Patent Document ID: 9767608
Application ID: 14132782
Patent Status: 1

Claim One:
1. A surgical robot system, comprising: a slave system including a controller configured to perform a surgical operation upon an object, the slave system including an endoscope configured to capture an interior image of a region inside of the object that includes at least a portion of a surgical tool; a master system including a controller configured to control the surgical operation of the slave system by providing control signals to the slave system; and an imaging system including a controller configured to generate a virtual image of an inside of the object; and an augmented reality image display system including a camera, a display and a controller configured to, control the camera to capture a real image of the object and a plurality of markers attached to the object, detect a plurality of markers in the real image, estimate a position and gaze direction of the camera using the detected markers, generate an augmented reality image by overlaying a region of the virtual image corresponding to the estimated position and gaze direction of the camera over the real image, generating a virtual tool corresponding to the surgical tool, and combining the virtual tool and the interior image of the surgical tool captured by the endoscope with the virtual image such that the surgical tool and the virtual tool overlap within the augmented reality image, and control the display to display the augmented reality image.