Surgical robot system

• US 9,439,733 B2
• Filed: 09/18/2013
• Issued: 09/13/2016
• Est. Priority Date: 04/08/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Ha, Tae Sin, Ko, Won Jun, Kwon, Young Do, Kim, Gyung Rock, Choi, Byung Kwon
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/030,302
• Publication Number:
  US 20140303643A1
• Time in Patent Office: 1,091 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• 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 34/74 Manipulators with manual electric input means

Abstract

A surgical robot system includes a slave device provided with a surgical instrument and a master device to control motion of the surgical instrument. The master device includes a master manipulation module having a manipulation tool, to which a pose recognizer is attached, and a master control module that estimates a pose of the manipulation tool using pose information acquired via the pose recognizer, generates a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool, and transmits the control signal to the slave device.

Claims

1. A surgical robot system comprising:

a slave device including a surgical instrument; and

a master device to control motion of the surgical instrument, the master device including,

a master manipulation module including,

a manipulation tool having a handle and a body, the manipulation tool being a wireless device having a same shape as the surgical instrument controlled thereby,

a pose recognizer configured to acquire information on a movement of the manipulation tool during the movement of the manipulation tool,

a first Radio Frequency (RF) transmitter/receiver configured to wirelessly transmit data, and

a first controller configured to,

acquire pose information of the manipulation tool by driving the pose recognizer, and

transmit, via the first RF transmitter/receiver, the acquired pose information; and

a master control module configured to,

receive the pose information from the master manipulation module,

estimate a pose of the manipulation tool using the pose information acquired with the pose recognizer,

generate a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool, and

transmit the control signal to the slave device.

2. The system according to claim 1, wherein

the pose recognizer includes an inertial measurement unit, and

the first controller acquires first pose information of the manipulation tool with the inertial measurement unit, and transmits the acquired first pose information to the master control module with the first RF transmitter/receiver.

3. The system according to claim 2, wherein the master control module comprises:

a second RF transmitter/receiver configured to transmit and receive data to and from the master manipulation module in a wireless manner;

a manipulation tool pose estimation unit configured to estimate a first pose of the manipulation tool based on the first pose information transmitted with the second RF transmission/reception unit; and

a second controller configured to determine whether or not the estimated first pose is within a valid range, generate a surgical instrument pose control signal corresponding to the estimated first pose if the first pose is within the valid range, and transmit the surgical instrument pose control signal to the slave device.

4. The system according to claim 3, wherein the valid range is a predetermined workspace range of the manipulation tool.

5. The system according to claim 3, wherein

the master manipulation module further includes a plurality of markers formed at the manipulation tool,

the master device further includes a camera to acquire an image of the manipulation tool, and

the second controller is configured to,

detect the plurality of markers from the image acquired with the camera,

estimate a second pose of the manipulation tool based on the respective detected markers,

calculate a first final pose of the manipulation tool by applying a predetermined weighting factor to coordinates of each of the estimated first pose and second pose,

determine whether or not the calculated first final pose is within a valid range,

generate a surgical instrument pose control signal corresponding to the first final pose if the first final pose is within the valid range, and

transmit the generated surgical instrument pose control signal to the slave device.

6. The system according to claim 5, wherein

the master manipulation module further includes a motion sensor provided at the manipulation tool to acquire motion information on the manipulation tool,

the first controller acquires motion information on the manipulation tool by driving the motion sensor, and transmits the acquired motion information to the master control module with the first RF transmitter/receiver;

the master control module further includes a manipulation tool motion estimation unit to estimate motion of the manipulation tool based on the motion information transmitted from the master manipulation module, and

the second controller generates a surgical instrument motion control signal corresponding to the estimated motion, and transmits the generated surgical instrument motion control signal to the slave device.

7. The system according to claim 2, wherein

the pose recognizer further includes an RF reception node,

the master device includes a plurality of RF transmission nodes containing different identification information, and

the first controller acquires second pose information on the manipulation tool based on signal intensity as well as identification information on the plurality of RF transmission nodes transmitted to the RF reception node, and thereafter transmits the acquired first pose information and second pose information to the master control module with the first RF transmission/reception unit.

