WO2014010941A1

WO2014010941A1 - Surgical robot system and surgical robot control method

Info

Publication number: WO2014010941A1
Application number: PCT/KR2013/006141
Authority: WO
Inventors: 김성민; 이상훈; 정성현
Original assignee: 현대중공업 주식회사
Priority date: 2012-07-10
Filing date: 2013-07-10
Publication date: 2014-01-16

Abstract

The present invention relates to a surgical robot system comprising: a surgical tool for performing surgery in various surgery areas in a surgery area demarcated into a plurality of surgery areas; a robot arm to which the surgical tool is fitted; and a drive unit for adjusting the action speed at which the robot arm acts in accordance with a risk level that has been set for the surgery area in which the surgical tool is located. The present invention also relates to a surgical robot control method. According to the present invention, by adjusting the speed at which the surgical robot moves in accordance with the risk level that has been set for the surgery area, not only is it possible to improve safety in surgery performed using the surgical robot, but also it is possible to lessen the pain and the inconvenience imposed on the surgeon and the patient by reducing the extent to which surgery is delayed.

Description

Surgical Robot System and Surgical Robot Control Method

The present invention relates to a surgical robot system and a surgical robot control method used to perform a medical operation.

Medically, surgery is the act of treating a disease by cutting, slitting, or otherwise manipulating skin, mucous membranes, or other tissues with a medical device. There are various types of surgery, such as minimally invasive surgery, including laparoscopic surgery, joint replacement surgery, and prostatectomy, depending on the affected area. For example, minimally invasive surgery is performed by inserting a surgical tool into a patient's body through a small incision, and is a surgical technique that minimizes incision due to surgery.

Recently, the development of a surgical robot system that performs surgery using a surgical robot has been actively performed to improve the accuracy, sophistication, and detail of the surgery. For example, in the da Vinci surgical robot, a robot arm inserted directly inside a patient's body may operate like a hand of an operator to perform surgery. The background technology for such a surgical robot system is Korean Patent Publication No. 10-2005-0100147 (published October 18, 2005) and Korean Patent Publication No. 10-2010-0048789 (published May 11, 2010) Is disclosed.

In this case, blood vessels and organs (hereinafter, referred to as “dangerous substances”) that greatly affect the patient's life may be located in the surgical region including the aorta, heart, and lungs. In this case, more precise and detailed operation is required than other treatment areas. However, the surgical robot system according to the prior art is implemented to always perform the operation in the same operation in the entire surgical area belonging to the surgical area irrespective of the dangerous goods present in the surgical area, there is a problem that there is a risk of serious medical accidents.

The present invention has been made to solve the problems described above, to provide a surgical robot system and a surgical robot control method that can reduce the risk of a medical accident in the process of performing surgery using a surgical robot.

In order to solve the above technical problem, the present invention may include the following configuration.

Surgical robot system according to the present invention comprises a surgical tool for performing the operation on each of the surgical area in the surgical area divided into a plurality of surgical area; Robot arm to which the surgical tool is mounted; And a driving unit for operating the robot arm. The driving unit may adjust an operation speed at which the robot arm operates according to a risk level set for the surgical region in which the surgical tool is located.

In the surgical robot control method according to the present invention, if the surgical area in which the surgical robot is located is changed in a surgical area divided into a plurality of surgical areas, the risk level set for the changed surgical area is determined according to the dangerous goods present in the surgical area. step; Determining whether the risk level is changed as the treatment area is changed; And if it is determined whether the risk level is changed, controlling the surgical robot to adjust an operation speed at which the surgical robot operates according to the risk level.

According to the present invention, the following effects can be obtained.

The present invention adjusts the speed at which the surgical robot moves in accordance with the risk level set for the treatment area, thereby improving the stability of the surgery performed by using the surgical robot and reducing the degree of delay in surgery. And pain and discomfort to the patient.

