Surgical robot system for minimally invasive surgery and collision prevention method using the same

This technology is a surgical robot system for minimally invasive surgery that generates a 3D model of the inflated abdominal cavity by registering multi-view endoscopic images, and predicts and prevents collision risks by comparing real-time robotic arm position data with key biological elements within the 3D model during surgery.

Preoperative CT and MRI scans are limited to the state of the body before inflation, creating a discrepancy with the actual surgical environment. Furthermore, existing robotic surgery systems struggle to prevent collisions between robotic tools and biological tissues in non-visible areas due to limited fields of view.

This technology involves inserting an endoscope into the abdominal cavity before surgery to acquire multiple 2D and 3D images, which are then registered into a 3D model. By estimating the real-time position of the robotic arm during surgery and mapping it onto this 3D model, the system calculates collision risks and provides feedback to the control unit, enabling collision prevention even in non-visible areas. By predicting and preventing collisions in areas outside the surgeon's field of view during laparoscopic robotic surgery, this technology serves as a core foundation for fundamentally enhancing surgical safety.

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Key Features:

• Configuration for acquiring multi-view 2D and 3D images using an endoscope inserted into the abdominal cavity before surgery
• Image registration unit that generates a 3D model of the inflated abdominal cavity by registering the acquired images
• Position estimation unit that maps the real-time position of the robotic arm onto the 3D model during surgery
• Predicts collision risks by comparing the robotic arm's position with key biological elements in the 3D model and provides feedback to the control unit