Surgical robot system and method for controlling same

Abstract

The present disclosure relates to a surgical robot system and a method for controlling same, the surgical robot system comprising: a surgical robot including a pipe-shaped sheath inserted into an organ of a human body, the surgical robot being equipped with an endoscope which is inserted into the sheath, and which includes a fluid channel for supplying a fluid to the organ; a supply unit for supplying the fluid to the organ through the fluid channel; a pressure sensing unit for sensing pressure information about the internal pressure of the organ; a suction unit for recovering the fluid through the sheath; and a control device for controlling the surgical robot, the supply unit, the pressure sensing unit, and the suction unit, wherein the control device can adjust the flow rate of the fluid supplied through the supply unit or adjust the suction pressure of the suction unit on the basis of a preset target pressure and the internal pressure of the organ calculated from the pressure information.

Description

Surgical robot system and control method thereof

[0001] The present disclosure relates to a surgical robot system and a method for controlling the same. More specifically, it relates to a surgical robot system and a method for controlling the same that improves patient safety and the reliability of the surgical robot system during surgery.

[0002] Retrograde Intrarenal Surgery (RIRS) has established itself as the standard technique for the minimally invasive treatment of urinary stones, and its scope of application continues to expand due to technological advancements such as improved resolution of flexible endoscopes, the widespread use of high-power lasers, and the introduction of disposable devices. Nevertheless, issues such as intrarenal pressure (IRP, hereinafter referred to as IRP), reduced visibility, residual stone retention, and postoperative infection remain significant clinical challenges.

[0003] Specifically, the most common technical limitation encountered with RIRS is the temperature rise within the organ caused by laser irradiation. Although the flow rate of the perfusion fluid is increased to address this, internal pressure can rise due to excessive perfusion pressure and restricted drainage pathways. In other words, excessive perfusion leads to increased pressure within the renal pelvis, which can result in pyelovenous backflow, bacterial metastasis, and forniceal rupture. Consequently, fever and / or urinary tract infection may occur, and in severe cases, the risk of sepsis may increase.

[0004] One technical approach recently gaining attention to overcome these limitations is the Ureteral Access Sheath (UAS) equipped with a suction function. However, even a UAS equipped with a suction function requires the ability to stably maintain internal pressure while effectively removing stone fragments. To achieve this, it is necessary to measure internal pressure in real time and adjust the fluid perfusion flow rate and / or suction pressure accordingly.

[0005] According to one aspect of the present disclosure, a surgical robot system capable of maintaining internal pressure within a target range during surgery and a method for controlling the same are provided.

[0006] According to another aspect of the present disclosure, the necessary duct flow rate (or hydraulic pressure) and suction flow rate (or suction pressure) are achieved while maintaining internal pressure in various surgical situations through suction / irrigation operation by a user.

[0007] According to another aspect of the present disclosure, a surgical robot system capable of maintaining internal pressure even when the environment changes through parameter estimation based on a dynamic model, and a method for controlling the same are provided.

[0008] According to another embodiment of the present disclosure, a surgical robot system and a method for controlling the same are provided, which minimize kidney damage and postoperative complications caused by increased internal pressure through precise internal pressure control.

[0009] A surgical robot system according to the present disclosure may include: a surgical robot equipped with an endoscope that includes a pipe-shaped sheath inserted into a human organ and a fluid channel inserted into the sheath for supplying fluid to the organ; a supply unit that supplies the fluid to the organ through the fluid channel; a pressure sensing unit that senses pressure information regarding the internal pressure of the organ; a suction unit that recovers the fluid through the sheath; and a control device that controls the surgical robot, the supply unit, the pressure sensing unit, and the suction unit. Furthermore, the control device may adjust the flow rate of the fluid supplied through the supply unit or adjust the suction pressure of the suction unit based on a preset target pressure and the internal pressure of the organ calculated from the pressure information.

[0010] In one embodiment, the control device can calculate the internal pressure of the organ by performing a first filtering that applies a low-pass filter to pass only the first pressure information of a preset first frequency band among the pressure information; and a second filtering that applies an inverse low-pass filter to the first pressure information to obtain the second pressure information.

[0011] In one embodiment, the control device may calculate the internal pressure of the organ by further performing a third filtering to obtain third pressure information by applying a low-pass filter of a second frequency band set in advance to the second pressure information.

[0012] In one embodiment, the pressure sensing unit may be located in at least one of the sheath, the fluid channel, and the supply unit.

[0013] In one embodiment, the control device can adjust the flow rate of the fluid through the supply unit based on the difference between the internal pressure of the organ and the target pressure.

[0014] In one embodiment, the surgical robot system according to the present disclosure may further include a temperature sensing unit that senses temperature information regarding the internal temperature of the organ.

[0015] In one embodiment, the control device can adjust the flow rate or pressure of the fluid through the supply unit based on a preset target temperature and the internal temperature of the organ calculated from the temperature information.

[0016] In one embodiment, the control device can calculate the internal temperature of the organ through filtering the temperature information.

[0017] In one embodiment, the temperature sensing unit may be located in at least one of the sheath, the endoscope, and the supply unit.

