| 摘要 |
PCT No. PCT/SG95/00009 Sec. 371 Date May 5, 1997 Sec. 102(e) Date May 5, 1997 PCT Filed Jun. 20, 1995 PCT Pub. No. WO97/00649 PCT Pub. Date Jan. 9, 1997An articulated arm is disclosed which can be used to firmly support and position a variety of medical tools, including surgical or diagnostic instruments flexibly in space. Though some of its sub-assemblies may be computer controlled, thus autonomous in accordance to some pre-programmed sequence, manual control is also possible. When its sub-assemblies are suitably controlled using computer software, and with a suitable cutting instrument, the arm is capable of generating a barrel shape cavity or, for that matter, any desired shape of cavity (or treatment volume) that is within the work envelope of the arm. The ideal position of the focal point is dynamically variable as required, either with respect to the tool or the absolute frame of reference, during an intervention. A suitable type of intervention is minimally invasive surgery (MIS). Apart from cutting (or resection), the articulated arm, by virtue of its robotic nature, can also be used to perform such tasks as biopsies and radiation seed implantation, where positional accuracy and repeatability are highly desirable. The articulated arm is a universal computer assisted holder for a wide range of medical tools, in particular endoscopes for treatment of urological disorders.
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