Surgical robots for positioning surgery

Abstract

The surgical robot for positioning surgery of the present invention includes: a rotating part, which can attach a surgical tool and rotate the surgical tool around at least one of two rotating axes according to the entry posture of the surgical tool; a moving part, which moves the rotating part in the direction of at least one of three linear axes according to the position of the surgical target; and a surgical site supporting part, which is connected to the moving part and can be detached from the operating table, and the moving part can move the rotating part so that the location where the two rotating axes intersect is consistent with the surgical target.

Description

[0001] This application is a divisional application of the Chinese invention patent application with the number of 201611195452.5, the invention name of which is “Surgical robot for positioning surgery and its control method” and the application date of December 22, 2016. Technical Field

[0002] The invention relates to a surgical robot for positioning surgery.

[0003] This invention was developed from research conducted as part of the Ministry of Trade, Industry and Energy's Robot Industry Convergence Core Technology Development Project. [Project ID: 10062800, Research Project Name: Development of Practical Technology for Brain Surgery Robot System Based on Medical Images through Clinical Trials] Background Art

[0004] Various positioning surgical instruments are already well known. For example, a Leksell frame is being used as a manual positioning surgical instrument for brain surgery. The Leksell frame has a structure that allows the user to manually move and rotate the positioning surgical tool along the X, Y, and Z axes so that the position of the positioning surgical tool corresponds to the position of the affected part. However, when using this manual positioning surgical instrument, the user needs to visually read the scale on the Leksell frame, determine the position of the surgical tool and move it, so errors are likely to occur between the position of the affected part and the surgical tool.

[0005] Therefore, in order to improve the precision of the position setting of the surgical tool, a technology of using a robot for positioning surgery is being used. The robot for positioning surgery is embodied by a robot arm including a movable arm assembly, wherein the robot arm is connected to a fixed base and includes a plurality of arms connected in series. The position of the surgical tool attached to this serial robot arm and the surgical precision are affected by all the axes of freedom of the robot arm. That is, if an error occurs in the action using a certain axis of the robot arm, then the error is superimposed on the error occurring in the action using other axes, thereby accumulating the errors of the actions of all axes of the robot arm, affecting the surgical precision. At this time, if an action error occurs at the driving end mounted on the base side, then the error is superimposed on the other action errors of the plurality of robot arms connected to the base, and the error is magnified the closer to the end of the robot arm. Therefore, in order to improve the precision of the surgery, it is preferred to set the distance between the base to which the robot arm is fixed and the affected part to be shorter. However, if the distance between the base of the robot arm and the affected part becomes shorter, the inertia of the robot arm becomes smaller, and thus errors are prone to occur, and therefore, precise control of the robot arm becomes difficult. In addition, since the space between the base of the robot arm and the affected part becomes smaller, the operating radius of the robot arm becomes narrower. In addition, when the robot arm fixed to the base is arranged around the affected part, when the user moves around the affected part, there is a risk of collision with the robot arm, so the user's movement is hindered.

[0006] On the other hand, in order to perform positioning surgery, the position of the surgical target and the entry position (or entrance) of the surgical tool should be specified. When performing brain or nerve surgery, if the entry position of the surgical tool cannot be set appropriately, the surgical tool will contact important parts of the brain or nerves before reaching the surgical target, which will cause unnecessary danger to the patient. However, with regard to previous positioning surgical instruments, the movement of the surgical tool according to the position of the surgical target and the movement of the surgical tool according to the entry position of the surgical tool are controlled in a state where they are not independently distinguished. Therefore, if an error occurs between the actual position of the surgical tool and the position of the surgical tool recognized by the positioning surgery robot system, the control of the surgical tool required to correct the error will become complicated. Summary of the invention

[0007] Technical issues solved

[0008] The present invention provides a surgical robot for positioning surgery which can improve the precision of positioning surgery and ensure the convenience of the patient's surgical posture.

[0009] The present invention provides a control method for a surgical robot used for positioning surgery, which can reduce control errors of the surgical robot used for positioning surgery and easily correct errors that occur.

[0010] The present invention provides a surgical robot for positioning surgery and a control method for the surgical robot for positioning surgery, which independently implement motion control of surgical tools based on a surgical target position and motion control of surgical tools based on a surgical tool entry position, thereby reducing the complexity of motion control of surgical tools.

[0011] The present invention provides a surgical robot system and a control method for a surgical robot for positioning surgery that can easily control a surgical robot for positioning surgery based on an image of a surgical object displayed in a user interface.

[0012] Technical Solution

[0013] A surgical robot for positioning surgery according to an embodiment of the present invention may include: a rotating part, which can attach a surgical tool and rotate the surgical tool around at least one of two rotating axes according to the entry posture of the surgical tool; a moving part, which moves the rotating part in the direction of at least one of three linear axes according to the position of the surgical target; and a surgical site supporting part, which is connected to the moving part and can be detached from the operating table, and the moving part can move the rotating part so that the location where the two rotating axes intersect is consistent with the surgical target.

[0014] According to one embodiment, the surgical site supporting portion may include a connecting portion detachably connected to the moving portion.

[0015] According to one embodiment, the surgical site support may further include a posture adjustment unit, wherein the posture adjustment unit includes an angle adjustment unit for adjusting an angle of the surgical site and a height adjustment unit for adjusting a height of the surgical site.

[0016] According to one embodiment, the surgical site supporting portion may further include an operating table fixing portion, wherein the operating table fixing portion is connected to the posture adjusting portion and detachably fixes the posture adjusting portion to the operating table.

[0017] According to one embodiment, the surgical robot for positioning surgery may further include a surgical site fixing unit, which is fixedly arranged on the surgical site supporting unit and can fix the surgical site to prevent the surgical site from moving.

[0018] According to one embodiment, the surgical site fixing part may include a surgical site fixing frame and a surgical site fixing pin, wherein the surgical site fixing frame is configured to prevent the surgical site fixing frame from blocking the characteristic area of ​​the surgical site when the imaging unit images the characteristic area of ​​the surgical site.

[0019] According to one embodiment, the surgical robot for positioning surgery may further include an insulating portion, which is arranged between the surgical site fixing frame and the surgical site supporting portion.

[0020] According to one embodiment, the moving part may include: a first direction driving part, which moves along the direction of a first linear axis; a second direction driving part, which is connected to the first direction driving part and moves along the direction of the second linear axis; and a third direction driving part, which is connected to the second direction driving part and moves along the direction of a third linear axis; the rotating part includes: a first rotation driving part that rotates around the first rotation axis, one end of the first rotation driving part is connected to the third rotation driving part; and a second rotation driving part that rotates around the second rotation axis, one end of the second rotation driving part is connected to the other end of the first rotation driving part, and the surgical tool can be attached to the other end of the second rotation driving part.

[0021] According to one embodiment, the first to third linear axis directions may be orthogonal to each other, and the first rotation axis and the second rotation axis may be orthogonal to each other.

[0022] According to one embodiment, a holder for assembling and disassembling the surgical tool may be attached to the other end of the second rotation driving unit.

[0023] According to one embodiment, a surgical tool sensing unit for sensing the surgical tool may be further attached to the other end of the second rotation driving unit.

[0024] According to one embodiment, the third directional driving portion may include a hollow formed around the first rotation axis.

[0025] With regard to a control method for a surgical robot for positioning surgery according to an embodiment of the present invention, the surgical robot for positioning surgery may include: a rotating part, which can attach a surgical tool and rotate the surgical tool around at least one of two rotating axes; a moving part, which moves the rotating part; and a surgical site supporting part, which is connected to the moving part. The control method may include: a step in which the surgical robot receives the position of the surgical target and the entry posture of the surgical tool; a step in which the moving part moves the rotating part in the direction of at least one of three linear axes according to the position of the surgical target so that the location where the two rotating axes intersect is consistent with the position of the surgical target; and a step in which the rotating part rotates the surgical tool around at least one of the two rotating axes according to the entry posture of the surgical tool.

[0026] According to one embodiment, the surgical robot for positioning surgery may also include an angle adjustment unit for adjusting the angle of the surgical site and a height adjustment unit for adjusting the height of the surgical site. Before the step of determining the position of the surgical target and the posture of the surgical tool, the control method may also include a step of adjusting at least one of the angle and height of the surgical site by the angle adjustment unit and the height adjustment unit.

[0027] According to one embodiment, the moving part may include first to third directional driving parts, the rotating part may include first and second rotation driving parts, the step of the moving part causing the rotating part to move may include at least one of a step of the first directional driving part moving along a first linear axis direction, a step of the second directional driving part moving along a second linear axis direction, and a step of the third directional driving part moving along a third linear axis direction, and the step of the rotating part causing the surgical tool to rotate may include at least one of a step of the first rotation driving part rotating around a first rotation axis and a step of the second rotation driving part rotating around a second rotation axis.

[0028] Effects of the Invention

[0029] According to the positioning surgery surgical robot and the control method of the positioning surgery surgical robot of the present invention, the positioning surgery surgical robot can be independently controlled according to the position of the surgical target and the entry position of the surgical tool, thereby improving the surgical precision and simplifying the control method. The surgical robot can be arranged close to the patient's affected part, which can improve the convenience of the patient and the operability of the operator and reduce the control error.

