SURGICAL ROBOT SYSTEM FOR PERFORMING SURGERY BASED ON DISPLACEMENT INFORMATION DETERMINED BY THE SPECIFICATION OF THE USER, AND METHOD FOR CONTROLLING SAME

• US 20130331861A1
• Filed: 01/31/2012
• Published: 12/12/2013
• Est. Priority Date: 02/21/2011
• Status: Active Grant

• Current Assignee: Rimscience Co., Ltd.
• Original Assignee: Rimscience Co., Ltd.
• Inventors: Yoon, Sang Jin
• Granted Patent: US 9,179,980 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00133 Drive units for endoscopic tools inserted through or with the endoscope
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: G05B 2219/40418 Presurgical planning, on screen indicate regions to be operated on
• CPC Class Codes: G05B 2219/45117 Medical, radio surgery manipulator

Abstract

There is provided a surgical robot system comprising a robot, a control system and a user control device, wherein the robot comprises an endoscope and at least one surgical instrument; the user control device comprises a display means by which a user may make an indication on an internal body part; and the control system comprises a displacement information processing unit and a surgical instrument control unit.

Claims

1. A surgical robot system, comprising:

a robot;

a control system; and

a user control device,

wherein the robot comprises an endoscope and at least one surgical instrument;

the user control device comprises a display means by which a user may make an indication on an internal body part; and

the control system comprises;

a displacement information processing unit for determining displacement information according to reference coordinates of the robot, based on information on the displacement of lines or outlines in the display means according to the user'"'"'s indication in the display means, and the distance between the endoscope and the internal body part observed by the endoscope; and

a surgical instrument control unit for controlling the surgical instrument of the robot to be relocated or perform predetermined surgical actions, based on the displacement information according to the reference coordinates of the robot.

2. The surgical robot system of claim 1, wherein the endoscope comprises a distance measurement module.

3. The surgical robot system of claim 2, wherein the distance measurement module is provided at the end of the endoscope.

4. The surgical robot system of claim 1, wherein the display means is a display panel for two-dimensional display or a display space for three-dimensional display.

5. The surgical robot system of claim 1, wherein the displacement information according to the reference coordinates of the robot (D) is determined by the following equation:

D=F(d)×

D′

 

 

(Eq.

     1)

wherein d is the distance and D′

is the information on the displacement according to the user'"'"'s indication in the display means.

6. The surgical robot system of claim 1, wherein the displacement information according to the reference coordinates of the robot (D) is determined by the following equation:

D=F(d,D′

) 

 

(Eq.

     2)

wherein d is the distance and D′

is the information on the displacement according to the user'"'"'s indication in the display means.

7. The surgical robot system of claim 1, wherein the user'"'"'s indication may be modified by the user on the display means.

8. The surgical robot system of claim 1, wherein the surgical instrument control unit determines information on the displacement to be taken by the surgical instrument.

9. The surgical robot system of claim 8, wherein the information on the displacement to be taken by the surgical instrument is a set of displacement vectors to be taken by an end effector of the surgical instrument.

10. The surgical robot system of claim 1, wherein the surgical instrument control unit controls the surgical instrument to be relocated and perform the surgical actions as per the user'"'"'s commands.

11. The surgical robot system of claim 10, wherein the surgical actions are at least one of holding, fastening, searing, incising, and suturing.

12. The surgical robot system of claim 1, wherein the control system further comprises an information management unit, and the information management unit stores and manages, in a database, information on the indications or commands made by previous users according to the type, profile, size, name of the related disease, or stage of the related disease of the internal body part on which the surgery has been previously carried out.

13. The surgical robot system of claim 12, wherein the information management unit further stores and manages, in the database, images of the internal body part on which the surgery has been previously carried out.

14. The surgical robot system of claim 13, wherein the images may be image-searched from the database.

15. A method for controlling a surgical robot system comprising a robot and a user control device, the robot comprising an endoscope and at least one surgical instrument, the user control device comprising a display means by which a user may make an indication on an internal body part, and the method comprising the steps of:

determining displacement information according to reference coordinates of the robot, based on information on the displacement of lines or outlines in the display means according to the user'"'"'s indication in the display means, and the distance between the endoscope and the internal body part observed by the endoscope; and

controlling the surgical instrument of the robot to be relocated or perform predetermined surgical actions, based on the displacement information according to the reference coordinates of the robot.

16. The method of claim 15, wherein the displacement information according to the reference coordinates of the robot (D) is determined by the following equation:

D=F(d)×

D′

 

 

(Eq.

     1)

wherein d is the distance and D′

is the information on the displacement according to the user'"'"'s indication in the display means.

17. The method of claim 15, wherein the displacement information according to the reference coordinates of the robot (D) is determined by the following equation:

D=F(d,D′

) 

 

(Eq.

     2)

wherein d is the distance and D′

is the information on the displacement according to the user'"'"'s indication in the display means.

18. The method of claim 15, wherein the user'"'"'s indication may be modified by the user on the display means.

19. The method of claim 15, further comprising the step of determining information on the displacement to be taken by the surgical instrument.

20. The method of claim 19, wherein the information on the displacement to be taken by the surgical instrument is a set of displacement vectors to be taken by an end effector of the surgical instrument.

21. The method of claim 15, further comprising the step of controlling the surgical instrument to be relocated and perform the surgical actions as per the user'"'"'s commands.

22. The method of claim 21, wherein the surgical actions are at least one of holding, fastening, searing, incising, and suturing.

23. The method of claim 15, further comprising the step of storing and managing, in a database, information on the indications or commands made by previous users according to the type, profile, size, name of the related disease, or stage of the related disease of the internal body part on which the surgery has been previously carried out.

24. The method of claim 23, wherein the database further stores and manages images of the internal body part on which the surgery has been previously carried out.

25. The method of claim 24, wherein the images may be image-searched from the database.