公开(公告)号：KR101195994B1

公开(公告)日：2012-10-30

申请号：KR1020110012356

申请日：2011-02-11

Applicant: 전남대학교산학협력단

Inventor： 박석호 ,  박종오 ,  김정언 ,  김석민 ,  김우영

IPC: A61B5/11

CPC classification number: A61B5/1126 ,  A61B34/20 ,  A61B34/30

Abstract: The present invention relates to a system for bone motion monitoring and path correction using a three-dimensional optical measuring unit, and more particularly, to a system that monitors the motion of a bone during surgery, extracts a change in coordinates according to the motion that has occurred, and corrects a path of a surgical robot using the change in coordinates. In order to achieve the above aim, the system of the present invention includes: an optical target unit attached to a bone for detecting motion; an optical measuring unit for measuring the motion of the optical target unit and extracting the degree of change when a motion occurs; a motion-detecting unit for detecting whether or not a bone moves as the degree of change extracted by the optical measuring unit is inputted, and correcting the path of a surgical robot; and said surgical robot for performing a cutting operation along the path corrected by the motion-detecting unit, or along a predetermined path.

公开(公告)号：KR1020120092355A

公开(公告)日：2012-08-21

申请号：KR1020110012356

申请日：2011-02-11

Applicant: 전남대학교산학협력단

Inventor： 박석호 ,  박종오 ,  김정언 ,  김석민 ,  김우영

IPC: A61B5/11

CPC classification number: A61B5/1126 ,  A61B34/20 ,  A61B34/30

Abstract: PURPOSE: A bone motion monitoring and path regenerating system using a three-dimensional optical tracker is provided to improve the reliability and quality of a robot surgery by automatically correcting the operating path of a robot. CONSTITUTION: An optical target unit(100) is attached to bone and detects a movement. An optical measuring unit(200) measures the movement of the optical target unit and extracts the amount of change. A movement sensing unit(300) senses the movement of the bone according to the inputted change amount extracted by the optical measuring unit and corrects the path of a surgical robot(400). The surgical robot implements cutting along a predetermined path or the path corrected by the movement sensing unit.

Abstract translation: 目的：通过自动校正机器人的操作路径，提供使用三维光学跟踪器的骨骼运动监测和路径再生系统，以提高机器人手术的可靠性和质量。 构成：将光学靶单元（100）附接到骨骼并检测运动。 光学测量单元（200）测量光学目标单元的移动并提取变化量。 运动感测单元（300）根据由光学测量单元提取的输入的变化量来检测骨的移动，并校正手术机器人（400）的路径。 外科手术机器人沿着预定路径或由移动感测单元校正的路径进行切割。