KR20100113050A - Liposuction Robot - Google Patents

Abstract

A liposuction robot is disclosed. A control unit, a robot arm driven by receiving a predetermined control signal from the control unit, a cannula mounted on the robot arm and extending in one direction, and formed at an end of the cannula and inserted into a surgical site to suck in fat The liposuction robot, which includes an ultrasound transducer coupled to the tip of the cannula, includes a liposuction cannula on the robot arm and drives the robot arm to move the cannula. Liposuction can be performed easily without entering. In addition, by mounting an ultrasonic transducer at the tip of the cannula, based on the image information received from it, it automatically controls the surgical robot and automatically sets the operating range, by firing ultrasonic waves to melt and inhale the fat, Liposuction can be performed conveniently, accurately and safely.

Description

Liposuction robot {Surgical robot for liposuction}

The present invention relates to a liposuction robot equipped with an ultrasonic transducer.

In recent years, interest in liposuction has been rapidly increasing to improve living standards and to treat abdominal obesity. Liposuction surgery refers to an operation that inhales enlarged fat cells in the body by inserting a cannula that looks like a cannula into subcutaneous fat and applying a negative pressure of 0.5 to 1.0 atm. That is, the human skin is composed of the outermost skin layer, the middle fat layer, and the inner muscle layer. Liposuction surgery is a surgery to inhale and discharge the fat layer between the skin layer and the muscle layer.

Such liposuction surgery can remove not only the abdomen but also the thighs, hips, calves, ankles and forearms, as well as the adipose tissue of the face and neck, and is widely used to remove male breasts and lipomas.

Conventional liposuction surgery, as shown in Figure 1, is a process of inhaling fat while moving the cannula 10 as indicated by the arrow after inserting a cannula 12 and a small hole in the skin to inhale fat Proceed. The cannula 12 is in the form of a hollow tube, and a negative pressure is applied to the inside of the cannula 12 through suction to extract fat out of the body.

Liposuction usually takes two to three hours. During the operation, the doctor must move the front, back, left, right, up and down while holding the cannula body 14 by hand and bringing the cannula end to the area where the fat is to be inhaled. This is a very difficult operation for a doctor performing surgery. In addition, in recent years, the electric cannula has been released to reduce the arm movement of the doctor, but rather, the cannula body is heavier, the situation does not improve the convenience of surgery.

The background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.

The present invention is to provide a surgical robot that is equipped with a liposuction cannula to the surgical robot and equipped with an ultrasonic transducer at the tip of the cannula, the surgeon can easily perform liposuction without a lot of force.

According to an aspect of the present invention, a control unit, a robot arm driven by receiving a predetermined control signal from the control unit, a cannula mounted on the robot arm and extending in one direction, and formed at an end of the cannula, the surgical site There is provided a liposuction robot including a suction unit inserted into the suction unit and an ultrasonic transducer coupled to the tip of the cannula.

The cannula is inserted to a point on the cannula through a hole drilled in the skin of the surgical patient, and the robot arm can be driven such that the point on the cannula is in the remote center of motion (RCM).

On the other hand, the cannula further comprises an angle sensor for measuring the angle, the control unit may receive a signal from the angle sensor, to generate a control signal for driving the robot arm so that the cannula maintains a predetermined angle range. Alternatively, the controller may obtain information about an angle at which the cannula is inserted from information about a driving state of the robot arm, and generate a control signal for driving the robot arm so that the cannula maintains a predetermined angle range.

The tip of the cannula can be treated with a gentle face so as not to damage the surgical site.

The control unit may generate a control signal for driving the robot arm to move the suction unit within a predetermined operating area by the user, and overrides the signal received by the user's operation over the signal received from the ultrasonic transducer. Function can be performed.

The ultrasound transducer photographs the surgical site and provides image information, and the controller may generate a control signal for driving the robot arm to move the suction unit within the set operating area based on the image information. In this case, the operation region may be set from data derived through image analysis on the image information.

In addition, the ultrasound transducer provides a Doppler signal corresponding to the surgical site, and the control unit may generate a control signal for driving the robot arm to move the suction unit in the operating area set based on the Doppler signal. .

In this case, the control unit is connected to the user operation unit, and the control unit may generate a control signal to emit an alarm signal from the user operation unit when the suction unit moves out of the operation area.

