Fracture reduction surgical robot control apparatus and method, and surgical robot control apparatus and method

Abstract

A fracture reduction surgical robot control apparatus is provided. The apparatus may comprise a display unit, a storage unit and a processor, wherein the processor calculates a collision avoidance distance by which a proximal bone is moved away from a reduction position in order to prevent a collision with a distal bone, uses the collision avoidance distance to calculate a collision avoidance path on which the proximal bone can be moved from the current position to the reduction position, and moves a surgical robot along the collision avoidance path. In addition, a surgical robot control apparatus is provided. The control apparatus may comprise a storage unit and a processor, wherein the processor uses a camera to recognize a marker of a first ring, thereby acquiring a coordinate system of the first ring, uses the camera to recognize a marker of a second ring, thereby acquiring a coordinate system of the second ring, and determines the length of at least one strut between the first ring and the second ring from the coordinate system of the first ring and the coordinate system of the second ring.

Description

Control device and method for a fracture reduction surgery robot and control device and method for a surgery robot

[0001] The present invention relates to a control device and method for a surgical robot. More specifically, the present invention relates to a control device and method for a fracture reduction surgery robot.

[0002] In addition, the present invention relates to a control device and method for a surgical robot. More specifically, the present invention relates to a control device and method for determining the length of a strut of a surgical robot.

[0003]

[0004] Surgical robots can be used to assist in surgeries that are difficult to perform using human strength alone. For example, fracture surgery involves the stages of reducing the position of bone fragments and fixing them in place. Moving and fixing the bone fragments requires multiple doctors and exerts significant force, placing a heavy physical burden on them. Furthermore, it is not easy to accurately align the bone fragments using only the strength of the doctors during the reduction stage. Therefore, research is underway on robots to assist in fracture surgery.

[0005] Korean Patent Publication No. 10-2014-0063321 (published May 27, 2014) discloses a reduction surgical robot and a driving control method thereof. The patent discloses a path calculation unit that calculates a movement path for reducing a movable bone region within a fracture area. However, the patent does not consider collisions between two bone fragments when calculating the movement path. Therefore, if surgery is performed along the movement path calculated according to the patent, actual surgery may become impossible or damage to the bone may occur due to collisions between the two bone fragments. Furthermore, the patent does not disclose a method for safely controlling the surgical robot for the safety of the patient.

[0006] Korean Published Patent No. 10-2024-0009234 (published January 22, 2024) discloses a fracture repair robot assembly. The patent discloses a fracture repair robot assembly comprising first and second ring frames arranged to surround a patient's fractured limb, and a strut arranged between the first and second ring frames to adjust the distance between the first and second ring frames. In such a fracture repair robot, it is very important to accurately determine the length of the strut because alignment between the patient's two fractured limbs is achieved by adjusting the length of the strut. However, the patent does not disclose a method for accurately determining the length of the strut.

[0007]

[0008] The problem that the present invention aims to solve is to provide a method for preventing collision between the proximal and distal bones and safely controlling a robot for fracture reduction surgery.

[0009] In addition, the problem that the present invention aims to solve is to provide a control device and method for accurately determining the length of a strut of a surgical robot.

[0010]

[0011] According to embodiments of the present invention, a control device for a robot for fracture reduction surgery comprises a display unit, a storage unit, and a processor, wherein the processor calculates a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone, calculates a collision avoidance path to move the proximal bone from the current position to the reduction position using the collision avoidance distance, and can move the surgical robot along the collision avoidance path.

[0012] According to embodiments of the present invention, a control method for a fracture reduction surgery robot may include the steps of: calculating a collision avoidance distance to move a proximal bone away from a reduction position to prevent collision with a distal bone; calculating a collision avoidance path to move the proximal bone from a current position to a reduction position using the collision avoidance distance; and moving the surgery robot along the collision avoidance path.

[0013] According to embodiments of the present invention, in a non-transient computer-readable medium storing computer instructions that, when executed by a processor of an electronic device, cause said electronic device to perform an operation, said operation may include: a step of calculating a collision avoidance distance for moving a proximal bone away from a reduction position to prevent collision with a distal bone; a step of calculating a collision avoidance path for moving the proximal bone from a current position to a reduction position using said collision avoidance distance; and a step of moving a surgical robot along said collision avoidance path.

[0014]

[0015] In addition, according to embodiments of the present invention, a control device for a surgical robot includes a storage unit and a processor, and the processor obtains a coordinate system of the first ring by recognizing a marker of the first ring using a camera, obtains a coordinate system of the second ring by recognizing a marker of the second ring using the camera, and can determine the length of at least one strut between the first ring and the second ring from the coordinate system of the first ring and the coordinate system of the second ring.

[0016] According to embodiments of the present invention, a control method for a surgical robot may include the steps of: obtaining a coordinate system of a first ring by recognizing a marker of a first ring using a camera; obtaining a coordinate system of a second ring by recognizing a marker of a second ring using the camera; and determining the length of at least one strut between the first ring and the second ring from the coordinate system of the first ring and the coordinate system of the second ring.

[0017] According to embodiments of the present invention, a non-transient computer-readable medium storing computer instructions that, when executed by a processor of an electronic device, cause the operation of the electronic device to perform said operation may include the steps of: obtaining a coordinate system of the first ring by recognizing a marker of the first ring using a camera; obtaining a coordinate system of the second ring by recognizing a marker of the second ring using the camera; and determining the length of at least one strut between the first ring and the second ring from the coordinate system of the first ring and the coordinate system of the second ring.

[0018]

[0019] According to embodiments of the present invention, collision between the proximal bone and the distal bone can be prevented. According to embodiments of the present invention, a robot for fracture reduction surgery can be safely controlled with the user's approval.

[0020] In addition, according to embodiments of the present invention, the surgical robot can be accurately controlled by accurately measuring the length of the strut of the surgical robot.

[0021]

[0022] FIG. 1 illustrates a block diagram of a robotic system for fracture reduction surgery according to one embodiment of the present invention.

[0023] FIG. 2 illustrates a control device for a fracture reduction surgery robot according to one embodiment of the present invention.

[0024] FIG. 3 is a flowchart illustrating a collision prevention distance calculation process according to one embodiment of the present invention.

[0025] FIG. 4 illustrates a screen displayed on the display unit of a control device for a fracture reduction surgery robot according to one embodiment of the present invention.

[0026] FIG. 5 illustrates a collision avoidance path calculation panel displayed on a display unit of a control device for a fracture reduction surgery robot according to one embodiment of the present invention.

[0027] FIG. 6 illustrates a simulation panel displayed on the display unit of a control device for a fracture reduction surgery robot according to one embodiment of the present invention.

[0028] FIG. 7 illustrates a control panel displayed on a display unit of a control device for a fracture reduction surgery robot according to one embodiment of the present invention.

[0029] FIG. 8 is a flowchart illustrating a robot control process according to one embodiment of the present invention.

[0030] FIG. 9 illustrates a control device for a fracture reduction surgery robot according to one embodiment of the present invention.

[0031] FIG. 10 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0032] FIG. 11 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0033] FIG. 12 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0034] FIG. 13 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0035] FIG. 14 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0036] FIG. 15 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0037] FIG. 16 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0038] FIG. 17 illustrates a block diagram of a surgical robot system according to another embodiment of the present invention.

[0039] FIG. 18 illustrates a surgical robot according to another embodiment of the present invention.

[0040] FIG. 19 illustrates a first ring of a surgical robot according to another embodiment of the present invention.

[0041] FIG. 20 illustrates a block diagram of a control device for a surgical robot according to another embodiment of the present invention.

[0042] FIG. 21 illustrates a first ring and a second ring of a surgical robot according to another embodiment of the present invention.

[0043] FIG. 22 illustrates a conceptual diagram for explaining a method for determining strut length according to another embodiment of the present invention.

[0044] FIG. 23 illustrates a first ring of a surgical robot according to another embodiment of the present invention.

