WO2010018907A1 - 서버 클라이언트 방식의 수술용 로봇 시스템 - Google Patents
서버 클라이언트 방식의 수술용 로봇 시스템 Download PDFInfo
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- WO2010018907A1 WO2010018907A1 PCT/KR2009/001385 KR2009001385W WO2010018907A1 WO 2010018907 A1 WO2010018907 A1 WO 2010018907A1 KR 2009001385 W KR2009001385 W KR 2009001385W WO 2010018907 A1 WO2010018907 A1 WO 2010018907A1
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- Prior art keywords
- control
- surgical
- server
- client
- information
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45119—Telesurgery with local assistent, voice communication
Definitions
- the present invention relates to a surgical robot system, and more particularly, to a surgical robot system of the server client method.
- surgery refers to healing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device.
- Laparoscopic surgery during this operation corresponds to surgery to split the abdominal cavity or the skin of the face (skin), and to treat, shape or remove the organs therein.
- laparotomy is a problem that is slow to heal after surgery because a lot of wounds, laparoscopic surgery is currently attracting attention.
- laparoscopic surgery is performed by observing the surgical site of the abdominal cavity through a small hole in the patient's abdomen and performing surgery. It is also widely used in the field.
- This is a device for diagnosing the internal organs of the body, and is a device in which a small camera is formed, and thus it is possible to observe image information detected from a small camera by inserting the body and the internal organs through a monitor installed outside.
- remote surgery has been performed using a remote surgery system in an environment inaccessible to the patient, for example, the battlefield, spacecraft, inaccessibility of medical professionals.
- This is to perform the operation by controlling the slave robot where the patient is located by remotely manipulating the master robot using communication.
- the conventional surgical robot was a master-slave concept, which was controlled by the slave side as it was controlled by the master side.
- a plurality of robots are required. There is a problem that the concept of slave is not appropriate.
- the present invention is to provide a surgical robot system having a plurality of control clients to operate one surgical server.
- the present invention is to provide a surgical robot system that can safely perform the operation by incorporating security technology during robot surgery according to the server-client concept.
- a surgical robot system includes a plurality of control clients for generating control signals and a surgical server operated in correspondence with control signals received from an authenticated control client.
- Surgical robot system of the server client method may further include a security server for receiving an identifier from a plurality of control clients to perform authentication.
- the plurality of control clients may perform a first control client that transmits an instrument control signal for controlling a surgical instrument included in the surgical server and a vision control signal for controlling a vision system included in the surgical server. It may include a first control client to send to the server.
- the security server can set different rights for each of the plurality of control clients.
- the device control signal may be encrypted and transmitted to the surgical server, and the device control signal may be transmitted to the surgical server by the virtual private network (VPN).
- VPN virtual private network
- the security server can authenticate the control client by the electronic signature method
- the surgical robot system of the server client method is to store the history information of the plurality of control clients connected to the surgical server
- the storage unit may further include.
- the history information may be one or more pieces of information selected from a group consisting of identifiers, access times, session information, work contents, and combinations thereof of the plurality of control clients.
- the control client may also include call means for generating call information and transmitting call information to other control clients, wherein the call information is selected from the group consisting of text information, video information, voice information, sound information, and combinations thereof. May be one or more pieces of information.
- server client-type surgical robot system may further include a control right setting unit for setting a specific control client to operate the surgical server of the plurality of control clients.
- Surgical robot system of the server client method according to the present invention may be provided with a plurality of control clients to operate one surgical server, to perform the operation safely by incorporating security technology during robot surgery according to the server-client concept It can be effective.
- FIG. 1 is a block diagram of a surgical robot system of the server client method according to an embodiment of the present invention.
- FIG. 2 is a view of a control client of a surgical robot system of the server client method according to an embodiment of the present invention.
- Figure 3 is a block diagram of a security server of the surgical robot system of the server client method according to an embodiment of the present invention.
- control client 2 surgical server
- FIG. 1 is a block diagram of a surgical robot system of the server client method according to an embodiment of the present invention.
- a control client 1, 1 ′ a surgical server 2, a robot arm 3, a control interface 4, 4 ′, a laparoscope 5, a monitor 6, 6 ′, Security server 8 and handles 10, 10 ′ are shown.
