Hong Ho KIM;Jun Woo PARK;Yong Yeob CHA;Dong Gi WOO
发明人:
Hong Ho KIM,Dong Gi WOO,Yong Yeob CHA,Jun Woo PARK
申请号：
US14945080
公开号：
US20160157887A1
申请日:
2015.11.18
申请国别(地区):
US
年份:
2016
代理人:
摘要：
Disclosed is a apparatus for generating a needle insertion path for an interventional robot, which provides a needle insertion path for intervention by inserting a needle. The apparatus includes a patient-side optical tool located on a patient for showing a position of an intervention target part among parts of the patient, a robot-side optical tool located on an interventional robot for showing a position of the interventional robot, and a needle path calculator configured to track positions of the patient-side optical tool and the robot-side optical tool to perform spatial registration on a local coordinate system of the patient-side optical tool based on the position of the patient-side optical tool with respect to a robot base coordinate system based on the position of the robot-side optical tool, and calculate a needle insertion path with respect to robot base coordinate system, based on a result of the spatial registration.
