KR20200108124A - Surgical robot system for minimal invasive surgery and drive method thereof - Google Patents

Abstract

The present invention relates to a surgical robot system for minimally invasive surgery and a drive method of the surgical robot system. Particularly, the present invention relates to a surgical robot system capable of moving an endoscope with a movement of a user′s head without using the user′s hand while performing an operation using a surgical robot, and also preventing a collision between the endoscope and a robot arm, and to a drive method of the surgical robot system.

Description

A surgical robot system for minimally invasive surgery and a driving method of the surgical robot system [Surgical robot system for minimal invasive surgery and drive method thereof]

The present invention relates to a surgical robot system for minimally invasive surgery and a driving method of the surgical robot system, and in detail, the endoscope is operated with the movement of the user's head without using the user's hand during the operation using the surgical robot. The present invention relates to a surgical robot system capable of moving, and further preventing a collision between the endoscope and a robot arm, and a driving method of the surgical robot system.

In general, a laparoscope is an endoscope that is inserted through a small hole in the abdominal wall and is used to examine the gallbladder, peritoneum, liver, and the outside of the digestive tract. Endoscopic surgery is not a surgery performed through conventional skin incisions, but through one or several holes. It is an ongoing surgery.

In this case, in the case of surgery using a laparoscopic endoscope, a small hole of approximately 5mm to 1cm in diameter is formed in two groups or more in the abdomen, and a laparoscope, forceps, or scalpel is inserted into the hole, and the shape of the body photographed by the laparoscope is video monitored. It corresponds to an operation performed on the screen through the screen.

In addition, surgery using a robot refers to surgery in which a doctor or the like controls the operation of a robot capable of moving a surgical tool. In particular, laparoscopic robotic surgery refers to surgery by drilling a plurality of holes in the abdomen and inserting the robot arm of a surgical robot with an end-effector attached to the laparoscopic endoscope through the hole.

In the case of such laparoscopic robotic surgery, the patient's recovery time is faster, pain and scars are less due to fewer incisions than conventional open surgery, and more precise surgery is possible because the operation is performed using a robotic arm. In addition, since robotic surgery uses a laparoscopic endoscope and display that can provide 3D images to deliver depth information about the operating space, more accurate surgery is possible than laparoscopic surgery using 2D images.

According to the prior art, surgery is performed using approximately three robotic arms and an endoscope for minimally invasive surgery such as laparoscopic surgery, and a controller is operated with both hands of a user to manipulate the robotic arm and the endoscope. In this case, in order to move the position of the laparoscopic endoscope, the operation target is switched from the robot arm to the endoscope by pressing a pedal or the like with a foot to operate the endoscope.

Therefore, when the user switches the operation object from the robot arm to the endoscope, the flow of surgery is interrupted, and collision of surgical tools, damage to the surgical site, and increase in operation time may occur. In addition, skill level for precise control is required in the portion of simultaneously controlling the robot arm and the endoscope with the user's hand.

Korean Patent Application Publication No. 10-2010-0036420 Korean Patent Application Publication No. 10-2011-0094529 Korean Patent Application Publication No. 10-2013-0015146

The present invention is to solve the above-described problem, in the case of moving the endoscope in a surgical robot system for minimally invasive surgery, without manipulating the user's hand, wearing a headset on the user's head and An object of the present invention is to provide a surgical robot system capable of moving the endoscope in response to movement and a driving method of the surgical robot system.

Another object of the present invention is to provide a surgical robot system capable of displaying image information acquired through the endoscope through the headset and a driving method of the surgical robot system.

Further, an object of the present invention is to provide a surgical robot system capable of preventing a collision between an endoscope and a robot arm during minimally invasive surgery using a robot arm and an endoscope, and a driving method of the surgical robot system.

In addition, an object of the present invention is to provide a surgical robot system and a driving method of the surgical robot system that can increase space efficiency by significantly reducing the installation space since the user does not need a large monitor for checking the image of the surgical site. .

