JP2019141572A - 追跡マーカーを備え、ツール前進を制御する手術用ロボットオートメーション - Google Patents
追跡マーカーを備え、ツール前進を制御する手術用ロボットオートメーション Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7001—Screws or hooks combined with longitudinal elements which do not contact vertebrae
- A61B17/7035—Screws or hooks, wherein a rod-clamping part and a bone-anchoring part can pivot relative to each other
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- A—HUMAN NECESSITIES
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- 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, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
- A61B17/7076—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation
- A61B17/7082—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws
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- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
- A61B17/7083—Tools for guidance or insertion of tethers, rod-to-anchor connectors, rod-to-rod connectors, or longitudinal elements
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- 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
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- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
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- A61M29/00—Dilators with or without means for introducing media, e.g. remedies
Abstract
Description
この出願は、2017年5月31日に出願された米国特許出願第15/609,334号(米国特許出願第2017/0258535号として公開)の一部継続出願であり、これは、2016年5月18日に出願された米国特許出願第15/157,444号(米国特許出願第2016−0256225号として公開)の一部継続出願であり、これは、2016年4月11日に出願された米国特許出願第15/095,883号(米国特許出願第2016−0220320号として公開)の一部継続出願であり、これは、2013年10月24日に出願された米国特許出願第14/062,707号(米国特許出願第2014−0275955号として公開)の一部継続出願であり、これは、2013年6月21日に出願された米国特許出願第13/924,505号(米国特許出願第9,782,229号として公開)の一部継続出願であり、これは、2012年6月21日に出願された仮出願第61/662,702号(消滅)に対する優先権を主張し、および2013年3月15日に出願された仮出願第61/800,527号(消滅)に対する優先権を主張し、これらの全ては、すべての目的のためにその全体が参照により本明細書に組み込まれる。
Claims (20)
- ロボット基部と、前記ロボット基部に結合されるロボットアームと、前記ロボットアームに結合されるエンドエフェクタと、前記エンドエフェクタに結合されるガイドチューブと、前記ガイドチューブに結合される外科用器具とを有するロボットを備える手術用ロボットシステムであって、
前記ロボットが、前記エンドエフェクタの動きを制御して、所定の外科施術を実施するよう構成され、
前記ガイドチューブが雌ねじ山を有し、前記外科用器具が、前記雌ねじ山に係合するよう構成される雄ねじ山を有し、
前記外科用器具は、前記ガイドチューブと螺合される間は、外科用インプラントを係合するよう構成される、手術用ロボットシステム。 - 前記外科用器具がスクリュードライバである、請求項1に記載のシステム。
- 前記外科用インプラントがスクリューである、請求項2に記載のシステム。
- 前記ロボットが、多軸スクリューを据え付けるよう構成される、請求項1に記載のシステム。
- 前記ロボットが整形手術を実施する、請求項1に記載のシステム。
- 前記ロボットが、脊椎上で外科用手術を実施する、請求項1に記載のシステム。
- 前記ロボットが、外傷において手術を実施する、請求項1に記載のシステム。
- 駆動力が前記外科用ツールによって前記外科用インプラントに適用されるよう、前記エンドエフェクタが位置を維持するよう構成される、請求項1に記載のシステム。
- 前記雌ねじ山および雄ねじ山が、前記外科用インプラント上のねじ山のピッチに一致する、請求項1に記載のシステム。
- 前記外科用ツールが、前記ガイドチューブの長手方向軸に沿って前記雄ねじ山内で動くよう構成される、請求項1に記載のシステム。
- ツールの複数の構成要素を骨内に独立して前進させるシステムであって、
前記ツールの第一構成要素を骨内に前進させるよう構成され、ねじ山が付けられている中央シャンクと、
前記中央シャンク周りに配置され、前記ツールの第二構成要素を前記骨内に前進させるよう構成され、前記中央シャンクから独立して動くよう構成されるロッドと、を備える、システム。 - 前記システムが手術用ロボットに取り付けられ、前記第一構成要素が中央ピンであり、前記第二構成要素が内側拡張器である、請求項11に記載のシステム。
- 外側スリーブおよび外側拡張器と、をさらに備え、
前記中央シャンク、前記ロッド、前記内側拡張器、および前記外側拡張器が前記外側スリーブ内に配置され、
前記内側拡張器が前記中央ピンの上を前進するよう構成され、前記外側拡張器が前記内側拡張器の上を前進するよう構成される、請求項12に記載のシステム。 - 前記内側拡張器の上で前記外側拡張器を前進させるよう構成される少なくとも一つのハンドルをさらに備える、請求項13に記載のシステム。
- 前記中央ピンが、前記骨に係合する尖った遠位端を有するよう構成され、前記ロッドがコルクスクリュー形状であって前記中央シャンク周りに螺旋状に配置される、請求項12に記載のシステム。
- 前記内側拡張器が、ロッドが前記内側拡張器を前進させると、回転を制限される、請求項12に記載のシステム。
- ねじ山付きキャップをさらに備える、請求項12に記載のシステム。
- 前記ねじ山付きキャップが、前記ロットを受容するよう構成されるコルクスクリュー形状の貫通穴と、前記中央シャフトを受容するよう構成されるねじ山付き貫通穴とを有する、請求項17に記載の拡張器。
- 前記ロボットが、患者に対して前記システムを位置決めするよう構成される、請求項12に記載のシステム。
- 前記中央シャンク周りに配置され、入れ子螺旋として独立して回転するよう構成され、各螺旋ロッドが患者内に前記ツールの異なる構成要素を前進させるよう構成される、複数の螺旋ロッドをさらに備える、請求項19に記載のシステム。
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US15/881,971 US11298196B2 (en) | 2012-06-21 | 2018-01-29 | Surgical robotic automation with tracking markers and controlled tool advancement |
US15/881,971 | 2018-01-29 |
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JP2019141572A true JP2019141572A (ja) | 2019-08-29 |
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2019
- 2019-01-25 EP EP19153811.5A patent/EP3517069B1/en active Active
- 2019-01-28 JP JP2019012080A patent/JP6770599B2/ja active Active
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EP3517069A1 (en) | 2019-07-31 |
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JP6770599B2 (ja) | 2020-10-14 |
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