JP2016526423A - ヒトまたは動物の骨組織の切断および切断の計画 - Google Patents
ヒトまたは動物の骨組織の切断および切断の計画 Download PDFInfo
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- 238000012986 modification Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/203—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser applying laser energy to the outside of the body
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/201—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser with beam delivery through a hollow tube, e.g. forming an articulated arm ; Hand-pieces therefor
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- A—HUMAN NECESSITIES
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- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B2018/2035—Beam shaping or redirecting; Optical components therefor
- A61B2018/20351—Scanning mechanisms
- A61B2018/20359—Scanning mechanisms by movable mirrors, e.g. galvanometric
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- 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
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- 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
- A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
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- 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
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- 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
Abstract
Description
Claims (16)
- ヒトまたは動物の骨組織(2;4;43;44;45;46;47;48;49;7;8;9)を切断するプロセスを計画する方法であって、
前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)の初期状態の初期データを取得することと、
前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)の目標状態の目標データを規定することと、
前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)を切り離すために前記初期データおよび前記目標データを使用して切断幾何形状を算出することと
を含み、
前記切断幾何形状は、前記切断幾何形状に沿って切り離された後に前記目標状態において少なくとも1の自由度にて明瞭な態様で前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)が再び組み合わせ可能なように形成される構造を含む、方法。 - 前記切断幾何形状の構造は、前記切断幾何形状に沿って切り離された後に前記目標状態においてあらゆる自由度にて明瞭な態様で前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)が再び組み合わせ可能なように形成される、請求項1に記載の方法。
- 前記切断幾何形状の構造は、前記切断幾何形状に沿って切り離された後に前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)が単一の目標状態のみに再び組み合わせ可能なように形成される、請求項1または2に記載の方法。
- 前記切断幾何形状の構造は、前記切断幾何形状に沿って切り離された後に前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)が複数の段階的な明瞭な目標状態に再び組み合わせ可能なように形成される、請求項1または2に記載の方法。
- 前記切断幾何形状の構造は、周期関数(526;527)を使用して算出され、また前記周期関数(526;527)に従って周期的に形成される、請求項4に記載の方法。
- 前記切断幾何形状の構造は、凸状湾曲部分(411)および前記凸状湾曲部分(411)に対応する凹状湾曲部分(421)を含み、前記凸状湾曲部分(411)は、前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)が前記目標状態にあるときに前記凹状湾曲部分(421)に配置される、請求項1ないし5のいずれか一項に記載の方法。
- 前記切断幾何形状の構造は、凸状楔形部分(4119)および前記凸状楔形部分(4119)に対応する凹状楔形部分(4219)を含み、前記凸状楔形部分(4119)は、前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)が前記目標状態にあるときに前記凹状楔形部分(4219)に配置される、請求項1ないし6のいずれか一項に記載の方法。
- 前記切断幾何形状の構造は、突出部(811、821;911、921;4114、4214;4126、4216;4127、4227;4128、4228)および前記突出部(811、821;911、921;4114、4214;4126、4216;4127、4227;4128、4228)に対応する凹み(812、822;912、922;4124、4224;4116、4226;4117、4217;4118、4218)を含み、前記突出部(811、821;911、921;4114、4214;4126、4216;4127、4227;4128、4228)は、前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)が前記目標状態にあるときに前記凹み(812、822;912、922;4124、4224;4116、4226;4117、4217;4118、4218)に配置される、請求項1ないし7のいずれか一項に記載の方法。
- 前記突出部はバー(911、921;4127、4227;4128、4228)を含み、前記凹みは、前記バー(911、921;4127、4227;4128、4228)に対応する溝(912、922;4117、4217;4118、4218)を含む、請求項8に記載の方法。
- 前記突出部はピンを含み、前記凹みは前記突出部に対応する穴を含む、請求項8または9に記載の方法。
- コンピュータにロードまたは実行されたときに、請求項1ないし10のいずれか一項による方法を前記コンピュータに実施させるコンピュータ可読命令を含むコンピュータプログラム。
- ヒトまたは動物の骨組織(2;4;43;44;45;46;47;48;49;7;8;9)を切断するプロセスであって、
前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)の初期状態の初期データを取得することと、
前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)の目標状態の目標データを規定することと、
前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)を切り離すために前記初期データおよび前記目標データを使用して、切断幾何形状に沿って切り離された後に前記目標状態において少なくとも1の自由度にて明瞭な態様で前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)が再び組み合わせ可能なように形成される構造を含む前記切断幾何形状を算出することと、
前記切断幾何形状を前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)に切り込むことと、
前記切断幾何形状に沿って前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)を分解することと、
前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)を前記目標状態へと再び組み合わせることと
