SURGICAL ROBOT SYSTEM AND ADAPTIVE CONTROL METHOD THEREOF

摘要

The present invention relates to a surgery robot system and an adaptive control method thereof. A master interface, which is included in the surgery robot system having control objects including one or more of a robot surgical endoscope and surgical instruments mounted thereon to control the location of the control objects, includes: a control unit which receives a user command for controlling the movement of the control objects; a storage unit which stores one or more reference images from the image information provided by the surgical endoscope and a movement scale factor corresponding to the reference images; a scale factor calculation unit which determines whether the current image information provided by the surgical endoscope is expanded or reduced in comparison with the reference images and adjusts and resets the movement scale factor to correspond to the degree of expansion or reduction; and a control signal generation unit which converts a user command using the control unit to correspond to the reset movement scale factor in order to generate a control signal for the control objects. The present invention can reduce the fatigue of a surgeon in a surgery process and shorten the surgery time while enabling the movement distance of the surgical instruments to be intuitively recognized based on the image information being displayed.