- a vision system for providing an image during surgery for example, a system for controlling a device such as a laparoscope, an endoscope, a microscope, a magnifying glass, a reflector, and the like is surgical Can be coupled to the server 2.
- a description will be given focusing on the case where the vision system is a system for controlling the laparoscope.
- the present embodiment is provided with a plurality of control clients (1, 1 ') for operating the surgical server (2) to perform the operation on the actual patient, depending on the difficulty of the operation, surgical site, participation of a professional doctor, etc. It is characterized in that a plurality of control clients 1, 1 'can operate the surgical server 2.
- the plurality of control clients (1, 1 ') are shown two, the number can be more than that.
- the control interface 4, 4 ′ includes an operation handle mounted on the surgical control client 1, 1 ′, a signal processing processor connected to the handle, a console, a monitor 6, 6 ′. ), And other operation switches, which are the interface for operating the surgical server 2 by recognizing a user's operation on the control clients 1 and 1 '.
- the user who performs the surgery can operate the surgical server 2 by manipulating the handles 10, 10 ′ provided in the control clients 1, 1 ′.
- the handles 10 and 10 ' are connected to a control client 1 and 1' which can be directly manipulated by the user.
- the control client 1, 1 ′ remotely controls the robot arm 3 coupled with the surgical server 2 and the laparoscope to perform surgery, such as moving and rotating in space and cutting or illuminating the surgical site. .
- a laparoscope 5 may be inserted to visually identify the surgical site during the surgical procedure. Laparoscope 5 may be inserted in close proximity to the surgical site into which the robot arm 3 is inserted.
- the handles 10 and 10 ' may have various mechanical configurations depending on their operation, for example, joystick type, keypad, trackball, touch screen, etc., to operate the robot arm 3 and other surgical equipment.
- Input means can be used.
- the user may manipulate the handles 10 and 10 'while viewing the image photographing the inside of the operating room where the surgical server 2 is located with the display units 6 and 6'.
- a camera (not shown) for operating room photography may select and photograph an important scene in the operating room.
- the display units 6 and 6 ' may also output an image in the abdominal cavity taken by the laparoscope.
- the display units 6 and 6 ' may output a plurality of images.
- the areas of the display units 6 and 6 ' may be implemented in hardware or software. Image information received from each window of a monitor composed of a plurality of hardware may be output for each region, or various information may be output by dividing a plurality of windows in one monitor by software.
- the control client 1, 1 ′ is coupled with a surgical server 2 located at the place where the patient is to be operated by a wired or wireless network.
- the control client 1, 1 ′ and the surgical server 2 have a transceiver for network communication, and the network can be configured in a server-client manner.
- the surgical server 2 is a server dedicated to processing network tasks, and the control clients 1 and 1 'are provided with the surgical server 2 such as a surgical instrument, a laparoscope, and a robot arm 3. It functions to operate the surgical server 2 by transmitting a control signal for controlling the apparatus of the apparatus.
- the control signal can be generated by the manipulation of the handles 10, 10 ′.
- the robot arm 3 may be equipped with a surgical instrument, laparoscopic, suction equipment, cleaning (irrigation) equipment.
- the plurality of control clients 1, 1 ′ can control one surgical server 2 at the same time.
- the first control client 1 controls the surgical instrument coupled to the surgical server 2 to perform the surgery
- Another control client may use a device coupled to the surgical server 2 to perform tasks such as suction, irrigation, etc. performed by other assistants.
- the first control client 1 transmits an instrument control signal for controlling the surgical instrument to the surgical server 2, and the second control client 1 ′ controls the vision system (eg, laparoscope).
- the vision control signal (for example, laparoscopic control signal) is transmitted to the surgical server 2.
- the surgical server 2 may receive a corresponding control signal and correspondingly operate a combined device such as a surgical instrument or a laparoscope.
- the specific control clients 1 and 1 ' may be set to have control over the surgical server 2 according to the user's expertise. For example, at the operation site, one control client 1 controls the surgical server 2 to perform an operation, and when a high level surgery is required, the surgical server 2 is connected to the other control client 1 '. Control may be transferred.
