Apparatus and method for generating operable area for surgical robot

Abstract

The present invention relates to an apparatus and method for generating a surgical area for a surgical robot, and the method for generating a surgical area according to the present invention is characterized by comprising the steps of: setting a virtual position of the affected area and the surgical robot and a distance between the affected area and the surgical robot; determining the position, shape, and size of the surgical area based on the virtual position and the distance; determining a plurality of target points for simulating the movement of the end effector of the surgical robot inside or on the surface of the surgical area; simulating the movement of the end effector according to a pre-planned cutting path of the surgical robot for each of the target points; and generating a final surgical area based on the simulation results at the plurality of target points. This allows us to understand the operable area before surgery where there will be no problems in deriving the mechanical solution for the surgical robot, effectively preventing interruptions or delays in the surgical procedure.

Description

[Technical Field]

[0001] The present invention relates to an apparatus and method for generating an operable area for a surgical robot, and more particularly to an apparatus and method for generating an operable area that does not cause problems in deriving a mechanical solution for a surgical robot during surgical work. [Background technology]

[0002] In the case of general industrial robots, before an actual task is performed using the robot, the robot is taught in advance to memorize the manipulator's operating procedures, position, and posture according to the task. Teaching is performed by the worker directly grasping the tip of the manipulator and teaching it the movements, or by using a separate operation button. For some areas where teaching has not been performed, the position and posture of the manipulator may be defined in real time using video information, but this is only applied to extremely limited areas, and most tasks performed by industrial robots are based on teaching that has been performed in advance.

[0003] In an industrial environment, the positions and movements in the work process do not deviate significantly from a set routine and can be taught, but in a surgical environment, the patient's position and posture can change depending on the situation, making it virtually impossible for a doctor to teach a surgical robot each and every movement in accordance with the cutting path in advance.

[0004] In particular, in the case of active robotic surgery, the robot automatically performs surgery according to a planned cutting path without the intervention of the surgeon, and the robot moves according to a cutting path defined based on the implant coordinate system. As mentioned above, since it is difficult to teach a surgical robot before surgery, there are cases where a mechanical solution cannot be derived during the robot's movement depending on the relative position and posture of the implant coordinate system relative to the origin of the surgical robot. If such a problem occurs during surgery, the surgery may be delayed due to the need to interrupt the surgery, move the patient or the robot, or modify the planned cutting path.

[0005] Therefore, if we can grasp in advance the operable area where there are no problems in deriving the mechanical solution for the surgical robot, it is expected that the surgical process can be carried out efficiently. Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been devised to solve the problems of the prior art as described above, and aims to provide an apparatus and method for generating a surgical area for a surgical robot that generates and provides a surgical area that does not cause problems in deriving a mechanical solution for the surgical robot. [Means for solving the problem]

[0007] According to one aspect of the present invention, the above-mentioned object can be achieved by a method for generating a surgical area for a surgical robot, in which each step is performed by a processor, comprising: step A of setting a virtual position of the affected area and the surgical robot, and a distance between the affected area and the surgical robot; step B of determining the position, shape, and size of the surgical area based on the virtual position and the distance; step C of determining a plurality of target points for simulating the movement of the end effector of the surgical robot inside or on the surface of the surgical area; step D of simulating the movement of the end effector according to a pre-planned cutting path of the surgical robot for each of the target points; and step E of generating a final surgical area based on the simulation results at the plurality of target points.

[0008] In this case, the cutting path of the surgical robot is defined based on a preset reference coordinate system, and the step of simulating the movement of the end effector positions the origin of the reference coordinate system at each target point and performs a simulation while changing the posture of the reference coordinate system in accordance with a preset posture change range, thereby simulating the movement of the end effector according to the cutting path for multiple postures of the reference coordinate system.

[0009] Here, the method may further include a step of modifying at least one of the position, size, and shape of the surgical area based on the simulation results at each target point, and a step of performing steps C and D again on the modified surgical area.

[0010] The method may further include the steps of: modifying the cutting path based on the simulation result at each target point; and performing the simulation again using the modified cutting path.

[0011] Meanwhile, the positions and number of the target points may be determined according to the shape and size of the operable area.

[0012] The operable area can then have the shape of a sphere, a cylinder, or a polygonal prism.

