CN115052550A - 与机器人臂一起使用的导航阵列和相关方法 - Google Patents

与机器人臂一起使用的导航阵列和相关方法 Download PDF

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Publication number
CN115052550A
CN115052550A CN202180013109.7A CN202180013109A CN115052550A CN 115052550 A CN115052550 A CN 115052550A CN 202180013109 A CN202180013109 A CN 202180013109A CN 115052550 A CN115052550 A CN 115052550A
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China
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instrument
array
mount
mounting
lumen
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CN202180013109.7A
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English (en)
Chinese (zh)
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J·里希特
F·阿什曼
M·格特林
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Medos International SARL
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Medos International SARL
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    • 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
    • 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
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • 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
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
    • A61B2090/034—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/062—Measuring instruments not otherwise provided for penetration depth
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
    • 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
    • A61B2090/3937—Visible markers
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Endoscopes (AREA)
  • Surgical Instruments (AREA)
CN202180013109.7A 2020-02-07 2021-02-05 与机器人臂一起使用的导航阵列和相关方法 Pending CN115052550A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/784488 2020-02-07
US16/784,488 US11712305B2 (en) 2020-02-07 2020-02-07 Navigational arrays and related methods for use with a robotic arm
PCT/EP2021/052871 WO2021156479A1 (en) 2020-02-07 2021-02-05 Navigational arrays and related methods for use with a robotic arm

Publications (1)

Publication Number Publication Date
CN115052550A true CN115052550A (zh) 2022-09-13

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CN202180013109.7A Pending CN115052550A (zh) 2020-02-07 2021-02-05 与机器人臂一起使用的导航阵列和相关方法

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US (1) US11712305B2 (https=)
EP (1) EP4099940B1 (https=)
JP (1) JP7654678B2 (https=)
CN (1) CN115052550A (https=)
AU (1) AU2021216253A1 (https=)
WO (1) WO2021156479A1 (https=)

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JP2024530515A (ja) * 2021-08-16 2024-08-21 メドス・インターナショナル・エスエイアールエル サージカルアレイスタビライザ、並びに関連するシステム及び方法
US12303210B2 (en) * 2021-12-03 2025-05-20 DePuy Synthes Products, Inc. Surgical impactor arrays
US20240058022A1 (en) * 2022-08-22 2024-02-22 The Research Foundation For The State University Of New York Surgical guide devices and surgical clamps including same
USD1121826S1 (en) 2023-08-18 2026-04-07 Stryker European Operations Limited Surgical tracker
WO2025119445A1 (en) * 2023-12-04 2025-06-12 Brainlab Ag Universal tracking marker interface
GB202406765D0 (en) * 2024-05-14 2024-06-26 Neurochase Tech Limited Apparatus and method for intracranial device insertion and skull fixation
DE102024128714A1 (de) * 2024-10-04 2026-04-09 B. Braun New Ventures GmbH Medizinisches Robotersystem sowie Steuerungsverfahren

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CN101242789A (zh) * 2005-09-30 2008-08-13 直观外科手术公司 消毒手术帷帘
CN201389080Y (zh) * 2009-02-25 2010-01-27 清华大学 手术导航器械的通用标定模块
CN105073058A (zh) * 2013-03-15 2015-11-18 直观外科手术操作公司 用于通过在零垂直空间内进行咬合同时发生零空间移动而定位操纵器臂的系统和方法
US20160331479A1 (en) * 2012-06-21 2016-11-17 Globus Medical, Inc. Surgical tool systems and methods
CN108463178A (zh) * 2016-01-08 2018-08-28 波士顿科学医学有限公司 用于引导外科手术仪器的装置和方法
CN108652743A (zh) * 2017-03-27 2018-10-16 格罗伯斯医疗有限公司 外科手术机器人系统
CN109843186A (zh) * 2016-07-12 2019-06-04 Gys科技有限责任公司(经营名称为卡丹机器人) 多级扩张器与套管系统及方法
CN109862845A (zh) * 2016-09-16 2019-06-07 Gys科技有限责任公司(经营名称为卡丹机器人) 用于在手术机器人系统中安装机器人臂的系统和方法
CN109952070A (zh) * 2016-10-05 2019-06-28 纽文思公司 手术导航系统及相关方法
WO2019130314A1 (en) * 2017-12-27 2019-07-04 Mazor Robotics Ltd. Generic surgical navigation interface
US20190216546A1 (en) * 2018-01-16 2019-07-18 Microendoscopic Spine Institute, LLC Instrumentation and surgical method for image-guided microendoscopic decompression
US20190216454A1 (en) * 2015-09-04 2019-07-18 Medos International Sarl Surgical instrument connectors and related methods
CN110090077A (zh) * 2018-01-29 2019-08-06 格罗伯斯医疗有限公司 外科手术机器人系统
CN110267616A (zh) * 2017-02-27 2019-09-20 史密夫和内修有限公司 手术导航系统支撑阵列
US20190388161A1 (en) * 2012-06-21 2019-12-26 Globus Medical, Inc. Surgical robotic automation with tracking markers
CN110652360A (zh) * 2018-06-29 2020-01-07 格罗伯斯医疗有限公司 具有跟踪标记的手术机器人自动化
CN110691558A (zh) * 2017-05-31 2020-01-14 美多斯国际有限公司 用于外科器械的联接装置和相关方法
US20200015858A1 (en) * 2017-11-09 2020-01-16 Globus Medical, Inc. Robotic rod benders and related mechanical and motor housings

