KR20200117263A - System for recording medical video and method for controlling record robot - Google Patents

Abstract

Provided are a medical image recording system in which lighting and facility frames are connected to a camera so that the camera is remotely controlled by the voice and motion of a user to record a medical image, a recording robot, and a medical image recording robot control method. According to an embodiment of the present invention, the medical image recording system comprises: a recording robot coupled to lighting and equipment frames and controlled by user commands including voices and motions and tool commands for laser tracking and remote control; a smart terminal that remotely controls the recording robot and receives medical image data of medical treatment and surgery from the recording robot; and an image management server that receives and accumulates recorded medical image data from the recording robot or the smart terminal, and shares the medical image data as academic data with other smart terminals and servers.

Description

Medical image recording system and control method of recording robot {SYSTEM FOR RECORDING MEDICAL VIDEO AND METHOD FOR CONTROLLING RECORD ROBOT}

The present invention relates to a medical image recording system and method, and to a system for capturing a medical image by automatically controlling a camera connected to a lighting and equipment frame and a frame connected to the camera, and a control method of a recording robot.

Unless otherwise indicated herein, the content described in this section is not prior art to the claims of this application, and inclusion in this section is not admitted to be prior art.

Remote control is a technology that controls the operation of electronic devices by electrically or mechanically controlling remote devices. There are a wired method and a wireless method for electric remote control, and recently, wireless remote control technology has been developed in various forms. In particular, voice recognition and motion recognition technologies for controlling electronic devices by recognizing a user's voice or motion have been greatly developed with the advancement of various cameras and sensors.

Motion recognition is developing not only to simply recognize a user's gesture, but also to accurately identify the user's facial expression and bio-specific information. However, the current remote control technology is mostly applied to smart phones.

Although the technology for remote automatic control of electronic devices is expanding to home networks, there are still many places where related systems are not applied to hospitals and factories.

In particular, in the case of hospitals and clinics, treatment and surgical images and pictures are often taken in a dental treatment room or an operating room. At this time, since all of the medical staff are wearing sanitary gloves and masks, additional personnel who control only the camera are required to shoot images. In addition, since the camera control cannot be directly controlled by the doctor performing the operation or the doctor performing the treatment, it is very inconvenient to take pictures of the surgery or treatment process. In fact, in the case of surgery, the surgeon must directly instruct the cameraman which object to zoom in, zoom out, and focus on, but the surgeon is wearing a medical mask, so it is not possible to clarify the communication. . In addition, when the surgeon directly commands the detailed control of the camera, considerable concentration can be dispersed when taking a surgical image. In addition, in order to clearly photograph a specific object during surgery or treatment, detailed photographing information such as the position of the camera, photographing direction, focus, and zoom must be controlled. If medical personnel control this, the quality of medical services may be degraded.

1. Korean Patent Publication No. 10-2005-0089852 (2005.09.08) 2. Korean Patent Registration No. 10-1454673 (2014.10.20)

It provides a medical image recording system, a recording robot, and a medical image recording robot control method for recording medical images by connecting lighting and equipment frames and cameras, and remotely controlling the camera by a user's voice and motion.

As an embodiment, the medical image recording system is coupled to lighting and equipment frames, and is controlled by user commands including voice and motion, and tool commands including laser tracking and remote control. robot; A smart terminal for remotely controlling the recording robot and receiving medical image data including medical treatment and surgery from the recording robot; And an image management server that receives and collects recorded medical image data from a recording robot or a smart terminal, and shares the medical image data as academic data with other smart terminals and servers. Includes.

A medical image recording robot according to another exemplary embodiment includes a frame including at least one joint portion for adjusting a rotation and a tilt in 360 degrees and in three directions of x, y, and z axes; And a camera connected to the frame and controlling detailed photographing information by a user command including voice and motion, and a tool command including laser tracking and remote control. Includes.

A method for controlling a medical image recording robot according to another embodiment includes (A) a user command signal including voice, motion, user access, and object tracking in a command recognition module, and a tool command signal including laser tracking, mouse point tracking, and remote control. Recognizing; (B) controlling detailed photographing information including whether or not a camera installed in the recording robot is recorded, zooming, focusing, and photographing direction according to a user command signal and a tool command signal recognized by the photographing control module; And (C) controlling the direction and inclination of the frame installed in the recording robot so that the tilting control module captures the object according to the user command signal and the tool command signal. Includes.

