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1. 发明申请

WO2017121874A2 ANTI-SKID SURGICAL INSTRUMENT FOR USE IN PREPARING HOLES IN BONE TISSUE 审中-公开
标题翻译：防滑手术器械用于制备骨组织中的孔
公开(公告)号：WO2017121874A2
公开(公告)日：2017-07-20
申请号：PCT/EP2017/050714
申请日：2017-01-13
申请人： KB MEDICAL SA
发明人： KOSTRZEWSKI, Szymon
IPC分类号： A61B34/00
CPC分类号： A61B17/1615 , A61B17/162 , A61B17/1624 , A61B34/20 , A61B34/30 , A61B34/70 , A61B90/92 , A61B2017/1602 , A61B2090/035 , A61B2090/062
摘要： Described herein is an anti-skid surgical instrument for use in preparing holes in bone tissue. The disclosed surgical instrument provides the ability to prepare a precise hole in bone tissue during surgery (e.g., spinal surgeries and pedicle screw placement, intramedullary screw placement). The disclosed surgical instrument accomplishes precise hole placement regardless of whether the angle between the drill axis and surface of the bone tissue is perpendicular. The disclosed technology includes a flat drilling surface which is perpendicular to the surface of the body of the surgical instrument. This reduces the likelihood of the surgical instrument skidding on the surface of the bone tissue and thereby increases the precision of the hole.
摘要翻译：这里描述的是一种用于在骨组织中制备孔的防滑手术器械。所公开的手术器械提供了在手术期间在骨组织中准备精确孔的能力（例如脊柱手术和椎弓根螺钉放置，髓内螺钉放置）。无论钻孔轴线和骨组织表面之间的角度是否垂直，所公开的手术器械都可以实现精确的孔放置。所公开的技术包括垂直于手术器械主体表面的平坦钻孔表面。这减少了手术器械在骨组织表面上打滑的可能性，从而提高了孔的精度。

2. 发明申请

WO2017037113A1 ROBOTIC SURGICAL SYSTEMS FOR SPINAL ROD BENDING 审中-公开
标题翻译：脊柱弯曲机器人手术系统
公开(公告)号：WO2017037113A1
公开(公告)日：2017-03-09
申请号：PCT/EP2016/070515
申请日：2016-08-31
申请人： KB MEDICAL SA
发明人： KOSTRZEWSKI, Szymon , CHAPPUIS, Oliver
IPC分类号： A61B17/88 , A61B17/17 , A61B17/70 , A61B34/30 , B21D7/00 , A61B46/27 , A61B46/10 , A61B34/20 , A61B90/57 , A61B34/10 , A61B90/00 , A61B90/50
CPC分类号： A61B17/8863 , A61B17/1757 , A61B17/70 , A61B34/10 , A61B34/20 , A61B34/30 , A61B46/10 , A61B46/27 , A61B90/57 , A61B2017/00876 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2090/066 , A61B2090/508 , B21D7/02 , B21D7/12
摘要： The disclosed technology relates to a rod bending machine for use with a robotic surgical system in an operating room. The system which is capable to bend rods for surgeries directly in the operating room. The rigidity of the rods is such that the robotic arm alone would have to be huge to provide sufficient forces and torques. This invention introduces bending module integrated into robotic system which allows free bending of rods within limits required for surgeries.
摘要翻译：所公开的技术涉及一种与手术室中的机器人手术系统一起使用的杆弯曲机。该系统能够直接在手术室中弯曲手术杆。杆的刚性使得仅机器人手臂必须是巨大的以提供足够的力和扭矩。本发明引入了整合到机器人系统中的弯曲模块，其允许杆在手术所需的限度内自由弯曲。

