Source: https://patents.google.com/patent/WO2011021788A2/en
Timestamp: 2019-09-20 16:46:30
Document Index: 75802258

Matched Legal Cases: ['art 650', 'art 650', 'art 650', 'art 650', 'art 650', 'art 650', 'art 650', 'art 650']

WO2011021788A2 - Remote surgical robot system and method for controlling same, for providing indirect surgical feel - Google Patents
Remote surgical robot system and method for controlling same, for providing indirect surgical feel Download PDF
WO2011021788A2
WO2011021788A2 PCT/KR2010/004953 KR2010004953W WO2011021788A2 WO 2011021788 A2 WO2011021788 A2 WO 2011021788A2 KR 2010004953 W KR2010004953 W KR 2010004953W WO 2011021788 A2 WO2011021788 A2 WO 2011021788A2
PCT/KR2010/004953
WO2011021788A3 (en
2009-08-18 Priority to KR10-2009-0076257 priority Critical
2009-08-18 Priority to KR1020090076257A priority patent/KR100997194B1/en
2010-07-28 Application filed by 주식회사 래보 filed Critical 주식회사 래보
2011-02-24 Publication of WO2011021788A2 publication Critical patent/WO2011021788A2/en
2011-06-16 Publication of WO2011021788A3 publication Critical patent/WO2011021788A3/en
The present invention relates to a remote surgical robot system and to a method for controlling same, capable of simply detecting deformation, such as the bending of a surgical instrument mounted on a robot arm when contacting human tissue during endoscopic surgery using a laparoscope, etc., on the basis of an endoscopic image, and enabling that force to be felt through the means for controlling the robot arm, in order to assist in facilitating surgery by providing the surgeon with a similar feel to that of manually performing surgery. The surgical robot control method according to the present invention can calculate the displacement of instrument deformation during the insertion of the instrument into the human body during a surgical procedure, and can determine the force exerted on the instrument inside the human body on the basis of the displacement. In order to induce better deformation of the instrument and to facilitate the measurement of displacement, suitable materials can be used to change the amount of deformation at suitable locations on the shaft of an instrument in accordance with the targeted application.
Remote robotic surgery system and a control method that provides a sense indirectly surgery
The present invention is based on the deformation such as a remote surgical robot systems and relates to a control method thereof, in particular the bending to the surgical instrument attached to the robot arm at the time of endoscopic surgery using a laparoscope, etc. caused by such contact with the human body in the endoscope image and it will easily detect and on to assist to perform the surgery facilitates a feeling for surgeon similar to those in the manual operation remote surgical robotic system and a control method that by making this the time the force felt as a means to manipulate the robot arm .
It has made a lot of surgical procedures are added to other operations inflammation, tumors, such as cut or wound or second skin or mucous membranes and other tissues to treat diseases using medical equipment. In particular, lesions, etc. Open to cut the skin of the surgical laparotomy for the treatment, cosmetic or remove organizations that therein is due to problems such as bleeding, side effects, patient pain, scarring in recent years to minimize these side effects Laparoscopic surgery is expanding its range of applications.
Laparoscopic surgery is minimal the abdominal region by inserting the surgical instruments say the operation to proceed while observing the body to the endoscope or the like, is equipped with various operation members (scissors, forceps, clip, etc.) to the instrument end portion to be inserted into a human body For this purpose, a manual (hand-held) in the surgical instrument is insertable into the body is to allow manual operation of the doctor in vitro widely used.
On the other hand, and further there Surgery with the robot also been in the spotlight as an alternative, in general, these surgical robot patient directly receives a signal from the master (master) robot, a master robot for generating and transmitting the signaling required by the operation of the doctor for to be made by applying a slave operation required for surgery (slave) robot, it can be configured by integrating the master robot and the slave robot, or composed of separate devices each proceed to operation in a state disposed in the operating room.
For example, according to underwent endoscopic surgery using a laparoscope, such as using a robot, surgical doctor, depending on the image received through the endoscope, such as laparoscopic by close-up the distal end of the instrument to the surgical site so that the procedure for the affected part, the human body an instrument in the process of moving the instrument will proceed in the surgery by relying on visual judgment of the surgeon without any special feeling about and whether or not that is was not hurt in the human body as a force in contact with human tissue.
To solve this problem, recently, by mounting the strain gauges on the instrument it is an attempt to determine the status of the instrument by detecting the variation of the instrument. However, the instrument can only be on many manufacturing difficulties because it is a precision surgical instruments to be inserted with minimal abdominal area, the way to have the means for mounting the strain gauges on the instrument and to print information about the modifications to the exterior rather, it is a factor that increases the cost of manufacturing.
The present invention been made in view of the above problems, it is an object of the present invention is based on the manual operation by passing the force to the surgeon, which is in contact with tissue within the human body instrument for surgery at the time of endoscopic surgery using a laparoscope, etc. and to provide a remote robotic surgery system and a control method that can easily assist to perform the surgery feeling like.
Another object is, the number of the instrument for when the remote endoscopic surgery simply detected on the basis of the deformation of the flexure, such as occurs in contact with tissue in the endoscope image a remote surgical robot system, and a control in Laparoscopic the like of the present invention to provide a method.
And, still another object of the present invention, the instrument material, length, change the feel of the surgical procedure required to the surgeon, to ensure that in consideration of the properties such as thickness strain is identified to occur in the instrument according to the operation type and the operation environment to provide a remote robotic surgery system and a control method that can be passed without.
, Surgical robot control method according to one aspect of the invention for realizing the above object is, during the process of surgery to insert an instrument into the body, calculate a displacement of the deformation of the instrument, and by the instrument based on the displacement the features that determine the strength it receives from the body.
According to the determined power, it is possible to apply a reaction force to the driving force for the movement of the operating means of the instrument. The driving force used for the movement of said operating means may include a rotational force, hydraulic, or pneumatic motor.
It may be based on the acquired image with the endoscope to determine the force by calculating the displacement in the deformation of the instrument.
Of the distal portion calculated from the image of the actual position of the end portion obtained by the location information and the endoscope in the distal end of the instrument predicted by using an operation signal that is generated by the operation processing unit in accordance with the operation of the operating means of the instrument the actual position It can be compared to the information to calculate the displacement in the deformation.