[0018] Meanwhile, in a control method for a surgical robot system comprising a pipe-shaped sheath inserted into a human organ and an endoscope including a fluid channel inserted into the sheath and supplying fluid to the organ, and a pressure sensing unit sensing pressure information regarding the internal pressure of the organ, the control method of the surgical robot system according to the present disclosure may include: a step of sensing pressure information regarding the internal pressure of the organ through the pressure sensing unit; a step of calculating the internal pressure of the organ among the pressure information; and a step of adjusting the flow rate of a supply unit connected to the fluid channel and supplying the fluid to the organ, or adjusting the suction pressure of a suction unit that recovers the fluid through the sheath, based on the internal pressure of the organ and the target pressure, in order to maintain a preset target pressure of the organ.

[0019] In one embodiment, the step of calculating the internal pressure of the organ may include: a first filtering step of applying a low-pass filter that passes only the first pressure information of a preset first frequency band among the pressure information; and a second filtering step of obtaining second pressure information by applying an inverse low-pass filter to the first pressure information.

[0020] In one embodiment, the step of calculating the internal pressure of the organ may further include a third filtering step of obtaining third pressure information by applying a low-pass filter of a second frequency band set in advance to the second pressure information.

[0021] In one embodiment, a control method for a surgical robot system according to the present disclosure may repeat the steps of sensing pressure information regarding the internal pressure of the organ, calculating the internal pressure of the organ, and adjusting the flow rate of the supply unit or adjusting the suction pressure of the suction unit until a termination command is detected.

[0022] In one embodiment, the control method of a surgical robot system according to the present disclosure may further include: a step of sensing temperature information regarding the internal temperature of the organ through a temperature sensing unit; a filtering step of calculating the internal temperature of the organ among the temperature information; and a step of adjusting the flow rate or pressure of the fluid through a supply unit based on a preset target temperature and the internal temperature of the organ.

[0023] In one embodiment, a control method for a surgical robot system according to the present disclosure may perform a series of steps including sensing temperature information regarding the internal temperature of the organ, the filtering step, and the step of controlling the flow rate or pressure of the fluid in parallel with another series of steps including sensing pressure information regarding the internal pressure of the organ, the step of calculating the internal pressure of the organ, and the step of controlling the flow rate of the supply unit or controlling the suction pressure of the suction unit.

[0024] In one embodiment, the control method of a surgical robot system according to the present disclosure may repeat the steps of sensing temperature information regarding the internal temperature of the organ, the filtering step, and controlling the flow rate or pressure of the fluid until a termination command is detected.

[0025] Meanwhile, a surgical robot system according to the present disclosure comprises a pipe-shaped sheath inserted into an organ of the human body; a pressure sensing unit that senses pressure information regarding the internal pressure of the organ; and a control device that controls the pressure sensing unit, wherein the control device can adjust the flow rate or pressure of a fluid based on a preset target pressure and the internal pressure of the organ calculated from the pressure information.

[0026] According to one embodiment of the present disclosure, patient safety can be improved and risk factors during surgery can be minimized.

[0027] According to another embodiment of the present disclosure, user satisfaction can be improved by implementing the necessary perfusion flow rate (or flow rate) and suction pressure while maintaining internal pressure in various surgical situations.

[0028] According to another embodiment of the present disclosure, visual securing is facilitated, and destroyed stones can be rapidly discharged to the outside as fluid moves.

[0029] According to another embodiment of the present disclosure, the reliability of a surgical robot system can be improved by maintaining internal pressure even when the environment changes through parameter estimation based on a dynamic model.

[0030] According to another embodiment of the present disclosure, the success rate of surgery can be increased by minimizing kidney damage and postoperative complications caused by increased internal pressure through precise internal pressure control.

[0031] Figure 1 schematically illustrates a surgical robot system.

[0032] Figure 2 illustrates an example of a surgical robot.

[0033] Figure 3 illustrates an example in which a sheath and part of an endoscope are inserted into the kidney.

[0034] Figure 4 illustrates a control diagram for controlling the flow rate (or hydraulic pressure) and the suction flow rate (or suction pressure).

[0035] Figure 5 illustrates the pressure of the MIP over time and the pressure of the MEP after various filtering stages.

[0036] Figure 6 is a flowchart illustrating a control method for maintaining internal pressure.

[0037] Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to facilitate a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, this is merely illustrative and the present invention is not limited thereto.

[0038] In describing the embodiments of the present invention, detailed descriptions of known technologies related to the present invention are omitted if it is determined that such detailed descriptions may unnecessarily obscure the essence of the present invention. Furthermore, the terms described below are defined in consideration of their functions within the present invention, and these may vary depending on the intentions or practices of the user or operator. Therefore, such definitions should be based on the content throughout this specification. Terms used in the detailed description are intended merely to describe the embodiments of the present invention and should not be limiting in any way. Unless explicitly stated otherwise, expressions in the singular form include the meaning of the plural form. In this description, expressions such as "include" or "comprise" are intended to refer to certain characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof, and should not be interpreted to exclude the existence or possibility of one or more other characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof other than those described.

[0039]

[0040] Figure 1 schematically illustrates a surgical robot system.

[0041] Referring to FIG. 1, the surgical robot system (1) may include a surgical robot (100) and a control device (900) that controls the input and output of the surgical robot (100). Since the surgical robot (100) and the control device (900) can be connected remotely, the user does not need to control the surgical robot (100) in the same space as the patient undergoing surgery.

