Registration markers, registration marker utilization programs, and how to operate the robot system

摘要

PROBLEM TO BE SOLVED: To provide a design of a registration marker, enabling a coordinate system of a robot to be accurately aligned with a coordinate system of a medical image on a photographed medical image, and to provide an image processing and calculation means for aligning the coordinate systems of both robot and medical image.SOLUTION: The registration marker is a structure made of resin material. The registration marker comprises a base 2, and oblique prismatic bodies 3, 4, 5, 6 each of which is a cuboid, extends in a direction perpendicular to the base 2 and is installed on the base 2a at a prescribed inclination. The base 2 may have a hole for connection with other equipment. A target surface serving as a reference plane of a marker can be identified correctly with respect to the CT imaging reference surface coordinate system by referring to quadrangles 14, 15, 16, 17 shown in a sectional drawing of the oblique prismatic bodies 3, 4, 5, 6, and thereby the reference axis of the image can be determined correctly in an image photographed by CT.SELECTED DRAWING: Figure 5