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1. US20210068845 - SURGICAL SYSTEM FOR CUTTING AN ANATOMICAL STRUCTURE ACCORDING TO AT LEAST ONE TARGET PLANE

Office
United States of America
Application Number 17053067
Application Date 25.04.2019
Publication Number 20210068845
Publication Date 11.03.2021
Publication Kind A1
IPC
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 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
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 17/14
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
14Surgical saws
CPC
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
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 2034/2055
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
2046Tracking techniques
2055Optical tracking systems
A61B 17/142
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
14Surgical saws
142with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
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
Applicants DePuy Ireland Unlimited Company
Inventors Jonathan Schers
Daniel Girardeau-Montaut
Priority Data 18305590 14.05.2018 EP
Title
(EN) SURGICAL SYSTEM FOR CUTTING AN ANATOMICAL STRUCTURE ACCORDING TO AT LEAST ONE TARGET PLANE
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.