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1. EP3793451 - SURGICAL SYSTEM FOR CUTTING AN ANATOMICAL STRUCTURE ACCORDING TO AT LEAST ONE TARGET PLANE

Office
European Patent Office
Application Number 19718767
Application Date 25.04.2019
Publication Number 3793451
Publication Date 24.03.2021
Publication Kind B1
IPC
A61B 17/02
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
02for holding wounds open; Tractors
A61B 17/15
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
14Surgical saws
15Guides therefor
A61B 17/16
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
16Osteoclasts; Drills or chisels for bones; Trepans
A61B 17/17
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
16Osteoclasts; Drills or chisels for bones; Trepans
17Guides for drills
A61B 34/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 34/20
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
CPC
A61B 17/02
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
02for holding wounds open; Tractors
A61B 17/14
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
14Surgical saws
A61B 17/154
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
14Surgical saws
15Guides therefor
154for preparing bone for knee prosthesis
A61B 17/1675
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
16Bone cutting, breaking or removal means other than saws, e.g.; Osteoclasts; Drills or chisels for bones; Trepans
1662for particular parts of the body
1675for the knee
A61B 34/20
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/25
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
25User interfaces for surgical systems
Applicants DEPUY IRELAND ULTD CO
Inventors SCHERS JONATHAN
GIRARDEAU-MONTAUT DANIEL
Designated States
Priority Data 18305590 14.05.2018 EP
Title
(DE) CHIRURGISCHES SYSTEM ZUM SCHNEIDEN EINER ANATOMISCHEN STRUKTUR GEMÄSS MINDESTENS EINER ZIELEBENE
(EN) SURGICAL SYSTEM FOR CUTTING AN ANATOMICAL STRUCTURE ACCORDING TO AT LEAST ONE TARGET PLANE
(FR) SYSTÈME CHIRURGICAL DE COUPE D'UNE STRUCTURE ANATOMIQUE SELON AU MOINS UN PLAN CIBLE
Abstract
(EN) A surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure comprises: (i) a robotic device (100) comprising: - an end effector comprising a cutting tool or a cutting block, - an actuation unit (4) comprising from three to five motorized degrees of freedom, attached to the end effector, configured for adjusting a position and orientation of the cutting tool or cutting block relative to each target plane, (ii) a passive articulated lockable holding arm (5) supporting the actuation unit (4); (iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, the tracking unit comprising a tracker configured to be rigidly attached to the actuation unit and a tracker configured to be rigidly attached to the end effector; (iv) a control unit (300) configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.
(FR) L'invention concerne un système chirurgical pour découper une structure anatomique (F, T) d'un patient selon au moins un plan cible défini dans un système de coordonnées de la structure anatomique, comprenant : (i) un dispositif robotisé (100) comprenant : - un effecteur d'extrémité comprenant un outil de coupe ou un bloc de coupe, - une unité d'actionnement (4) comprenant de trois à cinq degrés de liberté motorisés, fixée à l'effecteur d'extrémité, configurée pour ajuster une position et une orientation de l'outil de coupe ou du bloc de coupe par rapport à chaque plan cible, (ii) un bras de support verrouillable articulé passif (5) supportant l'unité d'actionnement (4); (iii) une unité de suivi (200) configurée pour déterminer en temps réel la pose du plan de coupe par rapport au système de coordonnées de la structure anatomique, l'unité de suivi comprenant un dispositif de suivi configuré pour être fixé de manière rigide à l'unité d'actionnement et un dispositif de suivi configuré pour être fixé de manière rigide à l'effecteur d'extrémité; (iv) une unité de commande (300) configurée pour déterminer la pose du plan de coupe par rapport au plan cible et pour commander l'unité d'actionnement de manière à amener le plan de coupe en alignement avec le plan cible.