The ultrasonic transducer may be a point sensor type or a line sensor type, and the controller may generate a control signal for driving the robot arm to acquire image information in front of the ultrasonic transducer while moving. The ultrasonic transducer may emit ultrasonic waves having energy enough to heat and melt fat at the surgical site.

Meanwhile, according to another aspect of the present invention, a control unit, a robot arm driven by receiving a predetermined control signal from the control unit, a cannula mounted on the robot arm and extending in one direction, and formed at an end of the cannula, There is provided a liposuction surgical robot including a suction unit inserted into a surgical site to suck fat and a reaction force sensing unit measuring a reaction force applied to a tip of a cannula.

The controller may receive a signal from the reaction force sensing unit and generate a control signal for limiting a driving range of the robot arm. The reaction force sensing unit may be interposed between the robot arm and the cannula, positioned in the middle of the cannula, or embedded in the tip of the cannula.

On the other hand, according to another aspect of the present invention, the suction portion extending in one direction, the suction portion for sucking fat is formed, the front end is coupled to an ultrasonic transducer (transducer) for providing the image information by photographing the surgical site A program of instructions that can be executed in a surgical robot for performing liposuction by attaching a cannula to a robot arm is tangibly embodied, and is a recording medium that can be read by the surgical robot. Generating a first control signal for driving the robot arm to be inserted, (b) generating a second control signal for operating the suction unit to suck fat from the surgical site, and (c) analyzing the image for image information Generating a third control signal for driving the robot arm to move the suction unit in the operating area set from the data derived through the The recording a program for line recording medium is provided.

On the other hand, according to another aspect of the present invention, the suction portion extending in one direction, the suction portion for sucking fat is formed, the front end is coupled to an ultrasonic transducer (transducer) for providing the image information by photographing the surgical site A method of performing liposuction by attaching a cannula to a robot arm, the method comprising: (a) driving a robot arm to insert a suction part into a surgical site, and (b) operating a suction part to suck fat from the surgical site And (c) driving the robot arm to cause the suction unit to move within the operating region set from the data derived through image analysis of the image information.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to a preferred embodiment of the present invention, by attaching a liposuction cannula to the robot arm and driving the robot arm to move the cannula, the surgeon can easily perform liposuction without applying much force. In addition, by mounting an ultrasonic transducer at the tip of the cannula, based on the image information received from it, it automatically controls the surgical robot and automatically sets the operating range, by firing ultrasonic waves to melt and inhale the fat, Liposuction can be performed conveniently, accurately and safely.

1 is a view showing a liposuction procedure according to the prior art.
Figure 2 is a schematic diagram showing a liposuction robot according to an embodiment of the present invention.
Figure 3 is a flow chart showing a liposuction method according to an embodiment of the present invention.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in the drawings. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and redundant description thereof will be omitted. Shall be.

Figure 2 is a schematic diagram showing a liposuction robot according to an embodiment of the present invention. 2, the control unit 10, the robot arm 20, the cannula 30, the suction unit 32, the ultrasonic transducer 34, and the user manipulation unit 40 are illustrated.

In this embodiment, the liposuction cannula is mounted on the arm of the surgical robot instead of a person, and the liposuction operation can be performed more easily, accurately and safely by utilizing various automatic control functions of the surgical robot. It is characterized by.

That is, the robot according to the present embodiment has a structure in which a cannula 30 is mounted on the robot arm 20 driven by receiving a control signal from the controller 10, and the cannula 30 is in one direction. At the end thereof, an inlet 32 is inserted into the surgical site and sucks fat. The cannula 30 is a tube-shaped member, and by using a tube having a diameter of 4 mm or less, it is possible to prevent scars from remaining in the process of being inserted into the skin.

The control unit 10 according to the present embodiment may be implemented in the form of a robot or a computer equipped with a microprocessor as a part for generating and transmitting a control signal for driving a surgical robot. Alternatively, it may serve to generate a control signal for driving the robot by receiving signals transmitted from various sensors.

In addition, the processor for controlling the reception, processing, analysis and operation of the suction acting on the cannula 30 may be implemented in an integrated form.

When performing the operation by mounting the cannula 30 to the surgical robot arm 20, the skin of the patient is damaged by the movement of the cannula 30, or conversely interferes with the skin of the patient to freely open the cannula 30. Problems with movement can occur.

