SURGICAL ROBOT SYSTEM AND CONTROL METHOD THEREOF

摘要

A surgical robot system may include a slave device provided with surgical tools and a master device remotely controlling motion of the surgical tools. The master device may include handles controlling the motion of the surgical tools, a master external force estimator estimating external force applied to the handles, a force compensator generating a first force control signal to cancel out the estimated external force, and a master controller moving and rotating respective joints of the handles in such a way that the external force applied to the handles is canceled out using the generated force control signal.

主权项

1. A surgical robot system comprising:
a slave device provided with surgical tools; and a master device configured to remotely control motion of the surgical tools, the master device including,
a handle configured to control the motion of the surgical tools,a master external force estimation unit configured to estimate an external force applied to the handle,a force compensator configured to generate a first force control signal that cancels out the estimated external force, anda master controller configured to control moving and rotating of respective joints of the handle in such a way that the external force applied to the handle is cancelled out using the generated first force control signal.