[0030] In addition, according to the surgical robot system including the surgical robot for positioning surgery of the present invention, the doctor can simply control the surgical robot for positioning surgery through the user interface, and even if the patient moves during the operation, the coordinate transformation relationship required for the surgical robot control can be reset in a short time. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 FIG. 1 is a diagram showing an example of a surgical robot system according to an embodiment of the present invention being used for surgery.

[0032] Figure 2 is a block diagram showing a surgical robot system according to an embodiment of the present invention.

[0033] Figure 3 It is a three-dimensional view showing a surgical robot for positioning surgery according to an embodiment of the present invention.

[0034] Figure 4 It is a perspective view of a moving part according to an embodiment of the present invention.

[0035] Figure 5 It is a perspective view of a rotating part according to an embodiment of the present invention.

[0036] Figure 6 It is a three-dimensional diagram of a surgical site support according to an embodiment of the present invention.

[0037] Figure 7 1 is a perspective view of a patient fixing portion according to an embodiment of the present invention.

[0038] Figure 8 It is a stereoscopic view of a surgical robot for positioning surgery combined with a patient fixation unit according to an embodiment of the present invention.

[0039] Fig. 9 This is a block diagram showing symbols and a tracking unit for explaining the operation of the tracking unit according to one embodiment of the present invention.

[0040] Fig.10 FIG. 1 is a diagram showing a result of integrating an image of the periphery of the entry position of a surgical tool obtained by an imaging unit with an image of a patient including a surgical site captured before surgery according to an embodiment of the present invention.

[0041] Fig.11 According to one embodiment of the present invention, the present invention is a diagram showing the position of the surgical target and the entry position of the surgical tool in a three-dimensional image of a patient including a surgical site taken before the surgery.

[0042] Fig.12 This diagram is used to illustrate a method for transforming a surgical target position and an entry position of a surgical tool displayed on a three-dimensional image of a surgical site or a two-dimensional cross-sectional image of the three-dimensional image into a position on a coordinate system for positioning the surgical site according to an embodiment of the present invention.

[0043] Fig.13 is a diagram for explaining a method for transforming coordinates from a coordinate system of imaging data representing a three-dimensional image including a surgical site to a coordinate system of a patient marker according to an embodiment of the present invention.

[0044] Fig.14 According to one embodiment of the present invention, the user identifies the position of the surgical target and the entry position of the surgical tool in a two-dimensional cross-sectional image on the axial plane of a three-dimensional image of a patient including a surgical site taken before the operation.

[0045] Fig.15 According to one embodiment of the present invention, the user identifies the position of the surgical target and the entry position of the surgical tool in a two-dimensional cross-sectional image on the sagittal plane of a three-dimensional image of a patient including a surgical site taken before surgery.

[0046] Fig.16According to one embodiment of the present invention, the user identifies the position of the surgical target and the entry position of the surgical tool in a two-dimensional cross-sectional image on the coronal plane of a three-dimensional image of a patient including a surgical site taken before the operation.

[0047] Fig.17 FIG. 1 is a flow chart showing a method for controlling positioning of an operating part according to an embodiment of the present invention.

[0048] Fig.18 is a flow chart showing a method for generating a coordinate transformation relationship required to transform coordinates from an imaging data coordinate system representing a three-dimensional image including a surgical site to a coordinate system of patient markings according to one embodiment of the present invention.

[0049] Fig.19 The flowchart shows a method for controlling positioning of an operating part using a coordinate transformation relationship required to transform coordinates from an imaging data coordinate system representing a three-dimensional image including a surgical site into a coordinate system for positioning the operating part according to one embodiment of the present invention.

[0050] Description of Reference Numerals

[0051] 1: Positioning surgery unit 10: Moving unit

[0052] 11: Fixed part 12: First direction driving part

[0053] 14: Second direction driving unit 16: Third direction driving unit

[0054] 40: Rotating unit 42: First rotating driving unit

[0055] 43: first rotating shaft 44: second rotating drive unit

[0056] 45: Second rotation axis 46: Clamp

[0057] 50: surgical tools 70: surgical site support

[0058] 72: Connecting part 73: Connecting member

[0059] 74: height adjustment unit 75: angle adjustment unit

[0060] 78: operating table fixing part 79: clamping part

[0061] 90: surgical site fixing part 92: transverse surgical site fixing frame

[0062] 93: longitudinal surgical site fixing frame 94: surgical site fixing pin

[0063] 95: Insulation means 110: Operating table

[0064] 120: Shooting unit 130: Tracking unit

[0065] 131: second lens 132: imaging element

[0066] 140: control unit 150: user interface

[0067] 170, 172, 174, 910: Mark 911: Pattern surface

[0068] 912: First lens DETAILED DESCRIPTION

[0069] The embodiments of the present invention described below are exemplified for the purpose of explaining the present invention. The embodiments of the present invention can be implemented in various forms, and the present invention should not be construed as being limited to the embodiments described below or the specific description of these embodiments.

[0070] The term "unit" used in this embodiment means software, hardware components such as FPGA (field-programmable gate array) and ASIC (application specific integrated circuit). However, "unit" is not limited to hardware and software. "Unit" can be configured to be located in an addressable storage medium, or it can be configured to play one or more processors. Therefore, as an example, "unit" includes components such as software components, object-pointing software components, cluster components and task components, processors, functions, attributes, programs, subroutines, fragments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, worksheets, arrays and variables. The functions provided in the components and "units" can be combined into a smaller number of components and "units", or further separated into additional components and "units".

[0071] All technical terms and scientific terms used in this specification, unless otherwise defined, have the meanings generally understood by those of ordinary skill in the art to which the present invention belongs. All terms used in this specification are selected for the purpose of more clearly describing the present invention, and are not selected for the purpose of limiting the scope of the present invention.

[0072] Unless otherwise mentioned, singular expressions described in the present specification also include plural expressions, and the same applies to singular expressions described in the claims.

[0073] The expressions “first”, “second”, etc. used in various embodiments of the present invention are only used to distinguish multiple components from each other, and do not limit the order or importance of the corresponding components.

[0074] Expressions such as “including” and “having” used in this specification should be understood as open-ended terms that include other possible embodiments, as long as no difference is specifically mentioned in a sentence or article containing the corresponding expression.

[0075] In this specification, the expression "based on ~" is used to record one or more factors that affect the decision or judgment behavior or action described in the sentence containing the corresponding expression, and the expression does not exclude additional factors that affect the decision or judgment behavior or action.

[0076] In this specification, when it is mentioned that a certain constituent element is "connected to" or "connected to" another constituent element, it should be understood that the certain constituent element may be directly connected to or connected to the other constituent element, or there may be other new constituent elements between the certain constituent element and the other constituent element.

[0077] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numerals are used for the same components in the drawings, and repeated description of the same components is omitted.

[0078] <Surgical robot system for positioning surgery>

[0079] Figure 1 An example of a surgical robot system that can perform positioning surgery according to an embodiment of the present invention is used for surgery. As shown in the figure, a doctor (or user) can use a surgical robot such as a positioning surgery unit 1 to perform positioning surgery on a patient 160. The doctor can study the image of the surgical site displayed in the user interface 150, and decide the position of the surgical target to be operated on and the position where the surgical tool enters the patient 160.

[0080] If the doctor inputs the position of the surgical target and the entry position of the surgical tool through the user interface 150, the action of the positioning surgical part 1 is controlled based on this, so that the surgical tool attached to the positioning surgical part 1 can approach the surgical target. Among them, the "surgical target" (or surgical object) can mean an object to be removed or treated by a surgical tool, such as a tumor or a part with lesions in an organ, blood vessel or bone, etc. For example, the surgical target can be located inside the body or on the external surface (or skin) of the patient 160. The "entry position" (or entrance) of the surgical tool can mean the position on the external surface of the patient that the surgical tool initially contacts or passes through in order to approach the surgical target when the surgical target is inside the patient's body. For example, when the surgical tool moves to remove a tumor present in the patient's skull, the entry position of the surgical tool can be set on the patient's scalp.

[0081] According to one embodiment, the action of positioning the surgical part 1 can be accurately controlled by using the shooting unit 120 and the tracking unit 130 included in the surgical robot system. The shooting unit 120 can generate imaging data showing an external three-dimensional image of a surgical site including a surgical target such as a brain or spine. Here, "imaging data" can mean data that can be displayed in a form that can visually identify a photographed object such as a surgical site, for example, it can include a two-dimensional or three-dimensional image that visually displays the surgical site and coordinate system information related to the image. The tracking unit 130 can track the markers 170, 172, and 174 attached to the shooting unit 120, the positioning surgical part 1, and the patient 160, and track the position and posture of the object to which each marker is attached. According to the surgical robot system of the present invention, the current position of the surgical tool attached to the positioning surgical part 1 can be determined by using the tracking unit 130. In addition, based on the information generated by the shooting unit 120 and the tracking unit 130, the surgical tool can be moved from the current position to the position of the surgical target input through the user interface 150.

[0082] According to one embodiment, the positioning surgical unit 1 can be attached to the operating table 110 for use. Therefore, during the positioning surgery, even if the operating table 110 moves, the positioning surgical unit 1 moves together with the operating table 110, so the position of the surgical tool leading to the surgical target can remain unchanged. In addition, if the positioning surgical unit 1 is attached to the operating table 110 for use, the positioning surgical unit 1 can be located close to the patient, so that the surgical tools attached to the positioning surgical unit 1 can be precisely controlled, and the positioning surgical unit 1 can be prevented from obstructing the doctor's moving route.