[0042] The above surgical robot system (1) can be equipped with an endoscope (50, see FIG. 3). For surgery, the above surgical robot system (1) can irradiate a laser onto a treatment area (or treatment site) through the endoscope (50) and flow a fluid (or perfusion fluid) into the space containing the treatment area. For example, the laser can destroy the stone, the fluid can expand the treatment space to facilitate visual securing of the treatment area, and the destroyed stone can be moved and discharged to the outside as the fluid moves. For example, the fluid may be physiological saline.

[0043] To this end, the surgical robot system (1) may include a laser generating unit (930) that generates a laser and transmits it to the endoscope (50), and a supply unit (300) that supplies the fluid.

[0044] FIG. 1 illustrates an example in which the control device (900) and the laser generator (930) are separated, but alternatively, the laser generator (930) may be placed inside the control box (910).

[0045] The above control device (900) may include a display unit (950) and a control box (910). The control box (910) detects user commands and can control the laser generator (930), the supply unit (300), and the surgical robot (100). The display unit (950) can output the condition of the patient undergoing surgery and the treatment area in real time.

[0046] The above surgical robot system (1) may include a supply tank (350) for storing the fluid, a supply unit (300) for delivering the fluid from the supply tank (350) to the endoscope (50), and a recovery tank (not shown) for recovering the used fluid. For example, considering the patient's osmotic pressure, the fluid may be physiological saline. The fluid supplied from the supply tank (350) through the supply unit (300) may be transferred to the endoscope (50) through a connecting pipe (320).

[0047] The supply unit (300) may include a pump that controls the flow rate (or perfusion flow rate or supply flow rate) of the fluid or controls the pressure (or supply pressure) of the fluid. For example, the pump may be a peristaltic pump.

[0048] If the above internal pressure can be maintained at a preset target pressure, the operating method of the supply unit (300) may be any method.

[0049] The above surgical robot system (1) may include a pressure sensing unit (980) for sensing pressure information regarding the internal pressure of the organ.

[0050] The location of the pressure sensing unit (980) may be anywhere as long as the pressure information can be obtained. FIG. 1 illustrates an example in which the pressure sensing unit (980) is placed on the connecting pipe (320).

[0051] In another example, the pressure sensing unit (980) may be positioned in a fluid channel (523, see FIG. 3) that delivers fluid and is located inside the endoscope (50). In yet another example, the pressure sensing unit (980) may be positioned in a sheath (60, see FIG. 2) that encloses the endoscope. That is, the pressure sensing unit (980) may be located in at least one of the sheath (60), the fluid channel (523), and the supply unit (300).

[0052] As another example, the pressure sensing unit (980) can obtain pressure information regarding the internal pressure of the organ through a microtube (not shown) connected to the organ. The microtube may be contained inside the sheath (60). The pressure sensing unit (980) can obtain pressure information regarding the internal pressure of the organ by measuring the pressure transmitted through the end of the microtube.

[0053] Here, pressure information refers to raw data regarding the pressure measured by the pressure sensing unit. Therefore, it may be necessary to filter out unnecessary information from the pressure measured by the pressure sensing unit. Details regarding the filtering are described through FIGS. 4 to 6.

[0054] Referring to FIG. 1, the control device (900) may remotely control the supply unit (300), the surgical robot (100), and the laser generator (930).

[0055]

[0056] Figure 2 illustrates an example of a surgical robot.

[0057] More specifically, the surgical robot (100) may be a surgical robot (100) capable of removing kidney stones. That is, the surgical robot (100) may be a surgical robot (100) capable of removing stones by inserting a sheath (60) and an endoscope (50) through the ureter without an incision.

[0058] To this end, the surgical robot (100) may include a main body (10), a moving part (20) provided on the main body (10), and a mounting part (30) provided on one surface of the moving part (20) so as to be capable of sliding back and forth.

[0059] The above main body (10) may include a controller and a control panel capable of controlling the overall operation of the surgical robot (100).

[0060] The moving part (20) may include a rectangular case having a predetermined length. The moving part (20) may be rotatably coupled to the main body part (10). That is, the main body part (10) and the moving part (20) may be connected by a rotating device (e.g., a motor). A control device (900, see FIG. 1) may control the rotation of the moving part (20) through the main body part (10). Additionally, the main body part (10) may further include a driving device (e.g., a motor or a linear actuator) that moves the moving part (20) along the height direction.

[0061] The mounting portion (30) is positioned on the main body portion (10) and can move back and forth in a straight line along one direction of the main body portion (10). To this end, the mounting portion (30) may be connected to the main body portion (10) by a moving device (e.g., a motor or a linear actuator). The mounting portion (30) may be detachably mounted with an endoscope (50).

[0062] The surgical robot (100) may include a holding part (40) that holds and moves the endoscope (50) and the sheath (60). The holding part (40) not only holds the sheath (60) but also performs the function of stably guiding the endoscope (50) into the interior of the sheath (60).

[0063] The endoscope (50) can be inserted into the interior of the sheath (60) to reach the organ. The endoscope (50) can be detachably mounted on the mounting part (30). That is, the endoscope (50) can be replaced as needed.

[0064]

[0065] Figure 3 illustrates an example in which a sheath and part of an endoscope are inserted into the kidney.

