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    A SYSTEM AND METHOD FOR VERIFICATION OF THE LOCATION OF AN END-EFFECTOR
    1.
    发明申请
    A SYSTEM AND METHOD FOR VERIFICATION OF THE LOCATION OF AN END-EFFECTOR 审中-公开

    公开(公告)号：WO2023031337A1

    公开(公告)日：2023-03-09

    申请号：PCT/EP2022/074342

    申请日：2022-09-01

    Applicant: DEPUY IRELAND UNLIMITED COMPANY

    Inventor： PONCET, Didier ,  DEMANGET, Nicolas

    IPC: A61B34/20

    Abstract: A verification instrument configured to verify the location of a surgical end-effector, including: a body; a navigation element disposed and configured to represent a spatial location of the body; a first clip extending from the body configured to clip onto a tool; a length measurement portion disposed at a first angle from the body, wherein the length measurement portion is configured to contact a tool tip when the first clip is clipped onto the tool.

    METHOD AND SYSTEM FOR GUIDING POSITION AND ORIENTATION OF A ROBOTIC DEVICE HOLDING A SURGICAL TOOL
    2.
    发明申请
    METHOD AND SYSTEM FOR GUIDING POSITION AND ORIENTATION OF A ROBOTIC DEVICE HOLDING A SURGICAL TOOL 审中-公开

    公开(公告)号：WO2021074393A1

    公开(公告)日：2021-04-22

    申请号：PCT/EP2020/079236

    申请日：2020-10-16

    Applicant: DEPUY IRELAND UNLIMITED COMPANY

    Inventor： LAVALLEE, Stéphane ,  GIRARDEAU-MONTAUT, Daniel ,  BAEGERT, Claire ,  DEMANGET, Nicolas

    IPC: A61B34/00 ,  A61B34/30 ,  A61B34/20 ,  A61B90/50 ,  A61B34/10 ,  A61B90/00

    Abstract: The disclosure relates to a method for guiding position and orientation of a robotic device holding a surgical tool configured for working a planned region of an anatomical structure, the robotic device comprising a base and an actuation unit coupled to the base and configured to move the surgical tool relative to the base, the method comprising: - providing a user interface displaying a virtual representation (1) of the anatomical structure and a virtual representation (2) of a target region on the anatomical structure; - detecting a presence of a distal tip (3) of the tool in the target region; - changing a visual aspect of the virtual representation (2) of the target region when the tool tip (3) is detected in said target region; - based on the position of the target region, computing a virtual goal (4) defining a spatial range of position and orientation of the robotic device in which the tool is capable of working at least a determined part of the planned region of the anatomical structure; - displaying the virtual goal (4) and a virtual representation of an axis of the base on the user interface, and changing position and orientation of said virtual representation of the base axis as a user changes position and orientation of the robotic device while maintaining the tool tip in the target area; - changing a visual aspect of the virtual goal (4) when the virtual representation of the base axis is inside the virtual goal.

    ROBOTIC SURGICAL SYSTEM
    3.
    发明申请
    ROBOTIC SURGICAL SYSTEM 审中-公开

    公开(公告)号：WO2022122962A1

    公开(公告)日：2022-06-16

    申请号：PCT/EP2021/085064

    申请日：2021-12-09

    Applicant: DEPUY IRELAND UNLIMITED COMPANY [IE]/[IE]

    Inventor： GIRARDEAU-MONTAUT, Daniel ,  DEMANGET, Nicolas

    IPC: A61B34/10 ,  A61B34/00 ,  A61B90/50 ,  A61B34/32 ,  A61B34/20 ,  A61B17/16 ,  A61B90/00

    Abstract: The disclosure relates to a robotic surgical system for treating an anatomical structure (B1), comprising: - a base (10) configured to be handheld by a user, - an end effector (13) holding a surgical tool (2), - an actuation unit (12) coupled to the end effector, configured to move the end effector relative to the base, - a tracking unit (3) configured to determine in real time a position of the surgical tool with respect to a coordinate system of the anatomical structure, - a control unit (6) coupled to the tracking unit and to the actuation unit, the control unit being configured to:  compute a path of the tool (2) to remove a planned volume of the anatomical structure, and  control the actuation unit to move the surgical tool according to the computed path to burr the planned volume, wherein the control unit is configured to determine an external surface (S) of the anatomical structure (B1) to be treated and to compute the tool path such that the surgical tool remains under said external surface (S) during treatment of the planned volume so as to avoid any contact of the surgical tool with another anatomical structure (B2).

