JP6840815B2 - 追跡マーカーを備えた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た手術用ロボットオートメーション Download PDFInfo
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- JP6840815B2 JP6840815B2 JP2019183867A JP2019183867A JP6840815B2 JP 6840815 B2 JP6840815 B2 JP 6840815B2 JP 2019183867 A JP2019183867 A JP 2019183867A JP 2019183867 A JP2019183867 A JP 2019183867A JP 6840815 B2 JP6840815 B2 JP 6840815B2
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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 (16)
- 手術用ロボットシステムであって、
ロボット基部を有するロボットと、前記ロボット基部に連結されたロボットアームと、 椎体上に締結システムを設置するために前記ロボットアームに接続するように適合された外科用器具と、
前記ロボットと通信するナビゲーションシステムと、
プローブと、を備え、
前記締結システムは、締結具と、前記締結具に連結された連結本体とを含み、第1のスロットおよび第2のスロットを定義するための上向きに延在するアームのペアを有し、
前記プローブが、
近位端と遠位端とを有するシャフトと、
前記シャフトの前記遠位端に連結されたプローブヘッドであって、前記シャフトを横断して延在し、前記連結本体に挿入され、前記第1のスロットと前記第2のスロットとの間に収まるサイズとなるように構成されたプローブヘッドと、
前記シャフトに連結され、前記ナビゲーションシステムにより追跡されるように構成された追跡アレイと、を備える、手術用ロボットシステム。 - 前記追跡アレイが、所定構成に配置された複数の追跡マーカーを含む、請求項1に記載のシステム。
- 前記システムが、複数のプローブを含み、それぞれが異なるサイズのプローブヘッドを有する、請求項2に記載のシステム。
- 前記複数のプローブがそれぞれ、前記複数のプローブの他方とは異なる構成の追跡マーカーを有する、対応する追跡アレイを含む、請求項3に記載のシステム。
- 異なるシャフトおよびプローブヘッドが前記追跡アレイに連結され得るよう、前記シャフトおよびプローブヘッドが互換可能であり、前記異なるシャフトおよびプローブヘッドが、異なるサイズのプローブヘッドを有する、請求項1に記載のシステム。
- 前記プローブヘッドが、前記シャフトに垂直である、請求項1に記載のシステム。
- 前記プローブヘッドの直径が、安定化ロッドの直径と等しくなるように構成される、請求項1に記載のシステム。
- 前記プローブヘッドの長さが、前記連結本体に形成された二つのスロットの間の距離と等しくなるように構成される、請求項1に記載のシステム。
- 手術用ロボットシステムで使用するためのプローブであって、前記プローブが、
近位端と遠位端とを有するシャフトと、
前記シャフトの前記遠位端に連結されたプローブヘッドであって、前記シャフトを横断して延在し、椎体上に設置された締結システムであって、第1のスロットおよび第2のスロットを定義するための上向きに延在するアームのペアを有する締結システムに、締結具とともに含まれる、前記締結具に連結された連結本体に挿入され、前記第1のスロットと前記第2のスロットとの間に収まるサイズとなるように構成されたプローブヘッドと、
前記シャフトに連結され、前記手術用ロボットシステムが備えるロボットと通信するナビゲーションシステムにより追跡されるように構成された追跡アレイと、を備える、プローブ。 - 前記追跡アレイが、所定構成に配置された複数の追跡マーカーを含む、請求項9に記載のプローブ。
- 前記システムが、複数のプローブを含み、それぞれが異なるサイズのプローブヘッドを有する、請求項10に記載のプローブ。
- 前記複数のプローブがそれぞれ、前記複数のプローブの他方とは異なる構成の追跡マーカーを有する、対応する追跡アレイを含む、請求項11に記載のプローブ。
- 異なるシャフトおよびプローブヘッドが前記追跡アレイに連結され得るよう、前記シャフトおよびプローブヘッドが互換可能であり、前記異なるシャフトおよびプローブヘッドが、異なるサイズのプローブヘッドを有する、請求項9に記載のプローブ。
- 前記プローブヘッドが、前記シャフトに垂直である、請求項9に記載のプローブ。
- 前記プローブヘッドの直径が、安定化ロッドの直径と等しくなるように構成される、請求項9に記載のプローブ。
- 前記プローブヘッドの長さが、前記連結本体に形成された二つのスロットの間の距離と等しくなるように構成される、請求項9に記載のプローブ。
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