An object of the present invention as described above is an endoscope that is inserted into an operating space through a predetermined incision to take a picture of the surgical site in real time, a driving unit that moves the endoscope within the operating space, and is detachably worn on the user's head. Detects the movement of the user's head and generates posture information according to the movement of the user's head, and controls the driving unit according to a headset displaying 2D or 3D images captured by the endoscope and posture information generated by the headset It is achieved by a surgical robot system for minimally invasive surgery, characterized in that it includes a control unit that transmits a driving control signal to the driving unit, and receives image information from the endoscope and transmits it to the headset.

Here, the headset includes an image receiving unit that receives image information transmitted from the control unit, an image display unit that displays the image information received by the image receiving unit, and detects the movement, rotation, or angular velocity of the user's head to receive the posture information. A posture detection sensor to be generated and a transmission unit for transmitting the posture information to the control unit may be provided.

In addition, the posture sensor may generate the posture information by detecting the pitching, yawing, and rolling rotation of the user's head.

Meanwhile, the control unit may transmit driving control signals for vertical rotation, left and right rotation, forward and backward movement of the endoscope to the driving unit according to the posture information.

Further, the endoscope may include two or more photographing units for photographing the surgical site and generating image information, respectively, and the image display unit of the headset may calibrate and display image information transmitted from each of the two or more photographing units. have.

Meanwhile, the control unit may generate the driving control signal when the posture information according to the movement of the user's head falls above a predetermined threshold.

In this case, the controller may generate the driving control signal for moving or rotating the endoscope in proportion to the user's head movement distance or rotation angle.

On the other hand, further comprising at least one robot arm inserted into the surgical space for operating the surgical site, the control unit is the endoscope and the robot arm when the distance between the endoscope and the robot arm is less than a predetermined minimum value It is possible to generate a collision avoidance control signal for preventing collision of the vehicle and transmit it to the driving unit.

In this case, the control unit may generate the collision prevention control signal when the minimum distance between the center line of the endoscope and the center line of the robot arm is less than the minimum value.

On the other hand, the object of the present invention as described above is the step of generating posture information by detecting the movement of the user's head, generating a drive control signal for moving the endoscope according to the posture information, and controlling the endoscope according to the drive control signal. It is achieved by a method of driving a surgical robot system comprising the step of moving.

Here, the step of generating the posture information may generate the posture information by detecting the pitching, yawing, and rolling rotation of the user's head.

In addition, generating the driving control signal may generate driving control signals for vertical rotation, left and right rotation, forward and backward rotation of the endoscope.

Meanwhile, in the generating of the driving control signal, the driving control signal may be generated when the posture information according to the movement of the user's head falls above a predetermined threshold.

In addition, the driving control signal for moving or rotating the endoscope in proportion to the user's head movement distance or rotation angle may be generated.

On the other hand, further provided with at least one robot arm to be inserted into the surgery space to operate on the surgical site, and prevent collision between the endoscope and the robot arm when the distance between the endoscope and the robot arm is less than a predetermined minimum value It may further include generating a collision prevention control signal for.

In this case, when the minimum distance between the center line of the endoscope and the center line of the robot arm is less than the minimum value, the collision prevention control signal may be generated.

According to the surgical robot system of the present invention and the driving method of the surgical robot system, when the endoscope is moved, a headset is worn on the user's head without manipulation by the user's hand, and the user's head movement is responded to. Thus, by moving the endoscope, the flow of the operation is not interrupted so that the operation proceeds smoothly, and the operation time can be shortened.

In addition, according to the present invention, by allowing the user to check the image information acquired through the endoscope through the headset, fatigue can be prevented from accumulating in the user's neck or shoulder when the user gazes at a separate display unit. .

Further, according to the present invention, by preventing collision between the endoscope and the robot arm during minimally invasive surgery using a robot arm and an endoscope, damage to various blood vessels such as organs, arteries and veins, etc. can do.

In addition, according to the present invention, the user does not need a large monitor to check the image of the surgical site, and it is possible to control the driving of the endoscope and check the image using a headset worn on the user's head. Installation space can be significantly reduced and space efficiency can be increased.

