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1. 发明授权

US06785572B2 Tactile feedback and display in a CT image guided robotic system for interventional procedures 有权
标题翻译：触觉反馈和显示在CT图像引导机器人系统的介入程序
公开(公告)号：US06785572B2
公开(公告)日：2004-08-31
申请号：US09990122
申请日：2001-11-21
申请人： Jeffrey Harold Yanof , Karl J. West , Christopher Bauer , David Morgan Kwartowitz
发明人： Jeffrey Harold Yanof , Karl J. West , Christopher Bauer , David Morgan Kwartowitz
IPC分类号： A61B505
CPC分类号： A61B34/70 , A61B10/0233 , A61B34/76 , A61B34/77 , A61B2017/3405 , A61B2090/376
摘要： A system (10) for conducting an image-guided medical procedure on a subject (20) includes a medical imaging apparatus (100) which intermittently during the procedure obtains, upon demand, real-time medical images of the actual procedure. A robotic arm (200) hold a medical instrument (e.g., a biopsy needle (210)) that is used to perform the procedure. The robotic arm (200) manipulates the medical instrument in response to drive signals from a haptic control (400). A detector (e.g., a strain gauge (230)) measures forces experienced by the medical instrument during the procedure. The haptic control (400) generates the drive signals in response to manipulations of an input device (e.g., a knob (404) or an auxiliary instrument, such as, in the case of a biopsy, a remote needle (500)) by an operator, and the operator receives tactile feedback from the haptic control (400) in accordance with the measured forces experienced by the medical instrument. A display (e.g., a video monitor (152)) shows a virtual planning view of the procedure. The virtual planning view depicts a pre-procedure image (310) of the subject (20) with a virtual medical instrument (e.g., a virtual needle (300)) corresponding to the medical instrument held by the robotic arm (200) superimposed therein. In response to the drive signals from the haptic control (400), the virtual medical instrument has its position and orientation updated relative to the pre-procedure image (310).
摘要翻译：用于对被摄体（20）进行图像引导的医疗程序的系统（10）包括医疗成像设备（100），其在所述过程期间间歇地获得根据需要的实际过程的实时医学图像。机器臂（200）保持用于执行该过程的医疗器械（例如，活检针（210））。机器人臂（200）响应于来自触觉控制器（400）的驱动信号来操纵医疗器械。检测器（例如，应变仪（230））测量在该过程期间医疗器械所经历的力。触觉控制（400）响应于输入装置（例如，旋钮（404）或辅助仪器（例如活检的情况下的远程针（500））的操纵，产生驱动信号操作员，并且操作者根据所测量的医疗器械的力量从触觉控制器（400）接收触觉反馈。显示器（例如，视频监视器（152））示出了该过程的虚拟规划视图。虚拟规划视图描绘了与由机器人手臂（200）重叠的医疗器械相对应的虚拟医疗器械（例如，虚拟针（300））的对象（20）的预过程图像（310）。响应于来自触觉控制（400）的驱动信号，虚拟医疗器械相对于前处理图像（310）更新其位置和方位。

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