Therefore, the robot arm 20 can be controlled to set a virtual pivot center point at a predetermined position on the cannula 30 and rotate the cannula 30 about this point, which is referred to as 'remote center' or the like. It is called 'remote center of motion'.

That is, the cannula 30 mounted on the robot arm 20 according to the present embodiment is inserted to a predetermined point ('R' in FIG. 2) on the cannula 30 through a hole drilled in the skin of the patient during the surgery. In this case, by applying the RCM function to the robot arm 20 to be a remote center, the liposuction can be performed while freely rotating the cannula 30 mounted on the robot arm 20. In this case, the cannula 30 mounted on the robot arm 20 sucks fat while moving freely before, after, left, right, up, and down according to the driving of the robot arm 20. For example, the cannula 30 may rotate around 360 degrees while drawing a cone-shaped trajectory about a hole drilled in the skin of the patient, and may suck fat while rotating about the RCM point.

However, the robot arm in which the RCM is implemented according to the present embodiment is not necessarily configured to have a shape and a structure as shown in FIG. 2.

On the other hand, when the cannula 30 is inserted into the skin at a predetermined angle (for example, 'A' in FIG. 2) or more, the tip of the cannula 30 may invade into the muscle, so the cannula 30 may occur. Install an angle sensor (not shown) capable of detecting an angle inserted into the skin, and receive a signal from the angle sensor so that the cannula 30 does not operate above a certain angle, that is, the cannula 30 is previously The robot arm 20 may be driven to operate only within a set angle range.

Since the robot arm 20 according to the present exemplary embodiment is driven by receiving a control signal from the controller 10, the robot arm 20 does not necessarily have to install an angle sensor to drive the robot arm 20 within a preset angle range. By inversely estimating the angle at which the cannula 30 is inserted from the information on the driving state of 20, the control signal may be generated and transmitted so that the cannula 30 is operated only within a set angle range.

On the other hand, if the cannula 30 is excessively moved during the liposuction process, the skin layer or the muscle layer may be damaged in addition to the fat layer. In order to prevent this, the front end, that is, the end portion of the cannula 30 is made into a blunt shape or a smooth surface By treatment with, the surgical site can be prevented from being excessively damaged even if excessive force is applied to some extent such that the skin layer and the muscle layer are not pierced.

In addition, during the liposuction operation, the doctor operates the robot while holding the joystick with the right hand, and touching the skin at the point where the end of the cannula 30 is located with the left hand, and whether the current position is the skin. , Muscle, fat, that is, the robot is performing the surgery in the correct position.

To this end, an ultrasonic transducer 34 may be coupled to the end of the cannula 30 according to the present embodiment. When the ultrasonic transducer 34 is mounted on the tip of the cannula 30, the surgical site may be photographed to receive image information. Thus, the end of the cannula 30 may be seen in contact with the tissue.

Unlike a general camera, the ultrasound transducer 34 can see the tissue at the surgical site even without a separate light source. By using the characteristics of the ultrasound, the ultrasound transducer 34 transmits not only the surface of the tissue but also the inside of the tissue, such as adipose tissue, skin tissue, muscle tissue, and the like. There is an advantage that can be seen to distinguish the layers of.

The surgical robot according to the present embodiment may be operated by a doctor by manually manipulating a 3D joystick or the like, or may control the suction unit 32 to automatically find and move the fat layer within a predetermined operating area. You can also specify the operating area in advance so that it only moves within that range.

In this case, various control methods may be applied to designate a moving range of the suction unit 32, that is, an operating area. In the present embodiment, an ultrasound transducer 34 is installed to provide image information by photographing a surgical site. And, by setting the operating area based on the image information obtained therefrom, it is possible to drive the robot arm 20 to move the suction unit 32 within the range.

That is, the operation area can be designated by displaying the image captured by the ultrasound on the monitor screen and displaying it on the screen by an input means such as a mouse or a touch screen.

In addition, by operating the image captured by the ultrasound (image processing) (automatically discriminating fat tissue, skin tissue and muscle tissue) and by detecting the area where the fat layer distribution, it is possible to designate the operating area.

Furthermore, before inserting the cannula 30 into the body, the doctor drives the robot arm 20 in advance to input a predetermined range, and sets the robot arm 20 to be driven only within the input range so that the suction unit ( 32 may be controlled to move only within the operating area.

