公开(公告)号：US20110306985A1

公开(公告)日：2011-12-15

申请号：US12986848

申请日：2011-01-07

申请人： Takayuki INOUE ,  Koichi KURAMOTO ,  Yoshio NAKASHIMA ,  Naohiko SUGITA ,  Mamoru MITSUISHI ,  Yoshikazu NAKASHIMA

发明人： Takayuki INOUE ,  Koichi KURAMOTO ,  Yoshio NAKASHIMA ,  Naohiko SUGITA ,  Mamoru MITSUISHI ,  Yoshikazu NAKASHIMA

IPC分类号： A61B19/00

CPC分类号： G06T19/003 ,  A61B34/20 ,  A61B34/30 ,  A61B2034/107 ,  G06T15/08 ,  G06T2210/41

摘要： A surgical assistance system for operating on biological tissue using a surgical tool attached to an arm of an automatically-controlled surgical instrument so that an optimal feed rate of the tool is calculated and outputted to the surgical instrument, the system including: a device for storing and voxelizing medical image data obtained from a biological tissue subject to surgery; a device for setting an operative location based on the shape of the biological tissue; a device for calculating a tool path along which the tool travels to perform surgery at an operative location; a device for determining the region of interference between the tool and the voxels; a device for determining the hardness of the biological tissue in the interference region; a device for calculating an optimal tool feed rate corresponding to the hardness; and a device for outputting the feed rate obtained by the calculations to the surgical instrument.

摘要翻译： 一种外科辅助系统，用于使用附接到自动控制的手术器械的臂上的外科手术工具进行生物组织的操作，从而计算出所述工具的最佳进给速率并将其输出到所述手术器械，所述系统包括： 并且从进行手术的生物组织获得的医学图像数据的体素化; 用于基于生物组织的形状设置操作位置的装置; 用于计算工具行进的工具路径以在操作位置执行手术的装置; 用于确定所述工具与所述体素之间的干涉区域的装置; 用于确定干涉区域中生物组织的硬度的装置; 用于计算对应于硬度的最佳刀具进给速率的装置; 以及用于将通过计算获得的进给速率输出到外科器械的装置。