JP2020519417A - 整形外科的介入用の手術ロボット - Google Patents
整形外科的介入用の手術ロボット Download PDFInfo
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- JP2020519417A JP2020519417A JP2020512922A JP2020512922A JP2020519417A JP 2020519417 A JP2020519417 A JP 2020519417A JP 2020512922 A JP2020512922 A JP 2020512922A JP 2020512922 A JP2020512922 A JP 2020512922A JP 2020519417 A JP2020519417 A JP 2020519417A
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1757—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the spine
-
- 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
- A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
-
- 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
- A61B17/7074—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
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
-
- 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
- A61B2017/564—Methods for bone or joint treatment
-
- 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
- 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
- A61B2034/2059—Mechanical position encoders
-
- 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
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- 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
- A61B2090/3991—Markers, e.g. radio-opaque or breast lesions markers having specific anchoring means to fixate the marker to the tissue, e.g. hooks
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Neurology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
Description
Claims (10)
- 骨運動を追跡および補償するための手術ロボットであって、前記ロボットは、
ロボットアーム(3)と、前記アームのエンドエフェクタのツールガイド(5)とを備え、これはさらに、
前記ツールガイドと同じ平面で前記ロボットアームに取り付けられたトラッカー(1)であって、前記トラッカーは、関節セグメント(1a〜1d)と、前記トラッカーの運動が許容されて少なくとも6つの自由度が監視されるように前記セグメントに関連付けられたエンコーダ(2)とのアセンブリを備える、トラッカー(1)をさらに備える
ことを特徴とする、手術ロボット。 - 前記トラッカーは、4つの関節セグメントおよび6つの回転エンコーダ(q1〜q6)を有する、請求項1に記載の手術ロボット。
- 前記トラッカーは、4つのセグメントと、5つの関連する回転エンコーダ(q1〜q5)とを有し、前記セグメントのうちの1つは、その長さを変更することが可能であり、運動が許容されて6つの自由度が監視されるように関連するリニアエンコーダ(l1)を有する、請求項1に記載の手術ロボット。
- 前記トラッカーは、4つのセグメントと、6つの関連する回転エンコーダ(q1〜q6)とを有し、前記セグメントのうちの1つは、その長さを変更することが可能であり、運動が許容されて7つの自由度が監視されるように関連するリニアエンコーダ(l1)を有する、請求項1に記載の手術ロボット。
- 前記セグメントは、軽い常磁性材料で作られている、請求項1から請求項4のいずれか一項に記載の手術ロボット。
- クランプ(6)がさらに設けられ、前記クランプは、運動連結機構(7)によって患者に近付けられることを意図した前記トラッカーのセグメントに取り外し可能に取り付けられている、請求項5に記載の手術ロボット。
- 前記運動連結機構(7)は、
第1の磁石が設けられた、前記クランプ(6)のベース部分と、
前記第1の磁石とは逆の極性の第2の磁石が設けられた、前記トラッカー(1d)の最後のセグメントに配置された頂部と、
を備える、請求項6に記載の手術ロボット。 - 前記運動連結機構は、その頂部に3つの球体と、そのベース部分に3つのV字溝とが設けられ、前記溝は3つの角度を形成し、前記角度のうちの少なくとも1つは他の2つとは異なっており、前記球体および前記溝が互いに協力して連結器を形成する、請求項6に記載の手術ロボット。
- 前記運動連結機構の前記球体は、導電性材料で作られており、処理ユニットと電気的に接続されており、前記V字溝は導電部を呈する、請求項8に記載の手術ロボット。
- 前記トラッカーの前記セグメントは、アルミニウム合金またはチタン合金を含む、請求項1から請求項9のいずれか一項に記載の手術ロボット。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022009635A JP2022062111A (ja) | 2017-05-12 | 2022-01-25 | 整形外科的介入用の手術ロボット |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/ES2017/070305 WO2018206830A1 (es) | 2017-05-12 | 2017-05-12 | Robot quirúrgico para intervenciones ortopédicas |
Related Child Applications (1)
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JP2022009635A Division JP2022062111A (ja) | 2017-05-12 | 2022-01-25 | 整形外科的介入用の手術ロボット |
Publications (2)
Publication Number | Publication Date |
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JP2020519417A true JP2020519417A (ja) | 2020-07-02 |
JP7143401B2 JP7143401B2 (ja) | 2022-09-28 |
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JP2020512922A Active JP7143401B2 (ja) | 2017-05-12 | 2017-05-12 | 整形外科的介入用の手術ロボット |
JP2022009635A Withdrawn JP2022062111A (ja) | 2017-05-12 | 2022-01-25 | 整形外科的介入用の手術ロボット |
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JP2022009635A Withdrawn JP2022062111A (ja) | 2017-05-12 | 2022-01-25 | 整形外科的介入用の手術ロボット |
Country Status (12)
Country | Link |
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US (1) | US11883111B2 (ja) |
EP (1) | EP3622911B1 (ja) |
JP (2) | JP7143401B2 (ja) |
KR (1) | KR102422733B1 (ja) |
CN (1) | CN110799145B (ja) |
AU (1) | AU2017413264B2 (ja) |
CA (1) | CA3063318A1 (ja) |
ES (1) | ES2966562T3 (ja) |
IL (1) | IL270537B2 (ja) |
