WO2023014001A1 - Device and method for controlling surgical robot - Google Patents

Abstract

The present invention relates to a device and method, for controlling a surgical robot, for adjusting the scale of operation of an end effector due to a link to an operation mode while operating in a contact mode or a non-contact mode in accordance with an input from a master input device. To this end, the device for controlling a surgical robot comprises: a master input device unit to which a user inputs an operation control command for the surgical robot for operating an end effector unit, in accordance with a contact mode or a non-contact mode; a master control unit which receives transmission of the operation control command generated in accordance with the contact mode or the non-contact mode from the master input device unit, and generates an operation scale adjustment command for the end effector unit on the basis of the contact mode or the non-contact mode; and a slave control unit which operates the end effector unit in accordance with the operation control command and the operation scale adjustment command.

Description

Surgical robot control device and control method

The present invention relates to a control device and method for a surgical robot, and more particularly, to a control device and control method for a surgical robot, which operates in a contact mode and a non-contact mode according to an input method of a master input device, and adjusts the operation scale of an end effector according to the linkage of the operation mode. It relates to a control device and control method of a surgical robot.

Korean Patent Publication No. KR 10-2019-0126331, which is a prior patent document, discloses a system and method for controlling a medical device in a surgical operation using a non-contact gesture. According to the above prior patent documents, a method and system capable of operating a medical device by recognizing a gesture are only disclosed, but how to adjust the scale adjustment ratio for the motion scale of the end effector to actually operate the medical device A solution for this is not known.

Furthermore, it is necessary to develop a technology for adjusting the scale of the end effector according to the operation mode requiring precise control and the operation mode requiring large-scale control, and how to recognize and control each operation mode when adjusting the scale. technology needs to be developed.

Therefore, the present invention was created to solve the above problems, and according to the input method of the input device provided in the master, the scale adjustment of the end effector is changed by dividing into a contact mode and a non-contact mode, and according to the scale adjustment An object of the present invention is to provide an invention capable of precisely controlling the movement of an end effector or controlling the movement to be large.

However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned will be clearly understood by those skilled in the art from the description below.

The object of the present invention described above is that the operation control command of the surgical robot operating the end effector unit is input by the user according to the contact mode and the non-contact mode, and the operation control command generated according to the contact mode and the non-contact mode. received from the master input device unit, a master control unit generating an operation scale adjustment command of the end effector unit based on the contact mode and the non-contact mode, and a slave control unit operating the end effector unit according to the operation control command and the operation scale adjustment command. It can be achieved by providing a control device for a surgical robot, characterized in that.

In addition, the master input device unit generates a non-contact operation control command without the input device contacting the surface in the non-contact mode, and the input device in the contact mode requires relatively precise movement compared to the non-contact input device unit. and a touch input device portion for generating a touch operation control command by contacting.

In addition, the master control unit includes an input device selection control unit receiving a contact operation control command and a non-contact operation control command, a contact mode control unit generating a contact operation scale adjustment command according to a contact operation control command generated by the contact input device unit, and a non-contact input device. and a non-contact mode control unit generating a non-contact operation scale adjustment command according to the non-contact operation control command generated by the unit.

In addition, the operation scale reduction control unit generates a command to decrease the operation scale of the end-effect unit according to the contact operation scale control command and transmits the command to the slave control unit, and generates a command to increase the operation scale of the end-effect unit according to the non-contact operation scale control command. and an operation scale control unit having an operation scale increase control unit for transmitting the data to the slave control unit.

In addition, a conversion ratio setting unit for setting a scale conversion ratio of the operating scale is further included.

Meanwhile, an object of the present invention is an operation scale adjusting unit that reduces an operation scale for operating an end effector unit according to an input of a contact input device unit and increases an operation scale according to an input of a non-contact input unit unit, and a contact generated by the contact input unit unit. A contact drive control unit that drives the end effector unit according to the operation control command and the operation scale reduction control information, and a contact drive control unit that adjusts the operation distance of the end effector unit according to the noncontact operation control command generated by the noncontact input device unit and the operation scale increase control information. It can be achieved by providing a control device for a surgical robot, characterized in that it comprises a non-contact drive control unit for driving relatively large compared to.

