WO2021020895A1 - Dispositif d'entraînement pour chirurgie de la colonne vertébrale - Google Patents

Dispositif d'entraînement pour chirurgie de la colonne vertébrale Download PDF

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Publication number
WO2021020895A1
WO2021020895A1 PCT/KR2020/010051 KR2020010051W WO2021020895A1 WO 2021020895 A1 WO2021020895 A1 WO 2021020895A1 KR 2020010051 W KR2020010051 W KR 2020010051W WO 2021020895 A1 WO2021020895 A1 WO 2021020895A1
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WO
WIPO (PCT)
Prior art keywords
rod
driver
spinal surgery
rotation torque
rotation
Prior art date
Application number
PCT/KR2020/010051
Other languages
English (en)
Korean (ko)
Inventor
이창현
이충희
신일형
Original Assignee
서울대학교병원
인더스마트 주식회사
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 서울대학교병원, 인더스마트 주식회사 filed Critical 서울대학교병원
Publication of WO2021020895A1 publication Critical patent/WO2021020895A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—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
    • A61B17/7082—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 for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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
    • 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
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • 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
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8875—Screwdrivers, spanners or wrenches
    • 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
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/90—Guides 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
    • A61B34/30—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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A61B2090/031—Automatic limiting or abutting means, e.g. for safety torque limiting
    • 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
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • 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
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Definitions

