KIM, HONG HOKR,김홍호,LIM, HEUNG SOONKR,임흥순,WOO, DONG GIKR,우동기,CHOI, HAN CHEOLKR,최한철,CHA, YONG YEOBKR,차용엽
申请号：
KR1020150061235
公开号：
KR1020160129311A
申请日:
2015.04.30
申请国别(地区):
KR
年份:
2016
代理人:
摘要：
The present invention relates to a needle insertion-type interventional robot system. The needle insertion-type interventional robot system allows a user to insert a needle into the human body&primes part to be treated, and performs biopsy, high-frequency thermotherapy, drug injection, etc. The needle insertion-type interventional robot system comprises: a diagnostic inspection apparatus allowing a user to capture an image of the part to be treated a slave robot comprising a robot arm mounted on a robot base and an end effector which is mounted on the end of the robot arm and can mount, detach, and rotate the needle a master console comprising a master unit which can change the position and posture of the robot arm and controls the end effector in order to mount the needle, a planner which provides a multi-planar reconstruction image using data on the image captured by the diagnostic inspection apparatus, in order to display an insertion path for the needle, a divided image for a main organ, and the measured position of the needle, a control panel which is a user input unit and allows the user to input a command required for the operation of the robot system, and a monitor which provides the user with the multi-planar reconstruction image generated by the planner. In case of applying the needle insertion-type interventional robot system to a conventional needle insertion-type interventional procedure using CT, radiation exposure can be reduced by 50% or more with respect to a patient, and a user can avoid radiation exposure. Furthermore, the interventional procedure time can be reduced by about 50% or more, so the interventional procedure efficiency is maximized. Therefore, the user can more safely and accurately treat more patients.COPYRIGHT KIPO 2016본 발명은 바늘삽입형 중재시술 로봇시스템에 관한 것으로서, 사용자에 의해 바늘을 환부에 삽입하여, 생검 또는 고주파 열치료, 약물주입 등을 수행하는 중재시술 로봇시스템에 있어서, 상기 환부를 촬영하여 영상으로 구현할 수 있도록 하는 진단검사장비 로봇 베이스 상에 설치된 로봇 암과 상기 로봇 암의 끝단에 장착되어 상기 바늘을 장착, 탈착, 회전시킬 수 있는 엔드이펙터를 구비하는 슬레이브 로
