公开(公告)号：WO2023007418A1

公开(公告)日：2023-02-02

申请号：PCT/IB2022/056986

申请日：2022-07-28

Applicant: AUGMEDICS LTD.

Inventor： GERA, Tomer ,  ELIMELECH, Nissan

IPC: A61B34/20 ,  A61B90/00 ,  A61B34/10 ,  A61B17/122 ,  A61B17/00 ,  A61B2017/00734 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2090/365 ,  A61B2090/371 ,  A61B2090/372 ,  A61B2090/3916 ,  A61B2090/3966 ,  A61B2090/3983 ,  A61B2090/3991 ,  A61B2090/502 ,  A61B90/361 ,  A61B90/39

Abstract: A patient marker (52) couples to an anchoring device (34) via a base (44) having a base axis, base connections and a first indicator (168). The marker includes: an adapter (40) having a first surface with connections configured to mate with the base connections, and a second surface with connections congruent with the base connections, and at least one second indicator (172). The marker includes an alignment target (48), having a target region (74) with an alignment pattern, and a socket (78) connected to the target region with socket connections congruent with the first surface connections. In a first configuration the socket couples to the base by mating the first surface connections with the base connections and mating the socket connections with the second surface connections. In a second configuration, the socket fits onto the base by mating the socket connections with the base connections.

公开(公告)号：WO2021126579A1

公开(公告)日：2021-06-24

申请号：PCT/US2020/063604

申请日：2020-12-07

Applicant: BECTON, DICKINSON AND COMPANY

Inventor： O'BRYAN, Jeffrey, C. ,  MA, Yiping

IPC: A61B8/08 ,  A61B8/00 ,  A61B2090/395 ,  A61B5/489 ,  A61B8/0891 ,  A61B8/462 ,  A61B8/488 ,  A61B90/39 ,  B41J3/4073 ,  B41M5/0047 ,  B41M5/0076 ,  C09D11/03

Abstract: A device, system, and method for printing a vein map onto a patient's skin may include a probe and a printer. The probe may be configured to identify a location of a target vein beneath the patient's skin. The printer may be configured to receive the location and, using the location, print the vein map onto the patient's skin to indicate the location. The vein map may comprise antimicrobial ink printed onto the patient's skin with one or more colors and/or one or more patterns. The vein map may be a two-dimensional vein map or a three-dimensional vein map that indicates the location of the target vein within the patient, a width of the target vein, and/or a depth of the target vein within the patient.

公开(公告)号：WO2021045546A2

公开(公告)日：2021-03-11

申请号：PCT/KR2020/011895

申请日：2020-09-03

Applicant: 큐렉소 주식회사

Inventor： 김봉오 ,  김수종 ,  김근영 ,  한용희 ,  임흥순

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/00 ,  A61B34/10 ,  A61B90/00 ,  A61F2/46 ,  B25J9/16 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2090/364 ,  A61B2090/3916 ,  A61B34/25 ,  A61B90/37 ,  A61B90/39 ,  A61F2/461 ,  A61F2002/4632 ,  B25J9/1664 ,  B25J9/1684 ,  B25J9/1689 ,  B25J9/1697

Abstract: 본 발명은 로봇의 위치 가이드 장치, 이의 방법 및 이를 포함하는 시스템에 관한 것으로, 본 발명에 따른 위한 로봇의 위치 가이드 장치는, 수술 대상체에 부착된 대상체 마커를 포함하는 영상을 수술 전 수술 대상체에 관한 수술대상영상과 정합하여 상기 수술 대상체에 부착된 대상체 마커와 상기 수술 대상체 간의 위치 및 자세에 관한 상관관계를 도출하는 수술 대상체 정합부; 수술 로봇에 부착된 로봇 마커를 포함하는 영상에 기초하여 상기 로봇 마커와 상기 수술 로봇 간의 위치 및 자세에 관한 상관관계를 도출하고, 상기 로봇 마커와 기 설정된 수술 가능 영역 간의 위치 및 자세에 관한 상관관계를 도출하는 로봇 정합부; 및 상기 대상체 마커와 상기 로봇 마커의 위치 및 자세정보에 기초하여 상기 수술 대상체와 상기 수술 가능 영역 간의 위치 및 자세에 관한 상관관계를 도출하는 수술 영역 확인부를 포함한다. 이를 통해, 로봇이 수술 가능한 위치 및 자세로 이동하도록 가이드함으로써, 수술 중단의 위험을 최소화할 수 있다.

