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1. (WO2011021788) REMOTE SURGICAL ROBOT SYSTEM AND METHOD FOR CONTROLLING SAME, FOR PROVIDING INDIRECT SURGICAL FEEL
Latest bibliographic data on file with the International Bureau   

Pub. No.:    WO/2011/021788    International Application No.:    PCT/KR2010/004953
Publication Date: 24.02.2011 International Filing Date: 28.07.2010
IPC:
A61B 17/00 (2006.01), A61B 17/94 (2006.01), A61B 19/00 (2006.01)
Applicants: ETERNE INC. [KR/KR]; 7F., Kyeongdong Bldg. 4-4, Sunae-dong, Bundang-gu Seongnam-si, Gyeonggi-do 463-020 (KR) (For All Designated States Except US).
LEE, Min Kyu [KR/KR]; (KR) (For US Only).
CHOI, Seung Wook [KR/KR]; (KR) (For US Only).
WON, Jong Seok [KR/KR]; (KR) (For US Only)
Inventors: LEE, Min Kyu; (KR).
CHOI, Seung Wook; (KR).
WON, Jong Seok; (KR)
Agent: MYUNG MOON IP & LAW FIRM; 8F Songchon Bldg., 642-9 Yeoksam-dong, Gangnam-gu Seoul 135-080 (KR)
Priority Data:
10-2009-0076257 18.08.2009 KR
Title (EN) REMOTE SURGICAL ROBOT SYSTEM AND METHOD FOR CONTROLLING SAME, FOR PROVIDING INDIRECT SURGICAL FEEL
(FR) SYSTÈME DE ROBOT CHIRURGICAL À DISTANCE ET PROCÉDÉ PERMETTANT DE LE CONTRÔLER, POUR FAIRE RESSENTIR UNE SENSATION CHIRURGICALE INDIRECTE
(KO) 간접적으로 수술감을 제공하는 원격 수술 로봇 시스템 및 그 제어 방법
Abstract: front page image
(EN)The present invention relates to a remote surgical robot system and to a method for controlling same, capable of simply detecting deformation, such as the bending of a surgical instrument mounted on a robot arm when contacting human tissue during endoscopic surgery using a laparoscope, etc., on the basis of an endoscopic image, and enabling that force to be felt through the means for controlling the robot arm, in order to assist in facilitating surgery by providing the surgeon with a similar feel to that of manually performing surgery. The surgical robot control method according to the present invention can calculate the displacement of instrument deformation during the insertion of the instrument into the human body during a surgical procedure, and can determine the force exerted on the instrument inside the human body on the basis of the displacement. In order to induce better deformation of the instrument and to facilitate the measurement of displacement, suitable materials can be used to change the amount of deformation at suitable locations on the shaft of an instrument in accordance with the targeted application.
(FR)La présente invention concerne un système de robot chirurgical à distance et un procédé permettant de le contrôler, capable de détecter simplement une déformation, notamment la pliure d'un instrument chirurgical monté sur un bras de robot lors d'un contact avec un tissu humain pendant une chirurgie endoscopique à l'aide d'un laparoscope, etc., sur la base d'une image endoscopique, et permettant de faire ressentir cette force par le moyen de contrôle du bras de robot, afin de faciliter la chirurgie en fournissant au chirurgien une sensation similaire à celle d'une chirurgie manuelle. Le procédé de contrôle du robot chirurgical selon la présente invention peut calculer le déplacement de la déformation de l'instrument pendant l'insertion de l'instrument dans le corps humain pendant une opération chirurgicale, et peut déterminer la force exercée sur l'instrument à l'intérieur du corps humain sur la base du déplacement. Pour induire une meilleure déformation de l'instrument et faciliter la mesure du déplacement, des matériaux appropriés peuvent être utilisés pour modifier la quantité de déformation à des emplacements appropriés sur la tige d'un instrument conformément à l'application ciblée.
(KO)본 발명은 복강경 등을 이용한 내시경 수술 시에 로봇 암에 장착된 수술용 인스트루먼트가 인체 조직과 접촉 등에 의하여 발생하는 휨 등의 변형을 내시경 영상에 기초하여 간단히 감지하고 그때의 힘이 로봇 암을 조작하는 수단에 그대로 느껴지도록 함으로써 수술 의사에게 수동 수술에서와 유사한 느낌으로 용이하게 수술을 수행하도록 보조할 수 있는 원격 수술 로봇 시스템 및 그 제어 방법에 관한 것이다. 본 발명에 따른 수술 로봇 제어 방법은, 인스트루먼트를 인체 내에 삽입하여 수술을 진행하는 동안에, 상기 인스트루먼트의 변형에 대한 변위를 산출하고, 상기 변위에 기초하여 상기 인스트루먼트가 인체 내에서 받는 힘을 파악할 수 있다. 상기 인스트루먼트의 변형을 좀 더 잘 일으켜 변위 측정을 용이하게 하기 위하여, 해당 목적의 어플리케이션에 따라 인스트루먼트의 샤프트의 적절한 위치에는 변형 정도를 달리하는 적절한 재질로 이루어지도록 할 수 있다.
Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PE, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW.
African Regional Intellectual Property Organization (BW, GH, GM, KE, LR, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG).
Publication Language: Korean (KO)
Filing Language: Korean (KO)