It improves the convenience of medical imaging by remotely controlling the camera through voice and motion recognition and other smart devices when taking dental care photos or recording surgical images. Recorded medical images are collected and shared with other medical staff so that multiple images can be easily used as academic data. It also makes it easy to collect clinical data from medical staff.

Because the camera and recording robot can be easily controlled as intended by the operating surgeon and the attending physician, the quality of recorded medical images can be improved, and remote control such as motion recognition and voice recognition prevents dispersion of the surgeon's concentration.

In addition, through a 3D sensor and a ToF (Time of Flight) module, the user's motion and facial expressions are more accurately recognized, so that detailed information of the camera and recording robot can be accurately controlled. In addition, the recording robot includes a frame that rotates in three directions and tilts 360 degrees to secure a wider shooting angle, so that the camera can be positioned to a narrow area during surgery, so that high-quality medical images can be captured.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1A is a diagram showing a medical image recording system according to an embodiment
1B is a diagram showing an embodiment in which a recording robot is installed on a ceiling and lighting equipment
2A is a diagram showing a data processing block of a recording robot according to an embodiment
2B is a diagram showing an assembly structure of a data processing module installed in a controller of a recording robot according to an embodiment
3 is a diagram showing a data processing configuration of a smart terminal according to an embodiment
4 is a diagram showing a data processing configuration of an image management server according to an embodiment
5 is a view showing the configuration of a camera installed in the medical image recording robot according to the embodiment
6A is a view for explaining various forms of a medical imaging robot according to an embodiment
6B is a diagram showing the form of a recording robot without a camera installed
7 is a diagram showing a data processing flow of a method for controlling a medical image recording robot according to an embodiment
8 is a diagram for explaining a process in which a medical image recording robot according to an embodiment tracks and photographs a laser pointer in an operating room
9 is a view showing an embodiment in which a recording robot is used in dentistry

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, only the present embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the technical field to which the present invention belongs. It is provided to completely inform the scope of the invention to those who have it, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same elements throughout the specification.

In describing embodiments of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in an embodiment of the present invention, which may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout this specification.

1A is a diagram showing a medical image recording system according to an embodiment.

Referring to FIG. 1A, a medical image recording system according to an embodiment may include a recording robot 100, a smart terminal 200, and an image management server 300. The recording robot 100 is a medical image photographing robot in which a camera is combined with a lighting and equipment frame. The cameras and frames of the recording robot are controlled by various remote controls. For example, the camera may be controlled by a user command through information recognition provided by the user, such as voice recognition and motion recognition. In addition, it can be controlled by tool commands such as laser tracking and remote control. In the embodiment, an external terminal for remotely controlling a camera or frame of the recording robot 100 includes a device capable of interlocking with a recording robot such as a smart terminal or a mouse through wired or wireless communication.

The smart terminal 200 communicates with the recording robot 100 to remotely control the recording robot 100 and receives medical image data including medical treatment and surgery from the recording robot 100. Smart terminals that remotely control the recording robot may include not only smart phones and smart pads, but also computing devices such as laptops and PCs, and peripheral devices connected to computing devices such as mice, laser pointers, and keyboards.

The image management server 300 may receive and collect the recorded medical image data from the recording robot 100 or the smart terminal 200 and collect it, and share the medical image data as academic data with other smart terminals and servers.

1B is a view showing an embodiment in which a recording robot is installed on a ceiling and lighting equipment.

Referring to FIG. 1B, the recording robot for photographing a medical image according to the embodiment is connected to a plurality of manual arms 53 and clamps 52, and is connected to the ceiling fixture and the lighting facility device 51 by the clamp 52. Can be installed. In the embodiment, the clamp 52 allows the position of the recording robot to be changed or adjusted in the facility device 51 in which the recording robot is installed. The passive arm 53 may be connected to another passive arm 53 through the joint part 55. The recording robot according to the embodiment has a structure in which the controller 57, the 3-axis driving unit 59, and the camera 61 are connected, and the camera 61 may be fixed by a camera fixing device configured in the 3-axis driving unit 59. .

