WO2017157621A1 - Poste de travail médical pourvu d'un appareil de résonance magnétique et d'un robot médical - Google Patents

Poste de travail médical pourvu d'un appareil de résonance magnétique et d'un robot médical Download PDF

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Publication number
WO2017157621A1
WO2017157621A1 PCT/EP2017/053864 EP2017053864W WO2017157621A1 WO 2017157621 A1 WO2017157621 A1 WO 2017157621A1 EP 2017053864 W EP2017053864 W EP 2017053864W WO 2017157621 A1 WO2017157621 A1 WO 2017157621A1
Authority
WO
WIPO (PCT)
Prior art keywords
medical
robot
robot arm
magnetic material
electronic control
Prior art date
Application number
PCT/EP2017/053864
Other languages
German (de)
English (en)
Inventor
Andreas Keibel
Original Assignee
Kuka Roboter Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kuka Roboter Gmbh filed Critical Kuka Roboter Gmbh
Priority to EP17706723.8A priority Critical patent/EP3429499A1/fr
Publication of WO2017157621A1 publication Critical patent/WO2017157621A1/fr

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Classifications

    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A61G13/04—Adjustable operating tables; Controls therefor tiltable around transverse or longitudinal axis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A61G13/06—Adjustable operating tables; Controls therefor raising or lowering of the whole table surface
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2210/00—Devices for specific treatment or diagnosis
    • A61G2210/50—Devices for specific treatment or diagnosis for radiography

