JP2018011938A - 追跡マーカを用いた外科用ロボット自動化 - Google Patents
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Abstract
Description
Claims (20)
- ロボット基部、前記ロボット基部に連結されたロボットアーム、及び前記ロボットアームに連結されたエンドエフェクタを有するロボットであって、前記エンドエフェクタが、前記エンドエフェクタの基部に取り付けられた第1の複数の追跡マーカ及び前記エンドエフェクタの誘導管に取り付けられた第2の複数の追跡マーカを有し、前記第2の複数の追跡マーカが、第1の構成から第2の構成へと前記第1の複数の追跡マーカに対して移動可能である、ロボットと、
前記第1の構成及び前記第2の構成において前記第1及び第2の複数の追跡マーカを検出することができる少なくとも1つのカメラであって、前記ロボットが、前記第1及び第2の複数の追跡マーカの前記第1の構成または前記第2の構成に対応する少なくとも1つのテンプレートから前記エンドエフェクタの3次元位置を判定する、少なくとも1つのカメラと、を備える、外科用ロボットシステム。 - 前記誘導管が、ヒンジを用いて前記エンドエフェクタの前記基部に接続され、前記誘導管が、前記第1及び第2の構成の間で前記ヒンジの周りに旋回するように構成される、請求項1に記載のシステム。
- 前記誘導管が、前記第1の構成において垂直に位置付けられた長手方向軸を有し、前記誘導管は、前記長手方向軸が前記第2の構成において角度を付けられるように枢動される、請求項1に記載のシステム。
- 前記第1または第2の構成が前記少なくとも1つのテンプレートに一致しない場合、前記少なくとも1つのカメラは、前記第1及び第2の複数の追跡マーカを検出することができない、請求項1に記載のシステム。
- 前記エンドエフェクタに取設された前記1つ以上の追跡マーカが、パッシブ反射性マーカである、請求項1に記載のシステム。
- 前記エンドエフェクタにおける前記1つ以上の追跡マーカが、アクティブ状態及び非アクティブ状態を有するアクティブマーカであり、前記アクティブ状態は、前記少なくとも1つのカメラによって検出される赤外信号を発出し、前記非アクティブ状態は、前記1つ以上の追跡マーカが前記少なくとも1つのカメラによって検出されないように、前記赤外信号を発出しない、請求項1に記載のシステム。
- 前記ロボットシステムによって追跡されるべき1つ以上の追跡マーカを有する外科用器具を更に備え、前記外科用器具が、外科手技のための所与の軌道に沿って前記外科用器具を整列するために、前記エンドエフェクタ内に位置付けられるように構成される、請求項1に記載のシステム。
- ロボット基部、前記ロボット基部に連結されたロボットアーム、及び前記ロボットアームに連結されたエンドエフェクタを有するロボットであって、前記エンドエフェクタが、中心長手方向軸を有する誘導管及び前記誘導管に取り付けられた単一追跡マーカを有し、前記単一追跡マーカが、固定距離だけ前記中心長手方向軸から隔てられる、ロボットと、
中心線を有する器具及び複数の追跡マーカが取設され前記器具から延在するアレイと、
前記誘導管上の前記単一追跡マーカ及び前記器具上の前記複数の追跡マーカを検出することができる少なくとも1つのカメラであって、前記ロボットが、前記器具の前記中心線と前記単一追跡マーカの間の検出された距離を判定して、前記検出された距離が前記固定距離に一致するかを判定する、少なくとも1つのカメラと、を備える、外科用ロボットシステム。 - 前記ロボットは、前記器具が前記誘導管内に位置付けられたかを判定する、請求項8に記載のシステム。
- 前記エンドエフェクタは、前記エンドエフェクタの前記中心長手方向軸を通る中心ベクトルから構築された第1のベクトル、前記単一マーカを通る法線ベクトルから構築された第2のベクトル、ならびに前記第1及び第2のベクトルのベクトル外積から構築された第3のベクトルを定義し、前記第1、第2、及び第3のベクトルは、前記誘導管の位置及び配向を定義する、請求項8に記載のシステム。
- 前記少なくとも1つのカメラは、第1の位置における前記器具の第1のフレーム及び第2の位置における前記器具の第2のフレームを取得し、前記検出された距離が、前記第1及び第2のフレームにおいて実質的に同一である場合には、前記器具が、前記誘導管内に位置付けられる、請求項8に記載のシステム。
- 前記少なくとも1つのカメラが、立体写真測量赤外カメラを含む、請求項8に記載のシステム。
- 前記単一追跡マーカが、前記誘導管の前記第1及び第2の端部間の前記誘導管上の中心の場所に位置付けられる、請求項8に記載のシステム。
- ロボット基部、ロボット基部に連結されたロボットアーム、及び前記ロボットアームに連結されたエンドエフェクタであって、誘導管を有するエンドエフェクタを有するロボットと、
器具であって、複数の固定された追跡マーカ及び移動可能な追跡マーカを伴って前記器具から延在するアレイを有し、前記誘導管内に受け入れられる器具と、
患者に挿入されるように構成されたインプラントであって、前記器具に取り外し可能に連結されるように構成されたインプラントと、
