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    SURGICAL SYSTEM FOR POSITIONING PROSTHETIC COMPONENT AND/OR FOR CONSTRAINING MOVEMENT OF SURGICAL TOOL
    12.
    发明申请
    SURGICAL SYSTEM FOR POSITIONING PROSTHETIC COMPONENT AND/OR FOR CONSTRAINING MOVEMENT OF SURGICAL TOOL 有权
    用于定位突出部件和/或用于限制外科手术运动的外科系统

    公开(公告)号：US20110082468A1

    公开(公告)日：2011-04-07

    申请号：US12894071

    申请日：2010-09-29

    Applicant: Benny HAGAG ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

    Inventor： Benny HAGAG ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B17/1617 ,  A61B17/162 ,  A61B17/1631 ,  A61B17/1655 ,  A61B17/1659 ,  A61B17/1664 ,  A61B17/1666 ,  A61B17/1684 ,  A61B34/20 ,  A61B34/25 ,  A61B90/03 ,  A61B2017/00199 ,  A61B2017/00477 ,  A61B2034/2051 ,  A61F2/34 ,  A61F2/36 ,  A61F2/4607 ,  A61F2/4609 ,  Y10T74/20305

    Abstract: A surgical system for positioning a prosthetic component on an anatomy of a patient includes a surgical tool configured to engage the prosthetic component, a force system configured to provide at least some force to the surgical tool, and a controller programmed to compare a target pose of the prosthetic component and an actual pose of the prosthetic component engaged by the surgical tool and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and provide haptic feedback to constrain a user's ability to manually move the surgical tool beyond the range of movement. The haptic feedback resists movement of the surgical tool by the user that would cause substantial deviation between at least one aspect of the actual pose of the prosthetic component and a corresponding aspect of the target pose of the prosthetic component. The controller is programmed to generate control signals that cause the force system to maintain the haptic feedback as the user implants the prosthetic component on the anatomy.

    Abstract translation: 用于将假体部件定位在患者的解剖结构上的手术系统包括被配置为接合假体部件的外科手术工具，被配置为向外科手术工具提供至少一些力的力系统，以及被编程为将目标姿势 假肢部件和由外科手术工具接合的假体部件的实际姿势，并且产生控制信号，该控制信号使得力系统允许外科手术工具在移动范围内移动，并提供触觉反馈以约束用户手动移动 手术工具超出了运动范围。 触觉反馈抵抗使用者的外科手术工具的运动，其将导致假肢部件的实际姿态的至少一个方面与假体部件的目标姿势的对应方面之间的实质性偏差。 控制器被编程为产生控制信号，当用户将解剖构件上的假体部件植入时，该控制信号使力系统保持触觉反馈。

    LEG ALIGNMENT FOR SURGICAL PARAMETER MEASUREMENT IN HIP REPLACEMENT SURGERY
    14.
    发明申请
    LEG ALIGNMENT FOR SURGICAL PARAMETER MEASUREMENT IN HIP REPLACEMENT SURGERY 有权
    髋关节置换手术中手术参数的LEG对齐

    公开(公告)号：US20060293614A1

    公开(公告)日：2006-12-28

    申请号：US11421572

    申请日：2006-06-01

    Applicant: Iliya RADINSKY ,  Melanie Chasse ,  Louis-Philippe Amiot ,  Daniel Odermatt

    Inventor： Iliya RADINSKY ,  Melanie Chasse ,  Louis-Philippe Amiot ,  Daniel Odermatt

    IPC: A61B5/103

    CPC classification number: A61B5/103 ,  A61B5/4504 ,  A61B5/4528 ,  A61B17/1742 ,  A61B34/10 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/252 ,  A61B2034/256 ,  A61B2090/069 ,  A61B2090/364 ,  A61F2002/4632

    Abstract: A CAS system and method for measuring surgical parameters during hip replacement surgery to guide an operator in inserting a hip joint implant in a femur, comprising a first trackable reference in fixed relation with the pelvis and a registration tool. A sensor apparatus tracks the first trackable reference and the registration tool. A controller unit is connected to the sensor apparatus so as to receive tracking data for the first trackable reference and the registration tool. The controller unit has a position and orientation calculator to calculate from the tracking data a position and orientation of the pelvic trackable reference to track the pelvic frame of reference, and of the registration tool to produce a femoral frame of reference at two sequential operative steps. A reference orientation adjustor receives tracking data for the pelvic frame of reference, and the femoral frame of reference associated with the first trackable reference, to orient the femoral frame of reference in a reference orientation with respect to the pelvic frame of reference, and to produce a reference adjustment value as a function of the reference orientation. A surgical parameter calculator receives tracking data from the registration tool to calculate surgical parameters as a function of the reference adjustment value, the surgical parameters at the two sequential operative steps being related by the reference orientation.

