SURGICAL ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME

• US 20130261640A1
• Filed: 03/27/2013
• Published: 10/03/2013
• Est. Priority Date: 03/28/2012
• Status: Abandoned Application

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: KIM, Hyung-joo, KIM, Yeon-ho, CHOI, Hyun-do
• Application Number:
  US13/851,586
• Publication Number:
  US 20130261640A1
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• CPC Class Codes: A61B 18/18 by applying electromagnetic radiation, e.g. microwaves radiation therapy A61N5/00
• CPC Class Codes: A61B 18/1815 using microwaves
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A robot system including a surgical robot inserted into a subject may include: a photographing device that is disposed on an end portion of the surgical robot, is inserted into a body part of the subject, which is to be treated, and captures a real-time image with a resolution at which the body part to be treated may be observed in units of cells; a control device that receives a control signal for controlling the surgical robot by referring to the real-time image received from the photographing device; and an energy generating device that is disposed adjacent to the photographing device, and transmits energy to a region corresponding to the body part to be treated which is being photographed by the photographing device according to the control signal.

Claims

1. A robot system comprising a surgical robot inserted into a subject, the robot system comprising:

a photographing device disposed on the surgical robot that is inserted into a body part of the subject, which is to be treated, and captures an image;

a control device that receives a control signal for controlling the surgical robot by referring to the image received from the photographing device; and

an energy generating device that is disposed near the photographing device, and transmits energy to a region corresponding to the body part to be treated according to the control signal.

2. The robot system of claim 1, wherein the photographing device is disposed on an end portion of the surgical robot, the image is a real-time image with a resolution at which the both part to be treated may be observed in units of cells, and the energy generating device is disposed adjacent to the photographing device transmitting energy to the region which is being photographed by the photographing device.

3. The robot system of claim 1, wherein the control device moves the photographing device and the energy generating device to the body part to be treated by using a three-dimensional (3D) coordinate system that indicates positions of the surgical robot and the subject obtained by referring to a diagnostic image indicating information about the inside of the subject'"'"'s body.

4. The robot system of claim 1, wherein the photographing device and the energy generating device are disposed on a side surface of an end portion of the surgical robot and are rotatable.

5. The robot system of claim 4, wherein a plurality of the photographing devices and a plurality of the energy generating devices are alternatingly arranged along a longitudinal direction of the surgical robot.

6. The robot system of claim 1, wherein the photographing device and the energy generating device slide through an opening formed in a front surface of an end portion of the surgical robot.

7. The robot system of claim 6, wherein the energy generating device transmits energy to the body part to be treated located in front of the surgical robot.

8. The robot system of claim 1, wherein the photographing device and the energy generating device are independently rotatable.

9. The robot system of claim 1, wherein the energy generating device transmits energy for activating a material for removing a tumor cell of the body part to be treated.

10. The robot system of claim 9, wherein the material is a nanomaterial or a molecular material that is attached to the tumor cell and reacts to a specific energy of the transmitted energy.

11. The robot system of claim 1, wherein the control device sets an energy transmission direction of the energy generating device to be in a direction in which the photographing device performs photographing.

12. The robot system of claim 1, further comprising an auxiliary photographing device that is disposed on a front surface of an end portion of the surgical robot and photographs a travel direction of the surgical robot.

13. The robot system of claim 1, further comprising an imaging device that obtains a diagnostic image by photographing the subject and transmits the diagnostic image to the control device,

wherein the diagnostic image is a 3D image.

14. The robot system of claim 1, wherein the control device controls the energy generating device to transmit energy according to the control signal.

15. The robot system of claim 1, wherein the surgical robot further comprises a probe for injecting medicine or a surgical tool that is disposed on an end portion of the surgical robot.

16. The robot system of claim 1, wherein the surgical robot is one of a linear robot, a flexible robot, and a multi-joint robot,

wherein the linear robot has a bar shape, the flexible robot has a softly bent shape, and the multi-joint robot includes a plurality of bars combined at joints.

17. A method of controlling a robot system including a surgical robot inserted into a subject, the method comprising:

inserting the surgical robot into a body part of the subject, which is to be treated;

receiving a control signal for controlling the surgical robot by referring to an image by using a photographing device disposed on the surgical robot; and

controlling an energy generating device that transmits energy to a region corresponding to the body part to be treated according to the control signal, by referring to the image.

18. The method of claim 17, wherein the image is a real-time image with a resolution at which the body part to be treated may be observed in units of cells, and the photographing device is disposed on an end portion of the surgical robot.

19. The method of claim 17, wherein the inserting of the surgical robot comprises inserting the surgical robot into the body part to be treated by using a three-dimensional (3D) coordinate system that indicates positions of the surgical robot and the subject obtained by referring to a diagnostic image captured by an imaging device.

20. The method of claim 18, further comprising receiving the real-time image from the photographing device and displaying the real-time image.

21. The method of claim 17, wherein the controlling of the energy generating device comprises controlling the energy generating device by receiving at least one of a type, an intensity, a range, and a transmission angle of the energy.

22. The method of claim 17, wherein moving of the surgical robot comprises rotating the photographing device, such that the photographing device photographs the body part to be treated.

23. The method of claim 17, wherein the photographing device sets an energy transmission direction of the energy generating device to be a direction in which the photographing device performs photographing.

24. A computer-readable recording medium having embodied thereon a program for executing the method of claim 17.