Definitions

  • the invention relates to a medical workstation with a magnetic resonance apparatus and a medical robot.
  • the US 2008/0161830 Al discloses a medical Ar ⁇ beitsplatz with a magnetic resonance apparatus and two robot arms.
  • Each of the robotic arms comprises a medical instrument and six degrees of freedom. Both robotic arms are small enough to be co-located within the magnetic resonance device and the movements of both robotic arms can be controlled remotely. Both robot arms are made entirely of a non-magnetic material including their actuators and their structures.
  • US 2006/0149147 A1 discloses a medical device with a robot arm on which a guide device is arranged.
  • the guide device comprises at one of its ends a holding area for holding a medical device, for example an ablation probe or a biopsy needle.
  • the object of the invention is to provide an improved possibility of a robot-guided medical device for a medical workstation with a magnetic resonance apparatus.
  • a medical workstation comprising a magnetic resonance apparatus and a medical robot with a robot arm, which has a plurality of successively arranged joints connected via joints and a fastening device which are each at least partially made of a magnetic material
  • the medical robot an electronic control device includes the electronic control device connected, provided for moving the robot arm drives and a Longer side ⁇ delay device which is attached with one of their ends on the fastening device and includes at its other end a holding device for securing a medical instrument, wherein the extension device to ⁇ least in the areas outside of the end where the extension device is attached to the attachment device is made entirely of a non-magnetic material, and wherein the medical robot is arranged to move the medical instrument into a treatment area of the magnetic resonance device.
  • the medical workstation according to the invention accordingly comprises the magnetic resonance apparatus and the medical robot.
  • the magnetic resonance apparatus generates a magnetic field, which is why usually all devices arranged in the region of a magnetic resonance ⁇ device are made of a non-magnetic Ma ⁇ material.
  • the robot arm of the medical robot of the medical workstation according to the invention comprises magnetic materials, so that a robot arm of a standard industrial robot can be used as the robot arm.
  • the medical instrument robotic controlled to be brought into the treatment region of the magnetic resonance apparatus comprises the exten ⁇ reasoning apparatus. This is attached at one end to the robot arm and has at its other end the holding device for the medical instrument.
  • the holding device is essentially made of a non-magnetic material, but at least in the regions outside the end at which the extension device is attached to the fastening device. is attached tion device.
  • the exten ⁇ approximate device does not interfere with the magnetic field in the treatment area.
  • Suitable non-magnetic materials include, for example, wood, plastic and / or ceramic.
  • the extension device is made entirely of a non-magnetic material.
  • the medical instrument which is in particular also made entirely of a non-magnetic material, is during operation of the magnetic resonance device in the treatment area of the Magnetre ⁇ sonanzeries or moved into the treatment area by means of the robot arm of me ⁇ dizinischen robot is and thus exposed to the magnetic field of the magnetic resonance device.
  • the extension device is also located within the magnetic resonance apparatus or in the treatment area, which is why at least this part of the extension device is made of the non-magnetic material.
  • the robotic arm of the medical robot is, however, always completely outside of the treatment area of the Mag ⁇ netresonanzeries and is therefore no or only exposed to a relatively low magnetic field, and therefore interfere then only marginally imaging of the magnetic resonance apparatus.
  • the robot arm of the medical robot is designed for a large load.
  • Load capacity is understood to mean a load capacity of greater than 80 kg, preferably greater than 90 kg.
  • the holding device of the extension device can be set up such that the medical instrument can be fastened to it in different orientations.
  • the extension device can be designed such that the orientation of the medical instrument relative to the fastening device of the robot arm when attaching the medical instrument to the holding device is adjustable.
  • a person can set a direction of the medical instrument prior to treating a patient with the medical workstation according to the invention.
  • the orientation of the medical instrument relative to the patient results from the position of the robot arm of the medical robot and the preset relative orientation of the medical instrument relative to the attachment device of the robotic arm of the medical robot.
  • the medical workstation may include an input device connected to the electronic control device that allows a person to manually move the robotic arm of the medical robot.
  • the extension device may comprise at least two degrees of freedom and an actuator connected to the electronic control device. This results in a controlled by the electronic control device more flexible movement of the medical instrument.
  • the actuator in the region of that end at which the extension device to the fastening device is attached be arranged.
  • the actuator is at least partially made of a magnetic material.
  • the extension device can be exactly two
  • the holding device may be designed such that its orientation relative to the remaining extension device by means of the actuator and controlled by the electronic control device in the operation of the medical robot is changeable.
  • the actuator is in the region of the end, with which the device is approximately exten ⁇ befestig to the fastening device of the robot arm, disposed, then in particular the Ver ⁇ extention device comprises means coupled to the actuator and the holder device transfer device.
  • This is preferably made entirely of a non-magnetic material.
  • the transmission device comprises, for example, a rod, a cable, a pneumatic system and / or a hydraulic system.
  • a further axis results for the orientation guidance of the medical instrument, in particular by means of the input device and controlled by the electronic control device.
  • the electronic control device can be set up in such a way that it can calculate the Cartesian position of the medical instrument and, conversely, can also travel by rail to a Cartesian target position.
