US 10,441,294 B2Granted

System for the treatment of a planned volume of a body part

AssigneeDepuy Ireland Unlimited Company

InventorsStephane Lavallee, Matias De La Fuente Klein, Klaus Radermacher, Annegret Niesche, Meiko Muller, Gregory Dez, Herve Collet

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Abstract

The invention relates to a surgical system comprising: (i) a handheld device (100) comprising: a base (1), an end-effector (2) for mounting a surgical tool or tool guide, an actuation unit (4) connected to said base (1) and end-effector (2), a support unit (5) designed to make contact with the treated part to be treated or an adjacent region to provide a partial mechanical link between the base (1) or end-effector (2), and the part to be treated, (ii) a tracking unit (200), (iii) a control unit (300) configured to: (a) compute in real time an optimized path of the end-effector, (b) detect whether said computed path of the tool or end-effector can be achieved without changing the pose of the base, and, if not, determine a possible repositioning of the base with respect to the part to be treated, (c) configure the actuation unit so as to move the end-effector according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).

Claims32

Dependent claims

A surgical system comprising:

(i) a handheld 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,
an 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,
a support unit connected to the base or to the end-effector, comprising at least one element configured to make contact with the part to be treated or a region of the patient's body adjacent to the part to be treated so as to provide a partial mechanical link between the base or the end-effector and the part to be treated, the support unit configured so that reaction forces exerted on the partial mechanical link by the part to be treated or the region of the patient's body adjacent to the part to be treated are directed towards a proximal end of the handheld device;
(ii) a tracking unit configured to determine in real time a measured pose of at least one of the tool, the end-effector and the base with respect to the part to be treated;
(iii) a control unit configured to:
(a) compute in real time an optimized path of the tool or of the end-effector with respect to the base depending on said measured pose as determined by the tracking unit,
(b) detect whether said optimized path of the tool or of the end-effector can be achieved without changing the pose of the base, and, if this is not the case, determine a possible repositioning of the base with respect to the part to be treated,
(c) configure the actuation unit so as to move the end-effector according to said computed path, and
(d) iterate steps (a) to (c) until the planned volume has been treated;
and
(iv) a user interface configured to indicate feedback information from the control unit to the user.

10 more elements

A surgical system comprising:

(i) a handheld 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,
an 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,
a support unit connected to the base or to the end-effector, comprising at least one element configured to make contact with the part to be treated or a region of the patient's body adjacent to the part to be treated so as to provide a partial mechanical link between the base or the end-effector and the part to be treated,
wherein the support unit comprises a first portion connected to the base or the end-effector and a second portion intended to at least fit or to be fixed to the part to be treated or to a part of the patient adjacent to the part to be treated, the connection between the first and second portions of the support unit including a hook-and-loop fastener or a magnetic fastener,
(ii) a tracking unit configured to determine in real time a measured pose of at least one of the tool, the end-effector and the base with respect to the part to be treated,
(iii) a control unit configured to:
(a) compute in real time an optimized path of the tool or of the end-effector with respect to the base depending on said measured pose as determined by the tracking unit,
(b) detect whether said optimized path of the tool or of the end-effector can be achieved without changing the pose of the base, and, if this is not the case, determine a possible repositioning of the base with respect to the part to be treated,
(c) configure the actuation unit so as to move the end-effector according to said computed path, and
(d) iterate steps (a) to (c) until the planned volume has been treated,
(iv) a user interface configured to indicate feedback information from the control unit to the user.

10 more elements

A surgical system comprising:

(i) a handheld 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,
an 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,
a support unit connected to the base or to the end-effector, comprising at least one element configured to make contact with the part to be treated or a region of the patient's body adjacent to the part to be treated so as to provide a partial mechanical link between the base or the end-effector and the part to be treated,
(ii) a tracking unit configured to determine in real time a measured pose of at least one of the tool, the end-effector and the base with respect to the part to be treated;
(iii) a control unit configured to:
(a) compute in real time an optimized path of the tool or of the end-effector with respect to the base depending on said measured pose as determined by the tracking unit,
(b) detect whether said optimized path of the tool or of the end-effector can be achieved without changing the pose of the base, and, if this is not the case, determine a possible repositioning of the base with respect to the part to be treated,
(c) configure the actuation unit so as to move the end-effector according to said computed path, and
(d) iterate steps (a) to (c) until the planned volume has been treated;
and
(iv) a user interface configured to indicate feedback information from the control unit to the user;
wherein the support unit comprises at least one sensor for detecting a force exerted by the user on the partial mechanical link and wherein the control unit is configured to check whether said force is greater than a threshold such that the support unit has a minimal damping parameter.

11 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/896,900Filed 11 Jun 2014
Priority: EP 1317154611 Jun 2013
Published: US 2016/0113720 A128 Apr 2016
Granted: 15 Oct 2019
Term ends: Not estimatedThe source records don’t support an estimate.

Classification18 codes

A61B 17/154
Guides therefor: for preparing bone for knee prosthesis
A61B 17/15
Surgical saws: guides therefor
A61B 17/17
Instruments for performing osteoclasis; Drills or chisels for bones; Trepans: guides or aligning means for drills , mills, pins or wires
A61B 17/1764
Specially adapted for particular parts of the body: for the knee

Family

US 2016/0113720 A1Pre-grant publication · published 28 Apr 2016
US 10,441,294 B2This patent

From the US filing history. Foreign family members aren’t listed.

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