[0083] The following is through Figure 1 Various embodiments of the surgical robot system of the present invention, which have been briefly described by way of example, will now be described in more detail.

[0084] Figure 2 1 is a block diagram showing a surgical robot system 100 according to an embodiment of the present invention. The surgical robot system 100, as a surgical robot system capable of performing positioning surgery, may include a positioning surgery unit 1, a photographing unit 120, a tracking unit 130, and a control unit 140. The positioning surgery unit 1 may include a surgical tool capable of performing positioning surgery on a surgical target included in a surgical site and a device capable of guiding the surgical tool.

[0085] According to one embodiment, the positioning surgical unit 1 may be a surgical robot for positioning surgery that can move with at least five degrees of freedom. For example, the positioning surgical unit 1 may move surgical tools along at least three axes and may rotate surgical tools around at least two rotation axes. The positioning surgical unit 1 may be attached to an operating table 110 for use.

[0086] According to one embodiment, the positioning surgical unit 1 can independently perform the movement and rotation of the surgical tool according to the position of the surgical target and the entry position of the surgical tool. The so-called independent execution of the movement and rotation of the surgical tool can mean that in the positioning surgical unit 1, the structure for moving the surgical tool and the structure for rotating the surgical tool are separately embodied, and according to this structure, the movement and rotation of the surgical tool can be individually controlled and executed. For example, the positioning surgical unit 1 can first move the surgical tool according to the position of the surgical target, and after determining the posture or direction of the surgical tool approaching or inserting the surgical target according to the entry position of the surgical tool, the surgical tool is rotated so that the surgical tool has such a posture. Therefore, in the positioning surgery, when the entry position of the surgical tool to the same surgical target is changed, the surgery can be restarted in a short time by simply changing only the posture of the surgical tool. More specific embodiments of the structure and action of the positioning surgical unit 1 will be described in the relevant part below.

[0087] The photographing unit 120 may generate imaging data representing an external two-dimensional or three-dimensional image of the surgical site. According to one embodiment, the photographing unit 120 may generate imaging data representing an image of the surface of the patient 160, or may generate imaging data representing an image of the surgical target or the position where the surgical tool enters (or its periphery). According to one embodiment, the photographing unit 120 may generate imaging data representing a three-dimensional image based on a phase shift method (Phase Measuring Profilometry) using patterned light or the like.

[0088] The imaging data generated by the photographing unit 120 may be transmitted to the user interface 150 and visually displayed on the user interface 150. In addition, the imaging data generated by the photographing unit 120 may also be stored in the storage device 180 for post-operative analysis of surgical results or treatment.

[0089] According to one embodiment, the imaging data generated by the photographing unit 120 and the imaging data representing the three-dimensional image of the surgical site including the surgical target taken in advance before the operation can be integrated. The imaging data representing the three-dimensional image of the surgical site can be stored in the storage device 180 before the operation. The user interface 150 can visually display the result of the integration of the two imaging data. For example, the user interface 150 can be a display device that can display a two-dimensional or three-dimensional image represented by any imaging data. The imaging data representing the three-dimensional image of the surgical site taken in advance before the operation can be imaging data about a CT or MRI image of the surgical site.

[0090] According to another embodiment, the control unit 140 may control the positioning of the surgical part 1 based on the imaging data generated by the imaging unit 120. More specific embodiments related to the imaging unit 120 will be described in the relevant part below.

[0091] The tracking unit 130 is a device for tracking the movement of an object, and is a device that can specifically track the position and / or posture of an object. According to one embodiment, the tracking unit 130 measures the position and / or posture of a marker attached to the tracking object, thereby tracking the object to which the marker is attached. For example, after the marker is attached to a surgical tool, the tracking unit 130 tracks the position and / or posture of the marker attached to the surgical tool, thereby tracking the surgical tool.

[0092] According to one embodiment, the positioning surgical unit 1 can be controlled by tracking the results of the markers 170, 172, and 174 respectively attached to the imaging unit 120, the positioning surgical unit 1, and the surgical site or the vicinity of the surgical site of the patient 160. According to the purpose of tracking, the markers can be attached to various positions of various components of the surgical robot system 100 or tools / devices used in the positioning surgery. More specific embodiments of the configuration and operation of the tracking unit 130 will be described in the relevant parts below.

[0093] The control unit 140 can control the actions of various components of the surgical robot system 100 including the positioning operation unit 1, the imaging unit 120, the tracking unit 130, and the user interface 150. The control unit 140 can store and run control software including surgical planning software and navigation software for controlling these components. In addition, the control unit 140 can include one or more processors such as a CPU that can run these software.

[0094] According to one embodiment, the control unit 140 may be located in the operating room to control the surgical robot system 100. According to another embodiment, the control unit 140 may be located outside the operating room, connected to the surgical robot system 100 via a wired or wireless network, and control the surgical robot system 100. According to another embodiment, the functions of the control unit 140 may be dispersed in different components of the surgical robot system 100. For example, the function of the control unit 140 capable of controlling the tracking unit 130 may be embodied in the tracking unit 130, and the function of the control unit 140 capable of controlling the shooting unit 120 may be embodied in the shooting unit 120. The control unit 140 may be connected to a database installed inside or outside the operating room or hospital via a wired or wireless network, and may receive various data including imaging data required for surgery from the database.

[0095] Specific embodiments related to each component included in the surgical robot system 100 are described below.

[0096] <Location surgery department 1>

[0097] Figure 3 Shows that it can be used as Figure 2The surgical robot for positioning surgery of one embodiment of the present invention is used for positioning the surgical part 1. The surgical robot for positioning surgery of this embodiment may include a moving part 10, a rotating part 40 and a surgical site supporting part 70, and is configured to be detachable from an operating table. A surgical tool 50 may be provided at one end of the rotating part 40, and the surgical robot for positioning surgery may control the moving part 10 and the rotating part 40 to adjust the position and posture of the surgical tool 50. The surgical robot for positioning surgery of this embodiment may move the moving part 10 according to the position of the surgical target, and rotate the rotating part 40 according to the position or posture of the surgical tool. The moving part 10 and the rotating part 40 may be controlled independently of each other.

[0098] Refer to the following Figure 4 and Figure 5 , the detailed structure and operation of the moving part 10 to which the rotating part 40 is rotatably connected are described in detail. According to one embodiment, the moving part 10 can be operated to make the rotating part 40 and the surgical tool 50 fixed to one end of the rotating part 40 reciprocate along at least one axis direction of the three axes, so that the moving part 10 can have three degrees of freedom. The moving part 10 may include first to third directional driving parts 12, 14, 16 that move along first to third linear axis directions 13, 15, 17.

[0099] In the present embodiment, as an example, the first to third linear axis directions 13, 15, 17 are mutually orthogonal, and each driving part 12, 14, 16 can reciprocate along mutually orthogonal axes. According to another embodiment, the first to third linear axis directions 13, 15, 17 can also be arranged in any manner that is not orthogonal. The first to third directional driving parts 12, 14, 16 can be embodied by one of various mechanical or electrical driving means including linear motors, ball screws, etc. In the present embodiment, the moving part 10 can be detachably connected to the connecting part 72 of the surgical site supporting part 70 through the fixing part 11, and the rotating part 40 can be rotatably connected to the third driving part 16.

[0100] Reference Figure 5 , the detailed structure and operation of the rotating part 40 are described. The rotating part 40 may include a first rotating driving part 42 connected to the third directional driving part 16 and a second rotating driving part 44 connected to the first rotating driving part 42. The first and second rotating driving parts 42 and 44 may rotate around the first and second rotating shafts 43 and 45, respectively. For example, the first and second rotating driving parts 42 and 44 may be implemented by one of various mechanical or electrical driving means including a servo motor, a hydraulic motor, etc.

[0101] As shown in the figure, the first and second rotation drive parts 42 and 44 can be designed to be arc-shaped or similar shapes. By adopting such a shape, an integrated drape that can cover the entire rotation part 40 can be installed on the rotation part 40, and the drape can be installed and replaced hygienically. The shapes of the first and second rotation drive parts 42 and 44 are not limited to Figure 5 The content shown can be changed into various shapes according to the surgical site or surgical method using the surgical robot system of the present invention.

[0102] The second rotation drive unit 44 of this embodiment may include a surgical tool 50 connected to the second rotation drive unit 44, and a holder 46 that can detachably hold the surgical tool 50. The holder 46 is configured so that various types of surgical tools can be easily detached. By installing the holder 46 having such a configuration, the doctor can shorten the replacement time of the surgical tool, thereby quickly performing the operation.

[0103] On the other hand, the second rotation drive unit 44 may also be equipped with a surgical tool sensing unit 51 for sensing whether the surgical tool 50 is installed or removed. When the surgical tool sensing unit 51 senses the installation of the surgical tool 50, the control unit 140 may control the driving units 12, 14, and 16 of the moving unit 10 to be fixed and no longer move. According to the motion control of the moving unit 10 by the control unit 140, fatal medical accidents caused by the movement of the moving unit due to misoperation of the surgical robot or physical impact during surgery can be prevented, and surgery can be performed safely.

