KR20120045734A - Master iput device of surgical robitc system and method of controlling surgical robitc system using the same - Google Patents

Abstract

PURPOSE: A master input device of a surgical robot system and a method for controlling the surgical robot system using the same are provided to prevent the delay of a surgical operation by controlling an operation through a display and a user manipulation unit. CONSTITUTION: A display unit(12) provides a first screen for a surgical image and a second screen for a user interface to an operator. A user manipulation unit(14) enables a user to control the surgical robot and the user interface. A signal processing unit(16) converts the movement of the user manipulation unit into a control signal for the robot operation or user interface and outputs the control signal.

Description

Master Input Device of Surgical Robot System and Control Method of Surgical Robot System Using It {MASTER IPUT DEVICE OF SURGICAL ROBITC SYSTEM AND METHOD OF CONTROLLING SURGICAL ROBITC SYSTEM USING THE SAME}

The present invention relates to a master input device of a surgical robot system and a control method of a surgical robot system using the same, and more particularly, to a master input device and a control method of a surgical robot system for minimal invasive surgery (minimal invasive surgery) It is about.

Medically, surgery means repairing a disease by cutting, slitting or manipulating skin, mucous membranes, and other tissues using surgical instruments. In particular, open surgery to incise and open the skin of the surgical site to treat, shape, or remove the organs therein causes problems such as bleeding, side effects, patient pain, and scars.

In contrast, instead of dissecting the skin, a small insertion hole is drilled, and through this, a surgical instrument, such as an endoscope, a laparoscope, a surgical instrument, a microsurgical microscope, is inserted to allow surgery to be performed in the body. Invasive surgery is in the spotlight. On the other hand, such minimally invasive surgery may be performed manually by a surgeon, but in recent years, a robotic operation in which a surgeon performs an operation by precisely manipulating the instrument using a surgical robot instead of manipulating the instrument directly has been proposed as an alternative. .

Surgical robots for robotic surgery include a master input device that generates and transmits a required signal by operating an instrument, and a slave robot that receives a signal from the master input device and directly performs a manipulation necessary for a patient. It consists of a master input device and a slave robot integrated or configured as a separate device is placed in the operating room. The slave robot is provided with a robot arm (robotic arm) for the operation for surgery, the surgical instrument is mounted on the tip of the robot arm.

The master input device is provided with a monitor for providing an image of the surgical site to the operator. The operator checks the operation of the surgical site and the surgical instrument through the image displayed on the monitor, and can operate by operating the master input device.

By the way, it is necessary to check the medical information related to the operation in the progress of the procedure using the surgical robot as described above, and to set a specific function. Therefore, for this purpose, the operator must stop the operation progress, change the settings for the surgical robot system using an input device provided separately from the master input device, or request the assistant operator. Therefore, there is a problem in that the progress of the operation is delayed and additional assistants are needed.

Therefore, the present invention is to solve the above problems, an object of the present invention is the master input of the surgical robot system to enable the operator to quickly change the settings for the surgical robot system in the surgical process using the surgical robot It is to provide an apparatus and a control method.

In order to achieve the above object, the master input device of the surgical robot system of the present invention is a display unit for providing an operator with a first screen representing an image of a surgical site and a second screen for a user interface, which is displayed on a first screen. Control of a control signal or user interface of the operation of the surgical robot, the user operation unit for controlling the operation of the surgical robot, the user interface displayed on the second screen by the user's operation, and the user operation by the user's operation It includes a signal processing unit for converting the signal to output.

In this case, the user manipulation unit may include a screen switching button for switching between the first screen and the second screen on the display unit.

In this case, the display unit may turn on or off the second screen on the first screen according to the input of the screen switching button.

In this case, the first screen may display planar image data and stereoscopic image data of the surgical site.

In this case, the second screen may display an item for controlling scale, switching, slide movement, contrast value, and contrast of planar image data, and an item for controlling scale, rotation, switching, and transparency of stereoscopic image data.

In this case, the second screen may display medical information related to the procedure.

