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    Surgical Robotic Systems with Manual and Haptic and/or Active Control Modes
    3.
    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。

    Depth of Impaction
    4.
    发明授权
    Depth of Impaction 有权
    影响深度

    公开(公告)号：US08979859B2

    公开(公告)日：2015-03-17

    申请号：US13174755

    申请日：2011-06-30

    申请人： Richard Leparmentier ,  Brian Schmitz ,  Renen Bassik ,  Chunyan Wu ,  Jason Wojcik

    发明人： Richard Leparmentier ,  Brian Schmitz ,  Renen Bassik ,  Chunyan Wu ,  Jason Wojcik

    IPC分类号： A61B17/58 ,  A61B17/60 ,  A61F2/00 ,  A61B19/00 ,  A61F2/34 ,  A61B17/92

    CPC分类号： A61B19/5244 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/76 ,  A61B2017/922 ,  A61B2034/252 ,  A61B2090/062 ,  A61F2/34

    摘要： A method for determining a depth of impaction of a prosthetic cup into an acetabulum using an end effector and a movable impactor shaft is provided, wherein the prosthetic cup may be positioned at a distal end of the impactor shaft. The method may position the distal end of the impactor shaft at a known pose relative to the end effector, track a spatial pose of the end effector relative to a spatial pose of the acetabulum, determine a spatial pose of the prosthetic cup based on the spatial pose of the end effector and the known pose between the distal end of the impactor shaft and the end effector, and determine the depth of impaction based on the spatial pose of the prosthetic cup and the spatial pose of the acetabulum.

    摘要翻译： 提供了一种使用末端执行器和可移动的冲击器轴确定假体杯到髋臼的冲击深度的方法，其中假体杯可以定位在冲击器轴的远端。 该方法可以将冲击器轴的远端相对于末端执行器定位在已知的姿态，跟踪端部执行器相对于髋臼的空间姿态的空间姿势，基于空间来确定假体杯的空间姿态 端部执行器的姿态以及冲击器轴的远端和末端执行器之间的已知姿势，并且基于假体杯的空间姿态和髋臼的空间姿态来确定冲击的深度。

    Depth of Impaction
    5.
    发明申请
    Depth of Impaction 有权
    影响深度

    公开(公告)号：US20120209277A1

    公开(公告)日：2012-08-16

    申请号：US13174755

    申请日：2011-06-30

    申请人： Richard Leparmentier ,  Brian Schmitz ,  Renen Bassik ,  Chunyan Wu ,  Jason Wojcik

    发明人： Richard Leparmentier ,  Brian Schmitz ,  Renen Bassik ,  Chunyan Wu ,  Jason Wojcik

    IPC分类号： A61B17/56

    CPC分类号： A61B19/5244 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/76 ,  A61B2017/922 ,  A61B2034/252 ,  A61B2090/062 ,  A61F2/34

    摘要： A method for determining a depth of impaction of a prosthetic cup into an acetabulum using an end effector and a movable impactor shaft is provided, wherein the prosthetic cup may be positioned at a distal end of the impactor shaft. The method may position the distal end of the impactor shaft at a known pose relative to the end effector, track a spatial pose of the end effector relative to a spatial pose of the acetabulum, determine a spatial pose of the prosthetic cup based on the spatial pose of the end effector and the known pose between the distal end of the impactor shaft and the end effector, and determine the depth of impaction based on the spatial pose of the prosthetic cup and the spatial pose of the acetabulum.

    摘要翻译： 提供了一种使用末端执行器和可移动的冲击器轴确定假体杯到髋臼的冲击深度的方法，其中假体杯可以定位在冲击器轴的远端。 该方法可以将冲击器轴的远端相对于末端执行器定位在已知的姿态，跟踪端部执行器相对于髋臼的空间姿态的空间姿势，基于空间来确定假体杯的空间姿态 端部执行器的姿态以及冲击器轴的远端和末端执行器之间的已知姿势，并且基于假体杯的空间姿态和髋臼的空间姿态来确定冲击的深度。

    System and Method for Surgical Planning
    6.
    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。