| 摘要 |
A robot 40 has a controllable arm which carries an instrument or tool. The robot is provided with a camera 45 to obtain an image of a work piece, including images of markers 2 and an indicator present on the work piece. The robot has a process or to process the images to determine the position of the markers within a spacial frame of reference of the robot. The robot is controlled to effect predetermined movements of the instrument or tool carried by the arm relative to the work piece. The processor is further configured to determine the position of the indicator and to respond to movement of the indicator within the spacial frame of reference of the robot to determine a new position of the indicator and thus the new position of the work piece. Subsequently the robot is controlled, relative to the new position of the work piece, to effect predetermined movements relative to the work piece. Preferably, this robot is used by a surgeon and the images are obtained by either X-ray, NMR or utrasound apparatus. |
