WO2013018985A1

WO2013018985A1 - Surgical robot system

Info

Publication number: WO2013018985A1
Application number: PCT/KR2012/004094
Authority: WO
Inventors: 최승욱; 원종석; 이민규
Original assignee: (주)미래컴퍼니
Priority date: 2011-08-03
Filing date: 2012-05-24
Publication date: 2013-02-07
Also published as: CN103917187A; CN103917187B; KR20130015441A

Abstract

Disclosed is a surgical robot system. A surgical robot system comprises: a surgical robot main body; a first motive power source, which is connected to the main body and which transmits motive power which is controlled by the main body; a first robot arm, which is joined to the main body and which operates as a result of receiving the transmission of motive power from the first motive power source; a robotic instrument which is furnished on the first robot arm and which operates as a result of receiving the transmission of motive power from the first motive power source; a second motive power source, which is connected to the main body and which transmits motive power controlled by the main body; and a hand-held instrument, which operates as a result of receiving the transmission of motive power from the second motive power source and which is manually operated by a user. By adding to the surgical robot a separate motive power source which can supply motive power to the instrument, motive power can be immediately received from the surgical robot when the hand-held instrument is to be additionally used, and the additional instrument can be controlled by the robot via communication with same, the hand-held instrument, which has been manufactured so as to fit with the standard of the additional motive power source, can be used much like a robot-mountable instrument, thus widening the usage range of the robot and promoting the ubiquity of the surgical robot.

Description

Surgical Robot System

The present invention relates to a surgical robot system.

Medically, surgery refers to healing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device. In particular, open surgery, which incise the skin of the surgical site and open, treat, shape, or remove the organs inside of the surgical site, has recently been performed using robots due to problems such as bleeding, side effects, patient pain, and scars. This alternative is in the spotlight.

Such a surgical robot is provided with a robot arm for operation for surgery, the instrument is mounted on the front end of the robot arm, the instrument performs the operation required for surgery by the driving force generated and transmitted from the robot .

In general, a surgical instrument mounted on a robot includes a shaft extending in the longitudinal direction, an effector coupled to the end of the shaft, and a driving unit coupled to the tip of the shaft to operate the effector. The driving unit is provided with a plurality of driving wheels, each driving wheel is connected to each part of the effector through a wire, etc., when the driving wheel is rotated correspondingly, the effector performs various operations required for surgery.

When the instrument is mounted on the robot, the driving unit is coupled to the actuator provided in the robot arm, and each driving wheel installed in the driving unit is rotated by the driving force transmitted from the actuator, thereby controlling the instrument.

In such a conventional surgical robot system, when you want to use a separate instrument in addition to the instrument mounted on the robot, a separate power source, such as a motor pack (motor pack) must be connected and used, even if a separate power source is provided There is a limitation that the assistant cannot be controlled integrally by the robot and the assistant must control the instrument separately.

The background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.

Meanwhile, US Patent No. 6,325,808 connects a manually operated surgical tool to an actuator for powering an instrument, and the surgical tool is connected to a separate docking station. By mounting, a technique is disclosed in which a manual surgical tool receives power from a robot and is controlled by a controller of the robot and also manually operated by a doctor.

The present invention provides a power source directly from a surgical robot when additional handheld instruments are to be additionally used, and a surgical robot system in which an instrument added through communication with the robot can also be controlled by a robot. To provide.

According to an aspect of the present invention, a surgical robot body, a first power source connected to the body and transmitting a driving force controlled by the body, and a first robot arm coupled to the body and operated by receiving a driving force from the first power source And a robotic instrument mounted on the first robot arm and operated by receiving a driving force from the first power source, a second power source connected to the body and transmitting a driving force controlled by the body, and from the second power source. A surgical robot system is provided that includes a handheld instrument that is actuated by a driving force and manually operated by a user.

