KR101291951B1 - Surgical robot control system and method, and needle direction adjustment apparatus and method thereof - Google Patents

Abstract

Surgical robot control system and control method thereof, and needle direction control device and direction control method thereof. The surgical robot control system according to the present invention sets a needling target of a robot arm in response to a lesion position, and moves the robot arm toward a set needling target to perform a needling operation. A needle driving unit to perform; A signal transmission and reception unit installed at the tip of the robot arm and periodically transmitting an ultrasonic signal toward a needling target set by the needle driver, and receiving a reflected signal for the transmitted ultrasonic signal; A moving speed calculator for calculating a moving speed of the reflection point based on the reflected signal received by the signal transmitting and receiving unit; And a needle direction control unit for adjusting a moving direction of the needle when the moving speed calculated by the moving speed calculator is greater than or equal to a preset value.

Description

Surgical Robot Control System and Method, and Needle Direction Adjustment Apparatus and Direction Control Method {Surgical Robot Control System and Method, and Needle Direction Adjustment Apparatus and Method}

The present invention relates to a surgical robot control system, a control method thereof, and a needle direction control device and a direction control method, and more particularly, when the blood vessel is detected during the surgical operation using the surgical robot robot It is possible to bypass the vessel by easily adjusting the direction of the needle without driving the cancer, thereby preventing the patient's blood vessels from being damaged during the operation and precise control to increase the success rate of the operation for the patient. The present invention relates to a surgical robot control system and a control method thereof, and a needle direction control device and a direction control method thereof.

Medically, surgery refers to the act of cutting, slitting, or manipulating skin, mucous membranes, or other breakfasts using medical devices to heal a disease.

Since traditional surgical procedures are generally completely dependent on the doctor's medical skills, the same surgical results may vary depending on the doctor's experience, expertise, and the like.

In order to solve such a problem, recently, a surgical method for dissecting a surgical site of a patient using a robot and treating, shaping or removing an organ therein has been developed.

In general, a robotic surgery method takes an X-ray, CT (Computed Tomography), MRI (Magnetic Resonance Imaging) image of a patient's surgical site before starting surgery, and performs surgery based on the captured image. Set the coordinates for the site and operate the robot according to the set coordinates.

However, since the surgical method using the robot according to the related art cannot grasp all the positions of the blood vessels of the patient by using only the captured images, the blood vessels of the patient may be damaged while operating the robot to the set coordinates. Accordingly, there is a problem that the blood of the patient is consumed unnecessarily. In addition, incorrectly damaging the blood vessels around the lesion may not only increase the operation time for the treatment, there is a problem that the recovery time of the patient after surgery due to the damage of the blood vessels.

The present invention has been made to solve the above-described problems, when the blood vessel is detected during the surgical operation using the surgical robot can easily bypass the blood vessel by adjusting the direction of the needle without driving the robot arm Accordingly, the surgical robot control system and its control method, and the needle direction control device and the same to prevent damage to the blood vessels of the patient during the operation, and to enable precise control to increase the success rate of surgery for the patient It is an object to provide a direction control method.

Surgical robot control system according to the present invention for achieving the above object, setting a needling target (Needling Target) of the robot arm (Robot Arm) corresponding to the position of the lesion, the robot arm toward the set needling target A needle driving unit which moves to perform a needling operation; A signal transmission and reception unit installed at the tip of the robot arm and periodically transmitting an ultrasonic signal toward a needling target set by the needle driver, and receiving a reflected signal for the transmitted ultrasonic signal; A moving speed calculator for calculating a moving speed of the reflection point based on the reflected signal received by the signal transmitting and receiving unit; And a needle direction control unit for adjusting a moving direction of the needle when the moving speed calculated by the moving speed calculator is greater than or equal to a preset value.

The above-described surgical robot control system may further include a high frequency pass filter for blocking a low frequency band below a set frequency among reflection signals received by the signal transmission and reception unit.