1 is a schematic perspective view of a surgical robot system according to the present invention

2 is a schematic block diagram of a surgical robot system according to the present invention;

Figure 3 is a conceptual diagram showing an example in which the risk level is set for each surgical area in the surgical robot system according to the present invention

4 is a schematic flowchart of a surgical robot control method according to the present invention;

5 is a schematic flowchart of a surgical robot control method according to a modified embodiment of the present invention;

Hereinafter, with reference to the accompanying drawings a preferred embodiment of a surgical robot system according to the present invention will be described in detail.

1 to 3, the surgical robot system 1 according to the present invention is for performing surgery using the surgical robot 100. For example, the surgical robot system 1 according to the present invention may perform various operations such as minimally invasive surgery including laparoscopic surgery, joint replacement surgery, prostatectomy, and the like according to the affected part using the surgical robot 100.

To this end, the surgical robot system 1 according to the present invention is a surgical tool 110 for performing surgery on each of the plurality of surgical areas 20 partitioning the surgical area 10, the surgical tool 110 The robot arm 120 is mounted, and a driving unit 130 for operating the robot arm 120 to perform the surgery by the surgical toll 110. The surgical region 10 means a region to which the affected part belongs. The surgical region 10 is a region including a range in which the surgical tool 110 and the robot arm 120 moves to perform the surgery, and may be an area set to have a larger size than the affected part to surround the affected part. have.

The driving unit 130 adjusts an operating speed at which the robot arm 120 operates according to a risk level DL set for the surgical region 20 in which the surgical tool 110 is located. The risk level DL may be set according to the dangerous substances 30 such as blood vessels and organs that greatly affect the life of the patient such as the aorta, the heart, and the lung in the surgical region 10.

For example, as illustrated in FIG. 3, the first surgical region 21 in which the dangerous object 30 exists includes the second surgical region 22 and the third surgical region 23 spaced apart from the dangerous substance 30. It may be set to a higher first risk level (DL1) than. In addition, the second surgical area 22 positioned next to the dangerous goods 30 next to the first surgical area 21 may be set to a second risk level DL2 that is lower than the first risk level DL1. Can be. In this case, the driving unit 130 is the robot arm when the surgical tool 110 performs the surgery in the first surgical area 21 compared to the case of performing the surgery in the second surgical area 22, The operation speed of the operation 120 may be reduced. The driving unit 130 has the robot arm 120 when the surgical tool 110 performs the surgery in the second surgical region 22 compared to the case where the surgical tool 110 performs the surgery in the first surgical region 21. This can increase the operating speed.

Accordingly, the surgical robot system 1 according to the present invention can achieve the following effects.

First, the surgical robot system 1 according to the present invention has a higher risk level DL for the surgical region 20 in which the surgical tool 110 performs the surgery, and thus the speed at which the surgical tool 110 moves. By reducing the, it is possible to improve the accuracy, sophistication and detail of the surgery for the treatment area 20. Therefore, in the surgical robot system 1 according to the present invention, the surgical tool 110 is operated by the surgical tool 110 in the process of performing the surgery in the surgical region 20 having a high risk level DL. ) To reduce the risk of medical accidents, such as to improve the stability to surgery.

Second, the surgical robot system 1 according to the present invention reduces the speed at which the surgical toll 110 moves in the surgical area 20 having a high risk level DL, and thus, the surgical robot ( After emergency stop 100, the distance that the surgical tool 110 is moved by inertia or the like can be reduced. Therefore, the surgical robot system 1 according to the present invention is a medical accident such that the surgical tool 110 is in contact with the dangerous object 30 when the surgical robot 100 is urgently stopped when an emergency occurs. It can prevent.

Third, the surgical robot system 1 according to the present invention has a higher risk level DL for the surgical region 20 in which the surgical tool 110 performs the surgery, and thus the speed at which the surgical tool 110 moves. By increasing the time, the time taken to complete the surgery can be reduced. Therefore, the surgical robot system 1 according to the present invention can not only improve the stability of the surgery, but also can reduce the pain and discomfort to the operator and the patient by reducing the degree of delay of the operation.

Hereinafter, the surgical tool 110, the robot arm 120, and the driving unit 130 will be described in detail with reference to the accompanying drawings.