[0104] In this embodiment, the first rotation axis 43 and the second rotation axis 45 are arranged to be orthogonal to each other, and the surgical tool 50 is attached to the second rotation drive unit 44, so that the front end of the surgical tool 50 can be kept in a posture facing the intersection point of the first rotation axis 43 and the second rotation axis 45. Therefore, even if the first rotation drive unit 42 and the second rotation drive unit 44 rotate respectively around the first rotation axis 43 and the second rotation axis 45, the intersection point of the first rotation axis 43 and the second rotation axis 45 can be kept predetermined, and the front end of the surgical tool 50 can be kept in a posture facing the intersection point of the first rotation axis 43 and the second rotation axis 45. While the rotating unit 40 moves by means of the moving unit 10 so that the intersection point of the first rotation axis 43 and the second rotation axis 45 coincides with the position of the surgical target, the front end of the surgical tool 50 maintains a posture facing the surgical target position, so that the entry posture of the surgical tool 50 can be appropriately selected in a state where the position of the surgical target is kept predetermined. Therefore, even if the rotating unit 40 rotates the surgical tool 50, the operation of the surgical robot for positioning surgery can be controlled while the position of the surgical target is kept predetermined. The so-called "position of the surgical target" may mean a certain location of the surgical target or the location of the three-dimensional space occupied by the surgical target including the location. In addition, the so-called "location" of the surgical target may mean a two-dimensional or three-dimensional area that is small enough to be visually recognized as a point, and is not limited to a point in mathematical or physical sense.

[0105] The moving part 10 having the structure described above moves the rotating part 40 according to the position of the surgical target, and the rotating part 40 rotates the surgical tool 50 according to the entry posture of the surgical tool, so that the moving part 10 and the rotating part 40 can be independently controlled according to the position of the surgical target and the posture of the surgical tool. In the past, in order to control the surgical tool, a relatively complex surgical robot motion control method was used, and it was impossible to independently perform control based on the position of the surgical target and control based on the entry posture of the surgical tool. However, according to this embodiment, the moving part 10 and the rotating part 40 can be independently controlled according to the position of the surgical target and the entry posture of the surgical tool, thereby improving the precision and efficiency of the control of the surgical robot and the surgical tool.

[0106] In this embodiment, the connection part between the first rotation drive part 42 of the rotating part 40 and the third directional drive part 16 may also include a hollow 48 formed with the first rotation axis 43 as the center. At the lower part of the hollow 48, a shooting device for shooting medical images of the surgical site or other affected parts through the hollow 48 may be installed. According to this structure, in the case of calibrating the position of the surgical tool or shooting the surgical site in order to observe the patient's condition during surgery, the moving part 10 or the rotating part 40 is prevented from blocking the shooting object part. In addition, as described above, the hollow 48 is formed in the connection part of the first rotation drive part 42 and the third directional drive part 16 along the direction of the first rotation axis 43, so that the operation of the surgical robot for positioning surgery and the use of various medical imaging devices including C-arms can not interfere with each other. For example, the hollow 48 can be embodied using a hollow rotating interface formed in the connection part of the first rotation drive part 42 and the third directional drive part 16 along the direction of the first rotation axis 43.

[0107] Reference Figure 6 , the detailed structure and operation of the surgical site support part 70 are described in detail. The surgical site support part 70 can be provided so as to appropriately adjust the position of the moving part 10 and the rotating part 40 relative to the patient or the surgical site. By providing the surgical site support part 70, the patient can take a more comfortable posture during surgery. In this embodiment, the surgical site support part 70 includes posture adjustment parts 74, 75, a connecting part 72 and an operating table fixing part 78.

[0108] The connecting portion 72 may include a connecting member 73 that can be connected to the moving portion 10. The connecting member 73 may be implemented by bolts and nuts or one of various mechanical connection means including the same, so as to be able to detachably connect the fixing portion 11 of the moving portion 10 and the connecting portion 72. The connecting member 73 may be implemented by a plurality of bolts and nuts, and by such a configuration, a highly reliable connection and fixation between the moving portion 10 and the surgical site supporting portion 70 can be achieved.

[0109] The posture adjustment parts 74 and 75 may include an angle adjustment part 75 for adjusting the angle of the surgical site and a height adjustment part 74 for adjusting the height of the surgical site. The angle adjustment part 75 may be implemented by a manual or automatic mechanical device that can adjust the angle between the connection part 72 and the height adjustment part 74 around an axis. The manual mechanical device may include a variety of manual structures including hinges or connecting rod structures, and the automatic mechanical device may include a driver such as a servo motor or a hydraulic cylinder. The height adjustment part 74 is connected to the operating table fixing part 78 so that it can be movably connected in the height direction, so that the overall height of other components connected to the height adjustment part 74 can be adjusted. The height adjustment part 74 may be implemented by a manual or automatic mechanical device including a ball screw or a linear motor.

[0110] The operating table fixing part 78 may be configured to fix the surgical site support part 70 as a whole to the operating table 110. Thus, the surgical robot for positioning surgery including the moving part 10 and the rotating part 40 may be fixed as a whole to the operating table 110. The operating table fixing part 78 may include a clamping part 79 for firmly fixing the operating table 110 and the operating table fixing part 78. The clamping part 79 clamps the operating table fixing part 78 to a part of the operating table 110 (for example, a rail provided on the side), thereby fixing the surgical site support part 70 as a whole to the operating table 110. In the present embodiment, as an example, the clamping part 79 is used as the operating table fixing part 78, but the operating table fixing part 78 may be fixed to the operating table 110 using various fixing devices such as screws and form bonding.

[0111] Reference Figure 7 and 8 , the detailed structure and operation of the surgical site fixing part 90 are described in detail. Generally speaking, in the positioning surgical device, the surgical site of the patient (for example, the patient's head) needs to be fixed relative to the surgical tool without shaking. To this end, in the present embodiment, the surgical site fixing part 90 may include surgical site fixing frames 92, 93 and surgical site fixing pins 94. The surgical site fixing frames 92, 93 are composed of a transverse surgical site fixing frame 92 and a longitudinal surgical site fixing frame 93 for fixing the surgical site, and a surgical site fixing pin 94 capable of accurately fixing the surgical site of the patient is attached to one end of the longitudinal surgical site fixing frame 93. In the present embodiment, as an example, the surgical site fixing part 90 includes one transverse surgical site fixing frame 92 and four longitudinal surgical site fixing frames 93, but the number of the transverse surgical site fixing frames 92 and the longitudinal surgical site fixing frames 93 or the connection structure therebetween can be appropriately changed as needed.

[0112] In order to increase the possibility of not interfering with the camera unit 120 in use, the surgical site fixing frames 92 and 93 of this embodiment can be changed into a suitable form. For example, when performing surgery on the patient's head, an image of the patient is taken, and characteristic areas such as the patient's eyes, nose, brow center, and ears are extracted from the image, so that the precise position of the surgical site (i.e., head) of the patient can be predicted and determined. At this time, the surgical site fixing frames 92 and 93 can be constructed so as not to hinder the shooting of the patient's characteristic areas. In this embodiment, for example, the central part above the horizontal surgical site fixing frame 92 can have a concave shape so as not to interfere with the patient's nose area, and on the other hand, the longitudinal surgical site fixing frame 93 can be connected to the outermost end of the horizontal surgical site fixing frame 92 so as not to block the patient's ears. Therefore, the horizontal surgical site fixing frame 92 and the longitudinal surgical site fixing frame 93 of this embodiment can prevent the patient's characteristic areas from being blocked, and ensure that the camera unit 120 shoots the patient's characteristic areas during surgery.

[0113] The surgical site fixing frames 92, 93 and the surgical site fixing pin 94 can be made of a durable and strong material such as metal, for example. However, when such a metallic material is used, once it comes into contact with an electrical device such as an electronic control device or a measuring device, the patient may be electrocuted. Therefore, in order to prevent this, an insulating means may be connected to the surgical site fixing frames 92, 93 so that the electrical device and the patient do not come into electrical contact. Specifically, an insulating means 95 is included between the surgical site fixing frames 92, 93 and the connecting portion 72, so that the surgical site fixing frames 92, 93 and the connecting portion 72 can be combined in a state where they are not electrically connected.

[0114] The surgical site fixing part 90 in this embodiment can be detachably connected to the connecting part 72, so that the surgical site fixing part 90 of a shape and size that matches the surgical purpose can be selected and easily replaced. In addition, the surgical site fixing part 90 can be directly fixed to the surgical site supporting part 70, so that even when the moving part 10 moves and the rotating part 40 rotates, the surgical site fixing part 90 can stably fix the surgical site.

[0115] The positioning surgery robot of this embodiment can be automatically controlled by the control unit 140. The control method of the positioning surgery robot is described in detail below.

[0116] The control unit 140 can determine the position of the surgical site and the surgical tool entry position based on the surgical plan, and output a control signal according to the determined position, which causes the moving unit 10 and the rotating unit 40 to move the surgical tool. Based on the control signal output by the control unit 140, the moving unit 10 moves along at least one of the three axes according to the position information of the surgical target, so that the location where the two rotation axes intersect is consistent with the position of the surgical target. In addition, based on the control signal output by the control unit 140, the rotating unit 40 can rotate the surgical tool 50 around at least one of the two rotation axes according to the entry posture information of the surgical tool. More specifically, based on the control signal output by the control unit 140, the moving unit 10 can move the first direction drive unit along the first linear axis direction, or move the second direction drive unit along the second linear axis direction, or move the third direction drive unit along the third linear axis direction. In addition, the rotating unit 40 can rotate the first rotation drive unit around the first rotation axis, or rotate the second rotation drive unit around the second rotation axis, based on the control signal of the control unit 140.

