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1. 发明授权

US07637956B2 Articulated endoprosthesis 有权
标题翻译：铰接内假体
公开(公告)号：US07637956B2
公开(公告)日：2009-12-29
申请号：US11338466
申请日：2006-01-23
申请人： Beat Lechmann , Roger Bürki , Dominique Burkard , Robert Frigg , Daniel Odermatt
发明人： Beat Lechmann , Roger Bürki , Dominique Burkard , Robert Frigg , Daniel Odermatt
IPC分类号： A61F2/44
CPC分类号： F04F5/54 , A61F2/4425 , A61F2002/30364 , A61F2002/30369 , A61F2002/30637 , A61F2002/30649 , A61F2002/30673 , A61F2002/30843 , A61F2002/30892 , A61F2002/443 , A61F2220/0033 , B01D61/02 , B01D61/022 , B01D61/10
摘要： An endoprosthesis for a joint, in particular a an intervertebral implant with a central axis, a top part, a bottom part and a joint provided between them, wherein the joint comprises at least two articular surfaces A and B that can slide on one another; the top part has a top apposed surface that intersects the central axis and lateral surfaces; the bottom part has a bottom apposed surface that intersects the central axis and lateral surfaces; and wherein the endoprosthesis comprises at least one channel suitable to convey body fluid, said channel terminating in one of the two articular surfaces A and B and connecting it with the exterior of the endoprosthesis for the joint.
摘要翻译：用于关节的内假体，特别是具有中心轴的椎间植入物，顶部，底部和设置在它们之间的关节，其中所述关节包括可相互滑动的至少两个关节面A和B; 顶部具有与中心轴和侧表面相交的顶部附近表面; 底部具有与中心轴线和侧面相交的底部附近表面; 并且其中所述内假体包括适于输送体液的至少一个通道，所述通道终止于所述两个关节表面A和B中的一个中，并将其与用于所述关节的内用假体的外部连接。

2. 发明申请

US20060212123A1 Articulated endoprosthesis 有权
标题翻译：铰接内假体
公开(公告)号：US20060212123A1
公开(公告)日：2006-09-21
申请号：US11338466
申请日：2006-01-23
申请人： Beat Lechmann , Roger Burki , Dominique Burkard , Robert Frigg , Daniel Odermatt
发明人： Beat Lechmann , Roger Burki , Dominique Burkard , Robert Frigg , Daniel Odermatt
IPC分类号： A61F2/44
CPC分类号： F04F5/54 , A61F2/4425 , A61F2002/30364 , A61F2002/30369 , A61F2002/30637 , A61F2002/30649 , A61F2002/30673 , A61F2002/30843 , A61F2002/30892 , A61F2002/443 , A61F2220/0033 , B01D61/02 , B01D61/022 , B01D61/10
摘要： An endoprosthesis for a joint, in particular a an intervertebral implant with a central axis, a top part, a bottom part and a joint provided between them, wherein the joint comprises at least two articular surfaces A and B that can slide on one another; the top part has a top apposed surface that intersects the central axis and lateral surfaces; the bottom part has a bottom apposed surface that intersects the central axis and lateral surfaces; and wherein the endoprosthesis comprises at least channel suitable to convey body fluid, said channel terminating in one of the two articular surfaces A and B and connecting it with the exterior of the endoprosthesis for the joint.
摘要翻译：用于关节的内假体，特别是具有中心轴的椎间植入物，顶部，底部和设置在它们之间的关节，其中所述关节包括可相互滑动的至少两个关节面A和B; 顶部具有与中心轴和侧表面相交的顶部附近表面; 底部具有与中心轴线和侧面相交的底部附近表面; 并且其中所述内假体至少包括适于输送体液的通道，所述通道终止于两个关节表面A和B中的一个中，并将其与用于关节的内用假体的外部连接。