On the other hand, the control method of the surgical robot system according to the present invention comprises the steps of displaying a first screen indicating the image of the surgical site on the display, controlling the operation of the surgical robot displayed on the first screen by operating the user operation unit, Generating and outputting a control signal of a surgical robot according to a movement of a user manipulation unit, displaying a second screen for a user interface on a display unit, performing a user interface displayed on a second screen by manipulating the user manipulation unit; And generating and outputting a control signal of the user interface according to the movement of the user manipulation unit.

At this time, the control method of the surgical robot system may further comprise the step of switching from the first screen to the second screen on the display unit according to the user input.

In this case, the control method of the surgical robot system may further comprise the step of turning on and off the second screen on the first screen.

In this case, the control method of the surgical robot system may further include displaying a planar image of the surgical site on the first screen and displaying a stereoscopic image of the surgical site on the first screen.

In this case, the control method of the surgical robot system includes displaying items for controlling the scale, switching, slide movement, contrast value, and contrast of the planar image on the second screen, and the scale, rotation, The method may further include displaying an item for controlling conversion and transparency.

In this case, the control method of the surgical robot system may further include displaying medical information related to the procedure on the second screen.

According to the master input device of the surgical robot system and the control method of the surgical robot system according to the present invention as described above, the operator does not use the display device and the input device provided separately from the master input device for the operation for changing the system settings Instead, it may be performed through a display unit and a user manipulation unit for performing a surgical operation.

Therefore, even if it is necessary to change the setting of the system during the procedure, the operator can perform this by a simple operation without departing from the master input device, thereby preventing the delay of the operation.

In addition, according to the master input device and control method of the surgical robot system according to the present invention, the operator can continue to perform the operation by changing the system settings without leaving the seat to maintain the concentration of the surgery Has the effect.

1 is a schematic diagram showing a surgical robot system according to an embodiment of the present invention.
Figure 2 is a perspective view showing a master input device of the surgical robot system according to an embodiment of the present invention.
3 is a flow chart illustrating a control method of a surgical robot system according to an embodiment of the present invention.
Figure 4 is a schematic diagram illustrating the operation of the master input device of the surgical robot system according to an embodiment of the present invention.
Figure 5 is a schematic diagram illustrating the display unit to display the image of the surgical site in the control method of the surgical robot system according to an embodiment of the present invention.
6 is a schematic diagram illustrating that the display unit displays medical information in the control method of the surgical robot system according to an embodiment of the present invention.
FIG. 7 is a schematic view illustrating a display of a menu image for allowing a display unit to change a setting of a surgical robot system in a control method of a surgical robot system according to an exemplary embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described embodiments of the present invention. The embodiments described below are provided as examples for describing the technical idea of the present invention, and the technical scope of the present invention is not limited to the following embodiments.

1 is a plan view showing a surgical robot system 100 according to an embodiment of the present invention. As shown in Figure 1, the surgical robot system 100 is a master input device configured to be operated by the operator (S) while the minimally invasive surgery is performed on the patient (P) side lying on the surgery table ( 10).

The master input device 10 includes a display unit 12 for providing an operator with a first screen representing an image of the surgical site 20 and a second screen for a user interface, an operation of a surgical robot displayed on the first screen, One or more user manipulation units 14 and 15 for controlling the user interface displayed on the second screen by a user's operation, and control of a control signal of the operation of the surgical robot or a user interface to control movement of the user's operation unit by the user's operation. And a signal processor 16 which converts the signal into a signal and outputs the signal.

In the surgical robot system according to the exemplary embodiment of the present invention, a user interface for changing the setting of the system is selectively provided by the display unit 12 representing the surgical image, rather than a separate display device. In addition, operations such as changing system settings through the user interface are executed by the user operation units 14 and 15 for operating the surgical instruments.

The user controls 14 and 15 may include one or more of a variety of input devices, such as joysticks, glove, trigger-guns, manual controllers, and the like. The signal processor 16 may be integrated into the master input device 10 or may be configured as a computer located next to the master input device 10.