  • the guidance of the medical instrument is preferably part of the control of the medical robot and can be integrated into a Path planning of the medical robot to be integrated. This allows a differentiated therapy planning, with the aid of which an improved, if not ideal, access to the treatment area can be determined with the help of an imaging system and the therapy can be carried out fully or partially automatically only after the conclusion of the therapy planning.
  • the medical work station according to the invention allows for faster treatment gege ⁇ appropriate, since the medical instrument can also be moved.
  • Movement of the medical instrument can be carried out from outside without delay with a time delay ⁇ .
  • the robot arm can move directly in the direction of the instrument to the target coordinates of the target area without any trial and error.
  • a patient can be treated with the medical workstation. This is preferably during treatment on a lying surface of a patient bed.
  • the latter comprises a patient couch, which has a further robot arm, designed in particular for large loads, which has a plurality of links arranged one behind the other and connected by joints and a fastening device which are each at least partially made of a magnetic material
  • the patient support includes provided for moving the robot arm further drives and completely made of a non-magnetic material lying surface, which is fixed at one of its ends to its mountings ⁇ constriction device of another robot arm.
  • the drives of the further robot arm can be controlled, for example, with the electronic control device of the medical robot.
  • the patient bed preferably comprises a further electronic control device, which is connected to the drives of the patient bed for a movement of the further robot arm.
  • the further electronic STEU ⁇ ervorides is preferably connected to the electronic control device of the medical robot, to communicate with it.
  • the robotic patient couches can improve accessibility to the patient's area of treatment. This can improve the treatment of the patient and shorten their duration.
  • the robot-supported patient bed can be used e.g. Set orientations that can lead to internal organ movements of the patient, so that the access to the treatment area can be simplified if necessary. Furthermore, repositioning procedures can be simplified, since the lying surface can be moved and tilted next to a patient bed (roll rearrangement).
  • the patient bed or the relevant electronic control device may preferably be designed such that it controls the robotic arm of the patient bed in such a way that the bed surface performs a movement which at least partially compensates for a respiratory movement of a patient lying on the bed.
  • FIG. 1 Show it: 1, 2 a medical workstation with a medical robot having an extension device, FIG. 3 a further medical workstation with a further medical robot having a further extension device, and FIG.
  • FIGS. 1 and 2 show a medical workstation comprising a medical robot 1 and a magnetic resonance device 11.
  • the robot 1 comprises a robot arm 2.
  • the robot arm 2 has in particular at least six degrees of freedom, preferably exactly six degrees of freedom.
  • the robot arm 2 comprises a plurality of links 4 arranged one after the other and connected by joints 3.
  • the links 4 may preferably be a stationary or movable frame, a carousel rotatably mounted relative to the frame about a vertical axis, a rocker, a cantilever and a preferably multi-axis robot hand be with a running example as a flange 5 fastening device.
  • the rocker is pivotably mounted in particular at the lower end, for example on a swing bearing head, not shown on the carousel about a preferably horizontal axis.
  • At the upper end of the rocker is in turn pivotally mounted about a also preferably ⁇ horizontal axis of the boom. This end carries the robot hand with its preferably three axes.
  • the robot arm 2 is designed for a large load. Under a large load is a load of greater than 80 kg, preferably greater than 90 kg understood.
  • the medical robot 1 or its robot arm 2 comprises, in a generally known manner, drives, not shown, connected to an electronic control device 10.
  • the drives are preferably elekt ⁇ motorized actuators.
  • At least the electric motors of the electric drives are fixed in or on the robot arm 2.
  • Power electronics of the electric drives are arranged for example within a housing of a control cabinet, not shown, within which, for example, the electronic control device 10 is arranged. However, the power electronics can also be arranged in and / or on the robot arm 2.
  • the robot arm 2 comprises magnetic materials.
  • all the links 4, hinges 3 and the flange 5 of the robot arm 2 are at least partially made of magnetic material, e.g. Steel, made.
  • the medical robot 1 further comprises an extension device 6 attached to the flange 5, which in the case of the present embodiment is made entirely of a
  • non-magnetic material is made. Suitable Materi ⁇ alien are, for example plastic, ceramic or wood.
  • the extension device 6 is fastened to the flange 5 with one of its ends.
  • the other end of the extension device 6 comprises a holding device 7 for attaching a medical instrument 8.
  • the medical instrument 8 can eg be infected or clamped to the holding device 7.
  • the holding device 7 is also made entirely of a non-magnetic material.
  • the medical instrument 8 is intended for the treatment of a patient P.
  • the medical instrument 8 is preferably an ablation probe.
  • the medical workstation comprises a patient couch 21.
  • the Pati ⁇ ducks lie 21 comprises in particular a robot arm 22, which is designed for high loads.
  • the robot arm 22 of the patient bed 21 in particular has at least six degrees of freedom, preferably exactly six degrees of freedom.
  • the robot arm 22 of the patient couch 21 comprises a plurality of links 24 arranged one after the other and connected by joints 23, and at one of its ends a fastening device designed eg as a flange 25.
  • the present embodiment the
  • Robot arm 22 of the patient bed 21 magnetic materials.
  • all the links 24, hinges 23 and the flange 25 of the robotic arm 22 of the patient couch 21 are at least partially made of magnetic material, e.g. Steel, made.
  • a robot arm 22 can therefore be used a robot arm of a standard industrial robot.
  • the patient bed 21 comprises a lying surface 26, which is fastened at one of its ends to the flange 25 of the robot arm 22. On the lying surface 26 of the patient P is during his treatment.
  • the lying surface 26 is completely made of one
  • this includes drives, not shown, connected to a further electronic control device 20.
  • the drives are preferably elekt ⁇ motorized actuators. At least the electric motors of the electric drives are mounted in or on the robot arm 22.
  • Power electronics of the electric drives are arranged, for example, within a housing of a further control cabinet not shown. However, the power electronics can also be arranged in and / or on the robot arm 22.
