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1. 发明授权

US11633233B2 Surgical system for cutting an anatomical structure according to at least one target cutting plane 有权
公开(公告)号：US11633233B2
公开(公告)日：2023-04-25
申请号：US16467824
申请日：2017-12-08
申请人： Orthotaxy
发明人： Stéphane Lavallee , Daniel Girardeau-Montaut , Hervé Collet , Anthony Leandri , Nicolas Demanget
IPC分类号： A61B18/20 , A61B17/14 , A61B34/20 , A61B34/30 , B25J15/04 , A61B17/00
摘要： The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) configured to determine the pose of the end effector with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.

2. 发明授权

US11974761B2 Surgical system for cutting an anatomical structure according to at least one target plane 有权
公开(公告)号：US11974761B2
公开(公告)日：2024-05-07
申请号：US16467816
申请日：2017-10-25
申请人： Orthotaxy
发明人： Stéphane Lavallee , Nicolas Demanget , Hervé Collet , Daniel Girardeau-Montaut , Laurence Chabanas , François Urvoy
IPC分类号： A61B17/17 , A61B17/14 , A61B17/15 , A61B17/16 , A61B17/3203 , A61B17/3211 , A61B34/30 , A61B18/00 , A61B18/20
CPC分类号： A61B17/1764 , A61B17/142 , A61B17/1675 , A61B17/3203 , A61B17/3211 , A61B34/30 , A61B17/154 , A61B2018/00565 , A61B2018/00601 , A61B18/20
摘要： Described are surgical systems comprising a robotic device comprising a cutting tool, an actuation unit having at least two motorized rotational degrees of freedom about respective rotational axes that are substantially orthogonal to each other, and configured for adjusting a position and orientation of the cutting tool relative to each target plane, a planar mechanism connecting the last segment of the actuation unit to the cutting tool, a passive articulated lockable holding arm supporting the actuation unit, a tracking unit configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, a control unit configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit to bring the cutting plane into alignment with the target plane.

3. 发明授权

US10973529B2 Patient-specific surgical guide 有权
公开(公告)号：US10973529B2
公开(公告)日：2021-04-13
申请号：US15566605
申请日：2016-04-18
申请人： ORTHOTAXY
发明人： Stephane Lavallee , Nicolas Demanget , Jean-Michel Poirier
IPC分类号： A61B17/15 , A61B17/17 , A61B17/00 , A61B17/56
摘要： A patient-specific surgical guide including at least one guiding element for guiding a surgical instrument to treat a subcutaneous anatomical structure of the patient. A first patient-specific contact element with a first patient-specific contact surface to fit a portion of the subcutaneous anatomical structure is rigidly connected to the at least one guiding element. The patient-specific surgical guide includes at least one second patient-specific contact element having at least one support element for supporting a percutaneous pin or needle whose tip is intended to contact a point of the subcutaneous anatomical structure or an anatomical structure rigidly connected thereto. An elongated junction member rigidly couples the at least one guiding element to the at least one second contact element.

4. 发明授权

US11607229B2 Surgical system for cutting an anatomical structure according to at least one target plane 有权
公开(公告)号：US11607229B2
公开(公告)日：2023-03-21
申请号：US16467820
申请日：2017-12-07
申请人： Orthotaxy
发明人： Stéphane Lavallee , Nicolas Demanget , Hervé Collet , Daniel Girardeau-Montaut , Laurence Chabanas
IPC分类号： A61B34/20 , A61B17/14 , A61B17/15 , A61B34/00 , A61B34/30 , A61B90/50
摘要： The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: i) a robotic device (100) comprising: —a cutting tool, —an actuation unit (4) comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base (40) and a platform (41) selectively orientable relative to the base (40) according to at least two of said motorized degrees of freedom, —a planar mechanism (24) connecting a terminal part of the actuation unit (4) to the cutting tool (2), ii) a passive articulated lockable holding arm (51) supporting the actuation unit, iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, iv) a control unit (300) configured to determine the pose of the cutting plane with respect to the target plane, to detect whether the cutting plane can be aligned with one target plane without changing the pose of the actuation unit, the control unit being further configured to, if the cutting plane cannot be aligned with the target plane, compute indication to a user to reposition the actuation unit with respect to the anatomical structure and, if the cutting plane can be aligned with the target plane, control the actuation unit (4) so as to bring the cutting plane into alignment with the target plane, v) a user interface coupled to the control unit, configured to indicate directions to a user to position the actuation unit with respect to the anatomical structure according to a pose allowing aligning the cutting plane with the target plane.

5. 发明公开

US20240293130A1 SURGICAL SYSTEM FOR CUTTING AN ANATOMICAL STRUCTURE ACCORDING TO AT LEAST ONE TARGET PLANE 审中-公开
公开(公告)号：US20240293130A1
公开(公告)日：2024-09-05
申请号：US18600233
申请日：2024-03-08
申请人： Orthotaxy S.A.S.
发明人： Stéphane Lavallee , Nicolas Demanget , Hervé Collet , Daniel Girardeau-Montaut , Laurence Chabanas , François Urvoy
IPC分类号： A61B17/17 , A61B17/14 , A61B17/15 , A61B17/16 , A61B17/3203 , A61B17/3211 , A61B18/00 , A61B18/20 , A61B34/30
CPC分类号： A61B17/1764 , A61B17/142 , A61B17/1675 , A61B17/3203 , A61B17/3211 , A61B34/30 , A61B17/154 , A61B2018/00565 , A61B2018/00601 , A61B18/20
摘要： Described are surgical systems comprising a robotic device comprising a cutting tool, an actuation unit having at least two motorized rotational degrees of freedom about respective rotational axes that are substantially orthogonal to each other, and configured for adjusting a position and orientation of the cutting tool relative to each target plane, a planar mechanism connecting the last segment of the actuation unit to the cutting tool, a passive articulated lockable holding arm supporting the actuation unit, a tracking unit configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, a control unit configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit to bring the cutting plane into alignment with the target plane.