1 to 3, the surgical tool 110 is for performing surgery on each of the treatment areas 20. The surgical tool 110 may be operated by the robot arm 120 in a state of being inserted into the body of the patient, thereby performing surgery. The surgical tool 110 is mounted to the robot arm 120. The robot arm 120 may be equipped with different surgical tools 110 according to the type of surgery. For example, the robot arm 120 may be equipped with a surgical tool 110 having a drill, a milling, a forceps, scissors, a grasper, or the like, depending on the type of surgery. Can be.

1 to 3, the robot arm 120 is operated by the driver 130. As the robot arm 120 is operated by the driving unit 130, the surgical tool 110 may perform surgery on each of the surgical regions 20. The robot arm 120 operates to move in at least one direction from a horizontal direction and a vertical direction, thereby moving the surgical tool 110 in at least one direction from the horizontal direction and the vertical direction. The robot arm 120 may include a plurality of joint parts that rotate about different axes.

1 to 3, the driving unit 130 operates the robot arm 130. Accordingly, the surgical tool 110 can perform the surgery on each of the surgical region (20). The driving unit 130 may adjust an operating speed at which the robot arm 120 operates according to a risk level DL set for the surgical region 20 in which the surgical tool 110 is located.

Accordingly, the surgical robot system 1 according to the present invention has a speed at which the surgical tool 110 moves according to a risk level DL set for the surgical region 20 in which the surgical tool 110 performs surgery. By adjusting the, not only can improve the stability for the surgery performed by using the surgical robot 100, thereby reducing the pain and discomfort to the operator and the patient by reducing the degree to which the surgery is delayed have.

The driving unit 130 decreases the speed at which the surgical tool 110 moves as the risk level DL set for the surgical region 20 in which the surgical tool 110 performs surgery is increased. The lower the risk level DL set for the surgical region 20 in which the operation 110 is performed, the speed at which the surgical tool 110 moves can be increased.

For example, when the treatment area 20 is set to be divided into three risk levels DL, the driving unit 130 may adjust the operation speed at which the robot arm 120 operates as follows.

First, the driving unit 130 may operate the robot arm 120 at the first operating speed, which is the minimum operating speed, when the surgical tool 110 performs the surgery in the first surgical region 21. . The first surgical area 21 is an area set to the first risk level DL1 having the highest risk. Accordingly, the surgical tool 110 may perform the surgery on the first surgical region 21 while moving at the lowest speed in the first surgical region 21.

Next, when the surgical tool 110 performs the surgery in the second surgical region 22, the driving unit 130 operates the robot arm 120 at a second operating speed that is faster than the first operating speed. It can be operated. The second surgical area 22 is an area set to a second risk level DL2 having a lower risk than the first risk level DL1. Accordingly, the surgical tool 110 may perform the surgery on the second surgical region 22 while moving at a faster speed than the minimum speed in the second surgical region 21.

Next, when the surgical tool 110 performs the surgery in the third surgical region 23, the driving unit 130 may operate the robot arm 120 at the third operating speed, which is the maximum operating speed. . The third surgical area 23 is an area set to a third risk level DL3 having a lower risk than the second risk level DL2. Accordingly, the surgical tool 110 may perform the surgery on the third surgical region 23 while moving at the maximum speed in the third surgical region 23.

1 to 3, the surgical robot system 1 according to the present invention may include a control unit 200 for controlling the surgical robot 100.

The controller 200 may control the driving unit 130 to operate the robot arm 120 so that the surgical tool 110 may perform surgery on each of the surgical regions 20. The controller 200 may control the surgical robot 100 by providing a control signal to the surgical robot 100 using at least one of wired communication and wireless communication. The control unit 200 may be installed at a position spaced apart from the surgical robot 100 by a predetermined distance. The control unit 200 may be installed to be embedded in the surgical robot 100.

The control unit 200 may include a risk level setting unit 210.

The risk level setting unit 210 divides the surgical region 10 into a plurality of surgical regions 20 and sets a risk level DL for each of the surgical regions 20. The risk level setting unit 210 may set at least one risk level DL among N risk levels DL (N is an integer greater than 2) for each of the treatment areas 20. In the above description, the risk level setting unit 210 divides each of the treatment areas 20 into three risk levels DL1, DL2, and DL3. However, the risk level setting unit 210 is not limited thereto. 210 may be set to be divided into four or more risk levels (DL) for each of the treatment area (20).