3. 发明授权

US09125669B2 Haptic volumes for reaming during arthroplasty 有权
标题翻译：关节成形术期间铰链的触角体积
公开(公告)号：US09125669B2
公开(公告)日：2015-09-08
申请号：US13173868
申请日：2011-06-30
申请人： Amar Ranawat , Mark Pagnano , Lawrence Dorr , Richard Jones , Danielle Landeck , Matt Thompson , Radu Iorgulescu , Renen Bassik , Daniel Odermatt
发明人： Amar Ranawat , Mark Pagnano , Lawrence Dorr , Richard Jones , Danielle Landeck , Matt Thompson , Radu Iorgulescu , Renen Bassik , Daniel Odermatt
IPC分类号： A61F2/46 , A61B17/00 , A61B17/16 , A61B19/00
CPC分类号： A61B17/1666 , A61B17/1626 , A61B34/30 , A61B34/76
摘要： A haptic robotic system for reaming an acetabulum prior to inserting an acetabular cup is more accurate than conventional instruments and may reduce the risk of dislocation and improve durability of a hip implant. Disclosed is a three-dimensional tool path, referred to as a haptic volume. Once the haptic volume is implemented into the software of a haptically constrained surgical robotic system, the cutting tool or reamer can only be utilized within the haptic volume. The haptic volume guides the surgeon in preparing the final reamed bone surface with a greatly reduced chance of the reaming unintended bone and greatly increases the chance that the reaming procedure may be carried out using one reaming tool, or using a single-stage reaming process.
摘要翻译：在插入髋臼杯之前用于铰链髋臼的触觉机器人系统比常规仪器更准确，并且可以降低脱位的风险并改善髋关节植入物的耐久性。公开了一种三维工具路径，称为触觉体积。一旦触觉体积被实现到高度受限的手术机器人系统的软件中，则切割工具或扩孔器只能在触觉体积内使用。触觉体积引导外科医生准备最终的扩张骨表面，大大减少了铰接非预期骨骼的机会，并大大增加了可以使用一种铰孔工具或使用单级铰孔工艺进行扩孔过程的机会。

4. 发明授权

US08992542B2 Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool 有权
标题翻译：用于定位假体部件的手术系统和/或用于约束外科手术工具的运动
公开(公告)号：US08992542B2
公开(公告)日：2015-03-31
申请号：US12894071
申请日：2010-09-29
申请人： Benny Hagag , Hyosig Kang , Alon Mozes , Daniel Odermatt , Brian D. Schmitz
发明人： Benny Hagag , Hyosig Kang , Alon Mozes , Daniel Odermatt , Brian D. Schmitz
IPC分类号： A61B19/00 , A61B17/16 , A61B17/00 , A61F2/34 , A61F2/36
CPC分类号： A61B34/30 , A61B17/1617 , A61B17/162 , A61B17/1631 , A61B17/1655 , A61B17/1659 , A61B17/1664 , A61B17/1666 , A61B17/1684 , A61B34/20 , A61B34/25 , A61B90/03 , A61B2017/00199 , A61B2017/00477 , A61B2034/2051 , A61F2/34 , A61F2/36 , A61F2/4607 , A61F2/4609 , Y10T74/20305
摘要： A surgical system for positioning a prosthetic component on an anatomy of a patient includes a surgical tool configured to engage the prosthetic component, a force system configured to provide at least some force to the surgical tool, and a controller programmed to compare a target pose of the prosthetic component and an actual pose of the prosthetic component engaged by the surgical tool and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and provide haptic feedback to constrain a user's ability to manually move the surgical tool beyond the range of movement. The haptic feedback resists movement of the surgical tool by the user that would cause substantial deviation between at least one aspect of the actual pose of the prosthetic component and a corresponding aspect of the target pose of the prosthetic component. The controller is programmed to generate control signals that cause the force system to maintain the haptic feedback as the user implants the prosthetic component on the anatomy.
摘要翻译：用于将假体部件定位在患者的解剖结构上的手术系统包括被配置为接合假体部件的外科手术工具，被配置为向外科手术工具提供至少一些力的力系统，以及被编程为将目标姿势假肢部件和由外科手术工具接合的假体部件的实际姿势，并且产生控制信号，该控制信号使得力系统允许外科手术工具在运动范围内移动，并提供触觉反馈以约束用户的手动移动能力手术工具超出了运动范围。触觉反馈抵抗使用者的外科手术工具的运动，其将导致假肢部件的实际姿态的至少一个方面与假体部件的目标姿势的对应方面之间的实质性偏差。控制器被编程为产生控制信号，当用户将解剖构件上的假体部件植入时，该控制信号使力系统保持触觉反馈。

