CA2763480C - Robotic arms - Google Patents
Robotic arms Download PDFInfo
- Publication number
- CA2763480C CA2763480C CA2763480A CA2763480A CA2763480C CA 2763480 C CA2763480 C CA 2763480C CA 2763480 A CA2763480 A CA 2763480A CA 2763480 A CA2763480 A CA 2763480A CA 2763480 C CA2763480 C CA 2763480C
- Authority
- CA
- Canada
- Prior art keywords
- arms
- bone
- coupled
- relative
- another
- 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.)
- Active
Links
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 79
- 239000012634 fragment Substances 0.000 claims abstract description 26
- 230000008878 coupling Effects 0.000 claims abstract description 22
- 238000010168 coupling process Methods 0.000 claims abstract description 22
- 238000005859 coupling reaction Methods 0.000 claims abstract description 22
- 210000000707 wrist Anatomy 0.000 claims description 14
- 210000002435 tendon Anatomy 0.000 claims description 13
- 210000003414 extremity Anatomy 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 abstract 3
- 230000001276 controlling effect Effects 0.000 abstract 1
- 239000012530 fluid Substances 0.000 description 20
- 239000012636 effector Substances 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000000835 fiber Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- -1 for example Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 239000002480 mineral oil Substances 0.000 description 1
- 235000010446 mineral oil Nutrition 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements for external osteosynthesis, e.g. distractors, contractors
- A61B17/64—Devices extending alongside the bones to be positioned
- A61B17/6408—Devices not permitting mobility, e.g. fixed to bed, with or without means for traction or reduction
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements for external osteosynthesis, e.g. distractors, contractors
- A61B17/66—Alignment, compression or distraction mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/885—Tools for expanding or compacting bones or discs or cavities therein
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8866—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices for gripping or pushing bones, e.g. approximators
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00535—Surgical instruments, devices or methods pneumatically or hydraulically operated
- A61B2017/00539—Surgical instruments, devices or methods pneumatically or hydraulically operated hydraulically
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US18150509P | 2009-05-27 | 2009-05-27 | |
| US61/181,505 | 2009-05-27 | ||
| PCT/US2010/036404 WO2010138715A1 (en) | 2009-05-27 | 2010-05-27 | Robotic arms |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2763480A1 CA2763480A1 (en) | 2010-12-02 |
| CA2763480C true CA2763480C (en) | 2018-04-10 |
Family
ID=42358420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2763480A Active CA2763480C (en) | 2009-05-27 | 2010-05-27 | Robotic arms |
Country Status (10)
| Country | Link |
|---|---|
| US (2) | US8425519B2 (enExample) |
| EP (1) | EP2434976B1 (enExample) |
| JP (1) | JP5667175B2 (enExample) |
| KR (1) | KR101661318B1 (enExample) |
| CN (1) | CN102802552B (enExample) |
| BR (1) | BRPI1013255A2 (enExample) |
| CA (1) | CA2763480C (enExample) |
| CO (1) | CO6480916A2 (enExample) |
| RU (1) | RU2541754C2 (enExample) |
| WO (1) | WO2010138715A1 (enExample) |
Families Citing this family (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9155544B2 (en) * | 2002-03-20 | 2015-10-13 | P Tech, Llc | Robotic systems and methods |
| US8652031B2 (en) * | 2011-12-29 | 2014-02-18 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Remote guidance system for medical devices for use in environments having electromagnetic interference |
