Transport robot, surgical robot system including the same, and method

Abstract

The present invention relates to a transfer robot and a surgical robot system and method including the same. More specifically, the invention relates to a surgical robot system including a surgical robot used in laparoscopic surgery or various other surgeries and a transfer robot for transferring the surgical robot, and a method for transferring and positioning the surgical robot using the transfer robot. One embodiment of the present invention provides a surgical robot system comprising a surgical robot including at least one arm unit, a transfer robot capable of transferring the surgical robot, and a master robot including an operating member for controlling the operation of the transfer robot, wherein the transfer robot moves toward the surgical robot in response to a received signal and positions the surgical robot at a position corresponding to the received signal.

Description

Technology Field

[0001] The present invention relates to a transfer robot and a surgical robot system and method including the same. More specifically, it relates to a surgical robot used in laparoscopic surgery or various other surgeries, a surgical robot system including a transfer robot for transferring the surgical robot, and a method for transferring and positioning the surgical robot using the transfer robot. Background Technology

[0002] Medically, surgery refers to the treatment of diseases by cutting, incising, or manipulating the skin, mucous membranes, or other tissues using medical devices. In particular, open surgery, which involves incising the skin at the surgical site to treat, reshape, or remove internal organs, causes problems such as bleeding, side effects, patient pain, and scarring. Therefore, recently, surgeries performed by creating a specific opening in the skin and inserting only medical devices, such as laparoscopes, surgical instruments, or microsurgical microscopes, or surgeries performed using robots, are gaining popularity as alternatives.

[0003] Here, a surgical robot refers to a robot capable of performing surgical procedures previously carried out by surgeons. Such surgical robots have the advantage of being able to perform accurate and precise movements compared to humans, as well as enabling remote surgery.

[0004] Surgical robots currently being developed worldwide include bone surgery robots, laparoscopic surgery robots, and stereotactic surgery robots. Among these, a laparoscopic surgery robot is a robot that performs minimally invasive surgery using a laparoscope and small surgical instruments.

[0005] Meanwhile, surgical robots generally consist of a master robot and a slave robot. When the surgeon operates a control lever (e.g., a handle) equipped on the master robot, the surgical tool attached to the robot arm of the slave robot or held by the robot arm is manipulated to perform the surgery.

[0006] Meanwhile, in slave robots with two or more robot arms, vibrations generated in one arm can be transferred to the other arm during the operation of surgical instruments, and the control performance of the slave robot may be affected by these vibrations. Therefore, to minimize vibrations of the robot arms, the stiffness and mass of the base or frame are increased.

[0007] However, increasing the rigidity and mass of the frame increases the weight of the robot. Consequently, when a user attempts to move the slave robot to change its placement, it becomes difficult to move, causing inconvenience and potentially leading to problems where the slave robot is not placed accurately where it is intended.

[0008] The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as prior art disclosed to the general public prior to the filing of the present invention. The problem to be solved

[0009] The present invention aims to solve various problems, including those mentioned above, by providing a surgical robot system capable of improving mobility and reducing the weight of the robot, and automatically deploying the surgical robot. However, these objectives are exemplary, and the scope of the present invention is not limited by them. means of solving the problem

[0010] One embodiment of the present invention provides a surgical robot system comprising a surgical robot including at least one arm unit, a transfer robot capable of transferring the surgical robot, and a master robot including an operating member for controlling the operation of the transfer robot, wherein the transfer robot moves toward the surgical robot in response to a received signal and positions the surgical robot at a position corresponding to the received signal.

[0011] In one embodiment of the present invention, the transfer robot may include a driving unit that moves or stops the main body, a surgical robot connecting unit provided to contact and connect with the surgical robot, and a sensing unit that detects the surrounding environment of the transfer robot and assists in driving.

[0012] In one embodiment of the present invention, the surgical robot connection part includes a lifting module capable of raising and lowering the surgical robot, and the transfer robot can transfer the surgical robot while the surgical robot is lifted through the lifting module.

[0013] In one embodiment of the present invention, the surgical robot connection part includes a docking module connected to the surgical robot, and the transfer robot can move the surgical robot by pulling or pushing it while connected to the surgical robot through the docking module.

[0014] In one embodiment of the present invention, the sensing unit can detect the surgical robot in the vicinity of the transfer robot.

[0015] In one embodiment of the present invention, the sensing unit can detect a surgical bed placed within a surgical space.

[0016] In one embodiment of the present invention, the transfer robot may further include a power supply unit for supplying power to the surgical robot.

[0017] In one embodiment of the present invention, the surgical robot system may further include a surgical bed having a sensor that transmits position information of the surgical bed to at least one of the surgical robot, the transfer robot, and the master robot.

[0018] In one embodiment of the present invention, the master robot can control the operation of the surgical robot.

[0019] In one embodiment of the present invention, the transfer robot can autonomously drive inside the operating room.

[0020] In one embodiment of the present invention, the transfer robot can position the surgical robot at a preset location based on a received signal.

[0021] In one embodiment of the present invention, the position information where the surgical robot is placed is stored separately according to the type of surgery, and the transfer robot can place the surgical robot in correspondence with the selected type of surgery among the stored types of surgery.

[0022] In one embodiment of the present invention, the surgical robot system may include an autonomous driving mode and a driving assist mode among the selectable driving modes for the transfer robot.

[0023] In one embodiment of the present invention, when the autonomous driving mode is selected, the transfer robot performs an autonomous driving function to move toward the surgical robot and connects with the surgical robot to position the surgical robot at a preset location.

[0024] In one embodiment of the present invention, when the driving assist mode is selected, the transfer robot can detect a force transmitted from the outside and drive the driving part.

[0025] One embodiment of the present invention provides a transfer robot for transferring a surgical robot, comprising a driving unit for moving or stopping a main body, a surgical robot connecting unit configured to contact and connect with the surgical robot, and a sensing unit that detects the surrounding environment of the transfer robot and assists in driving, wherein the transfer robot moves toward the surgical robot in response to a received signal and places the surgical robot at a position corresponding to the received signal.

[0026] In one embodiment of the present invention, the surgical robot connection part includes a lifting module capable of raising and lowering the surgical robot, and the transfer robot can transfer the surgical robot while the surgical robot is lifted through the lifting module.

[0027] In one embodiment of the present invention, the surgical robot connection unit includes a docking module connected to the surgical robot, and the transfer robot can move the surgical robot by pulling or pushing it while connected to the surgical robot through the docking module.

[0028] In one embodiment of the present invention, the sensing unit can detect the surgical robot in the vicinity of the transfer robot.

[0029] In one embodiment of the present invention, the sensing unit can detect a surgical bed placed within a surgical space.

[0030] In one embodiment of the present invention, the transfer robot can receive location information of the surgical bed from the surgical bed.

[0031] In one embodiment of the present invention, the transfer robot may further include a power supply unit for supplying power to the surgical robot.

[0032] In one embodiment of the present invention, the transfer robot can autonomously drive inside the operating room.

[0033] In one embodiment of the present invention, the transfer robot can position the surgical robot at a preset location based on a received signal.

[0034] In one embodiment of the present invention, the position information where the surgical robot is placed is stored separately according to the type of surgery, and the transfer robot can place the surgical robot in correspondence with the selected type of surgery among the stored types of surgery.

[0035] One embodiment of the present invention provides a method for transferring and positioning a surgical robot using a transfer robot, comprising the steps of transferring the surgical robot by the transfer robot, fixing the position of the surgical robot, setting a setup arm of the surgical robot, and mounting a surgical instrument on the surgical robot.

[0036] In one embodiment of the present invention, the step of transferring the surgical robot may include the step of selecting a surgical robot to be moved and a transfer robot to transfer the surgical robot.

[0037] In one embodiment of the present invention, the step of transferring the surgical robot may include the step of obtaining input information for one of automatic placement and manual placement for the surgical robot.

[0038] In one embodiment of the present invention, when input information for automatic placement is obtained, the method may include the step of obtaining selection information for surgical robot placement by display operation.

[0039] In one embodiment of the present invention, when input information for manual placement is obtained, a step may be included in which a robot can be moved by user control.

