WO2001076490A1 - Dispositif medical de positionnement d'objets - Google Patents
Dispositif medical de positionnement d'objets Download PDFInfo
- Publication number
- WO2001076490A1 WO2001076490A1 PCT/CH2001/000181 CH0100181W WO0176490A1 WO 2001076490 A1 WO2001076490 A1 WO 2001076490A1 CH 0100181 W CH0100181 W CH 0100181W WO 0176490 A1 WO0176490 A1 WO 0176490A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- articulated arm
- fixed
- medical device
- organ
- positioning
- Prior art date
Links
Classifications
-
- 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
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
- A61B17/1668—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the upper femur
-
- 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
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
- A61B17/1666—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the acetabulum
-
- 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
- A61B34/10—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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
-
- 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
- A61B90/10—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
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
Definitions
- the present invention relates to a medical device for positioning an object in real time relative to an organ according to an operating schedule.
- It relates more precisely to a medical device for positioning objects which are placed at the end of an articulated arm.
- the success of a positioning operation is essentially based on the dexterity and experience of the surgeon, who is based on an operating schedule which most often comes down to taking measurements using a slide bar.
- the present invention aims to remedy the aforementioned problems by using a lighter device, of simpler operation and which increases the precision of the positioning of objects.
- It relates to a medical device making it possible to position an object in real time relative to an organ according to an operating schedule, said device comprising:
- An articulated arm provided at its first end with means for carrying out measurements and at least grasping said object.
- a digital processing module containing at least one model of said organ.
- the originality of the invention lies in the fact that the second end of the articulated arm is adapted to be fixed on the member to be operated.
- the device is suitable for performing operations on bones.
- the second end of the articulated arm is provided with means for attaching to bones.
- the fixing system consists of a Steinman nail. This configuration can be used when milling the basin.
- the fixing system may consist of a clamp
- Figure 1 schematically illustrates a medical device according to the invention
- Figure 2 illustrates a point of attachment of the articulated arm on the pelvis
- Figure 3 shows a milling instrument in operation
- the device according to FIG. 1 consists of an articulated arm (1), compensated in gravity, allowing the measurement of the 6 degrees of freedom of its free end (11), of a digital processing module (4) containing at least a preoperative model (5) of the organ to be operated, the pelvis (9) in this case, of an interaction device (6) with the device and of a feedback system (8) shown HERE by a screen
- FIG. 2 represents a Steinman nail (10) fixed to the basin for a milling operation, the articulated arm (1) (not shown in the figure) coming to be fixed by one of its ends to the Steinman nail (10)
- Figure 3 shows a fixing similar to that of Figure 2 with in addition the presence of an articulated arm (1) and a cutter (12) fixed to the free end (1 1) of the articulated arm (1)
- the use of the device shown in Figures 1 to 3 takes place as follows:
- the bone geometry is extracted from a measuring device to reproduce a 3-dimensional model (5) of the pelvis (9).
- a measuring device As device / system used for this purpose, one can provide a CT-Scan, an MRI, x-rays or even a system of scopes such as SIREMOBIL IsoC TM.
- Model preparation can be automatic, semi-automatic or manual.
- the surgeon (7) establishes his operating schedule on the model by specifying the objectives to be achieved during the operation (position, cutting depth of the acetabulum, position of the implants, etc. ).
- the surgeon (7) fixes the articulated arm (1) on the pelvis (9) by means of the Steinman nail (10). There follows a recording phase which will allow the device to locate the articulated arm (1) relative to the pelvis (9) and relative to its corresponding model (5). To do this, the surgeon comes to palpate certain relevant points likely to play the role of landmarks.
- the device is able to know the position of any point measured by the articulated arm (1) and its corresponding position in the model (5). It therefore also becomes possible to determine the distance from the objectives defined during the operating planning.
- a tool (12) or a prosthesis element is then fixed to the free end (11) of the articulated arm (1).