  • the present invention relates to a driver for spinal surgery, and more particularly, to a driver for surgery that provides a function for fastening a screw used in spinal surgery at an accurate angle.
  • the spine is a part that supports the human body, and is generally composed of 26 bones, and a disk is provided between adjacent vertebrae, and nerves pass through the inner side thereof.
  • the spine supports each part of the body, it can be said to be the most essential body organ for the human body to stand up, and it can be said to be very important because it plays a role of protecting the most important nerve bundles.
  • the present invention is an invention conceived to solve the above-described problems of the prior art, and a spinal surgery driver for maximizing the surgical effect by precisely manipulating a spinal fixation screw during spinal surgery to be fastened at a correct position and angle. It has a purpose to provide
  • the driver for spinal surgery of the present invention for achieving the above object is a rod in which a bit engaged with a groove formed in the head of a spinal fixation screw is coupled to the front end, and is connected to the rear end of the rod, and the user can grip
  • the body formed so as to be able to, the sensor module for sensing the inclination in the x-axis direction and the inclination in the y-axis direction perpendicular to the direction of gravity, and the sensor module are interlocked with the sensor module through wireless communication or wired communication with an external terminal. It includes a communication module that transmits and receives sensing information.
  • an accommodation space may be provided inside the body, and the sensor module and the communication module may be provided in the accommodation space.
  • a rotation torque measuring unit connected to the rod and measuring a rotation torque generated according to rotation of the rod may be further included.
  • an alarm module for performing an alarm may be further included.
  • the communication module may cause the communication module to transmit torque information generated from the rotation torque measurement unit to an external terminal.
  • the rotation blocking unit may further include a rotation blocking unit connected to the rod.
  • it may further include a driving unit that generates a rotational driving force to rotate the rod.
  • the body may include an arm connector to which a robot arm driven by an external control is connected.
  • the driver for spinal surgery of the present invention for solving the above problems includes a sensor module provided in the body to sense a slope in the x-axis direction and a slope in the y-axis direction perpendicular to the direction of gravity, and sensing information obtained through it
  • a sensor module provided in the body to sense a slope in the x-axis direction and a slope in the y-axis direction perpendicular to the direction of gravity, and sensing information obtained through it
  • FIG. 1 is a view showing a state in which vertebrae adjacent to each other are fastened with screws for fixing the spine;
  • Figure 2 is a view showing the state of the spine surgery driver according to the first embodiment of the present invention.
  • FIG. 3 is a view conceptually showing a process of performing an operation through a driver for spinal surgery according to the first embodiment of the present invention
  • FIG. 5 is a view showing a state of a driver for spinal surgery according to a second embodiment of the present invention.
  • FIG. 6 is a view showing the state of the spine surgery driver according to the third embodiment of the present invention.
  • FIG. 7 is a view showing the state of the driver for spinal surgery according to a fourth embodiment of the present invention.
  • FIG. 8 is a view showing the state of the spine surgery driver according to the fifth embodiment of the present invention.
  • FIG. 1 is a view showing a state in which vertebrae (S 1 , S 2 ) adjacent to each other are fastened with a screw (B) for fixing the spine.
  • FIG. 1 In the case of a patient who cannot maintain the angle between the vertebrae and the vertebrae within the normal range, vertebrae adjacent to each other as shown in FIG. 1 (S 1 , S 2 , in this embodiment randomly referred to as the first and second The spine fixing screws (B) are fastened to fix each other.
  • the first vertebrae (S 1 ) and the second vertebrae (S 2 ) are a pair of fastening holes (H1-1 and H2-1) corresponding to each other. H1-2 and H2-2) are formed.
  • the first vertebrae (S 1 ) and the second vertebrae (S 2 ) have a very important fastening angle, and in the present invention, a driver for spinal surgery for precisely fastening the screw for fixing the spine (B) is provided. to provide.
  • FIG. 2 is a view showing the state of the driver 100 for spinal surgery according to the first embodiment of the present invention.
  • the driver 100 for spinal surgery includes a rod 120, a body 110, a sensor module 140, and a communication module 150. Include.
  • the rod 120 is a component in which a bit 130 meshing with a groove formed in the head of the spine fixing screw (B, see FIG. 1) is coupled to the front end.
  • the rod 130 has a shape formed to be elongated in the longitudinal direction, but this is only one embodiment, and the rod 130 is not limited to a shape having a long length.
  • bit 130 coupled to the front end of the rod 130 may be variously provided depending on the shape of the spine fixing screw B, the type of vertebrae to be operated on, or the type of spinal disease.
  • the body 110 is connected to the rear end of the rod 120 and is formed to be gripped by a user.
  • the body 110 has a larger width than the rod 130 so that the user can easily grasp it, and has an accommodation space formed therein.
  • the sensor module 140 and the communication module 150 may be accommodated in the accommodation space.
  • the sensor module 140 is a component for sensing the inclination in the x-axis direction and the inclination in the y-axis direction perpendicular to the direction of gravity.
  • the body 110 It has a form accommodated in the accommodation space.
  • the position where the sensor module 140 is provided may be any part of the driver 100 for spinal surgery of the present invention.
  • the sensor module 140 may include at least one of sensors capable of grasping the angle of the driver 100 for spinal surgery with respect to the direction of gravity.
  • sensors capable of grasping the angle of the driver 100 for spinal surgery with respect to the direction of gravity.
  • sensors capable of grasping the angle of the driver 100 for spinal surgery with respect to the direction of gravity.
  • sensors such as a gyro sensor, an acceleration sensor, and a magnetic sensor may be used, as well as any sensor capable of performing a corresponding function.
  • the communication module 150 is a component that interlocks with the sensor module 140 to transmit and receive sensing information of the sensor module 140 through wireless communication or wired communication with an external terminal.