8. The system according to claim 7, wherein the master control module comprises:

a second RF transmitter/receiver configured to transmit and receive data to and from the master manipulation module in a wireless manner;

a manipulation tool pose estimation unit configured to estimate a first pose and a third pose of the manipulation tool based on the first pose information and the second pose information transmitted with the second RF transmitter/receiver; and

a second controller configured to,

calculate a second final pose by applying a predetermined weighting factor to coordinates of each of the estimated first pose and third pose,

determine whether or not the second final pose is within a valid range,

generate a surgical instrument pose control signal corresponding to the second final pose if the second final pose is within the valid range, and

transmit the generated surgical instrument pose control signal to the slave device.

9. The system according to claim 8, wherein the valid range is a workspace range of the manipulation tool.

10. The system according to claim 8, wherein

the master manipulation module further includes a plurality of markers attached to the manipulation tool,

the master device further includes a camera to acquire an image of the manipulation tool, and

the second controller is configured to,

detect the plurality of markers from the image acquired with the camera, estimates a second pose of the manipulation tool based on the respective detected markers,

calculate a third final pose of the manipulation tool by applying a predetermined weighting factor to coordinates of each of the estimated first pose, second pose and third pose,

determine whether or not the calculated third final pose is within a valid range,

generate a surgical instrument pose control signal corresponding to the calculated third final pose if the third final pose is within the valid range, and

transmit the generated surgical instrument pose control signal to the slave device.

11. The system according to claim 10, wherein the valid range is a predetermined workspace range of the manipulation tool.

12. The system according to claim 10, wherein

the master manipulation module further includes a motion sensor provided at the manipulation tool to acquire motion information on the manipulation tool,

the first controller acquires motion information on the manipulation tool by driving the motion sensor, and transmits the acquired motion information to the master control module with the first RF transmitter/receiver,

the master control module further includes a manipulation tool motion estimation unit to estimate motion of the manipulation tool based on the motion information transmitted from the master manipulation module, and

the second controller generates a surgical instrument motion control signal corresponding to the estimated motion, and transmits the generated surgical instrument motion control signal to the slave device.

13. The system according to claim 1, wherein the master manipulation module further comprises:

a contact sensor provided at the handle of the manipulation tool, the contact sensor configured to detect whether or not the operator is manipulating the manipulation tool.

14. The system according to claim 1, wherein the master manipulation module further comprises:

a vibration motor provided at the manipulation tool and a motor drive unit to drive the vibration motor, and wherein

the first controller is configured to drive the vibration motor using the motor drive unit to vibrate the manipulation tool if a signal indicating a collision of the surgical instrument is transmitted from the slave device.

15. The system according to claim 1, wherein the master device further comprises:

a display unit configured to display a medical image of a patient.

16. The system according to claim 15, wherein the display unit comprises:

at least one of a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, a transparent display, a hologram display, and a Head Mounted Display (HMD).

17. The system according to claim 1, wherein the master device further comprises:

a mode input unit configured to set a connection mode with the slave device.

18. The system according to claim 17, wherein the mode input unit comprises:

at least one of a pedal, a switch, and a button.

19. The system according to claim 1, wherein the master manipulation module and the master control module are separated from each other.

20. A method for controlling motion of a surgical instrument in a robotic slave device by a master device, the master device including a master manipulation module and a master control module, the master manipulation module including a manipulation tool, a pose recognizer, a Radio Frequency (RF) transmitter/receiver and a controller, the method comprising:

acquiring, via the pose recognizer, information on a movement of the manipulation tool during the movement of the manipulation tool, the manipulation tool having a handle and a body and being a wireless device having a same shape as the surgical instrument controlled thereby;

acquiring, via the controller, pose information of the manipulation tool by driving the pose recognizer;

wirelessly transmitting, via the RF transmitter/receiver, data including the pose information to the master control module;

estimating, in the master control device, a pose of the manipulation tool using the pose information;

generating, in the master control device, a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool; and

transmitting the control signal to the robotic slave device.