- the security server 8 is a server provided for applying a security technique to the communication between the plurality of control clients 1, 1 ′ and the surgical server 2.
- the security server 8 may be provided modularly in the surgical server 2 or may be provided as separate equipment.
- the security server 8 can be combined in parallel or in series with the control client 1, 1 ′ and the surgical server 2.
- the control right of the surgical server 2 can be transferred between the plurality of control clients 1, 1 ′ in various ways.
- the control right of the control client 1, 1 ′ may be set according to whether or not the security server 8 is authorized.
- the security server 8 is connected to the corresponding function of the control client 1; It is determined whether the authorization for the corresponding function by determining whether or not the authority for the corresponding function, and if authorized, the control client 1 may control the surgical server 2 for the corresponding function.
- the control right setting signal may be a signal for requesting the control client 1 generating the control right to control the surgical server 2 or for the other control client 1 'to set the control right for the surgical server 2.
- a doctor operating the control client 1 may be a function for requesting a doctor operating the other control client 1 'to perform an operation.
- the control right setting signal may be classified for each function.
- one control client 1 may perform various functions such as surgical instrument operation, laparoscopic operation, suction device operation, and washing device operation, so that the control client 1 surges the control right setting signal for each function.
- the security server 8 determines whether the control client 1 is authorized for each function and responds to the control right setting request, thereby allowing the control client 1 to control the surgical server 2.
- the security server 8 stores the authority of each control client 1 and 1 'in advance in the storage unit, and when there is a request for setting the control right, the control server 8 stores the control unit in the storage unit for control of each function.
- the control right of (1, 1 ') can be set.
- a user may directly designate a specific control client 1, 1 ′ to perform a corresponding function by using a surgical console (not shown) coupled to the surgical server 2.
- the surgical console (not shown) may be a specific control client of the control clients 1, 1 ′.
- a user who manages the surgery as a whole and operates a surgical console coupled to the surgical server 2 may control the control of the surgical server 2 that the first control client 1 has. 1 ').
- control of the surgical server 2 of the first control client 1 may be maintained or lost. Whether or not control is maintained may vary depending on the settings of the user of the surgical console.
- the surgical console may include a control right setting unit.
- the control right setting unit allows the control client to allocate the control right for each device combined with the surgical server 2.
- the control right setting unit may assign the control right for the surgical instrument to the first control client 1 and the control right for the laparoscope to the control client 1 '.
- Such control right assignment information is stored in a database and can be modified by a user using a user interface (UI).
- UI user interface
- the user interface includes a button and a screen (including a touch screen), and allows a user to assign a control right to a specific device to a specific control client.
- the first control client 1 may include a display unit 6, a handle 10, and a calling unit 20. The difference from the above is demonstrated.
- the calling means 20 generates call information and transmits it to the second control client 1 '.
- the call information may indicate information exchanged between the control clients 1, 1 'or may be information calling each other.
- the calling means 20 when the doctor operating the first control client 1 communicates with the doctor operating the second control client 1 'or requests the control of the surgical server 2 to be set. Information can be transmitted using
- the call information may be one or more information selected from the group consisting of text information, video information, audio information, sound information, and a combination thereof.
- the call means 20 may be a text input device (for example, a predetermined text input device, a vending machine, etc.), and the text information may be displayed on the display unit of the second control client 1 '. 6 ').
- the call means 20 may be a microphone, and the input voice information may be output from a speaker (not shown) provided in the second control client 1 '.
- a speaker may also be provided in the first control client 1 for communication between the users of the control clients 1 and 1 '.
- the user may perform tasks such as communication between the users of the control clients 1 and 1 ′, request for setting, and the like.
- FIG. 3 is a block diagram of a security server 8 of a server robot-type surgical robot system according to an embodiment of the present invention.
- an authority setting unit 81 an encryption unit 83, an authentication unit 85, a storage unit 87, and a control right setting unit 89 are illustrated.
- the security server 8 will be described as a separate device. However, the following description may be applied to the case where the surgical server 2 is implemented as a module.