To an image of the instrument after the instrument image and the variation of the power received prior to deformation compared with each other may be calculating the displacement of the distal end of the instrument before and after the deformation.
It can be displayed by means that is the endoscope image display information about the size of the determined strength.
The shaft of the instrument is made of a material that is a certain elastic force kept by removing the force that causes the deformation can be restored to the original straight condition of the shaft of the instrument is the basic material of the base material and the distal end side of the housing side the deformation degree between may include other materials. The modification degree of the different materials may be better in the bend portion than the base material, the deformation degree is different materials may be formed a plurality of times at a predetermined interval between the basic material.
The shaft has a predetermined shape formed on the distal end of the marker, it is also possible to calculate the displacement by using the marker on the obtained image to the endoscope.
It has a strain sensing auxiliary pattern including straight line or dotted line in the shaft of the instrument, and from the acquired image by the endoscope may be calculating the displacement using the modified sensed auxiliary pattern.
The material of the instrument shaft, the length may be based on modeling using the characteristic information including the thickness determine the force corresponding to the displacement.
Refer to a table value of the displacement amount of the force by databasing for the deformation of the shaft of the instrument to determine the force. Wherein the table values ​​can be databased separately depending on the material, length, or thickness of the instrument shaft.
During the process of surgery to insert a plurality of instruments into the human body, applicable to in determining the power for the variation of the instrument at the time any one of the plurality of the instrument to the relative pulling or pushing operation of the other instrument can do.
In addition, the surgical robot control method according to another aspect of the invention, during the process of surgery to insert an instrument into the human body, and predicting the position of the distal end of the instrument corresponding to the operation of the operating means of said instrument from said endoscope image to calculate the actual position of the distal end is characterized in that with respect to the deformation of the instrument determines the power received in the body.
Further, according to another aspect of the invention, the deformation force recognition apparatus for controlling a surgical robot may be implemented as a separate independent device, the deformation force recognition apparatus, the during the surgery by inserting an instrument into the human body displacement calculating means for calculating the displacement of the deformation of said instrument; And a power determination means for the instrument determines the power received by the body on the basis of the displacement.
The force determination means can be determined according to the force applied to the reaction force to the driving force for the movement of the operating means of the instrument.
Said displacement calculating means, calculating from the image of the actual position of the end portion obtained in the operation processing unit in accordance with the operation of the operating means of the instrument to position information and the endoscope in the distal end of the instrument predicted by using an operation signal generating It can be compared to the actual position information of the distal end to calculate the displacement in the deformation.
The power determining means, it is possible to the shaft of the instrument material, length, based on modeling using the characteristic information including the thickness determine the force corresponding to the displacement.
Said power decision means may refer to table values ​​which are stored the size of the displacement by the force for the deformation of the shaft of the instrument is a database in the storage means to determine the force on the displacement.
Further, in the surgical robot system comprising a master robot for controlling a slave robot and the slave robot according to another aspect of the present invention, comprising an instrument to be mounted on the robot arm, the master robot, the body of the instrument inserted by calculating the displacement in the deformation of the instrument during the surgery within, and on the basis of the displacement includes a strain recognition means for the instrument determines the power received in the body.
Further, in the surgical robot system comprising a master robot for controlling a slave robot and the slave robot according to another aspect of the present invention, comprising an instrument to be mounted on the robot arm, the master robot, the body of the instrument during the insertion proceeds the operation in the power to predict the position of the distal end of the instrument corresponding to the operation of the operating means for the instrument to calculate the actual position of the nose assembly from an endoscope image to receive in the body with respect to the deformation of said instrument a recognition means for determining comprises a deforming force.
The strain recognition means, a displacement calculating means for calculating the displacement based on image analysis of the actual deformation of the instrument; And the material of the instrument shaft, the length may be based on modeling using the characteristic information including the thickness including the power determining means for determining a force corresponding to the displacement.
The master robot, comprising a storage means for storing a table value, the displacing amount of force databasing by for the modification of the instrument shaft, the deformation force recognition means, image analysis of the actual deformation of the instrument displacement calculating means for calculating the displacement based on; And a power determination means for determining the force with reference to the table values ​​stored in the storage means relative to the displacement.
Further, according to another aspect of the invention, mounted on the robot arm through the housing, according to a surgical instrument comprising an effector at the distal end of the shaft, the shaft is made of a material that is a certain elastic force keeping the cause of deformation removing the power is being restored to the original straight condition. Use a material in which the elastic force is maintained in order on the basis of image analysis of the displacement for the transformation to determine the power received in the body.
The shaft has a degree of deformation between the base material of the base material and the distal end side of the housing side can comprise a different material, the deformation degree is different materials may be better in the bend portion than the base material. The modification degree of the different material may be formed a plurality of times at a predetermined interval between the basic material.
The shaft has a predetermined shape formed on the distal end of the marker may be a marker in the obtained image to the endoscope used for the measurement of displacement in the deformation.
The shaft may be the secondary modified detection pattern is used for the measurement of the displacement with respect to the variation in the image has a strain sensing auxiliary pattern including straight line or dotted line, obtained with the endoscope.
The instrument may include during the process of surgery to insert into the body, the deformation force recognition means for measuring the displacement of the deformation of the shaft, determining the received power in the body, based on the displacement.
The instrument is, during the process of surgery and insertion into the human body, by predicting the position of the distal end of the instrument corresponding to the operation of the operating means for the instrument to calculate the actual position of the nose assembly from the endoscopic image with respect to the deformation of the instrument It may include stress recognition means to determine the strength it receives from the body.
The strain recognition means, a displacement calculating means for calculating the displacement of the deformation of said instrument; And can the instrument may include a power determining means for determining the power received in the body on the basis of the displacement.
The force determination means can, based on the material, length modeling, using the characteristic information including the thickness of the shaft of the instrument to determine the force corresponding to the displacement.
The instrument further includes a storage means for storing a table value, the displacing amount of force databasing by each of the said deformation of said instrument shaft, and, by referring to the table value stored in the storage means to determine the force can. It said storage means, the values ​​of the tables depending on the material, length, or thickness of the instrument shaft may separately databasing.
According to the remote surgical robot system and the control method thereof according to the present invention, a feeling similar to that in manual operation facilitates the surgical instrument during endoscopic surgery using a laparoscope, such as to transmit force which is in contact with tissue in the body to the surgeon, you can aid to perform the surgery.