[0040] In one embodiment of the present invention, the step of transporting the surgical robot may be a step in which the surgical robot is transported to a pre-set position by the autonomously driving transport robot.

[0041] In one embodiment of the present invention, the step of transporting the surgical robot allows the surgical robot to be moved through manual operation if a change in the position of the surgical robot is required after the surgical robot has been transported by the transport robot.

[0042] In one embodiment of the present invention, the step of fixing the position of the surgical robot may be a step in which the fixing part of the surgical robot operates by an approval signal of the robot display to fix the position of the surgical robot.

[0043] In one embodiment of the present invention, the step of setting the setup arm of the surgical robot may include the step of obtaining input information for one of automatic setting and manual setting for the posture of the setup arm.

[0044] In one embodiment of the present invention, when input information for automatic setting is obtained, the step of obtaining selection information for the setup arm position by display operation may be included.

[0045] In one embodiment of the present invention, when input information for manual setting is obtained, the step of obtaining brake release information of the setup arm may be further included.

[0046] In one embodiment of the present invention, the step of setting the setup arm of the surgical robot may be a step of changing the setup arm to a pre-set position.

[0047] In one embodiment of the present invention, the step of setting the setup arm of the surgical robot may allow the position of the setup arm to be changed through manual operation when a change in the position of the setup arm is required after the position of the setup arm has been automatically changed.

[0048] In one embodiment of the present invention, after the posture of the setup arm of the surgical robot is changed, the step of resetting the posture of the setup arm or repositioning the position of the surgical robot may be further included.

[0049] Other aspects, features, and advantages other than those described above will become clear from the following drawings, claims, and detailed description of the invention. Effects of the invention

[0050] Through the present invention, it is possible to provide a surgical robot system that can lighten the robot while improving mobility convenience and automatically deploy the surgical robot. However, these effects are exemplary and the effects of the present invention are not limited thereto. Brief explanation of the drawing

[0051] FIG. 1 is a conceptual diagram showing a surgical robot system according to one embodiment of the present invention. Figure 2 is a block diagram showing the internal configuration of the master robot and the surgical robot of the surgical robot system of Figure 1. FIG. 3 is a perspective view showing a surgical robot according to one embodiment of the present invention. FIG. 4 is a perspective view showing a surgical robot according to another embodiment of the present invention. Figure 5 is a block diagram showing the internal configuration of the transfer robot of the surgical robot system of Figure 1. FIG. 6 is a diagram illustrating an example in which a transfer robot according to an embodiment of the present invention is connected to a surgical robot. FIG. 7 is a diagram illustrating another example in which a transfer robot according to one embodiment of the present invention is connected to a surgical robot. FIGS. 8 and 9 are block diagrams illustrating the relationships between each component in a surgical robot system according to one embodiment of the present invention. FIG. 10 is a flowchart illustrating an example of a method for transferring and positioning a surgical robot by a transfer robot according to an embodiment of the present invention. FIG. 11 is a flowchart illustrating a scenario of a method for transferring and positioning a surgical robot according to a surgical robot system according to one embodiment of the present invention. FIGS. 12a to 12f are schematic diagrams illustrating the process of a surgical robot being positioned by a transfer robot in a surgical robot system according to an embodiment of the present invention. Specific details for implementing the invention

[0052] Hereinafter, the following embodiments will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted.

[0053] Since the embodiments are capable of various modifications, specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the embodiments and the methods for achieving them will become clear by referring to the details described below in conjunction with the drawings. However, the embodiments are not limited to those disclosed below and can be implemented in various forms.

[0054] In describing the present invention, if it is determined that a detailed description of related known technology may obscure the essence of the present invention, such detailed description is omitted.

[0055] In the following embodiments, singular expressions include plural expressions unless the context clearly indicates otherwise. Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.

[0056] In the following examples, terms such as "include" or "have" mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added.

[0057] In the following embodiments, when a part such as a unit, area, or component is described as being on or above another part, it includes not only cases where it is directly on top of another part, but also cases where another unit, area, or component is interposed in between.

[0058] In the following embodiments, terms such as "connect" or "combine" do not necessarily imply a direct and / or fixed connection or combination of two members unless the context clearly indicates otherwise, nor do they exclude the interposition of another member between the two members.

[0059] In the drawings, the size of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are depicted arbitrarily for convenience of explanation, so the following embodiments are not necessarily limited to those illustrated.

[0060] In the following embodiments, the x-axis, y-axis, and z-axis are not limited to three axes in an orthogonal coordinate system and can be interpreted in a broader sense that includes them. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but they may also refer to different directions that are not orthogonal to each other.

[0061] Where an embodiment can be implemented differently, a specific process sequence may be performed differently from the order described. For example, two processes described consecutively may be performed substantially simultaneously or proceed in the reverse order of the description.

[0063] FIG. 1 is a conceptual diagram showing a surgical robot system according to one embodiment of the present invention, FIG. 2 is a block diagram showing the internal configuration of a master robot and a surgical robot of the surgical robot system of FIG. 1, and FIG. 3 is a block diagram showing the internal configuration of a transfer robot of the surgical robot system of FIG. 1. FIG. 3 is a perspective view showing a surgical robot according to one embodiment of the present invention, and FIG. 4 is a perspective view showing a surgical robot according to another embodiment of the present invention.

[0064] Referring to FIGS. 1 to 4, the surgical robot system (1) includes a master robot (10), a surgical robot (20), a transfer robot (30), a surgical bed (40), and a surgical instrument (50).

[0065] The master robot (10) includes a manipulator (10a) and a display member (10b), and the surgical robot (20) includes one or more robot arm units (21)(22).

[0066] In detail, the master robot (10) is equipped with a control member (10a) that can be grasped and operated by the surgeon in each hand. The control member (10a) may be implemented as two or more handles as illustrated in FIG. 1, and a control signal resulting from the surgeon's handle operation is transmitted to the surgical robot (20) via a wired or wireless communication network to control the robot arm unit (21)(22). That is, surgical operations such as positional movement, rotation, and cutting of the robot arm unit (21)(22) can be performed by the surgeon's handle operation.

[0067] For example, the surgeon may operate the robot arm unit (21)(22) using a handle-shaped operating lever. Such an operating lever may have various mechanical configurations depending on the method of operation, and may be provided in various forms to operate the robot arm unit (21)(22) and / or other surgical equipment of the surgical robot (20), such as a master handle that operates the operation of the robot arm unit (21)(22), and various input tools such as a joystick, keypad, trackball, foot pedal, and touchscreen added to the master robot (10) to operate the functions of the entire system. Here, the operating member (10a) is not limited to the shape of a handle, and can be applied without any limitation as long as it is a form capable of controlling the operation of the robot arm unit (21)(22) through a network such as a wired or wireless communication network.

[0068] Alternatively, voice input or motion input may also be applied for user input. That is, the user may wear glasses with sensors attached to their head or an HMD (head-mounted display), and the laparoscope (not shown in the drawing) included in the surgical robot (20) may move according to the direction in which the user turns their gaze. Alternatively, if the user gives a voice command such as 'left', 'right', 'arm 1', 'arm 2', etc., the robot may recognize this and perform the action.

[0069] On the display member (10b) of the master robot (10), an image captured through the laparoscope, which will be described later, is displayed as an image. Additionally, a predetermined virtual control panel may be displayed on the display member (10b) together with the image captured through the laparoscope or independently. A detailed description regarding the arrangement, configuration, etc., of such a virtual control panel will be omitted.

[0070] Here, the display member (10b) may be composed of one or more monitors, and information required for surgery may be individually displayed on each monitor. The number of monitors may vary depending on the type or kind of information required to be displayed.

[0071] Meanwhile, the surgical robot (20) may include one or more robot arm units (21)(22). Here, each robot arm unit (21)(22) may be provided in a modular form that can operate independently of each other, and an algorithm to prevent collision between each robot arm unit (21)(22) may be applied to the surgical robot system (1).

