REMOTE SURGICAL OPERATION ROBOT SYSTEM CAPABLE OF TRANSFERRING THE CONTACT FORCE BETWEEN A SURGICAL OPERATION DEVICE AND A BODY TISSUE TO A SURGEON, AND A CONTROL METHOD THEREOF

摘要

PURPOSE: A remote surgical operation robot system and a control method thereof are provided to simply sense the deformation of a device for an operation during a remote endoscopic operation process by using an endoscopy image.;CONSTITUTION: A remote surgical operation robot system comprises a master robot(1) and a slave robot(2). The slave robot executes a surgical operation by the remote control of the master robot. The master robot comprises a deformation perception part(690). The deformation perception part includes a displacement calculation part(650) and a power calculation part(660). The displacement calculation part calculates the displacement due to the real deformation of a device. The power calculation part determines power corresponding to the displacement based on a modeling which uses the characteristic information of the shaft of the device.;COPYRIGHT KIPO 2011