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1. 发明授权

US11633248B2 Robotic cutting systems and methods for surgical saw blade cutting on hard tissue 有权
公开(公告)号：US11633248B2
公开(公告)日：2023-04-25
申请号：US17495014
申请日：2021-10-06
申请人： MAKO Surgical Corp.
发明人： Seamus Gilhooley , David Gene Bowling , Paul Shiels
IPC分类号： A61B34/00 , A61B34/32 , A61B34/30 , A61B17/14 , A61B17/15 , A61B90/00 , A61B17/16 , A61B17/00
摘要： Methods of cutting bone using a robotic cutting system are provided. The robotic cutting system includes one or more controllers, a robotic manipulator, and one or more cutting tools, such as those including a bur or a saw blade, that can be coupled to the robotic manipulator. An initial cut, such as a notch, is made into the bone with the bur or the saw blade. This notch is then used to constrain the saw blade for limiting skiving of the saw blade during cutting along a cutting plane.

2. 发明授权

US11633233B2 Surgical system for cutting an anatomical structure according to at least one target cutting plane 有权
公开(公告)号：US11633233B2
公开(公告)日：2023-04-25
申请号：US16467824
申请日：2017-12-08
申请人： Orthotaxy
发明人： Stéphane Lavallee , Daniel Girardeau-Montaut , Hervé Collet , Anthony Leandri , Nicolas Demanget
IPC分类号： A61B18/20 , A61B17/14 , A61B34/20 , A61B34/30 , B25J15/04 , A61B17/00
摘要： The invention relates to 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, comprising: (i) a robotic device (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) configured to determine the pose of the end effector 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.

3. 发明授权

US11564753B2 Cutting tools, systems and methods for navigated bone alterations 有权
公开(公告)号：US11564753B2
公开(公告)日：2023-01-31
申请号：US16920955
申请日：2020-07-06
申请人： INTELLIJOINT SURGICAL INC.
发明人： Samantha McCabe , Andre Novomir Hladio
IPC分类号： A61B17/00 , A61B34/20 , A61B17/16 , A61B17/17 , A61B90/00 , A61B17/14 , A61B17/15 , A61B34/30 , A61B34/00
摘要： Cutting tools, systems and methods for navigated procedures are provided. A cutting tool (e.g. oscillating blade, etc.) for a power tool has an optically trackable feature in a defined positional relationship relative to a cutting feature of the cutting tool. The trackable feature may include reflective material applied to a surface (e.g. a recessed blade surface). The trackable feature is be imaged by a camera integral with or attached to the power tool and provided to a computing unit of a navigation system to determine a relative pose of the cutting feature and camera. The camera may also track a patient's bone such that the computing unit may determine a relative position of the bone and camera. The unit then computes a relative pose of the cutting feature with respect to the patient's bone and provides same for determining display information and/or to a robotic controller for procedural control.

4. 发明申请

US20230013089A1 SURGICAL SAW BLADE 有权
公开(公告)号：US20230013089A1
公开(公告)日：2023-01-19
申请号：US17937243
申请日：2022-09-30
申请人： Synthes GmbH
发明人： Stefan GISLER
IPC分类号： A61B17/14 , A61B17/16
摘要： A surgical saw blade has an upper surface and a lower surface, and includes a first end having right and left side edges, where the first end is configured to connect to an oscillating head of a powered saw. The saw blade also has a cutting end; and an elongated shank connecting the first end and the cutting end. The first end of the saw blade may be narrower than the shank, and a stopping surface may connect the first end to the elongated shank. The stopping surface is configured to engage the oscillating head of the powered saw, so as to ensure correct positioning of the saw blade relative to the oscillating head. The elongated shank of the saw blade may have an elongated hole through the shank, where the size and shape of the elongated hole are configured to optimize a resonant frequency and/or a dynamic stiffness of the saw blade. The cutting end of the saw blade may have a plurality of first teeth thereon, where each first tooth is mounted on a distal end of a tine. Each pair of adjacent tines is separated by a longitudinal slot, with a distal end of each longitudinal slot being bridged by a web connecting a corresponding pair of adjacent tines.

5. 发明授权

US11553927B2 Surgical saw apparatus 有权
公开(公告)号：US11553927B2
公开(公告)日：2023-01-17
申请号：US17261911
申请日：2018-07-25
申请人： SMC Innovation GmbH
发明人： Arne Jansen-Troy , Armin Studer
IPC分类号： A61B17/14
摘要： A surgical saw apparatus, includes: A) a housing; B) a drive unit with a drive axle having a central axis; C) a deflection device, including: a connecting rod that is arranged movably in the housing, with a longitudinal axis, with a rear section and with a front section with members for a fixation of a sawblade; an eccentric shaft with at least one first section, which is arranged coaxially with the central axis of the drive axle and is connected with the drive axle, and with a second section which is eccentric relative to the first section, wherein the rear section of the connecting rod is a bearing for the eccentric second section of the eccentric shaft, and the front section of the connecting rod is a fixation device for a sawblade; and a guiding device for the connecting rod, wherein D) the guiding device includes first members for a limitation of a movement of the connecting rod, which are movable relative to the housing and which force a translational movement of the connecting rod coaxially with the longitudinal axis of the connecting rod, and E) the guiding device includes second members for a limitation of a movement of the first members, which are movable relative to the housing and which force a movement of the first members transversally to the longitudinal axis of the connecting rod.

