Surgical robot system and method of controlling the same

• US 9,615,890 B2
• Filed: 08/13/2013
• Issued: 04/11/2017
• Est. Priority Date: 03/21/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Hwang, Won Jun, Roh, Kyung Shik, Yoon, Suk June, Hyung, Seung Yong
• Primary Examiner(s): Brutus, Joel F
• Application Number:
  US13/965,460
• Publication Number:
  US 20140288413A1
• Time in Patent Office: 1,337 Days
• Field of Search: 600424
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• 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

Abstract

A surgical robot system includes a slave system to perform a surgical operation on a patient and an imaging system that includes an image capture unit including a plurality of cameras to acquire a plurality of affected area images, an image generator detecting an occluded region in each of the affected area images acquired by the plurality of cameras, removing the occluded region therefrom, warping each of the affected area images from which the occluded region is removed, and matching the affected area images to generate a final image, and a controller driving each of the plurality of cameras of the image capture unit to acquire the plurality of affected area images and inputting the acquired plurality of affected area images to the image generator to generate a final image.

Claims

1. A method of controlling a robot, the method comprising:

acquiring a plurality of affected area images using a plurality of cameras;

detecting an occluded region present in each of the plurality of affected area images by detecting state data of each joint of a robot arm, the robot arm configured to mount a surgical instrument thereon;

removing detected occluded region from each of the plurality of affected area images;

warping each of the plurality of affected area images from which the occluded region is removed; and

generating a final image by matching warped affected area images.

2. The method according to claim 1, wherein detected occluded regions are disposed at different positions in the plurality of affected area images.

3. The method according to claim 1, wherein the occluded region is a region at which the surgical instrument is located in each of the plurality of affected area images.

4. The method according to claim 3, wherein the detecting of the occluded region is performed by attaching a marker to the surgical instrument, and detecting the marker from each of the plurality of affected area images.

5. The method according to claim 3, wherein the detecting of the occluded region is performed by extracting a blob closest to the plurality of cameras from the each of the plurality of affected area images and spreading an extracted blob using a region growing method.

6. The method according to claim 1, wherein the detecting of the occluded region is performed by estimating depth information from the plurality of cameras to an object obscuring each of the plurality of affected areas.

7. The method according to claim 6, wherein the estimating of the depth information to the occluded region is performed by use of sum of absolute differences (SAD) or sum of squared differences (SSD).

8. The method according to claim 6, wherein the estimating of the depth information to the occluded region is performed by use of a depth sensor attached to the plurality of cameras.