3. 发明申请

WO2016087539A3 ROBOT ASSISTED VOLUME REMOVAL DURING SURGERY 审中-公开
标题翻译：手术中机器人辅助的体积去除
公开(公告)号：WO2016087539A3
公开(公告)日：2016-06-09
申请号：PCT/EP2015/078398
申请日：2015-12-02
申请人： KB MEDICAL SA
发明人： KOSTRZEWSKI, Szymon , PATEL, Chetan , MASON, Alexander
IPC分类号： A61B17/16 , A61B34/30
摘要： Described herein is a device and method used to effectively remove volume inside a patient in various types of surgeries, such as spinal surgeries (e.g. laminotomy), neurosurgeries (various types of craniotomy), ENT surgeries (e.g. tumor removal), and orthopedic surgeries (bone removal). Robotic assistance linked with a navigation system and medical imaging it can shorten surgery time, make the surgery safer and free surgeon from doing repetitive and laborious tasks. In certain embodiments, the disclosed technology includes a surgical instrument holder for use with a robotic surgical system. In certain embodiments, the surgical instrument holder is attached to or is part of an end effector of a robotic arm, and provides a rigid structure that allows for precise removal of a target volume in a patient.
摘要翻译：本文描述了用于在诸如脊柱手术（例如椎板切开术），神经外科手术（各种类型的开颅手术），耳鼻喉科手术（例如椎间盘切开术）等各种类型的手术中有效地去除患者体内的容积的装置和方法。肿瘤切除）和整形外科手术（骨切除）。机器人辅助与导航系统和医学成像相结合，可缩短手术时间，使手术更安全，免费从事重复性和艰苦任务的外科医生。在某些实施例中，所公开的技术包括与机器人手术系统一起使用的手术器械保持器。在某些实施例中，外科器械保持器附接到机器人臂的端部执行器或者是机器人臂的端部执行器的一部分，并且提供允许精确移除患者中的目标体积的刚性结构。

4. 发明申请

WO2016042152A1 ROBOT-MOUNTED USER INTERFACE FOR INTERACTING WITH OPERATION ROOM EQUIPMENT 审中-公开
标题翻译：机器人安装的用户界面，用于与操作室设备交互
公开(公告)号：WO2016042152A1
公开(公告)日：2016-03-24
申请号：PCT/EP2015/071502
申请日：2015-09-18
申请人： KB MEDICAL SA
发明人： KOSTRZEWSKI, Szymon
IPC分类号： A61B19/00 , A61B19/08 , A61B19/02
CPC分类号： A61B90/40 , A61B34/25 , A61B34/30 , A61B34/74 , A61B46/10 , A61B90/37 , A61B2017/00199 , A61B2017/00221 , A61B2017/00902 , A61B2017/22065 , A61B2090/064 , A61B2090/0813
摘要： Described herein is robotic surgical system that includes a robot-held input device capable of communicating with operating room equipment (e.g., any equipment that a surgeon accesses during an operation). The input device is easily accessible by the surgeon as the user interface is located on the robot. The input device may be covered with a drape, such as a drape used to cover the robot or the robotic arm thereby enabling a surgeon to utilize the input device from a sterile environment.
摘要翻译：这里描述的是机器人手术系统，其包括能够与手术室设备（例如，外科医生在操作期间访问的任何设备）通信的机器人保持的输入设备。当用户界面位于机器人上时，输入装置可以被外科医生容易地访问。输入装置可以被覆盖，例如用于覆盖机器人或机器人手臂的悬垂布，从而使外科医生能够利用来自无菌环境的输入装置。

5. 发明申请

WO2015162256A1 SURGICAL INSTRUMENT HOLDER FOR USE WITH A ROBOTIC SURGICAL SYSTEM 审中-公开
标题翻译：手术仪器用于机器人手术系统
公开(公告)号：WO2015162256A1
公开(公告)日：2015-10-29
申请号：PCT/EP2015/058913
申请日：2015-04-24
申请人： KB MEDICAL SA
发明人： KOSTRZEWSKI, Szymon , NUSSBAUMER, Billy
IPC分类号： A61B19/00 , A61B17/00
CPC分类号： A61B34/30 , A61B34/70 , A61B2017/00464 , A61B2017/00477 , A61B2090/3983
摘要： Described herein is a surgical instrument holder for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the surgical instrument holder is an interface between the robotic arm and a surgical instrument used during surgery. This interface may hold the surgical instrument precisely, rigidly, and in a stable manner while permitting a surgeon to easily and quickly install or withdraw the instrument in case of emergency.
摘要翻译：本文描述的是用于例如在脊柱手术期间与机器人手术系统一起使用的外科器械保持器。在某些实施例中，手术器械保持器是机械手臂与在手术期间使用的手术器械之间的界面。该接口可以准确，刚性地并且以稳定的方式保持手术器械，同时允许外科医生在紧急情况下容易且快速地安装或撤回仪器。

