METHOD AND DEVICE FOR CONTROLLING/COMPENSATING MOVEMENT OF SURGICAL ROBOT

摘要

The present invention relates to a method and a device for controlling and correcting the motion of a surgical robot. According to an embodiment of the present invention, the surgical robot motion correcting device, which is coupled to a surgery processing unit including a surgical instrument unit on one side of a main body, includes: an image information generating unit which generates image information corresponding to an image signal provided by taking an image from a surgery area using a camera; a recognition information analysis unit which generates analysis information for the distance and angle of preset reference points and recognized reference points in each image information set corresponding to the image frames in a specific order; a displacement analysis unit which generates the displacement information for the distance and angle between two continued analysis information items in the generation order; and a control command generating and outputting unit which generates and outputs the control command for adjusting the location of the surgery processing unit to make the displacement of the distance and angle included in the displacement information be zero. Accordingly, the device can move the surgical robot to an appropriate location while instruments are inserted into a human body. The present invention does not need post-procedures and pre-procedures to move the location of the surgical robot in order to reduce the fatigue of surgeons.