JPH04231034A - 手術用ロボット装置、骨中への空洞形成装置及び手術計画装置 - Google Patents

手術用ロボット装置、骨中への空洞形成装置及び手術計画装置

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Publication number
JPH04231034A
JPH04231034A JP3109807A JP10980791A JPH04231034A JP H04231034 A JPH04231034 A JP H04231034A JP 3109807 A JP3109807 A JP 3109807A JP 10980791 A JP10980791 A JP 10980791A JP H04231034 A JPH04231034 A JP H04231034A
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JP
Japan
Prior art keywords
surgical tool
quantitative model
tissue
bone
surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP3109807A
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English (en)
Other versions
JPH0763472B2 (ja
Inventor
Edward Glassman
エドワード、グラスマン
William A Hanson
ウイリアム、アーサー、ハンソン
Peter Kazanzides
ピーター、カザンジデス
Brent D Mittelstadt
ブレント、ディー、ミッテルシュタット
Bela L Musits
ベラ、ルイス、ムシッツ
Howard A Paul
ハワード、エー、ポール
Russell H Taylor
ラッセル、ハイスミス、テイラー
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International Business Machines Corp
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International Business Machines Corp
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Application filed by International Business Machines Corp filed Critical International Business Machines Corp
Publication of JPH04231034A publication Critical patent/JPH04231034A/ja
Publication of JPH0763472B2 publication Critical patent/JPH0763472B2/ja
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
    • A61F2002/4633—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery for selection of endoprosthetic joints or for pre-operative planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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  • Surgery (AREA)
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  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Manufacturing & Machinery (AREA)
  • Transplantation (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Vascular Medicine (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Human Computer Interaction (AREA)
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  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。

Description

【発明の詳細な説明】
【０００１】本発明は、一般にロボット・システムに関
し、特に、多重自由度ロボット及び冗長運動の監視を含
む手術システムを備えた対話型コンピュータ・トマグラ
フィ（ＣＴ）を基調とする手術前計画部品を統合するロ
ボット・システムに関する。セメントを使用しない補綴
腰部移植を受け入れるための精密に決定された形状の大
腿骨空洞を作るシステムについてその応用方法を図解的
に説明する。
【０００２】〔発明の背景〕コンピュータによるトモグ
ラフィ（ＣＴ）画像作成及びコンピュータによるモデル
作成方法が、手術前計画、シミュレーション、及び、後
続する手術の精度を遥かに超越した個別移植設計に精度
を提供することは実証されている。例えば、毎年行われ
る全体で約３００，０００件の腰部置換手術の約半分は
、セメントを使用しない移植である。移植の安定性、移
植から骨への均一なストレス移動及び適当な生体力学の
回復は、効力に批判的な影響を及ぼし、ひいては、骨に
対して移植を適切に配置することに大きく影響される。 移植を適切に配置するために重要な要因は、移植の形状
に適合するように精度の高い大腿骨空洞を作ることであ
る。
【０００３】最近報告された研究によると、移植と骨の
間の間隙が骨の内向成長に大きく影響することが確認さ
れている。大腿骨空洞を作るための標準的な手動ブロー
チング技法に関する或る研究によると、移植と骨の間の
間隙は一般に１ミリメートルから４ミリメートルの範囲