2A is a diagram illustrating a data processing block of a recording robot according to an embodiment.

Referring to FIG. 2A, the recording robot 100 according to the embodiment includes a command recognition module 110, a photographing control module 130, a tilting control module 150, a camera 170, and a frame 190. Can be. The term'module' used in this specification should be interpreted as being capable of including software, hardware, or a combination thereof, depending on the context in which the term is used. For example, the software may be machine language, firmware, embedded code, and application software. As another example, the hardware may be a circuit, a processor, a computer, an integrated circuit, an integrated circuit core, a sensor, a MEMS (Micro-Electro-Mechanical System), a passive device, or a combination thereof.

The command recognition module 110 recognizes a user command signal and a tool command signal. The user command signal controls the recording robot through signals that the user can directly create, such as his or her facial expressions and gestures. The user command signal may include a voice signal, a motion signal, a user access signal and an object tracking signal. The tool command signal controls the recording robot through wired/wireless communication or radio waves using an external device such as a smart device or a remote control. In the tool command signal, the recording robot can be controlled by tracking signals generated through devices such as mouse point tracking, laser point tracking, and object tracking, and lasers transmitted from electronic devices. I can.

The photographing control module 130 controls detailed photographing information including whether or not a camera installed in the recording robot is recorded, zooming, focusing, and photographing direction according to the recognized user command signal and tool command signal. In addition, the photographing control module 130 recognizes the screen being recorded by itself, and when the object to be recorded is covered by another object or the object to be recorded is not accurately focused, the recording control module 130 detects this and outputs a warning sound. For example, in the case that the organ that is undergoing surgery in the operating room is an object that needs to be recorded in advance, if the organ that is the object to be recorded is obscured by the surgeon's hand, surgical tools, head, etc. Can be printed. In addition, when taking a picture of the patient's mouth at the dentist, the inclination, center line, and composition of the picture are set in advance, and if the screen set for the picture does not match the preset tilt, center line, and composition by a certain level or more, take a picture. You can send a notification to reset the screen.

The tilting control module 150 controls the direction and inclination of the frame installed in the recording robot in the x, y, and z axis directions to photograph an object according to a user command signal and a tool command signal. In addition, when the object to be recorded or photographed is previously set, the tilting control module 150 automatically calculates the angle and position of the camera for photographing the object, when it recognizes that the object has entered the frame, and You can control the tilt and direction of the frame according to its position.

The camera 170 controls detailed information of the camera according to a control command transmitted from the photographing control module 130. The detailed information of the camera is shooting condition information, such as focusing, zoom in, zoom out, white balance, exposure information, etc. to improve the quality of the screen being shot and to accurately record the object. This is the information that controls it.

The frame 190 has a structure supporting the camera and may include a three-axis driving unit and a manual arm. Among the frames, the three driving units are connected to the camera and support the camera so that the camera maintains its position and shoots. In the embodiment, the frame may include a lighting frame, an installation frame connected to the ceiling, and the like. In an embodiment, the frame may include at least one frame joint rotated in three directions in 360 degrees, x, y, z, and directions. Each of the frame joints recognizes rotation angle and tilt angle information, transmits it to the tilting control module, and receives a control command signal from the tilting control module, so that the rotation angle and inclination of each of the joints installed in the frame may be adjusted. The tilting control module adjusts the rotation angle and inclination of the frame by transmitting a control command signal to the 3-axis driving unit.

2B is a diagram illustrating an assembly structure of a data processing module installed in a controller of a recording robot according to an embodiment.

2BA), various parts and data processing modules necessary for controlling the location and detailed photographing information of the recording robot, such as a command recognition module, a photographing control module, and a tilting control module, which are data processing components of the recording robot according to the embodiment. Is assembled. The recording robot according to the embodiment is connected to the controller box surrounding the assembled data processing module, as shown in B) of FIG. 2B.

3 is a diagram showing a data processing configuration of a smart terminal according to an embodiment.

Referring to FIG. 3, the smart terminal 200 may include an interworking unit 210, a control command input unit 230, and a display unit 250. It describes the data processing configuration of the smart terminal among the devices interlocked with the recording robot, but this does not limit the devices interlocked with the recording robot to the smart terminal, but shows the data processing configuration of all devices that control the recording robot except the smart terminal. It can be seen as a drawing.