The risk level setting unit 210 may provide the driving unit 130 with a risk level DL set for each of the treatment areas 20. When the driver 130 receives the risk level DL set for each of the treatment areas 20 from the risk level setting unit 210 using at least one of wired communication and wireless communication, the received risk level is received. The operation speed at which the robot arm 120 operates may be adjusted according to DL.

The risk level setting unit 210 may set a risk level DL for each of the treatment areas 20 according to a distance from each of the treatment areas 20 from the dangerous object 30. For example, when setting the treatment area 20 divided into three risk levels (DL), the risk level setting unit 210 has a distance between the dangerous goods 30 or the dangerous goods 30. The first surgical area 21 that is 0.5 cm or less may be set to the first risk level DL1 having the highest risk. The risk level setting unit 210 sets the second surgical area 22 having a distance greater than 0.5 cm and 1.0 cm or less from the dangerous object 30 in a second risk level lower than the first risk level DL1 ( DL2). The risk level setting unit 210 may set the third surgical region 23 having a distance greater than 1.5 cm from the dangerous object 30 as the third risk level DL3 having the lowest risk.

The risk level setting unit 210 generates a risk level DL for each of the treatment areas 20 according to a risk level of the dangerous goods 30 existing within a predetermined distance with respect to each of the treatment areas 20. Can be set. The predetermined distance may be preset by the operator or manufacturer. For example, when setting the treatment area 20 divided into three risk levels (DL), the risk level setting unit 210 is a treatment area in which the first dangerous material having the highest risk level exists within a predetermined distance ( 20) may be set as the first risk level DL1 having the highest risk. The risk level setting unit 210 is a second risk level lower than the first risk level DL1 to the treatment area 20 in which the second dangerous goods having a lower risk level than the first dangerous goods exist within a predetermined distance. Can be set to (DL2). For example, the first dangerous material may be the aorta to which the surgical tool 110 should not be contacted, and the second dangerous material may be liver to which the surgical tool 110 can be contacted to some extent. The risk level setting unit 210 may set the treatment area 20 in which the third dangerous material having the lowest risk level exists within a predetermined distance to the third risk level DL3 having the lowest risk.

The risk level setting unit 210 is a danger of the dangerous goods 30 that each of the treatment area 20 is present within a predetermined distance to the distance and the predetermined distance to each of the treatment area (20). The risk level DL may be set for each of the treatment areas 20 using all of the grades. In this case, even if the risk level setting unit 210 is located farthest from the dangerous goods 30 and is the treatment area 20 corresponding to the third risk level DL3, the risk level of the dangerous goods 30 is high. The treatment area 20 may be set by increasing the risk level DL to the second risk level DL2 or the first risk level DL1. In addition, the risk level setting unit 210 is located closest to the dangerous goods 30, even if the treatment area 20 corresponding to the first risk level (DL1), if the risk level of the dangerous goods 30 is low The treatment area 20 may be set by lowering the risk level DL to the second risk level DL2.

Although not shown, the control unit 200 may include a display unit for displaying the risk level DL set for each of the treatment areas 20 by the risk level setting unit 210. In this case, the display unit may display the treatment area 20 by changing the color according to the risk level DL. Accordingly, the operator can visually check the display unit to check the risk level DL set for the treatment areas 20.

Although not shown, the controller 200 may include a storage unit that stores an image of the affected part. The risk level setting unit 210 partitions the surgical region 10 into a plurality of surgical regions 20 by using the image stored in the storage unit, and a risk level DL for each of the surgical regions 20. ). The image may be obtained by an imaging device such as CT, MRI, or the like. The image may be for a two-dimensional or three-dimensional image. The storage unit may be a nonvolatile memory such as a flash memory, a hard disk, a CD-ROM, or the like. The display unit may display the treatment area 20 on the image by changing colors according to the risk level DL.

1 to 3, the controller 200 may include a surgical path setting unit 220.

