KR20170061552A - Bimanual surgical device and compensation method for shake ness thereof - Google Patents

Bimanual surgical device and compensation method for shake ness thereof Download PDF

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KR20170061552A
KR20170061552A KR1020150166775A KR20150166775A KR20170061552A KR 20170061552 A KR20170061552 A KR 20170061552A KR 1020150166775 A KR1020150166775 A KR 1020150166775A KR 20150166775 A KR20150166775 A KR 20150166775A KR 20170061552 A KR20170061552 A KR 20170061552A
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surgical
distance
barrel
position information
pole
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KR101746963B1 (en
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송철
박현철
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재단법인대구경북과학기술원
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/3201—Scissors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • Orthopedic Medicine & Surgery (AREA)
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  • Surgical Instruments (AREA)

Abstract

The surgical manual robot apparatus according to the present invention is a surgical robot apparatus for cutting a lesion portion of a patient. The first surgical machine includes a pawl portion for picking up a surgical site, The surgical instrument includes a scissor portion for cutting the microstructure picked up by the pole piece portion, the distance between each of the surgical site and the distal end of the pole piece portion and the scissor portion is measured, And a control unit for correcting the negative tremor.

Description

TECHNICAL FIELD [0001] The present invention relates to a bimanual surgical apparatus and a bimanual surgical apparatus,

More particularly, the present invention relates to a robot apparatus having a surgical instrument corresponding to both hands for cutting a microstructure, and a device for compensating for an error due to vibration during surgery using the same And a structure thereof.

Tremor is an involuntary phenomenon caused by the combined movement of complementary moving agonistic and antagonistic muscles. Normal persons also have non-stationary physiological tremor with amplitude of 50 ~ 150μm and frequency of 10-12Hz.

In particular, microsurgery, which requires the delicacy and complexity of surgical procedures, has been a problem for a long time.

Especially, the removal of the epiretinal membrane (ERM) is a procedure to remove a thin film of 10 μm produced in front of the retina having a thickness of 200 μm, and the shaking phenomenon of about 100 μm generated in the procedure becomes a problem.

 Meanwhile, first generation steady hand robots have been specially designed for vitreoretinal surgery. These steady-hand robots have been used successfully in ex-vivo robots that assist in blood vessel plumbing experiments, but have a ± 30% tool rotation limit. To further expand the tool rotation range, a second generation Steady Hand Robot was developed that increased this range to ± 60%.

The second generation Steady Hand Robot incorporates significantly improved manipulators and integrated fine force sensing tools, which provide improved vitreoretinal surgery.

However, since vitreoretinal surgery is extremely sensitive and can lead to complications by vitreoretinal surgery, more sophisticated surgical tools and remedial measures to correct for these errors are needed. For example, complications during vitreoretinal surgery can result from excessive and / or incorrect application of force to the eye tissue.

However, since the operator still has to hold the hand in the air and float in the air, it is very difficult to perform the high-precision micro-surgery due to the shaking of the operator or the instantaneous displacement of the surgical instrument.

In addition, since the existing technologies are pursuing stability only in the surgical tool of one of the surgical tools for holding and cutting, there is a lack of improvement measures for precise cutting using both hands in the precision cutting procedure. In addition, if a surgical apparatus corresponding to both hands is implemented with an existing system, the volume of the system becomes too large.

Therefore, it is urgent to develop a surgical apparatus capable of performing fine retinal microsurgery corresponding to both hands and capable of performing elaborate operations, and a method of compensating for errors due to shaking of the surgical apparatus.

Korean Patent Publication No. 10-2013-0103710 Korean Patent Publication No. 10-2010-0120183

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a bi-manual surgical apparatus capable of holding an operation subject with one hand using both hands and fine- have. The present invention also provides a method for compensating for the shaking of a bi-manual surgical apparatus capable of performing a sophisticated operation by measuring a hand-induced tremor in an operation using a bi-manual surgical apparatus in real time and compensating for an error caused by tremors.

In order to accomplish the above object, according to an embodiment of the present invention, there is provided a surgical robot apparatus comprising a surgical machine for cutting a lesion portion of a patient, the surgical apparatus comprising a first surgical instrument, And the second surgical instrument includes a scissor portion for cutting the microstructure picked up by the pole piece portion. The distance between the surgical site and the distal end of the pole portion and the scissor portion is measured, And a control unit for correcting the shaking of the pole seat portion and the scissor portion.

