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| 국가/구분 | United States(US) Patent 등록 |
|---|---|
| 국제특허분류(IPC7판) |
|
| 출원번호 | US-0523611 (1990-05-11) |
| 발명자 / 주소 |
|
| 출원인 / 주소 |
|
| 인용정보 | 피인용 횟수 : 765 인용 특허 : 0 |
A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring
A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28, 32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44). The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.
A robotic surgical system comprising: multiple degree of freedom of manipulator arm means including a surgical tool, the manipulator arm means being coupled to means for controllably positioning the surgical tool during the operation thereof within a three dimensional coordinate system; means for de
A robotic surgical system comprising: multiple degree of freedom of manipulator arm means including a surgical tool, the manipulator arm means being coupled to means for controllably positioning the surgical tool during the operation thereof within a three dimensional coordinate system; means for determining a position of the surgical tool in the three dimensional coordinate system relative to a volumetric model that corresponds at least in part to a volume of tissue to be operated on by the surgical tool, the determining means including redundant means for detecting a position of the surgical tool within the three dimensional coordinate system during the operation of the surgical tool, the detecting means having an output coupled to means for processing the volumetric model for determining the position of the surgical tool relative to the volumetric model, the processing means having an output coupled to a first input of the positioning means for causing the positioning means to suspend a motion of the surgical tool if the position of the surgical tool is detected to lie outside of the volumetric model; and means for measuring a magnitude of a force applied to the surgical tool during the operation of the surgical tool, the force measuring means having an output coupled to a second input of the positioning means for causing the positioning means to suspend a motion of the surgical tool if a force greater than a predetermined force is measured.
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