[0013] Furthermore, the above object can also be achieved by a device for setting a surgical area for a surgical robot according to another aspect of the present invention, which includes a processor, wherein the processor is configured to set a virtual position of the affected area and the surgical robot, and a distance between the affected area and the surgical robot, determine the position, shape, and size of the surgical area based on the virtual position and the distance, determine a plurality of target points for simulating the movement of the end effector of the surgical robot inside or on the surface of the surgical area, simulate the movement of the end effector according to a pre-planned cutting path of the surgical robot for each of the target points, and set a final surgical area based on the simulation results at the plurality of target points.

[0014] Here, the cutting path of the surgical robot is planned based on a preset reference coordinate system, and the processor positions the origin of the reference coordinate system at each target point and performs a simulation while changing the posture of the reference coordinate system in accordance with a preset posture change range, thereby simulating the movement of the end effector according to the cutting path for multiple postures of the reference coordinate system.

[0015] On the other hand, the processor can modify at least one of the position, size, and shape of the surgical area based on the simulation results at each target point, and re-simulate the movement of the end effector for the modified surgical area.

[0016] The processor can then modify the cutting path based on the simulation results at each of the target points and re-simulate the movement of the end effector using the modified cutting path. [Effects of the Invention]

[0017] As described above, according to the present invention, it is possible to grasp the operable area in which there will be no problems in deriving the kinematic solution of the surgical robot before surgery, thereby effectively preventing interruptions or delays in the surgical procedure. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a block diagram showing the outline of the configuration of a surgical area generation device for a surgical robot according to an embodiment of the present invention. [Figure 2] 1 is a flowchart showing a method for generating a surgical area for a surgical robot according to a first embodiment of the present invention. [Figure 3] 10 is a reference diagram for explaining how a surgical area generation device according to an embodiment of the present invention determines simulation target points. FIG. [Figure 4] 10 is a reference diagram for explaining the process in which a surgical area generation device according to an embodiment of the present invention simulates the movement of a surgical robot according to a cutting path at each target point. [Figure 5] 10 is a flowchart showing a method for generating a surgical area by the surgical area generating device according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, in the following description and the attached drawings, detailed descriptions of known functions or configurations that may obscure the gist of the present invention will be omitted. Furthermore, it should be noted that the same components are denoted by the same reference numerals throughout the drawings whenever possible.

[0020] The surgical robot described in this specification is a medical robot that cuts the bone to be operated on in order to attach an implant during artificial joint replacement surgery, which includes total knee replacement, partial knee replacement, and hip replacement.

[0021] The surgical robot operable area generation device according to the present invention simulates the movement of the surgical robot to generate a surgical area where the surgical robot can safely perform surgery. Here, the surgical area refers to an area where there are no problems in deriving the kinematic solution (joint angles) of the surgical robot, such as singularities, when the end effector attached to the end of the robot arm of the surgical robot, i.e., the surgical tool, moves and performs cutting.

[0022] FIG. 1 is a block diagram showing a schematic configuration of a surgical area generating device 100 for a surgical robot according to an embodiment of the present invention.

[0023] Referring to FIG. 1, the operable area generating device 100 includes a user interface unit 10, a display unit 20, a memory unit 30, and a processor 40.

[0024] The user interface unit 10 is a module for receiving various inputs from a user to generate a surgical area for the surgical robot, and may be implemented with various input devices such as a mouse, keyboard, keypad, and buttons.

[0025] The display unit 20 displays various information including images and graphics on a screen and may be implemented as a liquid crystal display (LCD) panel, a light emitting diode (LED) panel, an organic light emitting diode (OLED) panel, etc. Alternatively, the user interface unit 10 and the display unit 20 may be integrated into a single device, such as a touch screen. The display unit 20 displays various GUIs and processing results provided in the process of deriving a surgical area by simulating the movement of the surgical robot according to the cutting path.

[0026] The memory unit 30 is implemented using memory devices such as RAM, flash memory, and EPROM, and can store various operating systems (OS), middleware, platforms, and various applications of the surgical area generation device 100, as well as program code, signal-processed video signals, audio signals, and various data.

[0027] The memory unit 30 also stores a surgical robot simulation model designed to have the same motion characteristics as a manipulator of an actual surgical robot, in order to simulate the motion of the end effector of the surgical robot according to the cutting path, and a motion planning algorithm applied to the actual surgical robot. For reference, the robot motion planning algorithm is an algorithm that generates the motion of a robot manipulator, etc., for moving from an arbitrary start point to an end point when the robot is given the arbitrary start point and end point, and known types of motion planning algorithms, such as criticality-based, sampling-based, decomposition-based, and potential fields-based, can be applied.