1 is a schematic diagram showing the configuration of a surgical robot system according to an embodiment of the present invention,
2 is a block diagram showing the configuration of a headset worn on the head of a user using the surgical robot system;
3 is a partial perspective view showing the distal end of the endoscope,
4 is a schematic diagram showing an operation of moving or rotating a head while a user is wearing the headset;
5 is a diagram schematically showing an operation of implementing the movement of the endoscope by a driving unit
6 is a view for explaining a control operation for preventing collision between the endoscope and the robot arm by a control unit
7 is a flow chart showing a method of driving the surgical robot system having the above-described configuration.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Unless otherwise defined, all terms in this specification are the same as the general meanings of those terms understood by one of ordinary skill in the art to which the present invention belongs, and if the terms used in the present specification conflict with the general meaning of the terms. Is in accordance with the definitions used herein. On the other hand, the configuration or control method of the device to be described below is for explaining the embodiment of the present invention, not to limit the scope of the present invention, and reference numerals used identically throughout the specification are the same components. Show them.

Hereinafter, a surgical robot system for minimally invasive surgery and a driving method of the surgical robot system according to various embodiments of the present invention will be described with reference to the drawings. First, the surgical robot system will be described, and then the operation method of the surgical robot system will be described.

1 is a schematic diagram showing the configuration of a surgical robot system 1000 according to an embodiment of the present invention, and FIG. 2 is a head of an operating surgeon (hereinafter referred to as'user') using the surgical robot system 1000 It is a block diagram showing the configuration of a headset 100 to be worn.

1 and 2, the surgical robot system 1000 is inserted into the surgical space 12 through a predetermined incision (21, 23, 25, 27) and an endoscope 430 that photographs the surgical site in real time. ), the driving unit 300 for moving the endoscope 430 in the surgical space 12, the user 10 (see Fig. 5) is detachably worn on the head of the user to detect the movement of the user's head The headset 100 generates posture information according to the movement of the head of the body, and controls the driving unit 300 according to the posture information generated by the headset 100 and the headset 100 that displays 2D or 3D images captured by the endoscope 430 It may include a control unit 200 that transmits a driving control signal to the driving unit 300 and transmits image information from the endoscope 430 to the headset 100.

In addition, the surgical robot system 1000 may further include at least one robot arm 410 inserted into the surgical space 12 to operate on the surgical site.

According to the prior art, surgery is performed using approximately three robotic arms and an endoscope for minimally invasive surgery, and separate controllers are operated with both hands of a user to manipulate the robotic arm. In this case, in order to move the position of the endoscope, an endoscope controller other than the controller of the robot arm is used. Therefore, when the user moves his or her hand from the robotic arm controller to manipulate the endoscope controller, the flow of surgery may be interrupted, resulting in collision of surgical tools, damage to the surgical site, and increase in operation time.

According to another type of the prior art, there is a device equipped with an operation unit that operates with a foot to move the endoscope. However, in the case of operation with a foot, detailed operation is relatively difficult compared to the case of manual operation, so that the aforementioned problem is completely solved. You can't do it.

In the case of the present invention, in order to solve the above-described problem, the headset 100 is worn on the user's head, and the endoscope 430 is moved according to the movement of the user's head by detecting the movement of the user's head. Therefore, the user can manipulate the controller of the robot arm with his hand and manipulate the movement of the endoscope with his head to shorten the operation time without interrupting the flow of surgery.

In addition, when the user wears the headset 100, the user's neck or shoulder is fatigued when the user gazes at a separate display unit by displaying the image captured by the endoscope 430 through the headset 100. Can be prevented from accumulating.

1 and 2, the operating space 12 corresponds to the inside of a human or animal body, and the operating space 12 includes organs 15, various blood vessels 17 such as arteries and veins, or nerves. (19) etc. can be distributed.

The robot arm 410 and the endoscope may have a lower end thereof inserted into the surgical space 12 through pre-formed incisions 21, 23, 25, and 27.

The robot arm 410 may be provided with a surgical tool at the lower end of the operation space 12 to take necessary measures for the surgical site, but is not limited to a specific shape.

Meanwhile, the incisions 21, 23, 25, and 27 may be formed of a hole such as an abdominal cavity having a size or diameter into which the lower end of the endoscope 430 or the robot arm 410 can be inserted.

The number of the incisions 21, 23, 25, and 27 may be determined to correspond to the number of the robotic arm 410 and the endoscope 430 required for surgery. For example, as shown in the drawing, in the case of performing an operation using three robotic arms 410 and one endoscope 430, the incision sites 21, 23, 25, 27 are the endoscope 430 ), and three robotic arm incisions 23, 25, and 27 for insertion of the robot arm 410.

