X-ray assisted minimally invasive treatment with mechanical arm attached to stereotactic location

摘要

1. The stereotaxic system and guidance method in X-ray assisted small-scale invasive treatment are used together with an angiographic device for patients injected with radioactive substances, which are preferably accumulated in the place of vascular or arterial injury or aneurysm. The system includes a radiometer, a robot arm and a tool. There is a higher surface on the table where the patient lies down or down,There is at least one opening through which the patient's body is examined by the envelope hanging there. A six degree free robot arm is placed on the surface edge of the table and can be moved by a control system, which is equipped with a software. The robot arm's tools are placed in the robot's first level of freedom, and a manual tool can be pressed and held. The robot arm tool with six degrees of freedom is moved to align with the injured position, and the second level is detected by angiography to locate the injured position in three dimensions in real time.