The surgical path setting unit 220 sets the surgical path according to the risk level DL set for each of the surgical areas 20. The surgical path setting unit 220 receives a risk level DL set for each of the surgical areas 20 from the risk level setting unit 210 using at least one of wired communication and wireless communication. The surgical path may be set according to the risk level DL.

The surgical path setting unit 220 may set the surgical path to perform the operation from the surgical region 20 having a low risk level DL to a surgical region having a high risk level DL. Accordingly, in the surgical robot system 1 according to the present invention, the surgical robot 100 first completes the operation on the surgical region 20 having a low risk level DL, and then a surgical area having a high risk level DL. By performing the operation on (20), it can be implemented to perform the operation on the surgical region 20 with a high risk level (DL) in a state where the elements that can be disturbed are removed as much as possible. Therefore, the surgical robot system 1 according to the present invention can lower the relative surgical difficulty when performing surgery on the surgical area 20 having a high risk level DL.

Although not shown, the storage unit may store the surgical path set by the surgical path setting unit 220. The display unit may display the surgical path set by the surgical path setting unit 220 so that the operator can check whether the surgical path set by the surgical path setting unit 220 is appropriate. In this case, the display unit may be displayed in the form of simulating the surgery according to the surgical path set by the surgical path setting unit 220. When the operator changes the surgical path set by the surgical path setting unit 220, the storage unit may store the changed surgical path. The surgical robot 100 may automatically perform the surgery according to the surgical path stored in the storage.

1 to 3, the controller 200 may include a changer 230.

The changer 230 may change the operation mode between the automatic mode and the cooperative mode. The automatic mode is a surgical mode in which the surgical robot 100 performs the operation on the surgical region 20 automatically. Surgical robot system 1 according to the present invention, when performing the operation in the automatic mode for the operation area 20, the surgical tool 110 is located, the surgical robot 100 is the operation set without the operation by the operator It is implemented to perform surgery automatically along the route. The cooperative mode is a performance mode in which an operator and the surgical robot 100 perform surgery in cooperation. In the surgical robot system 1 according to the present invention, when the surgery is performed in a cooperative mode with respect to the surgical region 20 in which the surgical tool 110 is located, the surgical robot 100 operates according to the operator's operation. Is implemented. In this case, the driving unit 130 may operate the robot arm 120 to operate the robot arm 120 to correspond to the strength and direction of the force applied by the operator.

The changer 230 may automatically change the operation mode between the automatic mode and the cooperative mode according to the risk level DL set for each of the treatment areas 20. For example, the surgical tool 110 performs the operation in the automatic mode in the second surgical region 22 set to the second risk level DL2, and then the first surgical region 21 set to the first risk level DL1. ), The changer 230 may automatically change the operation mode from the automatic mode to the collaboration mode.

The changer 230 may automatically change the operation mode between the automatic mode and the cooperative mode according to an input signal provided from the operator. In this case, the changer 230 changes the surgical area 20 in which the surgical tool 110 is located to the surgical area 20 having a different risk level DL than before, to the operator. A message confirming whether or not to change may be displayed on the display unit.

For example, the surgical tool 110 performs the operation in the automatic mode in the second surgical region 22 set to the second risk level DL2, and then the first surgical region 21 set to the first risk level DL1. ), The changer 230 may display a message on the display unit to determine whether to change the operation mode from the automatic mode to the cooperative mode. In this case, when the operator inputs an input signal for changing the operation mode through the display unit, the changer 230 may change the operation mode from the automatic mode to the cooperative mode.

1 to 3, when the surgical robot system 1 according to the present invention includes the change unit 230, the drive unit 130 includes a drive mechanism 131 and a load mechanism 132. can do.

The driving mechanism 131 may adjust a driving speed for operating the robot arm 120 when the surgery mode is an automatic mode. Accordingly, the driving unit 130 may adjust the operation speed at which the robot arm 120 operates according to the risk level DL set for the surgical region 20 in which the surgical tool 110 is located.

For example, when the surgical tool 110 moves from the third surgical region 23 set to the third risk level DL3 to the second surgical region 22 set to the second risk level DL2. If the operation mode is the automatic mode, the driving mechanism 131 may reduce the driving speed for operating the robot arm 120 by reducing the rotational speed of the motor for moving the robot arm 120.