Further, according to the remote surgical robot system and a control method according to the invention, the laparoscopic such that the instrument for when the remote endoscopic surgical operation can be easily detected on the basis of the deformation of the flexure, such as occurs in contact with tissue in the endoscope image using have.
And, according to the remote surgical robot system and a control method according to the invention, to ensure that, taking into account the material, length, properties such as the thickness of the instrument strain is identified to occur on the instrument in operation feeling of the surgical procedure required to the surgeon, It can pass without change, depending on the type of surgery and the environment.
1 is a perspective view for explaining a remote surgical robot system according to an embodiment of the present invention.
Figure 2 is a perspective view of a slave robot according to an embodiment of the present invention.
Figure 3 is a perspective view of an instrument in accordance with one embodiment of the present invention.
Figure 4 is a picture of an endoscope image, according to an embodiment of the invention.
5 is a view showing a variation of the shaft of the instrument according to an embodiment of the present invention.
Figure 6 is a block diagram illustrating a remote surgical robot system according to an embodiment of the present invention.
7 is a view for explaining the size of a databased force by displacement of the instrument in accordance with an embodiment of the invention.
8 is a flowchart illustrating a method of determining the amount of force for the deformation of the instrument shown in FIG. 5.
9 is a view for explaining the structure of the instrument according to another embodiment of the present invention.
10 is a view for explaining the structure of the instrument according to another embodiment of the present invention.
11 is a view for explaining the structure of the instrument according to another embodiment of the present invention.
12 is a view for explaining an example of a surgical procedure for switching binding operation.
13 is a view for explaining the structure of the instrument according to another embodiment of the present invention.
14 is an example of a display screen that displays information about the size of the force applied to the instrument.
Below, by describing the preferred embodiments of the invention with reference to the accompanying drawings, the present invention will be described in detail.
1, a remote surgical robot system is the master robot (1) and receives the remote control for the master robot 1 performing the surgery to a patient lying on the operating table slave robot (2) in accordance with one embodiment of the present invention It includes. Master robot 1 and the slave robot 2 is not necessarily to be separated as a separate unit independent physically integrated into one may be of a one-piece, in which case the master interface included in the slave robot (2), (4 ) it may correspond to the interface portion of the master robot (1) with an integrated robotic system.
Master robot (1) has overall control of the steering wheel forms the operating means 10 and the slave robot (2) for operating the robot arm (8, 9) of the means (6) and the slave robot (2) to monitor the surgical procedure a for the control unit (see Fig. 6) master interface including 4, and the slave robots (2) are the in-treatment or laparoscopic robot mounted to the surgical robot arm (8) for the arm (9) such as a comprising It includes an endoscope equipped with such a laparoscope.
Master robot 1 and the slave robot (2) can be connected to the dedicated line, or to communicate with each other via a wired communication network or wireless communication network can transmit and receive an image obtained through such an operation signal, such as laparoscopic endoscopic.
And monitoring means (6) of the master robot 1 displays an image obtained from an endoscope, such as a laparoscopic image pictures. Monitoring means (6) may be such that one or may be composed of a plurality of display means, the information necessary at the time of operation for each display means to display separately. For example, indicators that indicate the status of the patient through the plurality of display means, for example, living body information such as temperature, pulse, respiration, and blood pressure that may be divided by the output region. To provide such a bio-information to the master robot (1), the slave robot (2) may include a temperature measurement module, a pulse measuring device, respiratory measuring device, blood pressure measuring device, an electrocardiogram measuring device such as, by each module the measured living body information is sent to the master robot (1) in the slave robot (2) in the form of an analog signal or a digital signal, and a master robot 1 is able to display the corresponding biometric information received via the respective display means.
Operating means 10 is operative characters may be implemented as a handle shape to be operated by each held by both hands, an operation signal is sent to the slave robot (2) As the surgery self operating the operation means (10) The robot arm ( 8, 9) it can be controlled. For example, processing means for controlling the movement of the operating means 10 can be controlled to allow movement in a limited range using a variety of drive power such as the rotational force and a hydraulic or pneumatic operating means 10 of the motor softly, wherein the It generates a control signal can be a robot arm (8, 9) are to the exercise, such as a percentage according to the movement of the operating means (10). Even movement of the robot arm (8,9) can be used, and rotational force, or hydraulic or pneumatic motors, smoothly depending on the operation signals can move in a limited range. In this way, when the self-operation operating the operation means 10, the positioning of the instrument attached to the robot arm (8, 9), rotation, and the cutting operation can be performed. Operation means 10 of the main handle (main handle) and the sub-handle (sub handle), etc. may be composed of a plurality of handles, the handle forms in addition to the joystick type, keypad, track ball, touch screen, such as the slave robot (2) The robot arm may be used in place of the various input means for operating (8, 9) or any other surgical equipment.
The robot arm (8,9) of the slave robot 2 is driven so that it can be implemented with a degree of freedom. The robot arm (8, 9), for example, the instrument (instrument) surgical instruments to be inserted into a surgical site of a patient 20 (see Fig. 2), rotating the instrument 20 in a yaw (yaw) direction according to the operative position and feed driving unit for moving the swing drive, rotary drive and perpendicular to the pitch (pitch) the pitch driving part, the instrument (20) for rotating the instrument 20 in a direction of the rocking drive unit in the longitudinal direction to, rotation of rotating the instrument 20 the distal end of a driver, and the instrument 20 is provided to hold or surgical lesion, is provided with a driving part of effector (effector) for incision or cutting. However, not the construction of the robot arm (8, 9) are not limited to, it is to be understood that these examples do not limit the scope of the present invention. In addition, the actual control process such as surgery, self-rotation, movement in the direction in which the robot arm (3) corresponds by operating the operating means 10 is because there is a base with some distance of the present invention a detailed description will be omitted . In addition, the robot arm (8, 9) has one or more can be used to operate on the patient, laparoscopic robot arm (9) and for the laparoscopic surgical site to ensure that the image represented by the image through the monitoring means 6 such as an endoscope may be implemented as an independent separate slave robot.
