AU2021342049A1 - Systems and methods for guiding movement of a handheld medical robotic instrument - Google Patents

Systems and methods for guiding movement of a handheld medical robotic instrument Download PDF

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Publication number
AU2021342049A1
AU2021342049A1 AU2021342049A AU2021342049A AU2021342049A1 AU 2021342049 A1 AU2021342049 A1 AU 2021342049A1 AU 2021342049 A AU2021342049 A AU 2021342049A AU 2021342049 A AU2021342049 A AU 2021342049A AU 2021342049 A1 AU2021342049 A1 AU 2021342049A1
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AU
Australia
Prior art keywords
constraint
pose
saw blade
tool
actuators
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
AU2021342049A
Other languages
English (en)
Inventor
Timothy J. Bozung
Richard Thomas Deluca
Michael Dale Dozeman
Nicholas Jon Post
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mako Surgical Corp
Original Assignee
Mako Surgical Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mako Surgical Corp filed Critical Mako Surgical Corp
Publication of AU2021342049A1 publication Critical patent/AU2021342049A1/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A61B17/142—Surgical saws with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1622—Drill handpieces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00982—General structural features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
    • A61B2090/3916—Bone tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3991—Markers, e.g. radio-opaque or breast lesions markers having specific anchoring means to fixate the marker to the tissue, e.g. hooks

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
AU2021342049A 2020-09-08 2021-09-08 Systems and methods for guiding movement of a handheld medical robotic instrument Pending AU2021342049A1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202063075615P 2020-09-08 2020-09-08
US63/075,615 2020-09-08
US202063085651P 2020-09-30 2020-09-30
US63/085,651 2020-09-30
PCT/US2021/049440 WO2022055980A1 (en) 2020-09-08 2021-09-08 Systems and methods for guiding movement of a handheld medical robotic instrument

Publications (1)

Publication Number Publication Date
AU2021342049A1 true AU2021342049A1 (en) 2023-01-19

Family

ID=78483465

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2021342049A Pending AU2021342049A1 (en) 2020-09-08 2021-09-08 Systems and methods for guiding movement of a handheld medical robotic instrument

Country Status (6)

Country Link
US (1) US20230255701A1 (https=)
EP (1) EP4210619A1 (https=)
JP (1) JP7846024B2 (https=)
CN (1) CN115916093A (https=)
AU (1) AU2021342049A1 (https=)
WO (1) WO2022055980A1 (https=)

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CN111227943B (zh) * 2020-01-23 2021-07-06 诺创智能医疗科技(杭州)有限公司 手术机械臂的控制方法、计算机设备及一种手术机械臂
WO2021147267A1 (zh) 2020-01-23 2021-07-29 诺创智能医疗科技(杭州)有限公司 手术机械臂及手术机器人
JP2023512760A (ja) * 2020-02-04 2023-03-29 マコ サージカル コーポレーション 視覚インジケータを備える手持ち式ロボット手術器具システム及びそれを制御する方法
WO2022159568A1 (en) 2021-01-20 2022-07-28 Mako Surgical Corp. Robotic hand-held surgical instrument systems and methods
CN118042999A (zh) * 2021-09-27 2024-05-14 柯惠Lp公司 具有不同长度的进入端口的外科机器人系统的操作系统
JP2025503705A (ja) * 2022-01-12 2025-02-04 マコ サージカル コーポレーション 手持ち式医療ロボット器具の動きをガイドするシステム及び方法
EP4465915A2 (en) * 2022-01-20 2024-11-27 MAKO Surgical Corp. Robotic hand-held surgical system
US20230404572A1 (en) * 2022-06-17 2023-12-21 Cilag Gmbh International Smart circular staplers
EP4577139A1 (en) 2022-08-26 2025-07-02 MAKO Surgical Corp. Selectively automated robotic surgical system
KR20250172812A (ko) * 2023-03-07 2025-12-09 모노그램 올소패딕스 인크. 로봇 수술 시스템 레이아웃 및 관련 방법
CN117289796B (zh) * 2023-09-22 2024-05-07 中山大学 基于触觉手套的复杂装备高交互混合现实系统与方法
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Also Published As

Publication number Publication date
US20230255701A1 (en) 2023-08-17
JP2023539710A (ja) 2023-09-19
EP4210619A1 (en) 2023-07-19
JP7846024B2 (ja) 2026-04-14
WO2022055980A1 (en) 2022-03-17
CN115916093A (zh) 2023-04-04

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