Robotisches Wirbelsäulenchirurgiesystem mit Haptischer Schnittstelle
Anmelder: MAKO Surgical Corp. 🇺🇸
Details
- Veröffentlichungs-Nr.
- EP4717418
- Anmeldetag
- 26. März 2021
- Veröffentlichung
- 1. April 2026
- Rechtsraum
- EP
- IPC
- B25J9/16(KANG HYOSIG et al.)(WORRELL BARRY C et al.)(BOWLING DAVID GENE et al.)(YEN PING-LANG et al.)(BANERJEE P PAT et al.)(GRUBBS W ANDREW et al.)(OSSIMTECH INC et al.)
Abstract
A robotic surgical system (10) comprises a robotic manipulator, a surgical tool (30) coupled to the robotic manipulator and configured to interface with a screw (PS) and to rotate the screw (PS) about a rotational axis (R), a haptic device (51) comprising an actuator (55) and a rotational interface (53) coupled to the actuator (55), wherein the rotational interface (53) is configured to be manually manipulatable by a hand of an operator, a navigation system (12) configured to track a position of a target site, and one or more controllers (33) coupled to the robotic manipulator, the haptic device (51) and the navigation system (12). The one or more controllers (33) are configured to control movement of the robotic manipulator to maintain the rotational axis (R) of the surgical tool (30) along a planned trajectory (LH) with respect to the target site based on the tracked position of the target site, receive a control input from the haptic device (51) in a manual control mode wherein the rotational interface (53) is manually manipulatable with an ability to control one of a rotational rate of the screw (PS) or an advancement rate of the screw (PS) based on the operator manually manipulating the rotational interface (53), in response to the control input from the haptic device (51), control the surgical tool (30) to rotate the screw (PS) at the rotational rate about the rotational axis (R) and to linearly advance the screw (PS) at the advancement rate along the planned trajectory (LH), wherein the rotational rate and the advancement rate are predetermined and proportional to a known thread geometry of the screw (PS), obtain a measurement indicative of a present interaction between the screw (PS) and the target site, and, based on the obtained measurement, control the haptic device (51) to enable the rotational interface (53) to emulate the present interaction between the screw (PS) and the target site by providing a resistive force (F<sub>A</sub>) to the actuator (55) to adjust a force (F<sub>RI</sub>) required to rotate the rotational interface (53) by the hand of the operator such that the adjusted force (F<sub>RI</sub>) reflects a present force (F<sub>PS</sub>) required to rotate the screw (PS) relative to the target site.
Anmelder
- Firma
- MAKO Surgical Corp.
- Land
- 🇺🇸 USA
MAKO Surgical ist ein US-amerikanischer Hersteller robotergestützter Operationssysteme mit Sitz in Florida, seit 2013 Teil des Medizintechnikkonzerns Stryker. Das Patentportfolio konzentriert sich sehr stark auf Medizintechnik, ergänzt um Software und Fertigungstechnik. Die Anmeldungen betreffen unter anderem robotische Chirurgiesysteme und Werkzeuginteraktion mittels maschinellem Lernen.
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Fachgebiete
Wuesthoff & Wuesthoff wurde 1927 in Berlin von Dr. Franz und Dr. Freda Wuesthoff gegründet, die erste deutsche Patentanwältin, und zog 1949 nach München. Schwerpunkte liegen in Biotechnologie und Life Sciences, beraten wird auch auf Chinesisch, Koreanisch und Japanisch.