公开(公告)号：WO2023278789A1

公开(公告)日：2023-01-05

申请号：PCT/US2022/035848

申请日：2022-06-30

Applicant: REMEDY ROBOTICS, INC.

Inventor： BELL, David, James ,  SGANGA, Jake, Anthony ,  KAHN, Gregory

IPC: G16H30/40 ,  A61B5/06 ,  A61B34/20 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/363 ,  A61B2090/376 ,  A61B2090/3966 ,  A61B5/061 ,  A61B6/12 ,  A61B6/504 ,  A61B90/36 ,  A61B90/39

Abstract: Systems and methods for vision-based position and orientation determination for endovascular tools are disclosed. In one example, a method includes receiving a two-dimensional medical image including a view of at least a distal portion of a medical instrument, the distal portion of the medical instrument including one or more fiducials positioned thereon, the one or more fiducials being radio-opaque and visible in the medical image. The method also includes detecting, within the medical image, a two-dimensional appearance of the one or more fiducials, and based on the two-dimensional appearance of the one or more fiducials, determining at least one of a roll angle of the distal portion of the medical instrument, and an incline of the distal portion of the medical instrument.

公开(公告)号：WO2022226086A2

公开(公告)日：2022-10-27

申请号：PCT/US2022/025583

申请日：2022-04-20

Applicant: THE CLEVELAND CLINIC FOUNDATION

Inventor： KAOUK, Jihad ,  COLBRUNN, Robb ,  NAGLE, Tara ,  GILLESPIE, Callan ,  CANTILINA, Keiran ,  HAAS, Nicholas

IPC: A61B34/10 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2090/3991 ,  A61B2562/16 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B90/39 ,  G05B19/4155 ,  G05B2219/50391 ,  G06T2207/10012 ,  G06T2207/10132 ,  G06T7/0014 ,  G06T7/248 ,  G06T7/70

Abstract: Teleoperative, partially automated, and fully automated robotic surgery systems and methods are described herein. These systems and methods relate to at least improvement of robotic movements, three dimensional tracking and pose correction for robots interacting with deformable objections, controlling and optimizing the redundant axis of a seven degree of freedom robotic arm, virtual robotic surgery and simulation, and task coordination and optimization for multi-robot surgery.

公开(公告)号：WO2021257681A1

公开(公告)日：2021-12-23

申请号：PCT/US2021/037598

申请日：2021-06-16

Applicant: SMITH & NEPHEW, INC. ,  SMITH & NEPHEW ORTHOPAEDICS AG ,  SMITH & NEPHEW ASIA PACIFIC PTE. LIMITED

Inventor： NIKOU, Constantinos ,  JARAMAZ, Branislav

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B90/94 ,  A61B34/00 ,  A61B34/10 ,  B25J9/16 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2034/2068 ,  A61B2034/252 ,  A61B2034/256 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/363 ,  A61B2090/378 ,  A61B2090/397 ,  A61B2090/3975 ,  A61B2090/502 ,  A61B34/25 ,  A61B34/32 ,  A61B34/76 ,  A61B90/37 ,  A61B90/39 ,  B25J9/1666

Abstract: Systems and methods for controlling the placement and movement of a robotic arm of a robotic surgical system are provided. A surgical computer system can be configured to determine a recommended position for the robotic arm based on the calculated workspace volume for the robotic arm and the location of the surgical site. A surgical computer system can also be configured to control the robotic arm according to whether it is located within a surgical workspace defined by the surgeon or with respect to the surgical site.