[0028] Meanwhile, the memory unit 30 can store a pre-planned cutting path for the surgical robot. The cutting path includes the position of the surgical tool that must be moved when performing cutting using the surgical robot and the posture information (angle, direction) of the surgical tool at that position. The cutting path can be generated as the position of the surgical tool during the cutting process and the posture information of the surgical tool at that position based on a preset reference coordinate system. Here, an implant coordinate system defined for the implant that will be attached to the affected area after cutting by the surgical robot can be applied as the reference coordinate system.

[0029] The processor 40 utilizes user input information entered through the user interface unit 10, a surgical robot simulation model stored in the memory unit 30, a motion planning algorithm, etc. to simulate the movement of the surgical robot's end effector according to a pre-planned cutting path, thereby generating the surgical robot's operable area.

[0030] Hereinafter, a method for generating an operable area using the operable area generating device 100 will be described with reference to FIG.

[0031] FIG. 2 is a flowchart showing a method for generating a surgical area for a surgical robot according to the first embodiment of the present invention.

[0032] 2, the processor 40 sets virtual positions of the surgical robot and the patient to be operated on, as well as the distance between the patient and the surgical robot (S100). The virtual positions may be determined as absolute positions of the patient and the surgical robot in a virtual surgical space that mimics an actual physical surgical space. Alternatively, the virtual position of the patient may be determined as a relative position of the patient relative to the surgical robot, with the surgical robot at a predetermined position. For example, the relative position of the patient may be defined as a position of the patient spaced a predetermined distance in the X-axis, Y-axis, and Z-axis directions from the surgical robot.

[0033] The virtual positions of the affected area and the surgical robot can be set by user input through the user interface unit 10, or can be set by reference information for the placement of the surgical robot and the affected area according to the type of surgery, which is pre-stored in the memory unit 30.

[0034] On the other hand, the distance between the affected area and the surgical robot can be expressed as the distance the affected area is separated from the surgical robot in the X-axis, Y-axis, and Z-axis directions based on the virtual positions of the affected area and the surgical robot.

[0035] Next, the processor 40 determines the position, shape, and size of the initial operable area based on the virtual positions and distances between the affected area and the surgical robot determined in the previous step (S110). Here, the initial operable area refers to the area set before the simulation, and this area is the simulation target area. In other words, the simulation of the surgical robot according to the cutting path is performed within the initial operable area, and no simulation is performed for areas beyond this. The meaning of the initial operable area is distinguished from that of the final operable area, which is finally determined after the simulation based on the simulation results.

[0036] The initial operable area may be determined as a predetermined three-dimensional shape including the position of the affected area set in step S100, and its size and position may be determined taking into consideration the length of the robot arm of the surgical robot, the kinematic characteristics of the surgical robot, and the relative position and distance between the surgical robot and the affected area. In addition, the initial operable area, and the final operable area finally calculated by processor 40 as described below, may be generated in various three-dimensional shapes such as a sphere, a cylinder, or a polygonal prism such as a cube or a rectangular parallelepiped, and are not particularly limited to these shapes.

[0037] The memory unit 30 stores reference information that can determine the position, shape, and size of the surgical area in accordance with the length of the robot arm, the kinematic characteristics of the surgical robot, the type of surgery, and the relative position and distance between the affected area and the surgical robot, and can determine the position, shape, and size of the surgical area appropriate for the position and distance set in step S100 based on the reference information.

[0038] The operable area is an area where the surgical robot can stably control its movement without generating singular points when cutting with the surgical robot, and is therefore defined based on the surgical robot coordinate system. For reference, the surgical robot coordinate system is a coordinate system defined with a point on the surgical robot, for example, a point on the robot base, as its origin, and the actual surgical robot is controlled based on the surgical robot coordinate system.

[0039] The operable area can be defined in a single area, but can also be defined in multiple areas that are separated from one another or that at least partially overlap.

[0040] Next, the processor 40 determines (S120) a plurality of target points for simulating the movement of the end effector of the surgical robot within or on the surface of the initial operable area determined in the previous step, where the surface may also be referred to as the boundary of the area.

[0041] FIG. 3 is a reference diagram for explaining how the surgical area generation device 100 according to an embodiment of the present invention determines simulation target points, and shows an example in which target points are determined for an initial surgical area having a spherical shape.

[0042] The simulation target points are determined as one or more points inside or on the surface of the initial operable area. Figure 3 shows an example in which the center of the interior of the initial operable area S1 having a spherical shape and multiple points on the surface of the initial operable area S1 are determined as target points P0 to P26.

[0043] The positions and number of target points P may be determined differently depending on the shape and size of the initial operable area S1. For example, if the size of the initial operable area S1 is relatively large, there may be more target points P than if the size is small. Meanwhile, the spacing between adjacent target points p may vary depending on the specific shape of the initial operable area S1.

[0044] A plurality of target points P can be determined at positions spaced apart by a predetermined distance on the surface of the initial operable area S1. In this case, the distance between the target points P can be set differently depending on the distance between the point on the initial operable area S1 and the surgical robot, for example, the distance from the origin of the surgical robot on the robot base. Thus, even for points on the surface of the initial operable area S1, the distance between adjacent target points P can be set differently depending on the specific distance from the surgical robot.

[0045] The memory unit 30 stores reference information for determining simulation target points for the surgical area, such as the shape and size of the surgical area, and distance information between target points depending on the distance between a point within the surgical area or on the surface of the area and the surgical robot, and the processor 40 can determine the number and positions of target points based on the reference information.

[0046] As described above, once the simulation target points are determined, the processor 40 simulates the movement of the surgical robot according to the planned cutting path of the surgical robot for each target point (S130).

[0047] For reference, the cutting path planning only needs to be generated before the simulation, and may be performed at any time before the simulation. For example, it may be performed before the processor 40 determines the size and position of the initial operable area, or it may be performed after the target point is determined. As described above, the cutting path is planned as the position of the surgical tool during the cutting process based on the implant coordinate system and the orientation information of the surgical tool at that position, and is stored in the memory unit 30.

[0048] Figure 4 is a reference diagram for explaining the process in which the surgical area generation device 100 according to an embodiment of the present invention simulates the movement of a surgical robot according to the cutting path at each target point, and shows an example of simulation at one target point among multiple target points.

[0049] As shown in FIG. 4(a), the processor 40 assigns the origin O of the reference coordinate system, which is the basis for planning the cutting path, i.e., the implant coordinate system I, to one target point P1 among the plurality of target points. I In this way, by determining the position and orientation of the implant coordinate system, the processor 40 calculates a transformation matrix between the robot coordinate system and the implant coordinate system.

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[0050] However, even if it is assumed that the implant coordinate system is located at the target point in the actual surgical environment, it is difficult to identify the direction and posture of the affected area relative to the surgical robot, and these may change during the surgical process. Therefore, it is necessary to perform simulations according to the postures of multiple implant coordinate systems while changing the posture of the implant coordinate system at the target point.

[0051] As a result, as shown in Figure 4(b), the origin O of the implant coordinate system I is I The position of the implant coordinate system I is maintained at the target point P1, and by rotating the implant coordinate system I, the pose (angle) of the implant coordinate system I can be changed. In response to the change in the pose of the implant coordinate system, the processor 40 calculates a transformation matrix between the robot coordinate system and the implant coordinate system,

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[0052] The orientation change range and the orientation change interval of the implant coordinate system can be set according to a preset standard or based on an input via the user interface unit 10. The processor 40 can simulate the movement of the surgical tool according to the cutting path while changing the orientation of the implant coordinate system at the target point P1 according to the thus set change range and interval.

[0053] For each of the multiple target points determined in step S120, the processor 40 repeats the following series of steps, as shown in Figure 4: "position the origin of the implant coordinate system at the target point → execute a simulation of the movement of the surgical tool according to the cutting path → change the posture of the implant coordinate system at the target point → re-execute a simulation of the movement of the surgical tool according to the cutting path for the changed posture." This allows the processor 40 to simulate the movement of the surgical tool according to the cutting path corresponding to the multiple postures of the implant coordinate system at each target point.

[0054] The simulation results can be calculated as pass or fail for each target point. If a problem occurs in deriving a mechanical solution, such as the occurrence of a singularity during the simulation according to the cutting path at that target point, it can be declared a failure. If all cutting operations according to the cutting path are completed without any such problem, it can be declared a success. On the other hand, if some of the postures of multiple implant coordinate systems at that target point fail, it can also be declared a failure. If only some postures fail, as described above, information on how many postures passed or failed can also be provided.

[0055] The simulation results are displayed in the form of text on the display unit 20 in accordance with a predetermined identification ID for each target point, or the results can be visualized by changing the color of the target point according to the simulation result on a graphic displaying the operable area and the position of the target point corresponding to the simulation target range.

[0056] Once the simulation is completed for all target points through the above process, a step for generating a final operable area according to the simulation results follows.

[0057] That is, if the simulation results for all target points are successful, the initial operable area, which is the target area that was previously simulated, can be determined as the final operable area (S140). On the other hand, if the cutting operation simulation fails for some or all of the target points, at least one of the position, size, and shape of the previously generated operable area is corrected (S150), and step S120 of determining multiple target points for the corrected operable area and step S130 of simulating the movement of the surgical tool according to the planned cutting path while positioning and changing the posture of the implant coordinate system that served as the basis for generating the cutting path for each determined target point are performed again.

[0058] The above process is repeated until the simulation of the surgical tool cutting operation according to the multiple postures of the implant coordinate system is successfully completed for all target points of the corrected operable area, and the operable area where the results according to the multiple postures of the implant coordinate system for all target points are successful is determined as the final operable area (S160).

[0059] 5 is a flowchart showing a method for generating a surgical area by the surgical area generating device 100 according to the second embodiment of the present invention. To avoid duplication of explanation, explanations of content that overlaps with the previous embodiment will be omitted.

[0060] Referring to Figure 5, the steps (S200) in which the processor 40 sets the virtual position of the surgical robot and the affected area to be operated on, and the distance between the affected area and the surgical robot, the step (S210) in which the processor 40 determines the position, shape, and size of the initial operable area based on the determined distance between the affected area and the virtual position of the surgical robot, the step (S220) in which the processor 40 determines multiple target points for simulating the movement of the end effector of the surgical robot inside or on the surface of the initial operable area determined in step S210, and the step (S230) in which the processor 40 positions the implant coordinate system at each target point and simulates the movement of the surgical robot according to the cutting path for multiple postures of the implant coordinate system by changing the posture of the implant coordinate system are the same as those in the first embodiment described with reference to Figure 2.

[0061] However, in the first embodiment, if the cutting operation simulation failed for all or some of the target points for all or some of the implant coordinate system postures, corrections were made to the operable area corresponding to the simulation target area range, but the second embodiment differs from the first embodiment in that the planned cutting path is corrected.

[0062] That is, if the simulation results for all target points are successful, the processor 40 can determine the previously simulated target area, that is, the operable area, as the final operable area (S240, S260). On the other hand, if the cutting operation simulation fails for some or all target points, the processor 40 corrects the previously planned cutting path (S250) and performs step S230 again to simulate the movement of the surgical tool based on the corrected cutting path for each target point previously determined.

[0063] The cutting path can be modified by modifying the position of the surgical tool at each cutting position that makes up the cutting path or the posture of the surgical tool at that position.In this case, both the position and posture of the surgical tool can be modified, or only either the position or posture can be modified.

[0064] If the simulation results for all target points according to the multiple postures of the implant coordinate system are successful as a result of resimulating using the modified cutting path, the operable area applied to the simulation is determined as the final operable area (S260). If the modified cutting path is not successful, the cutting path is modified again, and the simulation process based on the modified cutting path is repeated.

[0065] The generated final operable area can be visualized in the form of a graphic having the position, shape, and size of the final operable area relative to the position of the surgical robot and provided via the display unit 20.

[0066] The steps of the method described above with reference to FIGS. 2 and 5 can be modified or added depending on the situation.

[0067] As described above, the surgical area or the cutting path was selectively modified depending on the simulation results, but it goes without saying that the two can be performed simultaneously.

[0068] As explained above, the surgical robot operable area generating device and method according to the present invention make it possible to grasp in advance the operable area in which there will be no problems in deriving the mechanical solution for the surgical robot before surgery, thereby effectively preventing interruptions or delays in the procedure during surgery.

[0069] Although all components constituting the embodiments of the present invention have been described above as being combined or operating in combination, the present invention is not necessarily limited to such an embodiment. That is, all components may be selectively combined and operate in one or more combinations within the scope of the present invention. Furthermore, all components may be embodied as individual pieces of hardware, or some or all of the components may be selectively combined to implement a computer program having program modules that perform some or all of the functions combined in one or more pieces of hardware. Codes and code segments constituting the computer program would be easily construed by those skilled in the art. Such a computer program may be stored in a computer-readable storage medium and read and executed by a computer to implement an embodiment of the present invention. Storage media for the computer program may include magnetic recording media, optical recording media, etc.

[0070] Furthermore, unless otherwise specified, the terms "comprise," "constitute," "have," and the like used above mean that the relevant element may be inherent, and should be interpreted as not excluding other elements, but as including other elements. All terms, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Commonly used terms, such as dictionary-defined terms, should be interpreted in a manner consistent with the contextual meaning of the relevant art, and should not be interpreted in an idealized or overly formal sense unless expressly defined in the present invention.

[0071] The above description merely exemplifies the technical concept of the present invention, and various modifications and variations may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed herein are for illustrative purposes only and do not limit the technical concept of the present invention. The scope of the present invention should be interpreted by the following claims, and all technical concepts within the scope of the claims should be interpreted as being within the scope of the present invention.

Claims

1. 1. A method for generating a surgical area for a surgical robot, wherein each step is performed by a processor, a step A of setting virtual positions of the affected area and the surgical robot, and a distance between the affected area and the surgical robot; Step B: determining the position, shape, and size of a surgical area based on the virtual position and the distance; a step C of determining a plurality of target points for simulating the movement of the end effector of the surgical robot within or on the surface of the operable area; a step D of simulating the movement of the end effector according to a pre-planned cutting path of the surgical robot for each of the target points; A method for generating a surgical area for a surgical robot, comprising: a step E of generating a final surgical area based on simulation results at the plurality of target points.

2. The cutting path of the surgical robot is defined based on a preset reference coordinate system; 2. The method for generating a surgical area for a surgical robot according to claim 1, characterized in that the step of simulating the movement of the end effector includes positioning the origin of the reference coordinate system at each of the target points and performing a simulation while changing the posture of the reference coordinate system in accordance with a predetermined posture change range, thereby simulating the movement of the end effector according to the cutting path for multiple postures of the reference coordinate system.

3. modifying at least one of the position, size, and shape of the surgical area based on the simulation results at each of the target points; 2. The method for generating a surgical area for a surgical robot according to claim 1, further comprising the step of performing the steps C and D again on the corrected surgical area.

4. modifying the cutting path based on the simulation results at each of the target points; The method for generating a surgical area for a surgical robot according to claim 1, further comprising the step of performing the simulation again using a corrected cutting path.

5. 2. The method for generating a surgical area for a surgical robot according to claim 1, wherein the positions and number of the target points are determined according to the shape and size of the surgical area.

6. 2. The method for generating a surgical area for a surgical robot according to claim 1, wherein the surgical area has a shape of a sphere, a cylinder, or a polygonal prism.

7. 1. A surgical area generating device for setting a surgical area for a surgical robot, comprising: a processor; The processor: setting virtual positions of the affected area and the surgical robot, and a distance between the affected area and the surgical robot; determining the position, shape, and size of a surgical area based on the virtual position and the distance; determining a plurality of interest points within or on the surface of the surgical area for simulating movement of an end effector of the surgical robot; For each of the target points, simulating the movement of the end effector according to a pre-planned cutting path of the surgical robot; A surgical robot operable area generation device configured to set a final operable area based on simulation results at the plurality of target points.

8. The cutting path of the surgical robot is planned based on a preset reference coordinate system; The surgical robot operation area generation device according to claim 7, characterized in that the processor is configured to position the origin of the reference coordinate system at each of the target points, and perform a simulation while changing the posture of the reference coordinate system in accordance with a predetermined posture change range, thereby simulating the movement of the end effector in accordance with the cutting path for multiple postures of the reference coordinate system.

9. The surgical robot operation area generation device according to claim 7, wherein the processor is configured to modify at least one of the position, size, and shape of the surgical area based on the simulation results at each target point, and to re-simulate the movement of the end effector for the modified surgical area.

10. The surgical robot operation area generation device according to claim 7, wherein the processor is configured to modify the cutting path based on the simulation results at each target point and to re-simulate the movement of the end effector using the modified cutting path.

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