| TR201202175A2 (tr) * | 2012-02-27 | 2012-09-21 | Tam�� Otogaz Sanay� T�C. Ve M�H. H�Z. �Th. �Hr. Ltd. �T�. | Kemik kırıkları için bir sabitleme robotu. |
| EP2841000B1 (de) * | 2012-04-27 | 2019-02-27 | KUKA Deutschland GmbH | Chirurgierobotersystem |
| US9610101B2 (en) * | 2012-06-11 | 2017-04-04 | Lihai Zhang | Long-bone fracture-reduction robot |
| CA2905968A1 (en) | 2013-03-15 | 2014-09-25 | Sri International | Hyperdexterous surgical system |
| US10390737B2 (en) | 2013-09-30 | 2019-08-27 | Stryker Corporation | System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure |
| CA2932600C (en) | 2013-12-15 | 2022-05-10 | Mazor Robotics Ltd. | Semi-rigid bone attachment robotic surgery system |
| KR101564717B1 (ko) * | 2014-04-03 | 2015-11-02 | 경북대학교 산학협력단 | 뼈 견인장치 및 이를 포함하는 골절정복장치 |
| DE102014113658A1 (de) * | 2014-09-22 | 2016-03-24 | MAQUET GmbH | Vorrichtung zur Repositionierung von Knochenfrakturfragmenten |
| GB2541177A (en) * | 2015-07-30 | 2017-02-15 | Univ Of The West Of England Bristol | Apparatus for performing fracture reduction |
| US20200383793A1 (en) * | 2016-04-07 | 2020-12-10 | Kambiz Behzadi | Materials in orthopedics and fracture fixation |
| TR201607675A2 (tr) | 2016-06-07 | 2017-12-21 | Tamis Serpauoto Test Makinalari Imalati Oto Ekspertiz Ve Muehendislik Hizmetleri Ithalat Ihracat San | Ortopedi̇ ameli̇yatlarinda kullanilmak üzere bi̇r kemi̇k hi̇zalama ve sabi̇tleme robotu |
| US10010350B2 (en) | 2016-06-14 | 2018-07-03 | Stryker European Holdings I, Llc | Gear mechanisms for fixation frame struts |
| AU2017340607B2 (en) | 2016-10-05 | 2022-10-27 | Nuvasive, Inc. | Surgical navigation system and related methods |
| US10874433B2 (en) | 2017-01-30 | 2020-12-29 | Stryker European Holdings I, Llc | Strut attachments for external fixation frame |
| CN110573110A (zh) * | 2017-05-03 | 2019-12-13 | 史密夫和内修有限公司 | 可锁定式液压手术支承设备 |
| CN208002889U (zh) * | 2017-05-13 | 2018-10-26 | 张荣峰 | 单边多自由度复位机器人 |
| EP3761899A4 (en) * | 2018-03-08 | 2021-12-15 | Versitech Limited | FLUID-POWERED MASTER-SLAVE ACTION FOR MAGNETIC RESONANCE IMAGING GUIDED INTERVENTIONS (MRI) |
| CN109330686B (zh) * | 2018-10-25 | 2021-06-04 | 上海大学 | 一种用于长骨骨折的机器人辅助复位系统 |
| EP3962385A1 (en) * | 2019-05-03 | 2022-03-09 | Universiteit Gent | Patient specific robotic bone implant positioning |
| US11612440B2 (en) | 2019-09-05 | 2023-03-28 | Nuvasive, Inc. | Surgical instrument tracking devices and related methods |
| CN113397710A (zh) * | 2020-03-17 | 2021-09-17 | 上海奥朋医疗科技有限公司 | 适用于血管介入手术的双平面机械臂装置 |
| CN112402000B (zh) * | 2020-11-13 | 2022-03-11 | 山东中医药大学附属医院 | 一种钢板插入辅助装置、钢板自动插入系统及控制方法 |
| CN112370290B (zh) * | 2020-11-13 | 2022-09-30 | 毕建平 | 面向四肢骨折的复位及固定一体化手术系统 |
| CN112370153B (zh) * | 2020-11-13 | 2022-03-11 | 山东中医药大学 | 面向四肢骨折的一体化手术系统及控制方法 |
| WO2022243784A1 (en) * | 2021-05-19 | 2022-11-24 | Covidien Lp | Actuation assemblies for surgical instruments such as for use in robotic surgical systems |
| US20230181180A1 (en) * | 2021-11-12 | 2023-06-15 | Nicholas H. Mast, M.D., Inc. , California Medical Corporation | Self-retaining bone holding devices and methods |
| CN114176752B (zh) * | 2021-12-15 | 2023-12-05 | 山东中医药大学附属医院 | 一种基于机器人骨折复位的夹持固定装置 |
| EP4447833A4 (en) * | 2021-12-15 | 2025-12-03 | Revbio Inc | Devices and methods for bone fixation |
| CN120304929A (zh) * | 2025-04-22 | 2025-07-15 | 北京大顶医疗科技有限公司 | 用于长骨骨折闭合复位的手术机器人 |
Family Cites Families (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7022A (en) * | 1850-01-15 | Cideb-mill | ||
| US4973331A (en) * | 1989-03-08 | 1990-11-27 | Autogenesis Corporation | Automatic compression-distraction-torsion method and apparatus |
| US5762458A (en) * | 1996-02-20 | 1998-06-09 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
| ES2257778T3 (es) * | 1996-07-25 | 2006-08-01 | Calabrian High Tech S.R.L. | Sistema ortopedico que permite la alineacion de los huesos o la reduccion de fracturas. |