であり、作られた穴の全体の大きさは、穴あけに使用し
たブローチよりも３６％も大きく判明した。その結果、
移植を穴に挿入した場合、移植のわずか１８−２０パー
セントが実際に骨に接触しているに過ぎない。更に、生
体力学の回復に影響する骨における移植空洞をどの位置
に作るかと言うことは、ブローチをどこに当てるかと言
う事と同様に外科医の側の配置決定に関する問題である
。
【０００４】一般に、精密な手術は、例えば脳生検の場
合のように、手順によって制限される。尤も、脳生検の
場合には、定位フレームが利用できる。しかしながら、
この種の装置の不便さ、及び、適用性が制限のために、
ＣＴその他の画像データによって計画された幾何学的に
精密な作業を実施する外科医の能力を補充する目的で、
ロボットの使用が研究されるようになった。
【０００５】ロボットのような動く装置が患者の周辺で
使われる場合には、安全について充分検討しなければな
らない。用途によっては、手順のうちのロボットが関係
ない局面では、ロボットは動く必要がない。この種の用
途では、ロボットは、受動的な用具ガイド、または、ホ
ルダを患者に対して所要の位置と方向に動かす。次に、
ブレーキがかけられ、モーター電源が遮断され、外科医
は、手術機器のために必要な動機力を供給する。別の場
合には、画像を基調とする手術計画に対して計器が配置
された場所で外科医にフィードバックするために、計器
付き受動的装置に依存することとなる。
【０００６】ＩＢＭ研究レポート（ＲＣ　　１４５０４
（＃６４９５６）３／２８／８９）３／２８／８９）に
は、Ｒ．　Ｈ．　Ｔａｙｌｏｒと共同研究者によって、
セメント無し腰部移植を受け入れるための正しい形状の
穴を大腿骨にあけるロボット・システムが報告されてい
る。このシステムは、ＣＴを基調とする骨座標データと
ロボット・カッタ座標の間の変換を計算する。この変換
の一部は、手術前に大腿骨に固定されてＣＴ画像化され
た３個の配列ピンのそれぞれの上面を位置決めするため
の触覚探索と案内動作を組み合わせて実施される。この
ロボット・システムは、工具の経路が計画された仕事量
からはみ出さないことを確認するために、ロボット運動
の冗長チェックを行なう視覚サブシステムを備える。手
術の進行を外科医が監視できるように、オンライン・デ
ィスプレイを備える。この場合、ロボット・ベースに対
するピンのその後のあらゆる運動を検出するために、近
接センサを配置しても差し使えない。
【０００７】〔発明の概要〕本発明は、手術用ツールを
そなえた多重運動自由度マニピュータ・アームをもつ手
術用ロボット・システムを開示する。アームは、三次元
座標系内で手術用ツールを制御可能に位置決めするため
の制御装置に結合される。このシステムは、更に、三次
元座標系において、量的モデルに対して手術用ツールの
位置を決定するための装置を含む。この決定装置は、例
えば、マニピュレータ腕の少なくとも一部を含む空間領
域を画像化するために配置された光学追跡システムのよ
うな、手術用ツールの場所を検出する装置を含む。追跡
システムの出力は、手術用ツールが所定の空間量の外に
位置するかどうかを決定するために、量モデルを処理す
る処理装置に結合される。このシステムは、更に、例え
ば骨のような固定された組織と基準点の間のあらゆる滑
りを三次元的に検出するための歪計、及び、手術用ツー
ルに結合された力センサを備えた冗長安全チェックを含
む。ツールが量モデルの外で作動することを防止するた
めにツールの運動を停止する目的で多重冗長安全装置が
用いられる。量モデルの座標及び構造は、手術前計画会
期中に決定される。この場合、外科医は、移植を設置し
ようとする骨の画像に対して、適当な形状の移植を対話
的に選択して、位置決めする。
【０００８】〔実施例〕図１は、手術用ロボット・シス
テム１０の実施例を示す構成図である。システム１０は
、マニピュレータ腕１４とベース１６で構成されるロボ
ット１２を備える。腕１４は、少なくとも５本の運動軸
をもち、自由度４の運動を可能にする複数個のジョイン
ト（Ｊ）電動機Ｊ１，Ｊ２，Ｊ３、及び、Ｊ４と、本実
施例の場合には、第５の自由度をもたせるピッチ電動機
（ＰＭ）１８を備える。本発明の本実施例において、ロ
ボット１２は、付加的ピッチ軸を備えた自由度４のＩＢ
Ｍ７５７５、または、７５７６　　ＳＣＡＲＡマニピュ
レータである（ＩＢＭは、インターナショナル・ビジネ
ス・マシーンズ社の登録された登録商標である）。この
場合、ＰＭ１８は、失速検出を主目的とするエンコーダ
付きステッパー電動機であり、ユーザーが供給する加速
度、速度及び距離に関するコマンドを受け入れるタイプ
の市販されているインデクサにより制御される。各々の
マニピュレータ腕接続部は、関連制御マイクロプロセッ
サを備える。
【０００９】ロボット１２は、更に自由度６の手首に設
置された力センサ２０を備える。この場合の力センサと
しては、最大の力限界が３０ポンドで解像力が１／４０
ポンドの荷重力／トルク手首センサＦ／Ｔ−３０／１０
０型が適当である。力センサ２０は、直列または並列イ
ンタフェースを介してロボット制御装置２４に接続され
る。
【００１０】ロボット１２は、更に、円筒形高速（６５
０００ｒｐｍ　）空気式手術用切断用具２２をもつエン
ド・エフェクタを備える。手術に際しては、ロボットの
エンド・エフェクタ以外は全て無菌スリーブで覆われ、
エンド・エフェクタは別途殺菌される。ロボット１２は
、手術領域に容易にアクセスできるように、手術台に対
して配置される。
【００１１】ロボット制御装置２４は、ＡＭＬ／２言語
を使用し、サーボ制御、低レベル監視、センサ用インタ
フェース、及び、高レベル応用機能を実施する。現在使
用される制御装置２４は、工業用ＩＢＭパーソナル・コ
ンピュータＡＴデータ処理装置であり、プロセッサ・バ
スにプラグを差し込んで接続される適当なプリント回路
カードによって、低レベル・サーボ制御、及び、力セン
サ・インタフェースが行われる（パーソナル・コンピュ
ータＡＴは、インターナショナル・ビジネス・マシーン
ズ社の登録された登録商標である）。制御装置２４は、
ＡＭＬ／２言語インタプレタ及び運動制御システム（Ｍ
ＣＳ）ソフトウェアを含む。このソフトウェアの商業用
バージョンは、「ＡＭＬ−２言語リファレンス・マニュ
アル」マニュアル＃Ｇ７Ｘ１３６９および「ＡＭＬ−２
製造管理システム・ユーザー・ガイド」マニュアル＃Ｇ
