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    Universal instrument guide for robotic surgical systems, surgical instrument systems, and methods of their use
    46.
    发明授权
    Universal instrument guide for robotic surgical systems, surgical instrument systems, and methods of their use 有权

    公开(公告)号：US11534184B2

    公开(公告)日：2022-12-27

    申请号：US17028007

    申请日：2020-09-22

    申请人： KB MEDICAL, SA

    发明人： Olivier Chappuis ,  Szymon Kostrzewski

    IPC分类号： A61B17/17 ,  A61B50/13 ,  A61B34/32 ,  A61B90/00 ,  A61B17/88 ,  A61B17/16 ,  A61B34/00 ,  A61B17/70 ,  A61B34/30 ,  A61B17/00 ,  A61B17/34

    摘要： Described herein are systems and apparatus of surgical instruments engineered for integration with robotic surgical systems to enhance precision in surgical procedures. Also described herein are methods of using such surgical instruments in performing surgical procedures. The use of such surgical instruments reduce complications arising from misalignment during surgery. The disclosed technology assists in stages of a surgical procedure that require a precise trajectory to be followed. Surgical instrument guides are attached to a universal surgical instrument guide, which is engineered to attach directly or indirectly with a robotic arm of a robotic surgical system. Surgical instruments can then be precisely guided along an axis defined by the universal surgical instrument guide. Individual instruments are easily inserted and removed from the channel of the universal surgical instrument guide, thus allowing a range of instruments to be used throughout a procedure while maintaining the surgical trajectory.

    Robotic navigation of robotic surgical systems
    47.
    发明授权
    Robotic navigation of robotic surgical systems 有权

    公开(公告)号：US11529195B2

    公开(公告)日：2022-12-20

    申请号：US16535166

    申请日：2019-08-08

    申请人： KB MEDICAL SA

    发明人： Szymon Kostrzewski ,  Jean-Marc Wismer ,  Daniel Gehriger ,  Roderik Berthelin

    IPC分类号： G06T7/33 ,  A61B34/20 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  G06T7/73 ,  A61B46/10 ,  G02C7/04 ,  A61B34/10 ,  A61B17/16 ,  A61B17/00 ,  G02B1/04

    摘要： In certain embodiments, the systems, apparatus, and methods disclosed herein relate to robotic surgical systems with built-in navigation capability for patient position tracking and surgical instrument guidance during a surgical procedure, without the need for a separate navigation system. Robotic based navigation of surgical instruments during surgical procedures allows for easy registration and operative volume identification and tracking. The systems, apparatus, and methods herein allow re-registration, model updates, and operative volumes to be performed intra-operatively with minimal disruption to the surgical workflow. In certain embodiments, navigational assistance can be provided to a surgeon by displaying a surgical instrument's position relative to a patient's anatomy. Additionally, by revising pre-operatively defined data such as operative volumes, patient-robot orientation relationships, and anatomical models of the patient, a higher degree of precision and lower risk of complications and serious medical error can be achieved.

    Robotic Surgical Systems
    50.
    发明申请
    Robotic Surgical Systems 有权

    公开(公告)号：US20210307848A1

    公开(公告)日：2021-10-07

    申请号：US17352505

    申请日：2021-06-21

    申请人： KB MEDICAL, SA

    发明人： Szymon Kostrzewski

    IPC分类号： A61B34/30 ,  A61B34/10 ,  B25J9/16 ,  B25J15/00 ,  A61B34/00 ,  A61B90/11

    摘要： A robotic surgical system for performing surgery, the system includes a robotic arm having a force and/or torque control sensor coupled to the end-effector and configured to hold a first surgical tool. The robotic system further includes an actuator that includes controlled movement of the robotic arm and/or positioning of the end-effector. The system further includes a tracking detector having optical markers for real time detection of (i) surgical tool position and/or end-effector position and (ii) patient position. The system also includes a feedback system for moving the end effector to a planned trajectory based on the threshold distance between the planned trajectory and the actual trajectory.