公开(公告)号：WO2021064216A1

公开(公告)日：2021-04-08

申请号：PCT/EP2020/077732

申请日：2020-10-02

Applicant: DEPUY IRELAND UNLIMITED COMPANY

Inventor： URVOY, François ,  WRIGHT, Robert John

IPC: A61B34/00 ,  A61B17/14 ,  A61B17/16 ,  A61B90/50 ,  A61B34/30 ,  A61B17/15 ,  A61B34/10 ,  A61B34/20

Abstract: Systems and methods for adjusting bone cut positioning are disclosed that can aid in optimizing implant size selection and positioning relative to bone during, e.g., orthopedic surgical procedures such as knee arthroplasty, hip arthroplasty, etc. In one embodiment, such a surgical method can include performing a first bone cut of a first bone using an at least partially robot-assisted surgical instrument, detecting one or more parameters related to bone hardness, selecting a bone hardness index based on the one or more detected parameters, and adjusting a position of a second bone cut of the first bone based on the selected bone hardness index to optimize implant fit relative to bone. Detecting the one or more parameters related to bone hardness can be performed in a number of manners, including by monitoring energy required to perform the first bone cut.

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.