[0045] FIG. 24 illustrates a surgical robot according to another embodiment of the present invention.

[0046] FIG. 25 illustrates a block diagram of a control device for a surgical robot according to another embodiment of the present invention.

[0047] FIG. 26 illustrates a flowchart of a control method for a surgical robot according to another embodiment of the present invention.

[0048] FIG. 27 illustrates a flowchart of a control method for a surgical robot according to another embodiment of the present invention.

[0049] FIG. 28 illustrates a flowchart of a control method for a surgical robot according to another embodiment of the present invention.

[0050] FIG. 29 illustrates a flowchart of a control method for a surgical robot according to another embodiment of the present invention.

[0051]

[0052] The operating principles of preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. Furthermore, in describing embodiments of the invention, specific descriptions of related known functions or configurations will be omitted if it is determined that such detailed descriptions could obscure the essence of the present disclosure. Additionally, the terms used below are defined considering their functions in the present invention, and these may vary depending on the intentions or conventions of the user or operator. Therefore, the definitions of the terms used should be interpreted based on the content throughout this specification and the corresponding functions.

[0053]

[0054] First, a control device and method for a fracture reduction surgery robot according to one embodiment of the present invention will be described.

[0055] FIG. 1 illustrates a block diagram of a robotic system for fracture reduction surgery according to one embodiment of the present invention.

[0056] Referring to FIG. 1, a robot system (10) for fracture reduction surgery according to one embodiment of the present invention may include a control device (100) and a surgical robot (200). The control device (100) can control the surgical robot (200). The surgical robot (200) can perform fracture reduction surgery by moving the proximal bone according to the control of the control device (100) to align the distal bone with the proximal bone.

[0057] FIG. 2 illustrates a control device for a fracture reduction surgery robot according to one embodiment of the present invention.

[0058] Referring to FIG. 2, a control device (100) for a fracture reduction surgery robot according to one embodiment of the present invention may include a storage unit (110), a processor (120), and a display unit (130).

[0059] The storage unit (110) can store at least one of various data, programs, and applications required for the operation of the control device (100). The display unit (130) can display a control screen. The processor (120) can control the storage unit (110) and the display unit (130).

[0060] In one embodiment, the processor (120) calculates a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone, calculates a collision avoidance path to move the proximal bone from the current position to the reduction position using the collision avoidance distance, and can move the surgical robot along the collision avoidance path.

[0061] In one embodiment, the processor (120) calculates an expected path including a path that moves the proximal bone away from the reduction position by an expected distance, repeats the process of increasing the expected distance and predicting whether a collision with the distal bone will occur until a collision with the distal bone is not expected, and sets the expected distance as a collision prevention distance when a collision with the distal bone is not expected.

[0062] In one embodiment, the collision avoidance path may include a first subpath for rotating the proximal bone so that one axis of the proximal bone and the reduction position becomes parallel to each other, a second subpath for moving the proximal bone by a collision avoidance distance so that the proximal bone moves away from the reduction position, a third subpath for moving the proximal bone so that the coordinates of two axes of the proximal bone and the reduction position become the same, a fourth subpath for rotating the proximal bone so that the two axes of the proximal bone and the reduction position become the same, and a fifth subpath for moving the proximal bone so that the proximal bone and the reduction position become the same.

[0063] In one embodiment, the first subpath is a path for rotating the proximal bone around the X-axis and Y-axis so that the Z-axis of the proximal bone and the reduction position become parallel to each other; the second subpath is a path for moving the proximal bone along the Z-axis by a collision avoidance distance so that the proximal bone moves away from the reduction position; the third subpath is a path for moving the proximal bone so that the X-axis and Y-axis coordinates of the proximal bone and the reduction position become the same; the fourth subpath is a path for rotating the proximal bone around the Z-axis so that the X-axis and Y-axis of the proximal bone and the reduction position become the same; and the fifth subpath is a path for moving the proximal bone along the Z-axis so that the proximal bone and the reduction position become the same.

[0064] In one embodiment, the processor (120) obtains a transformation matrix of the reduction position for the current position of the proximal bone, obtains a rotation angle for the X-axis, a rotation angle for the Y-axis, a rotation angle for the Z-axis, an X coordinate, a Y coordinate, and a Z coordinate from the transformation matrix, and can calculate a collision avoidance path using the collision avoidance distance, the rotation angle for the X-axis, the rotation angle for the Y-axis, the rotation angle for the Z-axis, the X coordinate, a Y coordinate, and a Z coordinate.

[0065] In one embodiment, the collision avoidance path may include a first subpath that rotates the proximal bone by -(rotation angle with respect to the Y-axis) around the Y-axis and rotates the proximal bone by -(rotation angle with respect to the X-axis) around the X-axis, a second subpath that moves the proximal bone along the Z-axis by -(collision avoidance distance), a third subpath that moves the proximal bone by -(X-coordinate, Y-coordinate, 0), a fourth subpath that rotates the proximal bone by -(rotation angle with respect to the Z-axis) around the Z-axis, and a fifth subpath that moves the proximal bone along the Z-axis by (collision avoidance distance - Z-coordinate).

[0066] In one embodiment, the collision avoidance path includes a plurality of subpaths, and the processor (120) can control the display unit (130) to display an image representing a distal bone, a reduction position, and a proximal bone at a specific point in time on the collision avoidance path, a point selection item for selecting a specific point in time, and a plurality of subpath label items each indicating which of the plurality of subpaths the specific point in time corresponds to.

[0067] In one embodiment, the processor (120) controls the display unit to display a robot control item, moves the surgical robot along a collision avoidance path when the robot control item is activated, and does not move the surgical robot when the robot control item is deactivated.

[0068] In one embodiment, the processor (120) controls the display unit (130) to display a plurality of sub-path start items, and when the robot control item is activated after the item corresponding to the next step among the plurality of sub-path start items is activated, the surgical robot is moved along the sub-path corresponding to the activated sub-path start item, and when the item corresponding to the next step among the plurality of sub-path start items is not activated, the surgical robot may not be moved.

[0069] In one embodiment, the processor (120) can control the display unit (130) to display a control panel comprising a plurality of subpath start items for starting each subpath, a plurality of subpath label items indicating which of the plurality of subpath start items each corresponds to, and a robot control item for moving a surgical robot along the started subpath.

[0070] FIG. 3 is a flowchart illustrating a collision prevention distance calculation process according to one embodiment of the present invention.

[0071] Referring to FIG. 3, the processor (120, see FIG. 2) can calculate an expected path using the expected distance. For example, the expected path may include five subpaths.

[0072] The first subpath may be a path that rotates the proximal bone around the Y-axis by - (rotation angle around the Y-axis of the reduction position relative to the current position of the proximal bone) and around the X-axis by - (rotation angle around the X-axis of the reduction position relative to the current position of the proximal bone) so that the Z-axis of the proximal bone and the Z-axis of the reduction position become parallel.

[0073] The second subpath may be a path that moves the proximal bone along the Z-axis by -(anti-collision distance) so that the proximal bone moves away from the reduction position.

[0074] The third subpath may be a path that moves the proximal bone by (-(X coordinate of the reduction position relative to the current position of the proximal bone), - (Y coordinate of the reduction position relative to the current position of the proximal bone), 0) so that the X and Y axis coordinates of the proximal bone and the reduction position become the same.

[0075] The fourth subpath may be a path that rotates the proximal bone around the Z-axis by -(rotation angle around the Z-axis of the reduction position relative to the current position of the proximal bone) so that the X-axis and Y-axis of the proximal bone and the reduction position become identical.

[0076] The fifth subpath may be a path that moves the proximal bone along the Z-axis by (anti-collision distance - Z-coordinate of the reduction position relative to the current position of the proximal bone) so that the reduction position becomes identical to the proximal bone.