The linking unit 210 communicates with the recording robot. In an embodiment, the linking unit 210 synchronizes the recording robot and the communication device or registers device-specific information for wireless or wired communication.

When the smart device is interlocked with the recording robot, the control command input unit 230 inputs a control signal of the recording robot to the smart device. The control command may be input through voice, touch, button input, motion, or the like.

In the case of a smart terminal, the display unit 250 has a configuration corresponding to a screen, and receives and displays a screen photographed by the smart terminal recording robot.

4 is a diagram showing a data processing configuration of an image management server according to an embodiment.

Referring to FIG. 4, the image management server 300 according to the embodiment may include a storage module 310 and a communication module 330.

The storage module 310 classifies and collects data collected from each of the recording robots according to recording time and type of medical image, and converts the classified medical image data into a database. The communication module 330 shares the stored medical image data for academic seminars and treatment guidance with other academic institutions and hospitals.

5 is a diagram showing the configuration of a camera installed in a medical image recording robot according to an embodiment.

Referring to FIG. 5, a camera installed in a medical image recording robot may include a ToF module 171 and a 3D sensor 173.

The TOF (Time of Flight) module 171 calculates the depth by measuring the arrival and reflection time of the infrared ray. The timeless method (ToF) is a method of measuring the amount of time an object, particle, or wave (sound, electromagnetic, etc.) can travel farther through a medium. In the embodiment, infrared rays are transmitted and the time that the infrared rays reach the object and the time reflected from the object reaches the camera are measured. Out-of-time information can be used as a way to establish time standards or measure speed or path length. It can also be used as a method of learning the properties of particles or media. In the embodiment, the depth is calculated and 3D is implemented by measuring the time when light such as infrared rays reaches the subject through the ToF module 171 and then returns after being reflected. TOF technology has the advantage of measuring distance, so it can recognize people or objects that are far away.

The 3D (dimension) sensor 173 recognizes an object and a three-dimensional motion of the object based on the calculated depth data.

6A is a view for explaining various forms of a medical imaging robot according to an embodiment.

Referring to FIG. 6A, the medical imaging robot according to the embodiment includes a controller 64, a camera 61, and a frame 65. The frame 65 and the camera 61 may have various configurations as shown in FIG. 6B) and C). Referring to FIG. 6A, the frame of the medical imaging robot includes at least one frame joint 62 capable of rotating in 360 degrees and three directions, and a three-axis drive unit 63 that controls the rotation and direction of the frame. ) Can be included. The frame joint 62 and the 3-axis driving unit 63 adjust the rotation angle and inclination according to the tilting control command so that the position of the camera can be more precisely adjusted. In addition, in the embodiment, the frame may be configured to include a manual arm, a three-axis driving unit 63, and a joint unit 62, as shown in B) of FIG. 6A.

6B is a diagram showing the form of a recording robot without a camera installed.

6b, the recording robot is a clamp 10, a manual arm 30, a controller 100, a microphone 11, an IR receiver 13, an IR transmitter 15, a 3-axis drive unit 17, and a camera. It may be configured to include a fixing device 19, a power unit (power in) and an HDMI connector (HDMI out).

The clamp 10 allows the recording robot to be fixed to the lighting and ceiling equipment, and the manual arm 30 connects the clamp 10 and the controller 100 to extend the vertical motion range of the recording robot. The controller 100 performs a series of data processing to control the recording robot, and the microphone 11 is equipped with a voice sensor to detect a user's voice signal. The IR receiver 13 and the IR transmitter 15 communicate with a smart device and an external server controlling the recording robot. The three-axis drive unit 17 adjusts the camera's photographing position by adjusting the rotation and tilt according to the tilting control command. The camera fixing device 19 fixes the camera and the frame 18 so that the camera is supported even in a situation where the 3-axis driving part and the joint part are inclined.

Hereinafter, a method of controlling a medical image recording robot will be sequentially described. Since the function (function) of the robot control method according to the present invention is essentially the same as the function of the medical image recording system and the medical image photographing robot, a description overlapping with FIGS. 1 to 6 will be omitted.

7 is a diagram illustrating a data processing flow of a method for controlling a medical image recording robot according to an embodiment.

