公开(公告)号：JPH06261911A

公开(公告)日：1994-09-20

申请号：JP24811493

申请日：1993-10-04

Applicant: IBM

Inventor： RATSUSERU HAISUMISU TEIRAA ,  JIYANETSUTSU FUANDA ,  DEBITSUDO DANIERU GUROSUMAN ,  JIYON PIITAA KARIDEISU ,  DEBITSUDO AASAA RAROOZU

IPC: B25J9/06 ,  A61B1/00 ,  A61B10/02 ,  A61B19/00 ,  B25J9/10 ,  B25J19/00

Abstract: PURPOSE: To make it possible to position mechanical parts including an active center point onto a work point far away from a main body of a manipulator device repeatedly, by constituting the manipulator mechanism from multiple rigid links connected by pivots. CONSTITUTION: In the device made of two parts, that is, a central part and a tip end, there are multiple rigid links 1-7. The links position an instrument such as a surgical instrument 11 into a work point Cmot by rotating the links with centering around pivots A-K. The central part of the device is mounted adjustably on a fixed body such as an operation table 22. The tip part of the device supports the surgical instrument. The tip part of the device can be moved against the central part by movement of the links that can control several lengths. That is, the work point and an action radius of a manipulator can be varied without moving the central part of the device. The links are rotated with centering around the pivot by an actuator 9 of manual or remote (computer) controlling type, to adjust the length of the adjustable links.

公开(公告)号：JPH0630896A

公开(公告)日：1994-02-08

申请号：JP9098993

申请日：1993-04-19

Applicant: IBM

Inventor： JIYANETSUTSU FUANDA ,  DEIBITSUDO AASAA RAROOZU ,  RATSUSERU HAISUMISU TEIRAA

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B17/00 ,  A61B19/00 ,  B25J9/04 ,  B25J17/02

Abstract: PURPOSE: To align a position of a device with an instructed object by determining position information of the anatomical tissue mechanism of an interior of a patient's body by making an image of the object with an image processing method. CONSTITUTION: At least 3 circular dots 701 having diameters are on a surgical device 700. Those dots appear on an image surface as ovals 705. When a distance between a lens and a circular dot 701 is fixed as it is and the image surface becomes vertical to the direction a camera faces, the diameter of a corresponding circular image is equal to the longitudinal axis 1 of the oval. If a focusing distance of the camera is assumed to be f, the distance z between the camera lens and the object mechanism can be calculated by a computer based on a formula of z=(f×s)/1. After conducting a calculation regarding at least 3 circular dots, if pattern positions of the circular dots corresponding to the tip end of the surgical device are turned out, the 3D position of the tip end of the surgical device corresponding to the camera can be calculated. Further, by using a stereo seopic image processing method, a position of 3D anatomical tissue mechanism can be accurately determined.

公开(公告)号：JPS6067806A

公开(公告)日：1985-04-18

申请号：JP9670484

申请日：1984-05-16

Applicant: IBM

Inventor： FUERUDEINANDO HENDORITSUKUSU ,  RATSUSERU HAISUMISU TEIRAA

IPC: G01B21/00 ,  B25J9/10 ,  B25J9/14 ,  B25J19/02 ,  G01B11/00 ,  G01B11/24 ,  G01B21/20 ,  G05D3/20

公开(公告)号：JPH04231034A

公开(公告)日：1992-08-19

申请号：JP10980791

申请日：1991-04-15

Applicant: IBM

Inventor： EDOWAADO GURASUMAN ,  UIRIAMU AASAA HANSON ,  PIITAA KAZANJIDESU ,  BURENTO DEII MITSUTERUSHIYUTAT ,  BERA RUISU MUSHITSUTSU ,  HAWAADO EE POORU ,  RATSUSERU HAISUMISU TEIRAA

IPC: A61B17/00 ,  A61B17/17 ,  A61B19/00 ,  A61F2/00 ,  A61F2/30 ,  A61F2/46 ,  B25J9/16 ,  B25J11/00 ,  B25J13/00 ,  G05B19/4099

Abstract: PURPOSE: To provide a robot system for operation which has a manipulator arm which is provided with a tool for operation and a degree of multiple movement freedom. CONSTITUTION: A manipulator arm 14 which is provided with a tool for operation 22 and has a degree of multiple movement freedom includes a safety monitoring and processing device 38 which is connected with a controller 24 to position the tool for operation in such a manner that it can be controlled and determines a position of the tool for operation in a three-dimensional coordinate system. Furthermore, an output for turning a space region including at least a part of the manipulator arm into a picture image is connected with a processing device 38 which processes quantitative model to determine whether the tool for operation is positioned on the outside of the quantitative model or not. Furthermore, it includes a strain gage 40 for detecting the slide between an immobilized tissue such as a bone and a reference point 44 three- dimensionally.