[0072] Generally, a robotic arm refers to a device that has functions similar to a human arm and / or wrist and can attach a specific tool to the wrist area. In this specification, the term 'robotic arm unit (21)(22)' may be defined as a concept that encompasses all components such as the upper arm, lower arm, wrist, and elbow, as well as surgical instruments attached to the wrist area. Alternatively, it may be defined as a concept that excludes surgical instruments attached to the wrist area and includes only components for driving the surgical instruments.

[0073] The robot arm unit (21)(22) of the surgical robot (20) can be implemented to have multiple degrees of freedom. The robot arm unit (21)(22) may be configured to include, for example, a surgical instrument inserted into the surgical site of a patient, a yaw drive unit that rotates the surgical instrument in the yaw direction according to the surgical position, a pitch drive unit that rotates the surgical instrument in the pitch direction orthogonal to the rotational drive of the yaw drive unit, a transfer drive unit that moves the surgical instrument in the longitudinal direction, a rotation drive unit that rotates the surgical instrument, and a surgical instrument drive unit that drives an end effector at the end of the surgical instrument to incise or cut the surgical lesion. However, the configuration of the robot arm unit (21)(22) is not limited thereto, and it should be understood that such examples do not limit the scope of the present invention. Here, a detailed description of the actual control process, such as the robot arm unit (21)(22) rotating or moving in a corresponding direction by the operator manipulating the operating member (10a), is omitted.

[0074] A surgical robot system (1) according to one embodiment of the present invention may be equipped with one or more surgical robots (20). FIG. 1 illustrates an embodiment in which the surgical robot system (1) is equipped with two surgical robots. Here, for convenience, the two surgical robots may be referred to as a first surgical robot (20-1) and a second surgical robot (20-2). That is, FIG. 1 illustrates an embodiment in which a first surgical robot (20-1) equipped with two robot arm units (21-1) (22-1) and a second surgical robot (20-2) equipped with two robot arm units (21-2) (22-2) are arranged, so that a total of four robot arm units (21-1) (22-1) (21-2) (22-2) are arranged.

[0075] In one embodiment, two or more of the robot arm units (21-1)(22-1)(21-2)(22-2) may have surgical instruments (50) attached, and one or more may have a laparoscope attached. Then, the surgeon may select the robot arm units (21-1)(22-1)(21-2)(22-2) that he / she wishes to control through the master robot (10). In this way, by directly controlling a total of three or more surgical instruments through the master robot (10), the surgeon can accurately and freely control multiple instruments on the operating bed (40) according to his / her intentions without the need for a surgical assistant.

[0076] Meanwhile, the surgical robot (20) may be provided in one or more units to operate on a patient, and the laparoscope for displaying the surgical site as an image through the display member (10b) may be implemented as an independent surgical robot (20).

[0077] In addition, as described above, embodiments of the present invention can be universally used in surgeries in which various surgical endoscopes other than laparoscopy (e.g., thoracoscopy, arthroscope, rhinoplasty, etc.) are utilized.

[0078] Referring to FIG. 2, in one embodiment of the present invention, the master robot (10) may include an image input unit (11), a screen display unit (12), a user input unit (13), an operation signal generation unit (14), a control unit (15), a memory (16), a storage unit (17), and a communication unit (18).

[0079] The video input unit (11) can receive images captured through a camera equipped in the laparoscope of the surgical robot (20) via a wired or wireless communication network.

[0080] The screen display unit (12) outputs a visual image corresponding to the image received through the image input unit (11) as visual information. Additionally, the screen display unit (12) may output additional information corresponding to the input of the patient's biological information. Additionally, the screen display unit (12) may output additional image data related to the patient's surgical site (e.g., X-ray image, CT image, MRI image, etc.). Here, the screen display unit (12) may be implemented in the form of a display member (see 10b in FIG. 1), and an image processing process may be performed by the control unit (15) to enable the received image to be output as a visual image through the screen display unit (12).

[0081] In the embodiment illustrated in FIG. 2, the image input unit (11) and the screen display unit (12) are shown as components included in the master robot (10), but this is not limited thereto. That is, the display member may be provided as a separate member spaced apart from the master robot (10). Alternatively, the display member may be provided as a component of the master robot (10). In addition, in other embodiments, a plurality of display members may be provided, one of which may be placed adjacent to the master robot (10), and some of the others may be placed at a location spaced somewhat apart from the master robot (10).

[0082] Here, the screen display unit (12) (i.e., the display member (10b) of FIG. 1) may be provided as a stereoscopic display device. Specifically, a stereoscopic display device refers to an image display device that applies stereoscopic technology to add depth information to a two-dimensional image and uses this depth information to enable an observer to feel three-dimensional vividness and realism. A surgical robot system (1) according to one embodiment of the present invention may provide a more realistic virtual environment to the user by providing a stereoscopic display device as the screen display unit (12).

[0083] The user input unit (13) is a means for the surgeon to operate the movement and operation functions of the transfer robot (30) or to operate the position and function of the robot arm units (21)(22) of the surgical robot (20). The user input unit (13) may be formed in the form of a handle-shaped operating member (see 10a in FIG. 1) as exemplified in FIG. 1, but its shape is not limited thereto and can be modified and implemented in various shapes to achieve the same purpose. In addition, for example, some parts may be formed in the shape of a handle, while others may be formed in different shapes such as a clutch button, and a finger insertion tube or insertion ring may be further formed to allow the surgeon's finger to be inserted and fixed in order to facilitate the operation of the surgical tool.

[0084] The operation signal generating unit (14) can generate a corresponding operation signal when the operator operates the user input unit (13) for the operation of the position movement or surgical operation of the robot arm unit (21)(22), or when the operator operates the user input unit (13) for the operation of the movement or operation of the transfer robot (30).

[0085] For example, the operation signal generation unit (14) may transmit the generated operation signal to the control unit (15) or to the surgical robot (20) via the communication unit (18), and may also transmit it to the transfer robot (30). The operation signal may be transmitted and received via a wired or wireless communication network. Based on the transmitted operation signal, the control unit (15) may control the operation of the surgical robot (20) or the transfer robot (30). Alternatively, based on the transmitted operation signal, the robot arm control unit (26) included in the surgical robot (20) may control the operation of the robot arm unit (21)(22). Alternatively, based on the transmitted operation signal, the instrument control unit (27) included in the surgical robot (20) may control the operation of the surgical instrument (50). However, the method of controlling the operation of the surgical robot (20) or the transfer robot (30) based on the operation signal is not limited to that described above.

[0086] The control unit (15) is a type of central processing unit that controls the operation of each component so that the above-described function can be performed. For example, the control unit (15) may perform the function of converting an image input through the image input unit (11) into an image to be displayed through the screen display unit (12).

[0087] The memory (16) can perform the function of temporarily or permanently storing data processed by the control unit (15). Here, the memory (16) may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto.

[0088] The storage unit (17) can store data received from the surgical robot (20). In addition, the storage unit (17) can store various input data (e.g., patient data, device data, surgical data, etc.).

[0089] The communication unit (18) provides a communication interface necessary for transmitting and receiving image data transmitted from the surgical robot (20) and control data transmitted from the master robot (10) in conjunction with the communication network (70). Additionally, the communication unit (18) provides an interface necessary for transmitting and receiving data transmitted from the transfer robot (30) and control data transmitted from the master robot (10) to the transfer robot (30) in conjunction with the communication network (70).

[0090] The surgical robot (20) includes a plurality of robot arm unit control units (21a) (22a). The robot arm unit control unit (21a) includes a robot arm control unit (26), an instrument control unit (27), and a communication unit (29). Additionally, the robot arm unit control unit (21a) may further include a rail control unit (28).

[0091] Referring to FIG. 2, the rail control unit (28) can control the movement path so that the surgical instrument (50) can move along a preset path from the robot arm unit (21)(22). The robot arm control unit (26) can receive a control signal generated by the control signal generation unit (14) of the master robot (10) and perform the role of controlling the robot arm unit (21)(22) to operate according to this control signal. The instrument control unit (27) can receive a control signal generated by the control signal generation unit (14) of the master robot (10) and perform the role of controlling the surgical instrument (50) to operate according to this control signal. The communication unit (29) provides a communication interface necessary for transmitting and receiving image data transmitted from the surgical robot (20) and control data transmitted from the master robot (10) in conjunction with the communication network (70).

