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

Collision Avoidance System for Surgical Robots Based on Endoscopic 3D Image Registration

This technology is a minimally invasive surgical robot system that generates a 3D environmental model of the inflated abdominal cavity by registering multiple endoscopic views. It predicts and prevents collision risks by comparing real-time robotic arm position data during surgery with key biological structures within the 3D model.

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 proposes a method of inserting an endoscope into the abdominal cavity before surgery to acquire multiple 2D and 3D images, registering them into a 3D model, and mapping the real-time position of the robotic arms onto this model. By calculating collision risks and providing feedback to the control unit, it prevents collisions 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:

• An endoscopic device equipped with an endoscope that is inserted into the inflated surgical space prior to robotic surgery to capture images of the area.
• An image processing unit that uses multiple 2D or 3D images to generate a 3D model of the surgical space, highlighting key biological structures.
• A surgical robot system comprising robotic arms inserted into the surgical space, a control unit for operating them, and an endoscope.
• A collision avoidance unit that prevents collisions between the surgical robotic devices and the key biological structures identified in the 3D model.

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This invention was developed with support from the Ministry of Science and ICT for research on the development of next-generation surgical robot systems through collision avoidance for surgical robotic arms.