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).