In order to accomplish the above object, in accordance with an embodiment of the present invention, a method for compensating for a tremor of a vital manual surgery device includes compensating for a tremor during surgery by using a surgical robot apparatus having a pole- The method comprising the steps of: branching one light source through a 2 x 2 coupler, detecting light reflected from the pole portion and the distal end of the scissor portion and reaching the surgical site and reflected, A step of extracting distance / position information between surgical sites from the distal end of each of the pole portion and the scissor portion, comparing the initial value of the predetermined distance / position information with the distance / position information obtained in real time at the time of surgery, Calculating a distance / position change amount to compensate for tremor and calculating a compensation value from the change amount; To drive the emitter comprises the step of controlling the poll sepbu and / or moving parts of procedure.

As described above, according to the bi-manual surgical apparatus of the present invention, when a professional medical doctor uses a surgical machine corresponding to both hands at the time of micro-surgery for a body part having a micron size, Microtomy can be performed with the other hand.

In addition, according to the vibration compensation method of the present invention, it is possible to detect errors due to tremor generated while driving a surgical machine in real time, and compensate for errors, thereby performing more precise microsurgery .

FIG. 1 is a block diagram schematically showing a configuration of a bi-manual operation device according to an embodiment of the present invention.
FIG. 2 is a view schematically illustrating a configuration for compensating for shaking of a manual operation apparatus according to an embodiment of the present invention. Referring to FIG.
FIG. 3 and FIG. 4 are exemplary views schematically showing another configuration of the bypass manually operated apparatus according to the embodiment of the present invention.
5 is a view showing a detailed structure of a first surgical instrument according to an embodiment of the present invention.
6 is a view showing a detailed structure of a first surgical machine according to another embodiment of the present invention.
FIG. 7 is a flow chart for explaining a shaking compensation method of a manual operation apparatus according to an embodiment of the present invention. Referring to FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In the following description of the embodiments of the present invention, descriptions of techniques which are well known in the technical field of the present invention and are not directly related to the present invention will be omitted. In addition, detailed description of components having substantially the same configuration and function will be omitted.

For the same reason, some of the elements in the accompanying drawings are exaggerated, omitted, or schematically shown, and the size of each element does not entirely reflect the actual size. Accordingly, the present invention is not limited by the relative size or spacing depicted in the accompanying drawings.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram schematically showing a configuration of a bi-manual operation device according to an embodiment of the present invention, FIG. 2 is a view schematically showing a configuration for compensating for a vibration of a bi-manual operation device according to an embodiment of the present invention to be. FIG. 3 and FIG. 4 are exemplary views schematically showing another configuration of the bypass manually operated apparatus according to the embodiment of the present invention.

Referring to FIGS. 1 and 2, a bi-manual surgical apparatus according to an exemplary embodiment of the present invention includes a first and a second surgical instruments 100 and 200 for cutting a lesion area of a patient, And a control unit 300 for controlling the operation of the apparatus.

The control unit 300 includes a detector unit 1 and 2 (340 and 342) for detecting the reflected light emitted from the optical fiber at the distal end of the fall-through unit 110 and the scoop 210, An analog digital converter (ADC) 350 for extracting distance / position information between surgical sites from the distal end of each of the pawshep section 110 and the scissors section 210 using light, an OCT distance An OCT distance sensor 1 (250) for measuring a distance between a scissors blade and a surgical site, and a distance / position information obtained in real time with the preliminarily stored initial value of the distance / position information extracted by the converter Calculating a distance / position change amount to compensate for the detected vibration, calculating a compensation value from the change amount, and controlling a signal for controlling the precision motor in accordance with the compensation value To generate And a precision motor 1, 2 (380, 382) driven by a CPU 360 and a control signal of the CPU to compensate for the shaking.

The first surgical instrument 100 includes a pole seat portion 110 for holding a surgical site and a tension pressure portion 130 for allowing the pole seat portion 110 to grasp or dislodge microstructures on one side of the pole seat portion 110 do.

The tension pressure unit 130 is provided with a diamond-shaped barrel which receives the external pressure by the user and deforms when the external pressure is received, and the material is formed of a material having elasticity .

When an external pressure is applied to the tension pressure unit 130, the lens-barrel cylinder is pushed, and the barrel connected to the lower end of the tension pressure unit 130 is pushed toward the distal end. As a result, The ends of the clamping blades close to each other. By such an operation, the microstructure between the two clamping blades can be held by the clamping blade.

In contrast, when the external pressure is released with respect to the tension pressure portion 130, the tension pressure portion 130 that has been pressed returns to the shape of the diamond-shaped column due to elasticity, And the two pincer blades are opened as the pincer blades that have been pushed by the inner wall of the barrel are also exposed from the barrel. By such an operation, the microstructure can be placed from the clamping blade.

  The second surgical instrument 200 includes a scissoring portion 210 for cutting the microstructure collected by the pole receptacle 110, a tension pressure portion 230, an outer barrel 250, And an inner barrel 270 to which two scissors blades are connected.

The tension pressure unit 230 operates on the same principle as the tension pressure unit 130 provided in the first surgical instrument 100.

To explain this, the tension pressure part 230 for receiving the external pressure by the user for cutting operation of the screed part 210 is provided with a rhomboidal barrel whose shape is deformed when the external pressure is received, and the material is elastic And the like.

5 is a view showing a detailed structure of a first surgical instrument according to an embodiment of the present invention.

5, the scissoring portion 210 is provided so as to be exposed to the end of the inner barrel 270 surrounded by the outer barrel 250, and the two scissors blades 211 and 213 cross each other at the center portion And is rotatably coupled by a hinge.

Here, it is preferable that the circumference including the outermost ends of the scissors blades 211, 213 in a state of being spaced apart at a predetermined interval is formed wider than the circumference of the outer barrel 250.

When an external pressure is applied to the tension pressure portion 230, the diamond-shaped cylinder barrel is pushed and the outer barrel 250 connected to the lower end of the tension pressure portion 230 is pushed in the direction of the end so that the two opposing scissors blades (211, 213) are surrounded by the inner wall of the outer barrel, and are pushed inward by the inner wall of the outer barrel.

As a result, the two scissors blades 211 and 213 intersect with each other at the central portion, and the microstructure held by the pole piece portion 110 can be cut by the scissors blades.

At this time, the scissors 210 can move along the microstructure of the pole piece 110 moving along the surgical site and can continuously scrape the microstructure.

When the external pressure is released from the tension pressure unit 230, the tension pressure unit 230 that has been pressed returns to the shape of a diamond-shaped barrel by elasticity, The scissors blades 211 and 213 intersected by the inner wall of the outer barrel 250 are also exposed from the outer barrel 250 so that the two scissors blades 211 and 213 return to their original positions . By such an operation, the scissors quality can be interrupted.

5, the solid lines show the scissors blades 211, 213 before cutting, and the dotted lines show the scissors blades 211, 213 pushed inward by the inner wall of the outer barrel 250 during cutting. The hatched object means the surgical site.

6 is a view showing a detailed structure of a first surgical machine according to another embodiment of the present invention.

6, the first surgical instrument 100 includes a micro-actuator 600, a barrel 620, and a clamping blade 640, as shown in FIG. 6 as a second alternative embodiment of the first surgical instrument, ). Referring to FIG. 6, the barrel 620 is divided into a barrel outer 622 which moves up and down by a micro-actuator 600 and a barrel inner 624 which has a catch at a distal end. The miniature driver 600 may be provided at the upper end of the lens barrel 620. The miniature driver 600 and the barrel outer 622 are connected by the joint 1 630, The lens barrel 640 and the lens barrel 620 are connected.

As the micro-actuator 600 moves up and down, the barrel outer 622 connected to the joint 1 630 is moved up and down together with the micromanipulator 600 so that the inner barrel 622 connected to the barrel outer 622, (640).

In the third embodiment modified from the first surgical instrument according to the second embodiment, a distance sensor is provided that has a pawl portion that is opened and closed at the distal end from the inside of the barrel, and measures the distance between the grasping edge and the surgical site . At this time, if the distance measured by the distance sensor is maintained at a preset predetermined height, the barrel can move up and down to open and close the tongue blade.

On the other hand, the bi-manual surgical apparatus of the present invention is driven by the principle that the physician presses or releases the surgical apparatus and cuts the microstructure, so that an error due to shaking may occur.

Therefore, the bi-manual surgery device of the present invention compensates for the error caused by the tremor and measures the error due to the tremor to compensate for the error.

2, the control unit 300 includes a light source 310, a coupler 320, an optical fiber 330, a detector 330, A converter 340, a converter 350, a CPU 360, a motor controller 370, and a motor unit 380.

A light source (swept source) 310 emits laser light. The coupler 320 may be used to detect shaking of the first surgical instrument 100 and the second surgical instrument 200 by branching one light source output from the light source 310 to 2 ㅧ 2.

The optical fiber 330 is provided along the first surgical instrument 100 and the second surgical instrument 200 and serves to guide the light source branched from the coupler 320 to the pawshept section 110 and the procedure section 210 do.

The detection unit 340 detects the reflected light emitted from the optical fiber 330 at the ends of the pole receptacle 110 and the scoop 210 and touches the surgical site.