The operator can detachably attach to the robot arms 32 and 36 while observing the first screen indicating the surgical site 20 captured by the endoscope 30 and provided to the display unit 12 of the master input device 10. Minimally invasive surgery is performed by manipulating the user manipulation units 14, 15 to drive the combined surgical instruments 38, 40. In this case, the first screen may be provided as a planar image or a stereoscopic image of the surgical site.

In addition, the operator may switch the mode of the system from the surgical mode to the user interface mode, if necessary during the operation. In this case, the display unit 12 provides a second screen so that the operator can check the information related to the surgery and change the settings of the surgical robot system.

In the surgical robot system according to the embodiment of the present invention as described above, the operator does not use the display device and the input device provided separately from the master input device 10 to perform the operation for changing the system setting, and the display unit for executing the operation operation. 12 and the user manipulation units 14 and 15. Therefore, even if it is necessary to change the setting of the system during the procedure, the operator can perform this by a simple operation without departing from the master input device 10, so that there is no delay in the operation. In addition, since the operation can be performed continuously without leaving the seat, the operator can maintain the concentration on the surgery.

Endoscope 30 and each surgical instrument 38, 40 may be inserted into the patient through a guide of surgical instrument 38, 40, such as a cannula. Each robot arm 32, 34, 36 is formed of a linkage device such as an interlock device, which linkages are coupled to each other and can be manipulated through a motor controlled joint. The number of surgical instruments 38, 40 used and the number of robotic arms 32, 34, 36 used in the surgical robot system 100 may be determined depending on the diagnostic or surgical method and the spatial constraints within the operating room, among other factors. Can be. That is, although the surgical robot system 100 is shown as having three robot arms 32, 34, 36 in FIG. 1, this is for illustrating the present invention, and the number of robot arms and surgical instruments may be necessary. According to the present invention, the present invention is not limited thereto.

In addition, if it is necessary to replace the surgical instruments 38 and 40 used during the surgical procedure, the surgical instruments 38 and 40 can be removed from the robotic arm and replaced with other surgical instruments. To help identify the surgical instrument to be replaced, each of the robot arms 32, 34, 36 may have a confirmation number or color indicator printed on such as a setup joint.

In addition, the display unit 12 may be positioned near the operator's hand so that the operator displays an image directed to have a feeling of actually looking directly down the surgical site 20. For this purpose, it is desirable that the images of the surgical instruments 38, 40 appear to be actually placed where the operator's hand is located. To this end, it is preferable that the signal processing unit 16 changes the directions of the user manipulation units 14 and 15 to orient the corresponding surgical instruments 38 and 40 as shown by the endoscope 30.

The signal processor 16 performs various functions in the surgical robot system 100. The signal processor 16 controls the mechanical movement of the user controls 14 and 15 through the control signal bus 50 so that the operator can effectively move and / or manipulate the respective surgical instruments 38 and 40. The control signal is transmitted to the robot arms 32, 34, and 36. In addition, the signal processing unit 16 may be operated when the surgical instruments 38 and 40 are outside the camera capture screen displayed on the display unit 12 or blocked within the camera capture screen displayed on the display unit 12. 38, 40) are displayed.

In addition, the signal processor 16 changes the mechanical movement of the user manipulation units 14 and 15 to the system when the operator manipulates the user manipulation units 14 and 15 through the second screen. Transmit it by transforming it into a control signal.

The signal processor 16 may be implemented in any combination of hardware, software, and firmware. In addition, the function of the signal processing unit may be executed by one unit as described herein, or may be executed by being divided into different components that may be sequentially executed in any combination of hardware, software, and firmware. .

2 is a perspective view illustrating a master input device 10 of a surgical robot system according to an embodiment of the present invention. The shape and configuration of the master input device 10 shown here is merely to illustrate the present invention, the arrangement and shape of each configuration of the master input device 10 may be modified differently than shown, the present invention It is not limited to the structure of each apparatus demonstrated below. As described above, the master input device 10 includes a display unit 12, user operation units 14 and 15, and a signal processing unit 16.

The display unit 12 has left and right sockets 120 and 122 corresponding to both eyes of the operator at a position where the operator looks down the actual surgical site. When the first screen is provided as a stereoscopic image, the left and right sockets 120 and 122 may be provided with images corresponding to the left eye and different images corresponding to the right eye, respectively, so that the operator can feel a 3D effect.

In addition, the master input device 10 is located below the display unit 12, so that the operator has a sense that the operator directly controls the device associated with the surgical site seen through the display unit 12, 14, 15 ).

Meanwhile, the master input device 10 may further include a foot pedal 144 as an input device other than the user manipulation units 14 and 15, and the operator may operate as described above using the foot pedal 144. Switching may be performed between the first screen representing the site and the second screen providing a menu for changing the setting of the system and the image information related to the surgery.

In addition, the operator may use the foot pedal 144 to switch between the planar image and the stereoscopic image of the surgical site on the first screen. Alternatively, the switching between the first screen and the second screen or the switching between the plane and the stereoscopic image may be implemented by the user manipulation units 14 and 15 and other buttons on the master input device 10, and also the voice input. It may be implemented by. In this case, the switching of the screen as described above may be implemented by turning on / off the second screen on the first screen.

The signal processor 16 is connected to or integrated in the master input device 10 to provide processing power.

In order to provide the operator with the recognition that the user controls 14, 15 are integrated with the surgical instrument, the master input device 10 can be moved with the same degree of freedom as the surgical instrument. In addition, the master input device 10 may be applied a feedback sensor for transmitting the position, force, tactile sensation from the surgical instrument. Accordingly, the operator may have a feeling of directly controlling the surgical instrument.

3 is a flow chart showing a surgical robot control method according to an embodiment of the present invention. First, the display unit displays a first screen representing an image of a surgical site (S10). In this case, the first screen may be a planar image or a stereoscopic image of the surgical site. At this time, the operator controls the operation of the surgical robot displayed on the first screen by operating the user operation unit (S20).

4 is a schematic diagram showing that the operator manipulates the user operation unit. However, FIG. 4 is for illustrating the present invention, and as described above, the user manipulation unit is one of various types of input devices such as a joystick, a glove, a trigger-gun, a manual controller, and the like. It may contain the above.

Also, in this case, the operator may perform switching between the planar image and the stereoscopic image by using a separate input device such as a foot pedal as needed.

In this case, the signal processor generates and outputs a control signal of the surgical robot according to the movement of the user manipulation unit. The robot arm is driven according to the control signal, and thus a surgical instrument coupled to the robot arm performs an operation for surgery. FIG. 5 exemplarily shows a first screen 130 showing an image of a surgical site, and indicates that surgery is performed by operating a surgical instrument by the above process.

Next, the operator determines whether to switch to the user interface mode as necessary during the operation of the operation (S30). In this case, as described above, the user may switch from the first screen 130 representing the image of the surgical site to the second screen representing the user interface by using another input device such as a foot pedal.

When the operator inputs a command to switch to the user interface mode by using an input device such as a foot pedal, the second screen for the user interface is displayed on the display unit (S50). 6 is a schematic diagram illustrating a screen of a display unit which has switched to the user interface mode. In this case, as shown in the drawing, the display unit may switch from the first screen to the second screen by turning on the second screen 140 on the first screen 130.

In the case of switching to the user interface mode by the operator's input, as shown in FIG. 6, the display unit displays the current time, the body temperature of the patient, the temperature of the operating room, and the operating room on the first screen 130 showing an image of the surgical site. The second screen 140 indicating various information related to the operation such as humidity may be displayed. In addition, the operator performs a user interface displayed on the second screen 140 by operating the user manipulation unit (S60). For example, as illustrated in FIG. 6, a menu selectable by an operator is displayed on the second screen 140, and the operator may select a specific menu by moving a cursor displayed on the second screen using a user manipulation unit. .

