REMOTE SURGICAL ROBOT SYSTEM AND METHOD FOR CONTROLLING SAME, FOR PROVIDING INDIRECT SURGICAL FEEL

摘要

The present invention relates to a remote surgical robot system and to a method for controlling same, capable of simply detecting deformation, such as the bending of a surgical instrument mounted on a robot arm when contacting human tissue during endoscopic surgery using a laparoscope, etc., on the basis of an endoscopic image, and enabling that force to be felt through the means for controlling the robot arm, in order to assist in facilitating surgery by providing the surgeon with a similar feel to that of manually performing surgery. The surgical robot control method according to the present invention can calculate the displacement of instrument deformation during the insertion of the instrument into the human body during a surgical procedure, and can determine the force exerted on the instrument inside the human body on the basis of the displacement. In order to induce better deformation of the instrument and to facilitate the measurement of displacement, suitable materials can be used to change the amount of deformation at suitable locations on the shaft of an instrument in accordance with the targeted application.