The first robot arm is operated with n degrees of freedom (n is a natural number), and the robotic instrument can be positioned by the operation of the first robot arm, in which case the effector is coupled to the distal end of the robotic instrument. Receives a driving force from the first power source can be operated in m (m is a natural number) degrees of freedom.

The handheld instrument is operated by the user in n degrees of freedom, and the handheld instrument can be positioned by the user's manual operation, in which case the effector is coupled to the end of the handheld instrument and the effector is from a second power source. It can be operated in m degrees of freedom by receiving the driving force.

The second power source may be of a structure that can be drawn out of the body to couple its ends to the handheld instrument.

Alternatively, the second robot arm is further coupled to the main body, and an adapter is provided at an end of the second robot arm, and the second power source can transmit the driving force through the adapter, in which case the second power source is matched to the adapter. And an end of which is connected to the interface and the other end of which is connected to the handheld instrument to transmit the driving force transmitted through the adapter to the handheld instrument.

The robotic instrument may be provided with an interface having a predetermined shape so as to receive a driving force, and an end portion of the first robot arm may be provided with an adapter that matches the interface. In this case, an interface is formed in the handheld instrument so as to receive a driving force, and an adapter mating with the interface may be provided at the end of the second power source.

At least one of the main body and the first robot arm is provided with a cradle for mounting the handheld instrument, and the handheld instrument is mounted on the cradle to determine its position.

The main body includes a control unit for controlling the second power source, the control unit receives information on its operation state from the handheld instrument, generates a control signal based on the control unit, the handheld instrument can be operated in accordance with the control signal .

The handheld instrument further includes an optical tracker on which an optical marker is displayed and outputs information about the position of the marker from image information about the marker, wherein the control unit receives information from the optical tracker. Receive and locate handheld instruments. Alternatively, the apparatus may further include a magnetic tracker for outputting information regarding the position of the handheld instrument using a magnetic field, and the controller may receive the information from the magnetic tracker to determine the position of the handheld instrument.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to a preferred embodiment of the present invention, by adding a power source that can provide a driving force to a separate instrument to the surgical robot, when you want to additionally use a handheld instrument can be provided with a power source directly from the surgical robot, further The instrument can be controlled by the robot through communication with the robot, so handheld instruments made to the specifications of additional power sources can be used as instruments for robotic mounting, resulting in the versatility and expandability of the surgical robot. Can be enhanced.

1 is a conceptual diagram showing the overall structure of a surgical robot system according to an embodiment of the present invention.

Figure 2 is a conceptual diagram showing the overall structure of a surgical robot system according to another embodiment of the present invention.

3 is a conceptual diagram showing the interface of the adapter and the instrument of the power source according to an embodiment of the present invention.

4 is a view showing a handheld instrument mounted on a surgical robot according to an embodiment of the present invention.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and redundant description thereof will be omitted. Shall be.

On the other hand, a surgical instrument that is designed and manufactured to be controlled by a robot mounted on an arm of a surgical robot is referred to as a 'robotic instrument' and is held and used by a person (self-holding or supplied from outside). Surgical instruments designed and manufactured to be operated by power will be described as 'handheld instruments'.

1 is a conceptual diagram showing the overall structure of a surgical robot system according to an embodiment of the present invention. Referring to FIG. 1, the body 1, the first power source 3, the robot arm 5, the robotic instrument 7, the effector 9, the second power source 10, the handheld instrument 14, The controller 30 is shown.

In the present embodiment, in a surgical robot equipped with a robotic instrument, a handheld instrument is operated by utilizing a part of a power source provided to operate a robot arm or an instrument, and the handheld instrument is connected to the robot. The connection relationship is used so that the handheld instrument can be controlled by the robot.

In general, the surgical robot is divided into a master unit and a slave unit, each of which is composed of a separate device, that is, composed of a master robot and a slave robot are located in separate places, such as input, output, processing through wired, wireless communication, etc. They send and receive signals and perform robotic surgery. For example, when a doctor manipulates a master robot to generate and transmit an input signal, the slave robot located at a remote location receives the signal and operates the robot as if the doctor directly performed the operation by hand. Surgical robot of this concept can be referred to as 'teleoperated robot'.

