JP2011502807A - ロボット具有装置、医療ワークステーションおよび、対象物を位置決めする方法 - Google Patents
ロボット具有装置、医療ワークステーションおよび、対象物を位置決めする方法 Download PDFInfo
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- JP2011502807A JP2011502807A JP2010533615A JP2010533615A JP2011502807A JP 2011502807 A JP2011502807 A JP 2011502807A JP 2010533615 A JP2010533615 A JP 2010533615A JP 2010533615 A JP2010533615 A JP 2010533615A JP 2011502807 A JP2011502807 A JP 2011502807A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Abstract
Description
対象物の特異箇所または対象物に配置されたマーカを検出する検出装置と、検出装置によって検出された特異箇所またはマーカに基づいて対象物の位置を算定するための処理装置とからなるナビゲーションシステムと、
ナビゲーションシステムの検出装置が取り付けられた複数の回転軸を有するロボットと、
を有する装置によって解決される。
Claims (11)
- 対象物(P)の特異箇所または前記対象物(P)に配置されたマーカ(M)を検出する検出装置(18)と、前記検出装置(18)によって検出された前記特異箇所または前記マーカ(M)に基づいて前記対象物(P)の位置を決定する処理装置(17)とを備えるナビゲーションシステム(17、18)と、
前記ナビゲーションシステムの前記検出装置(18)が取り付けられた複数の回転軸(1〜6)を有するロボット(R)と、
を有する装置。 - 前記検出装置は、光学式検出装置(18)特にカメラ(20)、レーザトラッキングシステム、バターン化されたライト用のプロジェクタまたはリニアプロジェクタを有し、ならびに/もしくは、前記ロボット(R)に組み込まれた要素であるか、または剛的に、ただし着脱式に前記ロボット(R)に取り付けられている請求項1記載の装置。
- 前記検出装置(18)は、前記ロボット(R)のロボットアーム(A)に組み込まれた要素であるか、または剛的に、ただし着脱式に前記ロボットアーム(A)に取り付けられている請求項2記載の装置。
- 前記ロボット(R)に取り付けられた照明装置(19)を有する請求項1〜3のいずれか一項記載の装置。
- 前記装置の前記ロボット(R)は、
前記対象物(P)の前記マーカ(M)または前記特異箇所を自動的に位置決めし、
前記対象物(P)の運動を認識して、認識された前記運動に基づいて自動的に前記マーカ(M)または前記特異箇所の位置を更新し、
一定の時間経過後に自動的に前記マーカ(M)または前記特異箇所を新たに位置決めし、ならびに/もしくは、
前記マーカ(M)または前記特異箇所を走査によりならびに/もしくは記録によって位置決めする
ように構成されている請求項1〜5のいずれか一項記載の装置。 - 前記装置の前記ロボット(R)には医療器具特に外科器具(21)が取り付けられている請求項1〜5のいずれか一項記載の装置。
- 請求項1〜6のいずれか一項記載の医療技術装置と、前記対象物として生物(P)を載置するために設けられた患者ベッドシート(L)とを備えたワークステーション。
- 対象物(P)の特異箇所または前記対象物(P)の表面に配置されたマーカ(M)を、前記特異箇所または前記対象物(P)に配置されたマーカ(M)を検出するナビゲーションシステムの検出装置(18)が取り付けられたロボット(R)によって自動的に位置決めするステップであって、前記ナビゲーションシステムは、前記検出装置(18)によって検出された前記特異箇所または前記マーカ(M)に基づいて前記対象物(P)の位置を算定する処理装置(17)を有する、ステップを有する対象物を位置決めする方法。
- 前記対象物(P)の運動を自動的に認識して、前記対象物(P)の前記認識された運動に基づいて前記マーカ(M)または前記特異箇所の位置を自動的に更新するステップと、
一定の時間経過後に前記マーカ(M)または前記特異箇所の位置決めを自動的に反復するステップと、
前記マーカ(M)または前記特異箇所を位置決めするように、前記ロボット(R)によって前記特異箇所または前記マーカ(M)を自動的に走査するステップと、
前記マーカ(M)または前記特異箇所を位置決めするように、前記特異箇所または前記マーカ(M)を自動的に記録するステップと、
をさらに有する請求項8記載の方法。 - 前記検出装置は、光学式検出装置(18)、特にカメラ(20)、レーザトラッキングシステム、パターン化されたライト用のプロジェクタまたはリニアプロジェクタを有し、ならびに/もしくは、前記ロボット(R)に組み込まれた要素であるか、または剛的に、ただし着脱式に前記ロボット(R)に取り付けられている請求項8または9記載の方法。
- 前記検出装置(18)は、前記ロボット(R)のロボットアーム(A)に組み込まれた要素であるか、または剛的に、ただし着脱式に前記ロボットアーム(A)に取り付けられている請求項10記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102007055203A DE102007055203A1 (de) | 2007-11-19 | 2007-11-19 | Einen Roboter aufweisende Vorrichtung, medizinischer Arbeitsplatz und Verfahren zum Registrieren eines Objekts |
PCT/EP2008/065753 WO2009065827A1 (de) | 2007-11-19 | 2008-11-18 | Einen roboter aufweisende vorrichtung, medizinischer arbeitsplatz und verfahren zum registrieren eines objekts |
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JP2011502807A true JP2011502807A (ja) | 2011-01-27 |
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JP2010533615A Pending JP2011502807A (ja) | 2007-11-19 | 2008-11-18 | ロボット具有装置、医療ワークステーションおよび、対象物を位置決めする方法 |
Country Status (5)
Country | Link |
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US (1) | US8392022B2 (ja) |
EP (1) | EP2211751B1 (ja) |
JP (1) | JP2011502807A (ja) |
DE (1) | DE102007055203A1 (ja) |
WO (1) | WO2009065827A1 (ja) |
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WO2009065827A1 (de) | 2009-05-28 |
US20100274389A1 (en) | 2010-10-28 |
DE102007055203A1 (de) | 2009-05-20 |
EP2211751A1 (de) | 2010-08-04 |
EP2211751B1 (de) | 2017-09-20 |
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