[0066] More specifically, FIG. 3 schematically illustrates a sheath and an endoscope inserted into a kidney (K) through a urethral tube to remove kidney stones. Looking at the enlarged view of section A, the endoscope (50) may include a tube (52) comprising a fluid channel (523) for supplying fluid to the organ and a light channel (521) for directing a laser to irradiate the organ. Additionally, the endoscope (50) may include a handle for controlling the bending of the tube (52).

[0067] The sheath (60) may be pipe-shaped. Accordingly, the distal tip (63) of the sheath (60) may include an open end, and the proximal tip (61) of the sheath (60) may likewise include an open end. Preferably, the cross-section of the sheath (60) may be circular.

[0068] The fluid channel (523) can be supplied by a supply unit (300, see FIG. 1) through a connecting pipe (320). The fluid can be supplied into the organ through the fluid channel (523), and the fluid sprayed or discharged from the fluid channel (523) toward the treatment area (TA) of the organ can move into the space between the tube (52) and the sheath (60) and be discharged to the outside.

[0069] The suction unit (400, see FIG. 1) can generate suction pressure to discharge the fluid to the outside. For example, the suction pressure may be negative pressure. Accordingly, the suction unit (400) can control the suction pressure or the suction flow rate. As long as the internal pressure of the organ can be maintained at a preset target pressure, the operating method of the suction unit (400) may be any method.

[0070] The above optical channel (521) can receive a laser generated by the laser generator (930) through the laser transmission channel (920). The laser transmission channel (920) and the above optical channel (521) may be optical fibers.

[0071] The endoscope (50) can be inserted into the sheath (60) and inserted into the kidney (K) without an incision. More specifically, the endoscope (50) is inserted into the organ along the sheath (60), and the tip portion (or distal tip) of the tube (52) can be bent to reach the treatment area (TA). The tip portion of the sheath (60) corresponding to the tip portion of the tube (52) can be bent. To this end, the tip portion of the sheath (60) can be formed of a flexible material. The endoscope (50) and the sheath (60) can be bent in the same shape, and the distal tip of the tube (52) can protrude beyond the distal tip of the sheath (60).

[0072] For reference, the distal tip of the tube (52) refers to the end of the tube (52) that is located further from the handle than the other end of the tube (52). The distal tip of the tube (52) may be a free end, and the proximal tip of the tube (52) may be a fixed end.

[0073]

[0074] Figure 4 illustrates a control diagram for controlling the flow rate (or hydraulic pressure) and the suction flow rate (or suction pressure).

[0075] Referring to FIGS. 1 to 3, a surgical robot system (1) according to the present disclosure may include a surgical robot (100) equipped with an endoscope (50) that includes a pipe-shaped sheath (60) inserted into an organ of the human body and a fluid channel (523) inserted into the sheath (60) and supplying fluid to the organ, a supply unit (300) that supplies the fluid to the organ through the fluid channel (523), a pressure sensing unit (980) that senses pressure information regarding the internal pressure of the organ, a suction unit (400) that recovers the fluid through the sheath (60), and a control device (900) that controls the surgical robot (100), the supply unit (300), the pressure sensing unit (980), and the suction unit (400).

[0076] And, the control device (900) has a preset target pressure (IRP) target ) and the internal pressure of the organ (IRP) calculated from the above pressure information filt Based on ), the flow rate (or pressure) of the fluid supplied through the supply unit (300) can be controlled, or the suction pressure (or suction flow rate) of the suction unit (400) can be controlled.

[0077] That is, the control device (900) obtains the internal pressure of the organ (IRP) through filtering the pressure information obtained through the pressure sensing unit (980, see FIG. 1). filt ) can be calculated. And, the control device (900) can calculate the internal pressure of the organ (IRP). filt ) and the above target pressure (IRP target The flow rate of the fluid can be controlled through the supply unit (300) based on the difference of ).

[0078] During surgery, intra-organ pressure is maintained within a safe range or at a preset target pressure (IRP). targetMaintaining the pressure at a certain level is very important for patient safety. To this end, the surgical robot system (1) according to the present disclosure can stably maintain the intra-organ pressure during surgery through a PID feedback controller. That is, the control device (900) measures and calculates the intra-organ pressure (IRP) through the pressure sensing unit (980). filt ) and the above target pressure (IRP target Based on the difference of ), the suction unit (400) and the supply unit (300) can be controlled repeatedly so that the difference becomes smaller.

[0079] The above control device (900) can maintain the organ internal pressure by securing a suction / irrigation output according to user requirements through an optimization algorithm having constraints. For example, the optimization algorithm may be Gradient Descent Optimization. This is just one example, and it is acceptable to optimize the organ internal pressure using other algorithms.

[0080] That is, the control device (900) can calculate the optimal perfusion flow rate (or perfusion pressure) and suction flow rate (or suction pressure) to maintain the target pressure through the maximum / minimum constraints of the two control targets (suction pressure of the suction part (400), and flow rate of the supply part (300).

[0081] Referring to FIG. 4, the control device (900) [describes] the internal pressure of the organ (IRP) through the pressure sensing unit (980). filt ) can be calculated. First, the control device (900) can calculate the internal pressure of the organ (IRP) sensed by the pressure sensing unit (980). filt Pressure information (IRP) regarding ) act ) can be obtained. Subsequently, the control device (900) can obtain the pressure information (IRP). act After filtering for ), the above organ internal pressure (IRP) filt It can produce ).

