公开(公告)号：US09639156B2

公开(公告)日：2017-05-02

申请号：US13340668

申请日：2011-12-29

申请人： Radu Iorgulescu ,  Carinne Cecile Granchi ,  Dennis Moses ,  Jason Robert Wojcik

发明人： Radu Iorgulescu ,  Carinne Cecile Granchi ,  Dennis Moses ,  Jason Robert Wojcik

IPC分类号： A61B34/20 ,  G06F3/01 ,  G06F3/0346 ,  G06F3/0484 ,  A61B34/30 ,  G06F3/0338 ,  A61B34/00 ,  G06F3/033

CPC分类号： A61B34/76 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2068 ,  G06F3/016 ,  G06F3/033 ,  G06F3/0338 ,  G06F3/0346 ,  G06F3/0482 ,  G06F3/04847

摘要： A method for activating a virtual haptic geometry based on a position of a portion of an instrument relative to a target feature comprises detecting a presence of a reference point of an instrument within a threshold distance of a target feature. A virtual haptic geometry corresponding to the target feature is activated in response to the detected presence of the reference point of the instrument within the threshold distance.

公开(公告)号：US09289264B2

公开(公告)日：2016-03-22

申请号：US13340664

申请日：2011-12-29

申请人： Radu Iorgulescu ,  Dennis Moses

发明人： Radu Iorgulescu ,  Dennis Moses

IPC分类号： A61B19/00 ,  A61B17/00 ,  A61B17/17

CPC分类号： A61B34/20 ,  A61B17/17 ,  A61B34/30 ,  A61B34/76

摘要： A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.

摘要翻译： 用于引导仪器的计算机实现的方法包括通过与计算机相关联的处理器确定仪器轴线相对于目标轴线的当前定向角度。 该方法还包括由处理器基于所确定的仪器轴线相对于目标轴线的取向角度来确定与仪器相关联的触觉边界。 触觉边界被配置成约束仪器轴线不被移动到基本上大于当前定向角度的角度。

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。