| 摘要 |
Apparatus for positioning a surgical instrument during a surgical orthopaedic procedure relative to the coordinate system of the apparatus, comprises a surgical instrument and a robotic control system for moving the surgical instrument within the apparatus coordinate system according to program instructions. An instrument sensor is fixed relative to the instrument to indicate the true position of the instrument within the apparatus coordinate system, and a reference sensor is then fixed to a patient's bone to indicate the position of the patient's bone within the apparatus coordinate system. A detector for monitoring the positions of the instrument sensor and the reference sensor, and a signal processor receives position signals from the detector, and generates a desired position signal to the robotic control system to position the surgical instrument at a desired location relative to the reference sensor, by a process which involves minimising the difference between the true position of the instrument and the said desired location. |
