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1. 发明申请

US20050203634A1 Modular prosthesis kits 失效
标题翻译：模块化假体套件
公开(公告)号：US20050203634A1
公开(公告)日：2005-09-15
申请号：US10796168
申请日：2004-03-09
申请人： Renen Bassik , John Czajkowski , Thomas Mc Carthy
发明人： Renen Bassik , John Czajkowski , Thomas Mc Carthy
IPC分类号： A61B17/16 , A61F2/00 , A61F2/02 , A61F2/30 , A61F2/36 , A61F2/40 , A61F2/46
CPC分类号： A61F2/36 , A61B17/1659 , A61F2/30771 , A61F2/3609 , A61F2/3662 , A61F2/367 , A61F2/3676 , A61F2/40 , A61F2/4014 , A61F2/4059 , A61F2/4684 , A61F2002/30143 , A61F2002/30146 , A61F2002/30153 , A61F2002/30154 , A61F2002/30156 , A61F2002/30341 , A61F2002/30355 , A61F2002/30377 , A61F2002/3038 , A61F2002/30532 , A61F2002/30533 , A61F2002/30538 , A61F2002/30542 , A61F2002/30543 , A61F2002/30616 , A61F2002/3625 , A61F2002/365 , A61F2002/3652 , A61F2002/3658 , A61F2002/366 , A61F2002/4044 , A61F2220/0025 , A61F2220/0033 , A61F2230/0017 , A61F2230/0019 , A61F2230/0021 , A61F2230/0023 , A61F2250/0006
摘要： Modular prosthesis kits and systems are disclosed. The kit includes a plurality of stems having a bore therein and a plurality of necks having a tapered distal end adapted to taper lock in the bore of one of the necks. Each neck includes a stem registration element on the distal end of the neck, and each stem includes a neck registration element in an end portion of the bore. The stem registration elements of certain necks and the neck registration elements of certain stems are configured to prevent certain necks from taper locking with certain stems in at least one position, and the stem registration elements of certain necks and the neck registration elements of certain stems cooperate to permit taper locking of certain necks with certain stems.
摘要翻译：公开了模块化假体套件和系统。该套件包括多个在其中具有孔的杆，以及多个颈部，其具有适于锥形锁定在其中一个颈部的孔中的锥形远端。每个颈部包括在颈部的远端上的杆对准元件，并且每个杆在孔的端部中包括颈部配准元件。某些颈部的茎标记元件和某些茎的颈部配准元件被构造成防止某些颈部在至少一个位置处由某些茎锥形锁定，并且某些脖子的茎部配准元件和某些茎的颈部配准元件配合以允许某些颈部与某些茎部锥形锁定。

2. 发明授权

US08979859B2 Depth of Impaction 有权
标题翻译：影响深度
公开(公告)号：US08979859B2
公开(公告)日：2015-03-17
申请号：US13174755
申请日：2011-06-30
申请人： Richard Leparmentier , Brian Schmitz , Renen Bassik , Chunyan Wu , Jason Wojcik
发明人： Richard Leparmentier , Brian Schmitz , Renen Bassik , Chunyan Wu , Jason Wojcik
IPC分类号： A61B17/58 , A61B17/60 , A61F2/00 , A61B19/00 , A61F2/34 , A61B17/92
CPC分类号： A61B19/5244 , A61B34/20 , A61B34/30 , A61B34/32 , A61B34/76 , A61B2017/922 , A61B2034/252 , A61B2090/062 , A61F2/34
摘要： A method for determining a depth of impaction of a prosthetic cup into an acetabulum using an end effector and a movable impactor shaft is provided, wherein the prosthetic cup may be positioned at a distal end of the impactor shaft. The method may position the distal end of the impactor shaft at a known pose relative to the end effector, track a spatial pose of the end effector relative to a spatial pose of the acetabulum, determine a spatial pose of the prosthetic cup based on the spatial pose of the end effector and the known pose between the distal end of the impactor shaft and the end effector, and determine the depth of impaction based on the spatial pose of the prosthetic cup and the spatial pose of the acetabulum.
摘要翻译：提供了一种使用末端执行器和可移动的冲击器轴确定假体杯到髋臼的冲击深度的方法，其中假体杯可以定位在冲击器轴的远端。该方法可以将冲击器轴的远端相对于末端执行器定位在已知的姿态，跟踪端部执行器相对于髋臼的空间姿态的空间姿势，基于空间来确定假体杯的空间姿态端部执行器的姿态以及冲击器轴的远端和末端执行器之间的已知姿势，并且基于假体杯的空间姿态和髋臼的空间姿态来确定冲击的深度。

3. 发明授权

US08498744B2 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：US08498744B2
公开(公告)日：2013-07-30
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： G06F19/00
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, when a high degree of accuracy is required and manual control when a high degree of accuracy is not required.
摘要翻译：公开了一种手术机器人系统，当需要高精确度时，提供编程控制的组合，并且当不需要高精度时，手动控制。