The load mechanism 132 may adjust the load acting in the process of the operator operating the robot arm when the surgery mode is the cooperative mode. Accordingly, the driving unit 130 may adjust the operation speed at which the robot arm 120 operates according to the risk level DL set for the surgical region 20 in which the surgical tool 110 is located.

For example, when the surgical tool 110 moves from the second surgical region 22 set to the second risk level DL2 to the first surgical region 21 set to the first risk level DL1, If the operation mode is a cooperative mode, the load mechanism 132 may increase the load acting in the process of the operator operating the robot arm by changing the reduction gear connected to the motor for moving the robot arm 120. Accordingly, the load mechanism 132 increases the load such that the distance that the robot arm 120 moves is shorter and the robot arm 120 moves slower than the strength and direction of force applied by the operator. You can. That is, the load mechanism 132 may increase the weight that the operator feels while moving the robot arm 120. The load mechanism 132 may increase the load acting in the process of the operator operating the robot arm by using a rock damper mounted on the robot arm 120.

Hereinafter, with reference to the accompanying drawings a preferred embodiment of the surgical robot control method according to the present invention will be described in detail.

1 to 4, the surgical robot control method according to the present invention is to perform the surgery using the surgical robot (100). Surgical robot control method according to the present invention can be performed through the surgical robot system (1) described above. Surgical robot control method according to the present invention includes the following configuration.

First, the risk level DL set for the treatment area 20 is checked (S10). This process (S10) is made by confirming the risk level (DL) set for the surgical region 20, the surgical robot system 1 is changed when the surgical region 20 where the surgical robot 100 is located. Can be. The risk level DL set for the treatment area 20 may be set by the risk level setting unit 210. If the surgical region 20 is changed while the surgical tool 110 moves to perform the surgery, the control unit 200 changes the risk level DL set for the modified surgical region 20 from the storage unit. You can check it.

Next, as the treatment area 20 is changed, it is determined whether the risk level DL is changed (S20). This process (S20) is a comparison between the risk level (DL) set for the surgical area 20 before the change and the surgical level (DL) set for the surgical area 20 after the change. This can be done by. Step (S20) of determining whether the risk level is changed, the control unit 200 is the risk level (DL) set for the surgical area 20 where the surgical tool 110 is located before the change and the operation The tool 110 may be performed by comparing the risk level DL set for the treatment area 20 positioned after the change.

Next, when it is determined whether the risk level DL is changed, the surgical robot 100 is controlled according to the risk level DL (S30). This process (S30) is to operate the surgical robot 100 to adjust the speed at which the surgical robot 100 operates in accordance with the risk level (DL) set for the surgical region 20, the surgical robot system 1 is changed. By controlling. In step S30 of controlling the surgical robot 100, the operation speed of the robot arm 120 is adjusted according to a risk level DL set for the surgical region 20 in which the driving unit 130 is changed. This can be done by.

Therefore, the surgical robot control method according to the present invention by adjusting the speed at which the surgical tool 110 moves in accordance with the risk level (DL) set for the surgical region 20 to perform the surgery. In addition to improving the stability of the surgery performed using the surgical robot 100, this may reduce the pain and discomfort to the operator and the patient by reducing the degree of delay of the operation.

1 to 4, the process of controlling the surgical robot 100 (S30) may further include the following process.

First, when the risk level DL is increased as a result of determining whether the risk level DL is changed, the operation speed at which the surgical robot 100 operates is reduced (S31). This process (S31), the surgical robot system 1 may be made by reducing the operating speed of the robot arm 120 operates. The step S31 of reducing the operation speed at which the surgical robot 100 operates may be performed by the driving unit 130. For example, when the surgical tool 110 moves from the second surgical region 22 set to the second risk level DL2 to the first surgical region 21 set to the first risk level DL1, The driving unit 130 may reduce the operation speed at which the robot arm 120 operates.