を含むプロセス。 - 前記切断幾何形状はレーザビームによって前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)に切り込まれる、請求項12に記載のプロセス。
- 前記レーザビーム(31)は、ロボットアーム(11)に取り付けられたレーザ源によって提供される、請求項13に記載のプロセス。
- 前記レーザビーム(31)および前記ロボットアーム(11)はコンピュータ(16)によって制御され、前記コンピュータ(16)は、前記初期データおよび前記目標データを使用して前記切断幾何形状を算出するように構成される、請求項14に記載のプロセス。
- 前記切断幾何形状を前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)に切断することによって、前記骨組織(2;4;43;44;45;46;47;48;49;7;8;9)は、第1の骨部分(41;71;81;91;413;414;415;416;417;418;419)と第2の骨部分(42;72;82;92;423;424;425;426;427;428;429)とに切断され、前記目標状態では、前記第1の骨部分(41;71;81;91;413;414;415;416;417;418;419)および前記第2の骨部分(42;72;82;92;423;424;425;426;427;428;429)は互いに対して変位される、請求項12ないし15のいずれか一項に記載のプロセス。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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EP13174509.3 | 2013-07-01 | ||
EP13174509.3A EP2821023A1 (en) | 2013-07-01 | 2013-07-01 | Planning cutting of human or animal bone tissue |
PCT/EP2014/063793 WO2015000823A1 (en) | 2013-07-01 | 2014-06-30 | Cutting human or animal bone tissue and planning such cutting |
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JP2016526423A true JP2016526423A (ja) | 2016-09-05 |
JP6486913B2 JP6486913B2 (ja) | 2019-03-20 |
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US (1) | US10130426B2 (ja) |
EP (2) | EP2821023A1 (ja) |
JP (1) | JP6486913B2 (ja) |
KR (1) | KR102276552B1 (ja) |
CN (1) | CN105358086B (ja) |
BR (1) | BR112015032504B1 (ja) |
EA (1) | EA033120B1 (ja) |
ES (1) | ES2841985T3 (ja) |
WO (1) | WO2015000823A1 (ja) |
Families Citing this family (8)
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EP2789308B1 (en) * | 2013-04-12 | 2018-01-31 | CADFEM GmbH | Computer-implemented technique for generating a data set that geometrically defines a bone cut configuration |
ES2758095T3 (es) | 2015-09-07 | 2020-05-04 | Advanced Osteotomy Tools Aot Ag | Tratamiento de corte óseo |
US11246607B2 (en) | 2016-06-22 | 2022-02-15 | Advanced Osteotomy Tools—AOT AG | Laser sternotome |
US20200281656A1 (en) * | 2017-11-30 | 2020-09-10 | Think Surgical, Inc. | System and method fir installing bone hardware outside an end-effectors tool path |
US20210307830A1 (en) * | 2018-01-31 | 2021-10-07 | Transenterix Surgical, Inc. | Method and Apparatus for Providing Procedural Information Using Surface Mapping |
US11202674B2 (en) | 2018-04-03 | 2021-12-21 | Convergent Dental, Inc. | Laser system for surgical applications |
WO2021158738A1 (en) * | 2020-02-04 | 2021-08-12 | Smith & Nephew, Inc. | Improved and cass assisted osteotomies |
AU2022307690A1 (en) * | 2021-07-08 | 2024-02-08 | Australian Institute of Robotic Orthopaedics Pty Ltd | Robot-assisted laser osteotomy |
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- 2013-07-01 EP EP13174509.3A patent/EP2821023A1/en not_active Withdrawn
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- 2014-06-30 WO PCT/EP2014/063793 patent/WO2015000823A1/en active Application Filing
- 2014-06-30 ES ES14735543T patent/ES2841985T3/es active Active
- 2014-06-30 BR BR112015032504-1A patent/BR112015032504B1/pt not_active IP Right Cessation
- 2014-06-30 KR KR1020167000368A patent/KR102276552B1/ko active IP Right Grant
- 2014-06-30 EP EP14735543.2A patent/EP3019111B1/en active Active
- 2014-06-30 CN CN201480037693.XA patent/CN105358086B/zh active Active
- 2014-06-30 US US14/900,862 patent/US10130426B2/en active Active
- 2014-06-30 JP JP2016522554A patent/JP6486913B2/ja active Active
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Also Published As
Publication number | Publication date |
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KR20160026975A (ko) | 2016-03-09 |
WO2015000823A1 (en) | 2015-01-08 |
EP3019111B1 (en) | 2020-10-14 |
BR112015032504B1 (pt) | 2022-05-10 |
US10130426B2 (en) | 2018-11-20 |
KR102276552B1 (ko) | 2021-07-13 |
EA201690110A1 (ru) | 2016-05-31 |
US20160135890A1 (en) | 2016-05-19 |
CN105358086A (zh) | 2016-02-24 |
EP3019111A1 (en) | 2016-05-18 |
BR112015032504A2 (pt) | 2017-07-25 |
ES2841985T3 (es) | 2021-07-12 |
EP2821023A1 (en) | 2015-01-07 |
EA033120B1 (ru) | 2019-08-30 |
CN105358086B (zh) | 2019-11-26 |
JP6486913B2 (ja) | 2019-03-20 |
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