[0092] Meanwhile, the communication network (70) can perform the role of connecting the master robot (10) and the surgical robot (20). That is, the communication network (70) refers to a communication network that provides a connection path so that the master robot (10) and the surgical robot (20) can transmit and receive data to and from each other after being connected. The communication network (70) may include wired networks such as LANs (Local Area Networks), WANs (Wide Area Networks), MANs (Metropolitan Area Networks), and ISDNs (Integrated Service Digital Networks), or wireless networks such as wireless LANs, CDMA, Bluetooth, and satellite communication, but the scope of the present invention is not limited thereto.

[0093] Likewise, although not illustrated in the drawing, the communication network (70) can serve to connect the master robot (10) and the transfer robot (30). That is, the communication network (70) can provide a connection path so that the master robot (10) and the transfer robot (30) can transmit and receive data to and from each other after they are connected.

[0094] Referring to FIGS. 3 and 4, a surgical robot (20) applied to a surgical robot system (1) according to one embodiment of the present invention may include a first main body (310), a second main body (320), a robot arm unit, a display unit (350), a wheel (330), and a fixing unit (340), etc.

[0095] FIG. 3 shows an embodiment in which the surgical robot (20) has one robot arm unit, and FIG. 4 shows an embodiment in which the surgical robot (20) has two robot arm units. In the embodiment shown in FIG. 4, each robot arm unit is defined as the first robot arm unit (21) and the second robot arm unit (22).

[0096] The first main body (310) functions as the body of the surgical robot (20), and the first robot arm unit (21) and the second robot arm unit (22) can be placed thereon. Additionally, the first main body (310) can provide a reference point for driving the first robot arm unit (21) and the second robot arm unit (22).

[0097] The second main body (320) can support the first main body (310). Additionally, the second main body (320) may be equipped with wheels (330) and a fixing part (340). The embodiment illustrated in FIG. 3 includes four wheels (330) and two fixing parts (340), but the shape and number of the wheels (330) and fixing parts (340) are not limited thereto.

[0098] Here, the wheel (330) may be provided as a non-driven wheel that is not connected to a driving source. That is, when the surgical robot (20) is moved by the transfer robot (30) or is moved manually, the wheel (330) of the surgical robot (20) can serve as an auxiliary means of movement.

[0099] Meanwhile, the fixing part (340) provided on the second main body (320) can perform the function of fixing the position so that the surgical robot (20) can be fixed in place after being placed. Therefore, after the position of the surgical robot (20) is fixed by the fixing part (340), it is possible to prevent the surgical robot (20) from moving due to vibrations generated by the operation of the surgical robot (20) or external forces.

[0100] The first robot arm unit (21) is positioned on one side of the first main body (310) and can be equipped with a first surgical instrument (SI1). The surgical robot (20) can drive the first robot arm unit (21) to adjust the position and orientation of the first surgical instrument (SI1).

[0101] The first robot arm unit (21) may have a plurality of extension links, and the posture may be determined according to the driving of each extension link.

[0102] The second robot arm unit (22) is positioned on the other side of the first main body (310) and can be equipped with a second surgical instrument (SI2). The surgical robot (20) can drive the second robot arm unit (22) to adjust the position and orientation of the second surgical instrument (SI2).

[0103] The second robot arm unit (22) may have multiple extension links, and the posture may be determined according to the driving of each extension link.

[0104] The motor pack (500) is connectable to a surgical instrument (50) and can be coupled to and fixed in position to a surgical robot (20), specifically a robot arm unit.

[0105] An instrument case (60) is connected to one side of a surgical instrument (50), and a motor pack (500) is connected to the other side opposite to it and can be combined. The motor pack (500) generates power by receiving power from an external source, and the power generated from the motor pack (500) can be transmitted to the surgical instrument (50), thereby enabling the surgical instrument (50) to perform pitch, yaw, actuation, and roll movements.

[0106] The display unit (350) may provide a virtual control panel for directly operating the surgical robot (20). Additionally, the virtual control panel may be displayed together with an image captured through a laparoscope or the like, or displayed independently.

[0107] In one embodiment, the robot arm unit of the surgical robot (20) will be described in detail.

[0108] The robot arm unit may include a setup arm (200) and an active arm (100). The setup arm (200) is positioned on the outside of the surgical bed (40) where the patient is placed and can be connected to the active arm (100).

[0109] The setup arm (200) performs the role of setting the position and posture of the active arm (100) so that the surgical instrument (50) coupled to the active arm (100) can be placed in a position suitable for surgery. It operates only in the pre-operative stage to set the position, and once the surgery begins, the setup arm (200) is fixed in a stationary position.

[0110] That is, the setup arm (200) can be configured to operate only during the setup period when the surgical robot arm is positioned on one side of the patient. The setup arm (200) can be manually operated by a user, such as a medical professional, to change its position.

[0111] A setup arm (200) according to one embodiment of the present invention may include a setup link assembly having a plurality of setup links.

[0112] As an optional embodiment, the setup arm (200) may include a driving unit (not shown in the drawing), and various modifications are possible, such as allowing a user to change the position of the setup arm (200) from the outside using a device (not shown in the drawing), such as a controller.

[0113] Meanwhile, the active arm (100) may be a part that moves in real time by the doctor's manipulation during surgery. Specifically, the active arm (100) is connected to the end of the setup arm (200), which is fixed in a stationary state and whose position is adjusted in the pre-operative stage, and may be a part that moves in real time by the doctor's manipulation during surgery. The active arm (100) may be rotatably connected to one side of the setup arm (200), and a surgical instrument (50) and a trocar (not shown) may be connected.

[0114] A surgical robot arm according to one embodiment of the present invention sets a virtual rotation center point at a predetermined position of the end portion of a surgical instrument (50) mounted on an active arm (100) that is coupled to one end portion of a fixed-position setup arm (200), and controls the active arm (100) so that the surgical instrument (50) rotates around this point, and this virtual rotation center point is the RCM (Remote Center of Motion). That is, the surgical instrument (50) can rotate around the RCM point and perform yaw and pitch movements.

[0115] FIG. 5 is a block diagram showing the internal configuration of the transfer robot (30) of the surgical robot system (1) of FIG. 1. FIG. 6 is a diagram illustrating one example in which the transfer robot (30) according to one embodiment of the present invention is connected to the surgical robot (20), and FIG. 7 is a diagram illustrating another example in which the transfer robot (30) according to one embodiment of the present invention is connected to the surgical robot (20).

[0116] Referring to FIGS. 5 to 7, a transfer robot (30) according to one embodiment of the present invention may include a transfer robot control unit (31), a driving unit (32), a sensing unit (33), a communication unit (34), a surgical robot connection unit (35), a power supply unit (36), and a main body (30B) on which these are arranged.

[0117] In defining each part of the main body (30B) of the transport robot (30), the part facing the ceiling within the driving area is defined as the upper surface, and the part facing the floor within the driving area is defined as the lower surface. Additionally, among the parts forming the perimeter of the main body (30B) between the upper surface and the lower surface, the part facing the driving direction is defined as the front surface, and the part facing the opposite direction to the front surface of the main body (30B) is defined as the rear surface.

[0118] The driving unit (32) may be a means for moving or stopping the main body (30B). Specifically, the driving unit (32) may include a driving source, wheels, etc., involved in the movement, steering, and stopping of the main body (30B). An electric motor may be used as the driving source, but is not necessarily limited thereto. The wheels may include one or more driving wheels that receive driving force from the driving source and non-driving wheels that rotate by the movement of the transfer robot (30) without receiving driving force. When multiple driving wheels and multiple driving sources are provided, the multiple driving sources may each be connected to different driving sources, and the rotation of each driving wheel may be controlled independently.

[0119] Although a wheel-shaped drive wheel is shown in the drawing, the concept of the present invention is not limited thereto, and it is obvious that the driving part (32) may use an endless track or other means of transportation.

[0120] The surgical robot connection part (35) may be a member provided to contact and connect with the surgical robot (20). That is, the surgical robot connection part (35) is a means for the transfer robot (30) to be physically connected to the surgical robot (20), and may be formed so that the transfer robot (30) can transfer the surgical robot (20).