The robot (slave robot) that performs the surgery is provided with a robot arm, the robot arm is equipped with a robotic instrument (7), the robotic instrument (7) receives the driving force controlled by the robot to perform the operation required for the operation Will perform. In addition, in the operating room, not only a surgical robot, but also various auxiliary equipment, tools, and equipment required for the surgery are used together, and the surgery is performed. It also works. Surgical robot of this concept can be referred to as 'cooperative robot'.

This embodiment is a concept of integrating a 'teleoperated robot' and a 'cooperative robot', so that the 'teleoperated robot' can also function as a 'cooperative robot', by using a part of a power source of the surgical robot and using a separate device (eg For example, handheld instruments) can be used.

Conventionally, when using a separate handheld instrument in addition to a robotic instrument mounted on a surgical robot, the handheld instrument is a separate power source (such as a power source provided in the instrument itself, or a motor pack provided externally). Power source), whereby hand-held instruments and robotic instruments were operated and controlled separately, without interlocking with each other.

On the contrary, in the surgical robot system according to the present embodiment, the power source required for the operation of the handheld instrument 14 is not provided separately, but the handheld instrument 14 is also operated by utilizing the power source provided in the robot. It features.

For example, suppose a surgical robot has seven power lines, three of which are used to position the robot arm 5, and another three of the instruments mounted to the robot arm 5 It is used to hold the direction (more specifically, the direction of the effector 9 coupled to the end of the instrument) and the other one to operate (eg grip) the effector 9. Can be used.

Substituting this example of a 'robot arm 5 -instrument' power system in the case of a handheld instrument 14, there are three power lines for positioning the robot arm 5, namely the robot arm 5 Three power lines for driving the power supply are not needed in the case of the handheld instrument 14. Since the handheld instrument 14 is held by a person, it can be positioned by a person, and three power lines for positioning the robot arm 5 are unnecessary.

When using handheld instruments in conjunction with robots, the position of the handheld instruments is determined by the human, as described above, by adding means to identify the position of the handheld instruments, thereby providing a handheld instrument in the surgical robot. Integrated control can be more convenient.

That is, the position of the handheld instrument can be confirmed by applying optical tracking and / or magnetic tracking technology.

To this end, an optical marker may be displayed on the handheld instrument, and the optical tracker may be used to output information about the position of the marker from image information about the marker, and the controller of the surgical robot may output the optical marker from the optical tracker. From this information, the handheld instrument can be located.

Alternatively, a magnetic tracker is installed which outputs information on the position of the handheld instrument using a magnetic field, and the control unit of the surgical robot uses the position of the handheld instrument from the information output from the magnetic tracker. You can check.

For example, in the case of an optical tracker, the marker is made of a material that reflects light, and a sensing device such as an infrared camera included in the optical tracker works by detecting the light reflected from the marker to track the position of the handheld instrument. In the case of the magnetic tracker, a separate device for generating a magnetic field is provided on the outside and a magnetic field sensor is attached to the handheld instrument so that the information about the position of the handheld instrument can be output from the sensor. .

On the other hand, the remaining four power lines for moving the effector 9 can be used in the same manner for the handheld instrument 14. That is, in this embodiment, drawing out a part of the power source of the robot for use in the handheld instrument 14 may mean using four power lines for moving the effector 9 in the above example. .

Hereinafter, a power source for operating the robot arm 5 and the robotic instrument 7 mounted thereon is a 'first power source', and a power source drawn from the robot for operating the handheld instrument 14 is referred to as a 'second power source'. This is named and explained. In the above example, the seven power lines for operating the robotic arm 5 and the robotic instrument 7 correspond to the example used as the first power source 3 and for operating the handheld instrument 14. Four power lines correspond to the example used as the second power source 10. That is, even the same power line may be the first power source 3 or the second power source 10 depending on the purpose of use.