In step S710, the command recognition module recognizes a user command signal including voice, motion, user access, object tracking, and tool command signals including laser tracking, mouse point tracking, and remote control. In step S710, after interlocking with an external control device including a smart terminal, a tool command signal and a user command signal received from the external control device are recognized.

In step S730, detailed photographing information including recording status, zoom, focusing, and photographing direction of the camera installed in the recording robot is controlled according to the user command signal and the tool command signal recognized by the photographing control module.

In step S750, the tilting control module may control the direction and inclination of the frame installed in the recording robot in three directions of the x, y, and z axes so that the object is photographed according to the user command signal and the tool command signal. In step S750, a depth of field is calculated by measuring the arrival and reflection time of an infrared ray in a time of flight (TOF) module, and a 3D motion of the object is recognized based on the calculated depth data by a dimension sensor. Thereafter, the user command and the tool command by motion recognition are recognized, and the camera photographing information and the angle and inclination of the frame are controlled according to the recognized command information.

In the embodiment, the medical imaging robot may be controlled not only according to user commands and tool commands, but also may be self-controlled according to preset photographing conditions or photographing object information. For example, if the object to be recorded on the medical imaging robot and the screen resolution, size, composition, etc. are set in advance, the medical imaging robot automatically generates details and frames of the camera so that the object is photographed according to the set information based on the set information. Can be adjusted with

8 is a diagram for explaining a process in which a medical image recording robot according to an embodiment tracks and photographs a laser pointer in an operating room.

Referring to FIG. 8, in the medical image recording robot according to the embodiment, when an external device 81 such as a laser pointer points at a specific part 82 of an object to be focused, the laser projected on the object is tracked and pointed. The camera 84 and the frame 85 are adjusted so that the area 82 is intensively photographed. In the embodiment, the frame may be connected to the ceiling structure or the lighting frame, and the rotation angle and inclination may be adjusted according to the pointed position. Through the medical image recording robot and system according to the embodiment, surgical images and treatment images can be conveniently recorded, and the part to be focused can be accurately photographed, so that the recorded images can increase the value as learning data and academic data for medical staff. do.

9 is a view showing an embodiment in which the recording robot is used in dentistry.

Referring to FIG. 9, the recording robots (a, b) according to the embodiment may be installed in a patient treatment chair used in a dentistry to take pictures of the oral cavity of patients or a treatment image. Through the embodiment, the convenience of taking a medical image is improved by remotely controlling the camera through voice and motion recognition and other smart devices when taking a dental treatment picture or recording a surgical image. In the embodiment, recorded medical images are collected and conveniently shared with other medical staff, so that several images can be easily used as academic data. It also makes it easy to collect clinical data from medical staff.

Since the camera and recording robot can be easily controlled as intended by the surgeon and the attending physician, the quality of medical images can be improved, and the dispersion of concentration of the surgeon is prevented through remote control such as motion recognition and voice recognition.

In addition, through a 3D sensor and a ToF (Time of Flight) module, the user's motion and facial expressions are more accurately recognized, so that detailed information of the camera and recording robot can be accurately controlled. In addition, the recording robot secures a wider shooting angle, including a frame that rotates in three directions and tilts 360 degrees, so that the camera can be positioned to a narrow area during surgery, so that high-quality medical images can be captured.

The disclosed contents are only examples, and various changes can be made by those of ordinary skill in the art without departing from the gist of the claims claimed in the claims, so the scope of protection of the disclosed contents is It is not limited to the examples.

Claims (12)

