KR20230106247A - Hybride robot device for liposuction surgery - Google Patents

Abstract

The present invention relates to a hybrid robot device for liposuction, comprising: a first surgical motion detection unit for detecting a surgical motion of a user holding the first robot arm during liposuction using a cannula mounted on the first robot arm; A surgical motion copy unit that copies the detected user's surgical motion (hereinafter referred to as 'first surgical motion') to generate surgical motion copy data, and controls the movement of the second robot arm based on the surgical motion copy data, and a second surgical operation performer performing a second surgical operation in which the first surgical operation is reflected by using a cannula mounted on a second robot arm.

Description

Hybrid robot device for liposuction {HYBRIDE ROBOT DEVICE FOR LIPOSUCTION SURGERY}

The present invention relates to a hybrid robot device for liposuction surgery, and more particularly, to a hybrid robot device for liposuction surgery that can reduce operation time by motion-capturing a surgical operation on one side of a surgeon so that the robot arm performs the same operation operation on the opposite side. It's about robotics.

Recently, as modern people invest heavily in improving their external appearance, the number of people who undergo plastic surgery, such as plastic surgery, liposuction and procedures, is rapidly increasing. In particular, liposuction is a surgery that many people are interested in for health and treatment purposes as well as cosmetic purposes. In liposuction, a cannula is generally inserted into the fat layer and the fat formed in the cannula is suctioned and removed alone. In other words, liposuction is a procedure in which a cannula is inserted into the fat layer, which consists of the skin layer, fat layer, and muscle layer, to suction and discharge the fat. It can remove fat from the abdomen, thighs, buttocks, arms, as well as the face, and is also used for lipoma removal. It is becoming. Such liposuction has a problem in that the operator's physical fatigue is increased because the operator's wrist and elbow are strained due to the repetitive stroke motion.

On the other hand, in robotic surgery, a surgical robot assists a surgeon and participates in all or part of a surgical procedure. The surgical robot makes 1 to 5 small holes in the patient's body and inserts a robot arm and a surgical camera mounted on the arm into the holes to help doctors perform surgery more comfortably. Robotic surgery is mainly used in surgery, but it is applied in various medical fields. Even in liposuction, techniques have been proposed that enable surgeons to conveniently perform liposuction without much effort by attaching a cannula to a surgical robot.

For example, Korean Patent Registration No. 10-0995246 (November 12, 2010) relates to a robot for liposuction surgery, which includes a control unit, a robot arm driven by receiving a predetermined control signal from the control unit, and mounted on the robot arm. A robot for liposuction surgery including a cannula extending in one direction and a suction part formed at an end of the cannula and inserted into a surgical site to suck fat, mounts the cannula for liposuction on a robot arm, and drives the robot arm. By moving the cannula, the surgeon can easily perform liposuction without much effort, automatically control the surgical robot using a tactile sensor, an angle sensor, etc., and analyze the image information obtained from the vision unit. It is possible to perform liposuction more conveniently, accurately, and safely by automatically setting the surgical range and automatically controlling the operation of the inhalation unit by attaching an imaging camera to the tip of the cannula and analyzing the image information acquired therefrom.

However, in liposuction, too many variables can occur, such as the diversity of body shape, the diversity of not only the body shape but also the distribution of the subcutaneous fat layer itself, the patient's responsiveness during surgery and variables due to unexpected situations, and the change in body position during surgery. It can be said that it is close to impossible to proceed.

Therefore, it is necessary to precede the development of hybrid robotic surgery, which can be said to be an intermediate form between robotic surgery and traditional surgery that relies on the surgical sense of an experienced liposuction surgeon.

Korean Patent Registration No. 10-0995246 (2010.11.12.)

One embodiment of the present invention is to provide a hybrid robot device for liposuction surgery that can shorten the operation time by motion-capturing the surgery operation on one side of the surgeon and allowing the robot arm to perform the same operation operation on the opposite side.