[0121] In one embodiment, the surgical robot connection part (35) may include a lifting module (35a) and / or a docking module (35b).

[0122] Here, the lifting module (35a) is a device capable of raising and lowering the surgical robot (20). For example, the transport robot (30) can lift the surgical robot (20) from the driving surface by means of the lifting module (35a).

[0123] As illustrated in FIG. 6, the transfer robot (30) can enter under the second main body (320) of the surgical robot (20) and lift the surgical robot (20) through the lifting module (35a). Additionally, the transfer robot (30) can transfer the surgical robot (20) while the surgical robot (20) is lifted.

[0124] The lifting module (35a) may be housed within the main body (30B) of the transfer robot (30) and may protrude outside the main body (30B) if necessary. For example, the lifting module (35a) may be raised by a hydraulic method.

[0125] The upper surface of the lifting module (35a) may include a structure that is connected to the second main body (320) of the surgical robot (20). Therefore, when the lifting module (35a) is raised while the transfer robot (30) is moved below the second main body (320) of the surgical robot (20), the upper surface of the lifting module (35a) and the lower surface of the second main body (320) can be connected to each other. Thus, while the transfer robot (30) is transferring the surgical robot (20), the transfer robot (30) can be stably connected to the surgical robot (20) and transferred.

[0126] However, the method of combining the lifting module (35a) and the surgical robot (20) is a simple combination method, so that when the lifting module (35a) is lowered again, the lifting module (35a) can be easily separated from the second main body (320).

[0127] Meanwhile, the docking module (35b) is a device that can be connected to the main body (30B) of the surgical robot (20). For example, the docking module (35b) may be connected to the first main body (310) of the surgical robot (20) by extending from the front portion of the main body (30B) of the transfer robot (30) or by extending from the rear portion of the main body (30B). Alternatively, as in the embodiment shown in FIG. 7, the docking module (35b) may be positioned by extending from the lifting module (35a).

[0128] That is, the transfer robot (30) can move the surgical robot (20) by pulling it or pushing it from the rear while connected to the surgical robot (20) through the docking module (35b).

[0129] Specifically, referring to FIG. 7, when the docking module (35b) is positioned at the front of the transfer robot (30), the docking module (35b) is connected to the rear of the surgical robot (20) so that the transfer robot (30) can move by pushing the surgical robot (20).

[0130] Alternatively, if the docking module (35b) is positioned at the rear of the transfer robot (30), the docking module (35b) is connected to the front of the surgical robot (20) so that the transfer robot (30) can tow and move the surgical robot (20).

[0131] However, the concept of the present invention is not limited thereto, and the transfer robot (30) can be connected to the surgical robot (20) via a docking module (35b) while positioned on the side of the surgical robot (20) and can move the surgical robot (20) in a position placed side by side with the surgical robot (20).

[0132] The sensing unit (33) can detect the surrounding environment of the transport robot (30) and assist in driving. The sensing unit (33) can detect external objects located within the surgical space where the transport robot (30) is driving. Specifically, the sensing unit (33) can detect the direction in which the external object is located and the distance from the transport robot (30).

[0133] For example, the sensing unit (33) can detect the position of the surgical bed (40) and the position of the surgical robot (20). In addition, if multiple transfer robots (30) are provided, the sensing unit (33) of one transfer robot (30) can detect the position of another transfer robot (30).

[0134] The detection unit (33) may include one or more of a camera sensor and a light sensor, and examples included therein may be a 2D laser scanner (LiDAR), a 3D vision (stereo) camera, a proximity sensor, etc.

[0135] The communication unit (34) can communicate with other components of the surgical robot system (1), such as the master robot (10) and the surgical robot (20). The communication unit (34) supports wireless communication methods such as Bluetooth, Wi-Fi, ultra-wideband (UWB), near-field communication (NFC), and mobile communication networks (4G, 5G) to connect with external devices and transmit and receive data, but the scope of the present invention is not limited thereto.

[0136] The power supply unit (36) is a means for supplying power to the surgical robot (20). A transfer robot (30) according to one embodiment of the present invention includes a battery built into itself, and the built-in battery can be connected to an external device to supply power. That is, the transfer robot (30) includes a built-in battery and may provide power to the surgical robot (20) when necessary.

[0137] Specifically, the transfer robot (30) can provide power to the surgical robot (20) via a wired or wireless method through the power supply unit (36). For example, the transfer robot (30) can supply power to the surgical robot (20) using USB-PD (USB Power Delivery) or wireless charging technology.

[0138] In one embodiment, power supply may be provided by connecting the power cable or the surgical robot (20) and the transfer robot (30) directly via docking, even without lifting the surgical robot (20) through the lifting module (35a). For example, the power supply unit (36) may be placed together with the aforementioned docking module (35b). As shown in FIG. 7, when the transfer robot (30) is connected to the surgical robot (20) through the docking module (35b), the power supply unit (36) may also be connected to the surgical robot (20). Therefore, in the event of an emergency situation, such as when the power supply to the operating room is cut off, the transfer robot (30) can supply power to the surgical robot (20) by utilizing its own built-in battery.

[0139] Meanwhile, a transfer robot (30) according to one embodiment of the present invention may be capable of autonomous driving within a pre-set area. For example, the transfer robot (30) may autonomously drive within the operating room area to approach the surgical robot (20) and transfer the surgical robot (20) within the operating room area where the surgical bed (40) is placed.

[0140] Specifically, the transport robot (30) may be an autonomous mobile robot. That is, the transport robot (30) may be capable of flexible movement through real-time environment recognition and autonomous path setting functions. The transport robot (30) can estimate its current location by scanning the surrounding environment in real time through the aforementioned sensing unit (33) and generating and updating a map based on this. Therefore, the transport robot (30) can recognize the environment without a predefined path and determine a path to move autonomously.

[0141] The transport robot (30) can set a movement path using Global Path Planning, a function that sets an optimal path to a destination, and Local Path Planning, a function that adjusts the path while avoiding obstacles detected during movement in real time.

[0142] Through this, the transport robot (30) can operate safely even in a space where people move, and can respond quickly to unpredictable environmental changes.

[0143] A surgical robot system (1) according to one embodiment of the present invention can transport a surgical robot (20) by utilizing the aforementioned autonomous driving function.

[0144] In one embodiment, the transfer robot (30) moves toward the surgical robot (20) by means of a received signal and is connected to the surgical robot (20) to position the surgical robot (20) at a preset position.

[0145] For example, the transfer robot (30) can move toward the selected surgical robot (20) by receiving a control signal from the master robot (10). The transfer robot (30) can be connected to the surgical robot (20) through the aforementioned surgical robot connection part (35). The transfer robot (30) connected to the surgical robot (20) can autonomously drive to the location where the surgical robot (20) is to be placed to transfer the surgical robot (20), and after the surgical robot (20) is transferred to a suitable location, it can be separated from the surgical robot (20) automatically or through a user approval process. For example, the transfer robot (30) can lower the surgical robot (20) to the floor by lowering the lifting module (35a).

[0146] Here, information regarding a pre-set location where the surgical robot (20) is placed can be stored separately according to the type of surgery. The surgical robot (20) can be selected according to the type of surgery selected by the user among the stored types of surgery, and the surgical robot (20) that requires movement can be automatically moved by the transfer robot (30).

[0147] That is, the transfer robot (30) can position the surgical robot (20) according to the selected surgical type among the stored surgical types. This will be explained in detail later.

[0148] A surgical robot system (1) according to one embodiment of the present invention may include an autonomous driving mode and a driving assist mode among selectable driving modes for a transport robot (30).

[0149] In other words, the surgical robot system (1) may include an autonomous driving mode capable of autonomous driving of the transport robot (30) and a driving assist mode capable of assisting the movement of the surgical robot (20). These driving modes may be selected and executed integrally through the master robot (10), or may be selected and executed through individual operation of the surgical robot (20) or the transport robot (30).

[0150] For example, when the autonomous driving mode is selected, the transfer robot (30) performs an autonomous driving function to move toward the surgical robot (20) and connects with the surgical robot (20) to transfer the surgical robot (20) to a preset position.

