so that the feeling can be reproduced as if the doctor had done the procedure by hand.

On the other hand, the surgical robot according to the present embodiment, the doctor may manually drive a three-dimensional joystick or the like, or the suction unit 32 within the predetermined operating area may be controlled to find and move the fat layer automatically. For example, the operating area may be designated in advance to move only within the range.

In this case, various control methods may be applied to designate a moving range of the suction unit 32, that is, an operating area. For example, a vision such as a camera or a laparoscope that provides image information by photographing a surgical site may be applied. The robot arm 20 can be driven to move the suction unit 32 within the range by installing the unit and setting the operation region based on the image information obtained from the vision unit. That is, the operation region can be designated by displaying the image captured from the vision unit on the monitor screen and displaying the image on the screen by an input means such as a mouse or a touch screen.

In addition, by operating the image information obtained from the vision unit to detect the area where the fat layer is automatically distributed, it is possible to specify the operating area.

Furthermore, before inserting the cannula 30 into the body, the doctor drives the robot arm 20 in advance to input a predetermined range, and sets the robot arm 20 to be driven only within the input range so that the suction unit ( 32 may be controlled to move only within the operating area.

That is, by attaching the cannula 30 to the robot in advance and manually moving it, the range where the cannula 30 can move is input to the robot in advance, and the robot arm 20 at the time of the operation is within the previously input range. It can only be operated, for example, by tying a pen to the end of the cannula (30) and input the action to draw a range of the portion to be liposuction with a pen, the robot recognizes the operation and entered The cannula 30 can only be operated within the range.

In addition, by receiving the feedback signal from the above-described tactile sensor 38, it is also possible to set the operating area in which the suction unit 32 can move.

On the other hand, during the liposuction process, the doctor operates the robot by holding the joystick with the right hand, and touching the skin at the point where the end of the cannula 30 is located with the left hand, whether the current position is the skin. , Muscle, fat, that is, the robot is performing the surgery in the correct position.

In order to control this automatically, the tip of the cannula 30 according to the present embodiment can be equipped with a micro camera to determine whether the end of the cannula 30 is located in the adipose tissue. That is, it is possible to receive the image information from the imaging camera mounted on the tip of the cannula 30 and to control the operation of the suction unit 32 accordingly.

For example, in the case of surgery in which a liposuction is performed while spraying water by mounting a water jet part at the end of the cannula 30, the tip of the current cannula 30 is positioned through the image information obtained from the imaging camera. It is possible to control whether water is sprayed automatically when necessary, while discriminating whether the spot is fat or not.

In addition, image information obtained from an imaging camera may be image processed to determine whether there is a bleeding or the degree of bleeding. For example, if the red color occupies a certain degree or more by analyzing the image information screen, the robot may be determined to be bleeding. May be controlled to stop the operation of (and / or to stop the operation of the suction unit 32).

In order to detect the bleeding to stop the operation of the robot, as described above, in addition to the method of mounting the camera at the end of the cannula 30 and analyzing the image obtained therefrom to detect the bleeding, the suctioned fat is discharged. A method of detecting the presence of bleeding from the color of the substance coming out by installing a camera in the exit, etc., a method of detecting a case where the proportion of blood in the inhaled adipose tissue by mounting a chemical sensor in the outlet and more than a certain ratio.

That is, the bleeding degree or the degree of bleeding includes data derived by analyzing images of image information obtained from an imaging camera that photographs a substance sucked by the suction unit and discharged out of the body, or a chemical component of the substance discharged to the body. It can be determined from the data obtained by the chemical sensor to detect.

As such, the calculation unit for analyzing the various data to determine the degree of bleeding may be configured as a separate device, or may be integrated into a microprocessor for controlling the robot.

Figure 3a is an enlarged view showing the end of the cannula according to an embodiment of the present invention, Figure 3b is an enlarged view showing the end of the cannula according to another embodiment of the present invention. 3A and 3B, a cannula 30, a suction unit 32, a crush unit 34, and a propeller 39 are shown.