That is, by attaching the cannula 30 to the robot in advance and manually moving it, the range where the cannula 30 can move is input to the robot in advance, and the robot arm 20 at the time of the operation is within the previously input range. It can only be operated, for example, by tying a pen to the end of the cannula (30) and input the action to draw a range of the portion to be liposuction with a pen, the robot recognizes the operation and entered The cannula 30 can only be operated within the range.

The ultrasonic transducer 34 used in the present embodiment may provide non-image information such as a Doppler signal as well as image information about the surgical site. In other words, by analyzing the image information obtained by firing the ultrasound, it is possible not only to identify whether a specific part is fat or muscle, but also to detect the presence and location of blood vessels by using the ultrasonic Doppler function.

The ultrasonic Doppler function uses the shift in frequency due to the Doppler effect to discriminate the rate at which blood flows. When blood flows toward the transducer, the frequency of the received echo is higher than the transmit frequency, conversely. The frequency of the receive echo is lower than the transmit frequency when the blood flow away from it.

As such, by using the ultrasonic Doppler function, the blood vessel existing in the surgical site can be detected in advance, and thus the robot arm is set by setting the operation region to minimize damage to the blood vessel, that is, the suction unit 32 to avoid the blood vessel. By driving (20), bleeding during the liposuction procedure can be greatly reduced.

On the other hand, the surgical robot according to the present embodiment may be connected to the user operation unit 40, in this case, the doctor using the three-dimensional joystick, etc. installed in the user operation unit 40, the robot arm 20 before, after, left It can be controlled to operate up, down, right, down. As such, if the tip of the cannula 30 touches skin or muscles other than fat while the doctor operates the robot, it may be detected by information obtained from the ultrasound transducer 34, and the area where the cannula 30 is desired. In order not to invade outside, the user's control unit 40 may alert the doctor by giving an appropriate alarm signal such as a warning sound.

As such, the surgical robot according to the present embodiment may automatically detect the skin, fat, and muscle to control the suction unit 32 to move only in the fat layer. In some cases, the suction robot 32 may be determined by the doctor. Although is located in the adipose tissue, the information obtained from the ultrasonic transducer 34 may be recognized as skin or muscle, so that the robot arm 20 may not move further.

On the other hand, the surgical robot according to the present embodiment prioritizes the signal received by the user's operation over the signal received from the ultrasonic transducer 34, that is, the doctor can force the robot if necessary. It may also include an 'override' function.

The ultrasonic transducer 34 has a point sensor type for viewing the one-dimensional structure of the sensor front end, a line sensor type for viewing the two-dimensional structure of the sensor front end, and a three-dimensional sensor front. There is an area sensor type and the like that can see the structure. The line sensor type is a structure in which point sensors are arranged in one direction, and the surface sensor type is configured in a structure in which line sensors are arranged in one direction.

The ultrasonic transducer 34 according to the present embodiment is coupled to the distal end of the cannula 30 mounted on the robot arm 20, and the robot arm 20 controls the position information in real time by the controller 10. Since it can move while grasping, even if the point sensor or the ultrasonic transducer 34 of a line sensor type is attached to the front end of a cannula 30, the robot arm 20 moves up, down, left, and right, and an ultrasonic transducer of a point sensor type The transducer 34 may serve as a line sensor type and / or a surface sensor type, or the ultrasonic sensor 34 of a line sensor type may serve as a surface sensor type.

For example, by moving the point sensor type ultrasonic transducer up, down, left, or right, or the line sensor type ultrasonic transducer up, down, left, or right, can confirm.

That is, the ultrasonic transducer 34 according to the present exemplary embodiment may acquire image information of the front while acting as a surface sensor by driving the robot arm 20 even though the surface sensor type is not necessarily used.

In addition, the operation of the suction unit 32 according to the present embodiment, that is, whether or not the suction can be controlled based on the analysis of the image information obtained by the ultrasound imaging. Since the surgical robot according to the present embodiment can automatically discriminate fat tissue, skin tissue and muscle tissue, for example, the suction portion 32 can be controlled to operate only when the suction portion 32 is located in the fat layer. Can be.

On the other hand, the ultrasonic transducer 34 according to the present embodiment can also be used for 'liposuction surgery using ultrasonic waves'. That is, by firing an ultrasonic wave of stronger energy from the ultrasonic transducer 34, heat can be generated due to the ultrasonic wave to melt the fat at the surgical site and then suck it out.

