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    Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
    1.
    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

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

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

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

    CPC分类号： 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

    摘要： 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.

    摘要翻译： 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。

    SURGICAL SYSTEM FOR POSITIONING PROSTHETIC COMPONENT AND/OR FOR CONSTRAINING MOVEMENT OF SURGICAL TOOL
    2.
    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

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

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

    IPC分类号： A61B19/00

    CPC分类号： 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

    摘要： 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.

    摘要翻译： 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。

    System and Method for Surgical Planning
    3.
    发明申请
    System and Method for Surgical Planning 审中-公开
    手术计划系统与方法

    公开(公告)号：US20120209419A1

    公开(公告)日：2012-08-16

    申请号：US13178148

    申请日：2011-07-07

    申请人： Hyosig Kang ,  Daniel Odermatt ,  Alon Mozes ,  Chunyan Wu ,  Miranda Jamieson

    发明人： Hyosig Kang ,  Daniel Odermatt ,  Alon Mozes ,  Chunyan Wu ,  Miranda Jamieson

    IPC分类号： G06F7/00 ,  G06K9/00

    CPC分类号： A61B34/10 ,  A61B2034/107 ,  G06K2209/055

    摘要： A system and method for determining inclination and version of a prosthetic acetabular cup relative to a coronal radiographic plane is provided. The system and method include the identification of a coronal radiographic plane in a three dimensional medical image. The system and method further include the identification of two symmetric landmarks on the pelvis to determine a mediolateral axis. The version and inclination can then be calculated based on the relationship between the axis of the acetabular cup, the coronal radiographic plan, and the mediolateral axis.

    摘要翻译： 提供了一种用于确定假体髋臼杯相对于冠状放射照相平面的倾斜度和形式的系统和方法。 该系统和方法包括在三维医学图像中识别冠状放射线照相平面。 该系统和方法还包括在骨盆上识别两个对称的地标以确定中间轴。 然后可以基于髋臼杯的轴线，冠状放射照相计划和中间轴之间的关系来计算版本和倾斜度。

    Haptic volumes for reaming during arthroplasty
    4.
    发明授权
    Haptic volumes for reaming during arthroplasty 有权
    关节成形术期间铰链的触角体积

    公开(公告)号：US09125669B2

    公开(公告)日：2015-09-08

    申请号：US13173868

    申请日：2011-06-30

    申请人： Amar Ranawat ,  Mark Pagnano ,  Lawrence Dorr ,  Richard Jones ,  Danielle Landeck ,  Matt Thompson ,  Radu Iorgulescu ,  Renen Bassik ,  Daniel Odermatt

    发明人： Amar Ranawat ,  Mark Pagnano ,  Lawrence Dorr ,  Richard Jones ,  Danielle Landeck ,  Matt Thompson ,  Radu Iorgulescu ,  Renen Bassik ,  Daniel Odermatt

    IPC分类号： A61F2/46 ,  A61B17/00 ,  A61B17/16 ,  A61B19/00

    CPC分类号： A61B17/1666 ,  A61B17/1626 ,  A61B34/30 ,  A61B34/76

    摘要： 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.

    摘要翻译： 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。

    Surgical Robotic Systems with Manual and Haptic and/or Active Control Modes
    9.
    发明申请
    Surgical Robotic Systems with Manual and Haptic and/or Active Control Modes 有权
    具有手动和触觉和/或主动控制模式的手术机器人系统

    公开(公告)号：US20130006267A1

    公开(公告)日：2013-01-03

    申请号：US13174051

    申请日：2011-06-30

    申请人： Daniel Odermatt ,  Renen Bassik ,  Chunyan Wu ,  Danielle Landeck ,  Jason Wojcik

    发明人： Daniel Odermatt ,  Renen Bassik ,  Chunyan Wu ,  Danielle Landeck ,  Jason Wojcik

    IPC分类号： A61B19/00 ,  B25J9/02 ,  B25J9/16

    CPC分类号： B25J9/1628 ,  A61B34/30 ,  A61B2034/742 ,  G05B2219/39439 ,  G05B2219/40415 ,  G05B2219/45117

    摘要： A surgical robotic system is disclosed that provides a combination of a programmed control, such as active control or passive control, when a high degree of accuracy is required and manual control when a high degree of accuracy is not required, such as during the removal of osteophytes, irregular bone growth and/or soft tissue. Manual resection may be completed by switching from the programmed control mode to the manual control mode and allowing the surgeon free control of the cutting tool. The manual resection may be carried out using some navigational features of the robotic system such as allowing the surgeon to visualize the position of the cutting tool thereby allowing accurate resection of osteophytes, irregular bone and tissue while having the unrestricted freedom to move the cutting tool. The programmed control mode may be reserved for procedures that require a high degree of accuracy, for example, the reaming of a bone and placement of an implant onto the bone.

    摘要翻译： 公开了一种手术机器人系统，当需要高精确度时，提供诸如主动控制或被动控制之类的编程控制的组合，并且当不需要高精确度时进行手动控制，例如在移除 骨赘，不规则骨生长和/或软组织。 手动切除可以通过从编程控制模式切换到手动控制模式，并允许外科医生自由控制切削刀具来完成。 可以使用机器人系统的一些导航特征来进行手动切除，例如允许外科医生可视化切割工具的位置，从而允许精确切除骨赘，不规则骨和组织，同时具有移动切割工具的不受限制的自由度。 编程的控制模式可以被保留用于需要高度准确度的程序，例如骨的扩孔和将植入物放置在骨上。