[0082] The above pressure information (IRP) act ) refers to raw data obtained through the pressure sensing unit (980). The pressure information (IRP) act Because ) contains other unnecessary elements (e.g., noise), the control device (900) [is] the internal pressure of the organ (IRP). filt To produce ), it is necessary to remove unnecessary noise through filtering.

[0083] In addition, since the above surgical robot system (1) can be modeled as a primary system, the pressure information (IRP) obtained through the pressure sensing unit (980) act ) may have a phase delay effect. Therefore, filtering may be necessary to compensate for the above phase delay effect.

[0084] For example, the control device (900) has pressure information (IRP) regarding the internal pressure of the organ sensed by the pressure sensing unit (980). act A first filtering is performed by applying a low-pass filter that passes only the first pressure information of a preset first frequency band among the above organ internal pressure (IRP). filt ) can be produced.

[0085] For example, the first frequency band may be 1 Hz (Hertz) or less. This is because most of the pressure information obtained through the pressure sensing unit (980) is 2 Hz or less when viewed in terms of frequency. Based on this, the first frequency band may be set to 1 Hz (Hertz) or less to reduce interference caused by noise.

[0086] Additionally, the control device (900) further performs a second filtering to obtain second pressure information by applying an inverse low-pass filter to the first pressure information, thereby obtaining the internal pressure of the organ (IRP). filt) can be calculated. The phase delay effect can be reduced by filtering the first input information through an inverse low-pass filter.

[0087] For example, the cut-off frequency of the inverse low-pass filter may be 0.15 Hz. This is in relation to the actual organ pressure and the organ pressure (IRP) calculated through filtering. filt This is to minimize the error with ). However, this is merely an example, and the cut-off frequency of the inverse low-pass filter may be changed depending on the diameter or length of the endoscope (50) (or fluid channel (523)).

[0088] And, the control device (900) further performs a third filtering to obtain third pressure information by applying a low-pass filter of a second frequency band pre-set to the second pressure information, thereby obtaining the internal pressure of the organ (IRP). filt ) can be calculated. This is to attenuate the high-frequency signal amplified by the inverse low-pass filter. For example, the second frequency band may be 0.5 Hz or higher and 1 Hz or lower.

[0089] Even if only the first filtering and the second filtering are performed, the control device (900) can compare the actual internal organ pressure and the calculated internal organ pressure (IRP). filt The error with ) can be reduced. By additionally performing the third filtering above, the control device (900) can reduce the actual internal organ pressure and the calculated internal organ pressure (IRP). filt The error with ) can be further reduced.

[0090] Through the above filtering, the surgical robot system (1) according to the present disclosure can increase patient safety and the success rate of surgery. This can ultimately improve the reliability of the surgical robot system (1).

[0091] Referring to FIG. 4, the difference between the internal pressure of the organ (IRPfilt) calculated through the filtering above and the preset target pressure (IRPtarget) ( When ) is received as input, the above IRP controller (or PID controller) [requires] the required pressure ( ) can be calculated. And, the above required pressure ( In order to minimize the error between the supply unit (300) and the actual output pressure, the flow rate (Qirr) of the fluid moving through the supply unit (300) and the suction pressure (Psuc) generated through the suction unit (400) can be calculated through optimization. In the optimization step, the suction unit (400) and the supply unit (300) can be controlled by calculating the optimized suction pressure (Psuc) and the flow rate (Qirr) using gradient descent, with the maximum-minimum value (Psuc(Min, Max)) of the suction pressure and the maximum-minimum value (Qirr(Min, Max)) of the flow rate being used as constraints.

[0092] That is, with reference to FIGS. 1 to 4, a surgical robot system (1) according to the present disclosure may include a pipe-shaped sheath (60) inserted into an organ of the human body, a pressure sensing unit (980) that senses pressure information regarding the internal pressure of the organ, and a control device (900) that controls the pressure sensing unit (980).

[0093] And, the control device (900) can adjust the flow rate or pressure of the fluid based on the preset target pressure and the internal pressure of the organ calculated from the pressure information.

[0094] More specifically, the control device (900) can calculate the internal pressure of the organ by performing a first filtering that applies a low-pass filter to pass only the first pressure information of a preset first frequency band among the pressure information obtained through the pressure sensing unit (980), and a second filtering that obtains second pressure information by applying an inverse low-pass filter to the first pressure information.

[0095]

[0096] Figure 5 illustrates the pressure of the MIP over time and the pressure of the MEP after various filtering stages.

[0097] Specifically, Figure 5 is a graph showing the results of an experiment to verify whether the internal pressure calculated using the control method described in Figure 4 is similar to the actual internal pressure. That is, MIP stands for Measured Internal Pressure, which refers to the internal pressure obtained by measuring inside or on the surface of the kidney, and MEP stands for Measured External Pressure, which refers to the calculated internal pressure obtained by measuring outside the kidney.

