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Bi-planar fluoroscopy guided robot system for minimally invasive surgery and the control method thereof

  • US 8,046,054 B2
  • Filed: 09/11/2006
  • Issued: 10/25/2011
  • Est. Priority Date: 01/23/2006
  • Status: Expired due to Fees
First Claim
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1. 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 through a surgical space, as well as to upper and lateral surfaces of a surgical object, respectively, when the surgical object is placed within the surgical space;

    a plurality of image pickups positioned on the frame while facing the radioactive generators, respectively, the image pickups receiving planar and lateral radioactive rays transmitted through the surgical space, as well as through the surgical object when the surgical object is within the surgical space;

    a surgery aid robot;

    a computer for receiving planar and lateral two-dimensional images of the surgical space alone, as well as for receiving planar and lateral two-dimensional images of the surgical space when the surgery aid robot is moved along a predetermined path within the surgical space to obtain image coordinates of the surgery aid robot,wherein the computer performs least square fitting using the image coordinates to align the surgical aid robot directly with the surgical space, andwherein the computer also receives planar and lateral two-dimensional images of the surgical object from the image pickups when the surgical object is placed within the surgical space, and the computer processes the two-dimensional images of the surgical object according to an algorithm so that three-dimensional position information of the surgical object is created with respect to the alignment between the surgical space and the surgery aid robot;

    a monitor for displaying both two-dimensional images processed by the computer and an image corresponding to the three-dimensional position information;

    the surgery aid robot for guiding the position and entry angle of a surgical instrument according to a position of the surgical object 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, and a guide arm rotational means for rotating the guide arm so that an angle of the surgical instrument support platform is adjustable,wherein the guide arm'"'"'s rotational means is a differential device for transmitting rotational force of a reduction motor positioned on a robot arm adjacent to the guide arm so that the guide arm is rotated axially and vertically, andwherein the differential device comprises a driving gear rotated by the driving force of the reduction motor;

    a pair of differential pinions engaging with the driving gear and rotating synchronously, the differential pinions being positioned on both sides of a differential shaft coaxial with the robot arm adjacent to the guide arm; and

    a differential side gear positioned on a shaft of the guide arm, both sides of the differential side gear engaging with the differential pinions, respectively.

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