Meanwhile, an object of the present invention is to operate in a contact mode or a non-contact mode according to the input method of the master input device unit, disconnect the master and slave by the operation of the clutch unit, detect a change in the input method, and Connecting the master and the slave by a negative operation, changing the mode from a contact mode to a non-contact mode or from a non-contact mode to a contact mode, and adjusting the increase or decrease of the scale of the end effector unit according to the change of the mode. It can be achieved by providing a control method of a characterized surgical robot.

The step of detecting a change in the input method may include detecting a surface contact of the contact input device unit in the surface contact detection unit or changing the input method when a driving control command is generated in either the contact input device unit or the non-contact input device unit. can detect

According to the present invention as described above, even if the master input device moves greatly according to the conventionally set constant scale adjustment ratio, the end effector has no choice but to have a small movement, resulting in increased user fatigue. The user's fatigue is reduced by adjusting the motion scale according to the mode, and furthermore, the most precise motion is created using the user's fingers in the contact mode, so that the end effector can perform precise motion in conjunction with this.

The following drawings attached to this specification illustrate a preferred embodiment of the present invention, and together with the detailed description of the present invention serve to further understand the technical idea of the present invention, the present invention is limited to those described in the drawings. It should not be construed as limiting.

1 is a diagram showing a schematic configuration of a control device for a surgical robot according to an embodiment of the present invention;

2 and 3 are views showing driving the end effector unit by adjusting the operating scale while being driven in a contact mode and a non-contact mode according to an input of the master input device unit according to an embodiment of the present invention;

4 is a diagram showing a method of reducing and adjusting an operating scale while switching from a non-contact mode to a contact mode according to an embodiment of the present invention;

5 is a diagram illustrating a method of increasing and adjusting an operating scale while switching from a contact mode to a non-contact mode according to an embodiment of the present invention.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In addition, the embodiment described below does not unduly limit the contents of the present invention described in the claims, and the entire configuration described in the present embodiment cannot be said to be essential as a solution to the present invention. In addition, descriptions of matters obvious to prior art and those skilled in the art may be omitted, and descriptions of these omitted components (methods) and functions may be sufficiently referred to within the scope not departing from the technical spirit of the present invention.

A control apparatus for a surgical robot according to an embodiment of the present invention includes a remote master unit 100 and a local slave unit 300 as shown in FIG. 1 . The remote master unit 100 includes a device for a user to control the surgical robot of the local slave unit 300 from a remote location. In addition, the local slave unit 300 includes a surgical robot that performs a driving operation according to the control command of the remote master unit 100 at the local location.

The remote master unit 100 includes a master input device unit 110, a surface contact detection unit 120, a clutch unit 130, and a master control unit 140.

The master input device unit 110 is an input device provided in the master and generates an operation control command of the surgical robot that operates the end effector unit 320 . At this time, the master input device unit 110 may include at least two types of input devices. As an example, a non-contact input device unit 111 and a contact input device unit 112 are included.

The non-contact input device unit 111 generates a non-contact operation control command for driving the end effector unit 320 without the input device making contact with the surface in the non-contact mode. That is, the non-contact input device unit 111 may include all conventional 3D input devices except for the contact input device unit 112 described below. As an example, as an input device for manipulating a master handle, which is a master input device, in the air, it is an input device used when moving roughly in the air using the entire forearm while the elbow is resting on the armrest. The master handle may be a three-dimensional joystick.

When the end effector unit 320 is driven using the non-contact input device unit 111, it moves a long distance from an existing lesion to another lesion or pulls a suture thread while requiring a large movement or a large movement precision. It is suitable for drive input that requires long distance movement.

The contact input device unit 112 generates a contact operation control command that drives the end effector unit 320 by contacting the input device to a surface in a contact mode requiring relatively precise motion compared to the non-contact input device unit 111. . As an example, the touch input device 112 may be configured in combination with a pen-type 3D input pen (not shown) and a touch panel (not shown).

