초록 ▼

A medical robot system and a method to control the medical robot system are used to detect position information of a surgical instrument in an incised region, thereby improving the safety of robotic surgery. A surgical instrument may be inserted in a through-hole of a trocar inserted into an incised

A medical robot system and a method to control the medical robot system are used to detect position information of a surgical instrument in an incised region, thereby improving the safety of robotic surgery. A surgical instrument may be inserted in a through-hole of a trocar inserted into an incised region of a patient. The medical robotic system includes a surgical instrument position detection apparatus to detect position information of the surgical instrument in the through-hole of the trocar, when the surgical instrument is inserted into the through-hole. The medical robotic system further includes a console to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument.

대표청구항 ▼

1. A medical robotic system comprising: a surgical instrument position detection apparatus configured to detect position information of a surgical instrument inserted in a trocar which is inserted into an incised region of a patient; anda console configured to control an operation of a surgical robo

1. A medical robotic system comprising: a surgical instrument position detection apparatus configured to detect position information of a surgical instrument inserted in a trocar which is inserted into an incised region of a patient; anda console configured to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument,wherein the surgical instrument position detection apparatus comprisesa quadrangular frame forming an external appearance of the surgical instrument position detection apparatus including a first subframe disposed in a horizontal direction, and a second subframe disposed in a vertical direction, contacting the first subframe;a sensing unit comprising a first photodiode array mounted in the first subframe and a second photodiode array mounted in the second subframe;a coordinate detection unit to detect an X-coordinate of the surgical instrument in the trocar based on output values of the first photodiode array and a Y-coordinate of the surgical instrument in the trocar based on output values of the second photodiode array. 2. The medical robotic system according to claim 1, wherein the surgical instrument position detection apparatus further comprises: a transmission unit to transmit the detected coordinate information to the console. 3. The medical robotic system according to claim 1, wherein the coordinate detection unit detects: a position of a photodiode having a smallest output value among photodiodes of the first photodiode array as the X-coordinate of the surgical instrument; anda position of a photodiode having a smallest output value among photodiodes of the second photodiode array as the Y-coordinate of the surgical instrument. 4. The medical robotic system according to claim 1, further comprising: a coupler provided at one side of an open surface of the frame such that the coupler is coupled to the trocar, whereinthe coupler has a section of a shape corresponding to a section of the trocar. 5. The medical robotic system according to claim 1, wherein the surgical instrument position detection apparatus further comprises a light-emitting unit comprising:a first light-emitting unit mounted in a third subframe facing the first subframe to emit light to the first photodiode array; anda second light-emitting unit mounted in a fourth subframe facing the second subframe to emit light to the second photodiode array. 6. The medical robotic system according to claim 1, wherein the console generates a control signal to control the surgical robot according to a command input to the console when the detected position information of the surgical instrument is within a predetermined reference range. 7. The medical robotic system according to claim 1, wherein the console generates a control signal to control the surgical robot according to a predetermined surgical robot control mode when the detected position information of the surgical instrument is on a boundary of a predetermined reference range or out of the reference range. 8. The medical robotic system according to claim 7, wherein the predetermined surgical robot control mode is one selected from among a mode to stop motion of the surgical robot, a mode to move the surgical robot by a distance less than a distance input to the console, and a mode to reduce a moving speed of the surgical robot to a speed less than a speed input to the console. 9. A control method of a medical robotic system comprising: detecting position information of a surgical instrument inserted in a trocar which is inserted into an incised region of a patient; andcontrolling an operation of a surgical robot having the surgical instrument based on the detected position information of the surgical instrument,wherein a quadrangular frame surrounds the trocar and includes a first subframe disposed in a horizontal direction, and a second subframe disposed in a vertical direction, contacting the first subframe, andthe detecting the position information of the surgical instrument comprises detecting an X-coordinate and Y-coordinate of the surgical instrument in the trocar based on output values of a first photodiode array mounted in the first subframe and output values of a second photodiode array mounted in the second subframe. 