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1. WO2019219348 - SURGICAL SYSTEM FOR CUTTING AN ANATOMICAL STRUCTURE ACCORDING TO AT LEAST ONE TARGET PLANE

Publication Number WO/2019/219348
Publication Date 21.11.2019
International Application No. PCT/EP2019/060674
International Filing Date 25.04.2019
IPC
A61B 17/02 2006.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
02for holding wounds open; Tractors
A61B 34/00 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 34/30 2016.1
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 90/11 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
10for stereotaxic surgery, e.g. frame-based stereotaxis
11with guides for needles or instruments, e.g. arcuate slides or ball joints
A61B 34/20 2016.1
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 17/15 2006.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
14Surgical saws
15Guides therefor
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 17/142
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 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 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
Applicants
  • DEPUY IRELAND UNLIMITED COMPANY [IE]/[IE]
Inventors
  • SCHERS, Jonathan
  • GIRARDEAU-MONTAUT, Daniel
Agents
  • REGIMBEAU
Priority Data
18305590.414.05.2018EP
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) SURGICAL SYSTEM FOR CUTTING AN ANATOMICAL STRUCTURE ACCORDING TO AT LEAST ONE TARGET PLANE
(FR) SYSTÈME CHIRURGICAL POUR COUPER 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.
Latest bibliographic data on file with the International Bureau