６７Ｘ１３７０に記述されており、双方共にＩＢＭ　　
Ｍａｎｕｆａｃｔｕｒｉｎｇ　　Ｓｙｓｔｅｍｓ　　Ｐ
ｒｏｄｕｃｔｓ　（Ｂｏｃａ　　Ｒａｔｏｎ、フロリダ
）から入手可能である。
【００１２】本実施例において、ＡＭＬ／２ソフトウェ
アは、ＰＭ１８のオペレーション、及び、力センサ２０
に適合するように修正されている。手術に際して、冗長
安全チェック、をサポートするために、採用される整列
ピンを位置決めするための触覚探索、及び、外科医によ
る従順運動の案内を支援するために、力監視処理装置（
ＦＭＰ）５３と共に力センサ２０が用いられる。ＦＭＰ
５３は、手首設置された力センサ２０にインターフェイ
スされ、カッタ２２チップで分析された力およびトルク
を計算する。図４のグラフに示すように、約１．５Ｋｇ
ｆ（Ｌ１）よりも大きいカッタ２２チップ力が検出され
た場合には、ロボット制御装置２４は、運動を凍結させ
るように合図される。約３Ｋｇｆ（Ｌ２）より大きい力
がかかった場合には、腕電源が除去され、腕１４「シャ
ットダウン」状態となる。力センサ２０は、カッタ２２
の失速、柔らかい組織の不適当な切除、及び、例えば小
柱と皮質性の骨の間で起きるような骨硬度の変化に遭遇
したような状態の検出に効果的である。更に、後で述べ
る入力端末として外科医が使用するための手提げペンダ
ント２６が制御装置２４に結合される。
【００１３】本実施例における運動監視サブシステムは
、空間的に分離された３個のイメージ・センサ３０ａ，
３０ｂ及び３０ｃをもつカメラ２８を備えた光学追跡シ
ステムで構成される。例えばＬＥＤＳ３４のような複数
個の赤外線（ＩＲ）ビーコンの位置及び方向を三次元で
視覚的に追跡するカメラ処理装置３２がカメラ２８に結
合される。この場合、赤外線ビーコンは、ロボットのエ
ンド・エフェクタに結合されたリファレンス・プレート
３６に設置される。光学追跡システムは、手術の切除段
階において、カッタ２２チップが指定された移植量から
所定量以上それないことを確認するために用いられる多
数の冗長運動検出システムのうちの１つに過ぎない。こ
こに示す本発明の好ましい実施例において使用される光
学追跡システムは、Ｎｏｒｔｈｅｒｎ　　Ｄｉｇｉｔａ
ｌ　社製Ｏｐｔｏｔｒａｋとして知られているタイプで
ある。３個のイメージセンサ３０ａ−３０ｃは堅固な枠
に設置された線走査装置であり、ＩＲ発光ダイオード３
４の位置を、三次元空間における０．１ｍｍ／ｍの精度
で追跡する。
【００１４】本実施例におけるリファレンス・プレート
３６は、位置ビーコンとして機能する８個の発光ダイオ
ード３４を備える。ビーコン所在場所からのカメラを基
調とする座標システムを計算するために、カメラ処理装
置３２ソフトウェアが用いられる。ロボットからカメラ
へ、及び、カッタからリファレンス・プレートへの変換
は、線形化された適切なモデルを使用し、様々な既知の
位置におけるロボット腕１４を用いて入手したデータか
らの最小二乗法によって計算される。
【００１５】光学追跡システムの出力３２ａは、安全監
視処理装置３８に結合される。この安全監視処理装置は
、その１つの機能として、選定された移植と関連して予
定された空間的な量の範囲からカッタ２２が出ていない
ことを確認するタスクをもつ。処理装置３８は、カメラ
２８に関するリファレンス・プレート３６の座標変換（
Ｔｃｐ）を、カメラ処理装置３２から受け取る。代替実
施例においては、処理装置３８は、カメラ処理装置３２
からＬＥＤＳ３４の座標を受け取り、リファレンス・プ
レート３６自体の座標を計算する。
【００１６】手術前の校正段階において、ロボット制御
装置３４は、ロボットを多くの位置及び方向に運動させ
る。各運動の後で、ロボット制御装置２４は、ロボット
のカッタ２２の位置および方向を通信バス２４ａを経て
、処理装置３８に送信する。処理装置３８は、カメラ２
８に対するリファレンス・プレート３６座標と共にこの
情報を用いて、カメラ座標系とロボット座標系の間の座
標変換（Ｔｒｃ）を計算し、カッタ２２とリファレンス
・プレート３６の間の座標変換（Ｔｐｋ）を計算する。 その結果として、処理装置３８は、次に示す関係式から
、ロボットに対するロボットのカッタ２２の座標変換（
Ｔｒｋ）を決定することが可能になる：Ｔｒｋ＝Ｔｒｃ
＊Ｔｃｐ＊Ｔｐｋ 好ましい本実施例において、用具の先端を同じ場所に保
持したまま、カメラ２８に対してプレート３６を多くの
方向に配置することにより、Ｔｐｋに関する校正が達成
される。この場合、カッタの先端を校正ピンまたは校正
ポスト５４に対する既知の一定位置に位置決めするため
に、ロボット対用具の校正を信頼するか、または、好ま
しくは、力センサ２０を用いた触覚探索手順により、校
正を達成しても差し使えない。代替実施例では、カッタ
先端位置を直接測定するため、または、フィードバック
としてロボット制御装置２４に、基準目印または座標系
に対する既知の位置にカッタの先端を位置決めさせるた
め、他の感知手段を用いる。本発明の他の実施例におい
ては、マニピュレータ腕１２の位置を、例えば磁気感知
装置または超音波レンジング・システムにより、三次元
的に追跡することもある。すなわち、本発明の実施は、
光学ビーコンの検出に依存する腕運動検出器の使用に制
限されない。手術に際して、処理装置３８は、通信バス
２４ａを経て、ロボット制御装置２４から入力を受信す
る。本実施例では、チェックすべき量（「チェック量」
）の立体構成幾何（ＣＳＧ）樹木表現、及び、ロボット
１２に対するこの量の座標を指定する。
【００１７】処理装置３８は、カメラ処理装置３２から
、リファレンス・プレート座標（Ｔｃｐ）を繰り返し受
信するか、その代りに、ＬＥＤＳ３４の座標を受信して
（Ｔｃｐ）を計算する。処理装置３８は、Ｔｒｋを計算
し、カッタ２２が指定されたチェック量内であるかどう
かを決定する。また、処理装置３８は、本発明の態様に
基づき、骨滑り検出器を監視する。この骨滑り検出器は
、手術によって変えられる例えば骨４２のような組織に
物理的に結合される歪計４０で構成される。歪計４０は
、骨固定器４４に対する骨４２の位置的ずれを、三次元
的に測定するように配置される。この場合、骨固定器４
４は、ロボット・ベース１６に堅く連結される。歪計４
０は、アナログ・ディジタル変換器を含む適切な回路構
成要素を経て、処理装置３８にインターフェイスされる
。この方法によると、０．１ｍｍオーダーの動きが容易
