Abstract: An image registration method and apparatus, a medical operating robot system using the same, and a computer program medium are described. The image registration method includes: extracting digitally reconstructed radiograph (DRR) images in an anterior-posterior (AP) direction and a lateral-lateral (LL) direction from the 3D image; acquiring 2D images for an AP image and an LL image of the patient's surgical; determining a first rotation angle between a reference position and a predetermined first reference position of the patient's surgical site corresponding to the first reference position of the AP image or LL image; determining a second rotation angle between the reference position and the second reference position of the AP image or LL image corresponding to the reference position; and determining a transformation relationship between the 2D image and the DRR image based on the first and second rotation angles.

Abstract: A system for planning pedicle screw fixation includes: a C-arm configured to capture a spinal image of a patient; an insertion path provider configured to provide an entry point and an insertion endpoint of a pedicle screw on a C-arm image; a registrator configured to calculate spatial coordinates of the entry point and the insertion endpoint based on a reference coordinate system; a guider configured to determine an insertion position of the pedicle screw based on the spatial coordinates of the entry point and the insertion endpoint, and guide a probe to be inserted toward the entry point according to the insertion positions; and a screw determiner configured to determine a length condition of the pedicle screw by obtaining coordinates of a start point at which the probe is inserted and becomes in contact with a bone.

Abstract: A system for planning pedicle screw fixation includes: a C-arm configured to capture a spinal image of a patient; an insertion path provider configured to provide an entry point and an insertion endpoint of a pedicle screw on a C-arm image; a registrator configured to calculate spatial coordinates of the entry point and the insertion endpoint based on a reference coordinate system; a guider configured to determine an insertion position of the pedicle screw based on the spatial coordinates of the entry point and the insertion endpoint, and guide a probe to be inserted toward the entry point according to the insertion positions; and a screw determiner configured to determine a length condition of the pedicle screw by obtaining coordinates of a start point at which the probe is inserted and becomes in contact with a bone.

Abstract: The present invention relates to an end effector having a line laser mounted therein, comprising: a main body forming the body of an end effector; a support part installed in the main body and supporting needle guide apparatuses for guiding a needle; a line laser part installed on one side and the other side of the support part, and emitting line laser beams so as to mark a needle insertion point for inserting the needle into a lesion of a patient; and a guide part for guiding the line laser beams emitted from the line laser part so as to cross the line laser beams, wherein the line laser part emits the line laser beams via the guide part such that the needle insertion point is marked at a predetermined distance away from the needle guide apparatus.

Abstract: The present invention relates to an end effector having a line laser mounted therein, comprising: a main body forming the body of an end effector; a support part installed in the main body and supporting needle guide apparatuses for guiding a needle; a line laser part installed on one side and the other side of the support part, and emitting line laser beams so as to mark a needle insertion point for inserting the needle into a lesion of a patient; and a guide part for guiding the line laser beams emitted from the line laser part so as to cross the line laser beams, wherein the line laser part emits the line laser beams via the guide part such that the needle insertion point is marked at a predetermined distance away from the needle guide apparatus.

Abstract: Disclosed is a apparatus for generating a needle insertion path for an interventional robot, which provides a needle insertion path for intervention by inserting a needle. The apparatus includes a patient-side optical tool located on a patient for showing a position of an intervention target part among parts of the patient, a robot-side optical tool located on an interventional robot for showing a position of the interventional robot, and a needle path calculator configured to track positions of the patient-side optical tool and the robot-side optical tool to perform spatial registration on a local coordinate system of the patient-side optical tool based on the position of the patient-side optical tool with respect to a robot base coordinate system based on the position of the robot-side optical tool, and calculate a needle insertion path with respect to robot base coordinate system, based on a result of the spatial registration.

Abstract: Provided are equipment operation safety monitoring system and method and computer-readable medium having a program recorded thereon, the program allowing a computer to execute the method. The equipment operation safety monitoring system includes an image input unit, an integrated image generation unit, a guideline generation unit, and an image output unit. The image input unit is mounted on heavy equipment and inputs a plurality of images acquired by photographing partitioned areas in all the directions around the heavy equipment. The integrated image generation unit generates an integrated image including the areas in all the directions around the heavy equipment by using the plurality of the images. The guideline generation unit generates a guideline indicating a position separated by a predetermined distance from the heavy equipment. The image output unit illustrates the guideline on the integrated image and outputs the integrated image.