前記器具上の前記複数の固定された追跡マーカ及び前記移動可能な追跡マーカを検出することができる少なくとも1つのカメラであって、前記ロボットが、前記移動可能な追跡マーカの位置または移動を判定して、前記インプラントの変数を判定する、少なくとも1つのカメラと、を備える、外科用ロボットシステム。 - 前記インプラントが、拡張可能なインプラント、関節インプラント、または移動可能なインプラントである、請求項14に記載のシステム。
- 前記インプラントが拡張可能なインプラントであり、前記変数が前記拡張可能なインプラントの高さである、請求項14に記載のシステム。
- 前記インプラントが関節インプラントであり、前記変数が前記関節インプラントの移動の角度である、請求項14に記載のシステム。
- 前記移動可能な追跡マーカが、前記複数の固定された追跡マーカに対して直線的に転移する、請求項14に記載のシステム。
- 前記移動可能な追跡マーカが、前記複数の固定された追跡マーカに対して回転する、請求項14に記載のシステム。
- 前記エンドエフェクタが、複数の追跡マーカを有し、前記少なくとも1つのカメラが、前記エンドエフェクタ上の前記複数の追跡マーカを検出することができる、請求項14に記載のシステム。
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US15/157,444 US11896446B2 (en) | 2012-06-21 | 2016-05-18 | Surgical robotic automation with tracking markers |
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JP2021109107A (ja) * | 2020-01-08 | 2021-08-02 | グローバス メディカル インコーポレイティッド | ニューロナビゲーション位置合わせおよびロボット軌道誘導のためのシステム、ロボット手術、ならびに関連する方法およびデバイス |
JP2021171655A (ja) * | 2020-04-28 | 2021-11-01 | グローバス メディカル インコーポレイティッド | 蛍光透視イメージングシステムのための固定具ならびに関連するナビゲーションシステムおよび方法 |
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US11382549B2 (en) | 2019-03-22 | 2022-07-12 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US11399900B2 (en) | 2012-06-21 | 2022-08-02 | Globus Medical, Inc. | Robotic systems providing co-registration using natural fiducials and related methods |
US11419616B2 (en) | 2019-03-22 | 2022-08-23 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
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US11589771B2 (en) | 2012-06-21 | 2023-02-28 | Globus Medical Inc. | Method for recording probe movement and determining an extent of matter removed |
US11786324B2 (en) | 2012-06-21 | 2023-10-17 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US11793570B2 (en) | 2012-06-21 | 2023-10-24 | Globus Medical Inc. | Surgical robotic automation with tracking markers |
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HK1250322B (zh) | 2020-04-24 |
EP3479791B1 (en) | 2020-08-26 |
US11896446B2 (en) | 2024-02-13 |
JP7078355B2 (ja) | 2022-05-31 |
EP3278758B1 (en) | 2019-08-14 |
US20160256225A1 (en) | 2016-09-08 |
EP3278758A3 (en) | 2018-04-25 |
EP3479791A1 (en) | 2019-05-08 |
EP3278758A2 (en) | 2018-02-07 |
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