に検出できることが実証済みである。
【００１８】更に、例えば、骨に直接工作するネジ・タ
イプの接続を採用する装置のような適当固定器を用いる
と、かなり大きい力（５Ｋｇｆ）がかかっても僅かに数
ミクロンの動きを生ずるに過ぎないことが実測済みであ
る。この程度の小さい骨の動きは、この出願の趣旨から
は取るに足らない。このように、手術中は実際には骨は
動かないと予測されるが、万一骨の滑りが起きた場合に
は、歪計４０によって即座に指示される。骨の滑りが検
出された場合には、少なくとも２つの選択肢が利用可能
である。
【００１９】第１の選択肢は、以下に示す手順に従い、
ロボット・エフェクタを用いて３個のピン４６を位置決
めすることによって空間における骨の位置を決定し直す
ことによりシステムの再校正を行うことである。第２の
選択肢は、滑りセンサが正確に校正されている場合に採
用される。第２の選択肢は、その次のロボット運動に適
用される補償係数を得るために、骨の滑りの量を数学的
に決定する。簡潔であるために、第１の選択肢が好まれ
る。
【００２０】更に、本発明に基づき、図３ａ、及び、３
ｂに示すように、安全監視処理装置３８は、三次元移植
モデルに対応する空間エンベロープ外の予定の許容範囲
からカッタ２２先端が外れていないことを確認するため
に、量的な処理技術を採用する。
【００２１】本発明の本実施例は、移植およびカッタの
選択の結果として得られる形状に対応する前述のＣＳＧ
樹木「チェック量」を採用する。この場合のＣＳＧ樹木
は、カッタ２２の最も遠い公称可動軌跡の外側の、例え
ば１ミリメートル程度の所定距離に位置決めされた二次
表面を境界とする基本体でこうせいされる。図３ａにお
いて、選定された移植形状に対応する空間量は、移植形
状を多数の基本形に区分することによって決定される。 この場合の基本形は：（ａ）カッタ接近量、（ｂ）移植
近位置、及び、（ｃ）移植遠位置に対応する。内側の鎖
線は、カッタ２２のセンタ（Ｘ）から測定した最大カッ
タ２２可動軌跡に相当する。従って、カッタ２２の外側
の縁は、移植量の外側立体エンベロープと一致する。実
際には、カッタのセンタ（Ｘ）は、移植形状の長さ方向
軸から、例えば１ミリメータ程度の、所定のカッタ可動
軌跡許容範囲だけ、均一に偏っている。
【００２２】ＣＳＧ技術に基づき、移植基本形は樹木構
造（図３ｂ）に組織されている。ＣＳＧツリーの内部の
筋はプール演算および剛体運動を表わし、木の葉は立体
基本体を表す。この場合の立体基本体は移植近位置、移
植遠位置及び接近量を表す。ロボット制御装置２４は、
少なくとも２つの方法で、安全監視処理装置３８に、チ
ェック量を指定することができる。第１の方法は、手術
の各主要段階に関するチェック量を指定する。例えば、
接近量に関するチェック量を指定し、次に、移植の近位
置を指定し、続いて、遠位置に関するチェック量を指定
する。第２の方法は、各主要部分を所要の構成切断運動
に分解し、各切断運動（ＣＵＴ１−ＣＵＴｎ）に関する
チェック量を指定することによってＣＳＧツリーの葉の
数を増加させる。これら２つの方法は組み合わせて使用
できる。更に、各チェック量は、使用直前に指定するか
、或いは、ロボットから骨への変換が算定され、続いて
選択及び使用のために記憶された後の任意の時点で指定
しても差し支えない。
【００２３】手術中は、発光ダイオード・ビーコンの位
置を観察し、前記の変換を経て、既知の技術を用いてＣ
ＳＧ樹木構造を検索および処理することによって、移植
量に関するカッタ２２のセンタの位置が決定される。カ
ッタ２２が移植量の外にはみ出したと判定されると、安
全監視処理装置３８がロボット制御装置２４にコマンド
を送り、運動を凍結させる。このコマンドは、例えば光
学的に隔離されたディジタル・ポートのように、最小の
待ち時間経路２４ｃ経由で送られることが好ましい。運
動を凍結した後で、ロボット制御装置２４は、直列通信
リンク２４ａを経て、「境界外」条件に関する詳細な情
報について、安全管理処理装置３８に尋問する。この技
術によると、所定のＣＳＧスレショルドを一定の方向に
約０．２ミリメートルの精度以内で横切る運動は高信頼
度をもって検出され、カッタの方向直し精度は約０．４
ミリメートルであることが実測済みである。本実施例を
用いると、約３−４Ｈｚのカッタ運動チェック・レート
が得られる。
【００２４】典型的な骨切断速度で作動していた場合、
運動の凍結前におけるカッタの可動全軌跡は、全システ
ムの待ち時間を考慮にいれて、約２ミリメートルである
。手術システムのインタフェースは、更に、表示処理装
置５０に結合された高解像度モニタ４８を備えるオンラ
イン表示システムを含む。
【００２５】表示処理装置５０は、ロボット制御装置２
４、安全監視処理装置３８、及び、ＣＴ前手術システム
５２から情報を受け取る。この情報は、ＣＴで得られた
骨の画像と選定した移植形状の対応する断面図を重ね合
わせることにより切断手順の進行状態を視覚的に描写す
るために、表示処理装置５０によってくみあわされる。 ＣＴ画像は、重ね合わされた選定移植の適当な断面図を
もつ大腿骨の横方向及び長さ方向の両ほうの画像を含ん
でも差し支えない。表示のために選定された特定の骨断
面の画像は、通常は、大腿骨内におけるカッタ２２の現
在の深さを示す。　　ペンダント２６は、気体殺菌した
手提げデータ端末であり、手術中に、外科医はシステム
１０と対話できる。ペンダント２６からメニューを呼び
出し、ディスプレイ４８に表示することにより、外科医
はシステム１０状態を尋問し、例えば切断用具の手動案
内または撤回などの局部的な動作を選択し、現在の運動
を続けるか、手術手順の現段階を中止するか又は繰り返
すか、或いは、前の段階から手術手順をやり直すことが
できる。
【００２６】極めて一般的な場合として、簡単な「休止
」機能をあげることができる。この機能は、カッタ２２
がそれ以上前方に動くことを禁止し、外科医は、手術が
順調であるかどうかを確かめ、例えば灌注ボトルの補充
などの支援機能を実施できる。また、ペンダント２６は
、非常電源オン／オフ機能を支援し、応用段階全体を管
理し、必要に応じて、適切なプリ・プログラムされたエ
ラー回復手順を選択するためにも使用出来る。
【００２７】システムの各主要部品、即ち、ロボット制
御装置２４、ＦＭＰ５３、及び、安全監視処理装置３８
は、全てのロボット運動を凍結（抑止）し、或いは、例