公开(公告)号：WO2021252263A1

公开(公告)日：2021-12-16

申请号：PCT/US2021/035667

申请日：2021-06-03

Applicant: MAZOR ROBOTICS LTD

Inventor： ELLMAN, Aviv ,  JUNIO, Dany ,  PUCKETT, Katherine M.

IPC: A61B34/20 ,  A61B90/00 ,  A61B90/50 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/3945 ,  A61B2090/3983 ,  A61B90/39

Abstract: A robotic navigation system includes a robot base; a robotic arm with a proximal end secured to the robot base, a distal end movable relative to the proximal end, and one or more arm segments between the proximal end and the distal end; and a plurality of tracking markers secured to the robotic arm.

公开(公告)号：WO2021198382A1

公开(公告)日：2021-10-07

申请号：PCT/EP2021/058523

申请日：2021-03-31

Applicant: ECENTIAL ROBOTICS

Inventor： LAVALLEE, Stéphane ,  ARMAND, David

IPC: A61B17/00 ,  A61B90/00 ,  A61B34/20 ,  A61B2017/00477 ,  A61B2017/00707 ,  A61B2017/00725 ,  A61B2017/00876 ,  A61B2017/0092 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2090/376 ,  A61B2090/3764 ,  A61B2090/3937 ,  A61B2090/3966 ,  A61B2090/3983 ,  A61B90/37 ,  A61B90/39

Abstract: The present disclosure relates to a method and a data processing system for generating navigable images of at least one region of interest ROI of a patient for a fluoroscopy-based navigation system using an X-ray imaging system, a localization system and an imaging kit, said imaging kit being configured to allow images registration in a preferred referential and tracking of surgical tools.

公开(公告)号：WO2021126336A1

公开(公告)日：2021-06-24

申请号：PCT/US2020/052707

申请日：2020-09-25

Applicant: CLEARPOINT NEURO, INC.

Inventor： DALY, Maxwell, Jerad ,  PIFERI, Peter, G.

IPC: A61B17/34 ,  A61B90/11 ,  A61B17/3478 ,  A61B2017/00911 ,  A61B2090/374 ,  A61B2090/3954 ,  A61B90/37 ,  A61B90/39 ,  A61K35/28 ,  A61M2005/1403 ,  A61M2025/0166 ,  A61M2202/09 ,  A61M2205/0266 ,  A61M2210/0693 ,  A61M25/0102 ,  A61M39/10 ,  A61M5/1452 ,  A61M5/31513 ,  A61M5/31528

Abstract: Devices for transferring fluid to or from a subject include a plunger assembly coupled to or coupleable to a cannula assembly to allow target fluid to be "front-loaded" into a distal end of the cannula assembly while the stylet is withdrawn a distance to create a vacuum and define a flow channel.

公开(公告)号：WO2023275684A1

公开(公告)日：2023-01-05

申请号：PCT/IB2022/055850

申请日：2022-06-23

Applicant: DEPUY SYNTHES PRODUCTS, INC.

Inventor： CAMINO, Thomas S. ,  SCHNIEDERS, Barry A.

IPC: A61B34/10 ,  A61B90/00 ,  A61B17/1746 ,  A61B17/175 ,  A61B17/92 ,  A61B2017/568 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2090/3983 ,  A61B34/20 ,  A61B90/39 ,  G06T2207/30008 ,  G06T7/149 ,  G06T7/30 ,  G06T7/70

Abstract: A patient-specific registration jig for registering an orthopaedic surgical instrument with a bony anatomy of a patient includes a head and an adaptor coupled to the head. The head includes a patient-specific contact surface configured to contact a portion of the patient's bony anatomy such that the head can be coupled to the patient's bony anatomy in a unique position. The adaptor includes an elongated shank having a first end coupled to the head and a second end and an adaptor end attached to the second end of the elongated shank. The adaptor end is configured to be received by a clutch of the orthopaedic surgical instrument. A method for registering the orthopaedic surgical instrument using the patient-specific registration jig is also disclosed.