10. The control method according to claim 9, wherein the detecting the X-coordinate and Y-coordinate of the surgical instrument comprises: detecting a position of a photodiode having a smallest output value among photodiodes of the first photodiode array as the X-coordinate of the surgical instrument; anddetecting a position of a photodiode having a smallest output value among photodiodes of the second photodiode array as the Y-coordinate of the surgical instrument. 11. The control method according to claim 9, further comprising: emitting light to the first photodiode array using a first light-emitting unit mounted in a third subframe facing the first subframe; and emitting light to the second photodiode array using a second light-emitting unit mounted in a fourth subframe facing the second subframe. 12. The control method according to claim 9, wherein the controlling the operation of the surgical robot comprises generating a control signal to control the surgical robot according to a command input to a console when the detected position information of the surgical instrument is within a predetermined reference range. 13. The control method according to claim 9, wherein the controlling the operation of the surgical robot comprises generating a control signal to control the surgical robot according to a predetermined surgical robot control mode when the detected position information of the surgical instrument is on a boundary of a predetermined reference range or out of the reference range. 14. The control method according to claim 13, wherein the predetermined surgical robot control mode is one selected from among a mode to stop motion of the surgical robot, a mode to move the surgical robot by a distance less than a distance input to a console, and a mode to reduce a moving speed of the surgical robot to a speed less than a speed input to the console. 15. A control method of a robotic system comprising: detecting a position of an instrument inserted into a trocar disposed in a patient; andcontrolling an operation of a robot provided with the instrument, using the detected position of the instrument,wherein a quadrangular frame surrounds the trocar and includes a first subframe disposed in a horizontal direction, and a second subframe disposed in a vertical direction, contacting the first subframe, andthe detecting the position information of the surgical instrument comprises detecting an X-coordinate and Y-coordinate of the surgical instrument in the trocar based on output values of a first photodiode array mounted in the first subframe and output values of a second photodiode array mounted in the second subframe. 16. The control method according to claim 15, wherein the controlling the operation of the robot comprises: comparing the received position of the instrument with a predetermined reference range corresponding to a circumferential region about the instrument;generating a control signal according to a result of the comparison; andtransmitting the control signal to the robot to perform an operation using the instrument,wherein a diameter of the predetermined reference range is equal to or lesser than a diameter of a through-hole formed in the trocar. 17. The control method according to claim 16, wherein when a user inputs a command to the robotic system, the generating the control signal comprises: generating a control signal according to the input command by maintaining the input command if the received position of the instrument is within the predetermined reference range, orgenerating a control signal according to the input command by modifying the input command if the received position of the instrument is on a boundary of the predetermined reference range or outside of the predetermined reference range. 18. The control method according to claim 17, wherein the modifying the input command includes one of stopping a motion of the robot, moving the robot by a distance less than a distance input by the user, or reducing a moving speed of the robot to a speed less than a speed input by the user. 19. A position detection apparatus comprising: a frame configured to be coupled to a trocar, the frame including a first subframe disposed in a first direction, and a second subframe disposed in a second direction, contacting the first subframe;a sensing unit comprising a first photodiode array mounted in the first subframe and a second photodiode array mounted in the second subframe;a light-emitting unit comprising a first light-emitting unit mounted in a third subframe facing the first subframe to emit light to the first photodiode array and a second light-emitting unit mounted in a fourth subframe facing the second subframe to emit light to the second photodiode array;a coordinate detection unit to detect an X-coordinate of an instrument inserted into the trocar based on output values of the first photodiode array and a Y-coordinate of the instrument inserted into the trocar based on output values of the second photodiode array; anda transmission unit to transmit the detected coordinate information. 20. The position detection apparatus of claim 19, wherein the frame is a polygonal frame. 21. The position detection apparatus of claim 19, wherein the frame is a circular frame, having a diameter equal to or greater than a diameter of the trocar.