外状態を認知すると、マニピュレータ及びカッタの電源
を切ることができる。いずれかの例外状態が起きると、
外科医は、手提げペンダント２６から、明確に再度運動
可能にしなければならない。手術中における主要な安全
監視必要条件は、（１）ロボット１２が「暴走」しては
ならない；（２）患者に過度の力を加えてはならない；
（３）カッタ２２は、切断中の量に対する予定された位
置的エンベロープ内にとどまっていなければならない；
（４）外科医は、いかなる時点においても、ロボット１
２を停止可能でなければならない。ロボット運動を停止
させると、外科医は、ペンダント２６によって、ロボッ
トの状態を質問し、エフェクタを手動で案内し、手術を
継続するための適当な回復手順を選定し、或は、ロボッ
ト１２の使用を完全に終了して、手動で手術を継続する
ことができなければならない。　　システム１０の冗長
安全監視の一部として、ロボット制御装置２４自体が、
多くの安全性及び一貫性のチェックを慣例的に実施する
。 これらのチェックには、例えば、ジョイント・サーボの
位置および速度デッドバンドの決定、外部信号の監視な
どの機能、及び、安全タイムアウト・モニタ（ＳＴＭ）
２４ｂの保守などが含まれる。この安全タイムアウト・
モニタは、制御装置２４が所定の時間的間隔でシステム
の完全性を確実に確認しない場合には、腕１４の電源を
遮断する。好ましい本実施例における間隔は１６ｍｓで
ある。ロボット電源供給可能リレー（図示せず）のほか
に、制御装置２４ソフトウェアは、運動を「凍結させる
」ため、中断された運動を再開するため、及び制御機能
を予定された回復手順へ移すために、マニピュレータの
電源を遮断する機能をもつ。外部信号の一貫性チェック
、力のスレショルド超過、、押しボタンの閉止等を含む
多数の状況の下では、ロボット制御装置応用プログラム
が中断され、運動が凍結されるか、または、場合によっ
ては、腕１４の電源が遮断される。
【００２８】システム１０の冗長安全チェックに基づき
、カメラ処理装置３２を含む腕位置感知システムと安全
監視処理装置３８の組み合わせによって、カッタ２２先
端が、骨に対して所定の量内にとどまっていることを独
立して確認できる。そのためには、（ａ）歪計４０によ
り、ロボット・ベース１４に堅固に固定された固定器４
４に対して骨が動かないことを確認し、更に、（ｂ）腕
１４のエンド・エフェクタが、空間の所定の量から決し
て外れないことを確認する。
【００２９】手術前ＣＴシステム５２により、外科医は
、補綴移植のための所要の形状１（図２ａ）を選定する
ことが可能であり、更に、ＣＴ作像の大腿骨の画像に移
植形状を対話的に重ねることにより、大腿骨２（図２ｂ
）のどの場所に空洞を作ればよいかを決定することが可
能である。更に、手術前システム５２は、移植の形状に
少なくとも部分的に対応する量的モデルを提供する。 この量的モデルはコンピュータによって維持され、大腿
骨の溝に、移植を受け入れる空洞を精密に工作するため
に処理される。図２ｂに、大腿骨２、骨盤４、及び、寛
骨臼カップ５に対する移植１を示す。本発明の好ましい
本実施例において、手術前システム５２は、増補ディス
プレイに結合されたＩＢＭ　　ＰＳ／２−８０ワークス
テーションに設置される（ＰＳ／２は、インターナショ
ナル・ビジネス・マシーンズ社の登録された登録商標で
ある）。
【００３０】図５及び６を参照されたい。手術前計画に
際しての情報フローを図５に示し、手術前システム５２
の、ロボット制御装置２４及びオンライン表示処理装置
５０への結合について、図１より更に詳しい構成図を図
６に示す。補綴移植手術に先立って、大きい方の転子及
び大腿骨関節丘に複数個の位置決めピン４６を挿入する
。ＣＴスキャンは、ＣＴデータ（ブロックＡ）を生成す
るための脚で作られる。手術前システム３２は、三次元
のＣＴ画像を作るために、ＣＴデータを処理する。次に
、手術前システム５２は、ＣＴ画像（ブロックＢ）を処
理して、ＣＴ座標に対する配列ピン４６の上面中心を位
置決めし、それによって、一組の骨基準座標を決定する
。外科医は、骨のＣＴ画像を介して、適切な直角交差断
面スライスを対話的に選択する。適切な移植形状（ブロ
ックＣ）を移植形状ライブラリ（ブロックＤ）から選出
した後で、外科医は、骨密度その他の要因の関数として
、ＣＴ画像に対して移植モデルを対話的に位置決めし、
手術前システム５２は断面図を生成し、移植と大腿骨（
ブロックＥ、及び、Ｆ）の三次元モデルを展開する。更
に、手術前システム５２は、補綴移植の任意の対話型個
別設計（ブロックＧ）を支援する。そのために、外科医
は、大腿骨の顕著な構造的特性を入力する。結果として
得られる個別移植形状は、移植設計ライブラリ（ブロッ
クＤ）内に記憶される。
【００３１】外科医が大腿骨２のＣＴ画像の中の所要位
置に移植形状を配置した後で、移植識別及び外科医が指
定した移植場所と共に、各ピン４６の座標が、手術デー
タ・ファイル（ブロックＨ）の中に記憶される。モデラ
ー（ブロックＥ）によって生成された三次元の移植及び
骨モデル・データは、ブロックＢからの三次元画像デー
タと共に、表示処理装置５０に供給される。手術データ
・ファイル情報はロボット制御装置２４に供給され、ロ
ボット制御装置２４は様々な「部分的サブルーチン」を
経て、手術中に大腿骨の中の外科医が指定した場所に移
植形状空洞を形成するために必要な一連のエフェクタ運
動を決定可能になる。別の代替実施例においては、所要
のエフェクタ運動は、手術データ・ファイルの中に含ま
れるピン４６位置情報に関して前以て計算される。前以
て計算されたカッタ運動は、記憶され、手術の前に、安
全監視処理装置３８にとって利用可能になる場合もある
。いずれの場合にも、ロボット制御装置２４は、カッタ
２２が選択された補綴形と関連した空間量内で作動して
いることを確かめるため、及び、外科医に表示して外科
医がカッタ２２の進行を監視可能にするために、安全監
視処理装置３８に、手術データ・ファイル情報を提供す
る。
【００３２】前記の手術前計画手順の後で、手術は次の
ように進行する。患者は手術室に入れられ、手術は、大
腿骨に空洞をつくる必要が起きる段階までは、従来の方
法で進行される。即ち、腰を切開し、位置をずらせ、大
腿骨の球部が切り離され、寛骨臼カップ５が取り付けら
れる。３本の配列ピン４６が露出し、大腿骨をロボット
・ベース１６に堅固に固定するために、骨は、固定器４
