Tactile feedback and the indication in the CT picture which robot system for intabenshiyonaru technique is guided

摘要

The object (20) the system in order to execute picture guide medical disposal (10), while dealing with, the medical application picture conversion device which acquires the picture of the real time in actual dealing with in compliance with request, intermittently (100) it includes. Although the robot arm (200), (the biopsy needle (210) and the like) we keep the medical equipment, execute the above-mentioned disposal it is used. The robot arm (200), haputeitsukukontororu (400) from reacting to the drive signal, manipiyureto it does the medical equipment. For example (, strain gauge (230) and the like) the detector during the above-mentioned dealing with measures the stress which is received with the medical equipment. For example haputeitsukukontororu (400), with the operator, the input device (, the knob (404) or the auxiliary equipment, for example, in the biopsy, the remote needle (500) and the like) reacting to manipiyureto, it generated the drive signal, following to the stress which this operator received with the medical equipment and was measured, it receives the tactile feedback from haputeitsukukontororu. For example (, the video monitor () display of 152 and the like shows the hypothetical planned range of vision of the above-mentioned disposal. For example as for this hypothetical planned range of vision, the hypothetical medical equipment which corresponds to the medical equipment which is kept the pile over there the robot arm which is adjusted (200) by (, the hypothetical needle (300))The object which is accompanied (20) the picture before the dealing with regarding (310) it shows. haputeitsukukontororu (400) from reacting to the drive signal, the hypothetical medical equipment, before the processing the picture (310) facing, has had position and the orientation which are renewed.