6. 发明授权

US11998283B2 System for guiding a surgical tool relative to a target axis in spine surgery 有权
公开(公告)号：US11998283B2
公开(公告)日：2024-06-04
申请号：US16493024
申请日：2018-03-15
申请人： Orthotaxy S.A.S.
发明人： Stéphane Lavallee , Daniel Girardeau-Montaut , Nicolas Demanget
IPC分类号： A61B34/20 , A61B34/00 , A61B34/30 , A61B90/00 , A61B90/11 , A61B34/10
CPC分类号： A61B34/20 , A61B34/25 , A61B34/30 , A61B34/70 , A61B90/11 , A61B90/37 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/302 , A61B2090/3762
摘要： The invention relates to a system for guiding a surgical tool (200) held by a user relative to at least one target axis (T) defined in a coordinate system of a patient's spine, comprising: (i) a robotic device (300) comprising: —a base (301), —a guiding device (303) configured for constraining the tool to a guiding axis (G), —a compact motorized actuation unit (304) movable relative to the base (301), coupled to the guiding device (303) for adjusting a position and orientation of said guiding device relative to the target axis, —a support unit (305) connected to the base (301), comprising at least one element designed to make contact with the spine or a region of the patient's body adjacent to the spine so as to provide a partial mechanical link between the guiding device and the spine, (ii) a passive articulated lockable holding arm (400) supporting the base (301) of the robotic device, (iii) a tracking unit (500) configured to determine in real time the pose of the guiding axis with respect to the coordinate system of the patient's spine, (iv) a control unit configured to: (a) determine the pose of the guiding axis with respect to the target axis, (b) compute a working space of the robotic device for said determined pose, (c) compute at least one indicator representing the capability of the actuation unit to bring the guiding axis in alignment with the target axis based on the computed working space and the pose of the guiding device, (v) a user interface (600) coupled to the control unit, configured for displaying a representation of the guiding axis (G) relative to the target axis (T), wherein the control unit is further configured to control the actuation unit to bring the guiding axis into alignment with the target axis.

7. 发明申请

US20210361295A1 SURGICAL SYSTEM FOR CUTTING AN ANATOMICAL STRUCTURE ACCORDING TO AT LEAST ONE TARGET PLANE 有权
公开(公告)号：US20210361295A1
公开(公告)日：2021-11-25
申请号：US16467820
申请日：2017-12-07
申请人： Orthotaxy
发明人： Stéphane Lavallee , Nicolas Demanget , Hervé Collet , Daniel Girardeau-Montaut , Laurence Chabanas
IPC分类号： A61B17/15 , A61B34/20 , A61B34/00 , A61B34/30 , A61B90/50
摘要： The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: i) a robotic device (100) comprising: —a cutting tool, —an actuation unit (4) comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base (40) and a platform (41) selectively orientable relative to the base (40) according to at least two of said motorized degrees of freedom, —a planar mechanism (24) connecting a terminal part of the actuation unit (4) to the cutting tool (2), ii) a passive articulated lockable holding arm (51) supporting the actuation unit, iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, iv) a control unit (300) configured to determine the pose of the cutting plane with respect to the target plane, to detect whether the cutting plane can be aligned with one target plane without changing the pose of the actuation unit, the control unit being further configured to, if the cutting plane cannot be aligned with the target plane, compute indication to a user to reposition the actuation unit with respect to the anatomical structure and, if the cutting plane can be aligned with the target plane, control the actuation unit (4) so as to bring the cutting plane into alignment with the target plane, v) a user interface coupled to the control unit, configured to indicate directions to a user to position the actuation unit with respect to the anatomical structure according to a pose allowing aligning the cutting plane with the target plane.

8. 发明申请

US20210353311A1 SURGICAL SYSTEM FOR CUTTING AN ANATOMICAL STRUCTURE ACCORDING TO AT LEAST ONE TARGET PLANE 有权
公开(公告)号：US20210353311A1
公开(公告)日：2021-11-18
申请号：US16467816
申请日：2017-10-25
申请人： Orthotaxy
发明人： Stéphane Lavallee , Nicolas Demanget , Hervé Collet , Daniel Girardeau-Montaut , Laurence Chabanas , François Urvoy
IPC分类号： A61B17/17 , A61B17/14 , A61B17/3203 , A61B17/3211 , A61B18/20 , A61B34/30 , A61B17/16
摘要： The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —a cutting tool, —an actuation unit (4) having a serial architecture comprising from three to five motorized degrees of freedom, at least two of said motorized degrees of freedom being rotational degrees of freedom about respective rotation axes that are substantially orthogonal to each other, configured for adjusting a position and orientation of the cutting tool relative to each target plane, —a planar mechanism connecting the last segment of the actuation unit to the cutting tool; (ii) a passive articulated lockable holding arm (5) supporting the actuation unit (4); (iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, (iv) a control unit (300) configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.

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