# US 10,368,878 B2 · System for positioning a surgical device

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- Number: US 10,368,878 B2
- Document ID: US10368878B2
- Status: Granted
- Kind: B2
- Application number: 14/896,898
- Filed: 2014-06-11
- Published: 2016-05-19
- Granted: 2019-08-06
- Earliest claimed: 2013-06-11
- Assignees: Orthotaxy S.A.S.
- Applicants: Orthotaxy
- Inventors: Stephane Lavallee; Matias De La Fuente Klein; Klaus Radermacher; Annegret Niesche; Meiko Muller; Gregory Dez; Daniel Girardeau-Montaut
- Web page: https://patentgrep.com/patent/US10368878B2

## CPC

- A61B 17/154: {for preparing bone for knee prosthesis}
- A61B 17/15: Guides therefor
- A61B 17/17: Guides {or aligning means} for drills {, mills, pins or wires}
- A61B 17/1764: {for the knee}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/30: Surgical robots
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 15/0019: {End effectors other than grippers}
- A61B 17/1742: {for the hip}
- A61B 34/25: {User interfaces for surgical systems}
- A61B 2034/104: {Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/304: {including a freely orientable platform, e.g. so called 'Stewart platforms'}
- Y10S 901/09: Closed loop, sensor feedback controls arm movement
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

The invention relates to a system for positioning a surgical device, said surgical device comprising: a base (1) designed to be held in a user's hand, an end-effector (2) for mounting a surgical tool, respectively a guide (20) for guiding a surgical tool (3), said surgical tool being designed to treat a planned volume of a part (P1) of a patient's body, an actuation unit (4) connected to said base (1) and said end-effector (2) for moving said surgical tool (3), respectively tool guide (20), with respect to the base (1) in order to treat said planned volume, said positioning system comprising: (i) a tracking unit (200) configured to determine in real time the pose of at least one of the tool (3), the end-effector (2) and the base (1) with respect to the part to be treated, (ii) a control unit (300) configured to: (a) compute in real time the working space of the surgical tool for said determined pose, (b) compute in real time the volume that remains to be treated to achieve the treatment of the planned volume, (iii) a user interface (400) coupled to the control unit (300) and configured to display together: the planned volume, said planned volume comprising a volume (p2) that remains to be treated and, if applicable, an already treated volume (p1), and the working space (p3) of the surgical tool.

## Claims

### Claim 1

A surgical system comprising:
a surgical device comprising:
a base configured to be held in a user's hand,
an end-effector for mounting a surgical tool or a tool guide for guiding the surgical tool, said surgical tool being configured to treat a planned volume of a part of a patient's body,
a motorized actuation unit connected to said base and said end-effector for moving said surgical tool or tool guide with respect to the base in order to treat said planned volume; and
a positioning system configured for positioning said surgical device relative to the part to be treated, the positioning system comprising:
(i) a tracking unit configured to determine in real time the pose of at least one of the tool, the end-effector and the base with respect to the part to be treated,
(ii) a control unit configured to:
(a) compute in real time a working space of the surgical tool for said determined pose, wherein the working space is a union of all poses of the surgical tool relative to the base when a motor of the actuation unit is activated from a minimal value to a maximal value,
(b) compute in real time the volume that remains to be treated to achieve the treatment of the planned volume, and
(iii) a user interface coupled to the control unit and configured to display together:
(a) the planned volume, said planned volume comprising a volume that remains to be treated and, if applicable, an already treated volume, and
(b) the working space of the surgical tool.

### Claim 2 (depends on 1)

The system of claim 1, wherein the user interface is configured to display the planned volume together with a surface of the part to be treated.

### Claim 3 (depends on 1)

The system of claim 1, wherein the user interface is configured to display the working space as an overlay on the planned volume.

### Claim 4 (depends on 1)

The system of claim 1, wherein the control unit is configured to compute an intersection of the volume that remains to be treated and the working space of the surgical tool and the user interface is configured to display said intersection.

### Claim 5 (depends on 1)

The system of claim 1, wherein the user interface is configured to display in real time the pose of the tool with respect to the planned volume.

### Claim 6 (depends on 1)

The system of claim 1, wherein the user interface is configured to display an indication on how the base of the device should be repositioned with respect to the part to be treated to achieve the treatment of the planned volume.

### Claim 7 (depends on 1)

The system of claim 1, wherein the control unit is configured to stop the actuation unit and/or the tool if said control unit detects that the current pose of the tool is outside of the planned volume.

### Claim 8 (depends on 1)

The system of claim 1, further comprising a holding arm connected to the base of the handheld device and suited to be connected to a mechanical support.

### Claim 9 (depends on 1)

The system of claim 1, further comprising a planning system configured to determine a volume to be treated by the tool and, if appropriate, at least one processing parameter of the tool.

### Claim 10 (depends on 1)

The system of claim 1, wherein a drill guide or a saw guide is comprised in the end-effector and the tool is a drill or a saw that is intended to be moved within a guiding axis or a guiding plane of said guide.

### Claim 11 (depends on 1)

The system of claim 1, wherein the surgical tool comprises a saw, a drill, a mill, a shaver or a burr.

### Claim 12 (depends on 1)

The system of claim 1, wherein the tracking unit comprises at least one emitter and at least one sensor, said at least one emitter being mounted on the base or on the end-effector and said at least one sensor being adapted to be mounted on the part to be treated.

### Claim 13 (depends on 8)

The system of claim 8, wherein the mechanical support is an operating table.

### Claim 14 (depends on 1)

The system of claim 1, wherein the surgical tool is configured to remove tissue from the patient's body.