    Abstract translation: 一种用于在髋关节置换手术期间测量手术参数以引导操作者将髋关节植入物插入股骨中的CAS系统和方法，包括与骨盆固定关系的第一可跟踪参考和配准工具。 传感器装置跟踪第一可追踪参考和对准工具。 控制器单元连接到传感器装置，以便接收第一可追踪参考和配准工具的跟踪数据。 控制器单元具有位置和姿态计算器，用于根据跟踪数据计算骨盆可跟踪参考的位置和取向以跟踪骨盆参考系，以及用于在两个连续的操作步骤产生股骨参考系的对准工具。 参考方向调整器接收骨盆参考框架的跟踪数据和与第一可追踪参考相关联的股骨参考系，以相对于骨盆参照系的参考方向定位股骨参考系，并产生 参考调整值作为参考方向的函数。 手术参数计算器接收来自注册工具的跟踪数据，以根据参考调整值计算手术参数，两个连续操作步骤的手术参数通过参考方向相关。

    Haptic Volumes for Reaming During Arthroplasty
    16.
    发明申请
    Haptic Volumes for Reaming During Arthroplasty 有权
    关节成形术期间的铰链卷

    公开(公告)号：US20120209272A1

    公开(公告)日：2012-08-16

    申请号：US13173868

    申请日：2011-06-30

    Applicant: Amar Ranawat ,  Mark Pagnano ,  Lawrence Dorr ,  Richard Jones ,  Danielle Landeck ,  Matt Thompson ,  Radu Lorgulescu ,  Renen Bassik ,  Daniel Odermatt

    Inventor： Amar Ranawat ,  Mark Pagnano ,  Lawrence Dorr ,  Richard Jones ,  Danielle Landeck ,  Matt Thompson ,  Radu Lorgulescu ,  Renen Bassik ,  Daniel Odermatt

    IPC: A61B17/16

    CPC classification number: A61B17/1666 ,  A61B17/1626 ,  A61B34/30 ,  A61B34/76

    Abstract: A haptic robotic system for reaming an acetabulum prior to inserting an acetabular cup is more accurate than conventional instruments and may reduce the risk of dislocation and improve durability of a hip implant. Disclosed is a three-dimensional tool path, referred to as a haptic volume. Once the haptic volume is implemented into the software of a haptically constrained surgical robotic system, the cutting tool or reamer can only be utilized within the haptic volume. The haptic volume guides the surgeon in preparing the final reamed bone surface with a greatly reduced chance of the reaming unintended bone and greatly increases the chance that the reaming procedure may be carried out using one reaming tool, or using a single-stage reaming process.

    Abstract translation: 在插入髋臼杯之前用于铰链髋臼的触觉机器人系统比常规仪器更准确，并且可以降低脱位的风险并改善髋关节植入物的耐久性。 公开了一种三维工具路径，称为触觉体积。 一旦触觉体积被实现到高度受限的手术机器人系统的软件中，则切割工具或扩孔器只能在触觉体积内使用。 触觉体积引导外科医生准备最终的扩张骨表面，大大减少了铰接非预期骨骼的机会，并大大增加了可以使用一种铰孔工具或使用单级铰孔工艺进行扩孔过程的机会。

    HIP REPLACEMENT IN COMPUTER-ASSISTED SURGERY
    17.
    发明申请
    HIP REPLACEMENT IN COMPUTER-ASSISTED SURGERY 有权
    计算机辅助手术中的HIP替代