[0098] In order to measure pressure inside the kidney, a pressure sensing unit (980, see FIG. 1) must be placed inside the kidney or on the surface of the kidney. However, space is limited for placing the pressure sensing unit (980) inside the kidney, and it is difficult to attach the pressure sensing unit (980) inside the kidney. To solve this, when the pressure sensing unit (980) obtains pressure information regarding the internal pressure of the organ from outside the kidney or outside the human body where it is easy to attach, the control device (900) can calculate the internal pressure of the organ by filtering the pressure information.

[0099] The graph in Fig. 5 illustrates the actual internal organ pressure and the calculated internal organ pressure over time (seconds, sec). The actual internal organ pressure and the calculated internal organ pressure are indicated as negative pressure with respect to 0.

[0100] Referring to Fig. 5, the pressure (MIP(LPF @ 1Hz)) obtained by passing only the frequency band of 1Hz or less through a low-pass filter from the pressure (or pressure information) measured inside the kidney represents the actual internal organ pressure.

[0101] On the other hand, it can be seen that pressure measured outside the human body (or outside the kidney) also yields results similar to those of MIP (LPF @ 1Hz) after filtering.

[0102] That is, the pressure (MEP(LPF @ 1Hz)) obtained through a low-pass filter that passes only frequency bands of 1 Hz or less among the pressure information regarding the internal pressure of the organ sensed by the pressure sensing unit (980) is also similar to the pressure of MIP(LPF @ 1Hz).

[0103] Likewise, it can be seen that the pressure obtained by applying an inverse low-pass filter to the above MEP(LPF @ 1 Hz) and then passing only the frequency band of 0.15 Hz or lower through a low-pass filter (Low Pass Filter) is more similar to the pressure of MIP(LPF @ 1 Hz) than the pressure of MEP(LPF @ 1 Hz).

[0104] Likewise, it can be seen that the pressure obtained by applying an inverse low-pass filter to the above MEP(LPF @ 1 Hz) and then passing only the frequency band of 1 Hz or less through a low-pass filter (MEP(Inverse Filter+LPF~0.150Hz)) is more similar to the pressure of MIP(LPF @ 1Hz) than the pressure of MEP(LPF @ 1Hz).

[0105] For reference, the results illustrated in Fig. 5 were obtained through experiments using a kidney model. Specifically, first, the kidney model was sealed as tightly as possible to prevent pressure leakage, and then a FANS (Flexible and Navigable Ureteric Access Sheath) was inserted into the kidney. Then, a ureteroscope was inserted into the FANS, and fluid (or perfusion fluid) was injected through the ureteroscope. A suction tube was connected to a Y-shaped branching channel of the FANS. Then, a first pressure sensor was inserted into the outer shell of the kidney model to measure the actual intra-organ pressure (MIP) measured inside the kidney or pressure information regarding the actual intra-organ pressure (MIP).

[0106] Furthermore, the second pressure sensor was placed in a long microtube connected to the kidney model to acquire pressure information regarding the internal pressure of the organ from outside the kidney. Then, the actual internal pressure (MIP) was calculated using the pressure information obtained through the first pressure sensor while supplying a fluid (e.g., physiological saline) to the organ or inhaling the fluid supplied to the organ. Subsequently, the MEP for various filtering methods was calculated using the pressure information obtained through the second pressure sensor. The endoscope used for this purpose was the Boston Scientific Lithovue. TM And, for the FANS, a product with an inner / outer diameter (ID / OD) of 12 / 14 Fr (French) was used. The sampling frequency of the pressure sensor was 50 Hz.

[0107]

[0108] Figure 6 is a flowchart illustrating a control method for maintaining internal pressure.

[0109] Referring to FIG. 6, a control method of a surgical robot system (1) according to the present disclosure includes the step (S10) of sensing pressure information regarding the internal pressure of the organ through the pressure sensing unit (980), and among the pressure information, the internal pressure of the organ (IRP filt A step of calculating ) (S30), and a preset target pressure (IRP) of the organ. target In order to maintain the above organ internal pressure (IRP) filt ) and the above target pressure (IRP target Based on ), the above organ internal pressure (IRP filt It may include a step (S50) of adjusting parameters that change )

[0110] The step (S50) of controlling the above parameters may include a step (S51) of controlling the flow rate (or pressure) of the fluid through a supply unit (300) connected to the fluid channel (523) and supplying fluid to the organ, or a step (S52) of controlling the suction pressure (or suction flow rate) through a suction unit (400) that sucks the fluid through the sheath (60).

[0111] More specifically, in the step (S52) of controlling the suction pressure (or suction flow rate) through the suction part (400), the control method of the surgical robot system (1) according to the present disclosure can control the suction pressure (or suction flow rate) of the suction part (400) to move the fluid supplied to the organ between the sheath (60) and the endoscope (50) and discharge it to the outside.

[0112] The step of controlling the flow rate of the supply unit (300) (S51) and the step of controlling the suction pressure through the suction unit (400) (S52) are not in a fixed chronological order. Accordingly, the control method of the surgical robot system (1) according to the present disclosure may simultaneously perform the step of controlling the flow rate of the supply unit (300) (S51) and the step of controlling the suction pressure through the suction unit (400) (S52).

[0113] Alternatively, the control method of the surgical robot system (1) according to the present disclosure may perform the step (S52) of adjusting the suction pressure through the suction unit (400) before the step (S51) of adjusting the flow rate of the supply unit (300).

