JP2022523681A - 追跡アレイの位置精度の照合方法 - Google Patents
追跡アレイの位置精度の照合方法 Download PDFInfo
- Publication number
- JP2022523681A JP2022523681A JP2021543250A JP2021543250A JP2022523681A JP 2022523681 A JP2022523681 A JP 2022523681A JP 2021543250 A JP2021543250 A JP 2021543250A JP 2021543250 A JP2021543250 A JP 2021543250A JP 2022523681 A JP2022523681 A JP 2022523681A
- Authority
- JP
- Japan
- Prior art keywords
- bone
- tracking
- surgical
- reference device
- tracking reference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 173
- 238000000034 method Methods 0.000 claims abstract description 74
- 239000012636 effector Substances 0.000 claims abstract description 60
- 238000001356 surgical procedure Methods 0.000 claims abstract description 38
- 230000001771 impaired effect Effects 0.000 claims abstract description 8
- 230000003287 optical effect Effects 0.000 claims description 15
- 230000002093 peripheral effect Effects 0.000 claims description 10
- 238000002432 robotic surgery Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 abstract description 2
- 230000000399 orthopedic effect Effects 0.000 description 13
- 210000000689 upper leg Anatomy 0.000 description 11
- 239000007943 implant Substances 0.000 description 10
- 238000003491 array Methods 0.000 description 8
- 210000001503 joint Anatomy 0.000 description 7
- 239000003550 marker Substances 0.000 description 7
- 230000001010 compromised effect Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 206010003246 arthritis Diseases 0.000 description 2
- 238000011960 computer-aided design Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000002917 arthritic effect Effects 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 230000003846 cartilage breakdown Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001513 elbow Anatomy 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 230000000472 traumatic effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
-
- 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
- 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
- A61B17/1613—Component parts
- A61B17/1615—Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
-
- 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
- A61B17/1707—Guides or aligning means for drills, mills, pins or wires using electromagnetic effects, e.g. with magnet and external sensors
-
- 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
- A61B17/84—Fasteners therefor or fasteners being internal fixation devices
- A61B17/86—Pins or screws or threaded wires; nuts therefor
-
- 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
- A61B34/25—User interfaces for surgical 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
- A61B34/30—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
-
- 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
- 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
-
- 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
- A61B2017/00725—Calibration or performance testing
-
- 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
- A61B2017/1602—Mills
-
- 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
- A61B2034/2051—Electromagnetic 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
- A61B2034/2055—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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
- A61B2034/207—Divots for calibration
-
- 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
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- 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
- A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
- A61B2090/3916—Bone tissue
-
- 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
- A61B2090/3945—Active visible markers, e.g. light emitting diodes
-
- 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
- A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
- A61B2090/3958—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI emitting a signal
-
- 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