  • the communication module 150 has a form accommodated in the receiving space of the body 110 like the sensor module 140, but the communication module 150 is similar to the sensor module 140. ) May be provided on any part of the driver 100 for spinal surgery of the present invention.
  • the driver 100 for spinal surgery may further include a function button 112 provided on the body 110.
  • Various functions may be assigned to the function button 112, and functions such as initialization of sensing information measured by the sensor module 140, communication connection/disconnection of the communication module 150, etc. may be assigned. will be.
  • a plurality of function buttons 112 may be provided, unlike the present embodiment.
  • FIG. 3 is a view conceptually showing a process of performing an operation through the driver 100 for spinal surgery according to the first embodiment of the present invention
  • FIG. 4 is a spine fixation of adjacent vertebrae S 1 and S 2 It is a diagram showing factors to be considered when fastening with a screw (B).
  • the bit 130 coupled to the driver 100 for spinal surgery of this embodiment As shown in Figures 3 and 4, in order to fix the adjacent first and second vertebrae (S1) and second vertebrae (S2), the bit 130 coupled to the driver 100 for spinal surgery of this embodiment
  • the groove formed in the head of the spine fixation screw (B) is engaged, and the spine fixation screw (B) is rotated by rotating the spine surgery driver 100 to the first spine (S1) and the second spine (S2). ).
  • the sensor module 140 provided in the body 110 measures the inclination of the driver 100 for spinal surgery in real time. Accordingly, as shown in FIG. 4, the sensor module 140 may determine the entry angle of the spine fixing screw B by sensing the inclination of the spine surgery driver 100.
  • the sensor module 140 is formed with respect to the x-axis reference line (H x ) perpendicular to the direction of gravity as the spine fixing screw (B) senses the inclination of the driver 100 for spinal surgery.
  • the slope ⁇ y formed with respect to the slope ⁇ x and the y-axis reference line H y may be calculated.
  • the x-axis reference line (H x ) and the y-axis reference line (H y ) are formed perpendicular to each other.
  • the driver 100 for spinal surgery transmits the sensing information calculated by the sensor module 140 to the external terminal 10, for example. It can be transmitted to the management server, the personal terminal of the surgeon, and the like, and the external terminal 10 may be installed with a predetermined management software interlocked with the driver 100 for spinal surgery.
  • the management software installed in the external terminal 10 transmits the sensing information currently measured by the sensor module 140 through the display in real time, or performs an alarm and provides correction information when an error occurs. Function can be provided. In addition, the operator can monitor such a variety of information and perform a safer and more precise operation.
  • FIG. 5 is a view showing the state of the spine surgery driver 100 according to the second embodiment of the present invention.
  • the rotation torque measurement unit 122 is connected to the rod 120 and has a form provided between the rod 120 and the body 110.
  • the rotation torque measurement unit 122 measures a rotation torque generated according to the rotation of the rod 120, thereby determining a load applied to the rod 120.
  • the communication module 150 may transmit the rotation torque information measured by the rotation torque measurement unit 122 to an external terminal, and accordingly, the external terminal displays the rotation torque information or a preset reference torque In case of abnormality, an alarm can be performed.
  • the second embodiment of the present invention provides an alarm module that performs an alarm when it is determined by the rotation torque measurement unit 122 that the rotation torque of the rod 120 is more than a preset reference torque. It may contain more.
  • the alarm module may perform an alarm in the form of at least one of an audible alarm such as sound and a visual alarm such as light, and may perform an alarm without passing through an external terminal so that a safe operation can be performed.
  • FIG. 6 is a view showing the state of the driver 100 for spinal surgery according to the third embodiment of the present invention.
  • the driving unit 160 is a component that rotates the rod 120 by generating a rotational driving force, and is interlocked with the driving unit 160 without the need for the operator to manually rotate the entire spinal surgery driver 100 By operating the driving button 162 or the like, the rotational driving force can be transmitted to the rod 120.
  • the driving unit 160 is connected to the rear end of the rod 120 and has a shape embedded in the body 110, but the driving unit 160 It can be provided in various positions.
  • FIG. 7 is a view showing the state of the driver 100 for spinal surgery according to the fourth embodiment of the present invention.
  • the body 110 includes the arm connection part 114 at a predetermined position, and the driving unit 160 in the front and the sensor module 140 in the rear, based on the arm connection part 114 And a communication module 150 is provided.
  • the arm connector 114 is a component that allows the robot arm 50 driven by an external control to be connected, and the body 110 is rotatably connected to the multiaxial joint 52 of the robot arm 50 It can be precisely manipulated through control by a computer or the like.
  • FIG 8 is a view showing the state of the spine surgery driver 100 according to a fifth embodiment of the present invention.
  • the rotation blocking unit 180 When an error occurs in the operation of the driver 100 for spinal surgery while the operation is in progress, the rotation blocking unit 180 is in a fixed state between the rod 120 and the body 110 by the control of the control module 170. It is a component that blocks the rotation of the rod 120 by releasing it.
  • the control module 170 when it is determined by the rotation torque measurement unit 122 that the rotation torque of the rod 120 is greater than or equal to a preset reference torque, or the sensing information measured by the sensor module 140 It can be operated by the control module 170 in a situation such as a case that is different from a preset reference slope.
  • the rotation blocking unit 180 may be applied with a method of blocking the power supplied to the driving unit 160 to block the rotation of the rod 120 as described above, or the driving by a method such as a clutch. A method of physically disconnecting the connection so that the driving force of the unit 160 is not transmitted to the rod 120 may be applied.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Neurology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)