- the security server 8 may perform functions such as identification, authentication, authorization, confidentiality, integrity, audit trail, and the like.
- Identification is the process of identifying "who" (whose user) is connected via biometrics such as an identifier, for example, user ID, fingerprint recognition, iris recognition, or the like.
- biometrics such as an identifier, for example, user ID, fingerprint recognition, iris recognition, or the like.
- the control client 1, 1 transmits its identifier to the security server 8
- the authenticator 85 determines whether it is an accessible subject. Since the identifiers of the control clients 1 and 1 'indicate the identity of each device, they may be used as data for analyzing the accountability of the user.
- the authentication method is a knowledge-based authentication method (for example, a password) that the user knows, an authentication method (for example, a key, a smart card, a token, etc.) using an authentication device owned by the user, and a physical authentication characteristic of the user.
- an authentication method for example, a key, a smart card, a token, etc.
- an authentication method based on an unconscious action of the user (eg, signature authentication), and the like.
- Node Authentication which checks whether a user connects from a specified device, to control which control client (1, 1') accesses It may include.
- the authentication unit 85 may store an identifier (for example, a protocol) for the corresponding node in the storage unit 87 and perform authentication using the node identifier for the connected device.
- the control client (1, 1 ') and the security server (8) can also be mutually confirmed using an electronic certificate.
- Authorization is the process of checking whether the access control client (1, 1 ') has the authority, such as whether you have permission to move, only the laparoscope can move.
- the authority setting unit 81 may store the presence or absence of authority for each control client 1 and 1 'in each storage unit 87 in advance.
- the authority setting unit 81 predefines which users can access the system, and to what extent the given authority is granted (permitted access time, type of device permitted to control), so that any user When you log on to an application, the system or application can let the user decide which resources to use during the session.
- Authorization is a process of actually confirming the privileges set by the authority setting unit 81 and the preset privileges when the control client 1, 1 'has accessed.
- Confidentiality relates to a technique that encrypts the communication between the control client 1, 1 ′ and the surgical server 2 so that the contents are not recognizable in the middle.
- Various encryption schemes used for communication may be applied to the present embodiment, and a virtual private network (VPN) may be set and used between the control clients 1 and 1 'and the surgical server 2.
- the encryption unit 83 sets an encryption method in advance, and performs a function of transmitting information or interpreting the received information according to the encryption method.
- Integrity is a process for ensuring that the communication between the control client 1, 1 'and the surgical server 2 is intact.
- a technology such as a digital signature may be applied. That is, the authentication unit 8 can authenticate using the identifier and the electronic certificate of the control client connected by the electronic signature method.
- the electronic certificate may be an electronic certificate of the public key infrastructure (PKI) method.
- Audit Trail is a process of managing all operations of the control client (1, 1 ') and the surgical server (2) in log form.
- the storage unit 87 may store history information of the plurality of control clients 1 and 1 ′ connected to the surgical server 2.
- the storage type may store the log as it is, or transmit the log to a separate log server.
- the log form may be a simple text file, an XML document, or a third form.
- the history information may be one or more pieces of information selected from the group consisting of identifiers, connection times, session information, work contents, and combinations of the plurality of control clients 1 and 1 '.
- the security server 8 may further include a control right setting unit 89 for setting a specific control client to operate the surgical server 2 among the plurality of control clients 1 and 1 '.
- a control right setting unit 89 for setting a specific control client to operate the surgical server 2 among the plurality of control clients 1 and 1 '.
- the control right setting unit 89 may be a means for modifying information on the control right stored in the storage unit 87 such as an interface for setting the control right and a source editor.
- interface standardization technologies such as communication protocols and I / O interfaces, and actuators, batteries, cameras, and sensors Detailed description of the parts standardization technology, etc. will be omitted.
- the server client-type surgical robot system is the name, number, configuration, connection of the control client (1, 1 '), the surgical server (2), security server (8)
- the relationship has been described in accordance with one embodiment, the present invention is not necessarily limited thereto. However, even if the name, number, configuration, and connection relationship are different, the overall structure and effect thereof may be included in the scope of the present invention.
- Those skilled in the art will appreciate that various modifications and changes can be made in the present invention without departing from the spirit and scope of the invention as set forth in the claims below.
