SURGICAL ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME

• US 20140257330A1
• Filed: 10/10/2013
• Published: 09/11/2014
• Est. Priority Date: 03/06/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: CHOI, Byung Kwon, Roh, Kyung Shik, Ha, Tae Sin
• Granted Patent: US 9,192,447 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/45117 Medical, radio surgery manipulator

Abstract

A surgical robot system capable of storing all data transmitted and received in the surgical robot system and a method of controlling the same includes a slave device performing surgery on a patient, a master device controlling a surgical operation of the slave device, an imaging device transmitting a medical image regarding the patient to the slave device and the master device, and a monitoring device comprising a storage module receiving all data transmitted and received among the slave device, the master device, and the imaging device, serializing the received data on a per transmission-time-information basis to generate serial packets, and storing the generated serial packets, and a reproduction module dividing the stored serial packets into a plurality of unit packets and transmitting the unit packets to a device for display.

Claims

1. A surgical robot system comprising:

a slave device performing surgery on a patient;

a master device controlling a surgical operation of the slave device;

an imaging device transmitting a medical image regarding the patient to the slave device and the master device; and

a monitoring device comprising;

a storage module receiving all data transmitted among the slave device, the master device, and the imaging device, serializing the received data on a per transmission-time-information basis to generate a plurality of serial packets, and storing the generated serial packets; and

a reproduction module dividing the stored serial packets into a plurality of unit packets and transmitting the unit packets to a device for reproduction.

2. The surgical robot system according to claim 1, wherein the storage module comprises:

a data classifier classifying the received data according to the type of data;

a sampler generating the plurality of unit packets by respectively sampling the classified data;

a multiplexer generating the plurality of serial packets by serializing the generated plurality of unit packets on a per transmission-time-information basis; and

a storage unit storing the generated serial packets.

3. The surgical robot system according to claim 2, wherein the sampler samples the data according to frames per second (FPS) or a control period according to a data type of the classified data.

4. The surgical robot system according to claim 1, wherein the plurality of unit packets respectively comprises a header in which identification information is recorded and a payload in which data is recorded.

5. The surgical robot system according to claim 4, wherein the identification information comprises transmission time information and transmission flow direction information of the data recorded in the payload.

6. The surgical robot system according to claim 1, wherein the reproduction module comprises:

a demultiplexer dividing the stored serial packets into the plurality of unit packets and classifying the divided unit packets according to the data type of each unit packet; and

a data distributor respectively transmitting the classified unit packets to at least one of the slave device, the master device and the imaging device in accordance with the transmission time information and transmission flow direction information.

7. The surgical robot system according to claim 1, wherein each serial packet among the serial plurality of packets comprises a main header and a plurality of unit packets.

8. The surgical robot system according to claim 7, wherein the main header comprises at least one of identification information, generation time, generation order, storage time, and storage order.

9. The surgical robot system according to claim 7, wherein the plurality of unit packets comprises one image unit packet, one sound unit packet, and a plurality of unit packets each comprising control signal and status information.

10. The surgical robot system according to claim 7, wherein the plurality of unit packets comprises a plurality of image unit packets, a plurality of sound unit packets, and a plurality of unit packets each comprising control signal and status information.

11. The surgical robot system according to claim 1, wherein the monitoring device is contained in one device selected from the group consisting of the slave device, the master device, and the imaging device.

12. The surgical robot system according to claim 1, further comprising a simulator receiving the plurality of unit packets from the reproduction module, generating a simulation image, and displaying the simulation image.

13. The surgical robot system according to claim 1, wherein:

the imaging device comprises a simulation image generator receiving the plurality of unit packets from the reproduction module to generate a simulation image and outputting the generated simulation image; and

the master device comprises a display receiving the simulation image output from the simulation image generator of the imaging device and displaying the simulation image.

14. A method of controlling a surgical robot system, the method comprising:

receiving data transmitted among a master device, a slave device, and an imaging device;

generating a plurality of serial packets by serializing the received data on a per transmission-time-information basis;

storing the generated plurality of serial packets; and

dividing the stored plurality of serial packets into a plurality of unit packets and respectively transmitting the divided plurality of unit packets to at least one of the slave device, the master device and the imaging device for reproduction.

15. The method according to claim 14, wherein the generating of the serial packets comprises:

classifying the received data according to the data type of each serial packet; and

generating a plurality of unit packets by sampling each of the classified data,

wherein the generated plurality of unit packets are serialized on a per transmission-time-information basis.

16. The method according to claim 15, wherein, when the data is image data or sound data, the sampling of the classified data is performed according to frames per second (FPS).

17. The method according to claim 15, wherein, when data is a control signal or status information, the sampling of the classified data is performed according to a control period.

18. The method according to claim 14, wherein the respectively transmitting the divided unit packets comprises:

dividing each of the serial packets into a plurality of unit packets;

classifying the divided plurality of unit packets according to the data type of each unit packet; and

respectively transmitting the classified unit packets to at least one of the slave device, the master device and the imaging device according to transmission time information and transmission flow direction information.

19. A monitoring device for a surgical robot system comprising:

a storage module receiving all data transmitted among a slave device, a master device, and an imaging device, serializing the received data on a per transmission-time-information basis to generate a plurality of serial packets, and storing the generated serial packets; and

a reproduction module dividing the stored serial packets into a plurality of unit packets and transmitting the unit packets to a display device.

20. The monitoring device according to claim 19, further comprising a simulator receiving the plurality of unit packets from the reproduction module, generating a simulation image, and displaying the simulation image.