However, the number of the incisions 21, 23, 25, and 27 described in the present invention is only described as an example, and may be appropriately modified.

Meanwhile, the headset 100 that can be worn on the user's head may be implemented in the form of a VR headset (virtual reality headset), which has been actively developed in recent years. However, the headset 100 is not simply limited to the shape of a VR device and can be implemented in various examples.

In the present invention, the headset 100 includes an image receiving unit 130 for receiving image information transmitted from the control unit 200, an image display unit 110 for displaying the image information received by the image receiving unit 130, and , A posture detection sensor 150 for generating the posture information by detecting the movement, rotation, or angular speed of the user's head, and a transmission unit 170 for transmitting the posture information to the control unit 200 may be provided.

The image information captured by the endoscope 430 is transmitted to the control unit 200 and then to the image receiving unit 130 of the headset 100. The image receiving unit 130 may be connected to the control unit 200 by wire or wirelessly, and may receive the image information from the control unit 200.

Meanwhile, the image information received by the image receiving unit 130 of the headset 100 is displayed through the image display unit 110 of the headset 100.

In this case, the image display unit 110 may be provided on the headset 100 in the form of a head mounted display (HMD) at positions corresponding to both eyes of the user.

Accordingly, the user can perform an operation by recognizing image information captured by the endoscope 430 in real time through the image display unit 110.

Meanwhile, FIG. 3 is a partial perspective view showing the lower end of the endoscope 430.

Referring to FIG. 3, the endoscope 430 may be provided with two or more photographing units 432 that respectively generate image information by photographing the surgical site.

That is, the endoscope 430 according to the present embodiment may include, for example, two photographing units 432 in order to provide so-called'stereo vision'.

In this case, image information photographed by the two or more photographing units 432 may be composed of different image information. Accordingly, the image display unit 110 of the headset 100 calibrates and displays image information transmitted from each of the two or more photographing units 432.

This is because if the image information transmitted from each of the two or more photographing units 432 is not corrected and is displayed through the image display unit 110 as it is, the user cannot correctly recognize the image.

Meanwhile, referring again to FIGS. 1 and 2, the headset 100 may be provided with various posture sensors 150 for detecting movement of the user's head.

For example, the posture sensor 150 may generate the posture information by detecting the pitching, yawing, and rolling rotation of the user's head and transmit it to the control unit 200. .

To this end, the attitude sensor 150 may be configured as a micro-electrical-mechanical system (MEMS) sensor including, for example, a gyroscope, an accelerometer, and a magnetometer. The type of the posture sensor 150 is only described as an example, and is not limited to the above-described configuration. Furthermore, the posture sensor 150 may be configured to detect various movements such as forward or backward of the user's head in addition to the pitching, yawing and rolling rotation of the user's head. .

Meanwhile, FIG. 4 is a schematic diagram illustrating an operation of moving or rotating a head while the user 10 is wearing the headset 100.

As shown in FIG. 4, the user can rotate the head vertically, horizontally, or laterally while wearing the headset 100.

In this case, the case of rotating the user's head up and down corresponds to pitching (A), the case of rotating left and right corresponds to yawing (B), and the case of rotating to the side corresponds to rolling. Corresponds to (rolling)(C).

The measured value detected through the movement of the user's head by the posture sensor 150 is fused, corrected, and predicted using, for example, an API (Application Programming Interface) function, and then pitching and yawing. ) And rolling rotation direction values are provided to the control unit 200 in real time.

In this case, the control unit 200 generates driving control signals for up and down rotation, left and right rotation, forward and backward movement of the endoscope 430 according to the posture information transmitted from the posture detection sensor 150, and the driving unit 300 Will be sent to.

When the user wears the headset 100 and checks an image transmitted in real time from the endoscope 430 through the image display unit 110, the head is rotated to the desired area.

Therefore, as described above, the posture sensor 150 provided in the headset 100 detects the movement of the user's head or the direction of rotation of the pitching, yawing, and rolling Is transmitted to the control unit 200.

Consequently, in the present embodiment, the movement or rotation of the user's head is directly implemented as a movement or rotation movement of the endoscope 430, so that intuitive and direct control of the endoscope 430 is possible.