The converter 350 is an analog-to-digital converter that extracts distance / position information between surgical sites from the distal end of each of the fall-through portion 110 and the scoop using the light detected by the detector 340. The converter 350 may include an analog-to-digital converter (ADC) and may use a light source detected through the detector 340 to detect the position of the surgeon, the pawshep 110, and the end of the scissor 210 X, Y, Z three-dimensional spatial coordinates.

The CPU 360 compares the initial value of the distance / position information extracted by the converter 350 with the distance / position information obtained in real time during the surgery to determine the vibration of the pawl receptacle 110 and / And calculates a distance / position change amount to compensate for the detected tremor.

Further, a compensation value is calculated from the distance / position change amount, and a signal for controlling the precision motor 380 is generated in accordance with the compensation value.

The control signal drives the precision motor 380 so that the position of the pole receptacle 110 and / or the calibrator 210 is extracted by the converter 350 and corresponds to the previously stored distance / And / or the movement due to the trembling of the scissoring portion 210. [

The motor controller 370 drives the precision motor 380 in accordance with the signal transmitted from the CPU 360 to move the pole receptacle 110 and /

The precision motor 380 can use, for example, a super precision motor such as a PZT motor or an ultrasonic motor, and the present invention is not limited to the use of other motors.

Meanwhile, as shown in FIG. 2, a bi-manual surgical apparatus according to an embodiment of the present invention includes a method in which one side is a common-path and the other side is a Michaelson interferometer, The operating range of each tool can be adjusted by using an interferometer. A reference mirror is provided parallel to the 2 x 2 coupler for use with the Michelson interferometer.

As another method, two signals can be received by using one converter 350 using OFS (Optical Frequency Shifter and Modulator) 500, as shown in FIG. This can be referred to as a Heterodyne interferometer, which can be taken as one converter 350 because OFS 500, 510 can distinguish the two signals at different frequencies. This implements a system that uses different frequencies of light to differentiate between position information of the scissor and the position of the pause.

Alternatively, as shown in FIG. 4, two detectors and converters 610 and 620 provided on both sides may be used to receive a signal applied from each tool. In such a system, since the position information of each of the scissor part and the pole part is received by each of the ADCs 610 and 620 provided therein, frequency division may not be necessary.

Hereinafter, a method of compensating for shaking of a manually operated surgical device according to an embodiment of the present invention will be described with reference to FIG.

FIG. 7 is a flow chart for explaining a shaking compensation method of a manual operation apparatus according to an embodiment of the present invention. Referring to FIG.

In order to compensate for the tremor during surgery using a surgical robot apparatus having a pole portion and a scissor portion to incise a lesion portion of a patient, the controller divides one light source through a 2 x 2 coupler in Step S310, And detects the reflected light emitted from the optical fiber closely attached to the distal end of the pole piece portion and the scoop portion and contacting the surgical site.

The optical fiber 330 is provided along the first surgical instrument 100 and the second surgical instrument 200 and has a function of guiding the light source branched from the coupler 320 to the pole receptacle 110 and the scoop 210 .

In step S320, distance / position information between surgical sites is obtained from the distal end of each of the false-seat portion and the scriven portion using the detected light. That is, the light is emitted from the optical fiber 330 adhered to the pole receptacle 110 and the distal end of the scissors 210, and is incident on the surgical site and detects the reflected light.

In step S330, the initial value of the distance / position information is compared with the distance / position information obtained in real time during the operation. At this time, by using the analog-to-digital converter (ADC), it is possible to obtain the three-dimensional spatial coordinates of the region including the surgical site, the pole receptacle 110 and the end of the scissoring 210, can do. By comparing the initial value of the distance / position information with the distance / position information obtained in real time during the operation as described above, the vibration of the pole receptacle and / or the scissors is detected.

In step S340, a distance / position change amount is calculated to compensate for the detected tremor, and a compensation value is calculated from the change amount.

In step S350, the precision motor is driven according to the compensation value to control the movement of the pole receptacle and / or the reservoir portion to compensate the tremble of the pole receptacle portion and / or the scoop portion.

As described above, according to the bi-manual surgery device of the present invention, a professional medical doctor uses a robot device corresponding to both hands during micro-surgery for a body part of a micrometer-sized size, , And the other hand can perform microcutting.

In addition, according to the vibration compensation method of the present invention, it is possible to detect errors due to vibrations occurring while driving the robot apparatus during operation in real time, and to compensate for the errors, thereby performing more precise micro surgery .

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 are not intended to limit the scope of the present invention. It is to be understood by those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments described herein.