４内に配置される。ひずみゲージ４０を使用する場合に
は、骨に物理的に結合する。次に、案内と触覚探索を組
み合わせることにより、各配置ピン４６の上面中心をロ
ボット座標系において、位置決めする。このデータは、
ＣＴを基調とする骨座標とロボット・カッタ２２座標の
間の変換を計算するために使われる。このピン位置決め
手順を達成するためには、カッタ２２コレットに校正球
針を設置する。外科医は、ロボット１２を手動で案内し
、球針の先端を、ピン４６のうちの１つのほぼ上面中心
に置く。この案内動作はペンダント２６又は力加減のい
ずれで行なっても差し支えない。力加減により案内する
場合には、外科医は、力センサ２０から遠く離れたロボ
ットの任意の部分を掴む。ロボット制御装置２４は、力
センサ２０によって検出された力に応答してロボットを
動かす。
【００３３】好ましい本実施例においては、力及びトル
クは、カッタ２２と配列された座標系分解され、運動の
速度は力に比例する。別の代替実施例では、別の力加減
則を用いることもある。この場合には、外科医は手動で
ロボットを案内し、探針の先端を、ピン４６軸に沿った
後方２．３ミリメートルの所に位置決めする。この情報
から、ロボット制御装置２４は、ピン４６の予測中心及
び法線を計算する。次に、ロボット制御装置２４は、力
センサ２０による触覚探索によりピン４６の上面３つの
点を位置決めし、正確なピン法線を計算する。最後に、
触覚探索によってピン４６の縁の３つの点が決定され、
正確なピン中心が位置決めされる。他の２つのピン中心
及び法線も同様の方法で決定される。ただし、既に決定
したピン中心及び法線情報を、ＣＴ画像からの測定され
たピン位置及び法線情報と組み合わせることにより、概
略のピン法線を数えるために必要な手動案内量を少くす
ることができる。外科医は、手術を進める前に、ロボッ
ト用具先端の位置決め精度を確認する。このピン４６に
関係した位置的情報は、ＣＴから得られた骨座標とロボ
ット・カッタ２２座標の間の変換を計算するために用い
られる。次に、カッタ２２ビットをコレットに取り付け
、ビットが正しく取付けられていることを確かめるため
に、更に校正チェックが行われる。次に、ロボット１２
は、移植を受け入れるための正しい形状を削る。外科医
は、直接的な視覚的観察及びオンライン・ディスプレイ
４８の観察により手術の進行具合を監視する。オンライ
ン・ディスプレイでは、ＣＴから得られた画像と移植モ
デルの選択された断面が重ね合わされる。形状が作られ
た後で、ロボットは、スタンバイ位置まで撤回され、マ
ニピュレータの電源が切られる。大腿骨移植１が配置さ
れ、大腿骨固定器４４及び配列ピン４６が除去される。 次に、手術は、従来の方法により、完了するまで継続さ
れる。前記の機能性は、更に付加的相互接続されたプロ
セッサの間で細分化することも出来るし、或いは、より
少ないプロセッサに集中することも出来るはずである。 更に、本発明は腰部の移植の場合について記述したが、
本発明の教示内容は、骨組織への精密な形状加工を必要
とすると否とに拘らず、他の手術手順にも同様に適用で
きる。更に、他の代替実施例では、ロボットの最高速度
及び加速度を減少し、チェックの冗長度を更に増大する
ために、更に付加的な手段を採用している。最高速度及
び加速度の減少は、マニピュレータ腕１４を機械的に改
造するか、或いは、電動機電圧または電流を電気的に制
限することによって達成されるかもしれない。チェック
の冗長度を更に増大するには、別のコンピュータによっ
て監視された冗長な位置及び速度のエンコーダを組み込
めばよい。この場合の別のコンピュータはロボット制御
装置２４から電気的に分離されていることが好ましい。
【００３４】許容範囲超過、または、制御不能状態が検
出された場合には、別のコンピュータが、例えば、マニ
ピュレータ「凍結」信号を出すか、或いは、マニピュレ
ータ電源を切ることによって、適切な措置をとることが
できる。
【００３５】以上のように、本発明について具体的に説
明し、本発明の好ましい実施例に関して記述した結果と
して、当該技術に習熟した者にとっては、本発明の範囲
及び趣旨を逸脱することなしに形状及び詳細を変更でき
ることが理解出来るはずである。
【図面の簡単な説明】
【図１】手術用ロボット・システムの好ましい実施例を
示すブロック図。
【図２】（ａ）は人体腰部の補綴移植を示し、（ｂ）は
大腿骨内に移植された（ａ）の移植、及び、大腿骨上の
３本の整列ピンの配置を示す図。
【図３】（ａ）は図２（ａ）の移植に関してカッタ仕事
量を決定する方法を示し、（ｂ）は図３（ａ）のカッタ
仕事量をＣＳＧツリー表現した図。
【図４】測定された力のグラフであり、カッタ先端で分
析した図である。このグラフは、更に、時間の関数とし
て、第１および第２の力のスレショルドを示す。
【図５】手術前計画に際しての情報フロー。
【図６】手術前システム、及び、ロボット制御装置及び
オンライン・ディスプレイへの手術前システムの結合を
更に詳細に示すブロック図。
【符号の説明】
１０　　手術用ロボット・システム １２　　ロボット １４　　マニピュレータ腕 １８　　ピッチ電動機 ２０　　力センサ ２２　　カッタ ２４　　ロボット制御装置 ２８　　カメラ ３０　　イメージセンサ ３２　　カメラ処理装置 ３８　　安全監視装置

Claims (34)

    【特許請求の範囲】
  1. 【請求項１】手術用ロボット・システムにおいて、手術
    用工具をそなえ、三次元座標系内で手術用工具を制御可
    能に位置決めするための手段と連結された多重運動自由
    度のマニピュータ腕手段と、三次元座標系において、量
    的モデルに対する手術用工具の位置を決めるための手段
    とを有し、前記位置を決めるための手段は座標系の位置
    を検出するための手段を含み、この検出手段は量的モデ
    ルに対して手術用工具の位置を決めるために量的モデル
    処理する手段に結合された出力をもつことを特徴とする
    システム。
  2. 【請求項２】請求項１に記載のシステムにおいて、量的
    モデルが手術患者の中に位置決めされ、前記システムが
    更に、三次元座標系に対する患者の運動を検出するため
    の手段を含むことを特徴とするシステム。
  3. 【請求項３】請求項２に記載のシステムにおいて、前記