| US6331181B1 (en) * | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
| US6701174B1 (en) * | 2000-04-07 | 2004-03-02 | Carnegie Mellon University | Computer-aided bone distraction |
| JP3735751B2 (ja) * | 2000-07-05 | 2006-01-18 | 隆弘 越智 | 骨の修復・治療装置 |
| UA73295C2 (en) * | 2001-08-14 | 2005-07-15 | Anatolii Ivanovych Kavchuk | Kavchuk's device for external reposition and fixation of bone fragments and technique for automatic and semi-automatic reposition and fixation of bone fragments with the aid of this device |
| US8180429B2 (en) * | 2002-04-17 | 2012-05-15 | Warsaw Orthopedic, Inc. | Instrumentation and method for mounting a surgical navigation reference device to a patient |
| RU2240749C1 (ru) * | 2003-08-07 | 2004-11-27 | Федеральное государственное унитарное предприятие "Государственное машиностроительное конструкторское бюро "Радуга" им. А.Я. Березняка" | Шарнирно-дистракционный аппарат с системой контроля и настройки |
| US8182491B2 (en) * | 2004-08-06 | 2012-05-22 | Depuy Spine, Inc. | Rigidly guided implant placement |
| US7575575B2 (en) * | 2005-03-18 | 2009-08-18 | Ron Anthon Olsen | Adjustable splint for osteosynthesis with modular components |
| US7881771B2 (en) * | 2005-08-03 | 2011-02-01 | The Hong Kong Polytechnic University | Bone reposition device, method and system |
| RU2339332C2 (ru) * | 2006-02-02 | 2008-11-27 | Вячеслав Васильевич Козырев | Ортопедический аппарат остеосинтеза |
| JP2009527366A (ja) * | 2006-02-24 | 2009-07-30 | フェルロボティクス コンプライアント ロボット テクノロジー ゲーエムベーハー | ロボットアーム |
| US8702705B2 (en) * | 2006-03-23 | 2014-04-22 | Bruce H. Ziran | Electromechanically driven external fixator and methods of use |
| US8202273B2 (en) * | 2007-04-28 | 2012-06-19 | John Peter Karidis | Orthopedic fixation device with zero backlash and adjustable compliance, and process for adjusting same |
| WO2008156881A1 (en) * | 2007-06-13 | 2008-12-24 | Amei Technologies, Inc. | Adjustable fixation devices incorporating drive systems |
| WO2009018398A2 (en) | 2007-07-31 | 2009-02-05 | John Peter Karidis | Fixator apparatus with radiotransparent apertures for orthopaedic applications |
| US7875039B2 (en) * | 2008-06-30 | 2011-01-25 | Eigen, Inc. | Support assembly for a tracking assembly and mounted transrectal ultrasound probe |
-
2010
- 2010-05-27 KR KR1020117028175A patent/KR101661318B1/ko not_active Expired - Fee Related
- 2010-05-27 EP EP10721087.4A patent/EP2434976B1/en not_active Not-in-force
- 2010-05-27 US US12/788,689 patent/US8425519B2/en active Active
- 2010-05-27 BR BRPI1013255A patent/BRPI1013255A2/pt not_active Application Discontinuation
- 2010-05-27 RU RU2011153373/14A patent/RU2541754C2/ru active
- 2010-05-27 JP JP2012513254A patent/JP5667175B2/ja not_active Expired - Fee Related
- 2010-05-27 CA CA2763480A patent/CA2763480C/en active Active
- 2010-05-27 WO PCT/US2010/036404 patent/WO2010138715A1/en not_active Ceased
- 2010-05-27 CN CN201080033518.5A patent/CN102802552B/zh not_active Expired - Fee Related
-
2011
- 2011-12-21 CO CO11176315A patent/CO6480916A2/es active IP Right Grant
-
2013
- 2013-03-21 US US13/848,141 patent/US9161800B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| EP2434976A1 (en) | 2012-04-04 |
| KR101661318B1 (ko) | 2016-09-29 |
| US20100312291A1 (en) | 2010-12-09 |
| KR20120028889A (ko) | 2012-03-23 |
| US8425519B2 (en) | 2013-04-23 |
| JP2012527976A (ja) | 2012-11-12 |
| US20130218216A1 (en) | 2013-08-22 |
| RU2541754C2 (ru) | 2015-02-20 |
| CO6480916A2 (es) | 2012-07-16 |
| RU2011153373A (ru) | 2013-07-10 |
| CA2763480A1 (en) | 2010-12-02 |
| BRPI1013255A2 (pt) | 2016-11-01 |
| JP5667175B2 (ja) | 2015-02-12 |
| CN102802552A (zh) | 2012-11-28 |
| CN102802552B (zh) | 2015-11-25 |
| EP2434976B1 (en) | 2015-10-28 |
| US9161800B2 (en) | 2015-10-20 |
| WO2010138715A1 (en) | 2010-12-02 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20150505 |