The 3D input pen unit generates 3D coordinates according to the user's movement while the tip of the pen unit is in contact with the touch panel unit. The touch panel unit interlocks with the 3D input pen unit to detect whether or not the 3D input pen unit is in contact, and generates 3D coordinates according to the contact. As an example, the two-dimensional x,y coordinates are generated from the flat coordinates of the touch panel unit, and the z coordinates can be generated by configuring a height change measurement unit at the front end of the input pen unit to measure height changes, thereby generating three-dimensional coordinates. The generated 3D coordinates are motion control commands for driving the end effector unit 320 .

To explain the use of the 3D input pen unit and the touch panel unit in more detail, the user holds the 3D input pen unit while the user's hand and the end of the 3D input pen unit are in contact with the touch panel unit while resting the entire front arm on the armrest. It is an input device used when a precise movement is requested by using the thumb, index finger, middle finger, and wrist.

When the end effector unit 320 is driven using the contact input device unit 112, a small movement or a short distance movement is required while performing a suturing operation near a lesion or requiring high movement precision, such as in robotic surgery in a narrow space. This is suitable for the driving input required.

The surface contact detection unit 120 detects whether the 3D input pen unit or the touch panel unit contacts the surface of the touch panel. 2 and 3, the surface contact detection unit 120 sends a touch detection signal to the contact mode controller 141 or the input device selection controller 143 of the master controller 140 to be described later. By transmitting, it operates from non-contact mode to contact mode. In the case of the contact mode, the end effector unit 320 is driven based on the motion control command generated by the contact input device 112, and in the case of the non-contact mode, the motion control command generated by the non-contact input device 111 is used. Based on this, the end effector unit 320 is driven. On the other hand, when the surface contact detection unit 120 does not generate a touch detection signal, it generally operates in a non-contact mode, except when special conditions are set. That is, the touch detection signal is an operation mode switching signal for changing an operation mode.

The surface contact detection unit 120 may be implemented in a 3D input pen unit or touch panel unit, or may be separately implemented in the master unit.

The clutch unit 130 connects or disconnects the master and the slave. That is, the control command generated in the master according to the "off" operation of the clutch unit 130 is transmitted to the slave to drive the end effector unit 320 or in the master according to the "on" operation of the clutch unit 130 Make sure that the generated control command is not transmitted to the slave.

The master controller 140 receives operation control commands generated according to the contact mode and the non-contact mode from the non-contact input device 111 or the contact input device 112 of the master input device 110, and the contact mode and the non-contact Based on the mode, an operation scale ratio adjustment command of the end effector unit 320 is generated. In the case of the non-contact mode, the end effector unit 320 is driven by a non-contact operation control command generated from the non-contact input device 111 . In the case of the contact mode, the end effector unit 320 is driven by a contact-type operation control command generated from the touch input device unit 112 . Both the non-contact operation control command and the contact operation control command are control commands for moving and driving the end effector unit 320 in three dimensions according to the user's movement.

As shown in FIGS. 2 and 3 , the master controller 140 includes a contact mode controller 141 , a non-contact mode controller 142 , and an input device selection controller 143 .

The input device selection controller 143 receives a contact operation control command from the contact input device unit 112 and a non-contact operation control command from the non-contact input device unit 111 . A surface contact detection signal is received from the surface contact detection unit 120 as needed. When the surface contact detection signal is received, it is controlled to operate in contact mode. When the input device selection control unit 143 receives the contact operation control command, it transmits the received contact operation control command to the contact mode controller 141, and upon receiving the non-contact operation control command, the non-contact operation control unit 143 receives the non-contact operation control command. Sends control commands. The contact operation control command and the non-contact operation control command are driving control commands including 3D coordinate information for driving the end effector unit 320 .

The contact mode controller 141 is driven according to the contact mode. The contact mode control unit 141 receives the contact operation control command transmitted from the input device selection control unit 143, and upon receiving the contact operation control command, generates a touch operation scale adjustment command and transmits it to the operation scale adjustment unit 200. do. The contact operation scale adjustment command is input to the operation scale reduction control unit 210 as an operation scale adjustment command of the end effector unit 320 generated according to the operation control command of the contact input device unit 112 . That is, since the contact mode is a mode in which the movement distance of the end effector unit 320 is shortened and precisely controlled, it is preferable to reduce the operating scale ratio.

