Surgical robot system for minimal invasive surgery and method for preventing collision using the same

摘要

The present invention relates to a surgical robot system for minimally invasive surgery and a collision prevention method using the same, specifically, it is possible to obtain a 3D image of an inflated surgical space before performing robot surgery, and the acquired 3D image can be confirmed in advance. In addition, an efficient surgical plan can be established using the 3D image of the inflated surgical space, and further, by performing robotic surgery using the acquired 3D image, it is possible to acquire an image of the entire surgical site without additional incision. , Surgical robot system for minimally invasive surgery that can prevent collision between surgical robot devices inserted into the surgical space and major elements of the living body, and 3D image information about the surgical space inflated before robot surgery using the system And surgical robots inserted into the surgical space It relates to the anti-collision method that can avoid a collision with the main body element.