手術機器人系統

專利類型

發明

專利國別 (專利申請國家)

中華民國

專利申請案號

111129194

專利證號

I 790181

專利獲證名稱

手術機器人系統

專利所屬機關 (申請機關)

國立陽明交通大學

獲證日期

2023/01/11

技術說明

【中文】一種手術機器人系統包含一手術機器人、一穿戴式裝置、一導航攝影機、及一電腦裝置。該電腦裝置接收該導航攝影機所擷取的影像，並根據多個轉換矩陣，將一術前三維醫療影像模型配準至安裝於患部之一動態追蹤標記，並控制該手術機器人的一手術器械在一手術預設路徑上移動，以對該患部實施手術。該電腦裝置還接收該穿戴式裝置所擷取的一影像，並根據該影像中的該動態追蹤標記的位置及另一轉換矩陣，使得該穿戴式裝置將該術前三維醫療影像模型及該手術預設路徑以擴增實境方式顯示給一醫療人員，並控制該手術機器人之移動路徑。【英文】 A surgical robot system includes a surgical robot, a wearable device, a navigation camera, and a computer device. The computer device receives the image captured by the navigation camera, and registers a preoperative three-dimensional medical image model to a dynamic tracking marker installed on the affected part according to a plurality of transformation matrices, and controls a surgical instrument of the surgical robot to move on a preset surgical path to perform surgery on the affected part. The computer device also receives an image captured by the wearable device, and according to the position of the dynamic tracking marker in the image and another transformation matrix, so that the wearable device enables the preoperative three-dimensional medical image model and the preset surgical path is displayed to a medical staff in the form of augmented reality and controls the movement path of the surgical robot.