[0077] If a collision is anticipated along the predicted path, the predicted distance can be increased, the predicted path recalculated based on the increased distance, and the likelihood of a collision being anticipated can be determined again. Alternatively, the predicted distance can be increased until a collision is no longer anticipated, the predicted path can be calculated based on the increased distance, and the likelihood of a collision being anticipated can be determined. If a collision is not anticipated, the predicted distance can be set as the collision avoidance distance.

[0078] FIG. 4 illustrates a screen displayed on a display unit of a control device for a fracture reduction surgery robot according to an embodiment of the present invention. FIG. 5 illustrates a collision avoidance path calculation panel displayed on a display unit of a control device for a fracture reduction surgery robot according to an embodiment of the present invention. FIG. 6 illustrates a simulation panel displayed on a display unit of a control device for a fracture reduction surgery robot according to an embodiment of the present invention. FIG. 7 illustrates a control panel displayed on a display unit of a control device for a fracture reduction surgery robot according to an embodiment of the present invention.

[0079] Referring to FIGS. 4 to 7, a screen displayed on a display unit of a control device for a fracture reduction surgery robot according to one embodiment of the present invention may include a three-dimensional image (S), a collision avoidance path calculation panel (P1), a simulation panel (P2), and a control panel (P3).

[0080] The three-dimensional image (S) can show the proximal bone (D), the reduction position (T), the distal bone (P), and the surgical robot (R). The three-dimensional image (S) can show at least one of the expected path and the actual position of the proximal bone (D).

[0081] The collision avoidance path calculation panel (P1) may include an item (P1a) for receiving a command from a user to calculate a collision avoidance path. The simulation panel (P2) may include a point selection item (P2a) for selecting a specific point in time, and a plurality of subpath label items (P2b) each indicating which of the plurality of subpaths the specific point in time corresponds to. The proximal bone, distal bone, and reduction position on the collision avoidance path at the point in time selected through the point selection item (P2a) may be displayed as a three-dimensional image (S).

[0082] The control panel (P3) may include a conquest initial start item (P3a), an initialization item (P3b), a plurality of sub-path label items (P3c), a plurality of status display items (P3d), a plurality of sub-path start items (P3e), and a robot control item (P3f).

[0083] You can receive the command to start the conquest from the user through the Conquest Start Item (P3a).

[0084] The conquest process can be initialized using the initialization item (P3b).

[0085] A plurality of subpath label items (P3c) represent each subpath: for example, in the embodiment illustrated in FIG. 7, the collision avoidance path includes a first subpath (Angle), a second subpath (Stretch), a third subpath (Align), a fourth subpath (Rotation), and a fifth subpath (Attach).

[0086] Multiple status indicator items (P3d) represent the progress of each subpath. For example, the progress may include at least one of ready, moving, and completed.

[0087] Multiple sub-path start items (P3e) can receive start commands for each sub-path from the user. That is, if a sub-path start item (P3e) is not activated, the robot may not move. Therefore, patient safety can be ensured by moving the robot upon user confirmation.

[0088] The robot control item (P3f) can receive a command from the user to move the robot. That is, even if the sub-path start item (P3e) is activated, the robot may not move if the robot control item (P3f) is in a deactivated state. The robot can move only when the robot control item (P3f) is activated after the sub-path start item (P3e) has been activated. Therefore, patient safety can be ensured by moving the robot under user confirmation.

[0089] FIG. 8 is a flowchart illustrating a robot control process according to one embodiment of the present invention.

[0090] Referring to FIG. 8, if the first conquest initiation item (P3a) is activated and the first subpath initiation item (P3e1) is activated, and the robot control item (P3f) is kept activated, the robot can move the proximal bone along the first subpath. If the robot control item (P3f) is deactivated in the middle, the robot can stop.

[0091] Likewise, after activating the second subpath start item (P3e2), if the robot control item (P3f) is kept activated, the robot can move the proximal bone along the second subpath.

[0092] Similarly, after activating the third subpath initiation item (P3e3), if the robot control item (P3f) is kept activated, the robot can move the proximal bone along the third subpath.

[0093] In addition, after activating the fourth subpath start item (P3e4), if the robot control item (P3f) is kept activated, the robot can move the proximal bone along the fourth subpath.

[0094] Finally, after activating the 5th subpath start item (P3e5), if the robot control item (P3f) is kept activated, the robot can move the proximal bone along the 5th subpath.

[0095] FIG. 9 illustrates a control device for a fracture reduction surgery robot according to one embodiment of the present invention.

[0096] Referring to FIG. 9, the control device (900) may include a storage unit (910), a processor (920), and a display unit (930).

[0097] The storage unit (910) may include at least one of volatile memory and non-volatile memory. For example, the volatile memory may include DRAM, SRAM, SDRAM, DDR SDRAM, FeRAM, MRAM, PRAM, PoRAM, or ReRAM. For example, the non-volatile memory may include flash memory, mask ROM, PROM, OTPROM, EPROM, EEPROM, hard disk, or optical disk.

[0098] The processor (920) may include RAM (921), ROM (922), main CPU (923), graphics processing unit (924), first to n interfaces (925-1 to 925-n) and a bus (926). Here, the RAM (921), ROM (922), main CPU (923), graphics processing unit (924), and first to n interfaces (925-1 to 925-n) may be connected to each other via the bus (926).

[0099] A set of instructions for booting the system may be stored in the ROM (922). When a turn-on command is input and power is supplied, the main CPU (923) can copy the operating system stored in the storage unit (910) to the RAM (921) according to the instructions stored in the ROM (922), and run the operating system to boot the system. When booting is complete, the main CPU (923) can copy various stored application programs to the RAM (921) and run the application programs copied to the RAM (921) to perform various operations.

[0100] The main CPU (923) can access the storage unit (910) and perform booting using the operating system stored in the storage unit (910). Additionally, the main CPU (923) can control various operations of the control device (900) using various programs and data stored in the storage unit (910).

[0101] The graphics processing unit (924) can generate a screen containing various objects such as icons, images, and text.

[0102] The first to n interfaces (925-1 to 925-n) may be connected to the various components described above. One of the interfaces may be a network interface connected to an external device through a network.

[0103] In one embodiment, the display unit (930) may include at least one of a Liquid Crystal Display (LCD), a Plasma Display Panel (PDP), a Light Emitting Diode (LED), and an Organic Light Emitting Diode (OLED). In one embodiment, the display unit (930) may include a touch screen.

[0104] FIG. 10 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0105] Referring to FIG. 10, a control method for a fracture reduction surgery robot according to one embodiment of the present invention may include a step (S1010) of calculating a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone, a step (S1020) of calculating a collision avoidance path to move the proximal bone from the current position to the reduction position using the collision avoidance distance, and a step (S1030) of moving the surgery robot along the collision avoidance path.

[0106] In one embodiment, the collision avoidance path may include a first subpath for rotating the proximal bone so that one axis of the proximal bone and the reduction position becomes parallel to each other, a second subpath for moving the proximal bone by a collision avoidance distance so that the proximal bone moves away from the reduction position, a third subpath for moving the proximal bone so that the coordinates of two axes of the proximal bone and the reduction position become the same, a fourth subpath for rotating the proximal bone so that the two axes of the proximal bone and the reduction position become the same, and a fifth subpath for moving the proximal bone so that the proximal bone and the reduction position become the same.

[0107] In one embodiment, the first subpath is a path for rotating the proximal bone around the X-axis and Y-axis so that the Z-axis of the proximal bone and the reduction position become parallel to each other; the second subpath is a path for moving the proximal bone along the Z-axis by a collision avoidance distance so that the proximal bone moves away from the reduction position; the third subpath is a path for moving the proximal bone so that the X-axis and Y-axis coordinates of the proximal bone and the reduction position become the same; the fourth subpath is a path for rotating the proximal bone around the Z-axis so that the X-axis and Y-axis of the proximal bone and the reduction position become the same; and the fifth subpath is a path for moving the proximal bone along the Z-axis so that the proximal bone and the reduction position become the same.

