Device for positioning and guiding a surgical instrument during orthopaedic interventions

Device for positioning and guidance of a surgical instrument during orthopaedic operations with

• an industrial robot, having a program-controlled, multi-jointed robot arm with a mounting plate at its end,
• an instrument for the surgical procedure held on the mounting plate,
• a program control system with computer,
• a sensor arrangement for the sensing of reference points on the bones of the patient, such that sensors are arranged in the joints of the robot arm for determining the joint positions in an instrument coordinate system defined in the program control system and such that the robot arm can be moved by means of the program control system into a working position for the surgical procedure, said sensor arrangement comprising a multi-jointed sensor arm connected to the computer and in a form of a manually-guided measuring instrument with sensors for detecting joint positions of said sensor arm and so positioned at a fixed location that both a patient's bone to be sensed and the mounting plate positioned in a home position lie within a range of the sensor arm, so that, with the aid of the sensor arm reference points on the patient's bone and at least one reference point on the mounting plate can be sensed and the computer transforms the coordinates of the reference points determined with the sensor arm in a spatially fixed three-dimensional coordinate system into coordinates of the instrument coordinate system.

A device for positioning and guidance of a surgical instrument during orthopaedic operations with

• an industrial robot, having a program-controlled, multi-jointed robot arm with a mounting plate at its end,
• an instrument for the surgical procedure held on the mounting plate,
• a program control system with computer,
• a sensor arrangement for the sensing of reference points on the bones of the patient, such that sensors are arranged in the joints of the robot arm for determining the joint positions in an instrument coordinate system defined in the program control system and such that the robot arm can be moved by means of the program control system into a working position for the surgical procedure, characterized in that the sensor arrangement comprising a measuring arrangement with remote data transfer, having
• a stationary receiver,
• a sensing probe with a first transmitter and
• a second transmitter arranged on the mounting plate, the transmitters having multiple signal generators in a rigidly defined spatial arrangement that emit positioning signals received by the receiver, the computer transforming spatial coordinates of the sensing probe determined from the positioning signals with spatial coordinates of the mounting plate also determined from the positioning signals into the coordinates of the instrument coordinate system.

A device for positioning and guidance of a surgical instrument during orthopaedic operations with

• an industrial robot, having a program-controlled, multi-jointed robot arm with a mounting plate at its end,
• an instrument for the surgical procedure held on the mounting plate,
• a program control system with computer,
• a sensor arrangement for the sensing of reference points on the bones of the patient, such that sensors are arranged in the joints of the robot arm for determining the joint positions in an instrument coordinate system defined in the program control system and such that the robot arm can be moved by means of the program control system into a working position for the surgical procedure, characterized in that the sensor arrangement comprising a measuring arrangement with remote data transfer, having
• a stationary receiver,
• a sensing probe with a transmitter, such that the transmitter has multiple signal generators in a rigidly defined spatial arrangement, that emit positioning signals received by the receiver, such that, with the aid of the sensing probe, reference points on the patient's bone and at least one reference point on the mounting plate can be sensed and the computer transforms spatial coordinates of the sensing probe determined from the positioning signals with spatial coordinates of the mounting plate, also determined from the positioning signals into the coordinates of the instrument coordinate system.