KR20160061233A - Robotic surgery system, method for controlling the same, and protection case - Google Patents
Robotic surgery system, method for controlling the same, and protection case Download PDFInfo
- Publication number
- KR20160061233A KR20160061233A KR1020140164405A KR20140164405A KR20160061233A KR 20160061233 A KR20160061233 A KR 20160061233A KR 1020140164405 A KR1020140164405 A KR 1020140164405A KR 20140164405 A KR20140164405 A KR 20140164405A KR 20160061233 A KR20160061233 A KR 20160061233A
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- image
- surgical
- console
- robot
- image acquiring
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
- E04H9/04—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate against air-raid or other war-like actions
- E04H9/10—Independent shelters; Arrangement of independent splinter-proof walls
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Architecture (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Business, Economics & Management (AREA)
- Heart & Thoracic Surgery (AREA)
- Emergency Management (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
Description
One aspect of the present invention relates to a robot surgery system, and a method of controlling the robot surgery system.
Today, various robotic surgical systems, such as DAVIN (registered trademark), have been developed and used in surgery. More specifically, for example, a surgeon can remotely perform surgery by manipulating the console to adjust the surgical robot. This robotic surgery system has advantages such as being applicable to surgery requiring very sophisticated operation, but it also has various disadvantages.
More specifically, the prior art robotic surgery system has been developed with a focus on technologies that can provide high-quality surgery for the patient, and it has been proposed to use surgeon safety Technology development is not enough. For example, a surgeon who operates the console by operating the console may sit in close proximity to or close to the eye of the console to view the surgeon image provided by the console. Therefore, the surrounding image of the surgeon is exposed to unprotected unprotected condition for a long time. On the other hand, various people such as medical students, nursing practitioners, external observers enter the operation room as well as the surgical personnel. If one of the surrounding people attacks the operation surveillance from behind, In case of touching the surgery without knowing it, the surgeon who concentrates only on the operation can not help but be helpless. Therefore, the surgeon who is remotely controlled by the surgeon moves rapidly in an undesired direction and can harm the patient.
According to an aspect of the present invention, there is provided a robot surgery system capable of physically protecting a surgeon from an external attack, thereby effectively performing surgery while providing safety of surgeries.
According to an aspect of the present invention, there is provided a control method for controlling the robot surgery system.
According to an aspect of the present invention, there is provided a surgical robot comprising: a surgical robot; A console for adjusting the surgical robot; And a protective case part surrounding the console and the surgeon operating the console to isolate and protect from the outside, wherein the protective case part has an entrance through which a surgeon can go in and out, A surgical system is provided. The robot surgery system comprising: first image acquiring means for acquiring an image of a surgical site; And second image acquisition means for acquiring an image outside the surgical site, and display means for displaying an image transmitted from the second image acquisition means may be provided inside the protective case portion.
The second image acquiring means may be one in which a surgeon manipulates the console.
According to an aspect of the present invention, there is provided an image processing apparatus comprising: first image obtaining means for obtaining an image of a surgical site; second image obtaining means for obtaining an image outside a surgical site; Display means for displaying an image transmitted from the first image acquiring means and the second image acquiring means; Surgical robot; And a console for adjusting the surgical robot, and the second image acquiring unit includes an image capturing unit and a moving unit for moving the image capturing unit in space coordinates. The second image acquiring means may be one in which a surgeon can manipulate the console. The moving part may include a robot arm part. The robot surgery system may further include a control unit for monitoring the position coordinates of the second image acquiring unit and for controlling the movement of the second image acquiring unit by limiting the motion of the second image acquiring unit outside a predetermined coordinate area. The predefined specific coordinate area may include a predetermined surgical tool movement area. The second image acquiring unit may be provided in the surgical robot.
According to an aspect of the present invention, there is provided a surgical robot comprising: a surgical robot; a console for adjusting the surgical robot; first image acquiring means for acquiring an image of a surgical site; Second image acquiring means for acquiring an image outside the surgical site; A display unit for displaying an image transmitted from the first and second image acquiring unit, and a control unit, the robot surgery system comprising: monitoring position coordinates of the second image acquiring unit; And a step of comparing the coordinate of the position with a coordinate range of a predetermined specific area and controlling the movement of the second image acquiring unit by limiting the movement of the second image acquiring unit outside a predetermined specific area do. The predefined specific coordinate area may include a predetermined surgical tool movement area. The second image acquiring unit may be provided in the surgical robot.
According to an aspect of the present invention, there is provided a computer-readable medium having recorded thereon a software program for causing the control method to be performed in a robotic surgery system.
According to an aspect of the present invention, there is provided an apparatus for a robot surgery system having a surgical robot and a console for adjusting the surgical robot, the apparatus being enclosed by the console and a surgeon operating the console, A protective case is provided, which is provided with an entrance through which a surgeon can access and from which an outsider can be controlled. The robot surgery system comprising: first image acquiring means for acquiring an image of a surgical site; And second image acquisition means for acquiring an image outside the surgical site, and display means for displaying an image transmitted from the second image acquisition means may be provided inside the protective case portion.