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Abstract
Description
Claims (12)
- 제어 신호를 생성하는 복수의 컨트롤 클라이언트; 및인증된 상기 컨트롤 클라이언트로부터 수신한 상기 제어 신호에 상응하여 조작되는 서지컬 서버를 포함하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 복수의 컨트롤 클라이언트로부터 식별자를 수신하여 인증을 수행하는 보안 서버를 더 포함하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 복수의 컨트롤 클라이언트는,상기 서지컬 서버에 포함되는 수술용 인스트루먼트를 제어하는 인스트루먼트 제어 신호를 상기 서지컬 서버에 전송하는 제1 컨트롤 클라이언트; 및상기 서지컬 서버에 포함되는 비젼 시스템을 제어하는 비젼 제어 신호를 상기 서지컬 서버에 전송하는 제1 컨트롤 클라이언트를 포함하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 보안 서버는,상기 복수의 컨트롤 클라이언트별로 서로 다른 권한을 설정하는 것을 특징으로 하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 장치 제어 신호는 암호화되어 상기 서지컬 서버로 전송되는 것을 특징으로 하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 장치 제어 신호는 가상사설망(VPN)에 의해 상기 서지컬 서버로 전송되는 것을 특징으로 하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 보안 서버는 전자 서명 방식에 의해 상기 컨트롤 클라이언트를 인증하는 것을 특징으로 하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 복수의 컨트롤 클라이언트가 상기 서지컬 서버에 접속한 이력 정보를 저장하는 저장부를 더 포함하는 수술용 로봇 시스템.
- 제8항에 있어서,상기 이력 정보는 상기 복수의 컨트롤 클라이언트의 식별자, 접속 시간, 세션 정보, 작업 내용 및 이들의 조합으로 구성된 군으로부터 선택되는 하나 이상의 정보인 것을 특징으로 하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 컨트롤 클라이언트는 호출 정보를 생성하여 상기 호출 정보를 다른 컨트롤 클라이언트에게 전송하는 호출 수단을 포함하는 수술용 로봇 시스템.
- 제10항에 있어서,상기 호출 정보는 텍스트 정보, 영상 정보, 음성 정보, 음향 정보 및 이들의 조합으로 구성된 군으로부터 선택되는 하나 이상의 정보인 것을 특징으로 하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 복수의 컨트롤 클라이언트 중에서 특정 컨트롤 클라이언트가 상기 서지컬 서버를 조작하도록 설정하는 제어권 설정부를 더 포함하는 수술용 로봇 시스템.
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US12/680,647 US20100217991A1 (en) | 2008-08-14 | 2009-03-18 | Surgery robot system of server and client type |
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KR10-2008-0079821 | 2008-08-14 | ||
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KR (1) | KR100941395B1 (ko) |
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- 2009-03-18 WO PCT/KR2009/001385 patent/WO2010018907A1/ko active Application Filing
- 2009-03-18 CN CN2009801282407A patent/CN102098967A/zh active Pending
- 2009-08-13 KR KR1020090074718A patent/KR100941395B1/ko active IP Right Grant
-
2010
- 2010-03-29 US US12/748,784 patent/US20110041160A1/en not_active Abandoned
- 2010-08-13 CN CN2010102528589A patent/CN101997867A/zh active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US5217453A (en) * | 1991-03-18 | 1993-06-08 | Wilk Peter J | Automated surgical system and apparatus |
KR20080045165A (ko) * | 2005-07-29 | 2008-05-22 | 알콘, 인코퍼레이티드 | 수술 장치를 구성하고 데이터를 입력하는 방법 및 시스템 |
WO2007120351A2 (en) * | 2005-12-30 | 2007-10-25 | Intuitive Surgical, Inc. | Medical robotic system providing three-dimensional telestration |
Also Published As
Publication number | Publication date |
---|---|
US20110041160A1 (en) | 2011-02-17 |
KR100941395B1 (ko) | 2010-02-10 |
US20100217991A1 (en) | 2010-08-26 |
CN101997867A (zh) | 2011-03-30 |
CN102098967A (zh) | 2011-06-15 |
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