Needle direction control device according to an embodiment of the present invention for achieving the above object, in the needle direction control device of the surgical robot control system for adjusting the direction of the surgical needle mounted on the robot arm, the needle length A working tube surrounding the pipe; Protrusions installed on the inner surface of the working tube toward the needle; An external worker enclosing a predetermined length of the worker; And a control unit for controlling the external working pipe to reciprocate along the working pipe to press the protrusions.

The aforementioned needle direction adjusting device may further include a second protrusion installed at an inner surface of the working pipe at a predetermined interval with the protrusion. In this case, the control unit controls the external worker to press the projections or the projections and the second projections along the operation pipes.

The second protrusion may be installed on the opposite side of the working pipe so as to face the direction of the protrusion, or on the same side of the working pipe so as to be in the same direction.

The aforementioned needle direction adjusting device may further include a signal transmitting and receiving unit which is installed at the tip of the needle and periodically transmits an ultrasonic signal and receives a reflected signal corresponding to the transmitted ultrasonic signal. In this case, the control unit adjusts the reciprocating distance of the external work tube based on the reflected signal received by the signal transmitting and receiving unit.

The control unit controls the needle to reciprocate through the working pipe.

Surgical robot control method according to an embodiment of the present invention for achieving the above object, setting a needling target of the robot arm corresponding to the position of the lesion; Moving the robot arm toward a set needling target to perform a needling operation; Periodically transmitting an ultrasonic signal toward the set needling target, and receiving a reflected signal with respect to the transmitted ultrasonic signal; Calculating a moving speed of the reflection point based on the reflection signal received by the reflection signal receiving step; And adjusting the advancing direction of the needle when the moving speed calculated by the moving speed calculating step is equal to or greater than a preset value.

The above-described surgical robot control method may further include blocking a low frequency band below a set frequency among the reflected signals received by the reflected signal receiving step.

Needle direction adjustment method according to an embodiment of the present invention for achieving the above object, in the needle direction adjustment method of the surgical robot control system for adjusting the direction of the surgical needle mounted on the robot arm, at the tip of the needle Periodically transmitting an ultrasonic signal; Receiving a reflected signal corresponding to the transmitted ultrasonic signal; And pressing the protrusions provided at regular intervals on the inner surface of the working tube surrounding the predetermined length of the needle to the needle based on the received reflection signal.

In the pressing step, the external work pipe surrounding the predetermined length of the work pipe can be reciprocated along the work pipe to compress the protrusions to the needle.

The aforementioned needle direction adjusting method may further include controlling the needle to reciprocate through the working tube.

According to the present invention, if a blood vessel is detected around the lesion while driving the robot arm's needle toward the needling target after driving the robot arm to the lesion position, by adjusting the direction of the needle without driving the robot arm to move. The blood vessels can be easily bypassed.

In addition, when blood vessels are detected around the lesion, blood vessels can be avoided by adjusting the direction of the needle without moving the entire robot arm, thus enabling precise bypass control as compared to driving the robot arm. The success rate can be increased.

In addition, it is possible to minimize the blood consumption of the patient during surgery by performing the surgery by bypassing the blood vessels detected around the lesion.

In addition, according to the present invention, it is possible to minimize the damage of the blood vessels around the lesion during the operation, thereby minimizing the postoperative sequelae of the patient.

1 is a view schematically showing a surgical robot control system according to an embodiment of the present invention.
2 is a diagram illustrating an example of a robot arm.
3 is a view showing the carotid artery, A is a view from the front, B is a view from the side.
4 shows the vertebral artery.
5 is a view illustrating a principle of measuring the blood flow rate using the ultrasonic signal.
6 is a view schematically showing an example of a needle direction control device according to an embodiment of the present invention.
7 is a view for explaining the operation of the needle direction control device of FIG.
8 is a flowchart illustrating a surgical robot control method according to an embodiment of the present invention.
9 is a flowchart illustrating a needle direction adjusting method according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the surgical robot control system and its control method according to an embodiment of the present invention.