Abstract

La présente invention concerne un dispositif d'entraînement pour chirurgie de la colonne vertébrale qui comprend : une tige dans laquelle des mèches en prise avec des rainures formées dans la tête d'une vis de fixation de colonne vertébrale sont couplées à une section d'extrémité avant ; un corps qui est relié à une section d'extrémité arrière de la tige et formé de façon à pouvoir être saisi par un utilisateur ; un module de capteur qui détecte une pente dans la direction d'axe x perpendiculaire à la direction gravitationnelle, et une pente dans la direction d'axe y ; et un module de communication qui est relié au module de capteur et transmet et reçoit des informations de détection provenant du module de capteur par l'intermédiaire d'une communication sans fil ou filaire avec une borne externe.
PCT/KR2020/010051 2019-07-31 2020-07-30 Dispositif d'entraînement pour chirurgie de la colonne vertébrale WO2021020895A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190092972A KR20210016109A (ko) 2019-07-31 2019-07-31 척추 수술용 드라이버
KR10-2019-0092972 2019-07-31

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Publication Number Publication Date
WO2021020895A1 true WO2021020895A1 (fr) 2021-02-04

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WO (1) WO2021020895A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102535948B1 (ko) * 2021-02-17 2023-05-24 고려대학교 산학협력단 골정형용 재조정 시스템

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100036384A1 (en) * 2006-05-17 2010-02-11 Josef Gorek Surgical Trajectory Monitoring System and Related Methods
KR20150043784A (ko) * 2013-10-15 2015-04-23 김창수 가이드가 구비된 의료용 드라이버
JP2016528968A (ja) * 2013-07-19 2016-09-23 プロ−デツクス・インコーポレイテツド トルク制限ドライバ
US20170056116A1 (en) * 2015-08-31 2017-03-02 KB Medical SA Robotic surgical systems and methods
KR20180103316A (ko) * 2017-03-09 2018-09-19 정규성 디지털 토크 표시 드라이버

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2932929B1 (fr) 2014-04-15 2017-02-08 Biedermann Technologies GmbH & Co. KG Élément de vis destiné à être utilisé dans la colonne vertébrale, en chirurgie des accidents ou orthopédique, système d'un tel élément de vis et tournevis adapté à celui-ci

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100036384A1 (en) * 2006-05-17 2010-02-11 Josef Gorek Surgical Trajectory Monitoring System and Related Methods
JP2016528968A (ja) * 2013-07-19 2016-09-23 プロ−デツクス・インコーポレイテツド トルク制限ドライバ
KR20150043784A (ko) * 2013-10-15 2015-04-23 김창수 가이드가 구비된 의료용 드라이버
US20170056116A1 (en) * 2015-08-31 2017-03-02 KB Medical SA Robotic surgical systems and methods
KR20180103316A (ko) * 2017-03-09 2018-09-19 정규성 디지털 토크 표시 드라이버

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