In one embodiment of the present invention, among both arms of the robot equipped with a liposuction cannula, the surgeon holds the robot arm on the side that is convenient for surgery and performs a traditional surgery, and the other robot arm performs a surgical operation following the traditional surgery of the surgeon on the opposite side. An object of the present invention is to provide a hybrid robot device for liposuction that can complete the operation with the left and right suction results matching.

One embodiment of the present invention is a hybrid robot device for liposuction surgery that can reduce physical load by embedding a motion sensor in a robot arm so that the robot can copy the surgeon's movement in space so that the surgeon and the robot can perform surgery simultaneously. want to provide

Among the embodiments, a hybrid robot device for liposuction includes a first surgical motion detecting unit for detecting a surgical motion of a user holding the first robot arm during liposuction using a cannula mounted on the first robot arm; a surgical motion copy unit that copies the user's surgical motion (hereinafter referred to as 'first surgical motion') to generate surgical motion copy data; and controls the movement of the second robot arm based on the surgical motion copy data, 2 includes a second surgical operation performing unit that performs a second surgical operation in which the first surgical operation is reflected by using a cannula mounted on the robot arm.

The first robot arm and the second robot arm are symmetrically installed in a form hanging from an upper end of an operating table, and the cannula may be respectively mounted at an end thereof.

The first robot arm and the second robot arm each have a multi-joint structure including a plurality of link parts, a plurality of joint parts connecting the link parts, and a tong part holding the cannula at an end thereof, so that vertical and horizontal or rotational movements are performed. It can be formed to make this possible.

The first surgical motion detection unit may include a motion sensor for measuring a motion of a joint of the first robot arm according to the user's surgical motion.

The surgical motion copy unit may perform copying of the user's surgical motion by symmetrically moving the motion of the joint of the first robot arm on space coordinates.

The second surgical operation performing unit drives the second robot arm based on the surgical operation copy data to adjust the motion of the joint to generate a movement symmetrical to the first surgical operation to follow the user's surgical operation. 2 Able to perform surgical operations.

The second surgical operation performer may include a motion sensor for measuring a motion of a joint of the second robot arm following the user's surgical operation.

The second surgical operation performing unit may analyze similarity between the first surgical operation and the second surgical operation to monitor a movement error of the second robot arm, and provide surgical operation copy accuracy as an analysis result.

The disclosed technology may have the following effects. However, it does not mean that a specific embodiment should include all of the following effects or only the following effects, so it should not be understood that the scope of rights of the disclosed technology is limited thereby.

In the hybrid robotic device for liposuction according to an embodiment of the present invention, operation time can be shortened by motion-capturing the surgical operation on one side of the surgeon so that the robot arm performs the same operation on the opposite side.

In the hybrid robot device for liposuction surgery according to an embodiment of the present invention, among both robot arms equipped with a liposuction cannula, the surgeon holds the robot arm on the side that is convenient for surgery and performs a traditional operation, and the other robot arm on the opposite side performs the traditional surgery. It is possible to complete the surgery so that the suction results of the left and right sides of the body match by performing the surgical operation along with the surgery.

In the hybrid robot device for liposuction according to an embodiment of the present invention, a motion sensor is embedded in a robot arm so that the robot can copy the surgeon's movement in space so that the surgeon and the robot can perform surgery simultaneously, thereby reducing physical load. there is.

1 is a diagram illustrating a hybrid robot system for liposuction surgery according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining an embodiment of the hybrid robot device in FIG. 1 .
FIG. 3 is a diagram explaining the functional configuration of the hybrid robot device in FIG. 1 .
4 is a flowchart illustrating the operation of the hybrid robot device for liposuction surgery according to an embodiment of the present invention.

Since the description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, since the embodiment can be changed in various ways and can have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, the scope of the present invention should not be construed as being limited thereto.

Meanwhile, the meaning of terms described in this application should be understood as follows.

Terms such as "first" and "second" are used to distinguish one component from another, and the scope of rights should not be limited by these terms. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element.