5. 发明申请

US20130006267A1 Surgical Robotic Systems with Manual and Haptic and/or Active Control Modes 有权
标题翻译：具有手动和触觉和/或主动控制模式的手术机器人系统
公开(公告)号：US20130006267A1
公开(公告)日：2013-01-03
申请号：US13174051
申请日：2011-06-30
申请人： Daniel Odermatt , Renen Bassik , Chunyan Wu , Danielle Landeck , Jason Wojcik
发明人： Daniel Odermatt , Renen Bassik , Chunyan Wu , Danielle Landeck , Jason Wojcik
IPC分类号： A61B19/00 , B25J9/02 , B25J9/16
CPC分类号： B25J9/1628 , A61B34/30 , A61B2034/742 , G05B2219/39439 , G05B2219/40415 , G05B2219/45117
摘要： A surgical robotic system is disclosed that provides a combination of a programmed control, such as active control or passive control, when a high degree of accuracy is required and manual control when a high degree of accuracy is not required, such as during the removal of osteophytes, irregular bone growth and/or soft tissue. Manual resection may be completed by switching from the programmed control mode to the manual control mode and allowing the surgeon free control of the cutting tool. The manual resection may be carried out using some navigational features of the robotic system such as allowing the surgeon to visualize the position of the cutting tool thereby allowing accurate resection of osteophytes, irregular bone and tissue while having the unrestricted freedom to move the cutting tool. The programmed control mode may be reserved for procedures that require a high degree of accuracy, for example, the reaming of a bone and placement of an implant onto the bone.
摘要翻译：公开了一种手术机器人系统，当需要高精确度时，提供诸如主动控制或被动控制之类的编程控制的组合，并且当不需要高精确度时进行手动控制，例如在移除骨赘，不规则骨生长和/或软组织。手动切除可以通过从编程控制模式切换到手动控制模式，并允许外科医生自由控制切削刀具来完成。可以使用机器人系统的一些导航特征来进行手动切除，例如允许外科医生可视化切割工具的位置，从而允许精确切除骨赘，不规则骨和组织，同时具有移动切割工具的不受限制的自由度。编程的控制模式可以被保留用于需要高度准确度的程序，例如骨的扩孔和将植入物放置在骨上。

7. 发明授权

US07955280B2 Leg alignment for surgical parameter measurement in hip replacement surgery 有权
标题翻译：髋关节置换手术中外科手术参数测量的腿对齐
公开(公告)号：US07955280B2
公开(公告)日：2011-06-07
申请号：US11421572
申请日：2006-06-01
申请人： Iliya Radinsky , Mélanie Chassé , Louis-Philippe Amiot , Daniel Odermatt
发明人： Iliya Radinsky , Mélanie Chassé , Louis-Philippe Amiot , Daniel Odermatt
IPC分类号： A61B5/103 , A61B5/117
CPC分类号： A61B5/103 , A61B5/4504 , A61B5/4528 , A61B17/1742 , A61B34/10 , A61B34/20 , A61B2034/105 , A61B2034/2055 , A61B2034/2068 , A61B2034/252 , A61B2034/256 , A61B2090/069 , A61B2090/364 , A61F2002/4632
摘要： A CAS system and method comprises a first reference in fixed relation with the pelvis and a registration tool. A sensor apparatus tracks the first reference and tool. A controller unit receives tracking data for the first reference and tool. A calculator tracks the pelvic frame of reference, and the tool to produce a femoral frame of reference at two sequential operative steps. A reference orientation adjustor receives tracking data for the pelvic frame of reference to orient the femoral frame of reference in a reference orientation with respect to the pelvic frame of reference, and to produce a reference adjustment value as a function of the reference orientation. A surgical parameter calculator receives tracking data from the tool to calculate surgical parameters as a function of the reference adjustment value.
摘要翻译： CAS系统和方法包括与骨盆固定关系的第一参考和注册工具。传感器装置跟踪第一参考和工具。控制器单元接收第一参考和工具的跟踪数据。计算机跟踪骨盆参考框架，以及用于在两个相继的操作步骤产生股骨框架的工具。参考方向调整器接收骨盆参考框架的跟踪数据，以相对于骨盆参照系的参考方向定向股骨参考系，并且产生作为参考方向的函数的参考调整值。手术参数计算器从工具接收跟踪数据，以根据参考调整值计算手术参数。