The surgical robot system according to the present embodiment includes a main body 1, a robot arm 5 coupled to the main body 1, a robotic instrument 7 mounted on the robot arm 5, and a first power source 3. , A second power source 10, and a handheld instrument 14.

The robot arm 5 is a component that is coupled to the body 1 and at the end of which the robotic instrument 7 is mounted. In addition, the robot arm 5 may be operated in a desired state in a three-dimensional space by receiving a driving force from the body (1). The operation of this robot arm 5 determines the position in the three-dimensional space of the robotic instrument 7 mounted at its end. As mentioned above, the actuating power source of the robot arm 5 corresponds to the first power source 3.

For example, if the robot arm 5 positions itself through three motions: pitching about the x-axis, rotating about the y-axis, and moving in the z-axis direction, (5) can be said to operate in three degrees of freedom, whereby the position of the robotic instrument (7) mounted on the end of the robot arm (5) can be determined according to the operation result of the robot arm (5).

The robotic instrument 7 is mounted to the robot arm 5, and like the robot arm 5, the robotic instrument 7 may be operated by receiving a driving force from the first power source 3. The operation of the robotic instrument 7 determines the direction in the three-dimensional space of the effector 9 coupled to its distal end.

For example, at the distal end of the robotic instrument 7, the coupled effector 9 is coupled through four motions: rotation about the x axis, rotation about the y axis, rotation about the z axis, and gripping. Orienting, the robotic instrument 7 can be said to operate in four degrees of freedom, whereby the effector 9 coupled to the distal end of the instrument can be determined and operated (gripping).

As such, the robot arm 5 and the robotic instrument 7 mounted to the robot arm 5 are operated by a first power source 3 controlled by the body 1.

Meanwhile, the second power source 10 is connected to the main body 1 of the robot according to the present embodiment, and the driving force transmitted through the second power source 10 is similar to the first power source 3 by the main body 1. Controlled.

The second power source 10 is merely named so as to be distinguished from the first power source 3 according to the usage aspect of the robot, and a power line that can also be used as the first power source 3 is actually a handheld instrument 14. When withdrawn for connection to the power line, the drawn power line can function as the second power source 10 according to the present embodiment.

Of course, the second power source 10 does not necessarily have to be configured in the same way as the first power source 3, and a separate motor pack is installed in the main body 1 (in a different manner from the first power source 3). And when the operation of the motor pack is configured to be controlled by the main body 1, a separate motor pack may correspond to the second power source 10 according to this embodiment.

The handheld instrument 14 is a hand-held instrument that is used literally as a hand, and is not manufactured on the premise of attaching to the robot arm 5, but rather a robotic instrument is performed by a user (for example, an assistant) during a robotic operation. It is intended to be used by hand to assist (7).

Typically, the handheld instrument 14 has a structure in which a shaft is connected to a handle held by a user and an effector 9 is coupled to an end of the shaft. The power source for operating the handheld instrument 14 may be included in the form of a battery in the handle, or may be configured in such a way that the driving force is transmitted through the handle by connecting an external power source to the handle.

In this embodiment, the second power source 10 connected to the robot body 1 is connected to the handheld instrument 14 so that the second power source 10 is used as a power source for operating the handheld instrument 14. Can be.

Therefore, the handheld instrument 14 according to the present embodiment may be operated by receiving a driving force from the robot (second power source 10), or may be manually operated by a user separately or simultaneously.

In contrast to the case of the robotic instrument 7 described above, the degree of freedom of operation of the handheld instrument 14, the movement of the robot arm 5 corresponds to the manual operation of the user, and the operation of the effector 9 is common.

For example, when the robot arm 5 is operated in three degrees of freedom by the first power source 3 and serves to determine the position of the robotic instrument 7, the handheld instrument 14 is moved by the user. It moves manually in 3 degrees of freedom and its position is determined by the user's manual operation.