NZ (1) | NZ759906A (ja) |
RU (1) | RU2746742C1 (ja) |
WO (1) | WO2018206830A1 (ja) |
Families Citing this family (1)
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CN112842536A (zh) * | 2021-01-13 | 2021-05-28 | 极限人工智能有限公司 | 一种手术器械及手术方法 |
Citations (6)
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US6322567B1 (en) * | 1998-12-14 | 2001-11-27 | Integrated Surgical Systems, Inc. | Bone motion tracking system |
JP2002361578A (ja) * | 2001-06-05 | 2002-12-18 | Osaka Kiko Co Ltd | 作業用ロボット |
JP2010519971A (ja) * | 2007-02-28 | 2010-06-10 | スミス アンド ネフュー インコーポレーテッド | 目標物を特定するシステム及び方法 |
US20130096573A1 (en) * | 2011-10-18 | 2013-04-18 | Hyosig Kang | System and method for surgical tool tracking |
JP2015528713A (ja) * | 2012-06-21 | 2015-10-01 | グローバス メディカル インコーポレイティッド | 手術ロボットプラットフォーム |
US20170079730A1 (en) * | 2014-03-17 | 2017-03-23 | Intuitive Surgical Operations, Inc. | Methods and devices for tele-surgical table registration |
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US8010180B2 (en) * | 2002-03-06 | 2011-08-30 | Mako Surgical Corp. | Haptic guidance system and method |
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EP3117792B1 (en) * | 2009-09-22 | 2019-07-31 | Advanced Osteotomy Tools - AOT AG | Computer assisted and robot guided laser osteotome |
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EP2872853A4 (en) * | 2012-07-14 | 2016-03-09 | Univ Western Ontario | MECHANICAL TRACKING SYSTEM |
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EP3344175B1 (en) * | 2015-08-31 | 2019-07-24 | KB Medical SA | Robotic surgical systems for spinal rod bending |
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-
2017
- 2017-05-12 RU RU2019140850A patent/RU2746742C1/ru active
- 2017-05-12 CN CN201780090722.2A patent/CN110799145B/zh active Active
- 2017-05-12 IL IL270537A patent/IL270537B2/en unknown
- 2017-05-12 AU AU2017413264A patent/AU2017413264B2/en active Active
- 2017-05-12 EP EP17729171.3A patent/EP3622911B1/en active Active
- 2017-05-12 WO PCT/ES2017/070305 patent/WO2018206830A1/es active Application Filing
- 2017-05-12 KR KR1020197036679A patent/KR102422733B1/ko active IP Right Grant
- 2017-05-12 US US16/612,685 patent/US11883111B2/en active Active
- 2017-05-12 CA CA3063318A patent/CA3063318A1/en active Pending
- 2017-05-12 ES ES17729171T patent/ES2966562T3/es active Active
- 2017-05-12 NZ NZ759906A patent/NZ759906A/en unknown
- 2017-05-12 JP JP2020512922A patent/JP7143401B2/ja active Active
-
2022
- 2022-01-25 JP JP2022009635A patent/JP2022062111A/ja not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6322567B1 (en) * | 1998-12-14 | 2001-11-27 | Integrated Surgical Systems, Inc. | Bone motion tracking system |
JP2002361578A (ja) * | 2001-06-05 | 2002-12-18 | Osaka Kiko Co Ltd | 作業用ロボット |
JP2010519971A (ja) * | 2007-02-28 | 2010-06-10 | スミス アンド ネフュー インコーポレーテッド | 目標物を特定するシステム及び方法 |
US20130096573A1 (en) * | 2011-10-18 | 2013-04-18 | Hyosig Kang | System and method for surgical tool tracking |
JP2015528713A (ja) * | 2012-06-21 | 2015-10-01 | グローバス メディカル インコーポレイティッド | 手術ロボットプラットフォーム |
US20170079730A1 (en) * | 2014-03-17 | 2017-03-23 | Intuitive Surgical Operations, Inc. | Methods and devices for tele-surgical table registration |
Also Published As
Publication number | Publication date |
---|---|
CN110799145A (zh) | 2020-02-14 |
AU2017413264B2 (en) | 2023-03-09 |
CA3063318A1 (en) | 2019-12-05 |
WO2018206830A1 (es) | 2018-11-15 |
EP3622911A1 (en) | 2020-03-18 |
IL270537B1 (en) | 2023-10-01 |
KR102422733B1 (ko) | 2022-07-18 |
US11883111B2 (en) | 2024-01-30 |
AU2017413264A1 (en) | 2019-12-12 |
JP7143401B2 (ja) | 2022-09-28 |
JP2022062111A (ja) | 2022-04-19 |
EP3622911B1 (en) | 2023-10-11 |
CN110799145B (zh) | 2024-03-01 |
IL270537B2 (en) | 2024-02-01 |
EP3622911C0 (en) | 2023-10-11 |
IL270537A (ja) | 2020-01-30 |
NZ759906A (en) | 2024-03-22 |
RU2746742C1 (ru) | 2021-04-20 |
US20200229871A1 (en) | 2020-07-23 |
BR112019023808A2 (pt) | 2020-06-02 |
ES2966562T3 (es) | 2024-04-22 |
KR20200006116A (ko) | 2020-01-17 |
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