Haptic gloves and surgical robot systems

A surgical robot system, comprising:

• a slave system configured to perform a surgical operation on a patient;
• and
• a master system configured to control the slave system, the master system including a haptic glove configured to be worn by an operator to control the surgical operation of the slave system;
• wherein the haptic glove includes,
• a plurality of vibrators on a first surface of the haptic glove, the plurality of vibrators configured to apply vibrations;
• at least one pressure sensor at a finger part of a second surface of the haptic glove opposite to the first surface, the at least one pressure sensor configured to sense grip force acting between fingers in the finger part;
• at least one sensation applier on the second surface, the at least one sensation applier configured to apply sensations including vibration or force to the finger part;
• and
• a controller configured to output the grip force sensed by the at least one pressure sensor to the master system, and further configured to control the vibrations applied by the plurality of vibrators and the sensations applied by the at least one sensation applier according to a control signal of the at least one sensation applier,
• wherein the master system is configured to receive the signal sensed by a sensor of the slave system to determine at least two of the plurality of vibrators of the haptic glove that are arranged on a finger along a direction corresponding to a direction of a force applied to a surgical tool among the plurality of vibrators, to output a first control signal to control an intensity of a vibration of the determined vibrators such that the vibration generated by the determined vibrators corresponds to a magnitude of the applied force and to control an operating period of the vibration generated by the determined vibrators such that the determined vibrators sequentially operate along a direction of the finger corresponding to the direction of the applied force.

A haptic glove configured to transmit haptic feedback to an operator of a surgical robot system, the haptic glove comprising:

• a plurality of vibrators configured to apply vibrations;
• at least one pressure sensor at a finger part of the haptic glove configured to sense grip force acting between fingers in the finger part;
• at least one sensation applier configured to apply sensations including vibration or force to the finger part;
• and
• a controller configured to output the grip force sensed by the at least one pressure sensor, configured to control the vibrations applied by the plurality of vibrators, and configured to control the sensations applied by the at least one sensation applier,
• wherein the controller is configured to determine at least two of the plurality of vibrators of the haptic glove that are provided on a finger in a direction corresponding to a direction of a force applied to a surgical robot of the surgical robot system during surgery among the plurality of vibrators, and is configured to control an intensity of a vibration of the determined vibrators such that the vibration generated by the determined vibrators corresponds to a magnitude of the applied force, and is configured to control an operating period of the vibration generated by the determined vibrators such that the determined vibrators sequentially operate along a direction of the finger corresponding to the direction of the applied force.