1 is a view schematically showing a surgical robot control system according to an embodiment of the present invention.

Referring to Figure 1, the surgical robot control system 100 according to an embodiment of the present invention, the needle driver 110, the signal transmission and reception unit 120, the moving speed calculation unit 130, the needle direction control unit 140 And a high frequency pass filter 150.

The needle driver 110 sets a needling target of the robot arm in response to the lesion position, and moves the robot arm toward the set needling target to perform a needling operation. Here, the needling operation refers to an operation of pushing a needle installed in the robot arm toward the needling target and performing an operation such as an incision, treatment, shaping, or removal.

The robot arm is a device for performing an operation such as cutting or suturing tissue in vivo. FIG. 2 shows an example of the robot arm. That is, the robot arm 200 includes a plurality of joints 210, and a needle 220 is installed at the tip of the robot arm 200 to penetrate into the skin to perform cutting and suturing of the tissue. At this time, the robot arm 200 can be rotated up and down and angle adjustment using the joint 210, as well as the left and right rotation, and also using the height adjusting unit 230 between the robot arm 200 and the needle 220. The height of the needle 220 may be adjusted. In addition, the tip of the needle 220 may be equipped with a surgical tool such as a laser beam device, or may be injected directly through the needle 220. The driving method for the robot arm 200 may follow various known methods, and a detailed description thereof will be omitted herein. In addition, the shape of the robot arm 200 is not limited to the shape shown in FIG. 2, and various known types of robot arms may be used.

Meanwhile, while the needle driver 110 drives the needle of the robot arm 200, blood vessels may exist between the tip of the needle of the robot arm 200 and the needling target or around the needling target.

Blood vessels are closed vessels that serve as blood transport channels, and are composed of arteries, veins, and capillaries. The blood vessels, from the heart's left ventricle, start from the coarse aorta of the heart and gradually branch off, eventually passing through the arterioles to become capillaries. Thereafter, the capillaries are transferred to the lavage veins, and the confluence is repeated to become thicker veins, and eventually into the upper and lower vena cava, which enters the right atrium.

The total length of blood vessels in the human body is about 100,000 km, and the arteries and veins are composed of three layers of membranes, the inner and the middle membrane. The inner membrane of the artery is composed of one layer of endothelial cells in direct contact with blood and elastic fibers covering it, and the middle membrane is composed of elastic fibers and smooth muscle fibers arranged in annulus. The outer membrane is a layer of loose connective tissue, in which collagen fibers and elastic fibers are mixed and arranged in the longitudinal direction of blood vessels. The outer membrane is directly transferred to the surrounding connective tissue and connects the surrounding tissues and blood vessels. Although the contents of these three-layer structures vary depending on the thickness of the arteries, the large blood vessels occupy most of the blood vessel wall, with no clear boundary between the inner and the media. In particular, the human aorta has a strong elastic force because almost all of the media is made of elastic fibers.

Small arteries extending to the upper and lower extremities, the mesentery is composed mainly of smooth muscle, it is possible to control the blood volume by changing the diameter of the blood vessels. This form leads to arterioles with a diameter of 0.5 mm or less. Likewise, smooth muscles are developed in the arterioles, but since the number of arterioles is large, the inner area of the blood vessel wall increases, and thus the resistance of blood flow increases accordingly. . The arterioles are a factor in maintaining normal blood pressure. In addition, smooth muscles have a distribution of vascular motor nerves that change the tension of the muscles. Vascular motor nerves include nerves that constrict blood vessels by secreting noradrenaline from nerve fibers and nerves that relax blood vessels by secreting acetylcholine from nerve fibers.

Capillaries are very thin blood vessels that connect the small arteries and the vena cava and consist of a layer of endothelial cells without elastic fibers or muscles. The thickness of the capillaries is about 10 μm, the size of which red blood cells can barely pass through. Blood flows into the veins following the capillaries, and the capillaries measured along the bloodstream average about 0.5 mm in length, and the blood usually passes through them in 0.5 to 1 seconds, during which there is no exchange of material between the tissues. Happens.