In the medical image recording system,
A recording robot coupled to the lighting and equipment frame and controlled by user commands including voice and motion and tool commands including laser tracking and remote control;
A smart terminal that remotely controls the recording robot and receives medical image data including medical treatment and surgery from the recording robot; And
An image management server that receives and collects recorded medical image data from the recording robot or smart terminal, and shares the medical image data as academic data with other smart terminals and servers; Video recording system comprising a.
The method of claim 1, wherein the recording robot
A command recognition module for recognizing user command signals including voice, motion, user access, object tracking, and tool command signals including laser tracking, mouse point tracking, and remote control;
A photographing control module configured to control detailed photographing information including whether a camera installed in the recording robot is recorded, zooming, focusing, and photographing direction according to the recognized user command signal and tool command signal;
A tilting control module for controlling the direction and inclination of the frame installed in the recording robot in the x, y, z axis directions to photograph an object according to the user command signal and the tool command signal; An image recording system comprising a.
The method of claim 1, wherein the smart terminal
An interlocking unit that communicates with the recording robot;
A control command input unit receiving at least one of a touch, a voice, and a motion for the control signal of the recording robot; And
A display unit for transmitting a screen photographed by the recording robot; An image recording system comprising a.
The method of claim 1, wherein the image management server
A storage module for classifying and collecting data collected from each of the recording robots according to recording time and type of medical image, and converting the classified medical image data into a database; And
A communication module for sharing the stored medical image data with medical research institutions including academic institutions and hospitals for academic seminars and treatment guidance; An image recording system comprising a.
In the medical image recording robot,
A frame including at least one joint portion that allows rotation and tilt to be adjusted in 360 degrees and three directions of x, y, and z axes; And
A camera connected to the frame and controlling detailed photographing information by a user command including voice and motion, and a tool command including laser tracking and remote control; Including
The frame is
A three-axis drive unit for adjusting the joint portion to 360 degrees and three axes; Medical image recording robot comprising a.
The method of claim 5, wherein the camera
TOF (Time of Flight) module for calculating a depth by measuring the arrival and reflection time of the infrared object;
A 3D (dimension) sensor for recognizing a three-dimensional motion of an object based on the calculated depth data; Including,
Recognizing the user command and the tool command, and controlling the angle and tilt of the camera photographing information and the frame according to the recognized command information.
The method of claim 6, wherein the camera
A command recognition module for recognizing user command signals including voice, motion, user access, object tracking, and tool command signals including laser tracking, mouse point tracking, and remote control;
A photographing control module configured to control detailed photographing information including recording status, zoom, focusing, and photographing direction of a camera installed in the recording robot according to the recognized user command signal and tool command signal; And
A tilting control module for controlling a direction and inclination of a frame installed in the recording robot to photograph an object according to the user command signal and the tool command signal; Medical image recording robot comprising a.
The method of claim 5, wherein the medical image recording robot
A medical image recording robot, characterized in that, when photographing detailed information including a photographing object, a composition of a screen to be photographed, image quality, and photographing direction is preset, the camera and the frame are automatically controlled according to the set photographing detailed information.
In the medical image recording robot control method,
(A) recognizing a user command signal including voice, motion, user access, object tracking, and tool command signals including laser tracking, mouse point tracking, and remote control in the command recognition module;
(B) controlling detailed photographing information including recording status, zoom, focusing, and photographing direction of a camera installed in the recording robot according to the recognized user command signal and tool command signal by the photographing control module;
(C) controlling, in a tilting control module, the direction and inclination of the frame installed in the recording robot so that the object is photographed according to the user command signal and the tool command signal; Image recording robot control method comprising a.
The method of claim 9, further comprising the steps of: (A) recognizing a user command signal including voice, motion, user access, object tracking, and tool command signals including laser tracking, mouse point tracking, and remote control by the command recognition module; Is
Interworking with an external control device including a smart terminal; And
Recognizing a tool command signal and a user command signal received from the external control device; Recording robot control method comprising a.
The method of claim 9, further comprising: (C) controlling a direction and inclination of a frame installed in the recording robot so that the tilting control module takes an object according to the user command signal and the tool command signal; Is
Calculating a depth of field by measuring an object arrival and reflection time of infrared rays in a Time of Flight (TOF) module;
Recognizing a 3D motion of an object based on the calculated depth data by a 3D (dimension) sensor;
Recognizing a user command and a tool command by the motion recognition, and controlling camera photographing information and angles and inclinations of the frame according to the recognized command information; Recording robot control method comprising a.
The method of claim 9, wherein (B) controlling detailed photographing information including recording status, zoom, focusing, and photographing direction of a camera installed in the recording robot according to the recognized user command signal and tool command signal in the photographing control module. ; Is
A method of controlling a recording robot, comprising automatically controlling a camera and a frame according to the set detailed photographing information when photographing detailed information including a photographing object, screen composition, image quality, and photographing direction is preset.

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