JP7323590B2 - ロボットナビゲーションシステム - Google Patents
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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
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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
- A61B34/25—User interfaces for surgical systems
-
- 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
- A61B17/0206—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors with antagonistic arms as supports for retractor elements
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- 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
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/92—Identification means for patients or instruments, e.g. tags coded with colour
-
- 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
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- 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
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
-
- 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
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- A61B34/25—User interfaces for surgical systems
- A61B2034/252—User interfaces for surgical systems indicating steps of a surgical procedure
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- 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
- A61B2090/3966—Radiopaque markers visible in an X-ray image
-
- 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
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Gynecology & Obstetrics (AREA)
- Mechanical Engineering (AREA)
- Radiology & Medical Imaging (AREA)
- Human Computer Interaction (AREA)
- Transplantation (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Dentistry (AREA)
- Prostheses (AREA)
Description
Claims (15)
- ロボットシステムであって、
コンピュータを含むベースと、
前記コンピュータに電子的に結合されたディスプレイと、
前記コンピュータに電子的に結合され、かつ前記コンピュータによって処理されるコマンドに基づいて移動可能であるロボットアームと、
前記ロボットアームに結合されたエンドエフェクタと、
1つ以上の追跡マーカと、
前記1つ以上の追跡マーカを検出するように構成されたカメラと、を備え、
前記1つ以上の追跡マーカの各々が、前記カメラによる光学認識のための光のパッシブな反射のみのための反射面と、撮像システムによる認識のための金属要素と、を有する円形ディスクと、
前記反射面から下向きに延在し、前記1つ以上の追跡マーカを含むアレイを固定するアレイ固定具のポストを受容する中空部分を有する下部分と、
前記円形ディスクの周囲を囲み、前記円形ディスクの前記反射面に対して光学的コントラストを提供するように構成されたリングフレームと、を備え、
前記コンピュータは、前記カメラからの前記追跡マーカの各々の光学画像を受信し、前記カメラに対する前記円形ディスクの配向に関わらず、前記受信された光学画像に基づいて前記反射面によって定義される平面に存在する前記円形ディスクの中心点を決定するようにプログラムされた画像処理アプリケーションを備える
ロボットシステム。 - 前記撮像システムが、コンピュータ断層撮影撮像スキャナである、請求項1に記載のシステム。
- 前記1つ以上の追跡マーカが、円筒状である、請求項1に記載のシステム。
- 前記リングフレームは金属である、請求項3に記載のシステム。
- ロボットナビゲーションシステムであって、
ロボットであって、
コンピュータを含むベースと、
前記コンピュータに電子的に結合されたディスプレイと、
前記コンピュータに電子的に結合され、かつ前記コンピュータによって処理されるコマンドに基づいて移動可能であるロボットアームと、
前記ロボットアームに結合されたエンドエフェクタと、
1つ以上の追跡マーカを検出するように構成されたカメラと、を備える、ロボットと、
前記カメラによって追跡可能な追跡マーカのアレイを含むナビゲート可能な器具であって、インプラントにアクセスする、それを準備する、および/または配置するように構成されている、ナビゲート可能な器具と、を備え、
前記1つ以上の追跡マーカの各々が、前記カメラによる光学認識のための光のパッシブな反射のみのための反射面と、撮像システムによる認識のための金属要素と、を有する円形ディスクと、