[0151] On the other hand, when the driving assist mode is selected, the driving unit (32) of the transfer robot (30) can operate under specific conditions. In one embodiment, the transfer robot (30) can detect a force transmitted from the outside and operate the driving unit (32).

[0152] Meanwhile, the driving assist mode can perform its function while the transfer robot (30) is connected to the surgical robot (20). For example, when the transfer robot (30) enters under the second main body (320) of the surgical robot (20) and the surgical robot (20) is lifted, the driving mode of the transfer robot (30) can be selected as the driving assist mode.

[0153] When the driving assist mode is selected while the transfer robot (30) is connected to the surgical robot (20), the transfer robot (30) can detect the direction and force in which the surgical robot (20) intends to move and drive the driving unit (32). In this way, the transfer robot (30) can facilitate the movement of the surgical robot (20) by driving the driving unit (32). Specifically, the driving assist mode can be utilized when a user intends to move the surgical robot (20) by manual operation. Since the transfer robot (30) connected to the surgical robot (20) can detect an external force and the driving unit (32) can operate, the user can move the surgical robot (20) in the desired direction by simply holding the handle of the surgical robot (20) and pushing the surgical robot (20) in the direction of travel, and can manually move the surgical robot (20) with minimal effort.

[0154] Meanwhile, the surgical bed (40) of the surgical robot system (1) according to one embodiment of the present invention may be equipped with a sensor that transmits the position of the surgical bed (40) to another robot.

[0155] In one embodiment, the surgical bed (40) can transmit and receive data with the transfer robot (30) via a network, such as the communication method between the master robot (10), the surgical robot (20), and the transfer robot (30) described above. For example, the transfer robot (30) can obtain information regarding the distance and direction from the transfer robot (30) to the surgical bed (40) through the sensors of the surgical bed (40). Since the position where the surgical robot (20) is to be placed is determined based on the surgical bed (40), the surgical robot (20) can be transferred to an accurate position based on the position information of the surgical bed (40).

[0156] FIGS. 8 and 9 are block diagrams illustrating the relationships between each component in a surgical robot system (1) according to one embodiment of the present invention.

[0157] FIG. 8 illustrates a case where the surgical robot system (1) includes a first surgical robot (20-1) and a second surgical robot (20-2) and a transfer robot (30), and FIG. 9 illustrates a case where the surgical robot system (1) includes a first surgical robot (20-1) and a second surgical robot (20-2) and a first transfer robot (30-1) and a second transfer robot (30-2).

[0158] As described above, the master robot (10) can transmit and receive data with the surgical robot (20) and the transport robot (30) through a network such as a wired or wireless communication network. In the embodiment illustrated in FIG. 8, the master robot (10) communicates with the first surgical robot (20-1) and the second surgical robot (20-2) and can control the first surgical robot (20-1) and the second surgical robot (20-2), respectively. The data transmitted and received between the master robot (10), the surgical robot (20), and the transport robot (30) below is exemplary, and the types of data they transmit and receive are not limited thereto.

[0159] The first surgical robot (20-1) and the second surgical robot (20-2) are connected to the master robot (10) via a network and may receive data related to control commands from the master robot (10) and transmit acquired information, such as image data, to the master robot (10). Additionally, the first surgical robot (20-1) and the second surgical robot (20-2) may transmit and receive data, such as movement and position information, to each other.

[0160] The first transfer robot (30-1) is also connected to the master robot (10) via a network to receive data related to control commands from the master robot (10) and can transmit surrounding information obtained through the detection unit (33) during movement to the master robot (10). The first transfer robot (30-1) can transmit and receive data with the first surgical robot (20-1) and the second surgical robot (20-2). In one embodiment, when the transfer robot (30) is matched with one of the surgical robots (20) to be transferred among the plurality of surgical robots (20) by an operation signal from the master robot (10), the transfer robot (30) can communicate with the corresponding surgical robot (20). For example, the transfer robot (30) is first matched with the first surgical robot (20-1) to transfer the first surgical robot (20-1) to a designated location, and after the placement of the first surgical robot (20-1) is completed, the transfer robot (30) can be matched with the second surgical robot (20-2) to transfer the second surgical robot (20-2).

[0161] In the case of the embodiment illustrated in FIG. 9, the first transfer robot (30-1) is matched with the first surgical robot (20-1) and the second transfer robot (30-2) is matched with the second surgical robot (20-2). In this case, each transfer robot (30) communicates with the matched surgical robot (20) and can transfer each surgical robot (20) to a designated location.

[0162] Hereinafter, a method for transporting and positioning a surgical robot (20) through a transport robot (30) in a surgical robot system (1) according to one embodiment of the present invention will be described.

[0163] FIG. 10 is a flowchart illustrating an example of a method for transferring and positioning a surgical robot (20) by a transfer robot (30) according to an embodiment of the present invention.

[0164] Referring to FIG. 10, the method of transferring and positioning the surgical robot (20) by the transfer robot (30) may include steps S110 to S140. In a surgical robot system (1) according to an embodiment of the present invention, the method of transferring and positioning the surgical robot (20) by the transfer robot (30) consists of steps processed sequentially in the master robot (10), surgical robot (20), and transfer robot (30) as illustrated in FIG. 2 and FIG. 5, etc. Therefore, even if the content is omitted below, the content described above regarding the device or control unit (15) illustrated in FIG. 2 and FIG. 5, etc. may also be applied to the method of transferring and positioning the surgical robot (20) by the transfer robot (30) of FIG. 10.

[0165] Additionally, as described above with reference to FIGS. 2 and FIGS. 5, at least one of the steps of the method for transferring and positioning the surgical robot (20) by the transfer robot (30) of FIG. 10 may be processed in the master robot (10), the surgical robot (20), or the transfer robot (30).

[0166] First, in step S110, the surgical robot (20) can be transported by the transport robot (30). The transport robot (30) moves toward the surgical robot (20) by means of a received signal and connects with the surgical robot (20) to place the surgical robot (20) at a pre-set position. An operation signal for transporting the surgical robot (20) can be transmitted to the transport robot (30) by operation of the master robot (10) or the surgical robot (20), and the transport robot (30) can move toward the selected surgical robot (20) to transport the surgical robot (20). At this time, the transport robot (30) can transport the surgical robot (20) according to a pre-stored position of the surgical robot (20). Here, the pre-stored position of the surgical robot (20) may be the position of the surgical robot (20) to be placed according to the type of surgery.

[0167] A transfer robot (30) that has approached the surgical robot (20) can be connected to the surgical robot (20). For example, as described above, the transfer robot (30) that has entered under the surgical robot (20) can lift the surgical robot (20) through the lifting module (35a). When the surgical robot (20) is lifted by the transfer robot (30), the transfer robot (30) can load the surgical robot (20) and move it to a pre-set position. Then, after the transfer robot (30) has moved to the set position, the lifting module (35a) can be lowered to lower the surgical robot (20). The process of placing the surgical robot (20) will be described in detail later.

[0168] In subsequent step S120, the position of the surgical robot (20) can be fixed. In one embodiment, the position fixation of the surgical robot (20) can be achieved by a fixing part (340) provided on the second main body (320) of the surgical robot (20) described above. Additionally, a fixing device may be provided on the wheel (330) of the surgical robot (20) itself to restrict the operation of the wheel (330) by operating the fixing device.

[0169] In step S130, the setup arm (200) of the surgical robot (20) can be set. As described above, the setup arm (200) is a part connected to the active arm (100), and the setup arm (200) can be placed on the outside of the surgical bed (40) where the patient is placed.

[0170] Here, the setup arm (200) can perform the role of setting the position and orientation of the active arm (100). To explain this from another perspective, the setup arm (200) performs the role of setting the position and orientation of the active arm (100) so that the surgical instrument (50) can be placed in a position suitable for surgery.

[0171] Therefore, the setup arm (200) is operated to position the surgical instrument (50) to fit the patient's affected area before the start of surgery, and may not move during the actual surgery. In contrast, the active arm (100) may be a part that moves in real time by the doctor's operation during surgery.

