ASSISTIVE ROBOT ENDOSCOPIC SYSTEM WITH INTUITIVE MANEUVERABILITY FOR LAPAROSCOPIC SURGERY AND METHOD THEREOF

• US 20160206179A1
• Filed: 01/15/2015
• Published: 07/21/2016
• Est. Priority Date: 01/15/2015
• Status: Abandoned Application

• Current Assignee: National Taiwan University (Government of The Republic of China)
• Original Assignee: National Taiwan University (Government of The Republic of China)
• Inventors: LUO, Ren C.
• Application Number:
  US14/597,672
• Publication Number:
  US 20160206179A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00042 for mechanical operation
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/3132 for laparoscopy
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

Provided is an assistive robot endoscopic system, including a wireless gyroscope, measuring an intuitive motion of a user'"'"'s (e.g., a surgeon) head, generating data based on the intuitive motion of the user'"'"'s head and transmitting the data to a computer; a control system, receiving the data from the computer; and a laparoscope, having a robotic endoscope and automatically controlled by the control system based on the intuitive motion of the user'"'"'s head. In addition, the present invention further provides an assistive robot endoscopic method.

Claims

1. An assistive robot endoscopic system, comprising:

a wireless gyroscope, measuring an intuitive motion of a user'"'"'s head, generating data based on the intuitive motion of the user'"'"'s head and transmitting the data to a computer;

a control system, receiving the data from the computer; and

a laparoscope, having a robotic endoscope and automatically controlled by the control system based on the intuitive motion of the user'"'"'s head.

2. The assistive robot endoscopic system as claimed in claim 1, wherein the data generated by the wireless gyroscope comprises rotation, orientation, angular velocity and angular acceleration information.

3. The assistive robot endoscopic system as claimed in claim 1, wherein the control system comprises a driver and a PC-based programmable multi-axis controller (PMAC) motion control.

4. The assistive robot endoscopic system as claimed in claim 1, wherein the laparoscope further comprises a plurality of servo motors, a shaft and a plurality of handles, and the plurality of handles are controlled by the plurality of servo motors.

5. The assistive robot endoscopic system as claimed in claim 1, wherein the data generated by the wireless gyroscope is converted into position data through inverse kinematics.

6. The assistive robot endoscopic system as claimed in claim 1, further comprising a foot pedal, being a switch for transferring the data to indicate the laparoscopic surgical operation status.

7. The assistive robot endoscopic system as claimed in claim 1, further comprising a monitor, displaying a real-time laparoscopic image taken by the robotic endoscope.

8. The assistive robot endoscopic system as claimed in claim 1, wherein a distance of the wireless transmission is 20 m, and the wireless transmission comprises Bluetooth transmission.

9. An assistive robot endoscopic method, comprising the steps of:

measuring an intuitive motion of a user'"'"'s head, generating data based on the intuitive motion of the user'"'"'s head and transmitting the data to a computer by means of a wireless gyroscope;

receiving the data from the computer by a control system; and

automatically controlling a robotic endoscope of a laparoscope by the control system based on the intuitive motion of the user'"'"'s head.

10. The assistive robot endoscopic method as claimed in claim 9, wherein the data generated by the wireless gyroscope comprises rotation, orientation, angular velocity and angular acceleration information.

11. The assistive robot endoscopic method as claimed in claim 9, wherein the control system comprises a driver and a PC-based programmable multi-axis controller (PMAC) motion control.

12. The assistive robot endoscopic method as claimed in claim 9, wherein the laparoscope further comprises a plurality of servo motors, a shaft and a plurality of handles, and the plurality of handles are controlled by the plurality of servo motors.

13. The assistive robot endoscopic method as claimed in claim 9, further comprising a step of converting the data generated by the wireless gyroscope into position data through inverse kinematics.

14. The assistive robot endoscopic method as claimed in claim 9, further comprising a step of transferring data to indicate the laparoscopic surgical operation status by a foot pedal, wherein the foot pedal is a switch.

15. The assistive robot endoscopic method as claimed in claim 9, further comprising a step of displaying a real-time laparoscopic image taken by the robotic endoscope on a monitor.

16. The assistive robot endoscopic method as claimed in claim 9, wherein a distance of the wireless transmission is 20 m, and the wireless transmission comprises Bluetooth transmission.