前記反射面から下向きに延在し、前記1つ以上の追跡マーカを含むアレイを固定するアレイ固定具のポストを受容する中空部分を有する下部分と、
前記円形ディスクの周囲を囲み、前記円形ディスクの前記反射面に対して光学的コントラストを提供するように構成されたリングフレームと、を備え、
前記コンピュータは、前記カメラからの前記追跡マーカの各々の光学画像を受信し、前記カメラに対する前記円形ディスクの配向に関わらず、前記受信された光学画像に基づいて前記反射面によって定義される平面に存在する前記円形ディスクの中心点を決定するようにプログラムされた画像処理アプリケーションを備える
ロボットナビゲーションシステム。 - 前記撮像システムが、コンピュータ断層撮影撮像スキャナである、請求項5に記載のシステム。
- 前記アレイの1つ以上の追跡マーカの各々が、円筒状である、請求項5に記載のシステム。
- 前記リングフレームは金属である、請求項5に記載のシステム。
- ロボットシステムであって、
コンピュータを含むベースと、
前記コンピュータに電子的に結合されたディスプレイと、
前記コンピュータに電子的に結合され、かつ前記コンピュータによって処理されるコマンドに基づいて移動可能であるロボットアームと、
前記ロボットアームに結合されたエンドエフェクタと、
複数の追跡マーカと、
前記複数の追跡マーカを検出するように構成されたカメラと、を備え、
前記複数の追跡マーカの各々は上部分および下部分を備え、
前記複数の追跡マーカの各々が、前記カメラによる光学認識のための光のパッシブな反射のみのための反射面と、撮像システムによる認識のための金属要素と、を有する円形ディスクと、
前記円形ディスクの周囲を囲み、前記円形ディスクの前記反射面に対して光学的コントラストを提供するリングフレームと、を備え、前記円形ディスクは前記下部分の一部であり、前記リングフレームは前記上部分の一部であり、前記下部分は反射面から下向きに延在し、前記追跡マーカを含むアレイを固定するアレイ固定具のポストを受容する中空部分を有し、
前記上部分および前記下部分が、スナップ嵌め接続を介して結合され、
前記コンピュータは、前記カメラからの各追跡マーカの光学画像を受信し、前記カメラに対する前記円形ディスクの配向に関わらず、前記受信された光学画像に基づいて前記反射面によって定義される平面に存在する前記円形ディスクの中心点を決定するようにプログラムされた画像処理アプリケーションを備える
ロボットシステム。 - 前記上部分が、近位部分から遠位部分まで延在している貫通孔を含む、請求項9に記載のシステム。
- 前記上部分が、近位端と、遠位端と、を含み、前記上部分の前記遠位端が、前記下部分の上部要素を受容する複数のスロットを伴って構成されている、請求項9に記載のシステム。
- 前記上部分が、カメラシステムに視認可能であるように構成されたマーキングを有する面取り上面を含む、請求項9に記載のシステム。
- 前記下部分が、前記上部分の複数の開口部内で受容されるように構成された複数のタブを含む、請求項9に記載のシステム。
- 各円形ディスクの表面は白色であり、前記リングフレームは黒である、請求項1に記載のシステム。
- 各円形ディスクの表面は白色であり、前記リングフレームは黒である、請求項5に記載のシステム。
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US17/080,901 | 2020-10-27 | ||
US17/080,901 US11911112B2 (en) | 2020-10-27 | 2020-10-27 | Robotic navigational system |
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JP7323590B2 true JP7323590B2 (ja) | 2023-08-08 |
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US (1) | US11911112B2 (ja) |
EP (1) | EP3991683A1 (ja) |
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CN (1) | CN114469347A (ja) |
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US20220183766A1 (en) * | 2020-12-15 | 2022-06-16 | Mazor Robotics Ltd. | Systems and methods for defining a work volume |
US12016642B2 (en) * | 2021-09-08 | 2024-06-25 | Proprio, Inc. | Constellations for tracking instruments, such as surgical instruments, and associated systems and methods |
US20240065775A1 (en) * | 2022-08-26 | 2024-02-29 | Depuy Ireland Unlimited Company | Robot array |
Citations (4)
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JP2015531624A (ja) | 2012-08-15 | 2015-11-05 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | ゼロ空間を使用した関節運動の相殺のためのシステム及び方法 |
US20170086941A1 (en) | 2015-09-25 | 2017-03-30 | Atracsys | Marker for Optical Tracking System |
JP2018509949A (ja) | 2015-01-22 | 2018-04-12 | グローバス メディカル インコーポレイティッド | 動的基準点アレイ及び使用方法 |
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