In this case, when the operator selects the screen setting change icon, a menu for changing the screen setting as shown in FIG. 7 is displayed on the second screen 142. The operator may input a command to control the scale, transition, slide movement, contrast value, and contrast of the planar image by moving the cursor on the second screen 142, and control the scale, rotation, transition, and transparency of the stereoscopic image. You can enter a command to do this. According to the operator's input as described above, the signal processor generates and outputs a control signal of the user interface, and the setting of the system is changed according to the signal. However, the menus for changing the settings shown in FIG. 7 are for illustrating the present invention, and it is apparent that additional menus for changing the settings of the system may be further provided.

Next, it is determined whether to switch back to the surgical mode from the user interface mode (S70). In this case, the user may perform a switch from the second screen 142 representing the user interface to the first screen 130 representing the image of the surgical site by using another input device such as a foot pedal. In this case, the display unit may switch from the second screen 142 to the first screen 130 by turning off the second screen 142 on the first screen 130.

When the operator inputs a command to switch to the operation mode, the display unit again displays the first screen displaying the surgical image (S10), so that the operator can perform the operation.

As described above, according to the surgical robot system according to an embodiment of the present invention, the operator does not use the display device and the input device provided separately from the master input device for the operation for changing the system settings, to perform the operation operation It can be performed through the display unit and the user operation unit. Therefore, even if it is necessary to change the setting of the system during the procedure, the operator can perform this by simple operation without departing from the master input device, so that no delay of surgery occurs. In addition, since the operation can be performed continuously without leaving the seat, the operator can maintain the concentration on the surgery.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Of course.

10: master input device 12: display unit
14, 15: user control unit 16: signal processing unit
20: surgical site 30: endoscope
32, 34, 36: robot arm 38, 40: surgical instrument
120, 122: left and right sockets 144: foot pedal

Claims (12)

A display unit which provides the operator with a first screen representing an image of a surgical site and a second screen for a user interface;
A user manipulation unit configured to control an operation of the surgical robot displayed on the first screen and a user interface displayed on the second screen by a user's operation; and
Signal processing unit for converting the movement of the user operation unit by the user's operation to a control signal of the operation of the surgical robot or a control signal of the user interface and outputs
Master input device for a surgical robot system comprising a. The method according to claim 1,
And the user manipulation unit comprises a screen switching button for switching between the first screen and the second screen on the display unit. The method of claim 2,
The display unit is a master input device of the surgical robot system for turning on and off the second screen on the first screen according to the input of the screen switching button. The method according to claim 1,
The first screen is a master input device of the surgical robot system for displaying planar image data and stereoscopic image data of the surgical site. The method of claim 4, wherein
The second screen is a surgical display that displays items for controlling the scale, switching, slide movement, contrast value, and contrast of the planar image data, and items for controlling the scale, rotation, switching, and transparency of the stereoscopic image data. Master input device of robot system. The method according to claim 1,
The second screen is a master input device of the surgical robot system for displaying medical information associated with the procedure. Displaying a first screen indicating an image of a surgical part on a display unit;
Controlling an operation of a surgical robot displayed on the first screen by manipulating a user manipulation unit;
Generating and outputting a control signal of the surgical robot according to the movement of the user manipulation unit;
Displaying a second screen for a user interface on the display unit;
Operating the user manipulation unit to perform a user interface displayed on the second screen; and
Generating and outputting a control signal of the user interface according to the movement of the user manipulation unit;
Control method of a surgical robot system comprising a. The method of claim 7, wherein
Switching from the first screen to the second screen on the display unit according to a user input
Control method of a surgical robot system further comprising. The method of claim 8,
The display unit further comprises the step of turning on and off the second screen on the first screen control method of the surgical robot system. The method of claim 7, wherein
Displaying a planar image of the surgical site on the first screen, and
Control method of a surgical robot system for displaying a three-dimensional image of the surgical site on the first screen. The method of claim 10,
Displaying an item for controlling scale, transition, slide movement, contrast value, and contrast of the planar image on the second screen; and
Displaying an item for controlling scale, rotation, switching, and transparency of the stereoscopic image on the second screen;
Control method of a surgical robot system comprising a. The method of claim 7, wherein
And displaying medical information related to the procedure on the second screen.

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