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Method and device for controlling/compensating movement of surgical robot

A surgical robot, compensation device technology, used in surgical robots, control/adjustment systems, surgery, etc.

Active Publication Date: 2012-05-16
EATON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] Moreover, the conventional method of moving the surgical robot system has the inconvenience of manually moving the slave robot by the operator or an assistant.

Method used

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  • Method and device for controlling/compensating movement of surgical robot
  • Method and device for controlling/compensating movement of surgical robot
  • Method and device for controlling/compensating movement of surgical robot

Examples

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Embodiment Construction

[0120] The present invention can undergo various changes, and can also have various embodiments, and specific embodiments are exemplified here for detailed description. However, the present invention is not limited to specific embodiments, and it should be understood that all changes, equivalents and substitutes included in the idea and technical scope of the present invention belong to the present invention. In the case where it is considered that detailed descriptions related to known techniques may obscure the gist of the present invention in the description of the present invention, the detailed descriptions are omitted.

[0121] Various constituent elements may be described using terms such as "first" and "second", but the constituent elements are not limited by the terms. The terms are only used to distinguish one constituent element from another constituent element.

[0122] Terms used in the present application are only used to describe specific embodiments, and are n...

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PUM

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Abstract

A movement compensating device of a surgical robot in which a surgical operation processing unit mounted with a surgical instrument is coupled to one end of a body section includes: an image information creating unit that creates image information corresponding to an image signal supplied from a camera unit; a recognition point information analyzing unit that creates analysis information on a distance and an angle between a recognition point recognized from image information pieces corresponding to a predetermined number of image frames and a predetermined reference point; a variation analyzing unit that creates variation information in distance and angle between two analysis information pieces continuously created; and a control command creating and outputting unit that creates and outputs a control command for adjusting the position of the surgical operation processing unit so that the variation in distance and angle included in the variation information be 0 (zero).

Description

technical field [0001] The invention relates to a movement control / compensation method and device for a surgical robot. Background technique [0002] Medical surgery refers to the act of using medical instruments to incise, cut or manipulate skin, mucous membranes or other tissues to cure diseases. In particular, laparotomy, in which the skin of the surgical site is incised to treat, reshape, or remove internal organs, etc., has recently become popular for surgery using robots due to problems such as bleeding, side effects, patient pain, and scars. [0003] A surgical robot system generally includes a master robot and a slave robot, and the master robot and the slave robot can be independent or integrated. When the operator operates a manipulator (such as a handle) provided on the master robot, a surgical tool (ie, a surgical instrument: instrument) combined with or held by the robot arm of the slave robot is operated to perform surgery. [0004] Surgical instruments are i...

Claims

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Application Information

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IPC IPC(8): A61B19/00
CPCA61B2019/2223A61B2019/5441B25J9/1697A61B2019/5251A61B19/2203G05B2219/39393A61B2019/5255B25J13/08A61B2019/5214A61B2090/3612A61B2034/2055A61B34/30A61B34/37A61B2034/2051A61B2090/3941A61B90/00B25J9/1664B25J9/1684B25J9/1656
Inventor 崔胜旭李珉奎闵东明
Owner EATON CORP
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