[0114] Alternatively, the control method of the surgical robot system (1) according to the present disclosure may perform at least one of the steps of controlling the flow rate of the supply unit (300) (S51) and controlling the suction pressure through the suction unit (400) (S52).

[0115] The above internal pressure (IRP) filt In the step (S30) of calculating ), the control method of the surgical robot system (1) according to the present disclosure comprises pressure information (IRP) regarding the internal pressure of the organ obtained from the pressure sensing unit (980). act It may include a first filtering step (S31) that applies a low-pass filter to pass only the first pressure information of the first frequency band set in the first frequency band.

[0116] The above pressure information (IRP) act ) is raw data containing information about the internal pressure of the organ. Therefore, the internal pressure of the organ can be obtained by filtering the raw data.

[0117] In one embodiment, the internal pressure of the organ (IRP) filt In the step (S30) of calculating ), the control method of the surgical robot system (1) according to the present disclosure may further include a second filtering step (S32) of obtaining second pressure information by applying an inverse low-pass filter to the first pressure information.

[0118] In one embodiment, the internal pressure of the organ (IRP) filtIn the step (S30) of calculating ) the control method of the surgical robot system (1) according to the present disclosure may further include a third filtering step (S33) of obtaining third pressure information by applying a low-pass filter of a second frequency band pre-set to the second pressure information.

[0119] The description of the first filtering step (S31), the second filtering step (S32), and the third filtering step (S33) is omitted as they are as described in FIG. 4.

[0120] Referring to FIGS. 5 and 6, since the first pressure information, the second pressure information, and the third pressure information each have undergone at least one filtering step, the first pressure information, the second pressure information, and the third pressure information each are the internal organ pressure (IRP), which is the pressure applied to the organ. filt It can be seen as ).

[0121] Additionally, a control method for a surgical robot system (1) according to the present disclosure includes the step (S10) of sensing pressure information regarding the internal pressure of the organ until a stop command is detected (S70). The internal pressure of the organ (IRP) filt The step of calculating (S30) and the step of adjusting the parameter (S50) can be repeated. This is to maintain the intra-organ pressure at a constant target pressure (IRP target) during surgery.

[0122] Similar to controlling the flow rate or pressure of the fluid according to the internal pressure of the organ, the surgical robot system (1) according to the present disclosure can control the flow rate or pressure of the fluid to maintain the internal temperature of the organ within a certain range.

[0123] That is, the surgical robot system (1) according to the present disclosure further includes a temperature sensing unit (not shown) that senses temperature information regarding the internal temperature of the organ, and the control device (900) can further control the temperature sensing unit.

[0124] The temperature sensing unit may be located in a sheath (60, see FIG. 3) or a fluid channel (523, see FIG. 3).

[0125] The control device (900) can calculate the internal temperature of the organ through the temperature sensing unit and adjust the flow rate or pressure of the fluid through the supply unit (300) based on the preset target temperature and the internal temperature of the organ.

[0126] In addition, the surgical robot system (1) according to the present disclosure can calculate the internal pressure of the organ and the internal temperature of the organ through the temperature sensing unit and the pressure sensing unit (980), and adjust the flow rate or pressure of the fluid based thereon.

[0127] In addition, the control device (900) can calculate the internal temperature of the organ through filtering the temperature information sensed by the temperature sensing unit.

[0128] Accordingly, the control method of the surgical robot system (1) according to the present disclosure may further include a step of sensing temperature information regarding the internal temperature of the organ through a temperature sensing unit (not shown), a filtering step of calculating the internal temperature of the organ among the temperature information (not shown), and a step of adjusting the flow rate or pressure of the fluid through the supply unit based on a preset target temperature and the internal temperature of the organ (not shown).

[0129] And, until a termination command is detected (S70), the control method of the surgical robot system (1) according to the present disclosure may repeatedly perform the steps of sensing temperature information regarding the internal temperature of the organ, the filtering step, and the step of controlling the flow rate or pressure of the fluid.

[0130] In the step of controlling the flow rate or pressure of the above fluid, the control method of the surgical robot system (1) according to the present disclosure can control the flow rate or pressure of the fluid through the supply unit (300).

[0131] Meanwhile, a control method for a surgical robot system according to the present disclosure may be performed in parallel or optionally with another series of steps including a step of sensing temperature information regarding the internal temperature of the organ, a filtering step, and a step of adjusting the flow rate or pressure of the fluid, a step of sensing pressure information regarding the internal pressure of the organ (S10), a step of calculating the internal pressure of the organ (S30), and a step of adjusting the flow rate of the supply unit (300) (S51) or adjusting the suction pressure of the suction unit (S52).

[0132] Accordingly, even before detecting a termination command (S70), the control method of the surgical robot system (1) according to the present disclosure may stop only the step of sensing temperature information regarding the internal temperature of the organ, the filtering step, and the step of controlling the flow rate or pressure of the fluid when a separate stop command is detected. Subsequently, the control method of the surgical robot system (1) according to the present disclosure may restart only the step of sensing temperature information regarding the internal temperature of the organ, the filtering step, and the step of controlling the flow rate or pressure of the fluid as needed.

[0133] Accordingly, the control method of the surgical robot system (1) according to the present disclosure can simultaneously manage the flow rate and pressure of the fluid to maintain the internal temperature and internal pressure of the organ at a preset target temperature and preset target pressure.