Next, when the risk level DL is maintained as a result of determining whether the risk level DL is changed, the operation speed at which the surgical robot 100 operates is maintained (S32). This process (S32), the surgical robot system 1 may be achieved by maintaining the operating speed at which the robot arm 120 operates. The operation S32 of maintaining the operation speed at which the surgical robot 100 operates may be performed by the driving unit 130. For example, when the surgical tool 110 moves from the second surgical region 22 set to the second risk level DL2 to the second surgical region 22 set to the second risk level DL2, The driver 130 may maintain an operating speed at which the robot arm 120 operates.

Next, when the risk level DL is lowered as a result of determining whether the risk level DL is changed, the operation speed at which the surgical robot 100 operates is increased (S33). This step (S33), the surgical robot system 1 may be made by increasing the operating speed of the robot arm 120 operates. The step S33 of increasing the operation speed at which the surgical robot 100 operates may be performed by the driving unit 130. For example, when the surgical tool 110 moves from the second surgical region 22 set to the second risk level DL2 to the third surgical region 23 set to the third risk level DL3, The driver 130 may increase the operating speed at which the robot arm 120 operates.

1 to 5, the process of controlling the surgical robot 100 (S30) may further include the following process.

First, when the risk level DL is increased as a result of determining whether the risk level DL is changed, it is determined whether the operation mode is changed (S311). This process (S311) can be made by the surgical robot system 1 determines whether the operation mode is changed from the automatic mode to the cooperative mode. The process of determining whether the surgery mode is changed from the automatic mode to the collaboration mode (S311) may be performed by the changer 230.

Next, when the surgery mode is changed to the collaboration mode, the load is increased (S312). This process (S312) can be made by increasing the load acting in the process of the operator operating the surgical robot 100 so that the operation robot system 1 is reduced the operating speed of the operation robot 100. . The step of increasing the load (S312) may be performed by the driving mechanism 131.

Next, when the surgical mode is maintained in the automatic mode, the driving speed is reduced (S313). This process (S313) may be made by reducing the drive speed of the drive unit 133 so that the surgical robot system 1 reduces the operating speed of the operation robot 100. The process of reducing the driving speed (S313) may be performed by the driving mechanism 131.

1 to 4, the surgical robot control method according to the present invention may further include a step S40 of setting a risk level DL. The process of setting the risk level DL may be performed before the process S10 of checking the risk level DL set for the treatment area 20 is performed.

In the step S40 of setting the risk level DL, the surgical robot system 1 divides the surgical region 10 into a plurality of surgical regions 20, and each of the divided surgical regions 20. It can be made by setting any one of the risk level (DL) of the N risk level (DL) in accordance with the distance from the dangerous goods 30 with respect to. This process (S40) may be performed by the risk level setting unit 210.

The process of setting the risk level (DL) (S40), the surgical robot system 1 in accordance with the risk level of the dangerous goods 30 present within a predetermined distance for each of the divided treatment area (20) N It is also possible to set the risk level (DL) of any one of the dog's risk level (DL). This process (S40) may be performed by the risk level setting unit 210.

In the process of setting the risk level DL (S40), the surgical robot system 1 each of the treatment area 20 is separated from the dangerous object 30 and each of the treatment area 20 It may be achieved by setting the risk level (DL) for each of the treatment area 20 by using all of the risk level of the dangerous goods 30 present within a predetermined distance with respect to. This process (S40) may be performed by the risk level setting unit 210.

1 to 4, the surgical robot control method according to the present invention may further include a step (S50) of setting a surgical path.

In the step S50 of setting the surgical path, the surgical robot system 1 performs the operation from the procedure region 20 having a low risk level DL to the procedure region 20 having a high risk level DL. This can be accomplished by establishing a surgical path. This process (S50) may be performed by the surgical path setting unit 220. The step of setting the surgical path (S50) may be performed after the step (S40) of setting the risk level (DL). The step S10 of checking the risk level DL set for the treatment area 20 may be performed after the step S50 of setting the surgery path. The step S10 of checking the risk level DL set for the treatment area 20 is performed after the surgery robot system 1 starts the surgery using the surgery robot 100 according to the set surgery path. Can be. Step (S10) of checking the risk level (DL) set for the treatment area 20, the control area 20 in the process of performing the operation according to the surgical path is set by the surgical robot 100 ( 20 may be changed by checking the risk level DL set for the changed surgical region 20.