    検出手段が、三次元座標系において手術患者と基準点の
    間に結合されたひずみゲージ手段を有することを特徴と
    するシステム。
  4. 【請求項４】請求項３に記載のシステムにおいて、前記
    基準点が、空間量を含む患者の一部を不動化するための
    手段の上に位置決めされることを特徴とするシステム。
  5. 【請求項５】請求項１に記載のシステムにおいて、更に
    、手術用工具にかかる力の大きさを測定するための手段
    を含むことを特徴とするシステム。
  6. 【請求項６】請求項５に記載のシステムにおいて、前記
    測定手段が、手術用工具にかかる力及びトルクを手術用
    工具の先端において分析するための手段を含むことを特
    徴とするシステム。
  7. 【請求項７】請求項１に記載のシステムにおいて、更に
    、三次元座標系の中の量的モデルを位置決めするために
    座標変換を決定する手段を含むことを特徴とするシステ
    ム。
  8. 【請求項８】請求項１に記載のシステムにおいて、前記
    量的モデルが補綴移植に対応し、前記量的モデルが補綴
    移植に対する手術用工具の近接量に追加的に対応するこ
    とを特徴とするシステム。
  9. 【請求項９】請求項１に記載のシステムにおいて、前記
    手術用工具が円筒形の回転可能なカッタであることを特
    徴とするシステム。
  10. 【請求項１０】請求項１に記載のシステムにおいて、前
    記量的モデルが構造的な立体幾何学（ＣＳＧ）ツリー・
    データ構造として表わされることを特徴とするシステム
    。
  11. 【請求項１１】請求項１に記載のシステムにおいて、前
    記検出手段が、マニピュレータ腕手段の少なくとも一部
    を含む空間領域を映像化するために配置された映像化手
    段を有することを特徴とするシステム。
  12. 【請求項１２】請求項１１に記載のシステムにおいて、
    前記量的モデルが構造的な立体幾何学（ＣＳＧ）ツリー
    ・データ構造として表わされ、画像化手段の出力が、手
    術用工具が量的モデルの内に配置されているかどうかを
    決定するためにＣＳＧツリー・データ構造を処理するた
    めの手段に結合されることを特徴とするシステム。
  13. 【請求項１３】請求項５に記載のシステムにおいて、更
    に、三次元座標系の中の少なくとも１つの基準点の位置
    を力加減技術によって決定するための、力測定手段に結
    合した手段を含むことを特徴とするシステム。
  14. 【請求項１４】請求項１に記載のシステムにおいて、更
    に、量的モデルに対する手術用工具の位置を表示するた
    めの手段を含み、この位置を表示するための手段が、計
    算されたトマグラフィ（ＣＴ）情報と、量的モデルの対
    応する断面画像と重ねるための手段を含むことを特徴と
    するシステム。
  15. 【請求項１５】請求項５に記載のシステムにおいて、更
    に、測定した力が第１のスレショルドを越えた場合には
    手術用工具のそれ以上の動きを停止し、測定した力が第
    ２の高い方のスレショルドを越えた場合にはマニピュレ
    ータ腕手段の電源を切るための、力測定手段と結合した
    手段を含むことを特徴とするシステム。
  16. 【請求項１６】補綴移植を受け入れる取るために骨の中
    に空洞を作るための装置において、回転手術用工具を備
    え、三次元ロボット座標系の中で手術用工具を制御可能
    に位置決めするための手段と連結された多重運動自由度
    をもつマニピュレータ腕手段と、三次元ロボット座標系
    の中で骨を不動化するための手段と、三次元ロボット座
    標系の中で骨の中に形成しようとする空洞を表わす量的
    モデルに対して手術用工具の位置を決定するための手段
    であって、手術用工具が量的モデルの外側に位置してい
    るかどうかを決定するためにマニピュレータ腕手段の少
    なくとも一部を含む空間領域を画像化するために配置さ
    れた画像化手段を含む決定手段と、骨と不動化手段の間
    に結合され、骨と不動化手段の間の運動の量を表示する
    出力をもち、前記運動を三次元で測定する手段と、を有
    することを特徴とする装置。
  17. 【請求項１７】請求項１６に記載の装置において、前記
    量的モデルが構造的な立体幾何学（ＣＳＧ）ツリー・デ
    ータ構造で表わされ、前記決定手段が、手術用工具が量
    的モデルの外側に位置するかどうかを決定し、手術用工
    具が量的モデルの外にある場合には、手術用工具のそれ
    以上の動きを停止するために、ＣＳＧツリー・データ構
    造を処理するための手段を含むことを特徴とする装置。
  18. 【請求項１８】請求項１６に記載の装置において、更に
    、手術用工具にくわえられた力の大きさを測定するため
    の手段、及び、力が所定の大きさを越えた場合には、手
    術用工具のそれ以上の動きを停止する手段を含むことを
    特徴とする装置。
  19. 【請求項１９】請求項１６に記載の装置において、前記
    運動表示手段がひずみゲージ手段を含み、更に、前記装
    置は、測定した運動が所定量を超過したことをひずみゲ
    ージ手段が検出した場合には、手術用工具のそれ以上の
    動きを停止するためにひずみゲージ手段の出力に結合さ
    れた手段を含むことを特徴とする装置。
  20. 【請求項２０】請求項１６に記載の装置において、骨座
    標系の点を定義するために骨に固定した複数の標準ピン
    を備え、外科医は、標準ピンの少なくとも最初の１つま
    で手術用工具を手動で案内し、前記装置は、更に、骨座
    標系と三次元ロボット座標系の間で変換を決定するため
    の手段を含み、この変換決定手段の入力は画像化手段の
    出力に結合されることを特徴とする装置。
  21. 【請求項２１】請求項２０に記載の装置において、前記
    変換決定手段は、更に、三次元のロボット座標系と画像
    化手段と関連した三次元座標系との間の変換を決定する
    ことを特徴とする装置。
  22. 【請求項２２】患者から所定の量の組織を外科的に除去
    する方法であって、前記組織は予定された三次元の形状