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CN101242789A (zh) * 2005-09-30 2008-08-13 直观外科手术公司 消毒手术帷帘
CN201389080Y (zh) * 2009-02-25 2010-01-27 清华大学 手术导航器械的通用标定模块
US20160331479A1 (en) * 2012-06-21 2016-11-17 Globus Medical, Inc. Surgical tool systems and methods
US20190388161A1 (en) * 2012-06-21 2019-12-26 Globus Medical, Inc. Surgical robotic automation with tracking markers
CN105073058A (zh) * 2013-03-15 2015-11-18 直观外科手术操作公司 用于通过在零垂直空间内进行咬合同时发生零空间移动而定位操纵器臂的系统和方法
US20190216454A1 (en) * 2015-09-04 2019-07-18 Medos International Sarl Surgical instrument connectors and related methods
CN108463178A (zh) * 2016-01-08 2018-08-28 波士顿科学医学有限公司 用于引导外科手术仪器的装置和方法
CN109843186A (zh) * 2016-07-12 2019-06-04 Gys科技有限责任公司(经营名称为卡丹机器人) 多级扩张器与套管系统及方法
CN109862845A (zh) * 2016-09-16 2019-06-07 Gys科技有限责任公司(经营名称为卡丹机器人) 用于在手术机器人系统中安装机器人臂的系统和方法
CN109952070A (zh) * 2016-10-05 2019-06-28 纽文思公司 手术导航系统及相关方法
CN110267616A (zh) * 2017-02-27 2019-09-20 史密夫和内修有限公司 手术导航系统支撑阵列
CN108652743A (zh) * 2017-03-27 2018-10-16 格罗伯斯医疗有限公司 外科手术机器人系统
CN110691558A (zh) * 2017-05-31 2020-01-14 美多斯国际有限公司 用于外科器械的联接装置和相关方法
US20200015858A1 (en) * 2017-11-09 2020-01-16 Globus Medical, Inc. Robotic rod benders and related mechanical and motor housings
WO2019130314A1 (en) * 2017-12-27 2019-07-04 Mazor Robotics Ltd. Generic surgical navigation interface
US20190216546A1 (en) * 2018-01-16 2019-07-18 Microendoscopic Spine Institute, LLC Instrumentation and surgical method for image-guided microendoscopic decompression
CN110090077A (zh) * 2018-01-29 2019-08-06 格罗伯斯医疗有限公司 外科手术机器人系统
CN110652360A (zh) * 2018-06-29 2020-01-07 格罗伯斯医疗有限公司 具有跟踪标记的手术机器人自动化

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JP7654678B2 (ja) 2025-04-01
WO2021156479A1 (en) 2021-08-12
JP2023513205A (ja) 2023-03-30
EP4099940B1 (en) 2026-03-04
AU2021216253A1 (en) 2022-09-29
US20210244478A1 (en) 2021-08-12
EP4099940A1 (en) 2022-12-14
US11712305B2 (en) 2023-08-01

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