In addition, the effector 9 coupled to the distal end of the handheld instrument 14 receives the driving force from the robot (specifically, the second power source 10) as in the case of the robotic instrument 7 and has four degrees of freedom (eg, For example, rotation and gripping about each of the three axes).

The handheld instrument 14 may be operated by receiving a driving force from a second power source 10 controlled by a robot, for which the second power source 10 may be drawn out of its end from the robot body 1. It can be configured as a structure (which can be taken out of the body 1).

In the manner of 'extracting out' a part of the robot's power source (second power source 10) for the handheld instrument 14, as illustrated in FIG. 1, a part of the power source is used as a separate power line. ) May be applied.

Alternatively, the robot arm 6 may be used to mount an interface for driving the handheld instrument 14 instead of mounting the robotic instrument 7 to an instrument mounting adapter formed at an end thereof. This will be described in more detail with reference to FIG. 2 described later.

2 is a conceptual diagram showing the overall structure of a surgical robot system according to another embodiment of the present invention. Referring to FIG. 2, the main body 1, the first power source 3, the

robot arms

5 and 6, the robotic instrument 7, the second power source 10, the handheld instrument 14, the adapter 16a 16b,

interfaces

18a and 18b, and cable 20 are shown.

The present embodiment relates to a method of drawing out the second power source 10 from the robot, for driving the handheld instrument 14 to the instrument mounting adapter 16a in which the robot arm 6 is formed at an end thereof. A method of mounting the interface 18a.

That is, the adapter 16a is formed at the end of the robot arm 6 coupled to the main body 1 to draw out the second power source 10, and the interface 18a and the interface 18a matched to the adapter 16a. The drawing device (hereinafter, referred to as a “second power source drawing cable”) consisting of a cable 20 connected to the second power source 10 may be drawn out to the end of the cable 20.

By connecting the handheld instrument 14 to the end of the second power source lead-out cable, the handheld instrument 14 is operated by receiving a driving force from the second power source 10. In this case, the second power source 10 may be formed in a connection relationship of 'power line-robot arm 6-adapter 16a-interface 18a-cable 20', and through this connection relationship, for surgery Driving force from the robot is transmitted to the handheld instrument 14.

This takes out a part of the power source of the surgical robot through the adapter 16a formed on the robot arm 6 and the interface 18a corresponding thereto, whereby the adapter 16a formed on the robot arm 6 is robotic instrumented. When manufactured in the same manner as the adapter 16b formed for mounting (7), the robotic instrument 7 and the second power source drawing cable are selectively mounted on the end (adapter 16a) of the robot arm 6. can do.

When the robotic instrument 7 is mounted on the adapter 16b of the robot arm 5, the robotic instrument 7 can be operated by a power source (first power source 3) provided from the main body 1. When the second power source drawing cable is attached to the adapter 16a of the robot arm 6, the handheld instrument 14 is operated by a power source (second power source 10) provided from the main body 1. Can be.

To this end, the interface 18b of the robotic instrument 7 and the interface 18a of the second power source lead-out cable can be manufactured in the same manner, and standardized by standardizing the matching relationship between the 'adapter-interface'. It is also possible to connect another surgical device employing the same interface as that of the designed interface, thereby increasing the versatility and expandability of the surgical robot.

As described with reference to FIG. 2, the power source (the second power source 10) for the operation of the handheld instrument 14 may be taken out through the instrument mounting adapter 16a of the existing robot arm 6, and FIG. As described with reference to 1, it may be taken out in the form of a separate power line.

In addition, as the second power source 10, a part of the power source included in the robot body 1 may be allocated to the second power source 10, and another motor pack may be added to add the additional motor pack to the second power source 10. It may be made to function as the power source 10.