[0172] In step S140, a surgical instrument can be mounted on the surgical robot (20). That is, after the position of the setup arm (200) is set, a surgical instrument (50) can be mounted on the active arm (100). Specifically, an instrument case (60) can be connected to one side of the surgical instrument, and a motor pack (500) can be connected to the other side opposite to it. The motor pack (500) generates power by receiving power from an external source, and the power generated from the motor pack (500) can be transmitted to the surgical instrument (50), thereby enabling the surgical instrument (50) to perform pitch, yaw, actuation, and roll movements.

[0173] FIG. 11 is a flowchart illustrating a scenario of a method for transferring and positioning a surgical robot (20) according to a surgical robot system (1) according to one embodiment of the present invention.

[0174] Referring to FIG. 11, a method for transferring and positioning a surgical robot (20) according to one embodiment may include steps S210 to S290. Here, some of the steps may be substantially the same as the method for transferring and positioning a surgical robot (20) described through FIG. 10. For example, steps S210, S220, S230, and S240 may correspond to the aforementioned steps S110, S120, S130, and S140, respectively.

[0175] Therefore, detailed descriptions of contents overlapping with the aforementioned steps S110 to S140 will be omitted, and the following will focus on explaining the added or modified technical features.

[0176] In step S210, if multiple surgical robots (20) or transfer robots (30) are provided, a surgical robot (20) to be transferred and a transfer robot (30) to transfer the surgical robot (20) can be selected.

[0177] For example, as illustrated in FIGS. 12a to 12f, if the surgical robot system (1) includes two surgical robots (20) and one transfer robot (30), the selection process for the transfer robot (30) may not be necessary, but the selection process for the surgical robot (20) to be transferred may be necessary. Also, if multiple surgical robots (20) need to be transferred, it goes without saying that the selection process for the surgical robot (20) to be transferred first may be necessary.

[0178] Subsequently, in step S211, a placement method for the surgical robot (20) may be selected. Here, the surgical robot (20) may be placed using an automatic placement method or a manual placement method.

[0179] In other words, the step of transporting the surgical robot (20) may include the step of obtaining input information for one of automatic placement and manual placement for the surgical robot (20).

[0180] For example, the user can select an automatic placement method by operating the display component (10b) of the master robot (10) or the display unit (350) of the surgical robot (20). To explain this from another perspective, the control unit (15) of the master robot (10) can obtain input information for automatic placement.

[0181] Subsequently, in step S213, the user can select a placement of the surgical robot (20). Specifically, the user may directly select a placement of the surgical robot (20) through a placement drawing displayed on the display member (10b), or may select one of the previously saved placements of the surgical robot (20).

[0182] For example, the user may select a type of surgery to be performed by selecting a type of surgery item displayed on the display member (10b), and may also select a pre-stored placement of a surgical robot (20) according to the type of surgery.

[0183] Here, the sub-items for each type of surgery may consist of various types of surgical cases, and the user may select a suitable surgical case. Additionally, the surgical robot system (1) may store placement information for a surgical robot (20) suitable for the selected type of surgery or surgical case.

[0184] To explain this from another perspective, the storage unit (17) of the master robot (10) stores placement information of the surgical robot (20), and the placement of the stored surgical robot (20) can be executed according to the input surgical placement selection information.

[0185] Subsequently, in step S214, the transfer robot (30) can transfer the surgical robot (20) according to the arrangement selected in the above process. Here, the transfer robot (30) can transfer the surgical robot (20) by performing the aforementioned autonomous driving function.

[0186] This is explained in detail through FIGS. 12a to 12f. FIGS. 12a to 12f is a diagram schematically showing the process of a surgical robot (20) being positioned by a transfer robot (30) in a surgical robot system (1) according to one embodiment of the present invention.

[0187] Referring to FIG. 12a, areas for placing a surgical robot (20) may be provided on both sides of the surgical bed (40). For example, a first area (A1) and a second area (A2) may be provided on one side of the surgical bed (40), and a third area (A3) to a fourth area (A4) may be provided on the other side of the surgical bed (40), but the areas for placing the surgical robot (20) are not necessarily limited thereto.

[0188] And the surgical robot (20) may be placed in a waiting state in one area of ​​the surgical space before being placed in the first area (A1) to the fourth area (A4). For example, the first surgical robot (20-1) may be placed in the first week area (P1) and the second surgical robot (20-2) may be placed in the second week area (P2).

[0189] Referring again to FIG. 12a, the transfer robot (30) first moves toward the first surgical robot (20-1) placed in the first parking area (P1). The transfer robot (30) can enter under the second main body (320) of the first surgical robot (20-1) and lift the first surgical robot (20-1) through the lifting module (35a).

[0190] Referring to FIG. 12b, the transfer robot (30) can move toward the first area (A1) where the first surgical robot (20-1) is to be placed while holding the first surgical robot (20-1). That is, the transfer robot (30) can transfer the first surgical robot (20-1).

[0191] Referring to FIG. 12c, the transfer robot (30) can transfer the first surgical robot (20-1) to the first area (A1) and then place the first surgical robot (20-1) on the floor. That is, the transfer robot (30) can place the first surgical robot (20-1) on the floor by lowering the lifting module (35a). Afterward, the transfer robot (30) can be disconnected from the first surgical robot (20-1) and moved to another location.

[0192] Referring to FIG. 12d, the transfer robot (30) moves toward the second surgical robot (20-2) placed in the second parking area (P2). The transfer robot (30) can enter under the second main body (320) of the second surgical robot (20-2) and lift the second surgical robot (20-2) through the lifting module (35a).

[0193] Referring to FIG. 12e, the transfer robot (30) can move toward the third area (A3) where the second surgical robot (20-2) is to be placed while holding the second surgical robot (20-2). That is, the transfer robot (30) can transfer the second surgical robot (20-2).

[0194] Referring to FIG. 12f, the transfer robot (30) can transfer the second surgical robot (20-2) to the third area (A3) and then place the second surgical robot (20-2) on the floor. That is, the transfer robot (30) can place the second surgical robot (20-2) on the floor by lowering the lifting module (35a). Afterward, the transfer robot (30) can be disconnected from the second surgical robot (20-2) and moved to another location.

[0195] In the above description, the process of the transfer robot (30) arranging multiple surgical robots (20) in sequence was described exemplarily when only one transfer robot (30) is provided. When additional transfer robots (30) are provided, each transfer robot (30) may simultaneously transfer different surgical robots (20).

[0196] Referring again to FIG. 11, it can be determined whether a change in the position of the surgical robot (20) is necessary after the surgical robot (20) has been transported (step S215). At this time, if the surgical robot (20) is not placed in the correct position, the position of the surgical robot (20) can be corrected by manual operation (step S216). That is, the surgical robot (20) can be moved by manual operation.

[0197] On the other hand, if the position of the surgical robot (20) is suitable, the position of the surgical robot (20) can be fixed (step S220). Specifically, the user may approve the position by operating the display unit (350) of the surgical robot (20) or by operating the display member (10b) of the master robot (10). Once approval is complete, the user may fix the surgical robot (20) so that it cannot be moved by operating the fixing unit (340) of the surgical robot (20). Alternatively, the fixing unit (340) of the surgical robot (20) may operate automatically by the position approval signal to fix the position of the surgical robot (20).

[0198] Meanwhile, in step S211, if the manual placement method is selected, the surgical robot (20) can be moved by manual operation (step S212). At this time, the transfer robot (30) may be selected in the aforementioned driving assist mode. That is, the transfer robot (30) can assist the movement of the surgical robot (20) through the driving assist mode while connected to the surgical robot (20). Even if the user moves the surgical robot (20) directly by holding the handle of the surgical robot (20), the user can easily move the surgical robot (20) by operating the driving part (32) of the transfer robot (30). And even after the surgical robot (20) is placed by manual operation, a step of fixing the position of the surgical robot (20) can be performed (step S220).

[0199] In steps S230 to S238, the setup arm (200) of the surgical robot (20) can be set. First, whether to automatically change the position of the setup arm (200) can be selected (step S231).

[0200] In other words, the step of setting up the setup arm (200) of the surgical robot (20) may include the step of obtaining input information for one of automatic setting and manual setting for the posture of the setup arm (200).

