Medical robotic system including surgical instrument position detection apparatus and control method thereof

摘要

A medical robot system and a method to control the medical robot system are used to detect position information of a surgical instrument in an incised region, thereby improving the safety of robotic surgery. A surgical instrument may be inserted in a through-hole of a trocar inserted into an incised region of a patient. The medical robotic system includes a surgical instrument position detection apparatus to detect position information of the surgical instrument in the through-hole of the trocar, when the surgical instrument is inserted into the through-hole. The medical robotic system further includes a console to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument.

主权项

1. A medical robotic system comprising:
a surgical instrument position detection apparatus configured to detect position information of a surgical instrument inserted in a trocar which is inserted into an incised region of a patient; and a console configured to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument, wherein the surgical instrument position detection apparatus comprises a quadrangular frame forming an external appearance of the surgical instrument position detection apparatus including a first subframe disposed in a horizontal direction, and a second subframe disposed in a vertical direction, contacting the first subframe; a sensing unit comprising a first photodiode array mounted in the first subframe and a second photodiode array mounted in the second subframe; a coordinate detection unit to detect an X-coordinate of the surgical instrument in the trocar based on output values of the first photodiode array and a Y-coordinate of the surgical instrument in the trocar based on output values of the second photodiode array.