6. 发明申请

WO2015107099A1 NOTCHED APPARATUS FOR GUIDANCE OF AN INSERTABLE INSTRUMENT ALONG AN AXIS DURING SPINAL SURGERY 审中-公开
标题翻译：用于在脊髓手术期间轴上的插入式仪器的指示装置
公开(公告)号：WO2015107099A1
公开(公告)日：2015-07-23
申请号：PCT/EP2015/050633
申请日：2015-01-15
申请人： KB MEDICAL SA
发明人： KOSTRZEWSKI, Szymon , NUSSBAUMER, Billy , BERTHELIN, Roderik , PATEL, Chetan K.
IPC分类号： A61B17/34 , A61B19/00
CPC分类号： A61B17/17 , A61B17/1703 , A61B17/3417 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/11 , A61B90/39 , A61B2034/2055 , A61B2034/305 , A61B2090/365 , A61B2090/368 , A61B2090/3937
摘要： Described herein is a surgical instrument guide for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the guide is attached to or is part of an end effector of a robotic arm, and provides a rigid structure that allows for precise preparation of patient tissue (e.g., preparation of a pedicle) by drilling, tapping, or other manipulation, as well as precise placement of a screw in a drilled hole or affixation of a prosthetic or implant in a prepared patient situation.
摘要翻译：这里描述的是用于例如在脊柱手术期间与机器人手术系统一起使用的手术器械引导件。在某些实施例中，引导件附接到机器臂的端部执行器的一部分或者是其一部分，并且提供刚性结构，其允许通过钻孔，攻丝或其它操作精确地制备患者组织（例如，椎弓根的准备），以及将螺钉精确放置在钻孔中或在准备好的患者情况下固定假肢或植入物。

7. 发明申请

WO2016087539A2 ROBOT ASSISTED VOLUME REMOVAL DURING SURGERY 审中-公开
标题翻译：手术中机器人辅助的体积去除
公开(公告)号：WO2016087539A2
公开(公告)日：2016-06-09
申请号：PCT/EP2015078398
申请日：2015-12-02
申请人： KB MEDICAL SA
发明人： KOSTRZEWSKI SZYMON , PATEL CHETAN , MASON ALEXANDER
IPC分类号： A61B17/16 , A61B34/30
CPC分类号： A61B34/30 , A61B17/1671 , A61B17/3403 , A61B90/50 , A61B2017/00017 , A61B2017/00477 , A61B2034/2059 , A61B2090/064 , A61B2090/066 , A61B2090/508 , A61B2576/00
摘要： Described herein is a device and method used to effectively remove volume inside a patient in various types of surgeries, such as spinal surgeries (e.g. laminotomy), neurosurgeries (various types of craniotomy), ENT surgeries (e.g. tumor removal), and orthopedic surgeries (bone removal). Robotic assistance linked with a navigation system and medical imaging it can shorten surgery time, make the surgery safer and free surgeon from doing repetitive and laborious tasks. In certain embodiments, the disclosed technology includes a surgical instrument holder for use with a robotic surgical system. In certain embodiments, the surgical instrument holder is attached to or is part of an end effector of a robotic arm, and provides a rigid structure that allows for precise removal of a target volume in a patient.
摘要翻译：本文描述了用于在诸如脊柱手术（例如椎板切开术），神经外科手术（各种类型的开颅手术），耳鼻喉手术（例如肿瘤切除）和整形外科手术（诸如手术）之类的各种类型的手术中有效地去除患者体内的容积的装置和方法去除骨）。机器人辅助与导航系统和医学成像相结合，可缩短手术时间，使手术更安全，免费从事重复性和艰苦任务的外科医生。在某些实施例中，所公开的技术包括与机器人手术系统一起使用的手术器械保持器。在某些实施例中，外科器械保持器附接到机器人臂的端部执行器或者是机器人臂的端部执行器的一部分，并且提供允许精确移除患者体内的目标体积的刚性结构。

8. 发明申请

WO2017121874A3 ANTI-SKID SURGICAL INSTRUMENT FOR USE IN PREPARING HOLES IN BONE TISSUE 审中-公开
公开(公告)号：WO2017121874A3
公开(公告)日：2017-07-20
申请号：PCT/EP2017/050714
申请日：2017-01-13
申请人： KB MEDICAL SA
发明人： KOSTRZEWSKI, Szymon
IPC分类号： A61B34/00 , A61B17/16 , A61B34/30 , A61B34/20 , A61B90/00
摘要： Described herein is an anti-skid surgical instrument for use in preparing holes in bone tissue. The disclosed surgical instrument provides the ability to prepare a precise hole in bone tissue during surgery (e.g., spinal surgeries and pedicle screw placement, intramedullary screw placement). The disclosed surgical instrument accomplishes precise hole placement regardless of whether the angle between the drill axis and surface of the bone tissue is perpendicular. The disclosed technology includes a flat drilling surface (218) which is perpendicular to the surface of the body of the surgical instrument. This reduces the likelihood of the surgical instrument skidding on the surface of the bone tissue and thereby increases the precision of the hole.

