METHOD FOR DETERMINING HYSTERESIS OF SURGICAL ROBOT

The present invention relates to a method for determining a hysteresis of a surgical robot. Disclosed is the method for determining the hysteresis of the surgical robot comprising: a step of photographing, by an endoscope camera, an image of the surgical robot; and a step of determining, by a contro...

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Bibliographic Details
Main Authors SEO JU HWAN, KIM JOON HWAN, KWON DONG SOO, BAEK DONGHOON, AHN JEONGDO, YIU JAE MIN, KIM HAN SOUL
Format Patent
LanguageEnglish
Korean
Published 10.12.2021
Subjects
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Summary:The present invention relates to a method for determining a hysteresis of a surgical robot. Disclosed is the method for determining the hysteresis of the surgical robot comprising: a step of photographing, by an endoscope camera, an image of the surgical robot; and a step of determining, by a control part, a hysteresis that determines a driving error based on a difference between a driving input of the control part and a driving displacement of a rendered image selected through a characteristic vector extracted by a hysteresis evaluation model. Therefore, the present invention is capable of improving a control accuracy of a surgical tool. 본 발명은 수술 로봇의 히스테리시스를 결정하는 방법에 관한 것이다. 이를 위해 내시경 카메라가 수술 로봇의 이미지를 촬영하는 단계, 및 제어부의 구동 입력과 히스테리시스 평가 모델에 의해 추출된 특성 벡터를 통해 선택된 렌더링된 이미지의 구동 변위와의 차이에 기초하여 구동 오차를 제어부가 결정하는 히스테리시스를 결정하는 단계를 포함하는 것을 특징으로 하는 수술 로봇의 히스테리시스를 결정하는 방법이 개시된다.
Bibliography:Application Number: KR20210166342