It should be understood that when an element is referred to as “connected” to another element, it may be directly connected to the other element, but other elements may exist in the middle. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that no intervening elements exist. On the other hand, other expressions describing the relationship between components, such as "between" and "directly between" or "adjacent to" and "directly adjacent to" should be interpreted similarly.

Expressions in the singular number should be understood to include plural expressions unless the context clearly dictates otherwise, and terms such as “comprise” or “have” refer to an embodied feature, number, step, operation, component, part, or these. It should be understood that it is intended to indicate that a combination exists, and does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

In each step, the identification code (eg, a, b, c, etc.) is used for convenience of explanation, and the identification code does not describe the order of each step, and each step clearly follows a specific order in context. Unless otherwise specified, it may occur in a different order than specified. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Terms defined in commonly used dictionaries should be interpreted as consistent with meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present application.

1 is a diagram illustrating a hybrid robot system for liposuction surgery according to an embodiment of the present invention.

Referring to FIG. 1 , a hybrid robot system 100 for liposuction may include a cannula 110, a hybrid robot device 130, a database 150, and a surgical monitoring device 170.

The cannula 110 may correspond to a device that is inserted into a surgical site corresponding to a patient's body and can suck fat. The cannula 110 may include a long and thin tube inserted into the body, the front end of the tube is closed and the rear end is open, and the cannula 110 is inserted into the surgical site - for example, the fat layer - and moves in the anterior / posterior direction As a result, the fat cells can be destroyed and the fat cells can be extracted to the outside. The cannula 110 has a closed front end formed in a streamlined shape to prevent injury to internal organs or muscles when inserted into a surgical site.

In addition, the cannula 110 corresponds to a medical device that allows liquid or air to pass through, and can be inserted into the chest cavity or abdominal cavity to extract liquid or inserted into blood vessels to collect blood, and can be inserted into the trachea to breathe when performing tracheostomy. It can be used for a variety of purposes, such as The cannula 110 may be implemented in various forms according to the size, number, and shape of holes, and may be selected according to the surgical site and use. The cannula 110 may be mounted on both arms of the hybrid robot device 130, respectively.

The hybrid robot device 130 analyzes the motion of the joint of the arm gripped by the user among both arms, controls the motion of the joint of the other arm, copies the user's surgical motion, and performs liposuction simultaneously with the user. It can be implemented as a surgical robot with The hybrid robot device 130 may store information required for liposuction in conjunction with the database 150 . In addition, the hybrid robot device 130 may be connected to the surgical monitoring device 170 through a wired network or a wireless network such as Bluetooth or WiFi, and may communicate with the surgical monitoring device 170 through a wired or wireless network. .

The database 150 may store various information necessary for the hybrid robot device 130 to perform liposuction surgery. For example, the database 150 may store data on a user's surgical motion and a robot's surgical motion generated by sensing the motion of the joints of the robot arms, and may store data comparison results on the two surgical motions, It is not necessarily limited thereto, and information collected or processed in various forms during liposuction surgery may be stored.

The surgical monitoring device 170 may correspond to a display device capable of monitoring motion errors of the robot arm. The surgery monitoring device 170 may be implemented with a CRT, LCD, or PDP, and may be implemented with various devices without necessarily being limited thereto. The surgery monitoring device 170 may be connected to the hybrid robot device 130 through a network.

FIG. 2 is a diagram for explaining an embodiment of the hybrid robot device in FIG. 1 .

Referring to FIG. 2 , the hybrid robot device 130 may be installed on top of an operating table, but is not limited thereto and may be installed in a form suspended from the ceiling such as a muyeongdeung. In one embodiment, the hybrid robot device 130 may be implemented to be able to change its horizontal and vertical position on the ceiling.