    公开(公告)号：US20090099570A1

    公开(公告)日：2009-04-16

    申请号：US12249393

    申请日：2008-10-10

    Applicant: Francois PARADIS ,  Louis-Philippe Amiot ,  Daniel Odermatt

    Inventor： Francois PARADIS ,  Louis-Philippe Amiot ,  Daniel Odermatt

    IPC: A61B19/00 ,  A61B17/58

    CPC classification number: A61B34/73 ,  A61B17/1666 ,  A61B34/10 ,  A61B34/20 ,  A61F2/4609

    Abstract: A system for calculating a position and orientation of an acetabular cup in computer-assisted surgery comprises a first trackable reference secured to a pelvis, with a frame of reference being associated with the first trackable reference. A device is positionable between a femoral neck and the acetabulum of the pelvis in a known relation, the device having a second trackable reference. Sensors track the trackable references for position and orientation. A position/orientation calculator calculates a position and orientation of the frame of reference and of the device and for determining an orientation of the neck axis with respect to the frame of reference from the known relation at a desired position of the femur. An implant position/orientation calculator provides cup implanting information with respect to the orientation of said neck axis as a function of the tracking for position and orientation of at least the first trackable reference.

    Abstract translation: 用于计算计算机辅助手术中的髋臼杯的位置和取向的系统包括固定到骨盆的第一可跟踪参考，其中参考系与第一可追踪参考相关联。 一种装置可以以已知的关系定位在股骨颈与骨盆的髋臼之间，该装置具有第二可追踪参考。 传感器跟踪可追踪的位置和方位。 位置/姿态计算器计算参考框架和装置的位置和方位，并且用于根据在股骨的期望位置处的已知关系来确定颈部轴线相对于参考系的取向。 植入物位置/取向计算器提供相对于所述颈部轴线的取向的杯子注入信息，作为至少第一可追踪参考物的位置和取向的跟踪的函数。

    Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
    20.
    发明授权
    Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool 有权
    用于定位假体部件的手术系统和/或用于约束外科手术工具的运动

    公开(公告)号：US08992542B2

    公开(公告)日：2015-03-31

    申请号：US12894071

    申请日：2010-09-29

    Applicant: Benny Hagag ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

    Inventor： Benny Hagag ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

    IPC: A61B19/00 ,  A61B17/16 ,  A61B17/00 ,  A61F2/34 ,  A61F2/36

    CPC classification number: A61B34/30 ,  A61B17/1617 ,  A61B17/162 ,  A61B17/1631 ,  A61B17/1655 ,  A61B17/1659 ,  A61B17/1664 ,  A61B17/1666 ,  A61B17/1684 ,  A61B34/20 ,  A61B34/25 ,  A61B90/03 ,  A61B2017/00199 ,  A61B2017/00477 ,  A61B2034/2051 ,  A61F2/34 ,  A61F2/36 ,  A61F2/4607 ,  A61F2/4609 ,  Y10T74/20305

    Abstract: A surgical system for positioning a prosthetic component on an anatomy of a patient includes a surgical tool configured to engage the prosthetic component, a force system configured to provide at least some force to the surgical tool, and a controller programmed to compare a target pose of the prosthetic component and an actual pose of the prosthetic component engaged by the surgical tool and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and provide haptic feedback to constrain a user's ability to manually move the surgical tool beyond the range of movement. The haptic feedback resists movement of the surgical tool by the user that would cause substantial deviation between at least one aspect of the actual pose of the prosthetic component and a corresponding aspect of the target pose of the prosthetic component. The controller is programmed to generate control signals that cause the force system to maintain the haptic feedback as the user implants the prosthetic component on the anatomy.

    Abstract translation: 用于将假体部件定位在患者的解剖结构上的手术系统包括被配置为接合假体部件的外科手术工具，被配置为向外科手术工具提供至少一些力的力系统，以及被编程为将目标姿势 假肢部件和由外科手术工具接合的假体部件的实际姿势，并且产生控制信号，该控制信号使得力系统允许外科手术工具在运动范围内移动，并提供触觉反馈以约束用户的手动移动能力 手术工具超出了运动范围。 触觉反馈抵抗使用者的外科手术工具的运动，其将导致假肢部件的实际姿态的至少一个方面与假体部件的目标姿势的对应方面之间的实质性偏差。 控制器被编程为产生控制信号，当用户将解剖构件上的假体部件植入时，该控制信号使力系统保持触觉反馈。

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