Celebral operating robot system based on optical tracking and closed-loop control and its realizing method
Title：
Celebral operating robot system based on optical tracking and closed-loop control and its realizing method
Application Number：
 200510122586
Application Date：
 2005/12/22
Announcement Date：
 2007/06/27
Pub. Date：
Publication Number：
 1985773
Announcement Number：
Grant Date：
Granted Pub. Date：
ApplicationType：
 Invention
State/Country：
 12[China|tianjin]
IPC：
 A61B 19/00, G06F 19/00, B25J 9/00, B25J 13/00, B25J 11/00
Applicant(s)：
 Huazhi Computer Application Technology Co., Ltd., Tianjin
Inventor(s)：
 Chen Guodong, Jia Peifa, Guan Wei, Wang Rongjun
Key Words：
 Celebral operating robot system, optical tracking, closed-loop control, realizing method
Abstract：
 The cerebral operating robot system based on optical tracking and closed-loop control for receiving medical image information, detecting and determining disease focus position, assisting operation plan and performing operation guidance is one closed-loop pose measuring and real-time feedback controlling robot system comprising one computer, one five-freedom robot, one optical tracking device and one passive marker. The passive marker is mounted in the end of the five-freedom robot, and the five-freedom robot includes one mechanical arm and one mechanical arm controller. The operation plan assisting and operation guiding software includes a digital image inputting and pre-treating module, a disease focus extracting and 3D reconstructing module, an operation planning module, and an operation executing module. The present invention has the advantages of raised precision, low cost, simplified calibration process, etc.
Claim：
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PCT：
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2008-4-17
  Selected patents owned by Tsinghua University filed in 2005 are loaded.
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