On the other hand, as described above, if the cannula 30 is excessively moved during the liposuction process, there is a risk of damage to the skin layer or muscle layer in addition to the fat layer, strain strain (strain) at the end or an appropriate position of the cannula 30 to prevent this A reaction force sensing unit (not shown) such as a gauge or a haptic sensor can be mounted.

For example, when the reaction force sensing unit is mounted on the front end of the cannula 30, the reaction force may be sensed applied to the front end of the cannula 30 during the surgery, and the control unit 10 may receive the sensed signal to receive the cannula. If a force greater than that determined at the end of the 30 is applied, for example, when the end of the cannula 30 is in contact with skin tissue or muscle tissue, the robot arm may no longer advance the cannula 30. It is possible to limit the driving range of 20).

This is because the skin and muscles tend to be quite tough while the adipose tissue is relatively soft, so that the reaction force applied to the cannula 30 varies depending on the contact area of the end of the cannula 30, and the reaction force sensing unit cannula ( 30) By detecting the reaction force of the end, the surgical robot can automatically detect the skin and muscles, accordingly, the robot arm 20 can proceed liposuction surgery while moving the cannula (30) automatically.

Furthermore, the reaction force is applied to the operation of the joystick or the like installed in the user control unit according to the signal received from the reaction force sensing unit, thereby providing a 'force feedback' function that reproduces the feeling when the doctor performs the procedure by hand. It may also include. That is, when the tip portion of the cannula 30 touches skin or muscles other than fat, the reaction force sensing unit detects this and mounts a function to reflect the force on the joystick, so that the reaction force felt at the end of the cannula 30 may be detected even in the joystick. It can be felt so that it can be reproduced as if it were performed by a doctor.

The reaction force sensing unit according to the present embodiment may be mounted at an appropriate position as needed. For example, when the conventional cannula 30 is mounted on the robot arm 20 as it is, the robot arm 20 may be a cannula ( 30, the reaction force sensing unit may be positioned in such a manner that a tactile sensor is installed between the robot arm 20 and the cannula 30.

Alternatively, the reaction force sensing portion may be located between the cannula and the cannula handle (handle), ie in the middle of the cannula. In addition, the cannula 30 itself may be implemented in a manner in which the reaction force sensing unit is incorporated. For example, the cannula 30 is manufactured by integrally manufacturing a reaction force sensing unit such as a strain gauge or a tactile sensor at the tip of the cannula 30. As the movement of the cannula (30) itself may be located the reaction force sensing unit to measure the reaction force applied to its tip.

The cannula 30 mounted on the robot arm 20 according to the present embodiment is transformed into a structure that can be mounted on the robot arm 20 by utilizing the existing liposuction manual cannula 30 as it is, or a robot. It may be manufactured in the form of a dedicated cannula 30 designed to correspond to the shape and structure of the arm 20.

The cannula 30 according to the present embodiment may be configured to have a structure that is bent at an intermediate point. In this case, the cannula 30 may be bent in a state of being inserted through a hole drilled in the skin even if the RCM is not implemented as in the straight cannula 30. Since the front end of the cannula 30 can be freely rotated, fat can be sucked out in a wider area.

On the other hand, the cannula 30 by vibrating before, after, left, right, up, down within a predetermined range can maximize the liposuction efficiency. In order for the cannula 30 to vibrate at a predetermined frequency, a method of adding a vibration mechanism to the cannula 30 and a vibration function of the robot arm 20 to which the cannula 30 is mounted can implement the cannula 30. Various methods, such as the method of vibrating) can be applied.

Figure 3 is a flow chart showing a liposuction method according to an embodiment of the present invention.

The present embodiment relates to a method for performing surgery using the liposuction robot described above, first driving the robot arm 20 equipped with the cannula 30, the end of the cannula 30, that is, suction Part 32 is to be inserted into the desired surgical site (S10).

Next, applying negative (-) pressure to the cannula 30 to suck the fat of the surgical site through the suction unit 32 (S20). In this process, the robot arm 20 is driven to suck the fat while the suction part 32 moves within the designated operating area (S30), thereby sucking and removing the fat of the desired part.

The moving range of the suction unit 32, that is, the operation region, may be set to automatically obtain the image information by analyzing the surgical site with the ultrasonic transducer 34 and analyze the obtained image as described above. Accordingly, the surgical robot according to the present embodiment automatically detects a fat layer to perform liposuction surgery.