The hybrid robot device 130 may include a first surgical robot arm 210 and a second robot arm 220 having the same structure on both sides. The first robot arm 210 and the second robot arm 220 may be positioned at a height of about 50 cm above the operating table, and a cannula 110 may be mounted at an end thereof. The user may perform liposuction by directly holding the first robotic arm 210 or the second robotic arm 220 as it is convenient. Unless the user is ambidextrous, it is difficult to match the suction results on the left and right sides of the body until considerable experience is accumulated. For example, for a right-handed person, it can be said that it is easier to inhale on the outside of the thigh on the right side than on the left when incising the hip crease, and on the left arm when incising the armpit. Therefore, the user can perform liposuction with the cannula 110 mounted on the robot arm holding the robot arm that is easier to perform surgery among the two robot arms. That is, the user performs surgery by holding one of the first and second robot arms 210 and 220 instead of the cannula 110 .

In one embodiment, the first and second robot arms 210 and 220 may have a multi-joint structure including a plurality of link parts 211 and 221 and a plurality of joint parts 213 and 223 connecting the link parts 211 and 221. The link parts 211 and 221 and the joint parts 213 and 223 are formed to enable vertical and horizontal or rotational movements. Tongs 215 and 225 capable of gripping the cannula 110 are provided at ends of the first and second robot arms 210 and 220 .

In one embodiment, when the user performs liposuction using the first robotic arm 210, the user holds the forceps 215 holding the cannula 110 and inserts the cannula 110 into the surgical site. Liposuction can be performed. At this time, since the first robot arm 210 is suspended from the ceiling with little resistance, the user can directly hold the cannula 110 and perform the same surgical operation as performing surgery. The second robotic arm 220 may motion-capture the surgical operation performed by the first robotic arm 210 and perform the surgical operation as it is. To this end, the first and second robot arms 210 and 220 include a motion sensor to capture motion of the user's surgical operation as a movement on spatial coordinates, and copy the captured movement so that the opposite robot arm can perform the same surgical operation. let it be

FIG. 3 is a diagram explaining the functional configuration of the hybrid robot device in FIG. 1 .

Referring to FIG. 3 , the hybrid robot device 130 includes a first surgical motion detection unit 310, a surgical motion copying unit 330, a second surgical operation performing unit 350, and a control unit 370.

The first surgical motion detecting unit 310 may detect a surgical motion of a user holding a robot arm and performing liposuction as a first surgical motion. The user may perform the surgery by moving the cannula 110 mounted on the robot arm while holding one of the first and second robot arms 210 and 220 at his convenience using his left hand or right hand. During liposuction by holding the robot arm, the user's arm moves back and forth forward and backward to perform a repetitive stroke motion. According to the user's stroke motion, the robot arm gripped by the user also moves its joints.

The first surgical motion detecting unit 310 may detect movement of a joint according to a user's surgical motion through a motion sensor 320 built into the robot arm. The motion sensor 320 may measure the motion of the joint of the robot arm according to the user's surgical operation and turn it into data. In one embodiment, the first surgical motion detection unit 310 installs a motion sensor 320 on the joint part of the robot arm to specify the direction of movement according to the position change of the sensor and to determine the position of the arm from the relative positional relationship between the sensors. It is possible to specifically detect the user's surgical operation state. Here, the first surgical motion detecting unit 310 may track a joint at a specific position of a corresponding robot arm where a motion is generated by a user's surgical motion to extract a feature of the motion, and set the characteristic value of the motion to the first It can be provided as surgical motion data.

In addition, the first surgical motion detection unit 310 may communicate with the cannula 110 by wire or wirelessly, and the position of the cannula 110, insertion angle, depth, etc. can measure Here, the motion detection sensor may be implemented with only a single sensor or may be implemented by including a plurality of sensors. The motion detection sensor may include a displacement sensor, an angle sensor, a gyro sensor, and the like. A displacement sensor corresponds to a sensor that can measure the distance or position that an object has moved, and an angle sensor corresponds to a sensor that can measure a relatively large angle such as a small angle or an axis rotation angle. And, the gyro sensor may correspond to a sensor capable of detecting an angular velocity. A plurality of sensors included in the motion detection sensor may collect sensing information in real time or periodically according to each sensing mechanism, and the hybrid robot device 130 transmits sensing signals collected from the plurality of sensors to the patient. It can be associated and stored in the database 150.