[0108] FIG. 11 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0109] Referring to FIG. 11, the step of calculating the collision avoidance distance (S1010, see FIG. 10) may include the step of calculating an expected path including a path that moves the proximal bone away from the reduction position by an expected distance (S1111), the step of repeating the process of increasing the expected distance and predicting whether a collision with the distal bone will occur until a collision with the distal bone is not expected (S1112), and the step of setting the expected distance as the collision avoidance distance when a collision with the distal bone is not expected (S1113).

[0110] That is, a control method for a fracture reduction surgery robot according to one embodiment of the present invention may include a step of calculating a collision avoidance distance (S1010, see FIG. 10), a step of calculating an expected path including a path that moves the proximal bone away from the reduction position by an expected distance (S1111), a step of repeating the process of increasing the expected distance and predicting whether there is a collision with the distal bone until a collision with the distal bone is not expected (S1112), a step of setting the expected distance as a collision avoidance distance when a collision with the distal bone is not expected (S1113), a step of calculating a collision avoidance path that allows the proximal bone to be moved from the current position to the reduction position using the collision avoidance distance (S1120), and a step of moving the surgery robot along the collision avoidance path (S1130).

[0111] FIG. 12 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0112] Referring to FIG. 12, the step of calculating a collision avoidance path (S1020, see FIG. 10) may include the step of obtaining a transformation matrix of the reduction position for the proximal bone and the current position (S1221), the step of obtaining a rotation angle for the X-axis, a rotation angle for the Y-axis, a rotation angle for the Z-axis, an X coordinate, a Y coordinate, and a Z coordinate from the transformation matrix (S1222), and the step of calculating a collision avoidance path using the collision avoidance distance, the rotation angle for the X-axis, the rotation angle for the Y-axis, the rotation angle for the Z-axis, the X coordinate, the Y coordinate, and the Z coordinate (S1223).

[0113] That is, a control method for a fracture reduction surgery robot according to one embodiment of the present invention may include the steps of: calculating a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone (S1210); obtaining a transformation matrix of the reduction position for the proximal bone and the current position (S1221); obtaining a rotation angle for the X-axis, a rotation angle for the Y-axis, a rotation angle for the Z-axis, an X coordinate, a Y coordinate, and a Z coordinate from the transformation matrix (S1222); calculating a collision avoidance path using the collision avoidance distance, the rotation angle for the X-axis, the rotation angle for the Y-axis, the rotation angle for the Z-axis, the X coordinate, the Y coordinate, and the Z coordinate (S1223); and moving the surgery robot along the collision avoidance path (S1230).

[0114] In one embodiment, the collision avoidance path may include a first subpath that rotates the proximal bone around the Y-axis by - (rotation angle with respect to the Y-axis) and rotates the proximal bone around the X-axis by - (rotation angle with respect to the X-axis); a second subpath that moves the proximal bone along the Z-axis by - (collision avoidance distance); a third subpath that moves the proximal bone by - (X coordinate, Y coordinate, 0); a fourth subpath that rotates the proximal bone around the Z-axis by - (rotation angle with respect to the Z-axis); and a fifth subpath that moves the proximal bone along the Z-axis by (collision avoidance distance - Z coordinate).

[0115] FIG. 13 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0116] Referring to FIG. 13, the collision avoidance path includes a plurality of subpaths, and a control method for a robot for fracture reduction surgery according to one embodiment of the present invention may further include the step (S1340) of displaying an image representing a distal bone, a reduction position, and a proximal bone at a specific point in time on the collision avoidance path, a point selection item for selecting a specific point in time, and a plurality of subpath label items each indicating which of the plurality of subpaths the specific point in time corresponds to.

[0117] That is, a control method for a fracture reduction surgery robot according to one embodiment of the present invention may include: a step (S1310) of calculating a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone; a step (S1320) of calculating a collision avoidance path to move the proximal bone from the current position to the reduction position using the collision avoidance distance; a step (S1340) of displaying an image representing the distal bone, the reduction position, and the proximal bone at a specific point in time on the collision avoidance path, a point selection item for selecting the specific point in time, and a plurality of sub-path label items each indicating which of the plurality of sub-paths the specific point in time corresponds to; and a step (S1330) of moving the surgery robot along the collision avoidance path.

[0118] FIG. 14 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0119] Referring to FIG. 14, the step of moving a surgical robot along a collision avoidance path (S1030, see FIG. 10) may include the step of displaying a robot control item (S1431), the step of moving the surgical robot along a collision avoidance path when the robot control item is activated (S1432), and the step of not moving the surgical robot when the robot control item is deactivated (S1433).

[0120] That is, a control method for a fracture reduction surgery robot according to one embodiment of the present invention may include the steps of: calculating a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone (S1410); calculating a collision avoidance path to move the proximal bone from the current position to the reduction position using the collision avoidance distance (S1420); displaying a robot control item (S1431); moving the surgical robot along the collision avoidance path when the robot control item is activated (S1432); and not moving the surgical robot when the robot control item is deactivated (S1433).

[0121] FIG. 15 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0122] Referring to FIG. 15, the step of moving a surgical robot along a collision avoidance path (S1030, see FIG. 10) further includes the step of displaying a plurality of sub-path start items (S1534), and the step of moving a surgical robot along a collision avoidance path when a robot control item is activated (S1432, see FIG. 14) may include the step of moving the surgical robot along a sub-path corresponding to the activated sub-path start item when the robot control item is activated after the item corresponding to the next step among the plurality of sub-path start items is activated (S1532a), and the step of not moving the surgical robot when the item corresponding to the next step is not activated (S1532b).

[0123] That is, a control method for a fracture reduction surgery robot according to one embodiment of the present invention may include: a step of calculating a collision prevention distance to move the proximal bone away from the reduction position to prevent collision with the distal bone (S1510); a step of calculating a collision prevention path to move the proximal bone from the current position to the reduction position using the collision prevention distance (S1520); a step of displaying a plurality of sub-path start items (S1534); a step of displaying a robot control item (S1531); a step of moving the surgical robot along a sub-path corresponding to the activated sub-path start item when the robot control item is activated after the item corresponding to the next step among the plurality of sub-path start items is activated (S1532a); a step of not moving the surgical robot when the item corresponding to the next step is not activated (S1532b); and a step of not moving the surgical robot when the robot control item is deactivated (S1533).

[0124] FIG. 16 illustrates a flowchart of a control method for a fracture reduction surgery robot according to one embodiment of the present invention.

[0125] Referring to FIG. 16, a control method for a fracture reduction surgery robot according to one embodiment of the present invention may further include the step (S1640) of displaying a control panel comprising a plurality of subpath start items for initiating each subpath, a plurality of subpath label items indicating which of the plurality of subpath start items each corresponds to, and a robot control item for moving the surgery robot along the initiated subpath.

[0126] That is, a control method for a fracture reduction surgery robot according to one embodiment of the present invention may include: a step (S1610) of calculating a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone; a step (S1620) of calculating a collision avoidance path to move the proximal bone from the current position to the reduction position using the collision avoidance distance; a step (S1640) of displaying a control panel including a plurality of sub-path start items for initiating each sub-path, a plurality of sub-path label items indicating which of the plurality of sub-paths each of the plurality of sub-path start items corresponds to, and a robot control item for moving the surgical robot along the initiated sub-path; and a step (S1630) of moving the surgical robot along the collision avoidance path.

[0127] Meanwhile, the control method for a fracture reduction surgery robot according to one embodiment of the present invention described above may be provided to an electronic device to be executed by a processor while being implemented as computer-executable program code and stored on various non-transitory computer-readable media.

[0128] For example, in a non-transient computer-readable medium storing computer instructions that cause an operation of an electronic device to be performed when executed by a processor of an electronic device, the operation may include the steps of: calculating a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone; calculating a collision avoidance path to move the proximal bone from the current position to the reduction position using the collision avoidance distance; and moving a surgical robot along the collision avoidance path.

[0129]

[0130] Next, a control device and method for a surgical robot according to another embodiment of the present invention will be described.