Further, the described surgical robot system using a laparoscope according to an embodiment of the present invention, not limited to this, embodiments of the present invention an endoscope for different surgeries other than laparoscopy, e.g., thoracoscopic, arthroscopic, with respect to the parenteral, cystoscope, proctoscope, duodenal environment, longitudinal path, cardiac surgery that is used, such as light it may be performed similarly to the general-purpose.
Figure 2 is a perspective view of the slave robot (2) in accordance with one embodiment of the present invention.
2, the slave robot (2) in accordance with one embodiment of the present invention includes a coupling structure coupled to the distal end of the surgical robot arm for the surgical operation, the instrument 20 can be mounted.
Figure 3 is a perspective view of an instrument 20 according to one embodiment of the invention.
3, the instrument 20 in accordance with one embodiment of the present invention includes a housing 30, an effector 38, and the shaft (40). Each instrument (20) is coupled to the coupling structure to minimize interference with other robotic arms or instrument, for example, the housing 30 of the instrument 20 in a given adapter is coupled to the front end of the robot arm how the instrument 20 is put into a it can be mounted on the front end of the robot arm. The distal end of the shaft (40) extending in one direction in the housing 30 has an effector 38 is coupled. In the process of the remote operation shaft 40 is inserted into a surgical site, effector 38 is to perform a gripping movement, cutting, dissection, various operations necessary for the operation in the vicinity of the surgical site according to the control of the master robot (1).
Shaft 40 may perform a function of transmitting the driving force transmitted through the housing 30 to the effector 38, the wire 50 received in the interior of the tubular shaft 40 is Effectors (38 for this purpose ) effector 38 by transmitting the driving force required for angular motion of the elements it is possible to perform the operations required for surgery. In particular, the shaft 40, when made of a material that is a certain elastic force keeping removing force that causes the deformation can be restored to the original straight condition, the displacement of the deformation of this shaft (40) in accordance with the invention It should be determined based on the power received by the human body. Effector 38 is inserted into a surgical site as a component to perform such a gripping movement and the cutting operation, the jaw (jaw) of the pair is coupled to the center hinge axis formed of each jaw and the hinge axis structure in which the wire is connected can.
Figure 4 is a photograph of a laparoscope (endoscope) image according to an embodiment of the present invention. As shown in Figure 4, the process during which operates the operating means 10 of the master robot (1) to close-up the instrument 20 is mounted to the slave robot (2) to the surgical site, or surgical using the instrument 20 this may be displayed on the display unit 6 in accordance with the laparoscope, such as the acquired image by the endoscope.
5 is a view showing a variation of the shaft 40 of the instrument 20 according to one embodiment of the invention.
As shown in Figure 5, the operating means 10, the instrument 20 is mounted to the slave robot 2 manipulating the master robot 1 while to close to the surgical site proceeding surgery, the distal end of the instrument 20 effector (38) can lead to tissue, e.g., bone, muscles, strain the shaft 40 of the instrument 20 is bent, etc. process of lifting the various organs. Figure 5, using the instrument 20 to have, but illustrating the figure to lift the organ This not limited degree instrument 20, etc. process pulling pressing organ or pull with the instrument 20, that is, the shaft 40 is deformed It can cause. Physicians experienced in the bypass surgery using the instrument is in contact or effector 38 on tissue 20 is the location of the mobile, while inserted in the body feeling, a distal end effector (38) when pressing the long-term or post pull or g force or but to proceed with the easy operation, feeling the texture of the shaft (40) in order to allow the surgeon to feel indirectly to these locations being, force, tactile during surgery using the remote robot, such as the present invention, the instrument (20) strain, for example, by measuring the displacement of a such a bent degree or angle (θ) to the instrument 20 based on this displacement can inform the surgeon to determine the power received in the body. Even the and the determined information on the amount of force can be displayed by means that is the endoscope image displayed with a number or a graph, etc., or force accordingly the operating means 10 of the instrument 20 (or repulsive force), such as 15 this can also be applied to a surgeon to feel. For example, when given a reaction force to the rotational force of the motor used in the movement of the operating means 10 in accordance with the force determined in response to the modification of the instrument 20, the surgeon moves the operating means 10 are the reaction force felt and it can be made to feel a sense similar to that surgery to proceed with the manual operation indirectly. The action of the operating means (10) applying a reaction force to the driving force of the hydraulic pressure, air pressure, such as the operating means 10 in a similar manner even when another driving force is to be used it may be to the surgeon feel.
Thus, the instrument 20, that is, to provide a sense of receiving the operation means 10 in accordance with the deformation strength of the shaft 40 during the operation to insert the shaft 40 is equipped with a distal end effector 38 in the body to be described the configuration and operation of a device to implement this in various ways in the following. To means to be, by calculating the bend deformation degree or angle, the displacement being of at the time of movement of the instrument 20 of the surgical instrument 20 is simply measured by the image analysis method forces felt in the operating means 10 as described, or It can implement the method in various forms.
6, a robot remote surgery system according to one embodiment of the present invention includes a master robot 1 and the slave robot (2). Slave robot (2) comprises an endoscope 21 such as a laparoscopic instrument mounted to the 20 and laparoscopic robot arm (9) mounted to the surgical robot arm (8). Master robot 1 is the master interface 4, LCD, such as a display means 6, and the arm operating unit 10, and the master interface 4 includes a controller 610, a memory 611, an image input section (620 ), and it includes a display screen 630, the operation processing unit 640 and strain recognition means (690). The strain recognition means (690) comprises a displacement calculating section 650, a power determination unit 660.
Instrument 20 is mounted to the surgical robot arm 8 for the slave robot 2 as shown in Figure 1, the endoscope 21, such as a laparoscope is mounted to the laparoscopic robot arm (9) of the slave robot 2 . LCD such as display means 6 is a means for monitoring the surgical procedure on the basis of the image obtained the endoscope 21, such as laparoscopic and display the image, cancer (arm), the operating unit 10 is the slave robot as a handle to form and means for self-operation to operation 2, the position and function of the robot arm (8, 9), operated according to the operation of the arm operating unit 10, processing unit 640, the slave robot by generating the control signal the movement of the instrument 20 is mounted on the robot arm (8, 9) of (2) can be controlled. Management processor 640 generates a corresponding operation signal by using a variety of drive power such as the rotational force and a hydraulic or pneumatic motor arm operating unit 10 is smooth and can be controlled to allow movement in a limited range, the operation processor 640 is the slave the instrument (20) mounted on the robot arm (8, 9) of the robot (2) can cause a movement in the same direction at a constant rate. Even movement of the robot arm (8,9) can be used, and rotational force, or hydraulic or pneumatic motors, smoothly depending on the operation signals can move in a limited range.
