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| 국가/구분 | United States(US) Patent 등록 |
|---|---|
| 국제특허분류(IPC7판) |
|
| 출원번호 | US-0170540 (1993-12-20) |
| 발명자 / 주소 |
|
| 출원인 / 주소 |
|
| 인용정보 | 피인용 횟수 : 764 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 surgical planning system, comprising: means for inputting first data specifying cross-sectional images of a region of tissue into which a device is to be implanted; means for inputting second data specifying a three dimensional representation of the device; and data processor means, responsive to
A surgical planning system, comprising: means for inputting first data specifying cross-sectional images of a region of tissue into which a device is to be implanted; means for inputting second data specifying a three dimensional representation of the device; and data processor means, responsive to inputs from an operator of the system and to the first data and the second data, for interactively superimposing a cross-sectional image of the three dimensional representation of the device to be implanted upon an operator selected cross-sectional image of the region of tissue, the data processor means including means for displaying superimposed cross-sectional images to the operator, the data processor means further including means for developing a surgical data file containing data for specifying a location of a quantity of tissue to be removed from the region of tissue in order to implant the device at an operator-selected location within the region of tissue.
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