    SYSTEM FOR GUIDING A SURGICAL TOOL COMPRISING AN OPERATIVE AXIS WITH RESPECT TO AN ANATOMICAL STRUCTURE
    6.
    发明申请
    SYSTEM FOR GUIDING A SURGICAL TOOL COMPRISING AN OPERATIVE AXIS WITH RESPECT TO AN ANATOMICAL STRUCTURE 审中-公开

    公开(公告)号：WO2022238454A1

    公开(公告)日：2022-11-17

    申请号：PCT/EP2022/062720

    申请日：2022-05-11

    Applicant: DEPUY IRELAND UNLIMITED COMPANY

    Inventor： GIRARDEAU-MONTAUT, Daniel ,  DEMANGET, Nicolas ,  HUNT, Chris

    IPC: A61B34/30 ,  A61B34/00 ,  A61B34/20 ,  A61B34/10 ,  A61B17/00 ,  A61B17/16 ,  A61B17/1659 ,  A61B17/1666 ,  A61B17/1684 ,  A61B2017/00115 ,  A61B2017/00123 ,  A61B2034/107 ,  A61B2034/2046 ,  A61B34/25 ,  A61B90/03 ,  A61B90/37

    Abstract: The present disclosure relates to a system for guiding a surgical tool (1) comprising an operative axis with respect to an anatomical structure according to a planned trajectory defined by a target axis (T), comprising: - a robotic device (100) comprising: o an end effector (10) comprising the surgical tool or configured to be coupled to the surgical tool; o an actuation unit (11) comprising at least three motorized degrees of freedom; o a planar articulation (12) coupling the end effector (10) to the actuation unit (11), the planar articulation being configured to constrain movement of the operative axis (R) of the surgical tool inside a single plane; - a localization device (200) configured to determine in real time a position and orientation of the operative axis (R) with respect to a coordinate system of the anatomical structure; - a user interface (300); - a control unit (400) coupled to the localization device (200), the actuation unit (11) and the user interface (300); wherein the control unit (400) is configured to: - based on the planned trajectory and on localization data from the localization device, determine a position and orientation of the operative axis (R) relative to a plane containing the target axis (T); - control the actuation unit to constrain the operative axis (R) inside the plane containing the target axis (T) while a user moves the end effector (10) closer to the target axis (T); - generate by the user interface (300) at least one signal related to the position and orientation of the operative axis (R) relative to the target axis (T).

    SURGICAL SYSTEM
    7.
    发明申请
    SURGICAL SYSTEM 审中-公开

    公开(公告)号：WO2021105310A1

    公开(公告)日：2021-06-03

    申请号：PCT/EP2020/083555

    申请日：2020-11-26

    Applicant: DEPUY IRELAND UNLIMITED COMPANY

    Inventor： URVOY, François ,  BURTON, Andrew ,  DEMANGET, Nicolas ,  GIRARDEAU-MONTAUT, Daniel

    IPC: A61B34/20 ,  A61B17/16 ,  A61B34/30

    Abstract: The present disclosure relates to a surgical system for treating an anatomical structure according to a plurality of target planes and/or axes, comprising: - a robotic device (1) comprising: - an end effector (2) defining a current plane or axis, - an actuation unit (11) coupled to the end effector (2), - a tracking unit (3) configured to determine a pose of the current plane or axis, - a control unit coupled to the tracking unit and configured to control the actuation unit (11) to align the current plane or axis of the end effector (2) with each one of the plurality of target planes and/or axes to treat the anatomical structure, the robotic device being operable in at least the following modes: - a working mode wherein a treatment is being performed with the end effector constrained to one target plane or axis by the actuation unit, and - a waiting mode wherein no treatment is being performed and the actuation unit is operable to move the end effector in alignment with another target plane or axis, wherein the control unit is further configured to: (a) determine that the robotic device (1) is in the waiting mode; (b) detect a triggering force applied to the end effector (2) and/or the actuation unit (11) in at least one first direction; (c) as a result of determination (a) and detection (b), trigger a position change of the end effector (2) by the actuation unit (11) to align the current plane or axis with a next target plane or axis.

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