Control unit 610 is responsible for overall control such as a memory 611, an image input unit 620, the screen display section 630, the operation processing unit 640 and strain recognition means (690) constituting a master interface (4) above It corresponds to the processor, including some of the components of the master interface (4) above may be such that its function is performed. Components of the master interface (4) above may be implemented in hardware, software, or a combination thereof.
Memory 611, the instrument 20, that is, stores the bent degree and table displacement value corresponding to the amount of force by databasing for variation of the bending angle, of the shaft (40). Figure 7 shows an example shown of the magnitude of displacement by the force, as this databased. As described below, the instrument 20, that is, since the degree of receiving a force against displacement, depending on the material, length, or thickness of the shaft 40 may vary, on the other material of the same shaft (40), length, or memory 611 so that the reference in view of the thickness and so on, there are the table value (amount of displacement by force) for each separately may be databased storage. Such a table value that is the instrument (20) of an elastic material, the shaft 40 may be deformed about the actual screen and the measured Based on this database, as similar to the actual received power value.
Image input unit 620 receives the video data acquired through a predetermined camera provided in the endoscope 21 of the slave robot (2), a screen display 630 that on the basis of the image signal from the image input unit 620 the process to display via the display means (6) the image.
A displacement calculating unit 650 is modified (for example, after the instrument 20, that is, during the process of surgery to insert a shaft 40 into the body, the instrument 20, that is, the shaft 40 is in contact with the human tissue for example, it is possible to measure the displacement of the deformation) in the process, such as pressing the organs, Post pull, or example. A displacement calculating section 650 may measure the displacement of the deformation of the analysis by the image in various ways on the basis of the image obtained by the endoscope 21, the instrument 20, that is, the shaft (40).
Strength determining unit 660 is the instrument 20 based on the displacement calculated by the displacement calculating section 650, the measurement can determine the power received in the body. Power determination unit 660 may be based on modeling using the characteristic information, such as the material, length, thickness of the shaft 40 of the instrument 20 to determine the force for the displacement in real time. For example, the model function f to calculate the displacement by force depending on the (material, length, and attribute information and the displacement and thickness), the attribute information and the ground power determining determines only the displacement portion 660 is modeled function above is a variable in the can.
In addition, the power determining unit 660 extracts a table value for the magnitude of the force corresponding to the calculated displacement and the measurement reference to databasing the table values ​​in the memory 611 by the displacement calculating section 650, as shown in Fig. 7 and also, you can tell the power extracted in this way to the surgeon. The power determination unit 660 may reference the appropriate table value databased in the memory 611 depending on the material, length, thickness of the shaft 40 of the instrument 20 to extract the power. Also information about the size of the determined power, such as 14 may be such that may be displayed by the display means, the endoscope image, or the appropriate reaction force is applied to the arm operating unit 10.
8 is a flowchart illustrating a method of determining the amount of force for the deformation of the instrument 20, such as Figure 5.
8, first, the surgeon begins to operate the arm operating unit 10 so as to close to the surgical site by inserting an instrument 20 into the human body (S11). Instruments such as cancer during the surgical procedure using a while or instrument 20 by operating the operating unit 10 to insert the instrument 20 into the body, the instrument 20, that is, the effect (38) or shaft (40) (20) the configuration element may be bent when in contact with human tissue, the shaft 40, as shown in Figure 5 is received by the power (S12). For example, the shaft (40) in the process, such as using the effector 38 press organs, or pull, or lift the instrument (20) can be bent by the receiving power.
The displacement calculating unit 650 is the instrument 20, that is, it begins to analyze the image of the deformation of the shaft (40) (S13). By default, the operation processing unit 640, a corresponding operation signal, e.g., up and down / left / generated by the movement information such as the front and the back of the slave robot (2) The robot arm (8, 9) in response to the operation of the arm operating unit 10 Since the controlling the movements of the instrument 20 is mounted on, the displacement calculating unit 650 is position information of the distal end, that is, effector 38 of the instrument 20 using the operation signal from the operation processing unit 640 (for example, for example, it is possible to predict the horizontal and vertical position of the endoscopic image), and a displacement calculation part 650, an image after deformation of the shaft 40, that is, the video image of the actual position of the distal end of the instrument 20 the distal end of the received through the input unit 620, the instrument 20, that is, the actual position information of the effector 38 can be calculated (e.g., horizontal and vertical position of the endoscopic image). Thus, the displacement calculating section 650 may calculate the displacement, such as the degree or degrees, as compared to the actual location information shaft 40 is to be bent calculated from the image of the position information and the actual position predicted by the operation signal (S14).
The shaft 40 is constant, so the elastic force causes the holding made of a material deformation when removing the force which (in contact with the tissue, etc.) can be restored to the original straight condition of the displacement calculation part 650 is the same method a bent degree of the shaft (40) after the end side of the shaft 40 to be deformed around the end-side straight and the shaft 40 of the bend becomes the transformation can be calculated. When urged by the like-stage portion and other tissue of the shaft (40) side end portion of the shaft 40 is lose linearity is, becomes the bent degree, that is, different displacements depending on the size of the force. The displacement is the end portion pointing to the point in time and strain the ends pointing at straight angle or shaft 40 between the Figure 5 and as ends pointed when the direction and the deformed end points upon rectilinear in the shaft (40) It can be calculated in distance between the points.
In order that these can more easily grasp the same deformation degree, as shown in Figure 9, the shaft 40, the intermediate portion deformed than the base material (between the base material of the base material and the distal end side of the housing side of the outer shape of the shaft) It may be about the two different materials (91). Basic material may be a solid (rigid) material deformation does not occur easily, and other materials (91) part to ensure better bend than the base material and a flexible material can so as to increase the amount of deformation of the shaft (40) in the part have. At this time, to suit the surgical object may be formed in a plurality of positions of the flexible portion 91 in a variety of applications at a predetermined interval between the basic material, the length and the elasticity may be made are selected to be suitable for the purpose.
