Surgical robot apparatus, and method for driving surgical robot apparatus

A surgical robot apparatus comprising:

• a passive arm, of which a position is set before performing surgery;
• an active arm connected to the passive arm, and configured to be driven to manipulate a surgical tool while performing surgery;
• a sensor unit installed, at a joint in the active arm;
• a cannula holder which is installed at an end portion of the active arm and in which a cannula for holding the surgical tool is inserted;
• and
• a controller configured to move the position of the passive arm based on data about a force and a torque measured by the sensor unit, or rotate the active arm with respect to the passive arm based on data about the torque.

A method of driving a surgical robot apparatus, the method comprising:

• setting a position of a passive arm, by manipulating, by a user, a cannula holder on which a cannula is not installed;
• installing the cannula on the cannula holder;
• calculating a force and a torque, by a sensor unit, applied to the cannula, the sensor unit being installed at the cannula holder and an end portion of the active arm;
• when the calculated force or torque exceeds a preset range, correcting the position of the passive arm by manipulating, by the user, an input device;
• installing a surgical tool on the cannula;
• and
• calculating, by the sensor unit, a force and torque applied to the surgical tool.