The present invention described above is not limited to the above-described embodiment and the accompanying drawings, and it is common in the art that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be evident to those who have knowledge of.

Claims

Checking a risk level set for the changed surgical area according to a dangerous object present in the surgical area when the surgical area in which the surgical robot is located is changed in the surgical area divided into a plurality of surgical areas;

Determining whether the risk level is changed as the treatment area is changed; And

And if it is determined whether the risk level is changed, controlling the surgical robot to adjust an operating speed at which the surgical robot operates according to the risk level.
The method of claim 1,

And controlling the surgical robot includes reducing the operation speed at which the surgical robot operates when the risk level is increased.
The method of claim 1,

And controlling the surgical robot to maintain the operation speed at which the surgical robot operates when the risk level is maintained.
The method of claim 1, wherein the controlling of the surgical robot comprises:

Determining whether the operation mode is changed from the automatic mode in which the surgical robot automatically performs the operation to the collaboration mode in which the surgical robot and the operator perform the operation when the risk level is increased;

When the surgical mode is changed to the cooperative mode, increasing a load acting on the operator by operating the surgical robot such that the operating speed of the surgical robot is reduced; And

And if the surgical mode is maintained in the automatic mode, reducing the driving speed of a driving unit for operating the surgical robot such that the operating speed at which the surgical robot operates is reduced.
The method of claim 1,

Partitioning the surgical area into a plurality of surgical areas, and setting a risk level of any one of N risk levels (N is an integer greater than 2) for each of the partitioned surgical areas according to the distance from the dangerous object Surgical robot control method comprising a.
The method of claim 1,

The risk area is divided into a plurality of surgical areas, and any one of N risk levels (N is an integer greater than 2) according to the risk level of the dangerous goods existing within a predetermined distance for each of the partitioned surgical areas. Surgical robot control method comprising the step of setting the level.
The method according to claim 5 or 6,

If the risk level is set, setting a surgical path such that surgery is performed from a procedure area having a low risk level to a procedure area having a high risk level;

The step of checking the risk level, the surgical robot control method characterized in that for confirming the risk level set for the changed surgical area when the surgical area is changed in the process of performing the operation according to the surgical path set.
A surgical tool for performing surgery on each of the surgical areas in the surgical area partitioned into a plurality of surgical areas;

Robot arm to which the surgical tool is mounted; And

It includes a driving unit for operating the robot arm,

The driving unit is a surgical robot system, characterized in that for controlling the operating speed of the robot arm operating in accordance with the level of risk set for the surgical region in which the surgical tool is located.
The method of claim 8,

The driving unit reduces the speed at which the surgical tool moves as the risk level set for the surgical region in which the surgical tool is located decreases, and the lower the risk level set for the surgical region in which the surgical tool is located, the lower the risk level. Surgical robot system, characterized in that for adjusting the speed of movement of the robot arm to increase the speed of movement.
The method of claim 8,

And a changing unit for changing the operation mode between an automatic mode for automatically performing surgery on the treatment area and a collaboration mode for performing surgery in cooperation with the operator on the treatment area;

The driving unit controls a driving mechanism for adjusting the driving speed for operating the robot arm when the operation mode is the automatic mode, and the load acting in the process of the operator operating the robot arm when the operation mode is a cooperative mode Surgical robot system comprising a load mechanism.
The method of claim 8,

A risk level setting unit for partitioning the surgery area into a plurality of surgery areas, and setting any one of N risk levels for each of the partitioned surgery areas;

The risk level setting unit sets a risk level for each of the treatment areas by using at least one of a distance between each of the treatment areas from a dangerous object and a risk level of the dangerous goods within a predetermined distance with respect to each of the treatment areas. Surgical robot system, characterized in that the setting.
The method of claim 11,

A surgical path setting unit for setting a surgical path according to a risk level set for each of the surgical areas;

The surgical path setting unit sets a surgical path so that the operation is performed from the surgical area having a low risk level to the surgical area having a high risk level.