Tubular type manipulator surgical robot system with image guidance for minimal invasive surgery

摘要

The present invention relates to a tubular-type surgical robotic manipulator system, and more particularly a remote control technology and will be applied to advanced technologies, such as information transmission technology for advanced medical services for image-guided surgical robot manipulator tubular system for minimally invasive surgery. In the present invention, image-guided surgical robot manipulator tubular system, and using the single incision surgery during passage of the body tissue incision and suture, the incision to remove debris, and the water injection and sucking a plurality of end-effectors, obtaining a video endoscope, the end-effector is connected to the treatment unit comprising a drive means for driving the wire to the respective independent, receiving the image, the affected part with end-to calculate the 3D position coordinates of the effector, the affected part and end - the image-guided guide unit for detecting whether a predetermined distance within a predetermined distance of the effect, is connected to the treatment portion drive means a plurality of end-effectors that generates a control signal to each of the independent driving is possible, and image-guided guide By receives the contact detection signal from the conversion unit and an operating unit for outputting a preoperative medical images echo signal power in a three-dimensional image by projecting the image of the surgical endoscope, characterized in that it comprises an image processing unit for generating a virtual image . ;