The surgical motion copy unit 330 may recognize the user's surgical motion based on the first surgical motion data detected by the first surgical motion detection unit 310 and generate surgical motion copy data. The surgical motion copy unit 330 may copy the surgical motion by symmetrically moving the joint motion of the corresponding robot arm according to the user's surgical motion based on the first surgical motion data on spatial coordinates. That is, since most of the body is symmetrical, when the user holds the first robot arm 210 and performs surgery on only the right thigh, the second robot arm 220 on the opposite side can operate on the left thigh in the same way as the user's operation. The motion copy unit 330 may copy a motion symmetrical to the motion of the joint of the first robot arm 210 . The surgical motion copy unit 330 may divide the first surgical motion data into a plurality of small segments and copy the motion for each specific section of time unit.

When the surgical motion copy unit 330 receives movement information including the insertion angle and depth of the cannula 110 from the first surgical motion detector 310, it converts the received cannula movement information into the surgical motion copy data. may reflect. In this case, the surgical motion copy data may include information about symmetric motion of the joint of the robot arm used by the user for surgery and motion of a cannula mounted on the corresponding robot arm.

The second surgical operation performing unit 350 may move the joint of the corresponding robot arm based on the surgical motion copy data to perform surgery on a region opposite to the user's surgical operation in the same manner as the user's surgical operation. The second surgical operation performer 350 may adjust the movement of the joint by driving the corresponding robot arm based on the surgical operation copy data. The second surgical operation performing unit 350 adjusts the front, back, left, right, up, and down motions of the robot arm so that the user can generate a movement that is symmetrical to the motion of holding and moving the robot arm.

In one embodiment, the second surgical operation performer 350 may detect the surgical operation of the robot arm performing liposuction as the second surgical operation according to the surgical operation copy data. The second surgical operation performer 350 can perform a stroke operation that proceeds repeatedly by moving forward and backward in the same way as the user's operation operation by moving the joint of the robot arm on the opposite side of the robot arm being held by the user and performing the operation. let it be The second surgical operation performer 350 may detect joint movement according to the surgical operation of the corresponding robot arm through the motion sensor 320 built into the corresponding robot arm. The motion sensor 320 may measure the motion of the joint of the robot arm that performs the surgical operation according to the user's surgical operation and turn it into data. The second surgical operation performer 350 may analyze the similarity between the first and second surgical operations and provide the user's surgical motion copy accuracy to the surgical monitoring device 170 .

The second surgical operation performer 350 may determine how well the surgical operation of the robot arm followed the user's standard surgical operation through similarity analysis between the first and second surgical operations. In one embodiment, the second surgical operation performing unit 350 converts N key points (where N is a natural number) into vectors, and then measures the similarity between the first and second surgical operations through cosine similarity. The degree of similarity between surgical operations can be obtained. Here, the cosine similarity may be defined by the following equation.

[mathematical expression]

In one embodiment, the second surgical operation performer 350 may extract the inflection motion of each of the first and second surgical motions and determine the degree of similarity by determining a motion skeleton from the inflection motion. An inflection motion refers to the beginning and end of one motion, which corresponds to the end of the current motion and the beginning of the next motion.

When the degree of similarity between the first and second surgical operations is equal to or less than a specific standard, the second surgical operation performer 350 allows the user to correct the motion error of the robot arm and then operate it again.

The control unit 370 controls the overall operation of the hybrid robot device 130, and controls flow or data between the first surgical motion sensor 310, the surgical motion copying unit 330, and the second surgical motion performing unit 350. You can manage the flow.

4 is a flowchart illustrating the operation of the hybrid robot device for liposuction surgery according to an embodiment of the present invention.

Referring to FIG. 4 , the hybrid robot device 130 may detect, as a first surgical motion, a surgical motion of a user performing liposuction while holding one robot arm through the first surgical motion detector 310 ( Step S410). Here, the first surgical motion detecting unit 310 may motion-capture a surgical motion performed by a user while holding one side of the robot arm as a movement on spatial coordinates through the motion sensor 320 .