3 is a view showing the carotid artery, A is a view from the front, B is a view from the side. The carotid artery is one of the arteries that splits from the aorta and passes through the head and neck, passing through the relatively shallow portion of the neck. The carotid arteries climb up the outside of the larynx and split into internal and external carotid arteries near the thyroid gland. The external carotid artery sends arterial blood to the head face, and the internal carotid artery sends arterial blood to each part of the brain.

4 shows the vertebral artery. The vertebral arteries are blood vessels that supply blood to the vertebrae, which are divided into four parts: the anterior spine (neck), the vertebrae, the vertebrae, and the cranial cavity (intracranial). The vertebral artery enters the transverse hole of the sixth cervical spine, passes through the transverse pores of the upper cervical spine, and then penetrates the dura mater from the top of the first cervical spine into the cranial cavity. The spinal part of the vertebral arteries enters the spinal cord and becomes the pectoral artery, and branches of spinal cord branches distributed in the spinal cord and muscle branches distributed in the cervical muscles are branched.

When the needle driver 110 damages an artery such as a carotid artery or a vertebral artery around the lesion while operating the needle of the robotic arm 200 to operate the needle of the set needle, the hemostasis is not only easy but also The damage consumes a large amount of blood and lengthens the operation time for the treatment of damaged blood vessels.

In order to solve such a problem, the signal transmission and reception unit 120 of the surgical robot control system 100 according to an embodiment of the present invention, is installed on the needle tip of the robot arm 200, the needle driving unit 110 Ultrasonic signals are periodically transmitted toward the needling target set by the controller, and a reflection signal for the transmitted ultrasonic signals is received. At this time, if the blood vessel is present between the needle tip and the needling target of the robot arm 200, the ultrasonic signal transmitted by the signal transmitting and receiving unit 120 is reflected by the red blood cells and the like flowing along the blood vessel. In this case, the signal transmission and reception unit 120 receives the reflected signal reflected by the red blood cells and the like of the blood.

The moving speed calculating unit 130 calculates the moving speed of the reflection point based on the reflection signal received by the signal transmitting and receiving unit 120.

5 is a view illustrating a principle of measuring the blood flow rate using the ultrasonic signal. Referring to FIG. 5, the signal transmitter / receiver 110 samples the reflected signal by repeatedly transmitting, for example, 2N times (N is a natural number) at a predetermined time, that is, at a time t, t0 after transmitting an ultrasonic signal toward a needling target. do. In this case, when there is a blood vessel between the signal transmitting and receiving unit 110 and the needling target, the ultrasonic signal is reflected by an object such as red blood cells. In this case, since an object such as red blood cells in the blood moves, the phase of the signal sampled at t0 changes accordingly. The moving speed calculator 130 may calculate the moving speed v of the object as shown in Equation 1 from the amount of phase change.

[Equation 1]

Here, T _PRF is an inverse of the period of transmitting the ultrasonic signal, that is, the pulse repetition frequency (PRF), λ ₀ is the center frequency of the transmitted ultrasonic signal, and Δ _θ is the amount of phase change. As can be seen in Equation 1, the moving speed of the object is proportional to the amount of change in the phase of the signal reflected from the object. In addition, since the frequency shift of the signal is proportional to the amount of phase change, the moving speed v of the object is proportional to the amount of frequency shift of the reflected signal. Therefore, the moving speed of the object may be calculated by measuring the frequency of the reflected signal reflected from the object.

On the other hand, the speed of blood flow in the human body generally depends on the type of blood vessel. For example, the velocity of blood flow in the carotid artery is about 100 cm / sec, the velocity of blood flow in the arteries is about 50 cm / sec, and the velocity of blood flow in the vertebral arteries is about 35 cm / sec. In addition, vein blood flow rate is about 25cm / sec, capillary blood flow rate is about 0.5mm / sec.