[0131] FIG. 17 illustrates a block diagram of a surgical robot system according to another embodiment of the present invention.

[0132] Referring to FIG. 17, a surgical robot system (210) according to another embodiment of the present invention may include a surgical robot (2200), a camera (2300), and a control device (2100). In another embodiment, the surgical robot system (210) according to another embodiment of the present invention may be a fracture reduction surgical robot system. The control device (2100) may control the operation of the surgical robot (2200) and the camera (2300). The control device (2100) may measure the current posture and position of the surgical robot (2200) using the camera (2300) and may control the operation of the surgical robot (2200) based on the current posture and position of the surgical robot (2200).

[0133] FIG. 18 illustrates a surgical robot according to another embodiment of the present invention.

[0134] Referring to FIG. 18, a surgical robot (2200) according to another embodiment of the present invention may include a first ring (R1), a second ring (R2), and at least one strut between the first ring (R1) and the second ring (R2).

[0135] The first ring (R1) may have a first marker (M1), and the second ring (R2) may have a second marker (M2). The first marker (M1) and the second marker (M2) can be used to obtain the coordinate systems of the first ring (R1) and the second ring (R2) and to estimate the length of at least one strut.

[0136] For example, at least one strut may include first to sixth struts (L1 to L6). The first strut (L1) and the second strut (L2) may be connected to the first ring (R1) through a first connecting part (C1). The third strut (L3) and the fourth strut (L4) may be connected to the first ring (R1) through a second connecting part (C2). The fifth strut (L5) and the sixth strut (L6) may be connected to the first ring (R1) through a third connecting part (C3). Meanwhile, the second strut (L2) and the third strut (L3) can be connected to the second ring (R2) through the fourth connecting part (C4), the fourth strut (L4) and the fifth strut (L5) can be connected to the second ring (R2) through the fifth connecting part (C5), and the sixth strut (L6) and the first strut (L1) can be connected to the second ring (R2) through the sixth connecting part (C6).

[0137] FIG. 19 illustrates a part of a surgical robot according to another embodiment of the present invention.

[0138] Referring to FIG. 19, the first marker (M1) of the first ring (R1) may include an extension (Ma1) extending from the first ring (R1), a "+" shaped support (Mb1) on the end of the extension (Ma1), and four spherical protrusions (Mc1) each placed on the four ends of the support (Mb1). The second marker (M2, see FIG. 18) of the second ring (R2, see FIG. 18) may also include an extension extending from the second ring (R2), a "+" shaped support on the end of the extension, and four spherical protrusions each placed on the four ends of the support.

[0139] FIG. 20 illustrates a block diagram of a control device for a surgical robot according to another embodiment of the present invention. FIG. 21 illustrates a part of a surgical robot according to another embodiment of the present invention. FIG. 22 illustrates a conceptual diagram for explaining a method for determining a strut length according to another embodiment of the present invention.

[0140] Referring to FIGS. 20 to 22, a control device (2100) of a surgical robot according to another embodiment of the present invention may include a storage unit (2110) and a processor (2120). The storage unit (2110) may store various data and programs for the operation of the control device (2100). The processor (2120) may obtain the coordinate system (Refr1) of the first ring (R1) by recognizing the marker (M1) of the first ring (R1) using a camera (2300, see FIG. 17). Additionally, the processor (2120) may obtain the coordinate system (Refr2) of the second ring (R2) by recognizing the marker (M2) of the second ring (R2) using a camera (2300, see FIG. 17). The processor (2120) can determine the length of at least one strut between the first ring (R1) and the second ring (R2) from the coordinate system (Refr1) of the first ring (R1) and the coordinate system (Refr2) of the second ring.

[0141] For example, to determine the length of at least one strut, the processor (2120) may obtain a translation matrix (T) of the center (CT2) of the second ring (R2) with respect to the center (CT1) of the first ring (R1) and a rotation matrix of the second ring (R2) with respect to the first ring (R1) from the coordinate system (Refr1) of the first ring and the coordinate system (Refr2) of the second ring. For example, the center (CT1) of the first ring (R1) may correspond to the origin of the coordinate system (Refr1) of the first ring (R1), and the center (CT2) of the second ring (R2) may correspond to the origin of the coordinate system (Refr2) of the second ring (R2). The rotation matrix may be expressed by the following equation.

[0142]

[0143] Here Each is a rotation angle with respect to the x-axis, y-axis, and z-axis of the coordinate system (Refr2) of the second ring (R2) with respect to the coordinate system (Refr1) of the first ring (R1).

[0144] The processor (2120) has a translation matrix (T), a rotation matrix (R), and a first vector (B) extending from the center (CT1) of the first ring (R1) to a point where at least one strut is connected to the first ring (R1). i ) and a second vector (P) extending from the center (CT2) of the second ring (R2) to a point where at least one strut is connected to the second ring (R2). i Using ), the length of at least one strut (l i ) can be determined.

[0145] Specifically, the length of at least one strut (l i ) can be calculated by the following formula.

[0146]

[0147] Here, T is the translation matrix, R is the rotation matrix of Equation 1, b i is the first vector, p i is the second vector.

[0148] As illustrated in FIG. 18, the surgical robot (2200) may include a plurality of struts (L1 to L6), and the plurality of struts (L1 to L6) are mutually a first vector (b i ) and the second vector (p i At least one of ) may differ. For example, since the first strut (L1) is connected to the second ring (R2) through the sixth connection (C6) while the second strut (L2) is connected to the second ring (R2) through the fourth connection (C4), the second vector (p) of the first strut (L1) i ) is the second vector (p) of the second strut (L2). i It may differ from ). As another example, since the second strut (L2) is connected to the first ring (R1) through the first connecting part (C1) and the third strut (L3) is connected to the second ring (R2) through the second connecting part (C2), the first vector (b) of the second strut (L2) i ) is the first vector (b) of the third strut (L3). iIt may differ from ).

[0149] FIG. 23 illustrates a part of a surgical robot according to another embodiment of the present invention.

[0150] Referring to FIG. 23, the processor (2120, see FIG. 20) can obtain the marker coordinate system (Refm1) of the first ring (R1) by recognizing the marker (M1) of the first ring (R1) using a camera (2300, see FIG. 17) to obtain the coordinate system (Refr1) of the first ring (R1), and can obtain the coordinate system (Refr1) of the first ring (R1) from the marker coordinate system (Refm1) of the first ring (R1) using a first marker-center transformation matrix.

[0151] Similarly, the processor (2120, see FIG. 20) can obtain the marker coordinate system (Refm2) of the second ring (R2) by recognizing the marker (M2) of the second ring using a camera (2300, see FIG. 17) to obtain the coordinate system of the second ring, and can obtain the coordinate system (Refr2) of the second ring (R2) from the marker coordinate system (Refm2) of the second ring (R2) using the second marker-center transformation matrix.

[0152] FIG. 24 illustrates a part of a surgical robot according to another embodiment of the present invention.

[0153] Referring to FIG. 24, a first fractured bone fragment (B1) can be fixed to a first ring (R1), and a second fractured bone fragment can be fixed to a second ring (R2). Alignment of the first bone fragment and the second bone fragment can be performed by controlling the length of the strut of the surgical robot.

[0154] FIG. 25 illustrates a block diagram of a control device for a surgical robot according to another embodiment of the present invention.

[0155] Referring to FIG. 25, the control device (2900) may include a storage unit (2910) and a processor (2920).

[0156] The storage unit (2910) may include at least one of volatile memory and non-volatile memory. For example, the volatile memory may include DRAM, SRAM, SDRAM, DDR SDRAM, FeRAM, MRAM, PRAM, PoRAM, or ReRAM. For example, the non-volatile memory may include flash memory, mask ROM, PROM, OTPROM, EPROM, EEPROM, hard disk, or optical disk.