- surgeon (7) manipulates the tool (12) in a manner identical to current standard procedures.
- the measured information is returned in real time to the surgeon (7) through the feedback system (8) which provides visual positioning information (screen) and / or sound and / or touch.
- the surgeon (7) is therefore constantly informed of the position of the tool (12) as a function of the objectives which he has set himself.
- the device makes it possible to check the position of the objects which have been the object of manipulation.
- the device comprises a plurality of articulated arms, the second end of each arm being fixed to a common base which is fixed to the member.
- a configuration offers, among other things, the advantage of being able to use several instruments.
- the arm is fixed on a vertebra. Several x-rays are then performed to determine the position of the arm.
- the invention is not limited to a particular type of attachment for the articulated arm. Any system ensuring satisfactory fixing can be used.
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Prostheses (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP01911330A EP1274352A1 (fr) | 2000-04-10 | 2001-03-21 | Dispositif medical de positionnement d'objets |
AU2001240412A AU2001240412A1 (en) | 2000-04-10 | 2001-03-21 | Medical device for positioning objects |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH713/00 | 2000-04-10 | ||
CH7132000 | 2000-04-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001076490A1 true WO2001076490A1 (fr) | 2001-10-18 |
Family
ID=4530920
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CH2001/000181 WO2001076490A1 (fr) | 2000-04-10 | 2001-03-21 | Dispositif medical de positionnement d'objets |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1274352A1 (fr) |
AU (1) | AU2001240412A1 (fr) |
WO (1) | WO2001076490A1 (fr) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004024007A1 (fr) * | 2002-09-16 | 2004-03-25 | Precimed S.A. | Accouplement enclave d'aleseur acetabulaire |
WO2005084541A1 (fr) * | 2004-03-05 | 2005-09-15 | Depuy International Ltd | Dispositif et procede d'enregistrement d'un bassin |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5230623A (en) * | 1991-12-10 | 1993-07-27 | Radionics, Inc. | Operating pointer with interactive computergraphics |
US5408409A (en) * | 1990-05-11 | 1995-04-18 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
WO1998025535A1 (fr) * | 1996-12-11 | 1998-06-18 | Sm Scienzia Machinale S.R.L. | Appareil de guidage et de guidage d'un instrument tel qu'un instrument chirurgical ou une sonde |
US5871018A (en) * | 1995-12-26 | 1999-02-16 | Delp; Scott L. | Computer-assisted surgical method |
-
2001
- 2001-03-21 EP EP01911330A patent/EP1274352A1/fr not_active Withdrawn
- 2001-03-21 AU AU2001240412A patent/AU2001240412A1/en not_active Abandoned
- 2001-03-21 WO PCT/CH2001/000181 patent/WO2001076490A1/fr active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5408409A (en) * | 1990-05-11 | 1995-04-18 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
US5230623A (en) * | 1991-12-10 | 1993-07-27 | Radionics, Inc. | Operating pointer with interactive computergraphics |
US5871018A (en) * | 1995-12-26 | 1999-02-16 | Delp; Scott L. | Computer-assisted surgical method |
WO1998025535A1 (fr) * | 1996-12-11 | 1998-06-18 | Sm Scienzia Machinale S.R.L. | Appareil de guidage et de guidage d'un instrument tel qu'un instrument chirurgical ou une sonde |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004024007A1 (fr) * | 2002-09-16 | 2004-03-25 | Precimed S.A. | Accouplement enclave d'aleseur acetabulaire |
US7572259B2 (en) | 2002-09-16 | 2009-08-11 | Greatbatch Ltd. | Inset acetabular reamer coupling |
WO2005084541A1 (fr) * | 2004-03-05 | 2005-09-15 | Depuy International Ltd | Dispositif et procede d'enregistrement d'un bassin |
Also Published As
Publication number | Publication date |
---|---|
AU2001240412A1 (en) | 2001-10-23 |
EP1274352A1 (fr) | 2003-01-15 |
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