SURGICAL ROBOT CONTROL SYSTEM AND METHOD, AND NEEDLE DIRECTION ADJUSTMENT APPARATUS AND METHOD THEREOF

摘要

PURPOSE: A control system and method of a surgical robot, and an apparatus and a method for adjusting the direction of a needle thereof are provided to allow an operator to easily adjust the direction of a needle not needing to operate a robot arm when a blood vessel is detected during surgery, thereby preventing the blood vessel from being damaged and minimizing blood consumption of a patient. CONSTITUTION: A control system of a surgical robot comprises a needle operating unit which sets a needling target of a robot arm and performs needling by moving the robot arm toward the needling target; a signal transceiver unit (120) which transmits periodically an ultrasonic signal to the needling target and receives a reflected signal of the ultrasonic signal; a transition speed calculation unit (130) which calculates a transition speed of a reflecting spot based on the reflected signal; and a needle direction adjustment unit (140) which adjusts a progressing direction of a needle if the transition speed calculated by the transition speed calculation unit is greater than a predetermined value. [Reference numerals] (110) Needle driving unit; (120) Signal transceiver unit; (130) Transition speed calculation unit; (140) Needle direction adjustment unit; (150) High frequency pass filter