For example, when the user wearing the headset 100 rotates the head in the vertical direction, that is, when a measurement value corresponding to a pitching (A) is transmitted, the control unit 200 may use the endoscope ( A driving control signal for rotating 430 in the vertical direction may be generated and transmitted to the driving unit 300.

In addition, when the user wearing the headset 100 rotates the head in the left and right direction, that is, when a measurement value corresponding to yawing (B) is transmitted, the control unit 200 controls the endoscope 430 A driving control signal for rotating in the left and right directions may be generated and transmitted to the driving unit 300.

Further, when the user wearing the headset 100 rotates the head in the lateral direction, that is, when a measurement value corresponding to rolling (C) is transmitted, the control unit 200 is the endoscope 430 A driving control signal for moving forward or backward may be generated and transmitted to the driving unit 300. For example, when the head is tilted to the left around the Z axis, the endoscope 430 moves forward, and when the head is tilted to the right around the Z axis, a drive control signal is generated to reverse the endoscope 430. I can.

Meanwhile, the driving control signal corresponding to the rolling of the user's head is only described as an example, and other driving control signals may be generated.

In addition, in addition to the pitching, yawing and rolling rotation of the user's head, movement of the endoscope 430 corresponding thereto by detecting movements such as forward or backward of the user's head can of course be implemented. have.

5 schematically shows the operation of implementing the movement of the endoscope 430 by the driving unit 300 by transmitting the driving control signal to the driving unit 300 by the control unit 200 as described above. It is a drawing.

5, the upper end of the endoscope 430 may be connected to the driving unit 300, and the lower end of the endoscope 430 is inserted into the surgical space 12 described above through the endoscope incision part 21 Can be.

The endoscope incision part 21 may be formed of an abdominal cavity having a diameter or size through which the endoscope 430 can pass.

At this time, the endoscope incision part 21 may be opened or damaged due to the movement or rotation of the endoscope 430, which minimizes damage to the body and inhibits minimally invasive surgery to safely and accurately perform surgery. It corresponds to the action.

Therefore, in the case of the surgical robot system 1000 according to the present embodiment, when the endoscope 430 is moved or rotated by the driving unit 300, the endoscope 430 is centered on the endoscope incision part 21 The endoscope 430 is controlled to move within the rotatable region D.

That is, when the endoscope 430 moves or rotates, the endoscope incision part 21 is not open or damaged, so that the patient's body can be minimized and the operation can be safely performed.

Although not shown in FIG. 5, the endoscope incision portion 21 may further include a limiting portion (not shown) that restricts movement of the endoscope 430. For example, the limiting part may be positioned above the endoscope incision part 21 and may have a shape to have a ring or an opening through which the endoscope 430 can pass.

Therefore, if the endoscope 430 passes through the limiting portion and is inserted into the operating space 12 through the endoscope incision part 21, the endoscope (in case of moving or rotating the upper end of the endoscope 430) ( The lower end of 430) can be moved or rotated.

In addition, the limiting portion makes it possible to reduce the radius of movement of the endoscope 430 adjacent to the endoscope incision part 21, thereby preventing damage or opening of the endoscope incision part 21.

On the other hand, even when the user continues to stare in one direction, the user's head is not completely fixed, but a minute movement or rotation may occur. In particular, if the user is operating the robot arm 410 to perform the operation, the user's head may move or rotate finely even when the user continues to stare at the surgical site in one predetermined area.

The control unit 200 generates the drive control signal to move or rotate the endoscope 430 in response to the case where the user's head moves or rotates minutely while the user continues to stare at the surgical site in a certain area. You may. In this case, if the endoscope 430 is moved or rotated by the driving unit 300 that has received the driving control signal, it moves the endoscope 430 even if the user does not want it to proceed smoothly. Rather, it can be a hindrance.

Accordingly, the control unit 200 may generate the driving control signal when the posture information according to the movement of the user's head falls above a predetermined threshold.

That is, if the posture information according to the movement of the user's head is smaller than a predetermined threshold, it is determined that the user has not intentionally moved the head but has unintentionally moved the head, and thus the drive control signal is not generated. .