    の領域から除去される方法において、三次元の形を量的
    モデル、或いは、量的モデルの部分として表現する過程
    と、除去しようとする組織に対して量的モデルの場所を
    決定する過程と、組織を除去するための手術用工具を取
    り付けた多重運動自由度をもつマニピュレータ腕手段を
    操作する過程とを有し、前記操作過程は、マニピュレー
    タ腕手段の位置を検出する過程と、予定された変換関数
    に従ってマニピュレータ腕手段の位置に対する手術用工
    具の位置を決定する過程と、手術用工具の決定位置が量
    的モデルの外側であるかどうかを決定するために、量的
    モデルを処理する過程と、手術用工具が量的モデルの外
    に配置されている場合には、手術用工具のそれ以上の動
    きを停止する過程とを有することを特徴とする方法。
  23. 【請求項２３】請求項２２に記載の方法において、患者
    が動いたかどうかを決定し、動きが検出された場合には
    手術用工具の動きを停止するために、ひずみゲージ手段
    の出力を監視する付加的操作過程が含まれることを特徴
    とする方法。
  24. 【請求項２４】請求項２２に記載の方法において、手術
    用工具に結合した力測定手段の出力を監視し、測定した
    力が第１の予定されたスレショルドを越えた場合には、
    手術用工具の動きを停止する過程が付加されることを特
    徴とする方法。
  25. 【請求項２５】請求項２４に記載の方法において、測定
    した力が高い方の第２の予定されたスレショルドを越え
    た場合には、マニピュレータ腕手段の電源を遮断する過
    程が、前記監視手順に追加されることを特徴とする方法
    。
  26. 【請求項２６】請求項２２に記載の方法において、マニ
    ピュレータ腕手段の作動状態を定期的に監視し、作動状
    態が最適状態に達しない場合には、それ以上の動きを停
    止する過程が追加されることを特徴とする方法。
  27. 【請求項２７】請求項２２に記載の方法において、組織
    が骨組織を含み、量的モデルの形は補綴移植の形を表わ
    し、前記量的モデルとして三次元の形を表わす過程には
    、補綴移植ライブラリの中から補綴移植の形を選択する
    過程が含まれ、除去しようとする組織に対する量的モデ
    ルの位置を決める過程には、骨組織の画像に対して、選
    定した補綴移植の形の位置を対話的に決定する過程が含
    まれることを特徴とする方法。
  28. 【請求項２８】請求項２７に記載の方法において、前記
    処理過程中に使用するためにデータを記憶する過程が追
    加され、記憶されたデータは、選択された補綴移植のサ
    イズと形状及び決定された位置を表すことを特徴とする
    方法。
  29. 【請求項２９】請求項２７に記載の方法において、前記
    処理過程は骨組織の断面画像を連続して表示する過程を
    含み、それぞれの骨組織には選択された補綴移植の該当
    断の画像が重ねられ、骨組織断面画像の特定の１つを、
    量的モデルに対する手術用工具の位置の関数として表示
    するために選出することを特徴とする方法。
  30. 【請求項３０】請求項２２に記載の方法において、組織
    が骨組織を含み、量的モデルの形は補綴移植の形を表し
    、前記量的モデルとして三次元の形を表わす過程は、補
    綴移植の形を少なくとも骨組織の形の関数として定義す
    る過程を含み、除去しようとする組織に対する量的モデ
    ルの場所を決定する過程は、骨組織の画像に対する定義
    された補綴移植の位置を対話的に決定する過程を含むこ
    とを特徴とする方法。
  31. 【請求項３１】手術計画システムにおいて、構造体を移
    植しようとする組織の領域の断面画像を供給するための
    手段、構造体の三次元表現を指定するための手段、及び
    ユーザー本位に選定できる場所に所在する組織の選定断
    面画像に構造体を表す断面画像を重ねるために、システ
    ムのオペレータからの入力に感応する手段を有し、前記
    重ね合わせ手段は、重ね合わせた画像をユーザーに表示
    するための手段を含むことを特徴とするシステム。
  32. 【請求項３２】請求項３１に記載のシステムにおいて、
    前記指定手段が、構造体の量的モデルを生成するための
    手段、及び、組織に基づく座標系内で量的モデルを位置
    決めするための座標を提供するための手段を含むことを
    特徴とするシステム。
  33. 【請求項３３】請求項３２に記載のシステムにおいて、
    前記指定手段が更に、組織に基づく座標系を得るために
    、組織の領域の画像内で基準点を識別するための手段を
    含むことを特徴とするシステム。
  34. 【請求項３４】請求項３２に記載のシステムにおいて、
    更に、手術用ロボット・システムに対して少なくとも量
    的モデル、及び、組織に基づく座標を表すデータを提供
    するための手段を含み、手術用ロボット・システムは、
    手術用工具を備え、三次元手術座標系内で手術用工具を
    制御可能に位置決めするための手段を結合した多重運動
    自由度をもつマニピュレータ腕手段と、量的モデルに対
    して、三次元手術座標系における手術用工具の位置を決
    定するための手段であって、量的モデルを位置決めする
    組織に基づく座標系を変換するための手段を含む決定手
    段とを有することを特徴とするシステム。
JP3109807A 1990-05-11 1991-04-15 手術用ロボット装置、骨中への空洞形成装置及び手術計画装置 Expired - Lifetime JPH0763472B2 (ja)

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US523611 1990-05-11

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US5299288A (en) 1994-03-29

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