In addition, the distal end of the displacement calculating section 650, the instrument 20, that is, a shaft deformation, the instrument 20 as shown in Figure 10 in order to be able to better measure the displacement after deformation compared before and 40, for example, at the end of the shaft 40 it can place the marker (marker) (92). Markers 92 may be formed in a plurality along the circumference. If the displacement calculating unit 650 is for receiving an image of the actual position of the distal end of the instrument 20 through the image input unit 620, the endoscope 21 to be received via the video input unit 620, the image is a surgical site surrounding when the it may be the image quality deterioration due to long-term environment and the endoscope 21, the resolution of the mounted camera, the displacement calculating section 650 may analyze the image received via the video input unit 620, that is, the shaft 40 straightness of the judgment and also the potential to cause errors during the modification judgment. Thus, at the end of the shaft 40 is circular, rectangular, star shape, etc. a predetermined shape marker 92 of the case sewn to form a bright color such as black or blue, and a displacement calculation part 650 is positioned on the markers 92 It can more accurately calculate the actual position information through calculation. Accordingly, the displacement calculation part 650 is displaced, such as the degree or degrees, as compared to the actual location information shaft 40 is to be bent calculated from the image of the actual position of the position information and the markers 92, the prediction from the operation signal is a can be calculated (S14).
In addition, it is possible to form a modified secondary detection pattern 93 such as a plurality of straight line in the longitudinal direction of the shaft 40, as shown in FIG. 11 to aid in the displacement calculation of the displacement calculation part 650. The Here, although an example that a straight line is formed in the longitudinal direction of the shaft 40, and thus limited not other dotted lines, and so a more distinct image by image analysis to be used to form a variety of variations detected auxiliary pattern (93) to assist have. For example, the displacement calculating section 650 to calculate the displacement after calculating the bent degree of the straight line or broken line line deformation sensing auxiliary pattern 93 of the comparison with when the strain around the straight line of the shaft 40 is deformed It can be (S14).
Alternatively, the image and the human body before deformation of the displacement calculation part 650 is the instrument 20, that is, shaft 40, shaft 40, to compare the image after deformation as before, through the image input unit 620 of the can receive the image after deformation, after subjected to a force by the tissue shaft 40 and, on the other to capture the image required for the analysis instrument 20, that is, the shaft (40) by comparing the same is curved in contact with human tissue It may be calculated by measuring the displacement, such as the degree or the angle at which (S14). For example, the displacement calculating section 650 of the instrument before the transformation receive power by the human body 20, that is, the shaft (40) image and the strain after the instrument 20, that is, the shaft 40 of a modified the displaced images are compared with each other shaft (40), for example, it is also possible to calculate the changed distance and the angle of the changed direction of the strain before and after the end of the shaft 40 of the deformation before and after the shaft 40 end.
On the other hand, the material, length, properties such as the thickness of the shaft 40 of the displacement calculation part 650, a shaft 40, when calculating the displacement of the deformation, and thus the power determination unit 660 in accordance with of the instrument 20 based on the information it can be in real-time to determine the force for the displacement. For example, for a predetermined modeling function such that the information and displacement parameters for the material, length, properties such as the thickness of the shaft (40), using the f (material, length, and attribute information and the displacement thickness) power determination unit 660 may calculate the real time power is correspondingly with respect to the displacement.
As another example, with reference to FIG. Pre-stored table value, the databased amount of displacement by the force in the memory 611, such as 7 to match the calculated displacement of the results, or the table values ​​for the amount of force with the closest error It is to be extracted the instrument 20 to determine the power received in the human body (S15). The power determination unit 660 may reference the appropriate table value databased in the memory 611 depending on the material, length, thickness of the shaft 40 of the instrument 20 to extract the power.
At this time, as shown in FIG. 14 may be displayed by means that is the endoscope image display information on the magnitude of the determined power, or may be such that the reaction force applied to the arm operating unit 10.
For example, when the instrument 20 determines the force received from the human body as shown above, the predetermined force may be transmitted to the operation processing unit 640, the operation processing section 640 with respect to the movement of the arm operating unit 10 than before modification of the shaft 40 may be added to the reaction force so that the driving force such as a motor or a hydraulic or pneumatic rotational force generating less. Such a reaction may be proportional to the force that the force determining portion 660 determines, whereby the surgeon is in operation when feeling and the instrument (20) of the arm operating unit 10 when there is no deformation of the instrument (20) when this variant is able to recognize the difference of feeling in the operation of the arm operating unit (10). Surgeon, as by feeling the reaction force to the operation of the arm operating unit 10 becomes aware of the modification of the instrument (20), being careful to avoid injuries due to contact with the surgical site or other human tissue does not occur it is possible to proceed with the surgery, .
In addition, a determination of the instrument 20, two or more of the application with respect to FIG during the process of surgery and insertion into the human body the same force as in the above Fig. For example, an operation pulling in the right and left over any one of the insertion instrument is for the stitches knot or by using two instruments relative bumping with another instrument, such as when holding the organ (or push) the operation, the displacement calculation unit is the instrument body by 650, the reference to the table values ​​databased in the memory 611 based on the can be measured, and thus the power determination unit 660 is measured along a displacement a displacement for variation of the instrument you can determine the strength it receives from me. Thus, as shown in FIG. 14 along which information on the size of the force may be displayed with respect to the instrument through the endoscope image display means may give a reaction force to the operating means of the arm operating unit 10.
Above, the instrument 20 in accordance with one embodiment of the invention a certain elasticity made of a material that is maintained causes the deformation (in contact with the tissue, organ press, pull, pressing, pulling / pushing action of the other instruments, etc.) removing the force that has been described that includes a shaft 40 made of a material which can be restored to the original straight condition. In this way the shaft 40 is not made of a material that is elastic force is held, is inserted into the human body can be calculated from the image analysis by a modification degree causing by the force received from the human body during the operation proceeds to the displacement calculating section 650, and , so that the power determining unit 660 was to have the instrument 20 with respect to the displacement to determine the force received from the human body.
Further, as shown in Figure 9, the instrument 20 includes a middle part (base shaft material of the main shaft material and the distal end side of the housing side of the shaft 40 in order to make it easier to determine the amount of deformation of the shaft (40) between) in a more well-bent flexible portion being 91, and also two or more than once in the proper position, and, as shown in Figure 10, the displacement calculating section 650, the instrument 20, that is, the shaft than the base material ( in order to be able to better measure the displacement for variation of 40), for the distal end, for the instrument 20, and may place a marker (marker) (92) at the end of the shaft (40).