4. 发明申请

US20120209272A1 Haptic Volumes for Reaming During Arthroplasty 有权
标题翻译：关节成形术期间的铰链卷
公开(公告)号：US20120209272A1
公开(公告)日：2012-08-16
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 Lorgulescu , Renen Bassik , Daniel Odermatt
发明人： Amar Ranawat , Mark Pagnano , Lawrence Dorr , Richard Jones , Danielle Landeck , Matt Thompson , Radu Lorgulescu , Renen Bassik , Daniel Odermatt
IPC分类号： A61B17/16
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。

5. 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。

6. 发明申请

US20120209277A1 Depth of Impaction 有权
标题翻译：影响深度
公开(公告)号：US20120209277A1
公开(公告)日：2012-08-16
申请号：US13174755
申请日：2011-06-30
申请人： Richard Leparmentier , Brian Schmitz , Renen Bassik , Chunyan Wu , Jason Wojcik
发明人： Richard Leparmentier , Brian Schmitz , Renen Bassik , Chunyan Wu , Jason Wojcik
IPC分类号： A61B17/56
CPC分类号： A61B19/5244 , A61B34/20 , A61B34/30 , A61B34/32 , A61B34/76 , A61B2017/922 , A61B2034/252 , A61B2090/062 , A61F2/34
摘要： A method for determining a depth of impaction of a prosthetic cup into an acetabulum using an end effector and a movable impactor shaft is provided, wherein the prosthetic cup may be positioned at a distal end of the impactor shaft. The method may position the distal end of the impactor shaft at a known pose relative to the end effector, track a spatial pose of the end effector relative to a spatial pose of the acetabulum, determine a spatial pose of the prosthetic cup based on the spatial pose of the end effector and the known pose between the distal end of the impactor shaft and the end effector, and determine the depth of impaction based on the spatial pose of the prosthetic cup and the spatial pose of the acetabulum.
摘要翻译：提供了一种使用末端执行器和可移动的冲击器轴确定假体杯到髋臼的冲击深度的方法，其中假体杯可以定位在冲击器轴的远端。该方法可以将冲击器轴的远端相对于末端执行器定位在已知的姿态，跟踪端部执行器相对于髋臼的空间姿态的空间姿势，基于空间来确定假体杯的空间姿态端部执行器的姿态以及冲击器轴的远端和末端执行器之间的已知姿势，并且基于假体杯的空间姿态和髋臼的空间姿态来确定冲击的深度。

7. 发明授权

US07135044B2 Modular prosthesis kits 失效
标题翻译：模块化假体套件
公开(公告)号：US07135044B2
公开(公告)日：2006-11-14
申请号：US10796168
申请日：2004-03-09
申请人： Renen Bassik , John D. Czajkowski , Thomas F. Mc Carthy
发明人： Renen Bassik , John D. Czajkowski , Thomas F. Mc Carthy
IPC分类号： A61F2/32
CPC分类号： A61F2/36 , A61B17/1659 , A61F2/30771 , A61F2/3609 , A61F2/3662 , A61F2/367 , A61F2/3676 , A61F2/40 , A61F2/4014 , A61F2/4059 , A61F2/4684 , A61F2002/30143 , A61F2002/30146 , A61F2002/30153 , A61F2002/30154 , A61F2002/30156 , A61F2002/30341 , A61F2002/30355 , A61F2002/30377 , A61F2002/3038 , A61F2002/30532 , A61F2002/30533 , A61F2002/30538 , A61F2002/30542 , A61F2002/30543 , A61F2002/30616 , A61F2002/3625 , A61F2002/365 , A61F2002/3652 , A61F2002/3658 , A61F2002/366 , A61F2002/4044 , A61F2220/0025 , A61F2220/0033 , A61F2230/0017 , A61F2230/0019 , A61F2230/0021 , A61F2230/0023 , A61F2250/0006
摘要： Modular prosthesis kits and systems are disclosed. The kit includes a plurality of stems having a bore therein and a plurality of necks having a tapered distal end adapted to taper lock in the bore of one of the stems. Each neck includes a stem registration element on the distal end of the neck, and each stem includes a neck registration element in an end portion of the bore. The stem registration elements of certain necks and the neck registration elements of certain stems are configured to prevent certain necks from taper locking with certain stems in at least one position, and the stem registration elements of certain necks and the neck registration elements of certain stems cooperate to permit taper locking of certain necks with certain stems.
摘要翻译：公开了模块化假体套件和系统。套件包括多个在其中具有孔的杆，以及多个颈部，其具有适于锥形锁定在其中一个杆的孔中的锥形远端。每个颈部包括在颈部的远端上的杆对准元件，并且每个杆在孔的端部中包括颈部配准元件。某些颈部的茎标记元件和某些茎的颈部配准元件被构造成防止某些颈部在至少一个位置处由某些茎锥形锁定，并且某些脖子的茎部配准元件和某些茎的颈部配准元件配合以允许某些颈部与某些茎部锥形锁定。

8. 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。

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