8. 发明申请

US20100192961A1 TRACKABLE REFERENCE DEVICE FOR COMPUTER-ASSISTED SURGERY 审中-公开
标题翻译：用于计算机辅助手术的可追溯参考装置
公开(公告)号：US20100192961A1
公开(公告)日：2010-08-05
申请号：US12670151
申请日：2008-11-10
申请人： Louis-Philippe Amiot , Pierre Couture , Sébastien Jutras , Daniel Odermatt , Emmanuel Daigneault , Ahmed Aoude
发明人： Louis-Philippe Amiot , Pierre Couture , Sébastien Jutras , Daniel Odermatt , Emmanuel Daigneault , Ahmed Aoude
IPC分类号： A61B19/00 , A61F5/37
CPC分类号： A61G13/12 , A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2090/3904 , A61B2090/3983 , A61G13/1235 , A61G13/1245 , A61G13/125 , A61G13/1255 , A61G13/1295
摘要： A surgical reference device for use with a computer-assisted surgery system comprises an engaging member adapted to engage directly on soft tissue of a body part such that substantially no relative movement is possible between the engaging member and a bone element of the body part. A trackable member is attached to the engaging member and comprises a detectable element for being located and tracked in three-dimensional space by the computer-assisted surgery system to measure a position and an orientation of the trackable member in time, whereby the bone element is tracked as a function of the position and orientation of the trackable member. A method for tracking a position and an orientation of a bone element using a computer-assisted surgery system is also provided.
摘要翻译：与计算机辅助手术系统一起使用的外科参考装置包括适于直接接合在身体部分的软组织上的接合构件，使得在接合构件和身体部位的骨骼元件之间基本上不可能进行相对运动。跟踪构件附接到接合构件并且包括可检测元件，用于通过计算机辅助手术系统在三维空间中定位和跟踪以及时测量可跟踪构件的位置和方位，由此骨元素作为跟踪构件的位置和方位的函数来跟踪。还提供了使用计算机辅助手术系统跟踪骨骼元件的位置和取向的方法。

9. 发明授权

US10219865B2 Computer-assisted hip replacement surgery 有权
公开(公告)号：US10219865B2
公开(公告)日：2019-03-05
申请号：US15131552
申请日：2016-04-18
申请人： Herbert Andre Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sebastien Jutras , Daniel Odermatt , Benoit Pelletier
发明人： Herbert Andre Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sebastien Jutras , Daniel Odermatt , Benoit Pelletier
IPC分类号： A61F2/34 , A61B34/10 , A61B5/06 , A61B5/103 , A61B17/15 , A61B17/16 , A61B17/17 , G09B23/28 , G09B23/30 , A61F2/32 , A61B5/00 , A61F2/46 , A61F2/30 , A61F2/36 , A61B90/00 , A61B34/20 , A61B34/00
摘要： A CAS system and method for guiding an operator in inserting a femoral implant in a femur as a function of a limb length and orientation of the femoral implant with respect to the femur, comprising a reference tool for the femur, a registration tool, a bone altering tool and a sensing apparatus. A controller is connected to the sensing apparatus to: i) register a frame of reference of the femur by calculating surface information provided by the registration tool as a function of the position and orientation of the registration tool provided by the sensing apparatus, and/or retrieving in a database a model of the femur; ii) calculate a desired implant position with respect to the frame of reference as a function of the limb length; and iii) calculate a current implant position and orientation in relation to the desired implant position with respect to alterations being performed in the femur with the bone altering tool, as a function of the position and orientation of the bone altering tool provided by the sensing apparatus and of a digital model of a femoral implant provided by the database. The database is connected to the controller for the controller to store and retrieve information relating to an operation of the controller. The computer-assisted system may be used to guide an operator in inserting a pelvic implant in an acetabulum as a function of an orientation of the pelvic implant with respect to the pelvis.

