Patent ID: 9261353
Filing Date: 2016-02-16
CPC Classification: A61B,G01B

Claim Text:
1. A medical robotic system comprising: a surgical instrument position detection apparatus configured to detect position information of a surgical instrument inserted in a trocar which is inserted into an incised region of a patient; and a console configured to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument, wherein the surgical instrument position detection apparatus comprises a quadrangular frame forming an external appearance of the surgical instrument position detection apparatus including a first subframe disposed in a horizontal direction, and a second subframe disposed in a vertical direction, contacting the first subframe; a sensing unit comprising a first photodiode array mounted in the first subframe and a second photodiode array mounted in the second subframe; a coordinate detection unit to detect an X-coordinate of the surgical instrument in the trocar based on output values of the first photodiode array and a Y-coordinate of the surgical instrument in the trocar based on output values of the second photodiode array.