[0117] As described above, the moving part 10 and the rotating part 40 are controlled independently according to the position of the surgical target and the entry posture of the surgical tool, thereby reducing errors in the motion control of the surgical robot. Even if errors occur, the additional motion control required to correct the errors can be reduced.

[0118] In addition, the control unit 140 may control the angle adjustment unit 75 and the height adjustment unit 74 to adjust at least one of the angle and the height of the surgical site.

[0119] The surgical robot for positioning surgery of the present invention is described through an exemplary embodiment, but can be applied to various surgical sites (such as the head, spine, and joints of the human body) to which positioning surgery can be applied.

[0120] <Tracking Unit 130>

[0121] The tracking unit 130 is a device capable of tracking the movement of an object, specifically, a device capable of measuring the position and / or posture of the object. The tracking method is not particularly limited, and generally an optical tracking method based on optical technology or an electromagnetic tracking method based on electromagnetic wave technology can be used. In addition, a variety of tracking methods can also be used in combination.

[0122] The position measured by the tracking unit 130 can be defined by spatial coordinates such as coordinates on the X, Y, and Z axes of a rectangular coordinate system. The posture measured by the tracking unit 130 can be defined by rotation information such as roll, pitch, and yaw. In order to accurately track an object, the six degrees of freedom (6 degrees of freedom) of the position and posture of the object defined in this way can be measured.

[0123] According to one embodiment, the tracking unit 130 can track an object by measuring the position and / or posture of a marker attached to the object. For example, after attaching a marker to a surgical tool, the tracking unit 130 can track the surgical tool by measuring the position and / or posture of the marker attached to the surgical tool.

[0124] According to one embodiment, the tracking unit 130 may use a retroreflector as a marker to measure the position of the marker. According to another embodiment, in order to simultaneously measure the position and posture of the tracked object, a structure with three or more markers attached may be attached to the tracked object. In this case, a retroreflector may be used as the marker, but any form of marker may be used as long as the position of the marker can be recognized by the tracking unit 130. According to one embodiment, the geometric positional relationship between the three or more markers measured by the tracking unit 130 may be compared with the geometric positional relationship between the three or more markers stored in advance, and the position and posture of the tracked object may be measured simultaneously.

[0125] On the other hand, in order to simplify the marking, only one marker may be used to measure the position and posture of the object to which the marker is attached. Fig. 91 is a block diagram showing a marker 910 and a tracking unit 130 that can be applied in an optical tracking method using one marker according to an embodiment of the present invention. The marker 910 may include at least one pattern unit 911 that reflects a pattern and a first lens 912 that can enlarge and transmit the pattern of the pattern unit 911. The tracking unit 130 may include a second lens 131 and an imaging element 132 that can image the pattern of the pattern unit 911 transmitted from the marker 910 into an image. According to an embodiment, in order to increase the recognition range of the pattern of the pattern unit 911 or improve the recognition rate of the pattern, more than two tracking units 130 may be used, and in one tracking unit 130, more than two imaging elements 132 may be included.

[0126] The pattern formed in the pattern portion 911 can provide information required for measuring the position and posture of the marker 910. According to one embodiment, the pattern formed in the pattern portion 911 can be formed by arranging a plurality of patterns in a predetermined form and interval, and the position and posture of the marker 910 can be determined by imaging the pattern.

[0127] According to one embodiment, after the imaging element 132 images all or part of the pattern embodied in the pattern portion 911, the control portion 140 can extract the size change of the area showing the pattern in the imaged image, and based on this, determine the position of the mark 910. Specifically, if the position of the mark 910 changes, the size of the imaged pattern is different, and this pattern size change can be compared with the diameter and focal length of the lens 131 and converted into a position.

[0128] According to another embodiment, in the images respectively imaged by the two imaging elements, the positions of the areas showing all or part of the pattern are different, and the control unit 140 can use triangulation based on this to calculate the position of the marker 910. According to one embodiment, the control unit 140 can determine the posture of the marker 910 based on the position change of each pattern area in the pattern. According to one embodiment, the function of the control unit 140 capable of controlling the tracking unit 130 can be formed integrally with the tracking unit 130.

[0129] The marker 910 may be embodied as an active marker or a passive marker. In the case where the marker 910 is an active marker, the marker 910 may include a light source inside. Therefore, the light source inside the marker 910 may irradiate light to the pattern portion 911, and the irradiated light may pass through the pattern formed on the pattern portion 911 or be reflected by the pattern. The tracking unit 130 may receive the light that passes through the pattern or is reflected by the pattern, and image the image of the pattern of the pattern portion 911. The control unit 140 may track the position and posture of the marker 910 based on the image thus imaged.

[0130] In the case where the marker 910 is a passive marker, a light source that irradiates light toward the marker 910 may be disposed outside the marker 910. Therefore, the external light source of the marker 910 irradiates light toward the marker 910, and the irradiated light may pass through the pattern formed in the pattern portion 911 or be reflected by the pattern. The tracking portion 130 may receive the light that passes through the pattern or is reflected by the pattern, and image the image of the pattern of the pattern portion 911. The control portion 140 may track the position and posture of the marker 910 based on the image thus imaged. If the surgical field is bright enough and the pattern of the marker 910 can be clearly identified by the tracking portion 130, the marker 910 may be tracked without an additional light source.

[0131] According to one embodiment, the mark 910 may be embodied so that the focus of the first lens 912 is focused on the pattern surface of the pattern portion 911. To this end, the shape of the pattern surface of the pattern portion 911 may be embodied in accordance with the shape of the focus surface of the first lens 912, or the first lens 912 may be designed so that the focus of the first lens 912 is focused on the pattern surface of the pattern portion 911.

[0132] If the mark 910 is embodied so that the focus of the first lens 912 is focused on the pattern surface of the pattern part 911, and in addition, the imaging element 132 of the tracking part 130 is located at the focal length of the second lens 131, then the optical system of the mark 910 and the tracking part 130 can form an infinite optical system. If the mark 910 and the tracking part 130 form an infinite optical system, the tracking part 130 can image the pattern image enlarged by the infinite optical system. Therefore, even if the mark 910 is far away from the tracking part 130, the recognition rate of the pattern in the tracking part 130 can be improved.

[0133] The tracking unit 130 may use the imaging element 132 to image the pattern transmitted through the second lens 131. The imaging element 132 is a device that converts image information transmitted through light into an electrical signal, and may be typically embodied by a CMOS image sensor or a CCD, etc. According to one embodiment, the imaging element 132 may image the image at a position corresponding to the focal length of the second lens 131.

[0134] <Image capture unit 120>

[0135] The photographing unit 120 is a device that can generate imaging data representing an external image of the surgical site. According to one embodiment, the photographing unit 120 can generate imaging data that obtains a surface image of the patient 160 or an image representing an image of the surgical site or a surgical tool entry position (or its periphery). The photographing unit 120 can be a device that can generate imaging data representing a two-dimensional image such as an ordinary camera image, but can also be a device that can generate imaging data representing a three-dimensional image required for performing a precision surgery such as a positioning surgery.

[0136] According to one embodiment, the shooting unit 120 can generate imaging data representing a three-dimensional image based on a phase shift method using patterned light or the like. For example, by processing an image captured by irradiating a patient with patterned light of a predetermined form, imaging data representing a three-dimensional image can be generated. The patterned light can be a patterned light having a sinusoidal wave shape of illumination such as a grid patterned light, but is not limited thereto. With respect to the irradiated patterned light, the light intensity on the surface of the patient 160 will vary depending on the curvature of the surface of the patient 160, thereby generating phase data, calculating the height of each point constituting the surface, and thereby generating imaging data representing a three-dimensional image.

[0137] According to one embodiment, the photographing unit 120 may generate imaging data representing a 3D image in an image processing unit included in the photographing unit 120. According to another embodiment, the control unit 140 may also process the image data after receiving the image data obtained by the photographing unit 120 to generate imaging data representing a 3D image.

[0138] According to one embodiment, the imaging data generated by the imaging unit 120 may be visually displayed through the user interface 150. According to another embodiment, by using image integration between the imaging unit image represented by the imaging data generated by the imaging unit 120 and other images, the two images may be overlapped, and the result may be visually displayed through the user interface 150. For example, Fig.10 As shown, the imaging unit image about the periphery 1050 of the surgical tool entry position 1030 obtained by the imaging unit 120 is integrated with the surgical site image including the surgical target 1010 obtained before the surgery, and the imaging unit image can be overlapped on the surgical site image.

[0139] According to one embodiment, the image integration can be performed using at least a portion of the surgical site contained in the image of the imaging part and other images to be integrated therewith. According to another embodiment, after the image of the imaging part and other images to be integrated therewith are obtained including the same fiducial marker, the image integration can be performed using the fiducial marker contained in the two images.