The suction part 32 formed at the end of the cannula 30 according to the present embodiment may be manufactured to simply perform a suction function, and further, a grinding part 34 such as a drill blade to crush the sucked fat tissue. It can also form further.

The grinding unit 34 may be implemented in the form of a drill blade installed inside the suction unit 32 as shown in FIG. 3A, and may rotate the drill blade to grind the sucked fat. The crushing unit 34 may be electrically rotated.

On the other hand, as shown in Figure 3b, by installing a grinding part 34, such as a drill blade in the cannula (30) and connect it to the propeller 39, etc., by rotating the propeller 39 by the pressure difference by suction The drill blade in the cannula 30 may be interlocked to rotate.

The cannula 30 mounted to the robot arm 20 according to the present embodiment is transformed into a structure that can be mounted on the robot arm 20 by utilizing existing liposuction manual cannula as it is, or the robot arm 20 It can also be manufactured in the form of a dedicated cannula designed corresponding to the shape and structure of the).

On the other hand, the cannula 30 according to the present embodiment can be configured in a structure that is bent at the intermediate point, in this case, even if not implemented as RCM, as in the straight cannula 30, the state inserted through the hole punched in the skin Since the front end of the bent cannula 30 can be freely rotated, the fat can be sucked out in a wider area.

On the other hand, the cannula 30 by vibrating before, after, left, right, up, down within a predetermined range can maximize the liposuction efficiency. In order to allow the cannula 30 to vibrate at a predetermined frequency, a method of adding a vibration mechanism to the cannula 30 and a vibrating function in the robot arm 20 equipped with the cannula 30 to vibrate the cannula. Various methods, such as a method of making it, may be applied.

Inserting the cannula 30 into the body to further install a volume sensor for measuring the amount of fat is aspirated in the process of sucking the fat by suction, the monitor on the screen can show how much progress of the operation.

That is, data about the amount of fat at the surgical site is stored in advance in the storage unit, and the amount of fat extracted is measured with a volume sensor, and the stored data is compared with the measured data in real time to determine the degree of surgery. You can proceed. The progress rate of the surgery may be displayed on a monitor or the like installed in the user manipulation unit.

Since the amount of fat in the surgical site can be known as a three-dimensional volume of the area and fat layer of the area to be treated, the current progress can be determined by comparing the amount of fat drawn by the suction with the total amount of fat in the surgical site. By measuring the amount of fat aspirated using the volume sensor, it is possible to determine where and how much fat is absorbed according to the trajectory of the robot movement.

Figure 4 is a flow chart showing a liposuction method according to an embodiment of the present invention.

The present embodiment relates to a method for performing surgery using the liposuction robot described above, first driving the robot arm 20 equipped with the cannula 30, the end of the cannula 30, that is, suction Part 32 is to be inserted into the desired surgical site (S10).

Next, applying negative (-) pressure to the cannula 30 to suck the fat of the surgical site through the suction unit 32 (S20). In this process, the robot arm 20 is driven to suck the fat while the suction part 32 moves within the designated operating area (S30), thereby sucking and removing the fat of the desired part.

The range in which the suction part 32 moves, that is, the operation area, may be set to automatically obtain the image information by analyzing the surgical part with the vision part and analyze the obtained image as described above. The surgical robot accordingly detects the fat layer and performs liposuction.

However, it is not necessary to analyze the image information acquired from the vision unit in order to set up the operating area, and as described above, the feedback signal received from the tactile sensor 38 is received, and the suction unit 32 is based on this. Of course, it is also possible to set a movable operating area.

Further, by mounting an imaging camera at the tip of the cannula 30 can obtain the image information of the area performing liposuction, and by analyzing the obtained image to determine whether there is bleeding or the degree of bleeding, As a result, the suction part 32 can be controlled to operate or stop. Accordingly, the surgical robot according to the present embodiment automatically detects bleeding and proceeds or stops liposuction.