[0201] For example, the user can select an automatic setup arm (200) setting method by operating the display member (10b) of the master robot (10) or the display unit (350) of the surgical robot (20). To explain this from another perspective, the control unit of the master robot (10) can obtain input information for the automatic setting.

[0202] If the setup arm (200) setting method is selected as an automatic setting method, in step S233, the user can select the position of the setup arm (200). Specifically, the user may directly select the position of the setup arm (200) by operating the display member (10b), or may select one of the previously stored positions of the setup arm (200).

[0203] To explain this from another perspective, the surgical robot system (1) may include a step of obtaining selection information for the setup arm (200) position by display operation when input information for automatic setting is obtained.

[0204] Afterwards, in step S234, the setup arm (200) can be changed to a pre-set position.

[0205] After the setup arm (200) of the surgical robot (20) is set, it can be determined whether a change in the position of the setup arm (200) is required (step S235). Then, if a change in the position of the setup arm (200) is required after the position of the setup arm (200) is automatically changed, the position of the setup arm (200) may be changed through manual operation (step S236).

[0206] If no change in the position of the setup arm (200) is required, fine adjustment can be performed by manual operation (step S237).

[0207] Meanwhile, in step S231, if a manual setting method is selected, the setup arm (200) can have its position changed by manual operation (step S232). Additionally, the setup arm (200) setting step of the surgical robot system (1) may further include a step of obtaining brake release information for the setup arm (200) when input information for manual setting is obtained. And fine adjustment can be performed even after the setup arm (200) has its position changed by manual operation (step S237).

[0208] In one embodiment, the method for transferring and positioning the surgical robot (20) may include the step of resetting the position of the setup arm (200) or repositioning the position of the surgical robot (20) after the position of the setup arm (200) of the surgical robot (20) has been changed (step S238).

[0209] That is, if the position of the setup arm (200) is reset, it may start again from step S230, and if the position of the surgical robot (20) is repositioned, it may start again from step S210. If there is no need to reset the position of the setup arm (200) or reposition the surgical robot (20), a surgical instrument (50) may be mounted on the surgical robot (20) (step S240).

[0210] In other words, after the position of the setup arm (200) is set, the setup arm (200) is fixed and the surgical instrument (50) can be mounted on the active arm (100).

[0211] The present invention has been described above with reference to preferred embodiments. Those skilled in the art will understand that the present invention can be implemented in modified forms without departing from the essential characteristics of the invention. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the invention is defined by the claims, not by the foregoing description, and all variations within the scope of the claims should be interpreted as being included in the invention. Explanation of the symbols

[0212] 1: Surgical Robot System 10: Master Robot 20: Surgical Robot 30: Transfer robot 40: Operating bed 50: Surgical instrument

Claims

Claim 1 A surgical robot system comprising: a surgical robot including at least one arm unit; a transfer robot capable of transferring the surgical robot; and a master robot including an operating member for controlling the operation of the transfer robot, wherein the transfer robot moves toward the surgical robot by a received signal and positions the surgical robot at a position corresponding to the received signal. Claim 2 A surgical robot system according to claim 1, wherein the transfer robot comprises: a driving unit for moving or stopping the main body; a surgical robot connecting unit provided to contact and connect with the surgical robot; and a sensing unit that detects the surrounding environment of the transfer robot and assists in driving. Claim 3 In claim 2, the surgical robot connection part includes a lifting module capable of raising and lowering the surgical robot, and the transfer robot is capable of transferring the surgical robot while the surgical robot is lifted through the lifting module, in a surgical robot system. Claim 4 A surgical robot system according to claim 2, wherein the surgical robot connection part includes a docking module connected to the surgical robot, and the transfer robot is capable of pulling the surgical robot or pushing the surgical robot to move it while connected to the surgical robot through the docking module. Claim 5 In claim 2, the surgical robot system, wherein the sensing unit is capable of detecting the surgical robot in the vicinity of the transfer robot. Claim 6 In claim 2, the surgical robot system, wherein the sensing unit is capable of detecting a surgical bed placed within a surgical space. Claim 7 In claim 2, the surgical robot system further comprises a power supply unit for supplying power to the surgical robot. Claim 8 A surgical robot system according to claim 1, wherein the surgical robot system further comprises a surgical bed having a sensor that transmits position information of the surgical bed to at least one of the surgical robot, the transfer robot, and the master robot. Claim 9 A surgical robot system according to claim 1, wherein the master robot is capable of controlling the operation of the surgical robot. Claim 10 In claim 1, the transfer robot is a surgical robot system capable of autonomously navigating inside an operating room. Claim 11 A surgical robot system according to claim 1, wherein the transfer robot places the surgical robot at a preset position based on a received signal. Claim 12 A surgical robot system according to claim 11, wherein the position information where the surgical robot is placed is stored separately according to the type of surgery, and the transfer robot places the surgical robot in correspondence with the type of surgery selected among the stored types of surgery. Claim 13 In claim 1, the surgical robot system comprises an autonomous driving mode and a driving assist mode among selectable driving modes for the transfer robot. Claim 14 In claim 13, the transfer robot performs an autonomous driving function to move toward the surgical robot when the autonomous driving mode is selected and connects with the surgical robot to place the surgical robot at a preset position, in a surgical robot system. Claim 15 In claim 13, the transfer robot is a surgical robot system in which, when the driving assist mode is selected, the driving part is driven by detecting a force transmitted from the outside. Claim 16 A transfer robot for transferring a surgical robot comprises: a driving unit for moving or stopping a main body; a surgical robot connecting unit provided to contact and connect with the surgical robot; and a sensing unit that detects the surrounding environment of the transfer robot and assists in driving, wherein the transfer robot moves toward the surgical robot by means of a received signal and places the surgical robot at a position corresponding to the received signal. Claim 17 In claim 16, the transfer robot is a transfer robot capable of receiving position information of the surgical bed from the surgical bed. Claim 18 A method for transferring and positioning a surgical robot using a transfer robot, comprising: a step of transferring the surgical robot by the transfer robot; a step of fixing the position of the surgical robot; a step of setting the setup arm of the surgical robot; and a step of mounting a surgical instrument on the surgical robot. Claim 19 In claim 18, the step of transferring the surgical robot comprises the step of selecting a surgical robot to move and a transfer robot to transfer the surgical robot. Claim 20 In claim 18, the step of transferring the surgical robot comprises the step of obtaining input information for one of automatic placement and manual placement for the surgical robot. Claim 21 A method according to claim 20, comprising the step of obtaining selection information for surgical robot placement by display operation when input information for automatic placement is obtained. Claim 22 In claim 20, a method comprising a step in which a robot can move by user control when input information for manual placement is obtained. Claim 23 In claim 18, the step of transferring the surgical robot is a step in which the surgical robot is transferred to a pre-set position by the autonomously driving transfer robot. Claim 24 In claim 18, the step of transferring the surgical robot is a method in which the surgical robot can be moved through manual operation if a change in the position of the surgical robot is required after the surgical robot has been transferred by the transfer robot. Claim 25 In claim 18, the step of fixing the position of the surgical robot is a step in which the fixing part of the surgical robot is operated by an approval signal of the robot display to fix the position of the surgical robot. Claim 26 In claim 18, the step of setting the setup arm of the surgical robot comprises the step of obtaining input information for one of automatic setting and manual setting for the posture of the setup arm. Claim 27 A method according to claim 26, comprising the step of obtaining selection information for a setup arm position by display operation when input information for automatic setting is obtained. Claim 28 A method according to claim 26, further comprising the step of obtaining brake release information of the setup arm when input information for manual setting is obtained. Claim 29 In claim 18, the step of setting the setup arm of the surgical robot is a step of changing the setup arm to a pre-set position. Claim 30 In claim 18, the step of setting the setup arm of the surgical robot is a method in which, if a change in the position of the setup arm is required after the posture of the setup arm has been automatically changed, the posture of the setup arm can be changed through manual operation. Claim 31 A method according to claim 18, further comprising the step of resetting the position of the setup arm or repositioning the position of the surgical robot after the position of the setup arm of the surgical robot has been changed.

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