[0140] <Control Method of Surgical Robot System 100>

[0141] Generally speaking, positioning surgery is surgery on a part that is difficult for a doctor to directly visually confirm, such as the brain. Therefore, the doctor can analyze a three-dimensional image of the surgical site containing the surgical target located in the patient 160, such as a CT or MRI image, or a two-dimensional cross-sectional image of such a three-dimensional image, to determine the surgical target, and can determine the position where the surgical tool can safely enter the surgical target. For example, after displaying a CT image through the user interface 150, the doctor studies the CT image, and can thereby determine the position of the surgical target and / or the entry position of the surgical tool, and can input the determined position through the user interface 150. The positioning surgical unit 1 of the present invention can be controlled based on the position of the surgical target and / or the entry position of the surgical tool input by the doctor.

[0142] Fig.11 The result of the doctor inputting the position 1110 of the surgical target and the entry position 1130 of the surgical tool in the three-dimensional image of the surgical site is shown. According to one embodiment, a user such as a doctor can input the position 1110 of the surgical target or the entry position 1130 of the surgical tool using a touch screen in the image displayed by the user interface 150. According to another embodiment, the user can input the position 1110 of the surgical target or the entry position 1130 of the surgical tool by typing coordinate values.

[0143] As described above, after the position 1110 of the surgical target or the entry position 1130 of the surgical tool is input through the user interface, the control unit 140 can control the action of positioning the surgical unit 1 based on the input position 1110 of the surgical target.

[0144] According to one embodiment, the control unit 140 may move the moving unit 10 for positioning the surgical unit 1 in at least one of the three axes based on the input position 1110 of the surgical target. A rotating unit 40 for rotating the surgical tool may be attached to the moving unit 10. Therefore, as the moving unit 10 moves, the rotating unit 40 may move. According to one embodiment, the control unit 140 may move the rotating unit through the moving unit 10 so that the coordinate corresponding to the position of the surgical target is located at the intersection of the two rotation axes of the rotating unit 40.

[0145] According to one embodiment, the control unit 140 may determine the entry posture of the surgical tool based on the position 1110 of the surgical target input by the user and the entry position 1130 of the surgical tool. The control unit 140 may rotate the rotating unit 40 to which the surgical tool is attached about at least one of the two rotation axes so that the surgical tool has the determined surgical tool entry posture.

[0146] The positioning surgical unit 1 can be driven with reference to the coordinate system of the positioning surgical unit 1. However, the position 1110 of the surgical target and the entry position 1130 of the surgical tool inputted through the user interface 150 are not positions on the coordinate system of the positioning surgical unit 1, but positions on the coordinate system of the image displayed in the user interface 150. Therefore, in order to control the positioning surgical unit 1 with reference to the coordinate system of the positioning surgical unit 1, the position 1110 of the surgical target and the entry position 1130 of the surgical tool inputted with reference to the coordinate system of the image displayed in the user interface 150 should be converted into positions with reference to the coordinate system of the positioning surgical unit 1.

[0147] According to one embodiment, the control unit 140 may receive imaging data ("first imaging data") representing a three-dimensional image such as a CT or MRI image that was pre-photographed before surgery. The first imaging data may be imaging data about a surgical site that includes a surgical target. The first imaging data may be pre-stored in the storage device 180 before surgery. The control unit 140 may receive imaging data ("second imaging data") representing a three-dimensional image outside the surgical site generated by the photographing unit 120. The control unit 140 may (i) generate a first coordinate transformation relationship for transforming coordinates from a first coordinate system of the first imaging data into a second coordinate system of the second imaging data, and may (ii) use the tracking unit 130 to track the position and posture of the photographing unit 120.

[0148] The control unit 140 may generate a coordinate transformation relationship for transforming coordinates from the first coordinate system of the first imaging data into a fourth coordinate system for positioning the surgical unit 1 by using the first coordinate transformation relationship and the position and posture of the imaging unit 120 .

[0149] Refer to the following Fig.12 First, the user may input the position 1110 of the surgical target and the entry position 1130 of the surgical tool through the user interface 150. The control unit 140 may transform the position 1110 of the surgical target and the entry position 1130 of the surgical tool input by the user into coordinates on the first coordinate system 1210 of the first imaging data.

[0150] According to one embodiment, in order to transform the position on the first coordinate system 1210 of the first imaging data into the position on the fourth coordinate system 1230 for positioning the surgical site 1, the coordinates on the first coordinate system 1210 of the first imaging data may be transformed in the order of the coordinates on the third coordinate system 1220 of the patient mark 174 and the coordinates on the fourth coordinate system 1230 for positioning the surgical site 1. For such coordinate transformation, (i) a second coordinate transformation relationship for transforming the coordinates from the first coordinate system 1210 of the first imaging data into the third coordinate system 1220 of the patient mark 174 and (ii) a third coordinate transformation relationship for transforming the coordinates from the third coordinate system 1220 of the patient mark 174 into the fourth coordinate system 1230 for positioning the surgical site 1 may be obtained. The patient mark 174 may be a mark attached to the surgical site of the patient 160, or a mark attached to an object disposed close to the surgical site and moving integrally with the patient 160, such as the surgical site fixing part 90 for positioning the surgical site 1. The patient mark 174 may be attached to at least one of such objects.

[0151] The second coordinate transformation relationship for transforming the coordinates from the first coordinate system 1210 of the first imaging data into the third coordinate system 1220 of the patient mark 174 can be obtained by using (i) the first coordinate transformation relationship for transforming the coordinates from the first coordinate system 1210 of the first imaging data into the second coordinate system 1240 of the second imaging data and (ii) the position and posture of the imaging unit 120 obtained by the tracking unit 130. Specifically, Fig.13 As shown, after the coordinates on the first coordinate system 1210 of the first imaging data are transformed in the order of the coordinates on the second coordinate system 1240 of the second imaging data, the coordinates on the fifth coordinate system 1250 of the shooting unit 120, and the coordinates on the third coordinate system 1220 of the patient mark 174, the coordinates can be transformed from the first coordinate system 1210 of the first imaging data to the third coordinate system 1220 of the patient mark 174.

[0152] The second imaging data may be generated using the photographing unit 120 before or during the positioning surgery. According to one embodiment, the image integration between the three-dimensional image represented by the first imaging data and the three-dimensional image represented by the second imaging data may generate a first coordinate transformation relationship for transforming coordinates from the first coordinate system 1210 of the first imaging data to the second coordinate system 1240 of the second imaging data. The image integration between the three-dimensional image represented by the first imaging data and the three-dimensional image represented by the second imaging data may be performed using at least a portion of the surgical site commonly contained in the two images. According to another embodiment, after obtaining the first imaging data and the second imaging data including data related to the same reference marker, the image integration may be performed using the reference marker. In addition, various known image integration methods may be used to generate the first coordinate transformation relationship.

[0153] According to one embodiment, a fourth coordinate transformation relationship for transforming coordinates from the second coordinate system 1240 of the second imaging data into the fifth coordinate system 1250 of the shooting unit 120 can be generated using (i) a coordinate transformation relationship for transforming coordinates from the reference coordinate system of the optical system of the shooting unit 120 into the fifth coordinate system 1250 of the shooting unit 120 and (ii) a coordinate transformation relationship for transforming coordinates from the second coordinate system 1240 of the second imaging data into the reference coordinate system of the optical system of the shooting unit 120.

[0154] The fifth coordinate transformation relationship for transforming the coordinates from the fifth coordinate system 1250 of the shooting unit 120 into the third coordinate system 1220 of the patient mark 174 can be generated using (i) a coordinate transformation relationship for transforming the coordinates from the fifth coordinate system 1250 of the shooting unit 120 into the coordinate system of the tracking unit 130 and (ii) a coordinate transformation relationship for transforming the coordinates from the third coordinate system 1220 of the patient mark 174 into the coordinate system of the tracking unit 130.

[0155] At this time, the coordinate transformation relationship for transforming the coordinates from the fifth coordinate system 1250 of the shooting unit 120 into the coordinate system of the tracking unit 130 and the coordinate transformation relationship for transforming the coordinates from the third coordinate system 1220 of the patient mark 174 into the coordinate system of the tracking unit 130 can be generated by measuring the position and posture of the patient mark 174 and the shooting unit mark 170 using the tracking unit 130.

[0156] The third coordinate transformation relationship for transforming the coordinates from the third coordinate system 1220 of the patient mark 174 to the fourth coordinate system 1230 of the positioning surgical part 1 can be generated using (i) the position and posture of the mark located at the origin of the positioning surgical part 1 and (ii) the position and posture of the patient mark 174. At this time, the position and posture of each mark can be measured by the tracking unit 130. Among them, the origin of the positioning surgical part 1 can be defined as the intersection of the rotation axis of the positioning surgical part 1. According to another embodiment, the position where the patient mark 174 is attached and the origin position of the positioning surgical part 1 are predetermined, and the third coordinate transformation relationship can be generated by geometric calculation (mechanical calculation) using this point.

[0157] As described above, if the coordinates on the first coordinate system 1210 of the first imaging data are transformed in the order of the coordinates on the third coordinate system 1220 of the patient mark 174 and the coordinates on the fourth coordinate system 1230 for positioning the surgical part 1, the position 1110 of the surgical target and the entry position 1130 of the surgical tool expressed by the coordinates on the first coordinate system 1210 of the first imaging data can be transformed into the coordinates on the fourth coordinate system 1230 for positioning the surgical part 1. On the other hand, if the patient 160 moves, the coordinate transformation relationship described above changes, and therefore, the patient 160 should be fixed so as not to move, and if the patient 160 moves, the control unit 140 should be able to re-acquire the above-mentioned coordinate transformation relationship.

