公开(公告)号：US20160157887A1

公开(公告)日：2016-06-09

申请号：US14945080

申请日：2015-11-18

申请人： Hong Ho KIM ,  Dong Gi WOO ,  Yong Yeob CHA ,  Jun Woo PARK

发明人： Hong Ho KIM ,  Dong Gi WOO ,  Yong Yeob CHA ,  Jun Woo PARK

IPC分类号： A61B17/34 ,  A61B5/00 ,  A61B5/06 ,  A61B5/08 ,  A61B6/03 ,  A61B6/12

摘要： Disclosed is a apparatus for generating a needle insertion path for an interventional robot, which provides a needle insertion path for intervention by inserting a needle. The apparatus includes a patient-side optical tool located on a patient for showing a position of an intervention target part among parts of the patient, a robot-side optical tool located on an interventional robot for showing a position of the interventional robot, and a needle path calculator configured to track positions of the patient-side optical tool and the robot-side optical tool to perform spatial registration on a local coordinate system of the patient-side optical tool based on the position of the patient-side optical tool with respect to a robot base coordinate system based on the position of the robot-side optical tool, and calculate a needle insertion path with respect to robot base coordinate system, based on a result of the spatial registration.

摘要翻译： 公开了一种用于产生用于介入式机器人的针插入路径的装置，其提供用于插入针的介入的针插入路径。 该装置包括位于患者身上的患者侧光学工具，用于显示患者部位之间的介入目标部位的位置，位于介入机器人上的机器人侧光学工具，用于显示介入式机器人的位置，以及 针路径计算器，其被构造为跟踪患者侧光学工具和机器人侧光学工具的位置，以基于患者侧光学工具的位置对患者侧光学工具的局部坐标系进行空间配准， 基于机器人侧光学工具的位置到机器人基座坐标系，并且基于空间配准的结果计算相对于机器人基座坐标系的针插入路径。