The non-contact mode controller 142 is driven according to the non-contact mode. The non-contact mode control unit 1432 receives the non-contact operation control command transmitted from the input device selection control unit 143, and upon receiving the non-contact operation control command, generates a non-contact operation scale control command and transmits it to the operation scale control unit 200. do. The non-contact operation scale adjustment command is an operation scale adjustment command of the end effector unit 320 generated according to the operation control command of the non-contact input unit 111 and is input to the operation scale increase control unit 220 . That is, since the non-contact mode is a mode in which a large movement is controlled while the moving distance of the end effector unit 320 is relatively long, it is preferable to increase the scale ratio of the operation scale relative to that of the contact mode. As an example, a contact operation scale ratio of 2 to 5:1 may be used in the contact mode, and a non-contact operation scale ratio of 1:1 may be used in the non-contact mode. Of course, the illustrated ratio may vary depending on the environment.

As another example, in the contact mode, the master:slave operation scale ratio is reduced from 2:1 (1/2) -> 4:1 (1/4) -> 8:1 (1/8).

In non-contact mode, the operation scale ratio of master : slave is sequentially increased from 8 : 1(1/8) -> 4 : 1(1/4) -> 2 : 1(1/2).

The operating scale controller 200 includes an operating scale reduction controller 210 and an operating scale increase controller 220 .

When the operation scale reduction control unit 210 receives a contact operation scale control command from the contact mode control unit 141, the operation scale of the end-effect unit is reduced according to a preset operation scale ratio, and the operation scale reduction command is generated to generate the slave control unit ( 310) to the contact drive controller 311. The contact drive control unit 311 of the slave control unit 310 is an end effector unit ( 320) is driven. Of course, if necessary, either the motion scale reduction control unit 210 or the contact mode control unit 141 may collect both the contact motion control command and the motion scale reduction control information and transmit them to the contact driving control unit 311 .

When the operation scale increase control unit 220 receives a non-contact operation scale control command from the non-contact mode control unit 142, the operation scale of the end-effect unit is increased according to a preset operation scale ratio, and an operation scale increase command is generated so that the slave control unit ( 310) to the non-contact driving controller 312. The non-contact driving control unit 312 of the slave control unit 310 is an end effector unit ( 320) is driven. Of course, if necessary, either the operation scale increase control unit 220 or the non-contact mode control unit 142 may collect both the non-contact operation control command and the operation scale increase control information and transmit them to the non-contact drive control unit 312.

The slave controller 310 includes a contact drive controller 311 and a non-contact drive controller 312 to operate the end effector unit 320 according to the received operation control command and the operation scale increase/decrease command. The contact driving control unit 311 and the non-contact driving control unit 312 are separated from each other for convenience of explanation, but may be implemented as one if necessary.

The conversion ratio setting unit 230 sets the scale conversion ratio of the operating scale. A first scale conversion ratio according to a decrease in the operating scale and a second scale conversion ratio according to an increase in the operating scale are respectively set. The first scale conversion ratio is transmitted to the operating scale reduction controller 210 so that the operating scale of the end effector unit 320 in the contact mode is adjusted. The second scale conversion ratio is transmitted to the operating scale increase controller 220 so that the operating scale of the end effector unit 320 in the non-contact mode is adjusted.

As shown in FIGS. 4 and 5 , the control method of a surgical robot according to an embodiment of the present invention is a method for controlling by converting an operating mode from a non-contact mode to a contact mode, and a method for converting an operating mode from a contact mode to a non-contact mode. There is a method for controlling it, which will be described in detail below.

As shown in FIG. 4 , when the clutch unit 130 is operated in a non-contact mode by the non-contact mode control unit 142 and the clutch unit 130 is operated “ON”, the connection between the master and the slave is disconnected. In this state, when the surface contact detection signal of the contact input device 112 is detected by the surface contact detection unit 120 and the clutch unit 130 is operated “off”, the non-contact mode controller 142 operates the contact mode controller ( 141), the control is transferred to the contact mode.

According to the conversion of the contact mode, the motion scale is adjusted from increase control to decrease control in conjunction with this, and the end effector unit 320 is controlled so that the movement motion can be precisely and moved at a short distance.