Therefore, the moving speed calculator 130 sets an average speed of blood flow corresponding to each type of blood vessel, and compares the calculated moving speed of the reflection spot with the average blood flow rate of each of the blood vessels, and thus the ultrasonic signal. If the reflex point of the blood vessels may determine the type of blood vessels.

The needle direction control unit 140 adjusts the moving direction of the needle when the moving speed calculated by the moving speed calculating unit 130 is greater than or equal to a preset value. For example, the needle direction controller 140 sets the 35 cm / sec corresponding to the blood flow velocity of the vertebral artery as the reference speed of the bypass direction judgment, and calculates the object at the reflection point calculated by the movement speed calculator 130. If the movement speed of the 35cm / sec or more can bypass the direction of the needle.

6 is a view schematically showing an example of a needle direction control device according to an embodiment of the present invention. The needle direction adjusting unit 140 of FIG. 1 will be described in detail with reference to FIG. 6.

Referring to FIG. 6, the needle direction control device 140 includes a work pipe 143 surrounding a predetermined length of the needle 141, a protrusion 145 installed toward the needle 141 on the inner surface of the work pipe 143. The external work pipe 148 surrounding the predetermined length of the work pipe 143, and the control unit 149 for controlling the external work pipe 148 to reciprocate along the work pipe 143 to press the protrusion 145. It can be provided. In this case, the working pipe 143 may be formed of a flexible material, and the protrusion 145 is supported by the needle 141 as well as convex toward the needle 141 passing through the working pipe 143. The outer surface of the work pipe 143 can be convex.

In addition, the second protrusion 147 may be installed on the inner surface of the working pipe 143 at set intervals with the protrusion 145. In this case, as shown in FIG. 6, the second protrusion 147 may be installed on the opposite side of the working pipe 143 so as to face the direction of the protrusion 145. However, the installation position of the second protrusion 147 is not limited to this, and may be installed on the same side of the working pipe 143 to be in the same direction as the direction of the protrusion 145.

In addition, the needle direction control device 140 according to an embodiment of the present invention may be configured to include the above-described signal transmission and reception unit 120, the moving speed calculation unit 130 and the high frequency pass filter 150.

Needle directional control device 140 of this structure is a needle 141 reciprocating through the working pipe 143 by the control of the control unit 149, accordingly proceeds toward the needling target needling operation Do this. At this time, the needle direction adjusting device 140 may insert a guide wire (not shown) along the needle 141 toward the needling target, and the working pipe 143 and the external working pipe (using the corresponding guide wire) 148 may be moved.

7 is a view for explaining the operation of the needle direction control device of FIG. Here, Figure 7 (a) is a view showing an example when the outer working pipe 148 presses the projection 145, Figure 7 (b) is the outer working pipe 148 is a projection 145 and the first It is a figure which shows the example in the case of pressing the 2 protrusion 147. As shown in FIG.

A signal transmitting and receiving unit 120 is installed at the tip of the needle 141, and may periodically transmit an ultrasonic signal and receive a reflection signal corresponding to the transmitted ultrasonic signal. At this time, the moving speed calculating unit 130 calculates the moving speed of the reflection point based on the reflected signal received by the signal transmitting and receiving unit 120.

If the velocity of the reflection point calculated by the movement speed calculator 130 is equal to or greater than a preset value, the controller 149 may control the outer working pipe 148 to advance toward the tip of the needle 141. At this time, when the external work pipe 148 proceeding to the tip of the needle 141 under the control of the controller 149 presses the protrusion 145, the needle 141 is pushed in the opposite direction but the second needle 147 is pressed. Since it is supported by, it inclines in the direction as shown to Fig.7 (a). By tilting the direction of the needle 141 as described above, it is possible to bypass the blood vessel located at the tip side of the needle 141 and proceed.

