Bi-planar fluoroscopy guided robot system for minimally invasive surgery and the control method thereof
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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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.
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Citations
10 Claims
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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:
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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, and wherein 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, and wherein 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. - View Dependent Claims (2, 3, 4, 9, 10)
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5. A computer-integrated surgery control method for minimally invasive surgery using a computer and a surgery aid robot, the method comprising the steps of:
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(a) obtaining biplanar images of a surgical space absent a surgical object; (b) subsequently moving the surgery aid robot along a predetermined path within the surgical space and photographing the surgery aid robot as the surgery aid robot moves within the surgical space to obtain image coordinates of the surgery aid robot within the surgical space; (c) aligning the biplanar images of the surgical space with the image coordinates of the surgery aid robot within the surgical space by defining a coordinate relationship between the biplanar images and the image coordinates; (d) thereafter positioning a surgical object within the surgical space and obtaining planar and lateral images of the surgical object; (e) selecting 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; (f) transmitting surgery path data to the surgery aid robot; and (g) 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, wherein each of a first three robot links of the plurality of robot links comprises a rotational means, the rotational means comprising a reduction motor and a differential device for transmitting rotational force of the reduction motor to a sequential robot link, the rotational means being positioned such that each of the plurality of robot links can be rotated axially and vertically. - View Dependent Claims (6, 7, 8)
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Specification