On the other hand, when the posture information according to the movement of the user's head exceeds a predetermined threshold, it is determined that the user has intentionally moved his or her head, and the driving control signal is generated and transmitted to the driving unit 300.

On the other hand, when the posture information according to the movement of the user's head exceeds a predetermined threshold, the control unit 200 moves or rotates the endoscope 430 in proportion to the movement distance or rotation angle of the user's head. It generates a control signal.

For example, when the measured value exceeds the threshold value according to the rotation of the user's head, a driving control signal having an appropriate speed in proportion to the real-time rotation value is transmitted to the driving unit 300, and according to the rotation degree of the user's head. The speed of the endoscope 430 may be controlled.

On the other hand, in the case of controlling the movement of the endoscope 430 using the headset 100 as in this embodiment, since the surgical site is observed only through the endoscope 430, the endoscope 430 inserted into the operating space and Collision of the robot arm 410 may occur. In particular, when a plurality of robot arms 410 are provided as described above, the possibility of collision between the robot arm 410 and the endoscope 430 increases. When the robot arm 410 and the endoscope 430 collide, damage may occur to the organs 15 located in the operating space 12, various blood vessels 17 such as arteries and veins, or nerves 19. .

As we have already seen, minimally invasive surgery is a surgery that minimizes damage to the body and increases the accuracy and safety of surgery. Therefore, when the surgery is performed by the surgical robot system 1000 in the surgical space 12, it is necessary to prevent the robot arm 410 from colliding with the endoscope 430.

6 is a diagram for explaining a control operation for preventing collision between the endoscope 430 and the robot arm 410 by the control unit 200. In FIG. 6, it is revealed that only one robot arm 410 is shown for convenience of description.

6, when the distance between the endoscope 430 and the robot arm 410 is less than a predetermined minimum value, the control unit 200 prevents collision between the endoscope 430 and the robot arm 410. An anti-collision control signal may be generated and transmitted to the driving unit 300.

The control unit 200 sets and recognizes the endoscope 430 and the robot arm 410 in the shape of a rectangular parallelepiped extending in one direction. In this case, the control unit 200 controls the movement of the endoscope 430 or the robot arm 410 so that no intersection occurs between the rectangular parallelepiped of the endoscope 430 and the rectangular surface of the robot arm 410. do.

As described above, the control unit 200 sets and recognizes the shapes of the endoscope 430 and the robot arm 410 in a rectangular parallelepiped shape, thereby simplifying and controlling the shape of the complicated surgical tool and the endoscope.

Specifically, the control unit 200 may set a first center line 432 penetrating the center of the rectangular parallelepiped of the endoscope 430 and a second center line 412 penetrating the center of the rectangular parallelepiped of the robot arm 410. have.

The controller may receive state information such as 3D position or speed information of the first center line 432 and the second center line 412 from the endoscope 430 and the robot arm 410, respectively.

In this case, the controller may generate the collision prevention control signal when the minimum distance L between the first center line 432 and the second center line 412 is less than or equal to the minimum value.

The minimum value may be appropriately set to have a sufficient control time to allow movement of the endoscope 430 to increase the minimum distance in consideration of the thickness or cross-sectional area of each of the endoscope 430 and the robot arm 410. have.

Meanwhile, as described above, in order to prevent collision between the endoscope 430 and the robot arm 410, status information such as the position or speed information of the endoscope 430 and the robot arm 410 is stored in the control unit 200 in real time. Can be sent to.

For example, the surgical robot system 1000 may further include a location extracting unit (not shown) capable of extracting location information of the endoscope 430 and the robot arm 410.

The location extraction unit may extract the positions of the endoscope 430 and the robot arm 410 inserted into the surgical space 12 in real time using, for example, an optical tracker or a camera.

When the position of the endoscope 430 and the robot arm 410 is determined in real time by the position extracting unit, the control unit 200 may use the endoscope 430 and the robot arm through trajectory estimation. By grasping the expected path of 410, the above-described collision avoidance control signal may be generated.

7 is a flow chart showing a method of driving the surgical robot system 1000 having the above-described configuration.

Referring to FIG. 7, the driving method of the surgical robot system 1000 includes a step of generating posture information by detecting a movement of a user's head (S710), and a driving control for moving the endoscope 430 according to the posture information. It may include generating a signal (S730) and moving the endoscope 430 according to the driving control signal (S750).

