WO2010110560A3 - 증강현실을 이용한 수술 로봇 시스템 및 그 제어 방법 - Google Patents

증강현실을 이용한 수술 로봇 시스템 및 그 제어 방법 Download PDF

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Publication number
WO2010110560A3
WO2010110560A3 PCT/KR2010/001740 KR2010001740W WO2010110560A3 WO 2010110560 A3 WO2010110560 A3 WO 2010110560A3 KR 2010001740 W KR2010001740 W KR 2010001740W WO 2010110560 A3 WO2010110560 A3 WO 2010110560A3
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WO
WIPO (PCT)
Prior art keywords
surgical
augmented reality
robot
controlling
robot system
Prior art date
Application number
PCT/KR2010/001740
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English (en)
French (fr)
Other versions
WO2010110560A2 (ko
Inventor
이민규
최승욱
원종석
홍성관
Original Assignee
주식회사 이턴
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020090025067A external-priority patent/KR101108927B1/ko
Priority claimed from KR1020090043756A external-priority patent/KR101114226B1/ko
Application filed by 주식회사 이턴 filed Critical 주식회사 이턴
Priority to US13/203,180 priority Critical patent/US20110306986A1/en
Priority to CN201080010742.2A priority patent/CN102341046B/zh
Publication of WO2010110560A2 publication Critical patent/WO2010110560A2/ko
Publication of WO2010110560A3 publication Critical patent/WO2010110560A3/ko

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Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • 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
    • G05B2219/45171—Surgery drill

Abstract

증강현실을 이용한 수술 로봇 시스템 및 그 제어 방법이 개시된다. 로봇 암을 포함하는 슬레이브 로봇을 제어하는 마스터 로봇에 장착되는 인터페이스로서, 수술용 내시경으로부터 제공되는 영상 신호에 상응하는 내시경 영상을 디스플레이하는 화면 표시부와, 로봇 암을 각각 제어하기 위해 구비되는 하나 이상의 암 조작부와, 화면 표시부를 통해 가상 수술도구가 디스플레이되도록 하기 위해 암 조작부를 이용한 사용자 조작에 따른 가상 수술도구 정보를 생성하는 증강현실 구현부를 포함하는 수술용 로봇의 마스터 인터페이스는 증강현실을 이용하여 실제 수술도구와 가상 수술도구를 함께 표시함으로써 수술자의 원활한 수술을 가능하도록 한다.
PCT/KR2010/001740 2009-03-24 2010-03-22 증강현실을 이용한 수술 로봇 시스템 및 그 제어 방법 WO2010110560A2 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US13/203,180 US20110306986A1 (en) 2009-03-24 2010-03-22 Surgical robot system using augmented reality, and method for controlling same
CN201080010742.2A CN102341046B (zh) 2009-03-24 2010-03-22 利用增强现实技术的手术机器人系统及其控制方法

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2009-0025067 2009-03-24
KR1020090025067A KR101108927B1 (ko) 2009-03-24 2009-03-24 증강현실을 이용한 수술 로봇 시스템 및 그 제어 방법
KR1020090043756A KR101114226B1 (ko) 2009-05-19 2009-05-19 이력정보를 이용한 수술 로봇 시스템 및 그 제어 방법
KR10-2009-0043756 2009-05-19

Publications (2)

Publication Number Publication Date
WO2010110560A2 WO2010110560A2 (ko) 2010-09-30
WO2010110560A3 true WO2010110560A3 (ko) 2011-03-17

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PCT/KR2010/001740 WO2010110560A2 (ko) 2009-03-24 2010-03-22 증강현실을 이용한 수술 로봇 시스템 및 그 제어 방법

Country Status (3)

Country Link
US (1) US20110306986A1 (ko)
CN (3) CN102341046B (ko)
WO (1) WO2010110560A2 (ko)

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