SURGICAL ROBOT AND SURGICAL ROBOT CONTROL METHOD
First Claim
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1. A surgical robot comprising:
- a master device having an input unit;
a slave device having at least one robotic surgical instrument remotely controlled by the master device; and
a controller to perform a mode change process to gradually vary a strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for change of an operation mode is input via the input unit.
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Abstract
A surgical robot and a surgical robot control method ensure a stable change of an operation mode. The surgical robot includes a master device having an input unit, a slave device having at least one robotic surgical instrument that is remotely controlled by the master device, and a controller that performs a mode change process to gradually vary the strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for a change of an operation mode is input via the input unit.
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Citations
20 Claims
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1. A surgical robot comprising:
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a master device having an input unit; a slave device having at least one robotic surgical instrument remotely controlled by the master device; and a controller to perform a mode change process to gradually vary a strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for change of an operation mode is input via the input unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A surgical robot control method for a surgical robot including a master device and a slave device, the method comprising:
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generating a control signal to control at least one robotic surgical instrument provided in the slave device; transmitting the control signal to the slave device; and performing a mode change process to gradually vary a strength of a feedback signal fed back from the slave device to the master device for a predetermined time when an operation mode is changed. - View Dependent Claims (17, 18, 19)
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20. A robot comprising:
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a slave device having at least one instrument; a master device to remotely perform an operation using the at least one instrument via the slave device; and a controller to determine whether a change in a feedback mode is requested, and to perform a feedback mode change process by temporarily applying a scaling function to a feedback signal fed back from the slave device to the master device, in response to the change in the feedback mode.
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Specification