First, in the step of generating the posture information (S710), the posture information is generated by detecting the pitching, yawing, and rolling rotation of the user's head.

In this case, the user wears the headset 100 on the head, and the position information is generated by detecting the movement or rotation direction of the user's head by the headset 100.

In addition, in the step of generating the driving control signal (S730), driving control signals for vertical rotation, left and right rotation, forward and backward rotation of the endoscope 430 are generated.

For example, the posture sensor 150 provided in the headset 100 detects the movement of the user's head or the direction of rotation of the pitching, yawing, and rolling, and the measured value is It is transmitted to the control unit 200.

For example, when the user wearing the headset 100 rotates the head in the vertical direction, that is, when a measurement value corresponding to a pitching (A) is transmitted, the control unit 200 may use the endoscope ( A driving control signal for rotating 430 in the vertical direction may be generated and transmitted to the driving unit 300.

In addition, when the user wearing the headset 100 rotates the head in the left and right direction, that is, when a measurement value corresponding to yawing (B) is transmitted, the control unit 200 controls the endoscope 430 A driving control signal for rotating in the left and right directions may be generated and transmitted to the driving unit 300.

Further, when the user wearing the headset 100 rotates the head in the lateral direction, that is, when a measurement value corresponding to rolling (C) is transmitted, the control unit 200 is the endoscope 430 A driving control signal for moving forward or backward may be generated and transmitted to the driving unit 300. For example, when the head is tilted to the left around the Z axis, the endoscope 430 moves forward, and when the head is tilted to the right around the Z axis, a drive control signal is generated to reverse the endoscope 430. I can.

Meanwhile, in the step of generating the driving control signal (S730), the driving control signal is generated when the posture information according to the movement of the user's head falls above a predetermined threshold.

That is, if the posture information according to the movement of the user's head is smaller than a predetermined threshold, it is determined that the user has not intentionally moved the head but has unintentionally moved the head, and thus the drive control signal is not generated. .

On the other hand, when the posture information according to the movement of the user's head exceeds a predetermined threshold, it is determined that the user has intentionally moved his or her head, and the driving control signal is generated and transmitted to the driving unit 300.

On the other hand, when the posture information according to the movement of the user's head exceeds a predetermined threshold, the control unit 200 moves or rotates the endoscope 430 in proportion to the movement distance or rotation angle of the user's head. It generates a control signal.

For example, when the measured value exceeds the threshold value according to the rotation of the user's head, a driving control signal having an appropriate speed in proportion to the real-time rotation value is transmitted to the driving unit 300, and according to the rotation degree of the user's head. The speed of the endoscope 430 may be controlled.

In addition, the driving control method of the surgical robot system is for preventing collision between the endoscope 430 and the robot arm 410 when the distance between the endoscope 430 and the robot arm 410 is less than a predetermined minimum value. It may further comprise the step of generating a collision avoidance control signal.

The control unit 200 sets and recognizes the endoscope 430 and the robot arm 410 in a shape of a rectangular parallelepiped extending in one direction. In this case, the control unit 200 controls the movement of the endoscope 430 or the robot arm 410 so that no intersection occurs between the rectangular parallelepiped of the endoscope 430 and the rectangular surface of the robot arm 410. do.

As described above, the control unit 200 sets and recognizes the shapes of the endoscope 430 and the robot arm 410 in a rectangular parallelepiped shape, thereby simplifying and controlling the shape of the complicated surgical tool and the endoscope.

Specifically, the control unit 200 may set a first center line 432 penetrating the center of the rectangular parallelepiped of the endoscope 430 and a second center line 412 penetrating the center of the rectangular parallelepiped of the robot arm 410. have.

The controller may receive state information such as 3D position or speed information of the first center line 432 and the second center line 412 from the endoscope 430 and the robot arm 410, respectively.

In this case, the controller may generate the collision prevention control signal when the minimum distance L between the first center line 432 and the second center line 412 is less than or equal to the minimum value.

The minimum value may be appropriately set to have a sufficient control time to allow movement of the endoscope 430 to increase the minimum distance in consideration of the thickness or cross-sectional area of each of the endoscope 430 and the robot arm 410. have.