On the other hand, as described above, if the fat of the surgical site is grasped in advance, and if the amount of fat sucked by the suction unit and discharged out of the body in real time, compared with the measured data and the previously grasped data, the degree of surgery The operation can be performed while calculating and displaying in real time.

On the other hand, the liposuction method described above may be implemented in the form of a computer program that can be read and executed by a digital processing device, such as a microprocessor embedded in the surgical robot itself, or installed outside the robot and connected to the robot. have.

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

1 is a view showing a liposuction procedure according to the prior art.

Figure 2a is a schematic diagram showing a liposuction robot in accordance with an embodiment of the present invention.

Figure 2b is a schematic diagram showing a liposuction robot in accordance with another embodiment of the present invention.

Figure 3a is an enlarged view showing the end of the cannula according to an embodiment of the present invention.

Figure 3b is an enlarged view showing the end of the cannula according to another embodiment of the present invention.

Figure 4 is a flow chart showing a liposuction method according to an embodiment of the present invention.

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

10 control unit 20 robot arm

30 cannula 32 suction part

34: grinding part 38: tactile sensor

39: propeller

Claims (32)

A controller; A robot arm driven by receiving a predetermined control signal from the controller; A cannula mounted on the robot arm and extending in one direction; Is formed on the end of the cannula, liposuction surgical robot comprising a suction unit is inserted into the surgical site to suck fat. The method of claim 1, The cannula is inserted to a predetermined point on the cannula through a hole drilled in the skin of the surgical patient, And the robot arm is driven such that a predetermined point on the cannula becomes a remote center of motion (RCM). The method of claim 1, Further comprising an angle sensor for measuring the angle the cannula is inserted, The control unit receives a signal from the angle sensor, liposuction robot, characterized in that for generating a control signal for driving the robot arm so that the cannula maintains a predetermined angle range. The method of claim 1, Further comprising a haptic sensor for measuring the reaction force applied to the tip of the cannula, The control unit receives a signal from the tactile sensor, liposuction robot, characterized in that for generating a control signal for limiting the driving range of the robot arm. The method of claim 4, wherein The control unit is connected to the user operation unit, the control unit receives a signal from the tactile sensor, the liposuction robot, characterized in that for generating a control signal to issue an alarm signal from the user operation unit. The method of claim 4, wherein The control unit, the liposuction robot, characterized in that for performing an override (override) function to prioritize the signal received by the user operation over the signal received from the tactile sensor. The method of claim 4, wherein The control unit is connected to the user operation unit, the control unit performs a liposuction operation to perform a force feedback (force feedback) function to apply a reaction to the operation of the user control unit in response to the signal received from the tactile sensor robot. The method of claim 4, wherein The control unit is a liposuction operation robot, characterized in that for generating a control signal for driving the robot arm to move the suction unit within the set operating area based on the signal received from the tactile sensor. The method of claim 1, Liposuction surgical robot, characterized in that the front end of the cannula is treated with a gentle surface so as not to damage the surgical site. The method of claim 1, Further comprising a vision unit for providing the image information by photographing the surgical site, The control unit, the liposuction robot, characterized in that for generating a control signal for driving the robot arm to move the suction unit within the set operating area based on the image information. The method of claim 10, The operation region is a liposuction robot, characterized in that set from the data derived through the image analysis for the image information. The method of claim 1, The control unit is a liposuction robot, characterized in that for generating a control signal for driving the robot arm to move the suction unit within a user-set operation area. The method of claim 1, The front end of the cannula is equipped with an imaging camera, The suction unit is a liposuction operation robot, characterized in that operated in accordance with the image information received from the imaging camera. The method of claim 13, An end portion of the cannula is coupled to a water jet unit (water jet) for injecting water to the surgical site, the water jet unit liposuction surgical robot, characterized in that operated in accordance with the image information. The method of claim 13, And a calculation unit to determine the degree of bleeding from the data derived through image analysis of the image information, wherein the suction