公开(公告)号：US09658605B2

公开(公告)日：2017-05-23

申请号：US13723688

申请日：2012-12-21

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Kwang Kyu Lee ,  Woong Kwon ,  Kyung Shik Roh

IPC: A61B19/00 ,  G05B6/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00

CPC classification number: G05B6/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76

Abstract: A method for controlling a surgical robot includes calculating an external force acting on a robot arm mounted with a surgical instrument, filtering the external force acting on the robot arm when a central point of an incision is set, calculating a virtual force to enable the surgical instrument which is positioned away from the central point of the incision to return to the central point of the incision, and applying the calculated virtual force to the filtered external force, to control movement of the robot arm. As a result, it is possible to compactly design the surgical robot and thereby reduce the volume of the surgical robot.

公开(公告)号：US09261353B2

公开(公告)日：2016-02-16

申请号：US13728223

申请日：2012-12-27

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Tae Jun Sang ,  Kwang Kyu Lee ,  Woong Kwon ,  Kyung Shik Roh

IPC: G06F19/00 ,  G01B11/14 ,  A61B19/00 ,  A61B17/34

CPC classification number: G01B11/14 ,  A61B17/3403 ,  A61B17/3494 ,  A61B34/20 ,  A61B34/30 ,  A61B34/77 ,  A61B90/03 ,  A61B90/13 ,  A61B2017/3445 ,  A61B2017/348 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2072 ,  A61B2034/301 ,  A61B2090/0811 ,  A61B2090/373

Abstract: 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.

Abstract translation: 使用医疗机器人系统和控制医疗机器人系统的方法来检测切割区域中的外科器械的位置信息，从而提高机器人手术的安全性。 手术器械可以插入插入患者切口区域的套管针的通孔中。 医疗机器人系统包括手术器械位置检测装置，用于当手术器械插入到通孔中时，检测套管针的通孔中的外科器械的位置信息。 医疗机器人系统还包括控制台，用于基于检测到的外科器械的位置信息来控制具有手术器械的手术机器人的操作。