The scope of the rights is not limited to the above-described embodiments as the present invention may be modified and implemented in various forms. Therefore, if the modified embodiment includes the elements of the claims of the present invention, it should be viewed as belonging to the scope of the present invention.

100: headset
110: image display
130: image receiver
150: posture sensor
170: transmitter
200: control unit
300: drive unit
410: robot arm
430: endoscope
1000: surgical robot system

Claims (16)

An endoscope that is inserted into the surgical space through a predetermined incision and photographs the surgical site in real time;
A driving unit for moving the endoscope within the operating space;
A headset that is detachably worn on the user's head, senses the movement of the user's head, generates posture information according to the movement of the user's head, and displays 2D or 3D images captured by the endoscope; And
A minimally invasive surgery comprising: a control unit transmitting a driving control signal to the driving unit to control the driving unit according to the posture information generated by the headset, and receiving image information from the endoscope and transmitting it to the headset; For surgical robot system. The method of claim 1,
The headset,
An image receiving unit for receiving image information transmitted from the control unit;
An image display unit for displaying the image information received by the image receiving unit;
A posture sensor for generating the posture information by detecting the movement, rotation, or angular speed of the user's head; And
A surgical robot system for minimally invasive surgery, comprising: a transmitter for transmitting the posture information to the control unit. The method of claim 2,
The posture sensor is
A surgical robot system for minimally invasive surgery, characterized in that for generating the posture information by detecting the user's head pitching, yawing, and rolling rotation. The method of claim 3,
The control unit
According to the above posture information
A surgical robot system for minimally invasive surgery, characterized in that transmitting control signals for vertical rotation, left and right rotation, forward and backward movement of the endoscope to the driving unit. The method of claim 2,
The endoscope is provided with two or more photographing units each generating image information by photographing the surgical site,
A surgical robot system for minimally invasive surgery, characterized in that the image display unit of the headset calibrates and displays image information transmitted from each of the two or more photographing units. The method of claim 1,
The control unit
A surgical robot system for minimally invasive surgery, characterized in that generating the drive control signal when the posture information according to the movement of the user's head falls above a predetermined threshold. The method of claim 6,
The control unit
A surgical robot system for minimally invasive surgery, characterized in that generating the drive control signal for moving or rotating the endoscope in proportion to the user's head movement distance or rotation angle. The method of claim 1,
Further comprising at least one robot arm for being inserted into the surgery space to operate on the surgical site,
The control unit performs minimally invasive surgery, characterized in that when the distance between the endoscope and the robot arm is less than a predetermined minimum value, a collision prevention control signal for preventing collision between the endoscope and the robot arm is generated and transmitted to the driving unit. For surgical robot system. The method of claim 8,
The control unit
A surgical robot system for minimally invasive surgery, characterized in that generating the collision prevention control signal when the minimum distance between the center line of the endoscope and the center line of the robot arm is less than the minimum value. Generating posture information by detecting the movement of the user's head;
Generating a driving control signal for moving the endoscope according to the posture information;
A method of driving a surgical robot system comprising: moving the endoscope according to the driving control signal. The method of claim 10,
Generating the posture information
The driving method of a surgical robot system, characterized in that generating the posture information by detecting the pitching, yawing, and rolling rotation of the user's head. The method of claim 11,
Generating the drive control signal comprises:
A method of driving a surgical robot system, characterized in that generating driving control signals for up and down rotation, left and right rotation, forward and backward rotation of the endoscope. The method of claim 10,
Generating the drive control signal comprises:
The driving method of a surgical robot system, characterized in that generating the driving control signal when the posture information according to the movement of the user's head falls above a predetermined threshold. The method of claim 13,
The driving method of a surgical robot system, characterized in that generating the driving control signal for moving or rotating the endoscope in proportion to the user's head movement distance or rotation angle. The method of claim 10,
Further comprising at least one robot arm for being inserted into the surgery space to operate on the surgical site,
When the distance between the endoscope and the robot arm is less than or equal to a predetermined minimum value, generating a collision prevention control signal for preventing collision between the endoscope and the robot arm. The method of claim 15,
When the minimum distance between the center line of the endoscope and the center line of the robot arm is less than or equal to the minimum value, the collision prevention control signal is generated.

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