[0158] According to one embodiment, the positioning surgical part 1 of the present invention can be controlled based on the position of the surgical target and / or the entry position of the surgical tool displayed in the two-dimensional cross-sectional image constituting the three-dimensional image represented by the first imaging data. Figures 14 to 16 The two-dimensional cross-sectional images are respectively taken before the operation on the axial plane, sagittal plane and coronal plane of the surgical site. The control unit 140 can extract such two-dimensional cross-sectional images from the first imaging data and visualize them to the user through the user interface 150.

[0159] The user can mark the positions 1410 and 1412 of the surgical target and the entry positions 1430 and 1432 of the surgical tool in the two-dimensional cross-sectional image visualized through the user interface 150. After the control unit 140 transforms the positions 1410 and 1412 of the surgical target and / or the entry positions 1430 and 1432 of the surgical tool marked on the sixth coordinate system 1260 of the two-dimensional cross-sectional image into positions on the fourth coordinate system 1230 for positioning the surgical unit 1, the moving unit 10 can be moved according to the transformed position of the surgical target. In addition, the control unit 140 can rotate the rotating unit 40 to which the surgical tool is attached so that the surgical tool has a surgical tool entry posture determined based on the transformed position of the surgical target and the entry position of the surgical tool.

[0160] like Fig.12 As shown, in order to transform the coordinates marked on the sixth coordinate system 1260 of the two-dimensional cross-sectional image into the coordinates on the fourth coordinate system 1230 for positioning the surgical part 1, the coordinates on the sixth coordinate system 1260 of the two-dimensional cross-sectional image can be transformed in the order of (i) the coordinates on the first coordinate system 1210 on the first imaging data, (ii) the coordinates on the third coordinate system 1220 of the patient mark 174, and iii the coordinates on the fourth coordinate system 1230 for positioning the surgical part 1.

[0161] However, the second coordinate transformation relationship for transforming the coordinates from the first coordinate system 1210 into the third coordinate system and the third coordinate transformation relationship for transforming the coordinates from the third coordinate system into the fourth coordinate system can be generated in advance by the above-described embodiment. Therefore, if the user wishes to control the positioning of the surgical part 1 through the two-dimensional cross-sectional image displayed on the user interface 150, the positioning of the surgical part 1 can be controlled by simply generating the coordinate transformation relationship for transforming the coordinates from the sixth coordinate system 1260 of the two-dimensional cross-sectional image into the first coordinate system 1210 of the first imaging data.

[0162] According to one embodiment, a two-dimensional cross-sectional image can be generated from the first imaging data, and therefore, based on the generated relationship, a coordinate transformation relationship can be generated that can transform coordinates from the sixth coordinate system 1260 of the two-dimensional cross-sectional image to the first coordinate system 1210 of the first imaging data.

[0163] On the other hand, the control unit 140 needs to grasp the basic position and posture of the surgical tool before moving and / or rotating the surgical tool attached to the positioning surgical unit 1. According to one embodiment, in order to grasp the position and posture of the surgical tool, a positioning surgical unit marker 172 may be attached to the rotating unit 40 of the positioning surgical unit 1 near the surgical tool, and the position and posture of the positioning surgical unit marker 172 may be measured with the help of the tracking unit 130. However, the position and posture of the positioning surgical unit marker 172 are the position and posture on the coordinate system of the tracking unit 130. Therefore, after the control unit 140 transforms the position and posture of the positioning surgical unit marker 172 on the coordinate system of the tracking unit 130 into the position and posture on the fourth coordinate system 1230 of the positioning surgical unit 1, the initial position and posture of the surgical tool can be grasped based on the transformed position and posture.

[0164] As described above, the control of the positioning operation part 1 of the present invention can start from the generation of a coordinate transformation relationship (first coordinate transformation relationship) for transforming coordinates from the CT or MRI image coordinate system captured before the operation to the imaging part image coordinate system obtained by the imaging part 120. At this time, the coordinate transformation relationship can be simply generated by image integration between the two images. However, if the patient 160 inevitably moves during the positioning operation, or if the components of the positioning operation part 1 such as the surgical part fixing part 90 move, and the surgical part moves, then the conditions for controlling the positioning operation part 1 will change. In this case, the control part 140 should be able to re-obtain the coordinate transformation relationship described above. According to the present invention, even if there is such movement during the positioning operation, if only the imaging data is re-generated by the imaging part 120, then the coordinate transformation relationship for controlling the positioning operation part 1 can be simply re-generated by using the image integration between the image represented by the imaging data and the CT or MRI image. Therefore, even if there is movement of the patient 160, etc. during the positioning operation, the positioning operation can be restarted in a short time.

[0165] In addition, in the past, the position of the surgical robot used for positioning surgery was not fixed and would move even in the middle of the surgery. Therefore, in order to control the movement of the surgical robot based on the current position of the surgical robot, the position of the surgical robot should be accurately grasped. For this reason, in the past, additional marks were attached to the base of the surgical robot, which could be used to grasp the position of the surgical robot. However, the positioning surgical part 1 of the present invention is fixed to the operating table 110 for use, so the positional relationship between the positioning surgical part 1 and the surgical site can always be kept fixed, and the position of the positioning surgical part 1 remains unchanged. Therefore, there is no need to grasp the position required to control the directional surgical part 1. Therefore, according to the surgical robot system 100 of the present invention, there is no need to use the previous additional marks, thereby reducing the amount of calculation required for control.

[0166] Fig.17 The flowchart shows a method for controlling a positioning surgical part that moves and rotates a surgical tool with at least five degrees of freedom in a positioning surgical robot system according to an embodiment of the present invention.

[0167] First, in step S1710, the control unit may receive first imaging data representing a three-dimensional image of a surgical site including a surgical target. Figure 2 The control unit 140 may receive imaging data representing a three-dimensional image of the surgical site photographed before the operation from the storage device 180. The first imaging data is visualized through the user interface 150, and can be used as data capable of determining the position of the surgical target and the entry position of the surgical tool. If the position of the surgical target and the entry position of the surgical tool are input through the user interface 150, the control unit 140 may control the positioning of the surgical unit 1 based on the input position of the surgical target and the entry position of the surgical tool.

[0168] In step S1710, after the control unit 140 receives the first imaging data, in step S1720, the photographing unit may generate second imaging data representing a three-dimensional image of the outside of the surgical site. For example, the photographing unit 120 may generate second imaging data representing a three-dimensional image of the position where the surgical tool will enter through the skull. According to one embodiment, the second imaging data may be generated by a phase shift method using patterned light or the like.

[0169] After the first and second imaging data are prepared in steps S1710 and S1720, in step S1730, the tracking unit may track the position and posture of at least one marker attached to or disposed close to the imaging unit and the surgical site. Figure 2The tracking unit 130 tracks the marker 170 attached to the imaging unit 120, thereby being able to track the position and posture of the imaging unit 120. In addition, the tracking unit 130 can track the position and posture of the patient marker 174. On the other hand, steps S1710 to S1730 are processes for the control unit 140 to obtain data required for controlling the positioning surgical unit 1, and therefore, the order of the steps may be changed, and each step may be performed in parallel.

[0170] As described above, after preparing the data required for controlling the positioning surgical unit 1, in step S1740, the control unit may generate a first coordinate transformation relationship for transforming coordinates from a first coordinate system of the first imaging data to a second coordinate system of the second imaging data. According to one embodiment, the step of the control unit 140 generating the first coordinate transformation relationship may include the following steps, namely, the control unit 140 generates the first coordinate transformation relationship through image integration between the three-dimensional image represented by the first imaging data and the three-dimensional image represented by the second imaging data. According to one embodiment, the control unit 140 may perform image integration using at least a portion of the surgical site commonly included in the three-dimensional image represented by the first imaging data and the three-dimensional image represented by the second imaging data.

[0171] After the first coordinate transformation relationship is generated in step S1740, in step S1750, the control unit can use the first coordinate transformation relationship and the position and posture of the imaging unit and at least one patient mark to generate a second coordinate transformation relationship for transforming the coordinates from the first coordinate system into a third coordinate system of at least one mark, and a third coordinate transformation relationship for transforming the coordinates from the third coordinate system into a fourth coordinate system for positioning the surgical unit. For example, if referring to Fig.12 The control unit 140 can generate a second coordinate transformation relationship for transforming coordinates from the first coordinate system 1210 of the first imaging data into a third coordinate system 1220 of the patient mark 174, and a third coordinate transformation relationship for transforming coordinates from the third coordinate system 1220 of the patient mark 174 into a fourth coordinate system 1230 for positioning the surgical part 1.

[0172] According to one embodiment, the control unit 140 may generate a second coordinate transformation relationship based on the position and posture of the imaging unit 120. Fig.18 Specifically, in step S1751, the control unit may generate a fourth coordinate transformation relationship for transforming the coordinates from the second coordinate system to the fifth coordinate system of the photographing unit, and a fifth coordinate transformation relationship for transforming the coordinates from the fifth coordinate system to the third coordinate system, based on the position and posture of the photographing unit. Fig.13The control unit 140 can generate a fourth coordinate transformation relationship for transforming the coordinates from the second coordinate system 1240 of the second imaging data into the fifth coordinate system 1250 of the shooting unit 120 based on the position and posture of the shooting unit 120, and a fifth coordinate transformation relationship for transforming the coordinates from the fifth coordinate system 1250 of the shooting unit 120 into the third coordinate system 1220 of the patient mark 174.