[0157] The processor (2920) may include RAM (2921), ROM (2922), main CPU (2923), graphics processing unit (2924), first to n interfaces (2925-1 to 2925-n) and a bus (926). Here, the RAM (2921), ROM (2922), main CPU (2923), graphics processing unit (2924), and first to n interfaces (2925-1 to 2925-n) may be connected to each other via the bus (2926).

[0158] A set of instructions for booting the system may be stored in the ROM (2922). When a turn-on command is input and power is supplied, the main CPU (2923) can copy the operating system stored in the storage unit (2910) to the RAM (2921) according to the instructions stored in the ROM (2922), and run the operating system to boot the system. When booting is complete, the main CPU (2923) can copy various stored application programs to the RAM (2921) and run the application programs copied to the RAM (2921) to perform various operations.

[0159] The main CPU (2923) can access the storage unit (2910) and perform booting using the operating system stored in the storage unit (2910). Additionally, the main CPU (2923) can control various operations of the control device (2900) using various programs and data stored in the storage unit (2910).

[0160] The graphics processing unit (2924) can generate a screen containing various objects such as icons, images, and text.

[0161] The first to n interfaces (2925-1 to 2925-n) may be connected to the various components described above. One of the interfaces may be a network interface connected to an external device through a network.

[0162] FIG. 26 illustrates a flowchart of a control method for a surgical robot according to another embodiment of the present invention.

[0163] Referring to FIG. 26, a control method for a surgical robot according to another embodiment of the present invention may include the step of obtaining a coordinate system of a first ring by recognizing a marker of a first ring using a camera (S2010), the step of obtaining a coordinate system of a second ring by recognizing a marker of a second ring using a camera (S2020), and the step of determining the length of at least one strut between the first ring and the second ring from the coordinate system of the first ring and the coordinate system of the second ring (S2030).

[0164] In another embodiment, the marker of the first ring may include an extension extending from the first ring, a "+" shaped support on the end of the extension, and four spherical protrusions each placed on the four ends of the support, and the marker of the second ring may include an extension extending from the second ring, a "+" shaped support on the end of the extension, and four spherical protrusions each placed on the four ends of the support.

[0165] In another embodiment, at least one strut includes first to sixth struts, the first strut and the second strut are connected to the first ring through a first connecting part, the third strut and the fourth strut are connected to the first ring through a second connecting part, and the fifth strut and the sixth strut can be connected to the first ring through a third connecting part.

[0166] In another embodiment, the second strut and the third strut may be connected to the second ring through a fourth connecting part, the fourth strut and the fifth strut may be connected to the second ring through a fifth connecting part, and the sixth strut and the first strut may be connected to the second ring through a sixth connecting part.

[0167] In another embodiment, a first fractured bone fragment may be fixed to a first ring, and a second fractured bone fragment may be fixed to a second ring.

[0168] FIG. 27 illustrates a flowchart of a control method for a surgical robot according to another embodiment of the present invention.

[0169] Referring to FIG. 27, the step of determining the length of at least one strut (S2030, see FIG. 26) may include the step of obtaining a plurality of matrices from the coordinate system of the first ring and the coordinate system of the second ring (S2131) and the step of determining the length of at least one strut using the plurality of matrices (S2132).

[0170] That is, a control method for a surgical robot according to another embodiment of the present invention may include the step of obtaining a coordinate system of a first ring by recognizing a marker of a first ring using a camera (S2110), the step of obtaining a coordinate system of a second ring by recognizing a marker of a second ring using a camera (S2120), the step of obtaining a plurality of matrices from the coordinate system of the first ring and the coordinate system of the second ring (S2131), and the step of determining the length of at least one strut using the plurality of matrices (2132).

[0171] In another embodiment, a plurality of matrices may include a translation matrix of the center of the second ring with respect to the center of the first ring, and a rotation matrix of the second ring with respect to the first ring.

[0172] FIG. 28 illustrates a flowchart of a control method for a surgical robot according to another embodiment of the present invention.

[0173] Referring to FIG. 28, the step of determining the length of at least one strut (S2132, see FIG. 27) may include the step (2232) of determining the length of at least one strut using a translation matrix, a rotation matrix, a first vector extending from the center of the first ring to a point where at least one strut is connected to the first ring, and a second vector extending from the center of the second ring to a point where at least one strut is connected to the second ring.

[0174] That is, a control method for a surgical robot according to another embodiment of the present invention may include the step of obtaining a coordinate system of a first ring by recognizing a marker of a first ring using a camera (S2210); the step of obtaining a coordinate system of a second ring by recognizing a marker of a second ring using a camera (S2220); the step of obtaining a translation matrix of the center of the second ring relative to the center of the first ring and a rotation matrix of the second ring relative to the first ring from the coordinate system of the first ring and the coordinate system of the second ring (S2231); and the step of determining the length of at least one strut using the translation matrix, the rotation matrix, a first vector extending from the center of the first ring to a point where at least one strut is connected to the first ring, and a second vector extending from the center of the second ring to a point where at least one strut is connected to the second ring (2232).

[0175] In another embodiment, at least one strut includes a plurality of struts, and the plurality of struts may differ from each other in at least one of the first vector and the second vector.

[0176] FIG. 29 illustrates a flowchart of a control method for a surgical robot according to another embodiment of the present invention.

[0177] Referring to FIG. 29, the step of obtaining the coordinate system of the first ring (S2010, see FIG. 26) may include the step of obtaining the marker coordinate system of the first ring by recognizing the marker of the first ring using a camera (S2311) and the step of obtaining the coordinate system of the first ring from the marker coordinate system of the first ring using a first marker-center transformation matrix (S2312). The step of obtaining the coordinate system of the second ring (S2020, see FIG. 26) may include the step of obtaining the marker coordinate system of the second ring by recognizing the marker of the second ring using a camera (S2321) and the step of obtaining the coordinate system of the second ring from the marker coordinate system of the second ring using a second marker-center transformation matrix (S2322).

[0178] That is, a control method for a surgical robot according to another embodiment of the present invention may include the steps of: obtaining a marker coordinate system of a first ring by recognizing a marker of a first ring using a camera (S2311); obtaining a coordinate system of a first ring from the marker coordinate system of a first ring using a first marker-center transformation matrix (S2312); obtaining a marker coordinate system of a second ring by recognizing a marker of a second ring using a camera (S2321); obtaining a coordinate system of a second ring from the marker coordinate system of a second ring using a second marker-center transformation matrix (S2322); and determining the length of at least one strut between a first ring and a second ring from the coordinate system of a first ring and the coordinate system of a second ring (S2330).

[0179] Meanwhile, the control method for a robot for another embodiment of the present invention described above may be provided to an electronic device to be executed by a processor while being implemented as computer-executable program code and stored on various non-transitory computer-readable media.

[0180] For example, in a non-transient computer-readable medium storing computer instructions that cause an operation of an electronic device to be performed when executed by a processor of an electronic device, the operation may include the steps of: obtaining a coordinate system of a first ring by recognizing a marker of a first ring using a camera; obtaining a coordinate system of a second ring by recognizing a marker of a second ring using the camera; and determining the length of at least one strut between the first ring and the second ring from the coordinate system of the first ring and the coordinate system of the second ring.

[0181]

[0182] Although embodiments of the present invention have been illustrated and described above, those skilled in the art will understand that various modifications in form and details may be made without departing from the spirit and scope of the embodiments as defined by the appended claims and equivalents.

Claims

1. As a control device for a fracture reduction surgery robot, Display section; Storage unit; and Includes a processor; The above processor is, Calculate the collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone, and Calculate a collision avoidance path that allows the proximal bone to be moved from its current position to its reduction position using the above collision avoidance distance, and A control device for a fracture reduction surgical robot that moves the surgical robot along the above collision avoidance path.

2. In Paragraph 1, The above processor is, Calculate an expected path including a path that moves the above-mentioned proximal bone away from the reduction position by an expected distance, and The process of increasing the predicted distance and the process of predicting whether or not there will be a collision with the distal bone are repeated until a collision with the distal bone is not expected, and A control device for a fracture reduction surgery robot that sets the expected distance as the collision prevention distance when a collision with the distal bone is not expected.