When a separate motor pack is used as the second power source 10, the power system of the 'teleoperated robot' (the first power source (3)-the robot arm (5)-the robotic instrument (7)) and the 'cooperative robot' The power system (second power source 10-handheld instrument 14) is configured separately from each other, but even in this case, it is possible to integrate the two robots by allowing each robot to be controlled simultaneously through mutual communication.

That is, a motor pack separately provided for power supply to the handheld instrument 14 may be connected to the robot body 1, and the motor pack may be integrally controlled by the robot body 1. For example, when a user (operator) who controls the robot is sitting on the console of the robot body 1, and the handheld instrument 14 is held by another user (operation assistant), the robot body 1 The integrated control to the motor pack allows the operator to sit on the robot console and control even the instruments held by the assistant (of course, the position of the handheld instrument 14 itself is determined by the assistant's manual operation as described above). Control by the console will be difficult, but the operation of the effector 9 coupled to the instrument end can be integratedly controlled by the robot console).

3 is a conceptual diagram illustrating an interface of an adapter and an instrument of a power source according to an embodiment of the present invention. Referring to FIG. 3,

robot arms

5, 6, robotic instruments 7, handheld instruments 14,

adapters

16b, 16c, and

interfaces

18b, 18c are shown.

In this embodiment, the interface of the power source adapter and the instrument is standardized so that the handheld instrument 14 is mounted on the robot arm 6, or the robotic instrument 7 at the end of the second power source drawing cable. It is installed so that each instrument can be used universally.

The second power source 10 may be drawn out as a separate power line or may be drawn out through a second power source outgoing cable mounted to an adapter 16a formed on the robot arm 6. In this case, the interface 16a of the adapter 16a formed on the robot arm 6 and the second power source drawing cable can be standardized in the same manner as in the case of the robotic instrument 7.

Furthermore, the handheld instrument 14 is also coupled to the end of the separate power line and the end of the second power source lead-out cable, for this purpose, an interface 18c may be formed on the handheld instrument 14 side to receive the driving force. .

In the case of the robotic instrument 7, the adapter 16b is provided at the end of the robot arm 5, and the interface 18b having a predetermined shape is formed in the robotic instrument 7 mounted thereto. As the instrument is mounted to the robot arm 5, the interface 18b is mated to the adapter 16b so that driving force is transmitted from the robot body 1 to the instrument via the robot arm 5.

In the case of the handheld instrument 14, the interface 18c is formed to receive the driving force, and the end of the second power source 10 to which the handheld instrument 14 is mounted (for example, of a separate power line). The end or end of the second power source lead-out cable may be provided with an adapter 16c that mates with the interface 18c.

Accordingly, the interface 18c of the handheld instrument 14 is standardized in the same manner as the interface 18b of the robotic instrument 7, and the adapter 16c at the end of the second power source 10 is robot arm 5. By standardizing in the same manner as the adapter 16b, the handheld instrument 14 can be mounted on the robot arm 6, or the robotic instrument 7 can be mounted on the end of the second power source 10 as necessary. In addition, other devices employing a standardized interface may be mounted, thereby improving the scalability of the surgical robot system.

4 is a view showing a state where the handheld instrument is mounted on a surgical robot according to an embodiment of the present invention. 4, the main body 1, the first power source 3, the robot arm 5, the robotic instrument 7, the second power source 10, the handheld instrument 14, the cradle 22, The controller 30 is shown.

In this embodiment, by installing the cradle 22 to mount the handheld instrument 14 to the surgical robot, the handheld instrument 14, which is connected to the second power source 10 and is used as an auxiliary, for surgery It can be used like an instrument mounted on a robot arm.

That is, as shown in Figure 4, by installing the holder 22 so that the handheld instrument 14 can be mounted on the main body 1 or the robot arm 5, the handheld instrument 14 is a cradle 22 In the mounted state, it can be controlled by receiving a driving force from the robot.

The position of the robotic instrument 7 mounted on the robot arm 5 is determined by the movement of the three degrees of freedom of the robot arm 5, but the position of the handheld instrument 14 mounted on the cradle 22 is The position is fixed by 22, and the surgical robot can control the operation of the effector 9 coupled to the distal end of the mounted handheld instrument 14 (4 degrees of freedom in the above example). .