9. 发明申请

WO2016131903A1 SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE SPINAL SURGERY WITH A ROBOTIC SURGICAL SYSTEM USING A PERCUTANEOUS TECHNIQUE 审中-公开
标题翻译：用微创技术在机械手术系统中进行最小的入侵脊髓手术的系统和方法
公开(公告)号：WO2016131903A1
公开(公告)日：2016-08-25
申请号：PCT/EP2016/053424
申请日：2016-02-18
申请人： KB MEDICAL SA
发明人： MORARD, Marc , VAN DOMMELEN, Kristof , KOSTRZEWSKI, Szymon
IPC分类号： A61B34/30 , A61B34/20 , B25J9/00 , B25J9/16 , A61B17/16 , A61B17/17 , A61B90/11 , A61B34/10
CPC分类号： A61B34/30 , A61B17/1703 , A61B17/1757 , A61B17/70 , A61B34/10 , A61B34/20 , A61B34/25 , A61B90/11 , A61B2034/107 , A61B2034/2055 , A61B2034/254 , A61B2034/256 , G05B2219/40146 , G05B2219/45171
摘要： Described herein are systems, apparatus, and methods for precise placement and guidance of tools during surgery, particularly spinal surgery, using minimally invasive surgical techniques. Several minimally invasive approaches to spinal surgeries were conceived, percutaneous technique being one of them. This procedures looks to establish a skin opening as small as possible by accessing inner organs via needle-puncture of the skin. The percutaneous technique is used in conjunction with a robotic surgical system to further enhance advantages of manual percutaneous techniques by improving precision, usability and/or shortening surgery time by removal of redundant steps.
摘要翻译：本文描述了使用微创手术技术在手术期间，特别是脊柱手术中精确放置和引导工具的系统，装置和方法。构想了脊柱手术的几种微创手段，经皮技术是其中之一。该程序希望通过穿刺皮肤进入内脏，使皮肤开口尽可能小。经皮技术与机器人手术系统结合使用，通过去除多余的步骤，通过提高手术经皮技术的精度，可用性和/或缩短手术时间来进一步增强手术经验的优势。

10. 发明申请

WO2017037127A1 ROBOTIC SURGICAL SYSTEMS AND METHODS 审中-公开
标题翻译：机器人手术系统与方法
公开(公告)号：WO2017037127A1
公开(公告)日：2017-03-09
申请号：PCT/EP2016/070534
申请日：2016-08-31
申请人： KB MEDICAL SA
发明人： KOSTRZEWSKI, Szymon
IPC分类号： A61B34/30 , A61B34/00 , A61B34/20 , A61B5/04 , A61B5/0488 , A61B5/00
CPC分类号： A61B34/30 , A61B5/04001 , A61B5/4893 , A61B17/1671 , A61B17/1757 , A61B34/20 , A61B34/25 , A61B34/32 , A61B34/70 , A61B90/03 , A61B90/11 , A61B2017/00039 , A61B2018/00839 , A61B2034/107 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2090/062 , A61B2090/064 , A61B2090/066 , A61B2090/3937 , B25J19/06 , G06F19/00 , G16H20/40 , G16H40/63
摘要： The disclosed technology relates to robotic surgical systems for improving surgical procedures. In certain embodiments, the disclosed technology relates to robotic surgical systems for use in osteotomy procedures in which bone is cut to shorten, lengthen, or change alignment of a bone structure. The osteotome, an instrument for removing parts of the vertebra, is guided by the surgical instrument guide which is held by the robot. In certain embodiments, the robot moves only in the "locked" plane (one of the two which create the wedge - i.e., the portion of the bone resected during the osteotomy). In certain embodiments, the robot shall prevent the osteotome (or other surgical instrument) from getting too deep/beyond the tip of the wedge. In certain embodiments, the robotic surgical system is integrated with neuromonitoring to prevent damage to the nervous system.
摘要翻译：所公开的技术涉及用于改善外科手术的机器人手术系统。在某些实施例中，所公开的技术涉及用于截骨术的机器人手术系统，其中骨被切割以缩短，延长或改变骨骼结构的对准。骨头切除术是用于去除椎骨部分的器械，由机器人保持的外科器械导向器引导。在某些实施例中，机器人仅在“锁定”平面（两个中的一个中产生楔形物 - 即在截骨期间被切除的部分骨骼）移动。在某些实施例中，机器人应防止骨块（或其他手术器械）太深/超过楔形件尖端。在某些实施例中，机器人手术系统与神经监测整合以防止对神经系统的损害。

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