# US 2026/0097482 A1 · Method and apparatus for driving surgical instruments > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0097482 A1 - Document ID: US20260097482A1 - Status: Published application - Kind: A1 - Application number: 19/054,270 - Filed: 2025-02-14 - Published: 2026-04-09 - Earliest claimed: 2024-10-04 - Assignees: Livsmed Inc. - Applicants: Livsmed Inc. - Inventors: Young Wan KIM; Yeon Taek JEONG; Dong Hyuk KIM - Web page: https://patentgrep.com/patent/US20260097482A1 ## CPC - B25J 3/00: Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - G05B 15/02: electric - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract Provided is a method and apparatus for driving surgical instruments. In the method, a first position reference point and a second position reference point may be set. In some embodiments, in the method, first position information regarding a relationship among the first position reference point, the second position reference point, and a position of a first robot may be generated, and second position information regarding a relationship among the first position reference point, the second position reference point, and a position of a second robot may be generated. In some embodiments, in the method, third position information regarding a relationship between the position of the first robot and the position of the second robot may be generated based on the first position information and the second position information. ## Claims ### Claim 1 A method comprising: setting a first position reference point and a second position reference point; generating first position information regarding a relationship among the first position reference point, the second position reference point, and a position of a first robot, and generating second position information regarding a relationship among the first position reference point, the second position reference point, and a position of a second robot; and generating third position information regarding a relationship between the position of the first robot and the position of the second robot based on the first position information and the second position information. ### Claim 2 (depends on 1) The method of claim 1, wherein the first position information includes relative position information of the first robot determined based on the first position reference point and the second position reference point, and the second position information includes relative position information of the second robot determined based on the first position reference point and the second position reference point. ### Claim 3 (depends on 1) The method of claim 1, wherein at the first position reference point, a first-1 component of the first robot and a second-1 component of the second robot are located, and at the second position reference point, a first-2 component of the first robot and a second-2 component of the second robot are located. ### Claim 4 (depends on 1) The method of claim 1, wherein the generating of the first position information and the second position information includes calculating a first vector value for the first position reference point and the second position reference point based on the position of the first robot, and calculating a second vector value for the first position reference point and the second position reference point based on the position of the second robot, and the first position information includes the first vector value, and the second position information includes the second vector value. ### Claim 5 (depends on 4) The method of claim 4, wherein the calculating of the first vector value further includes: calculating a first-1 intermediate vector value based on the first position reference point and the position of the first robot; calculating a first-2 intermediate vector value based on the second position reference point and the position of the first robot; and calculating the first vector value based on the first-1 intermediate vector value and the first-2 intermediate vector value, and the calculating of the second vector value further includes: calculating a second-1 intermediate vector value based on the first position reference point and the position of the second robot; calculating a second-2 intermediate vector value based on the second position reference point and the position of the second robot; and calculating the second vector value based on the second-1 intermediate vector value and the second-2 intermediate vector value. ### Claim 6 (depends on 1) The method of claim 1, wherein the generating of the third position information further includes generating the third position information regarding the relationship between the position of the first robot and the position of the second robot based on a correlation between the first position information and the second position information, and the third position information includes a relative angle generated based on the position of the first robot and the position of the second robot. ### Claim 7 (depends on 1) The method of claim 1, further comprising controlling at least one of the first robot and the second robot based on the third position information. ### Claim 8 (depends on 7) The method of claim 7, wherein the controlling further includes: generating driving information based on an operation of the master robot, which controls the first robot and the second robot, and on a transformation relationship among the position of the first robot equipped with a camera, the position of the second robot equipped with a surgical instrument, and a position of the surgical instrument; and controlling at least one of the first robot and the second robot based on the driving information. ### Claim 9 (depends on 8) The method of claim 8, wherein the generating of the driving information further includes: generating first intermediate driving information based on a transformation relationship between a position of an image captured by the camera and the position of the first robot, and operation information of the master robot; generating second intermediate driving information based on a transformation relationship between the position of the first robot and the position of the second robot, and the first intermediate driving information; and generating the driving information based on a transformation relationship between the position of the surgical instrument and the position of the second robot, and the second intermediate driving information. ### Claim 10 An apparatus comprising: at least one memory; and at least one processor, wherein the at least one processor is configured to: set a first position reference point and a second position reference point; generate first position information regarding a relationship among the first position reference point, the second position reference point, and a position of a first robot, and generate second position information regarding a relationship among the first position reference point, the second position reference point, and a position of a second robot; and generate third position information regarding a relationship between the position of the first robot and the position of the second robot based on the first position information and the second position information. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the first position information includes relative position information of the first robot determined based on the first position reference point and the second position reference point, and the second position information includes relative position information of the second robot determined based on the first position reference point and the second position reference point. ### Claim 12 (depends on 10) The apparatus of claim 10, wherein at the first position reference point, a first-1 component of the first robot and a second-1 component of the second robot are located, and at the second position reference point, a first-2 component of the first robot and a second-2 component of the second robot are located. ### Claim 13 (depends on 10) The apparatus of claim 10, wherein the at least one processor is further configured to calculate a first vector value for the first position reference point and the second position reference point based on the position of the first robot, and calculate a second vector value for the first position reference point and the second position reference point based on the position of the second robot, and the first position information includes the first vector value, and the second position information includes the second vector value. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the at least one processor is further configured to: calculate a first-1 intermediate vector value based on the first position reference point and the position of the first robot, calculate a first-2 intermediate vector value based on the second position reference point and the position of the first robot, and calculate the first vector value based on the first-1 intermediate vector value and the first-2 intermediate vector value; and calculate a second-1 intermediate vector value based on the first position reference point and the position of the second robot, calculate a second-2 intermediate vector value based on the second position reference point and the position of the second robot, and calculate the second vector value based on the second-1 intermediate vector value and the second-2 intermediate vector value. ### Claim 15 (depends on 10) The apparatus of claim 10, wherein the at least one processor is further configured to generate the third position information regarding the relationship between the position of the first robot and the position of the second robot based on a correlation between the first position information and the second position information, and the third position information includes a relative angle generated based on the position of the first robot and the position of the second robot. ### Claim 16 (depends on 10) The apparatus of claim 10, wherein the at least one processor is further configured to control at least one of the first robot and the second robot based on the third position information. ### Claim 17 (depends on 16) The apparatus of claim 16, wherein the at least one processor is further configured to: generate driving information based on an operation of the master robot, which controls the first robot and the second robot, and on a transformation relationship among the position of the first robot equipped with a camera, the position of the second robot equipped with a surgical instrument, and a position of the surgical instrument; and control at least one of the first robot and the second robot based on the driving information. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the at least one processor is further configured to: generate first intermediate driving information based on a transformation relationship between a position of an image captured by the camera and the position of the first robot, and operation information of the master robot; generate second intermediate driving information based on a transformation relationship between the position of the first robot and the position of the second robot, and the first intermediate driving information; and generate the driving information based on a transformation relationship between the position of the surgical instrument and the position of the second robot, and the second intermediate driving information. ### Claim 19 (depends on 1) A computer-readable recording medium having recorded thereon a program for causing a computer to execute the method of claim 1.