In addition, as shown in Figure 11, there may be a shaft 40, a plurality of straight-line or dotted line-line variations detected auxiliary pattern 91, such as in the longitudinal direction of the instrument (20) is formed, which displacement calculation unit (650 ) you can be in to assist in the displacement calculation. Deformation sensing auxiliary pattern can be as bold solid and dotted lines such as black, blue, so you can look good even when the quality deterioration of the image, and case based on the color of the shaft (40) is further deformation sensing auxiliary patterns such as white or gray, fine It is selected as visible colors can be produced. That is, the displacement calculating section 650. The image input unit 620, the image degradation of the image by performing the straight judgment or modified judges strain sensing auxiliary pattern as in the endoscope 21, images are received above and formed on the shaft 40 via it is possible to reduce the error in the displacement calculation of the displacement calculation part 650 according to the problems and the like.
Instrument 20, as shown in Figure 13 may be a strain recognition means 690 is described in Figure 6 is mounted in place, such as the housing 30. At this time, stress recognition means 690 in Figure 6 is removed, or stop the operation master interface 4 the signals required by the strain recognition means (690) mounted to the instrument 20 via the control unit 610 can be transmitted for which , the signals necessary to control unit 610 from the strain recognition means 690 may be received. That is, the stress recognition means 690 may include a displacement calculating section 650 and the power determination unit 660 as shown in Fig. 6.
Accordingly, the instrument 20, that is, the shaft 40 is the during the process of surgery to insert into the body, the displacement calculating section 650 of the stress recognition means (690) mounted on the instrument 20 is S14 in FIG. 8 stage and can measure the displacement of the variation, the power determining unit 660 of the stress recognition means (690) mounted to the instrument 20 of the shaft 40 after the contact with the body tissue in a similar manner is shown in FIG. 8 in a similar manner as in step S15 it can be based on the displacement to determine the force received from the human body.
In addition, as shown in Figure 13, is applied in operation using a plurality of instruments, the displacement calculating section 650 of the stress recognition means (690) mounted to the instrument 20 relative pulling of the other instrument (or pushing) operation to measure the displacement of the deformation of the shaft 40 at the time, and the power determining unit 660 of the stress recognition means (690) mounted to the instrument 20 based on the displacement to determine the force received from the human body, can. Here, the strength determining unit 660 is the force with reference to the memory 611 to reflect the length, material, thickness, etc. of the shaft 40 of the instrument 20 corresponds to the displacement of measuring the output portion 650 displaced It may decide. It is also possible to, 6 memory 611, the stress recognition means 690 and connected to the instrument (20) attached to the internal power determining unit 660 in the case that requires to refer to the determination of the force. Thus, the instrument 20 is mounted is implemented, some features, such as the memory 611 and the strain recognition means 690, the control unit 610 in some cases attached to the inside is an IC chip type or RFID tag as possible, a short-range communication It may be.
Even on a part of one, as described memory 611, and the deformation force recognition means 690 and strain recognition means control unit 610 for the operation of the 690 features and the like, which is attached to the master robot 1 operates as shown in FIG. 6 It is to such that is composed of independent fitted to other devices such as a robot arm 8 of the slave robot 2 operate according to, may be mounted in the housing 30 of the instrument 20, as shown in Figure 13, is not the case may.
An example best embodiment disclosed in the drawings and specifications, as in the above. Here, although specific terms are used, which only geotyiji used for the purpose of illustrating the present invention is a thing used to limit the scope of the invention as set forth in the limited sense or the claims. Therefore, those skilled in the art will appreciate the various modifications and equivalent embodiments are possible that changes therefrom. Therefore, the true technical protection scope of the invention as defined by the technical spirit of the appended claims.
In the surgical robot control method,
During the process of surgery to insert an instrument into the body,
Calculating a displacement of the deformation of said instrument, and
Surgical robot control method, characterized in that on the basis of the displacement of the instrument determines the power received in the body.
According to the determined power, surgical robot control method, characterized in that for applying a reaction force to the driving force for the movement of the operating means of the instrument.
The method of claim 2, wherein the driving force used for the movement of the operating means is operative robot control method comprising: a rotational force, hydraulic, or pneumatic motor.
On the basis of the acquired image with endoscopic robot control method, characterized in that for determining the power by calculating the displacement in the deformation of the instrument.
Of the distal portion calculated from the image of the actual position of the end portion obtained by the location information and the endoscope in the distal end of the instrument predicted by using an operation signal that is generated by the operation processing unit in accordance with the operation of the operating means of the instrument the actual position Compare information surgical robot control method characterized by calculating the displacement in the deformation.
Surgical robot control method characterized in that in the image of the instrument after the image and the variation of the instrument prior to receiving the power variations are compared with each other calculating the displacement of the distal end of the instrument before and after the deformation.
Surgical robot control method characterized in that the display means through which the endoscope image display information about the size of the determined strength.
The shaft of the surgical instrument is a robot control method, characterized in that is made of a material that is a certain elastic force to be maintained, restoring to the original straight condition of removing the force that causes the deformation.
Surgical robot control method characterized in that the shaft of the instrument is the degree of deformation between the base material of the base material and the distal end side of the housing side includes a different material.
The modification degree of the other material is surgical robot control method, characterized in that, better in the bend portion than the base material.
10. The method of claim 9, wherein the modification degree of the other material is surgical robot control method, characterized in that a plurality of times at a predetermined interval is formed between the base material.
The shaft of the instrument has a certain shape of the marker formed in the distal end, surgical robot control method, characterized in that for calculating the displacement by using the marker on the obtained image to the endoscope.
Surgical robot control method in a video has a strain sensing auxiliary pattern including straight line or dotted line in the shaft of the instrument, obtained by the endoscope is characterized in that calculating the displacement using the modified sensed auxiliary pattern.
The material of the instrument shaft, the length, surgical robot control method, characterized in that on the basis of the modeling using the characteristic information including the thickness that determines the force corresponding to the displacement.
Surgical robot control method, characterized in that for determining the force with reference to the table values ​​that shift the amount of force by databasing for the deformation of the shaft of the instrument.
