SURGICAL ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME

摘要

A surgical robot system according to an embodiment comprises: a slave device having surgical tools; and a master device which remote controls actions of the surgical tools. The master device comprises: handle units which control actions of the surgical tools; a master external force estimation unit which estimates external force applied to the handle units; a power compensation unit which produces a first power control signal for offsetting the estimated external force; and a master control unit which moves and rotates each joint of the handle unit in order for the handle unit to offset the applied external force using the produced power control signal.