When the external working pipe 148 is further advanced to the front end side of the needle 141, and both the protrusion 145 and the second protrusion 147 are pressed, the force supporting the second protrusion 145 is the external working pipe 148. The needle 141 is inclined at a greater angle, as shown in FIG. As a result, the needle direction adjusting device 140 may adjust the inclination angle of the needle 141 differently according to the thickness of the blood vessel located at the tip side of the needle 141.

6 and 7 illustrate the case where the protrusion 145 and the second protrusion 147 are installed in opposite directions to each other, but as described above, the protrusion and the second protrusion are disposed on the same side of the working pipe in the same direction. It may be installed. In this case, the second protrusion may be installed in a larger size than the protrusion, and thus, when the second protrusion is pressed by the external working pipe, the needle may be inclined at a larger angle.

The high frequency pass filter 150 blocks the low frequency band below the set frequency among the reflection signals received by the signal transmitter / receiver 120. Because tissues and muscles other than blood move relatively slowly compared to blood, the reflected signals reflected from them are mainly located in the low frequency band. Therefore, the high frequency pass filter 150 may block a reflected signal below a predetermined frequency by using a high pass filter.

8 is a flowchart illustrating a surgical robot control method according to an embodiment of the present invention.

1 to 8, the needle driver 110 sets a needling target of the robot arm 200 in response to the lesion position (S810), and the robot arm 200 toward the set needling target. ) To execute the needling operation (S820).

The signal transmitter / receiver 120 periodically transmits an ultrasonic signal toward the needling target set by the needle driver 110, and receives a reflected signal with respect to the transmitted ultrasonic signal (S830). At this time, the high frequency pass filter 150 may block the low frequency band below the set frequency among the reflection signals received by the signal transmission and reception unit 120 (S840).

The movement speed calculator 130 calculates the movement speed of the reflection point based on the reflection signal received by the signal transmission and reception unit 120 (S850).

When the moving speed of the reflection point calculated by the moving speed calculator 130 is greater than or equal to a preset value (S860), the needle direction controller 140 may adjust the traveling direction of the needle 141. Such a needle direction control method may be performed according to the needle direction control method shown in FIG.

That is, with respect to the robot arm 200 moved to the needling target point by the needle driver 110, the controller 149 controls the needle 141 to reciprocate through the work pipe 143 to handle the needling operation. It may be performed (S910).

The signal transmitter / receiver 120 periodically transmits an ultrasonic signal at the tip of the needle 141 (S920), and receives a reflected signal corresponding to the transmitted ultrasonic signal (S930).

In this case, the high frequency pass filter 150 may block the low frequency band below the set frequency among the reflection signals received by the signal transmitter / receiver 120 (S940).

The movement speed calculator 130 calculates the movement speed of the reflection point based on the reflection signal received by the signal transmission and reception unit 120 (S950).

When the moving speed of the reflection point calculated by the moving speed calculating unit 130 is greater than or equal to a preset value (S960), the controller 149 moves the outer working pipe 148 toward the tip of the needle 141 to turn the protrusion ( 145 may be pressed onto the needle 141 (S970). At this time, when the external work pipe 148 proceeding to the tip of the needle 141 under the control of the controller 149 presses the protrusion 145, the needle 141 is pushed in the opposite direction but the second needle 147 is pressed. Since it is supported by the protrusion 145 is inclined in the installed direction. By tilting the direction of the needle 141 as described above, it is possible to bypass the blood vessel located at the tip side of the needle 141 and proceed.

When the controller 149 further advances the outer working pipe 148 to the front end side of the needle 141 and presses both the protrusion 145 and the second protrusion 147, the force supporting the second protrusion 145 is external. It is enlarged by the working tube 148, so that the needle 141 is inclined toward the protrusion 145 at a larger angle. As a result, the needle direction adjusting device 140 may further adjust the inclination angle of the needle 141 according to the thickness of the blood vessel located at the tip side of the needle 141.