Depending on the material, length, or thickness of the instrument shaft surgical robot control method, it characterized in that the table values ​​Separately databased.
During the process of surgery to insert a plurality of instruments into the body,
Surgical robot control method, characterized in that for determining the power for the variation of the instrument at the time any of the plurality of the instrument relative to the pulling or pushing operation of the other instrument.
By inserting an instrument into the body during the process of surgery, to predict the location of the distal end of the instrument corresponding to the operation of the operating means for the instrument to calculate the actual position of the nose assembly from the endoscopic image with respect to variation of said instrument body within the surgical robot control method comprising determining a received power from.
In the strain recognition apparatus for controlling a surgical robot,
Displacement calculating means for calculating a displacement for variation of the instrument during the surgery by inserting an instrument into the human body; And
Strain reader on the basis of the displacement is the instrument for a surgical robot control comprising the force determination means for determining the power received in the body.
It said power decision means is strain recognition apparatus for a surgical robot control, characterized in that for applying a reaction force to the driving force for the movement of the operating means of the instrument according to the determined power.
Said displacement calculating means, calculating from the image of the actual position of the end portion obtained in the operation processing unit in accordance with the operation of the operating means of the instrument to position information and the endoscope in the distal end of the instrument predicted by using an operation signal generating strain recognition apparatus for a surgical robot controlled by comparing the actual position information of the distal end, characterized in that for calculating the displacement in the deformation.
It said power decision means is strain recognition apparatus for a surgical robot control characterized in that the material of the instrument shaft, the length, on the basis of the modeling using the characteristic information including the thickness determines the force corresponding to the displacement.
The power determining means, deformation force, characterized in that for determining the power for the displacement with reference to a table value with the magnitude of the displacement by the force is stored in a database in the storage means for the variation of the instrument shaft reader.
In the robotic surgical system comprising a master robot for controlling a slave robot and the slave robot comprising an instrument attached to the robot arm,
The master robot,
Calculating a displacement for said instrument variation of during the surgery by inserting the instrument into the body and, on the basis of the displacement in the instrument, it characterized in that it comprises a strain recognition means for determining the power received in the body surgical robotic system.
During the process of surgery to insert the instrument into the body, the body to estimate the position of the distal end of the instrument corresponding to the operation of the operating means for the instrument to calculate the actual position of the nose assembly from the endoscopic image with respect to the deformation of the instrument surgical robotic system comprising the stress recognition means to determine the strength it receives from me.
25. The method of claim 24 or claim 25,
The strain recognition means,
Displacement calculating means for calculating the displacement based on image analysis of the actual deformation of the instrument; And
Surgical robot system, characterized in that the material of the instrument shaft, the length, on the basis of the modeling using the characteristic information including the thickness including the power determining means for determining a force corresponding to the displacement.
And a storage means for storing a table value, the displacement amount of the force by databasing for the modification of the instrument shaft,
Surgical robotic system comprising a power determining means for determining the force with reference to the table values ​​stored in the storage means relative to the displacement.
Through the housing it is mounted on the robot arm, according to a surgical instrument comprising the end effector to the shaft,
If the shaft is made of a material which is maintained a certain elastic force to remove the force causing the deformation, it characterized in that the instrument is restored to its original straight condition.
Instrument, characterized in that using a material in which the elastic force is maintained in order on the basis of image analysis of the displacement for the transformation to determine the power received in the body.
The instrument shaft is characterized in that the degree of deformation between the base material of the base material and the distal end side of the housing side includes a different material.
The modification degree of the other material, characterized in that the instrument that is better than that of the curved portion in the base material.
The method of claim 30, wherein the instrument for the degree of modification is characterized in that different materials are formed a plurality of times at a predetermined interval between the basic material.
The shaft has a predetermined shape formed on the distal end of the marker, obtained from the instrument to the endoscope image, it characterized in that the marker which is used for measuring displacement with respect to the strain.
The instrument shaft, characterized in that the strain detecting secondary pattern is used for the measurement of the displacement with respect to the variation in the image has a strain sensing auxiliary pattern including straight line or dotted line, obtained with the endoscope.
During the process of surgery to insert into the body, the instrument comprising a strain recognition means for measuring the displacement of the deformation of the shaft, determining the received power in the body, based on the displacement.
During the process operation by the insertion into the human body, by predicting the position of the distal end of the instrument corresponding to the operation of the operating means for the instrument to calculate the actual position of the nose assembly from an endoscope image to receive in the body with respect to the deformation of said instrument in that it comprises a strain recognition means for determining the force instrument as claimed.
Displacement calculating means for calculating the displacement of the deformation of said instrument; And
The instrument comprises a force determination means for the instrument determines the power received by the body on the basis of the displacement.
The power determining means for determining instrument, characterized in that the force corresponding to the displacement, based on the material, length modeling, using the characteristic information including the thickness of the instrument shaft.
Further comprising a storage means for storing a table value, the displacement amount of the force by databasing for the modification of the instrument shaft,
The power determining means, characterized in that the instrument for determining the strength by referring to the table value stored in the storage means.
It said storage means,
Depending on the material, length, or thickness of the shaft of the instrument, which instrument is characterized in that the table value by databasing separately.
PCT/KR2010/004953 2009-08-18 2010-07-28 Remote surgical robot system and method for controlling same, for providing indirect surgical feel WO2011021788A2 (en)
KR10-2009-0076257 2009-08-18
KR1020090076257A KR100997194B1 (en) 2009-08-18 2009-08-18 Remote operation robot system for indirectly providing tactile sensation and control method thereof
WO2011021788A2 true WO2011021788A2 (en) 2011-02-24
WO2011021788A3 WO2011021788A3 (en) 2011-06-16
ID=43410210
PCT/KR2010/004953 WO2011021788A2 (en) 2009-08-18 2010-07-28 Remote surgical robot system and method for controlling same, for providing indirect surgical feel
KR (1) KR100997194B1 (en)
WO (1) WO2011021788A2 (en)
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2009-08-18 KR KR1020090076257A patent/KR100997194B1/en active IP Right Grant
2010-07-28 WO PCT/KR2010/004953 patent/WO2011021788A2/en active Application Filing
KR100997194B1 (en) 2010-11-30
WO2011021788A3 (en) 2011-06-16
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