Landscapes
- 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)
- Robotics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Dentistry (AREA)
- Human Computer Interaction (AREA)
- Neurology (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Surgical Instruments (AREA)
Abstract
Description
図4を参照すると、以上に記載した、ロボット支援整形外科手術中に追跡アレイの位置精度を照合するための本発明方法の実施形態を遂行することが可能なロボット手術システム(200)の実施形態が示されている。
前述の詳細な説明には、少なくとも1つの例示的な実施形態が提示されているが、極めて多数の変形が存在することは理解されよう。また、1つまたは複数の例示的な実施形態は単なる例であり、記載されている実施形態の範囲、適用または構成をいかようにも限定するようには意図していないことも理解されよう。むしろ、前述の詳細な説明は、当業者に対し、1つまたは複数の例示的な実施形態を実施するための都合のよいロードマップを提供することになる。添付の特許請求の範囲およびその法的な均等物で定義される範囲から逸脱することなく、要素の機能および配置において様々な変更を行い得ることを理解されたい。
Claims (19)
- 追跡基準装置の位置精度を照合するための方法であって、該方法は、
追跡基準装置を骨に取り付ける工程と、
前記追跡基準装置の座標系に対して前記骨を登録する工程と、
前記骨に照合マークを作成する工程であって、前記照合マークの位置は、追跡システムによって前記追跡基準装置に対して記録される、工程と、
ロボット支援手術装置のエンドエフェクタに、前記骨の前記照合マークに位置合わせするように指示することによって、前記追跡基準装置の位置精度を照合する工程と、を含み、
ここで、前記エンドエフェクタが前記照合マークに位置合わせされない場合は、前記追跡基準装置の位置精度が損なわれている、方法。 - 前記追跡基準装置の位置精度が損なわれている場合は、前記追跡基準装置の前記座標系に前記骨を再登録する工程をさらに含むことを特徴とする、請求項1に記載の方法。
- 前記追跡基準装置は、追跡アレイまたは電磁送信機をさらに含むことを特徴とする、請求項1に記載の方法。
- 前記追跡アレイは、3つ以上の能動的または受動的な基準マーカをさらに含むことを特徴とする、請求項3に記載の方法。
- 前記追跡基準装置は、骨ピン、骨ネジ、鉗子または他の締結要素の少なくとも1つを使用して前記骨に固着され得ることを特徴とする、請求項1~4のいずれか1つに記載の方法。
- 前記追跡基準装置が前記骨に固着された後に、前記骨は、点対点のマッチング技法、点対表面のマッチング技法、レーザスキャン技法、画像対画像のマッチング技法、または画像を用いない登録技法のうちの少なくとも1つを使用して登録されることを特徴とする、請求項1に記載の方法。
- 前記骨は、前記追跡基準装置の前記座標系の骨データに登録されることを特徴とする、請求項6に記載の方法。
- 前記骨は、前記追跡基準装置の前記座標系に対して登録され、前記追跡基準装置は、光学式追跡システムによって追跡され、前記光学式追跡システムは、前記骨と、ロボット手術装置のエンドエフェクタとをさらに追跡することを特徴とする、請求項6に記載の方法。
- 前記骨は、電磁式追跡システムに対して登録されることを特徴とする、請求項6に記載の方法。
- 前記照合マークは、前記骨に作成される物理的な孔、インプリントまたはノッチのうちの少なくとも1つであることを特徴とする、請求項1~4のいずれか1つに記載の方法。
- 前記照合マークは、前記骨に設置される骨ピンまたは他の装置のうちの少なくとも1つであることを特徴とする、請求項1~4のいずれか1つに記載の方法。
- 前記マークは、ハンドヘルド手術装置のエンドエフェクタによって作成されることを特徴とする、請求項1に記載の方法。
- 前記エンドエフェクタは、ドリルビット、骨ピン、エンドミルまたはカッタのうちの少なくとも1つであることを特徴とする、請求項12に記載の方法。
- 前記マークは、手術ロボットのエンドエフェクタによって作成され、前記エンドエフェクタは、多関節アームに取り付けられることを特徴とする、請求項1に記載の方法。
- 前記エンドエフェクタは、ドリルビットまたは骨ピンのうちの少なくとも1つであることを特徴とする、請求項14に記載の方法。
- ユーザに、外科的処置全体を通して定期的に位置精度を照合するように促す手術システムをさらに含むことを特徴とする、請求項1~4のいずれか1つに記載の方法。
- ユーザが外科的処置中に位置精度を照合するように促す手術システムをさらに含むことを特徴とする、請求項1~4のいずれか1つに記載の方法。
- コンピュータ化された、請求項1~4に記載の方法を実施するための手術システムであって、該手術システムは、
エンドエフェクタツールを備えた手術ロボットまたはハンドヘルド手術装置と、
コンピュータ、ユーザ周辺機器、および、グラフィカルユーザインタフェース(GUI)を表示するためのモニタを含むコンピュータシステムと、
機械式デジタイザまたは非機械式追跡システムのうちの少なくとも1つと、を含み、
前記コンピュータは、請求項1~4のいずれか1つに記載の方法を実行するためにプロセッサ、非一時的な記憶メモリ、ならびに、他のハードウェア、ソフトウェア、データおよびユーティリティをさらに含み、
前記ユーザ周辺機器は、ユーザに前記GUIと相互作用させ、前記ユーザ周辺機器は、キーボード、マウス、ペンダント、ハンドヘルドコントローラ、モニタのタッチスクリーン機能のうちの少なくとも1つを含むユーザ入力機構、あるいは、手術ロボットまたはハンドヘルド手術装置と直接一体化されたユーザ入力機構を含む、手術システム。 - 前記エンドエフェクタツールの位置と、外科的処置の対象となる前記骨の位置とを検知するための追跡システムをさらに含むことを特徴とする、請求項18に記載の手術システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201962801252P | 2019-02-05 | 2019-02-05 | |
US62/801,252 | 2019-02-05 | ||
PCT/US2020/016763 WO2020163457A1 (en) | 2019-02-05 | 2020-02-05 | Method of verifying tracking array positional accuracy |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022523681A true JP2022523681A (ja) | 2022-04-26 |
JPWO2020163457A5 JPWO2020163457A5 (ja) | 2023-05-08 |
Family
ID=71947922
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021543250A Pending JP2022523681A (ja) | 2019-02-05 | 2020-02-05 | 追跡アレイの位置精度の照合方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220071713A1 (ja) |
EP (1) | EP3920828A4 (ja) |
JP (1) | JP2022523681A (ja) |
KR (1) | KR20210113344A (ja) |
AU (1) | AU2020219128A1 (ja) |
WO (1) | WO2020163457A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109998682B (zh) * | 2019-04-28 | 2020-08-18 | 北京天智航医疗科技股份有限公司 | 探针装置、精度检测方法、精度检测系统及定位系统 |
EP4240267A1 (en) * | 2020-11-06 | 2023-09-13 | Stryker Corporation | Robotic hand-held surgical instrument systems and methods |
CN113616350B (zh) * | 2021-07-16 | 2022-04-19 | 元化智能科技(深圳)有限公司 | 标记点选取位置的验证方法、装置、终端设备和存储介质 |
CN115645048A (zh) * | 2022-10-27 | 2023-01-31 | 南京普爱医疗设备股份有限公司 | 一种手术机器人末端跟踪装置及一体化配准方法 |
CN115844546B (zh) * | 2023-02-23 | 2023-07-14 | 北京壹点灵动科技有限公司 | 骨骼的切削装置、存储介质和处理器 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8560047B2 (en) * | 2006-06-16 | 2013-10-15 | Board Of Regents Of The University Of Nebraska | Method and apparatus for computer aided surgery |
WO2011130567A2 (en) * | 2010-04-14 | 2011-10-20 | Smith & Nephew, Inc. | Systems and methods for patient- based computer assisted surgical procedures |
US10470838B2 (en) * | 2012-12-21 | 2019-11-12 | Mako Surgical Corp. | Surgical system for spatial registration verification of anatomical region |
EP4275610A3 (en) * | 2015-07-13 | 2023-12-27 | Mako Surgical Corp. | Computer-implemented lower extremities leg length calculation method |
US10905496B2 (en) * | 2015-11-16 | 2021-02-02 | Think Surgical, Inc. | Method for confirming registration of tracked bones |
WO2017151751A1 (en) * | 2016-03-02 | 2017-09-08 | Think Surgical, Inc. | Method for recovering a registration of a bone |
EP3448241A1 (en) * | 2016-04-27 | 2019-03-06 | Biomet Manufacturing, LLC | Surgical system having assisted navigation |
US10223798B2 (en) * | 2016-05-27 | 2019-03-05 | Intellijoint Surgical Inc. | Systems and methods for tracker characterization and verification |
US10695133B2 (en) * | 2016-07-12 | 2020-06-30 | Mobius Imaging Llc | Multi-stage dilator and cannula system and method |
-
2020
- 2020-02-05 JP JP2021543250A patent/JP2022523681A/ja active Pending
- 2020-02-05 AU AU2020219128A patent/AU2020219128A1/en active Pending
- 2020-02-05 KR KR1020217025466A patent/KR20210113344A/ko unknown
- 2020-02-05 EP EP20753220.1A patent/EP3920828A4/en active Pending
- 2020-02-05 WO PCT/US2020/016763 patent/WO2020163457A1/en unknown
- 2020-02-05 US US17/422,465 patent/US20220071713A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
EP3920828A4 (en) | 2022-11-02 |
EP3920828A1 (en) | 2021-12-15 |
WO2020163457A1 (en) | 2020-08-13 |
US20220071713A1 (en) | 2022-03-10 |
KR20210113344A (ko) | 2021-09-15 |
AU2020219128A1 (en) | 2021-08-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20220031404A1 (en) | System and method for verifying calibration of a surgical system | |
CN113811258B (zh) | 用于操纵外科手术器械的切割引导件的机器人系统和方法 | |
JP6832870B2 (ja) | 生体構造を加工するためのシステム及び方法 | |
JP6695358B2 (ja) | 生体構造の計画された自律加工を実証するシステム及び方法 | |
JP2022523681A (ja) | 追跡アレイの位置精度の照合方法 | |
US20220218422A1 (en) | Surgical Systems And Methods For Guiding Robotic Manipulators | |
US20200297440A1 (en) | Interactive anatomical positioner and a robotic system therewith | |
US20230000558A1 (en) | System and method for aligning a tool with an axis to perform a medical procedure | |
KR20200084025A (ko) | 엔드 이펙터 공구 경로 외부에서 뼈에 하드웨어를 장착하기 위한 시스템 및 방법 | |
WO2019135805A1 (en) | Interactive anatomical positioner and a robotic system therewith | |
US20230248374A1 (en) | System and method to align an implant keel punch | |
KR20200118825A (ko) | 피추적 장치들을 사용하는 작업흐름 제어 | |
US20230137702A1 (en) | Digitizer calibration check | |
WO2023059931A1 (en) | Surgical system and method for forming less than all bone cut surfaces for implant placement | |
US20230157773A1 (en) | Measurement guided resurfacing during robotic resection | |
US20220202495A1 (en) | Precise tunnel location placement and guidance for a robotic drill | |
US11291512B2 (en) | Robot specific implant designs with contingent manual instrumentation | |
WO2022204010A1 (en) | System and method for detecting a potential collision between a bone and an end-effector |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210811 |
|
RD12 | Notification of acceptance of power of sub attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7432 Effective date: 20230110 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20230110 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230206 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20230206 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230404 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20231020 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20231023 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20240527 |