| 摘要 |
PROBLEM TO BE SOLVED: To speedily and surely extract the boundary of a concerning part by linking a robot and a resectoscope suspended on a counter balance gantry to operate the head part shaft of a surgical robot with an ultra sonic probe to scan the target internal organ of a patient. SOLUTION: The robot suspended on the counter balance holds the ultrasonic probe 20 and a four-axes mechanism controller 14 is provided with four moving axes of a head part moving axis (straight axis), an annular axis (rotation), a cured axes (rotation) and a pivot length driving axis (straight line). In order to carry the base of a robot arm to which the probe 20 is mounted, only the head part axis of the robot 16 is moved and scans the tomography parts of plural prostates. Then, an ultrasonic image is supplied for a frame grabber 12 to be digitized so as to be processed by a computer to display it on a monitor by each tomography scanning to plot the contour of all the prostate boundaries. |