100: first surgical instrument 110: pole receptacle
130: tension pressure part 200: second surgical machine
210: a checker 230: a tension pressure part
250: outer barrel 270: inner barrel
300: control unit 310: light source
320: coupler 330: optical fiber
340: Detection unit 350: Converter
360: CPU 370: Motor controller
380:

Claims (11)

A surgical robot apparatus comprising a surgical machine for cutting a lesion site of a patient,
The first surgical instrument includes a pawl portion for picking up a surgical site,
The second surgical instrument includes a scissor portion for cutting the microstructure held by the pole piece portion,
And a control unit for measuring distances between the distal end of the catheter and the surgical site and correcting the shaking of the catheter and the catheter based on the measurement distance during operation, Device. The apparatus according to claim 1,
A light source section for emitting laser light;
A coupler for splitting the light output from the light source unit into 2 x 2;
An optical fiber for guiding a light source branched from the coupler to the pole seat portion and the scissor portion;
A detector for detecting light reflected from the optical fiber at the distal end of the pole-seat portion and the scoop portion and reaching the surgical site and reflected;
A converter for extracting distance / position information between surgical sites from the distal end of each of the false-seat portion and the scissor portion using the detected light;
A controller for detecting the shaking of the pole receptacle and / or the scissors by comparing distance / position information obtained in real time with a previously stored initial value of the distance / position information extracted by the converter, A CPU for calculating a position change amount, calculating a compensation value from the change amount, and generating a signal for controlling the precision motor in accordance with the compensation value; And
The position of the pole receptacle and / or the scissor portion is extracted by the digitizer in accordance with the signal transmitted from the CPU to drive the precision motor so as to correspond to the stored initial distance / position information, And a motor controller for compensating for the movement by the operator. 3. The apparatus of claim 2,
And an analog-to-digital converter (ADC), wherein the X, Y, Z three-dimensional spatial coordinates of the region including the surgical site, the pole portion and the reservoir end are obtained using the light source detected through the detection portion , By manual surgical device. The apparatus according to claim 1,
By obtaining the distance / position information of the pole receptacle and the scissor portion in real time during surgery and comparing the distance / position information of the pole portion and the scissor portion with the initial value of the stored distance / position information at the initial stage of operation, And detects a tremor and generates a compensation signal for the tremor. The surgical instrument of claim 1,
And a pawl portion in which the outside of the barrel is moved up and down by the ultra small actuator and the clamping blade provided at the distal end from the inside of the barrel is opened and closed,
When the outside of the barrel is lowered by the micro-actuator, the two pincers provided at the distal end are brought close to each other. On the contrary, when the barrel outside is raised by the micro-actuator, Wherein a pair of tongue blades are opened. The surgical instrument of claim 1,
And a pawl portion provided at an end of the barrel to open and close the pawl blade,
A distance sensor for measuring a distance between the clamping blade and a surgical site; And
And a barrel which moves up and down and opens and closes the clamping blade when the distance measured by the distance sensor is maintained at a preset constant height. The surgical instrument of claim 1,
A tension pressure part for receiving an external pressure by a user;
An outer barrel provided at a lower end of the tension pressure portion and pushed in a distal direction when a pressure is applied to the tension pressure portion; And
The scissor portion is provided so as to be exposed to an end of an inner barrel surrounded by the outer barrel, wherein the two blades are formed to be rotatably coupled to each other at a central portion thereof by a hinge,
When the outer barrel is pushed in the distal direction by the pressure applied to the tension pressure portion, the two scissors blades spaced apart at a predetermined interval are surrounded by the inner wall of the outer barrel, and are pushed inward by the inner wall of the outer barrel And the microstructure is incised. The method according to claim 1,
Wherein one of the surgical instruments is a common path and the other is a Michaelson interferometer or both are Michelson interferometers to adjust the operation range of each tool. Surgical device. The method according to claim 1,
And the reflected signals from both sides of the surgical instrument are divided into different frequencies through OFS (Optical Frequency Shifter and Modulator) to be separated into different converters, , By manual surgical device. The method according to claim 1,
Wherein the detector receives a signal applied from each of the scissors and the pole piece using two detectors and a converter provided on both sides of the surgical instrument. A method for compensating for tremor during surgery using a surgical robot apparatus having a pole portion and a scissor portion for cutting a lesion of a patient,
Branching one light source through a 2 x 2 coupler, detecting the reflected light emitted from the distal end of the false-seat portion and the scissor portion and reaching the surgical site;
Acquiring distance / position information between surgical sites from the distal end of each of the false-seat portion and the reservoir portion using the detected light;
Comparing the initial value of the predetermined distance / position information with the distance / position information obtained in real time;
Calculating a distance / position change amount to compensate for the detected shake according to the comparison result, and calculating a compensation value from the change amount;
And driving the motor in accordance with the compensation value to control movement of the pole piece and / or the scoop portion.


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