unit operates in correspondence with the determination result of the operation unit. The method of claim 1, An image pickup camera for capturing a substance sucked by the suction unit and discharged to the outside of the body, and a calculation unit for determining the degree of bleeding from the data derived through image analysis of the image information obtained from the image pickup camera, the suction The liposuction surgery robot, characterized in that the operation in accordance with the operation of the calculation unit. The method of claim 1, A chemical sensor for detecting a chemical component of the material sucked by the suction unit and discharged to the outside of the body, and a calculation unit for determining the degree of bleeding from the data obtained by the chemical sensor, wherein the suction unit is determined Liposuction robot, characterized in that operating in accordance with. The method of claim 1, Liposuction surgical robot, characterized in that the end of the cannula is formed of a grinding unit for grinding the fat sucked through the suction. The method of claim 18, The grinding unit liposuction surgical robot, characterized in that formed to rotate by the suction force acting on the cannula. The method of claim 1, The cannula is a liposuction robot, characterized in that formed in a structure that is bent at a predetermined point on the cannula. The method of claim 1, The cannula is liposuction surgery robot, characterized in that for vibrating at a predetermined frequency to improve the suction efficiency of the suction unit. The method of claim 1, A storage unit for storing data relating to the amount of fat at the surgical site; A volume sensor which measures the amount of fat sucked by the suction unit and discharged out of the body; And a calculation unit for comparing the data stored by the storage unit with the data measured by the volume sensor to derive the degree of surgery. A program of instructions that can be executed in a surgical robot for performing liposuction by attaching a cannula having a suction part at one end thereof and having a suction part at the end thereof is tangibly embodied, and can be read by the surgical robot. As a medium, (a) generating a first control signal for driving the robot arm such that the suction part is inserted into a surgical site; (b) generating a second control signal for actuating said suction to suck up fat at the surgical site; And (c) a recording medium having recorded thereon a program for executing the step of generating a third control signal for driving the robot arm such that the suction unit moves while sucking fat in a predetermined operating area. 24. The method of claim 23, The surgical robot further includes a vision unit for photographing the surgical site to provide image information, wherein the operation region is set from data derived through image analysis of the image information. 24. The method of claim 23, The surgical robot further includes a haptic sensor for measuring a reaction force applied to the tip of the cannula, and the operating area is set based on a signal received from the tactile sensor. . 24. The method of claim 23, The tip of the cannula is equipped with an imaging camera for photographing the surgical site to provide image information, The surgical robot further includes a calculation unit for determining the degree of bleeding from the data derived through image analysis of the image information, And the third control signal is generated corresponding to a determination result of the operation unit. 24. The method of claim 23, In step (c), the data stored in advance regarding the amount of fat in the surgical site is compared with the data obtained by measuring the amount of fat sucked by the suction unit and discharged out of the body to calculate the extent of the surgery. And a recording medium comprising a step. A method of performing liposuction by attaching a cannula extending in one direction and having a suction part at an end thereof to a robot arm, (a) driving the robot arm such that the suction unit is inserted into a surgical site; (b) operating the suction unit to suck up fat at the surgical site; And (c) driving the robot arm to cause the suction unit to move while sucking fat within a predetermined operating area. The method of claim 28, The operation region is liposuction method characterized in that it is set from the data derived through the image analysis for the image information obtained by photographing the surgical site. The method of claim 28, The operation region is liposuction operation method characterized in that it is set from the data derived by measuring the reaction force applied to the tip of the cannula. The method of claim 28, Step (c), the fat is characterized in that the bleeding degree is determined from the data derived through the image analysis of the image information obtained from the imaging camera mounted on the tip of the cannula, and corresponding to the determination result Inhalation Surgery. The method of claim 28, In step (c), the data stored in advance regarding the amount of fat in the surgical site is compared with the data obtained by measuring the amount of fat sucked by the suction unit and discharged out of the body to calculate the extent of the surgery. Liposuction surgery method comprising the step.

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