[0134]

[0135] Although representative embodiments of the present invention have been described in detail above, those skilled in the art will understand that various modifications can be made to the above-described embodiments without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims set forth below as well as equivalents thereof.

Claims

1. A surgical robot equipped with an endoscope comprising a pipe-shaped sheath inserted into an organ of the human body, and a fluid channel inserted into the sheath and supplying fluid to the organ; A supply unit that supplies the fluid to the organ through the fluid channel; A pressure sensing unit that senses pressure information regarding internal organ pressure; A suction part that recovers the fluid through the sheath; and A control device for controlling the above-mentioned surgical robot, the above-mentioned supply unit, the above-mentioned pressure sensing unit, and the above-mentioned suction unit, and The above control device is A surgical robot system that controls the flow rate of the fluid supplied through the supply unit or controls the suction pressure of the suction unit based on a preset target pressure and the internal pressure of the organ calculated from the pressure information.

2. In Paragraph 1, The above control device is A first filtering that applies a low-pass filter to pass only the first pressure information of a preset first frequency band among the above pressure information; and A surgical robot system that calculates the internal organ pressure by performing a second filtering process to obtain second pressure information by applying an inverse low-pass filter to the first pressure information.

3. In Paragraph 2, The above control device is A surgical robot system that calculates the internal organ pressure by further performing a third filtering to obtain third pressure information by applying a low-pass filter of a second frequency band set in advance to the second pressure information.

4. In Paragraph 1, The above pressure sensing unit A surgical robot system located in at least one of the sheath, the fluid channel, and the supply unit.

5. In Paragraph 1, The above control device is A surgical robot system that controls the flow rate of the fluid through the supply unit based on the difference between the internal pressure of the organ and the target pressure.

6. In Paragraph 1, It further includes a temperature sensing unit that senses temperature information regarding the internal temperature of the above organ, and The above control device is A surgical robot system that controls the flow rate or pressure of the fluid through the supply unit based on a preset target temperature and the internal temperature of the organ calculated from the temperature information.

7. In Paragraph 6, The above control device is A surgical robot system that calculates the internal temperature of the organ through filtering from the above temperature information.

8. In Paragraph 6, The above temperature sensing unit A surgical robot system located in at least one of the above sheath, the above endoscope, and the above supply unit.

9. A control method for a surgical robot system comprising a surgical robot equipped with an endoscope including a pipe-shaped sheath inserted into an organ of the human body and a fluid channel inserted into the sheath and supplying fluid to the organ, and a pressure sensing unit that senses pressure information regarding the pressure within the organ. A step of sensing pressure information regarding the internal pressure of the organ through the pressure sensing unit; A step of calculating the internal pressure of the organ among the above pressure information; and A control method for a surgical robot system comprising the step of, based on the internal pressure of the organ and the target pressure, adjusting the flow rate of a supply unit connected to the fluid channel to supply the fluid to the organ, or adjusting the suction pressure of a suction unit that recovers the fluid through the sheath, in order to maintain a preset target pressure of the organ.

10. In Paragraph 9, The step of calculating the above-mentioned internal organ pressure A first filtering step of applying a low-pass filter that passes only the first pressure information of a preset first frequency band among the above pressure information; and A control method for a surgical robot system comprising a second filtering step of obtaining second pressure information by applying an inverse low-pass filter to the first pressure information.

11. In Paragraph 10, The step of calculating the above-mentioned internal organ pressure A control method for a surgical robot system further comprising a third filtering step of obtaining third pressure information by applying a low-pass filter of a second frequency band pre-set to the second pressure information.

12. In Paragraph 9, A control method for a surgical robot system comprising the steps of sensing pressure information regarding the internal pressure of the organ, calculating the internal pressure of the organ, and adjusting the flow rate of the supply unit or adjusting the suction pressure of the suction unit, repeating these steps until a termination command is detected.

13. In Paragraph 9, A step of sensing temperature information regarding the internal temperature of the organ through a temperature sensing unit; A filtering step for calculating the internal temperature of the organ among the above temperature information; and A control method for a surgical robot system further comprising the step of controlling the flow rate or pressure of the fluid through the supply unit based on a preset target temperature and the internal temperature of the organ.

14. In Paragraph 13, A control method for a surgical robot system comprising a step of sensing temperature information regarding the internal temperature of the organ, a filtering step, and a step of controlling the flow rate or pressure of the fluid, wherein a series of steps including a step of sensing pressure information regarding the internal pressure of the organ, a step of calculating the internal pressure of the organ, and a step of controlling the flow rate of the supply unit or controlling the suction pressure of the suction unit are performed in parallel with another series of steps including a step of controlling the flow rate of the supply unit or controlling the suction pressure of the suction unit.

15. In Paragraph 13, A control method for a surgical robot system that repeats the steps of sensing temperature information regarding the internal temperature of the organ, the filtering step, and controlling the flow rate or pressure of the fluid until a termination command is detected.

16. In surgical robot systems, A pipe-shaped sheath inserted into a human organ; A pressure sensing unit that senses pressure information regarding internal organ pressure; and It includes a control device that controls the above-mentioned pressure sensing unit, and The above control device is A surgical robot system that controls the flow rate or pressure of a fluid based on a preset target pressure and the internal pressure of the organ calculated from the pressure information.

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