  • the patient bed 21 may have its own electronic control ⁇ device, ie, the further control device 20, which is preferably connected to the electronic control device 10 of the medical robot 1 for communication. It can also be provided that the medical robot 1 and the patient bed 21 have a common electronic control device.
  • the patient bed 21 and the other electronic control ⁇ device 20 and the common electronic tax advantage ⁇ device is preferably designed such that it controls the robot arm 22 of the patient support 21 such that the mattress support 26 performs a movement of the at least partially a breathing movement Patient P compensated.
  • the lying surface 26 can be moved automatically such that the respiratory movements of the patient P, for example, during image acquisition with the magnetic resonance device 11 and / or during treatment of the patient P with the medical instrument 8 at least partially is compensated.
  • the medical workstation includes the magnetic resonance apparatus 11, which generates a magnetic field 12 during operation.
  • the magnetic resonance device 11 is provided to produce images or image data sets from the interior of the patient P. For this imaging, at least part of the patient P is in particular automatically moved by means of the patient couch 21 into the interior of the magnetic resonance apparatus 11 (treatment area).
  • the medical instrument 8 which is likewise completely made of a non-magnetic material, is likewise located in the treatment area of the magnetic resonance apparatus 11 or by means of the robot arm 2 of the medical robot 1 is moved in and thus also exposed to the magnetic field 12. This is shown in FIG. Thus, however, at least part of the extension device 6 is also located inside the magnetic resonance apparatus 11.
  • the robotic arm 2 of the medical robot 1 is always completely outside the magnetic resonance apparatus 11 or outside the treatment area and is therefore exposed to no or only a relatively small magnetic field and therefore disturbs if, then only insignificantly the imaging of the magnetic resonance device 11th
  • the extension device 6 shown in Figures 1 and 2 is rigid and the holding device 7 for attaching the medical instrument 8 is rigidly connected to the structure of the extension device 6 or formed integrally therewith.
  • the orientation of the medical instrument 8 relative to the flange 5 is always the same.
  • Holding device 7 is formed such that the orientation of the medical instrument 8 relative to the flange 5 when attaching the medical instrument 8 to the holding device 7 is adjustable.
  • a direction of the medical instrument 8 before a treatment of the patient P can be fixed by a person not shown in detail.
  • the orientation of the medical instrument 8 relative to the patient P results from the position of the robot arm 2 of the medical robot 1 and the preset relative orientation of the medical instrument 8 relative to the flange 5.
  • the medical work station includes an input device connected to the electronic control device 10 13, with which it is enabling a person to move the robot arm 2 of the medical robot 1, and optionally also the robot arm 22 of the Pati ⁇ ducks lie 21 manually.
  • this person is the full MR resolution available. It can remotely control the robot arms 2, 22 and thus the intervention and track the movement of the medical instrument 8 on MR images currently recorded by the magnetic resonance apparatus 11.
  • FIG. 3 shows another medical workstation. This differs from the medical workstation shown in FIGS. 1 and 2 by its medical robot (further medical robot 31).
  • the robot arms 2 of the two medi ⁇ zinischen robot 1, 31 are identical.
  • the two medical robots 1, 31 are distinguished by their extension devices and possibly by the programming of the electronic control device 10.
  • the further medical robot 31 comprises instead of the extension device 6, a further extension device 36, which is shown in more detail in FIG. 4.
  • the structure 38 of the further extension device 36 is made entirely of a non-magnetic material, for example of plastic, ceramic or wood.
  • the further extension device 36 is fastened at one of its ends to the flange 5 of the robot arm 2 and has at its other end a further holder device 37.
  • the further extension Device 37 has at least two degrees of freedom, before ⁇ preferably exactly two degrees of freedom. This is realized, for example, by the fact that the further holding device 37 is designed to be pivotable under the control of the electronic control device 10. This makes it possible to do that at the other
  • Holding device 37 fixed medical instrument 8 re ⁇ relative to the flange 5 to move.
  • the electronic control device 10 it is possible to change the orientation of the medical device 8 relative to the flange 5 and controlled by the electronic control device 10.
  • the further extension device 36 comprises, e.g. This is arranged in the region of the holding device 37 opposite end in or on the other extension device 36 and coupled by means of a transmission device with the further holding device 37.
  • the transfer device is made of a non-magnetic material.
  • the actuator 39 is coupled to the electronic control device 10 and may include magnetic material.
  • the further extension device 36 is made entirely of a non-magnetic material at least in the areas outside the end to which the further extension device 36 is attached to the fastening device 5.
  • the transmission device includes, for example, a linkage, ropes, a pneumatic or hydraulic.
  • the transmission device comprises a cable 35.
  • the cable 35 is connected at one of its ends to the actuator 39 and at its other end to a roller 32 rotatably mounted near the actuator 39 within the structure 38 of the extension device 38.
  • the cable 35 is also coupled to the further holding device 37.
  • the further medical robot 31 has at least one further degree of freedom due to the further extension device 36 whose associated axis can be controlled to guide the orientation of the medical instrument 8 by means of the input device 13 and controlled by the electronic control device 10.
  • the electronic control device 10 may be designed such that they calculate the Cartesian position of the medical instrument 8 and vice versa, track out may go to a Cartesian Zielpo ⁇ sition. This makes it possible to automatically move to positions for the medical instrument 8, which are marked in the MR imaging.
  • the guidance of the medical instrument 8 is part of the control of the further medical robot 31 and can be integrated into a path planning of the further medical robot 31.
  • the medical workplaces in the exemplary embodiments comprise the robot-supported patient bed 21.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Manipulator (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)

