SURGICAL ROBOT AND CONTROL METHOD FOR THE SAME
First Claim
1. A surgical robot comprising a slave device that includes a robot arm, to which a surgical instrument provided with a surgical tool is coupled, and a master device that controls operation of the slave device,wherein the slave device includes:
- an external force measurement unit that includes a force sensor attached to the surgical instrument to measure external force applied to the surgical tool, and a visual information display unit connected to the force sensor to receive the measured external force from the force sensor and display visual information corresponding to the received external force;
an image capture unit that acquires an image corresponding to the visual information displayed on the visual information display unit; and
a controller that extracts the visual information from the acquired image from the image capture unit using image processing, and converts the extracted visual information into corresponding external force information.
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Accused Products
Abstract
A surgical robot and a control method for the enables measurement of external force applied to a surgical tool of a slave device. In the surgical robot, the slave device may include an external force measurement unit, an image capture unit, and a controller. The external force measurement unit may include a force sensor attached to a surgical instrument to measure external force applied to a surgical tool provided at the surgical instrument, and a visual information display unit connected to the force sensor to display visual information corresponding to the external force output from the force sensor. The image capture unit acquires an image with regard to the visual information. The controller extracts the visual information from the image using image processing, and converts the extracted visual information into corresponding external force information.
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Citations
20 Claims
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1. A surgical robot comprising a slave device that includes a robot arm, to which a surgical instrument provided with a surgical tool is coupled, and a master device that controls operation of the slave device,
wherein the slave device includes: -
an external force measurement unit that includes a force sensor attached to the surgical instrument to measure external force applied to the surgical tool, and a visual information display unit connected to the force sensor to receive the measured external force from the force sensor and display visual information corresponding to the received external force; an image capture unit that acquires an image corresponding to the visual information displayed on the visual information display unit; and a controller that extracts the visual information from the acquired image from the image capture unit using image processing, and converts the extracted visual information into corresponding external force information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A control method for a surgical robot comprising a slave device that includes a robot arm, to which a surgical instrument provided with a surgical tool is coupled, and a master device that controls operation of the slave device, the method comprising:
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measuring external force applied to the surgical tool; displaying visual information corresponding to the measured external force; acquiring an image with corresponding to the displayed visual information; and calculating external force information corresponding to the visual information using the acquired image. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification