Method and apparatus for driving surgical devices

Abstract

This disclosure relates to a method and apparatus for driving a surgical device. One embodiment of the method of this disclosure generates operation information relating to user actions for driving a surgical device, calculates first drive information based on the operation information, determines whether there are any risks associated with the operation of the surgical device based on the first drive information, and drives the surgical device based on the result of the determination of whether there are any risks.

Claims

1. In a method for driving surgical equipment, A step of generating operational information regarding user actions to drive surgical equipment, A step of calculating first drive information based on the aforementioned operation information, A step of determining whether there are any risks related to the operation of the surgical device based on the first drive information, A method comprising the step of driving the surgical device based on the result of determining whether or not there is a risk.

2. The above generation step is, The method according to claim 1, comprising the step of generating operation information based on positional information and directional information of means that enable the user to operate the position and function of the surgical device.

3. The calculation step described above is: A step of calculating intermediate drive information based on the aforementioned operation information and the conversion relationship between the user's actions and the operation of the surgical device, The method according to claim 1, comprising the step of calculating the first drive information based on the intermediate drive information and a preset conversion ratio between the user's actions and the actions of the surgical device.

4. The step of calculating the aforementioned intermediate drive information is: A means for the user to operate the position and function of the surgical device, and a step of calculating intermediate position information of the surgical device based on the conversion relationship between the user and a camera attached to the surgical device, A step of calculating intermediate directional information of the surgical device based on the conversion relationship between the means and the surgical device, The method according to claim 3, comprising the step of generating intermediate drive information using intermediate position information and intermediate direction information of the surgical device.

5. The step of calculating the first drive information is: A step of calculating the position information of the surgical device based on the intermediate position information of the surgical device included in the intermediate drive information and a preset position conversion ratio, A step of calculating the direction information of the surgical device based on the intermediate direction information of the surgical device included in the intermediate drive information and a preset direction conversion ratio, The method according to claim 3, comprising the step of generating the first drive information using the position information and direction information of the surgical device.

6. The aforementioned determination step is, The method according to claim 1, further comprising the step of determining whether or not there is a risk, based on at least one of the following criteria: whether or not the operating range of the surgical device exceeds a preset threshold, and whether or not the surgical device falls within a preset singularity region.

7. The aforementioned determination step is, When making a determination based on the operating range of the surgical device, the steps include calculating predicted drive information based on the initial drive information and the operating range information of the surgical device, A step of calculating reference drive information based on the aforementioned operating range information, The method according to claim 6, comprising the step of determining whether or not there is a risk related to the operating range of the surgical device based on the expected drive information, the operating range information, and the first drive information.

8. The aforementioned determination step is, When making a determination based on the aforementioned pre-set singularity region, the steps include calculating operability information related to the first drive information and operability information related to the aforementioned pre-set singularity region based on the first drive information, The method according to claim 6, comprising the step of determining whether or not there is a risk with respect to a preset singularity region of the surgical device based on operability information with respect to the first drive information and operability information with respect to a preset singularity region.

9. The method according to claim 1, further comprising the step of updating the first drive information based on the result of determining whether or not there is a risk.

10. The aforementioned update step is: The method according to claim 9, comprising the step of updating the first drive information based on the operating range information of the surgical device.

11. The aforementioned update step is: A step of generating compensation drive information based on the initial drive information of the surgical device, the first drive information, and the vector information relating to the singularity region, The method according to claim 9, comprising the step of updating the first drive information based on the initial drive information of the surgical device, the first drive information, operability information relating to the first drive information, operability information relating to the singularity region, and the compensation drive information.

12. The aforementioned update step is: The method according to claim 9, comprising the step of updating the first drive information by changing only the directional information of the surgical device included in the first drive information.

13. The aforementioned driving step is, A step of calculating second drive information based on the first drive information, The method according to claim 1, comprising the step of driving the surgical device based on the second drive information.

14. At least one memory, Includes at least one processor, The aforementioned at least one processor is Generates operational information regarding user actions to drive surgical equipment. Based on the aforementioned operation information, the first drive information is calculated, Based on the first drive information, it is determined whether or not there is a risk related to the operation of the surgical device. A computing device that drives the surgical device based on the determination of whether or not the aforementioned risk exists.

15. A program for a method of driving a surgical device executed by a computer is recorded on a non-temporary computer-readable recording medium, and the method is A step of generating operational information regarding user actions to drive surgical equipment, A step of calculating first drive information based on the aforementioned operation information, A step of determining whether there are any risks related to the operation of the surgical device based on the first drive information, A non-temporary computer-readable recording medium comprising the step of driving the surgical device based on the result of determining whether or not there is a risk.

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