Back to results
US 12,484,934 B2Granted
Head mounted robotic system and method
AssigneeUniversity of Central Florida Research Foundation, Inc.
InventorsSang-Eun Song, Sakura Sikander, Pradipta Biswas
Life of this patent
Estimating the term…
Abstract
A robotic device mounted on the head of a patient has a pivoted arm that extends down to support an article, such as a part of the jaw of the patient in orthognathic surgery. The pivoted arm is on a support plate that is in turn supported by a hexapod assembly that connects with a U-shaped bracket secured to the patient's head. The hexapod is computer controlled to adjust the position of the support plate relative to the head of the patient to precisely locate the supported article on the patient, such as where a separated portion of the patient's jaw is positioned for reattachment in orthognathic surgery.
Claims22
A system for supporting an object during operation on a head of a patient, said system comprising:
- a mounting portion configured to be secured on the head of the patient;
- an adjustable support portion supported on the mounting portion for adjusting movement with respect thereto;
- and
- wherein the support portion is supported on the mounting portion such that the support portion is located upward above the head of the patient when the mounting portion is secured to the head of the patient;
- a support arm supported on the support portion and extending downward therefrom relative to the head of the patient;
- said support arm having a portion distal to the support portion configured to be secured to the object;
- and
- control electronics controlling the adjusting movement of the adjustable support portion such that a user can cause the support portion to move with the support arm so that the object supported thereby is held fixedly in a selected location on the head of the patient.
5 more elements
A system for supporting an object during operation on a head of a patient, said system comprising:
- a mounting portion configured to be secured on the head of the patient;
- an adjustable support portion supported on the mounting portion for adjusting movement with respect thereto;
- and
- a support arm supported fixedly on the support portion and extending downward relative to the head of the patient;
- said support arm having a portion distal to the support portion configured to be secured to the object;
- and
- control electronics controlling the adjusting movement of the adjustable support portion such that a user can cause the support portion to move with the support arm so that the object supported thereby is held fixedly in a selected location on the head of the patient;
- wherein the adjustable support portion includes an adjustable positioning mechanism supported on the mounting portion and a support plate supported on said adjustable positioning mechanism, and wherein the support arm is supported on the support plate, and said adjusting movement includes rotation about three orthogonal axes and displacement in three dimensions;
- and
- wherein the adjustable positioning mechanism comprises a computer-controlled hexapod system having six adjustment members each having an end connected with the mounting portion and an opposing end connected with the support plate, said adjustment members being each independently adjustable in length.
7 more elements
A method of treating a patient, said method comprising:
- securing a mounting portion to the head of the patient, said mounting portion having an adjustable support structure supporting a support portion in an adjustable fixed position and orientation above the head of the patient;
- securing a support arm so as to be connected with respect to the support portion, said support arm extending downwardly from above the head of the patient from the support portion;
- a lower portion of the support arm having an end effector configured to attach to and support an object;
- attaching the object to the end effector;
- and
- causing adjusting movement of the support portion relative to the mounting portion so as to move the mounting portion and the support arm so as to move the end effector to an operative supporting position fixedly supporting the object in a desired position and orientation relative to the head of the patient;
- and
- retracting the support arm from the operative supporting position by pivoting the support arm relative to the support portion about a pivot axis above the head of the patient to a retracted position wherein the support arm extends away from the head of the patient from the support portion above the head of the patient.
5 more elements
A method of treating a patient, said method comprising:
- securing a mounting portion to the head of the patient, said mounting portion having an adjustable support structure supporting a support portion in an adjustable fixed position and orientation;
- securing a support arm so as to be connected with respect to the support portion, said support arm extending downwardly of the head of the patient from the support portion;
- a lower portion of the support arm having an end effector configured to attach to and support an object;
- attaching the object to the end effector;
- and
- causing adjusting movement of the support portion relative to the mounting portion so as to move the mounting portion and the support arm so as to move the end effector to an operative supporting position fixedly supporting the object in a desired position and orientation relative to the head of the patient;
- wherein the wherein the adjustable support portion includes an adjustable positioning mechanism supported on the mounting portion and a support plate supported on said adjustable positioning mechanism, and wherein the support arm is supported on the support plate;
- the adjustable positioning mechanism comprising a computer-controlled hexapod system having six adjustment members each having an end connected with the mounting portion and an opposing end connected with the support plate, said adjustment members being each independently adjustable in length;
- and
- wherein said causing of adjusting movement comprises using an input device to interact via a computer with the computer-controlled hexapod system so as to adjust the operative supporting position of the end effector through adjusting movement of the hexapod support system and the support portion to which the support arm is connected.
7 more elements
Dependencies are inferred from the claim text.