110: needle drive unit 120: signal transmission and reception unit
130: moving speed calculation unit 140: needle direction control unit
141: needle 143: worker
145: projection 147: second projection
148: external worker 149: control unit
150: high frequency pass filter

Claims (12)

In the robot control system for surgery,
A needle driver configured to set a needling target of the robot arm in response to the lesion position, and move the robot arm toward the set needing needle to perform a needling operation;
A signal transmitting and receiving unit which is installed at the tip of the needle of the robot arm and periodically transmits an ultrasonic signal toward a needling target set by the needle driver, and receives a reflected signal for the transmitted ultrasonic signal;
A moving speed calculator for calculating a moving speed of a reflection point based on the reflected signal received by the signal transmitting and receiving unit; And
A needle direction control unit which adjusts a moving direction of the needle when the moving speed calculated by the moving speed calculator is greater than or equal to a preset value;
Surgical robot control system comprising a. The method of claim 1,
A high frequency pass filter for blocking a low frequency band below a set frequency among the reflection signals received by the signal transmitter and receiver;
Surgical robot control system further comprising. In the needle control device of the surgical robot control system for adjusting the direction of the surgical needle mounted on the robot arm,
A working tube surrounding a predetermined length of the needle;
A protrusion installed toward the needle on an inner surface of the working pipe;
An external work pipe surrounding a predetermined length of the work pipe; And
A control unit for controlling the external work pipe to reciprocate along the work pipe to press the protrusion;
Needle direction control device for a surgical robot control system comprising a. The method of claim 3,
A second protrusion installed on an inner surface of the working pipe at a predetermined interval with the protrusion;
Further comprising, the control unit,
And the external working pipe is controlled to press the protrusion, or the protrusion and the second protrusion along the working pipe. The method of claim 4, wherein the second protrusion,
The needle direction control device of the surgical robot control system, characterized in that installed on the opposite side of the working tube to be the direction opposite to the direction of the projection, or installed on the same side of the working tube to be the same direction. 5. The method of claim 4,
A signal transmission and reception unit which is installed at the tip of the needle and periodically transmits an ultrasonic signal and receives a reflected signal corresponding to the transmitted ultrasonic signal;
Further comprising, the control unit,
Needle direction control device for a surgical robot control system, characterized in that for adjusting the reciprocating movement distance of the outer tube based on the reflection signal received by the signal transmission and reception unit. The apparatus of claim 3,
The needle direction control device of the surgical robot control system, characterized in that for controlling the needle to reciprocate through the working tube. In the surgical robot control method,
Setting a needling target of the robot arm corresponding to the lesion position;
Moving the robot arm toward the set needling target to perform a needling operation;
Periodically transmitting an ultrasonic signal toward the set needling target, and receiving a reflected signal for the transmitted ultrasonic signal;
Calculating a moving speed of a reflection point based on the reflection signal received by the reflection signal receiving step; And
Adjusting a traveling direction of the needle when the moving speed calculated by the moving speed calculating step is greater than or equal to a preset value;
Surgical robot control method comprising a. 9. The method of claim 8,
Blocking a low frequency band below a set frequency among the reflected signals received by the reflected signal receiving step;
Surgical robot control method comprising a further. In the needle direction control method of the surgical robot control system for adjusting the direction of the surgical needle mounted on the robot arm,
Periodically transmitting an ultrasonic signal at the tip of the needle;
Receiving a reflected signal corresponding to the transmitted ultrasonic signal; And
Pressing projections on the needles at regular intervals on the inner surface of the working tube surrounding the predetermined length of the needles based on the received reflection signal;
Needle direction control method of a surgical robot control system comprising a. The method of claim 10, wherein the pressing step,
And an external work pipe surrounding the predetermined length of the work pipe by reciprocating along the work pipe to compress the protrusion to the needle. The method of claim 10,
Controlling the needle to reciprocate through the working tube;
Needle direction control method of the surgical robot control system characterized in that it further comprises.

Images