Abstract

L'invention concerne un poste de travail médical qui comprend un appareil (11) de résonance magnétique et un robot médical (1, 31). Le robot (1, 31) médical comprend un bras (2) robotique qui présente plusieurs éléments (4) disposés les uns derrière les autres, reliés via des articulations (3) et un dispositif de fixation (5), qui sont à chaque fois fabriqués au moins partiellement à partir d'un matériau magnétique. Le robot (1, 31) médical comprend un dispositif de commande (10) électronique, des dispositifs d'entraînement reliés au dispositif de commande (10) électronique et destinés au mouvement du bras (2) robotique et un dispositif d'allongement (6, 36) qui est fixé avec une ses extrémités au dispositif de fixation (5) et qui comprend en son autre extrémité un dispositif de support (7, 37) pour la fixation d'un instrument médical (8). Le dispositif d'allongement (6, 36) est fabriqué, au moins dans les zones en dehors de l'extrémité au niveau de laquelle le dispositif d'allongement (6, 36) est fixé au dispositif de fixation (5), complètement en un matériau non magnétique et le robot médical (1, 31) est conçu pour déplacer l'instrument médical (8) dans une zone de traitement de l'appareil (11) de résonance magnétique.
PCT/EP2017/053864 2016-03-15 2017-02-21 Poste de travail médical pourvu d'un appareil de résonance magnétique et d'un robot médical WO2017157621A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17706723.8A EP3429499A1 (fr) 2016-03-15 2017-02-21 Poste de travail médical pourvu d'un appareil de résonance magnétique et d'un robot médical

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016204271.8A DE102016204271A1 (de) 2016-03-15 2016-03-15 Medizinischer Arbeitsplatz mit einem Magnetresonanzgerät und einem medizinischen Roboter
DE102016204271.8 2016-03-15

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Publication Number Publication Date
WO2017157621A1 true WO2017157621A1 (fr) 2017-09-21

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EP (1) EP3429499A1 (fr)
DE (1) DE102016204271A1 (fr)
WO (1) WO2017157621A1 (fr)

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