The second image acquiring unit may be adjustable by operating a console of a surgeon.
According to an aspect of the present invention, a console that is very sensitive to adjusting a surgical robot (to an external shock) and a surgeon who actually operates the surgeon are physically protected from the outside, so that safe surgery can be performed. In addition, even when the surgeon is isolated from the patient, the surgeon can effectively obtain the image of the surgeon's side, the peripheral gravity, the preparation state of the surgical instrument, the state of the exudate, the bleeding state, etc., have.
1 is an exemplary view showing a surgical robot according to an embodiment of the present invention;
2 is an exemplary diagram illustrating a console according to an embodiment of the present invention;
3 is an exemplary view showing a display unit according to an embodiment of the present invention;
While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.
It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. It is to be understood that the terms "comprises" or "having" in this application are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.
Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
Referring to FIG. 1, a
For example, in order to acquire and observe an image of the outside of the surgical site, such as an unexpected situation such as a surgical assistant force dropping a surgical instrument, a sudden seizure resulting in a fainting, The second
Comparing this configuration to conventional CCTV installed on the ceiling, images around the surgical site can be effectively obtained at a closer distance and at a desired location, and without interference from vision by medical personnel placed around the patient. In the present invention, the moving part for moving the image capturing part on the spatial coordinates means that the positional coordinates of the coupling point where the moving part and the image capturing part are combined can be moved on the spatial coordinates. For example, But does not mean a device having only a function of rotating or tilting around a coupling point, such as a normal CCTV.
2 and 3, a robot surgery system according to an embodiment of the present invention includes a
In addition, the robot surgery system according to the embodiment of the present invention includes a
The
In addition, the display means 13 may be provided on the inner surface of the protective case so that the surgeon can move the eyes of the surgeon upward (see (B) of FIG. 3) May be provided at any position in the inner space of the protective case part. In the present invention, the inside (or inside space) of the protective case part is a space surrounded by the protective case part, and the outside (or outside space) is the outside space of the protective case part.
The robot surgery system according to an embodiment of the present invention may further include a control unit for monitoring the position coordinates of the second image acquiring unit and restricting the movement of the second
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, and variations and modifications may be made without departing from the scope of the invention. It will be understood that the present invention can be changed.
Claims (16)
A console for adjusting the surgical robot; And
And a protective case part surrounding the console and a surgeon operating the console to isolate and protect the surgeon from the outside,
Wherein the protective case part has an entrance capable of entering and exiting the surgery and controlling the entrance and exit of an outside person.
In the robot surgery system,
First image acquiring means for acquiring an image of a surgical site; And
And second image acquiring means for acquiring an image outside the surgical site,
Wherein the display means for displaying an image transmitted by the second image acquiring means is provided inside the protective case portion.
Wherein the surgical operation is adjustable by operating the console.
Display means for displaying an image transmitted from the first image acquiring means and the second image acquiring means;
Surgical robot; And
And a console for adjusting the surgical robot,
Wherein the second image acquiring unit comprises an image capturing unit and a moving unit for moving the image capturing unit on a spatial coordinate basis.
And a surgeon adjustable by manipulating the console.
Further comprising a control unit for monitoring the position coordinates of the second image acquiring unit and for controlling the motion of the second image acquiring unit by limiting the movement of the second image acquiring unit outside a predetermined coordinate area.
And a predefined surgical tool movement area.
Monitoring position coordinates of the second image acquiring means; And
And comparing the position coordinates with a coordinate range of a predetermined specific area,
And controlling the motion of the second image acquiring means to be limited outside a predetermined specific area.
And a predefined surgical tool movement area.
And a surgeon operating the console and the console,
And a door that allows the surgeon to access and control the access of the outsider.
In the robot surgery system,
First image acquiring means for acquiring an image of a surgical site; And
And second image acquiring means for acquiring an image outside the surgical site,
And a display means for displaying an image transmitted from the second image acquiring means is provided in the protective case portion.
And a surgeon adjustable by manipulating the console.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020140164405A KR20160061233A (en) | 2014-11-21 | 2014-11-21 | Robotic surgery system, method for controlling the same, and protection case |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020140164405A KR20160061233A (en) | 2014-11-21 | 2014-11-21 | Robotic surgery system, method for controlling the same, and protection case |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
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KR1020160099695A Division KR20160098138A (en) | 2016-08-04 | 2016-08-04 | Robotic surgery system, method for controlling the same |
KR1020170043606A Division KR20170040788A (en) | 2017-04-04 | 2017-04-04 | Protection case used in robotic surgery system |
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KR20160061233A true KR20160061233A (en) | 2016-05-31 |
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