On the other hand, as described above, the handheld instrument 14 can be integrally controlled by the robot through communication with the robot body 1, for example, when operating the operation device provided in the handheld instrument 14 By allowing the signal to be transmitted to the robot body 1, the robot body 1 can be operated by controlling the handheld instrument 14 as if it is controlling the robotic instrument 7.

That is, the control unit 30 of the main body 1 controlling the second power source 10 receives information on the operation state of the handheld instrument 14, and generates a control signal based on this (second power source ( By controlling 10), the handheld instrument 14 can be controlled.

Although described above with reference to a preferred embodiment of the present invention, those skilled in the art that various modifications of the present invention without departing from the spirit and scope of the present invention described in the claims below And can be changed.

Claims

A surgical robot body;

A first power source connected to the main body and transmitting a driving force controlled by the main body;

A first robot arm coupled to the main body and operated to receive a driving force from the first power source;

A robotic instrument mounted to the first robot arm and operated by receiving a driving force from the first power source;

A second power source connected to the main body and transmitting a driving force controlled by the main body;

Surgical robot system comprising a handheld instrument that is operated by receiving a driving force from the second power source, manually operated by a user.
The method of claim 1,

And wherein the first robotic arm is operated with n degrees of freedom (n is a natural number), and the robotic instrument is positioned at the position of the first robotic arm.
The method of claim 2,

An effector is coupled to the distal end of the robotic instrument, wherein the effector receives a driving force from the first power source and operates with m (m is a natural number) degrees of freedom.
The method of claim 1,

The handheld instrument is operated by the user in n degrees of freedom, and the handheld instrument is surgical robot system, characterized in that its position is determined by the manual operation of the user.
The method of claim 4, wherein

Effector is coupled to the distal end of the handheld instrument, the effector is a surgical robot system, characterized in that operated by m degrees of freedom by receiving a driving force from the second power source.
The method of claim 1,

And the second power source has a structure that can be withdrawn from the body to couple its distal end to the handheld instrument.
The method of claim 1,

The main body is further coupled to the second robot arm, the end of the second robot arm is provided with an adapter, the second power source, the surgical robot system, characterized in that for transmitting the driving force through the adapter.
The method of claim 7, wherein the second power source,

An interface mated to the adapter;

One end of which is connected to the interface and the other end of which is connected to the handheld instrument, the surgical robot system comprising a cable for transmitting the driving force transmitted through the adapter to the handheld instrument.
The method of claim 1,

The robotic instrument is a surgical robot system, characterized in that an interface of a predetermined shape is formed so as to receive a driving force, the end of the first robot arm is provided with an adapter to match the interface.
The method of claim 9,

The interface is formed in the handheld instrument to receive a driving force, the surgical robot system, characterized in that the end of the second power source is provided with an adapter to match the interface.
The method of claim 1,

At least one of the main body and the first robot arm is provided with a cradle for mounting the handheld instrument, the handheld instrument is a surgical robot system, characterized in that the position is determined by being mounted on the cradle.
The method of claim 1,

The main body includes a control unit for controlling a second power source,

The control unit receives information on the operation state from the handheld instrument, and generates a control signal based on this,

The handheld instrument is a surgical robot system, characterized in that operated in accordance with the control signal.
The method of claim 12,

The handheld instrument is marked with an optical marker,

An optical tracker for outputting information on the position of the marker from the image information on the marker further comprises:

The control unit receives the information from the optical tracker surgical robot system, characterized in that for identifying the position of the handheld instrument.
The method of claim 12,

Further comprising a magnetic tracker (magnetic tracker) for outputting information on the position of the handheld instrument using a magnetic field,

The control unit receives the information from the magnetic tracker surgical robot system, characterized in that for identifying the position of the handheld instrument.