3. In Paragraph 1, The above collision avoidance path is, A first subpath for rotating the proximal bone so that one axis of the proximal bone and the reduction position becomes parallel to each other; A second subpath for moving the proximal bone by the collision avoidance distance so that the proximal bone moves away from the reduction position; A third subpath for moving the proximal bone so that the coordinates of the two axes of the proximal bone and the reduction position become identical; A fourth subpath for rotating the proximal bone so that the two axes of the proximal bone and the reduction position become identical; and A control device for a fracture reduction surgery robot comprising: a fifth subpath for moving the proximal bone so that the proximal bone and the reduction position become the same.

4. In Paragraph 3, The above first subpath is, It is a path for rotating the proximal bone around the X and Y axes so that the Z axes of the proximal bone and the reduction position become parallel to each other, and The above second subpath is, A path that moves the proximal bone along the Z-axis by the collision avoidance distance so that the proximal bone moves away from the reduction position, and The above third subpath is, A path for moving the proximal bone so that the coordinates of the X-axis and the Y-axis of the proximal bone and the reduction position become identical, and The above fourth subpath is, It is a path for rotating the proximal bone around the Z-axis so that the X-axis and the Y-axis of the proximal bone and the reduction position become identical, and The above fifth subpath is, A control device for a fracture reduction surgery robot, which is a path for moving the proximal bone along the Z-axis so that the proximal bone and the reduction position become the same.

5. In Paragraph 1, The above processor is, Obtain the transformation matrix of the reduction position with respect to the current position of the proximal bone, and From the above transformation matrix, obtain the rotation angle with respect to the X-axis, the rotation angle with respect to the Y-axis, the rotation angle with respect to the Z-axis, the X coordinate, the Y coordinate, and the Z coordinate, and A control device for a fracture reduction surgery robot, which calculates the collision avoidance path using the above collision avoidance distance, the above rotation angle about the X-axis, the above rotation angle about the Y-axis, the above rotation angle about the Z-axis, the above X coordinate, the above Y coordinate, and the above Z coordinate.

6. In Paragraph 5, The above collision avoidance path is, A first subpath that rotates the proximal bone by -(rotation angle with respect to the Y-axis) around the Y-axis and rotates the proximal bone by -(rotation angle with respect to the X-axis) around the X-axis; A second subpath that moves the proximal bone along the Z-axis by -(the collision avoidance distance); A third subpath that moves the above proximal bone by -(the above X coordinate, the above Y coordinate, 0); A fourth subpath that rotates the proximal bone by -(rotation angle with respect to the Z-axis) around the Z-axis; and A control device for a fracture reduction surgery robot comprising: a fifth subpath for moving the proximal bone along the Z-axis by (the collision avoidance distance - the Z coordinate).

7. In Paragraph 1, The above collision avoidance path includes a plurality of sub-paths, and The above processor is, An image showing the distal bone, the reduction position, and the proximal bone at a specific point in time on the collision avoidance path; A point selection item that allows selecting the above specific point in time; and A control device for a fracture reduction surgery robot, which controls a display unit to display a plurality of subpath label items each indicating which of the plurality of subpaths the specific point in time corresponds to.

8. In Paragraph 1, The above processor is, Control the display unit to display robot control items, and When the above robot control item is activated, move the surgical robot along the above collision avoidance path, and A control device for a fracture reduction surgical robot that does not move the surgical robot when the above robot control item is in a deactivated state.

9. In Paragraph 8, The above processor is, Control the display unit to display a plurality of sub-path start items, and When the robot control item is activated after the item corresponding to the next step among the plurality of subpath initiation items is activated, the surgical robot is moved along the subpath corresponding to the activated subpath initiation item, and A control device for a fracture reduction surgical robot that does not move the surgical robot when the item corresponding to the next step among the plurality of sub-path initiation items above is not activated.

10. In Paragraph 1, The above processor is, A plurality of subpath initiation items for initiating each subpath; A plurality of subpath label items indicating which of the plurality of subpaths each of the above plurality of subpath start items corresponds to; and A control device for a fracture reduction surgery robot, which controls the display unit to display a control panel including a robot control item for moving the surgery robot along a disclosed subpath.

11. As a control method for a fracture reduction surgery robot, A step of calculating a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone; A step of calculating a collision avoidance path that enables moving the proximal bone from its current position to its reduction position using the above collision avoidance distance; and A method for controlling a fracture reduction surgical robot, comprising the step of moving the surgical robot along the above collision avoidance path.

12. In Paragraph 11, The step of calculating the above collision avoidance distance is, A step of calculating an expected path including a path that moves the proximal bone away from the reduction position by an expected distance; A step of repeating the process of increasing the predicted distance and the process of predicting whether there will be a collision with the distal bone until a collision with the distal bone is not expected; and A control method for a robot for fracture reduction surgery, comprising the step of setting the expected distance as the collision prevention distance when a collision with the distal bone is not expected.

13. In Paragraph 11, The above collision avoidance path is, A first subpath for rotating the proximal bone so that one axis of the proximal bone and the reduction position becomes parallel to each other; A second subpath for moving the proximal bone by the collision avoidance distance so that the proximal bone moves away from the reduction position; A third subpath for moving the proximal bone so that the coordinates of the two axes of the proximal bone and the reduction position become identical; A fourth subpath for rotating the proximal bone so that the two axes of the proximal bone and the reduction position become identical; and A control method for a robot for fracture reduction surgery, comprising: a fifth subpath for moving the proximal bone so that the proximal bone and the reduction position become the same.

14. In Paragraph 13, The above first subpath is, It is a path for rotating the proximal bone around the X and Y axes so that the Z axes of the proximal bone and the reduction position become parallel to each other, and The above second subpath is, A path that moves the proximal bone along the Z-axis by the collision avoidance distance so that the proximal bone moves away from the reduction position, and The above third subpath is, A path for moving the proximal bone so that the coordinates of the X-axis and the Y-axis of the proximal bone and the reduction position become identical, and The above fourth subpath is, It is a path for rotating the proximal bone around the Z-axis so that the X-axis and the Y-axis of the proximal bone and the reduction position become identical, and The above fifth subpath is, A control method for a fracture reduction surgery robot, which is a path for moving the proximal bone along the Z-axis so that the proximal bone and the reduction position become the same.

15. In Paragraph 11, The step of calculating the above collision avoidance path is, A step of obtaining a transformation matrix of the reduction position with respect to the current position of the proximal bone; A step of obtaining a rotation angle for the X-axis, a rotation angle for the Y-axis, a rotation angle for the Z-axis, an X coordinate, a Y coordinate, and a Z coordinate from the above transformation matrix; and A control method for a fracture reduction surgery robot, comprising the step of calculating the collision avoidance path using the above collision avoidance distance, the above rotation angle about the X-axis, the above rotation angle about the Y-axis, the above rotation angle about the Z-axis, the above X coordinate, the above Y coordinate, and the above Z coordinate.

16. In Paragraph 15, The above collision avoidance path is, A first subpath that rotates the proximal bone by -(rotation angle with respect to the Y-axis) around the Y-axis and rotates the proximal bone by -(rotation angle with respect to the X-axis) around the X-axis; A second subpath that moves the proximal bone along the Z-axis by -(the collision avoidance distance); A third subpath that moves the above proximal bone by -(the above X coordinate, the above Y coordinate, 0); A fourth subpath that rotates the proximal bone by -(rotation angle with respect to the Z-axis) around the Z-axis; and A control method for a robot for fracture reduction surgery, comprising: a fifth subpath for moving the proximal bone along the Z-axis by (the collision avoidance distance - the Z coordinate).

17. In Paragraph 11, The above collision avoidance path includes a plurality of sub-paths, and An image showing the distal bone, the reduction position, and the proximal bone at a specific point in time on the collision avoidance path; A point selection item that allows selecting the above specific point in time; and A control method for a fracture reduction surgery robot, further comprising the step of displaying a plurality of subpath label items, each indicating which of the plurality of subpaths the specific point in time corresponds to.

