Bi-planar fluoroscopy guided robot system for a minimally invasive surgical and the control method
AssigneeIndustry-University Cooperation Foundation, HANYANG UNIVERSITY, a university foundation of Seo
InventorsYoung Soo Kim, Byung-Ju Yi, Jong-II Park, Sung-min Kim, Se Min Oh
Life of this patent
Estimating the term…
Abstract
Disclosed is a computer-integrated surgery aid system for minimally invasive surgery and a method for controlling the same. The system includes a surgery planning system for creating three-dimensional information from two-dimensional images obtained by means of biplanar fluoroscopy so that spinal surgery can be planned according to the image information and a scalar-type 6 degree-of-freedom surgery aid robot adapted to be either driven automatically or operated manually.
Claims14
A computer-integrated surgery aid system for minimally invasive surgery using a computer and a surgery aid robot, the system comprising:
- a frame having a ring shape;
- a plurality of radioactive generators positioned on an identical vertical surface of the frame at intervals of 90°, the radioactive generators irradiating X-ray signals to upper and lateral surfaces of a surgical object, respectively;
- a plurality of image pickups positioned on the frame while facing the radioactive generators, the image pickups receiving planar and lateral radioactive rays transmitted through the surgical object, respectively;
- a computer for receiving planar and lateral two-dimensional images of the surgical object from the image pickups and processing the two-dimensional images according to an algorithm so that three-dimensional position information of a surgical part of the surgical object is created;
- a monitor for displaying both two-dimensional images processed by the computer and an image corresponding to the three-dimensional position information;
- and
- a surgery aid robot for guiding the position and entry angle of a surgical instrument according to a position of the surgical part with reference to data obtained from the computer, the surgery aid robot having a plurality of robot links connected to one another by joints, a surgical instrument support platform coupled to a guide arm corresponding to a distal robot arm, and a guide arm rotational means for rotating the guide arm so that an angle of the surgical instrument support platform is adjusted,
- wherein at least a second robot link of the plurality of robot links has a manufactured bend therein to minimize the size of the whole robot arm.
(canceled)
A computer-integrated surgery control method for minimally invasive surgery using a computer and a surgery aid robot, the method comprising the steps of:
- (a) moving the surgery aid robot along a predetermined path and photographing the surgery aid robot so that the surgical space is aligned with the image coordinates;
- (b) positioning a surgical object on a surgical table and obtaining planar and lateral images of the surgical object;
- (c) finding a point corresponding to a surgical part of the surgical object and creating three-dimensional position information by the computer so that a surgery path is planned with respect to the point;
- (d) transmitting surgery path data to the surgery aid robot;
- and
- (e) guiding position and entry angle of a surgical instrument according to the position of the surgical part with reference to the surgery path data by the surgery robot.
Dependencies are inferred from the claim text.