| 摘要 |
The invention relates to a device for positioning and guiding a surgical instrument during orthopaedic interventions, comprising an industrial robot which has a program-controlled robot arm (1) with several articulated joints and a mounting plate (2) at the end of said arm, an instrument (3) for the orthopaedic intervention attached to the mounting plate (2), and a program control with computer. Sensors for detecting the position of the joints in an instrument-coordinating system defined in the program control are situated in the joints of the robot arm (1). According to the invention, a manually guided sensor device, for example in the form of a sensor arm (4) with multiple joints, is used for the three-dimensional measurement of an object by the instrument-coordinating system of the industrial robot. Using the sensor device (4), and with a previously adopted basic position of the robot arm (1) specified by the program control, reference points can be detected on the bone of the patient. From the coordinates of the reference points related to the instrument-coordinating system the computer calculates a working position, which the robot arm (1) subsequently assumes during the surgical intervention. |