10. 发明申请

US20160228192A1 COMPUTER-ASSISTED HIP REPLACEMENT SURGERY 审中-公开
标题翻译：计算机辅助髋关节置换手术
公开(公告)号：US20160228192A1
公开(公告)日：2016-08-11
申请号：US15131552
申请日：2016-04-18
申请人： Herbert Andre Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sebastien Jutras , Daniel Odermatt , Benoit Pelletier
发明人： Herbert Andre Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sebastien Jutras , Daniel Odermatt , Benoit Pelletier
IPC分类号： A61B34/10 , A61B34/20 , A61F2/32
CPC分类号： A61B34/10 , A61B5/064 , A61B5/103 , A61B5/4528 , A61B5/6878 , A61B17/15 , A61B17/1666 , A61B17/1703 , A61B17/1717 , A61B17/1735 , A61B17/1746 , A61B17/175 , A61B34/20 , A61B34/25 , A61B34/70 , A61B90/36 , A61B2034/102 , A61B2034/104 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/252 , A61B2034/256 , A61B2090/062 , A61B2090/363 , A61B2090/3983 , A61F2/32 , A61F2/34 , A61F2/4607 , A61F2/4609 , A61F2/4657 , A61F2002/30952 , A61F2002/3611 , A61F2002/4632 , A61F2002/4658 , A61F2002/4668 , A61F2002/4681 , A61F2002/4697 , G06F19/00 , G09B23/28 , G09B23/30
摘要： A CAS system and method for guiding an operator in inserting a femoral implant in a femur as a function of a limb length and orientation of the femoral implant with respect to the femur, comprising a reference tool for the femur, a registration tool, a bone altering tool and a sensing apparatus. A controller is connected to the sensing apparatus to: i) register a frame of reference of the femur by calculating surface information provided by the registration tool as a function of the position and orientation of the registration tool provided by the sensing apparatus, and/or retrieving in a database a model of the femur; ii) calculate a desired implant position with respect to the frame of reference as a function of the limb length; and iii) calculate a current implant position and orientation in relation to the desired implant position with respect to alterations being performed in the femur with the bone altering tool, as a function of the position and orientation of the bone altering tool provided by the sensing apparatus and of a digital model of a femoral implant provided by the database. The database is connected to the controller for the controller to store and retrieve information relating to an operation of the controller. The computer-assisted system may be used to guide an operator in inserting a pelvic implant in an acetabulum as a function of an orientation of the pelvic implant with respect to the pelvis.
摘要翻译：一种用于引导操作者将股骨植入物插入股骨中的CAS系统和方法，其作为股骨植入物相对于股骨的肢体长度和取向的函数，包括用于股骨的参考工具，配准工具，骨骼改变工具和感测装置。控制器连接到感测装置，以便：i）通过计算由对准工具提供的表面信息作为由感测装置提供的对准工具的位置和取向的函数来登记股骨的参考系，和/或在数据库中检索股骨的模型; ii）根据肢体长度计算相对于参考系的期望的植入位置; 以及iii）根据由所述感测装置提供的骨骼改变工具的位置和取向来计算与所述骨骼改变工具相对于在股骨中进行的改变相对于期望的植入位置的当前植入物位置和取向以及由数据库提供的股骨植入物的数字模型。数据库连接到控制器，用于控制器存储和检索与控制器的操作有关的信息。计算机辅助系统可以用于指导操作者将骨盆植入物插入髋臼中作为骨盆植入物相对于骨盆的取向的函数。

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