18. In Paragraph 11, The step of moving the surgical robot along the above collision avoidance path is, Step of displaying robot control items; The step of moving the surgical robot along the collision avoidance path when the above robot control item is activated; and A method for controlling a fracture reduction surgical robot, comprising the step of not moving the surgical robot when the above-mentioned robot control item is in a deactivated state.

19. In Paragraph 18, The step of moving the surgical robot along the above collision avoidance path is, The method further includes the step of displaying the plurality of sub-path start items mentioned above, and The step of moving the surgical robot along the collision avoidance path when the above robot control item is activated is: A step of moving the surgical robot along a subpath corresponding to the activated subpath initiation item when the robot control item is activated after the item corresponding to the next step among the plurality of subpath initiation items is activated; and A method for controlling a fracture reduction surgical robot, comprising: a step of not moving the surgical robot when the item corresponding to the above next step is not activated.

20. In Paragraph 11, A plurality of subpath initiation items for initiating each subpath; A plurality of subpath label items indicating which of the plurality of subpaths each of the above plurality of subpath start items corresponds to; and A method for controlling a fracture reduction surgical robot, further comprising the step of displaying a control panel including a robot control item for moving the surgical robot along a disclosed subpath.

21. A non-transient computer-readable medium storing computer instructions that cause said electronic device to perform an operation when executed by a processor of said electronic device, wherein said operation is, A step of calculating a collision avoidance distance to move the proximal bone away from the reduction position to prevent collision with the distal bone; A step of calculating a collision avoidance path that enables moving the proximal bone from its current position to its reduction position using the above collision avoidance distance; and A step of moving a surgical robot along the above collision avoidance path; comprising Non-transient computer-readable medium.

22. As a control device for a surgical robot, Storage unit; and Includes a processor; The above processor is, By recognizing the marker of the first ring using a camera, the coordinate system of the first ring is obtained, and By recognizing the marker of the second ring using the camera above, the coordinate system of the second ring is obtained, and A control device for a surgical robot that determines the length of at least one strut between the first ring and the second ring from the coordinate system of the first ring and the coordinate system of the second ring.

23. In Paragraph 22, The processor obtains a plurality of matrices from the coordinate system of the first ring and the coordinate system of the second ring, and A control device for a surgical robot that determines the length of at least one strut using the plurality of matrices.

24. In Paragraph 23, The above plurality of matrices are, A control device for a surgical robot comprising a translation matrix of the center of the second ring with respect to the center of the first ring, and a rotation matrix of the second ring with respect to the first ring.

25. In Paragraph 24, The above processor is, A control device for a surgical robot that determines the length of at least one strut using the translation matrix, the rotation matrix, a first vector extending from the center of the first ring to a point where the at least one strut is connected to the first ring, and a second vector extending from the center of the second ring to a point where the at least one strut is connected to the second ring.

26. In Paragraph 22, The marker of the first ring above is, It includes an extension extending from the first ring, a "+" shaped support on the end of the extension, and four spherical protrusions each placed on the four ends of the support. The marker of the second ring above is, A control device for a surgical robot comprising an extension extending from the second ring, a "+" shaped support on the end of the extension, and four spherical protrusions each placed on the four ends of the support.

27. In Paragraph 22, The above at least one strut includes first to sixth struts, and A control device for a surgical robot, wherein the first strut and the second strut are connected to the first ring through a first connecting part, the third strut and the fourth strut are connected to the first ring through a second connecting part, and the fifth strut and the sixth strut are connected to the first ring through a third connecting part.

28. In Paragraph 27, A control device for a surgical robot, wherein the second strut and the third strut are connected to the second ring through a fourth connecting part, the fourth strut and the fifth strut are connected to the second ring through a fifth connecting part, and the sixth strut and the first strut are connected to the second ring through a sixth connecting part.

29. In Paragraph 22, A control device for a surgical robot, wherein a first fractured bone fragment is fixed to the first ring and a second fractured bone fragment is fixed to the second ring.

30. In Paragraph 22, The above processor is, By recognizing the marker of the first ring using the camera above, the marker coordinate system of the first ring is obtained, and Using a first marker-center transformation matrix, the coordinate system of the first ring is obtained from the marker coordinate system of the first ring, and By recognizing the marker of the second ring using the camera above, the marker coordinate system of the second ring is obtained, and A control device for a surgical robot that obtains the coordinate system of the second ring from the marker coordinate system of the second ring using a second marker-center transformation matrix.

31. As a control method for a surgical robot, A step of obtaining the coordinate system of the first ring by recognizing the marker of the first ring using a camera; A step of obtaining the coordinate system of the second ring by recognizing the marker of the second ring using the camera; and A control method for a surgical robot comprising the step of determining the length of at least one strut between the first ring and the second ring from the coordinate system of the first ring and the coordinate system of the second ring.

32. In Paragraph 31, The step of determining the length of at least one strut is, A step of obtaining a plurality of matrices from the coordinate system of the first ring and the coordinate system of the second ring; and A control method for a surgical robot comprising the step of determining the length of at least one strut using the plurality of matrices.

33. In Paragraph 32, The above plurality of matrices are, A control method for a surgical robot comprising a translation matrix of the center of the second ring with respect to the center of the first ring, and a rotation matrix of the second ring with respect to the first ring.

34. In Paragraph 33, The step of determining the length of at least one strut is, A control device for a surgical robot, comprising the step of determining the length of the at least one strut using the translation matrix, the rotation matrix, a first vector extending from the center of the first ring to a point where the at least one strut is connected to the first ring, and a second vector extending from the center of the second ring to a point where the at least one strut is connected to the second ring.

35. In Paragraph 31, The marker of the first ring comprises an extension extending from the first ring, a "+" shaped support on the end of the extension, and four spherical protrusions each placed on the four ends of the support. A control method for a surgical robot, wherein the marker of the second ring comprises an extension portion extending from the second ring, a "+" shaped support portion on the end portion of the extension portion, and four spherical protrusions each placed on the four ends of the support portion.

36. In Paragraph 31, The above at least one strut includes first to sixth struts, and A control method for a surgical robot, wherein the first strut and the second strut are connected to the first ring through a first connecting part, the third strut and the fourth strut are connected to the first ring through a second connecting part, and the fifth strut and the sixth strut are connected to the first ring through a third connecting part.

37. In Paragraph 36, A control method for a surgical robot, wherein the second strut and the third strut are connected to the second ring through a fourth connecting part, the fourth strut and the fifth strut are connected to the second ring through a fifth connecting part, and the sixth strut and the first strut are connected to the second ring through a sixth connecting part.

38. In Paragraph 31, A control method for a surgical robot, wherein a first fractured bone fragment is fixed to the first ring and a second fractured bone fragment is fixed to the second ring.

39. In Paragraph 31, The step of obtaining the coordinate system of the first ring above is, A step of obtaining a marker coordinate system of the first ring by recognizing a marker of the first ring using the camera; and The method includes the step of obtaining the coordinate system of the first ring from the marker coordinate system of the first ring using the first marker-center transformation matrix. The step of obtaining the coordinate system of the second ring above is, A step of obtaining a marker coordinate system of the second ring by recognizing a marker of the second ring using the camera; and A control method for a surgical robot comprising the step of obtaining the coordinate system of the second ring from the marker coordinate system of the second ring using a second marker-center transformation matrix.

40. A non-transient computer-readable medium storing computer instructions that cause said electronic device to perform an operation when executed by a processor of said electronic device, wherein said operation comprises the step of obtaining a coordinate system of said first ring by recognizing a marker of said first ring using a camera; A step of obtaining the coordinate system of the second ring by recognizing the marker of the second ring using the camera; and A non-transient computer-readable medium comprising the step of determining the length of at least one strut between the first ring and the second ring from the coordinate system of the first ring and the coordinate system of the second ring.

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