AU2022432843A1 - Systems and methods for guiding movement of a hand-held medical robotic instrument - Google Patents

Systems and methods for guiding movement of a hand-held medical robotic instrument Download PDF

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Publication number
AU2022432843A1
AU2022432843A1 AU2022432843A AU2022432843A AU2022432843A1 AU 2022432843 A1 AU2022432843 A1 AU 2022432843A1 AU 2022432843 A AU2022432843 A AU 2022432843A AU 2022432843 A AU2022432843 A AU 2022432843A AU 2022432843 A1 AU2022432843 A1 AU 2022432843A1
Authority
AU
Australia
Prior art keywords
tool
hand
drive motor
control
pose
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
AU2022432843A
Other languages
English (en)
Inventor
James Kevin BEACHNAU
Michael Dale DOZEMAN
Nicholas Jon POST
Harsh SINHA
Jonathon WARREN
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 AU2022432843A1 publication Critical patent/AU2022432843A1/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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • 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
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
AU2022432843A 2022-01-12 2022-12-28 Systems and methods for guiding movement of a hand-held medical robotic instrument Pending AU2022432843A1 (en)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US202263298807P 2022-01-12 2022-01-12
US63/298,807 2022-01-12
US202263318182P 2022-03-09 2022-03-09
US63/318,182 2022-03-09
US202263354461P 2022-06-22 2022-06-22
US63/354,461 2022-06-22
PCT/US2022/054115 WO2023136930A2 (en) 2022-01-12 2022-12-28 Systems and methods for guiding movement of a hand-held medical robotic instrument

Publications (1)

Publication Number Publication Date
AU2022432843A1 true AU2022432843A1 (en) 2024-08-01

Family

ID=85174208

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2022432843A Pending AU2022432843A1 (en) 2022-01-12 2022-12-28 Systems and methods for guiding movement of a hand-held medical robotic instrument

Country Status (5)

Country Link
US (1) US20250221782A1 (https=)
EP (1) EP4463094A2 (https=)
JP (1) JP2025503705A (https=)
AU (1) AU2022432843A1 (https=)
WO (1) WO2023136930A2 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220070212A (ko) * 2019-09-30 2022-05-30 마코 서지컬 코포레이션 도구의 이동을 안내하기 위한 시스템 및 방법
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
WO2024020088A1 (en) * 2022-07-20 2024-01-25 Mako Surgical Corp. Robotic hand-held surgical instrument systems and methods
US20250331937A1 (en) * 2024-04-25 2025-10-30 Mako Surgical Corp. System And Method For Aligning An End Effector To A Haptic Object
CN121081124B (zh) * 2025-11-13 2026-02-24 广州市微眸医疗器械有限公司 三维可调远程运动中心的串并联机器人系统及其控制方法
CN121421624A (zh) * 2025-12-31 2026-01-30 北京爱康宜诚医疗器材有限公司 电动磨头的磨削控制方法、装置、存储介质及电子设备

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US889843A (en) 1907-07-08 1908-06-02 John H Lee Billiard and other game table.
US960794A (en) 1908-05-25 1910-06-07 Bingham Mfg Company Kinetoscope.
US970743A (en) 1910-03-28 1910-09-20 James O'maley Cultivator attachment.
US6017354A (en) 1996-08-15 2000-01-25 Stryker Corporation Integrated system for powered surgical tools
US7422582B2 (en) 2004-09-29 2008-09-09 Stryker Corporation Control console to which powered surgical handpieces are connected, the console configured to simultaneously energize more than one and less than all of the handpieces
US7704254B2 (en) 2005-09-10 2010-04-27 Stryker Corporation Surgical sagittal saw with indexing head and toolless blade coupling assembly for actuating an oscillating tip saw blade
JP2009056299A (ja) 2007-08-07 2009-03-19 Stryker Leibinger Gmbh & Co Kg 外科手術をプランニングするための方法及びシステム
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
EP3656317A1 (en) * 2011-09-02 2020-05-27 Stryker Corporation Surgical system including an instrument and method for using the instrument
US9639156B2 (en) * 2011-12-29 2017-05-02 Mako Surgical Corp. Systems and methods for selectively activating haptic guide zones
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
US20160045268A1 (en) 2014-08-15 2016-02-18 Stryker Corporation Surgical plan options for robotic machining
JP6730323B2 (ja) 2015-05-12 2020-07-29 ストライカー・ユーロピアン・ホールディングス・Ｉ，リミテッド・ライアビリティ・カンパニー 補強されたガイドバーを有する外科用矢状ブレードカートリッジ
EP3609424B1 (en) 2017-04-14 2026-01-14 Stryker Corporation Surgical systems for facilitating ad-hoc intraoperative planning of surgical procedures
US12232744B2 (en) * 2019-07-15 2025-02-25 Stryker Corporation Robotic hand-held surgical instrument systems and methods
CA3155848A1 (en) 2019-09-26 2021-04-01 Stryker Corporation SURGICAL NAVIGATION SYSTEMS AND METHODS
KR20220070212A (ko) * 2019-09-30 2022-05-30 마코 서지컬 코포레이션 도구의 이동을 안내하기 위한 시스템 및 방법
US20230255701A1 (en) * 2020-09-08 2023-08-17 Mako Surgical Corp. Systems And Methods For Guiding Movement Of A Handheld Medical Robotic Instrument

Also Published As

Publication number Publication date
US20250221782A1 (en) 2025-07-10
JP2025503705A (ja) 2025-02-04
WO2023136930A3 (en) 2023-08-17
EP4463094A2 (en) 2024-11-20
WO2023136930A2 (en) 2023-07-20

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