The hybrid robot device 130 may copy the user's surgical motion through the surgical motion copy unit 330 (step S430). Here, the surgical motion copy unit 330 copies the motion on the captured space coordinates so that it can be reflected on the other side of the robot arm.

The hybrid robot device 130 may perform the second surgical operation by moving the joint of the robot arm based on the surgical motion copy data through the second surgical operation performer 350 (step S450). Here, the second surgical operation performing unit 350 adjusts the movement of the joint of the opposite robot arm based on the surgical motion copy data so that the user can perform the same surgical operation as the actual surgical operation.

In the hybrid robot device for liposuction surgery according to an embodiment, a liposuction surgeon copies an actual surgical operation so that the robot follows it, so that a human and a robot can perform surgery together, thereby reducing the operation time and reducing the cost of surgery between the patient and the surgeon. It can minimize the physical burden of everyone and increase the effect of surgery.

In addition, from the patient's point of view, the amount of anesthetic to be administered can be minimized due to the shortened operation time, and thus the safety of the operation can be increased.

In addition, in terms of operation, it may be easy to maintain concentration on the operation due to the shortened operation time, and accordingly, the degree of completion of the operation may be improved.

In addition, in terms of management, the operational efficiency of hospitals can be increased.

Although the above has been described with reference to the preferred embodiments of the present application, those skilled in the art will variously modify this application within the scope not departing from the spirit and scope of the present invention described in the claims below. And it will be understood that it can be changed.

100: hybrid robot system for liposuction
110: cannula 130: hybrid robot device
150: database 170: surgical monitoring device
210,220: robot arm
211,221: link part 213,223: joint part
215,225: tongs
310: first surgical motion detector 320: motion sensor
330: surgical motion copy unit 350: second surgical operation performing unit
370: control unit

Claims (8)

a first surgical motion detector detecting a surgical motion of a user holding the first robotic arm during liposuction using a cannula mounted on the first robotic arm;
a surgical motion copy unit copying the detected surgical motion of the user (hereinafter referred to as 'first surgical motion') to generate surgical motion copy data; and
A second surgical operation performing unit that adjusts the movement of a second robot arm based on the surgical operation copy data and performs a second surgical operation reflecting the first surgical operation using a cannula mounted on the second robot arm A hybrid robotic device for liposuction surgery.
The method of claim 1, wherein the first robot arm and the second robot arm
A hybrid robot device for liposuction, characterized in that it is symmetrically installed in a hanging form on the top of the operating table and the cannulas are respectively mounted at the ends.
The method of claim 2, wherein the first robot arm and the second robot arm are each
A multi-joint structure including a plurality of link parts, a plurality of joint parts connecting the link parts, and a tong part holding the cannula at an end thereof, so that vertical and horizontal or rotational movements are possible. hybrid robotic device.
The method of claim 1, wherein the first surgical motion sensor
The hybrid robot device for liposuction surgery, characterized in that it comprises a motion sensor for measuring the motion of the joint of the first robot arm according to the user's surgical operation.
The method of claim 4, wherein the surgical motion copy unit
The hybrid robot device for liposuction surgery, characterized in that the copy is performed for the user's surgical operation by symmetrically moving the movement of the joint of the first robot arm on spatial coordinates.
The method of claim 1, wherein the second surgical operation performing unit
Performing a second surgical operation that follows the user's surgical operation by generating a movement symmetrical to the first surgical operation by controlling the movement of the joint by driving the second robot arm based on the surgical operation copy data. Hybrid robot device for liposuction surgery characterized by.
The method of claim 6, wherein the second surgical operation performing unit
The hybrid robot device for liposuction surgery, characterized in that it comprises a motion sensor for measuring the motion of the joint of the second robot arm following the user's surgical motion.
The method of claim 7, wherein the second surgical operation performing unit
The hybrid robot device for liposuction surgery, characterized in that the degree of similarity between the first surgical motion and the second surgical motion is analyzed to monitor a motion error of the second robot arm, and surgical motion copy accuracy is provided as an analysis result.

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