6. 发明授权

US11478310B2 Virtual guidance for ankle surgery procedures 有权
公开(公告)号：US11478310B2
公开(公告)日：2022-10-25
申请号：US17117817
申请日：2020-12-10
申请人： HOWMEDICA OSTEONICS CORP.
发明人： Sergii Poltaretskyi , Damien Cariou , Jean Chaoui , Yannick Morvan , Vincent Gaborit , Benjamin Dassonville , Julia C. Alspaugh , David Reynolds , Dean Nachtrab , Timothy Collins , Paul Stemniski
IPC分类号： A61B34/10 , G06F3/01 , A61B34/00 , A61B90/00 , G02B27/01 , G06F3/0482 , G06T11/00 , A61B5/11 , A61B5/00 , G06T19/00 , G16H30/40 , G16H40/60 , H04N13/332 , H04N13/122 , A61B17/16 , A61B17/17 , G02B27/00 , G16H20/40 , G16H50/50 , G16H70/20 , G09B9/00 , G09B19/00 , G09B23/28 , G06N20/00 , G06F3/04815 , A61B17/14 , G06T7/55 , A61F2/40 , A61B90/92 , G16H40/63 , G09B5/06 , G16H40/67 , G06T19/20 , G16H40/20 , G16H30/20 , G06T7/11 , G16H50/30 , G06N3/08 , G06T7/00 , G16H70/60 , G16H50/70 , G06F30/10 , G06K9/62 , G16H80/00 , G16H50/20 , A61B17/00 , A61F2/46 , A61B17/15 , G06F3/0483 , A61B34/20 , G06N3/04
摘要： An example method includes registering, via a visualization device, a virtual model of a portion of an anatomy of an ankle of a patient to a corresponding portion of the anatomy of the ankle viewable via the visualization device, the virtual model obtained from a virtual surgical plan for an ankle arthroplasty procedure to attach a prosthetic to the anatomy. The example method also comprises displaying, via the visualization device and overlaid on the portion of the anatomy, a virtual guide that guides at least one of preparation of the anatomy for attachment of the prosthetic or attachment of the prosthetic to the anatomy.

7. 发明授权

US11464574B2 On-board tool tracking system and methods of computer assisted surgery 有权
公开(公告)号：US11464574B2
公开(公告)日：2022-10-11
申请号：US16140289
申请日：2018-09-24
申请人： Board of Regents of the University of Nebraska
发明人： Hani Haider , Ibrahim Al-Shawi , Osvaldo Andres Barrera
IPC分类号： A61B34/20 , A61B17/14 , A61B34/00 , A61B17/17 , A61B34/37 , A61B1/313 , A61B5/06 , A61B5/107 , A61B90/00 , A61B34/10 , A61B5/00
摘要： A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.

8. 发明授权

US11458028B2 Prosthesis installation and assembly 有权
公开(公告)号：US11458028B2
公开(公告)日：2022-10-04
申请号：US15716529
申请日：2017-09-27
申请人： Kambiz Behzadi
发明人： Kambiz Behzadi , Danny Kent Winkler
IPC分类号： A61F2/46 , A61F2/36 , A61F2/34 , A61F2/30 , A61F2/38 , A61B34/30 , A61B34/20 , A61B17/16 , A61B17/32 , A61B17/14 , A61B90/00
摘要： A system and method for improving installation of a prosthesis, particularly an acetabular cup. The system and method may include implementation of a constant velocity relative motion between a prosthesis and an installation site. For example, an installation system may be fixed relative to the installation site, with the prosthesis fixed into an initial position. The prosthesis is moved at constant speed (i.e., with minimal if any acceleration or applied impulses) relative to the installation site. That is, one or both of the prosthesis or the installation site may be in motion. Resistive forces to installation of a prosthesis may thus be reduced by maintaining the prosthesis constantly in motion relative to the installation site. Securing a processing/implanting tool directly to the installation site may offer advantages.

9. 发明授权

US11432825B2 Nondestructive autograft extracting device for autologous osteochondral transplantation 有权
公开(公告)号：US11432825B2
公开(公告)日：2022-09-06
申请号：US16536134
申请日：2019-08-08
申请人： UNIVERSITY OF CENTRAL FLORIDA RESEARCH FOUNDATION, INC.
发明人： Sang-Eun Song , Pradipta Biswas
IPC分类号： A61B17/14 , A61F2/28 , A61F2/46 , A61B34/30 , A61B17/32
摘要： Systems and methods for harvesting tissue from a donor site include first and second conduits through which a flexible saw component is guided. Certain embodiments include a mechanism which facilitates insertion of a flexible cutting member component parallel to a transverse plane and slicing a graft parallel to the coronal plane to extract the graft.

10. 发明申请

US20220273396A1 Robotic Hand-Held Surgical Instrument Systems And Methods 有权
公开(公告)号：US20220273396A1
公开(公告)日：2022-09-01
申请号：US17627208
申请日：2020-07-15
申请人： MAKO Surgical Corp.
发明人： Timothy J. Bozung , Stephen J. Reasoner , Jeffrey Timmer
IPC分类号： A61B90/57 , A61B17/14 , A61B34/20 , A61B34/30
摘要： A system is provided comprising a robotic instrument for use with a tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the tool. A plurality of actuators operatively interconnect the tool support and the hand-held portion to move the tool support in three degrees of freedom relative to the hand-held portion. An optional constraint assembly may operatively interconnect the tool support and the hand-held portion to constrain movement of the tool support relative to the hand-held portion in three degrees of freedom. A guidance array assists users in positioning the tool and/or portions of the instrument.

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