[0173] According to one embodiment, the fourth coordinate transformation relationship may be generated using (i) a coordinate transformation relationship for transforming coordinates from the optical system reference coordinate system of the imaging unit 120 into the fifth coordinate system 1250 of the imaging unit 120, and (ii) a coordinate transformation relationship for transforming coordinates from the second coordinate system 1240 of the second imaging data into the optical system reference coordinate system of the imaging unit 120. According to one embodiment, the fifth coordinate transformation relationship may be generated using (i) a coordinate transformation relationship for transforming coordinates from the fifth coordinate system 1250 of the imaging unit 120 into the coordinate system of the tracking unit 130, and (ii) a coordinate transformation relationship for transforming coordinates from the third coordinate system 1220 of the patient mark 174 into the coordinate system of the tracking unit 130.

[0174] After the fourth coordinate transformation relationship and the fifth coordinate transformation relationship are generated, in step S1752, the control unit 140 can generate a second coordinate transformation relationship based on the first coordinate transformation relationship, the fourth coordinate transformation relationship, and the fifth coordinate transformation relationship. According to one embodiment, this coordinate transformation relationship can be expressed in the form of a coordinate transformation matrix. Therefore, the second coordinate transformation relationship can be generated by calculating using the matrix representing the generated first coordinate transformation relationship, the matrix representing the fourth coordinate transformation relationship, and the matrix representing the fifth coordinate transformation relationship.

[0175] According to one embodiment, the third coordinate transformation relationship can be generated using (i) the position and posture of a marker placed at the origin of the positioning surgical part 1 and (ii) the position and posture of at least one marker (patient marker) that can be obtained by the tracking unit 130. According to another embodiment, the position where the patient marker 174 is attached and the position of the origin of the positioning surgical part 1 are given, and the third coordinate transformation relationship can be generated by geometric calculation (mechanical calculation) using this point.

[0176] As described above, after the second coordinate transformation relationship and the third coordinate transformation relationship are generated, in step S1760, the control unit can use the second coordinate transformation relationship and the third coordinate transformation relationship to control the positioning of the surgical unit. Fig.19After the second coordinate transformation relationship and the third coordinate transformation relationship are generated through steps S1710 to S1750, the control unit can visualize the first imaging data through the user interface in step S1761 so that the user can input the position of the surgical target and the entry position of the surgical tool. Figure 2 The control unit 140 may visualize the first imaging data representing a three-dimensional image of a surgical site including a surgical target through the user interface 150 .

[0177] After the first imaging data is visualized through step S1761, the position of the surgical target and the entry position of the surgical tool can be output through the user interface 150 and displayed on the visualized image. In step S1762, the control unit can transform the position of the surgical target and the entry position of the surgical tool that the user can input through the user interface into coordinates on the first coordinate system. For example, if referring to Figure 2 The control unit 140 can transform the position of the surgical target and the entry position of the surgical tool input by the user through the user interface 150 into coordinates on the first coordinate system 1210 of the first imaging data.

[0178] After the position of the surgical target and the entry position of the surgical tool input through the user interface 150 are transformed into coordinates on the first coordinate system 1210 as described above, in step S1763, the control unit can use the second coordinate transformation relationship and the third coordinate transformation relationship to transform the transformed coordinates on the first coordinate system into coordinates on the fourth coordinate system for positioning the surgical unit. Fig.12 The control unit 140 can use the second coordinate transformation relationship and the third coordinate transformation relationship to transform the coordinates of the surgical target and the entry position of the surgical tool on the first coordinate system 1210 of the first imaging data into coordinates on the fourth coordinate system 1230 for positioning the surgical unit 1.

[0179] As described above, after the coordinates of the surgical target and the coordinates of the entry position of the surgical tool on the first coordinate system 1210 of the first imaging data are transformed into coordinates on the fourth coordinate system 1230 for positioning the surgical unit 1, in step S1764, the control unit 140 may determine the entry posture of the surgical tool based on the coordinates on the transformed fourth coordinate system. For example, the control unit 140 may determine the entry posture of the surgical tool so that the surgical tool can move from the entry position of the surgical tool to the position of the surgical target.

[0180] Then, in step S1765, the control unit may move the rotating unit through the moving unit so that the coordinate corresponding to the position of the surgical target is located at the intersection of the two rotation axes of the rotating unit in the fourth coordinate system. Figure 4 and 5The control unit 140 can move the rotating unit 40 attached to the moving unit 10 through the moving unit 10 so that the coordinates corresponding to the position of the surgical target are located at the intersection of the two rotating axes 43 and 45 of the rotating unit 40 in the fourth coordinate system 1230 for positioning the surgical unit 1.

[0181] In addition, the control unit may rotate the surgical tool through the rotating unit in step S1766 so that the surgical tool has a determined surgical tool entry posture. Figure 5 , the control unit 140 can rotate the surgical tool 50 attached to the rotating unit 40 through the rotating unit 40 so that the surgical tool 50 has a determined entry posture of the surgical tool 50. As described above, in the present invention, the control unit 140 can control the moving unit 10 and the rotating unit 40 separately and independently.

[0182] The method is described by a specific embodiment, but the method can also be embodied in a computer-readable recording medium in the form of a computer-readable code. Computer-readable recording media include all kinds of recording devices that store data that can be read by means of a computer system. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc., and also include those embodied in the form of a carrier wave (e.g., transmission via the Internet). In addition, the computer-readable recording medium can be distributed in a computer system connected to a network to store and run the computer-readable code in a distributed manner. Moreover, the functional program, code, and code fragment used to embody the embodiments can be easily inferred by a programmer in the technical field to which the present invention belongs.

[0183] In this specification, the present invention is described with respect to a part of the embodiments, but practitioners in the technical field to which the present invention belongs should understand that various modifications and changes can be implemented within the scope of the spirit and scope of the present invention. In addition, such modifications and changes should be deemed to belong to the claims attached to this specification.

Claims

1. A surgical robot for positioning surgery, in, include: a rotating part capable of attaching a surgical tool and rotating the surgical tool around at least one of two rotating axes according to the entry posture of the surgical tool; a moving part, which moves the rotating part in a first linear axis direction, a second linear axis direction, and a third linear axis direction that are orthogonal to each other according to the position of the surgical target; A surgical site supporting portion, comprising a connecting portion detachably connected to the moving portion and detachably attachable to the operating table; and an operation site fixing part which is detachably connected to the connection part of the operation site supporting part and is fixedly arranged on the operation site supporting part and can fix the operation target so as to prevent the operation target from moving; The moving unit moves the rotating unit so that the point where the two rotating axes intersect coincides with the surgical target. The mobile unit comprises: A first direction driving unit, which moves along the first linear axis direction; A second direction driving unit connected to the first direction driving unit and moving along the second linear axis direction; and The third direction driving unit is connected to the second direction driving unit and moves along the third linear axis direction.

2. The surgical robot for positioning surgery according to claim 1, wherein: The surgical site support unit further includes a posture adjustment unit. The posture adjustment unit comprises: an angle adjustment unit for adjusting the angle of the surgical site including the surgical target, and The height adjustment unit adjusts the height of the surgical site.

3. The surgical robot for positioning surgery according to claim 2, wherein: The surgical site support also includes an operating table fixing portion. The operating table fixing unit is connected to the posture adjusting unit, and the posture adjusting unit is detachably fixed to the operating table.

4. The surgical robot for positioning surgery according to claim 1, wherein: The surgical site fixing part includes a surgical site fixing frame and a surgical site fixing pin. The surgical site fixing frame is configured to have a shape that prevents the surgical site fixing frame from blocking a characteristic region of the surgical site when the imaging unit images the characteristic region of the surgical site.

5. The surgical robot for positioning surgery according to claim 1, wherein: The surgical site fixing unit comprises a surgical site fixing frame, The surgical robot for positioning surgery further includes an insulating portion, which is arranged between the surgical site fixing frame and the surgical site supporting portion.

6. The surgical robot for positioning surgery according to claim 5, wherein: The surgical site fixing part is detachably connected to the connecting part. The insulating portion is disposed between the surgical site fixing frame and the connecting portion.

7. The surgical robot for positioning surgery according to claim 1, wherein: The rotating part comprises: A first rotation driving unit that rotates around a first rotation axis that is perpendicular to the operating table; and The second rotation driving unit rotates around a second rotation axis perpendicular to the first rotation axis.

8. The surgical robot for positioning surgery according to claim 7, wherein: One end of the first rotation driving unit is connected to the moving unit, One end of the second rotation driving unit is connected to the other end of the first rotation driving unit, The surgical tool can be attached to the other end of the second rotation driving unit.

9. The surgical robot for positioning surgery according to claim 8, wherein: A holder that allows the surgical tool to be attached and detached is attached to the other end of the second rotation drive unit.

10. The surgical robot for positioning surgery according to claim 9, wherein: A surgical tool sensing unit for sensing the surgical tool is also attached to the other end of the second rotation driving unit.

11. The surgical robot for positioning surgery according to claim 7, wherein: The third directional driving portion includes a hollow formed around the first rotation axis.

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