On the other hand, the liposuction method described above may be implemented in the form of a computer program that can be read and executed by a digital processing device, such as a microprocessor embedded in the surgical robot itself, or installed outside the robot and connected to the robot. have.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

10 control unit 20 robot arm
30 cannula 32 suction part
34: ultrasonic transducer 40: user control panel

Claims (12)

A control unit for generating a control signal for driving the surgical robot;
A robot arm driven by receiving a control signal from the controller;
A cannula mounted on the robot arm and extending in one direction and inserted into a predetermined point through a hole drilled into the skin of the surgical patient;
A suction part formed at an end of the cannula and inserted into a surgical site to suck fat;
Is coupled to the tip of the cannula, including an ultrasonic transducer (transducer) for providing the image information obtained by photographing the front while moving in the surgical site by the drive of the robot arm,
The robot arm is driven such that a predetermined point on the cannula is a remote center of motion (RCM),
The controller generates a control signal for driving the robot arm to move the suction unit in a region in which a fat layer detected from data derived through image analysis of the image information is distributed.
The suction unit, the liposuction operation robot, characterized in that operated when it is confirmed that the suction unit is located in the fat layer from the image information.
The method of claim 1,
Further comprising an angle sensor for measuring the angle the cannula is inserted,
The control unit receives a signal from the angle sensor, liposuction robot, characterized in that for generating a control signal for driving the robot arm so that the cannula maintains a predetermined angle range.
The method of claim 1,
The control unit obtains information on an angle at which the cannula is inserted from information on a driving state of the robot arm, and generates a control signal for driving the robot arm so that the cannula maintains a predetermined angle range. Liposuction robot.
The method of claim 1,
Liposuction surgical robot, characterized in that the front end of the cannula is treated with a gentle surface so as not to damage the surgical site.
The method of claim 1,
The control unit is a liposuction robot, characterized in that for generating a control signal for driving the robot arm to move the suction unit within a user-set operation area.
The method of claim 1,
The control unit, the liposuction robot, characterized in that for performing an override function to prioritize the signal received by the user operation over the signal received from the ultrasonic transducer.
The method of claim 1,
The ultrasound transducer provides a Doppler signal corresponding to the surgical site,
The control unit, the liposuction operation robot, characterized in that for generating a control signal for driving the robot arm to move the suction unit in the set operating area based on the Doppler signal.
The method of claim 1,
And the control unit is connected to a user operation unit, and the control unit generates a control signal to generate an alarm signal from the user operation unit when the suction unit moves out of the operating area.
The method of claim 1,
The ultrasonic transducer is a liposuction robot, characterized in that the point (point) sensor type or line (line) sensor type.
The method of claim 1,
The ultrasonic transducer, liposuction surgical robot, characterized in that for firing an ultrasonic wave having energy enough to melt and heat the fat of the surgical site.
A control unit for generating a control signal for driving the surgical robot;
A robot arm driven by receiving a control signal from the controller;
A cannula mounted on the robot arm and extending in one direction and inserted into a predetermined point through a hole drilled into the skin of the surgical patient;
A suction part formed at an end of the cannula and inserted into a surgical site to suck fat;
Including a reaction force sensing unit for measuring the reaction force applied to the tip of the cannula,
The robotic arm is driven such that a predetermined point on the cannula becomes a remote center of motion (RCM),
The reaction force sensing unit is located at any one selected from the group consisting of the robot arm and the cannula, the middle of the cannula, and the tip of the cannula,
And the control unit generates a control signal for limiting a driving range of the robot arm to move the suction unit within a set operating area based on the signal received from the reaction force sensing unit.
It extends in one direction, the suction portion is formed at the end, and the end of the liposuction operation is mounted on the robot arm is equipped with a cannula coupled to the ultrasonic transducer (transducer) to provide the image information by photographing the surgical site A program of instructions that can be executed in a surgical robot is tangibly implemented, and as a recording medium that can be read by the surgical robot,
(a) generating a first control signal for driving the robot arm such that the suction part is inserted into a surgical site;
(b) generating a second control signal for actuating said suction to suck up fat at the surgical site; And
(c) a recording medium having recorded thereon a program for executing a step of generating a third control signal for driving the robot arm to move the suction unit in an operating region set from data derived through image analysis of the image information; .

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