As shown in FIG. 5 , when the clutch unit 130 operates in the contact mode by the contact mode control unit 141 and operates “ON”, the connection between the master and the slave is disconnected. In this state, when an operation control command is input from the non-contact input device unit 111 and the clutch unit 130 is operated “off”, the control right is transferred from the contact mode control unit 141 to the non-contact mode control unit 142 and the non-contact mode is entered. is converted

According to the conversion of the non-contact mode, the operation scale is adjusted from decrease control to increase control in conjunction with this, and the end effector unit 320 is controlled to move a relatively long moving distance with a large movement operation.

In describing the present invention, descriptions of matters obvious to those skilled in the art and those skilled in the art may be omitted, and descriptions of these omitted components (methods) and functions will be sufficiently referred to within the scope that does not depart from the technical spirit of the present invention. You will be able to. In addition, the above-described components of the present invention have been described for convenience of description of the present invention, but components not described herein may be added within a range that does not deviate from the technical spirit of the present invention.

The description of the configuration and function of each part described above has been separately described for convenience of explanation, but any one configuration and function may be implemented by integrating into other components or implemented in more subdivided form, if necessary.

Although the above has been described with reference to one embodiment of the present invention, the present invention is not limited thereto, and various modifications and applications are possible. That is, those skilled in the art will easily understand that many modifications are possible without departing from the gist of the present invention. In addition, when it is determined that the detailed description of known functions and their configurations related to the present invention or the coupling relationship of each component of the present invention may unnecessarily obscure the gist of the present invention, it should be noted that the detailed description is omitted. something to do.

Claims (7)

A master input device unit in which a motion control command of the surgical robot operating the end effector unit is input by a user according to a contact mode and a non-contact mode; a master control unit receiving an operation control command generated according to the contact mode and the non-contact mode from the master input device unit and generating an operation scale control command of the end effector unit based on the contact mode and the non-contact mode; and a slave controller for operating the end effector unit according to the operation control command and the operation scale adjustment command. According to claim 1, The master input device unit, A non-contact input device unit generating a non-contact operation control command without the input device contacting a surface in the non-contact mode; A control device for a surgical robot comprising a contact input device unit generating a contact operation control command by contacting the input device to a surface in the contact mode requiring relatively precise movement compared to the non-contact input device unit. According to claim 2, The master control unit, an input device selection controller receiving the contact operation control command and the non-contact operation control command; a contact mode control unit generating a contact operation scale control command according to the touch operation control command generated by the touch input device unit; and a non-contact mode control unit generating a non-contact operation scale adjustment command according to the non-contact operation control command generated by the non-contact input device unit. According to claim 3, an operation scale reduction control unit generating a command to decrease the operation scale of the end-effect unit according to the contact operation scale control command and transmitting the generated command to the slave control unit; Control of the surgical robot further comprises a motion scale control unit having an operation scale increase control unit generating a command for increasing the operation scale of the end-effect unit according to the non-contact operation scale control command and transmitting the command to the slave control unit. Device. According to claim 4, Control device for a surgical robot, characterized in that it further comprises a conversion ratio setting unit for setting a scale conversion ratio of the operating scale. an operation scale adjusting unit that reduces an operating scale for operating the end effector unit according to an input of the contact input device unit and increases the operation scale according to an input of the non-contact input device unit; a touch drive control unit that drives the end effector unit according to a touch operation control command generated by the touch input device unit and operation scale reduction control information; and a non-contact driving control unit driving the operation distance of the end effector unit to be relatively larger than that of the contact driving control unit according to the non-contact operation control command generated by the non-contact input device unit and operation scale increase control information. Dragon robot control unit. Operating in a contact mode or a non-contact mode according to the input method of the master input device unit; Disconnecting the master and the slave by the operation of the clutch unit; detecting a change in the input method; Connecting a master and a slave by the operation of the clutch unit; Changing the mode from the contact mode to the non-contact mode or from the non-contact mode to the contact mode; A control method of a surgical robot comprising the step of adjusting the increase or decrease of the scale of an end effector unit according to a change in mode.

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