A method includes providing a bone model and a surgical plan defining a planned implant pose to the bone model, providing, based on the planned implant pose, a planned resection volume and a cut-away object, generating a visualization for surgical navigation by, subtracting, from the bone model, a region of intersection between the bone model and the cut-away object and including a visualization of the planned resection volume, and dynamically updating the visualization of the planned resection volume to show progress in completing a resection by tracking movement of a surgical instrument completing the resection.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
2.
ROBOTIC SURGICAL SYSTEM WITH MOTORIZED MOVEMENT TO A STARTING POSE FOR A REGISTRATION OR CALIBRATION ROUTINE
A surgical system includes an optical tracking system including a detector, a robotic arm including an end effector, and a computing system programmed to control, in response to joint angles of the robotic arm satisfying one or more criteria, the robotic arm to move the end effector of the robotic arm from outside a field of view of the detector of the optical tracking system to within the field of view of the detector of the optical tracking system.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
G05B 15/02 - Systèmes commandés par un calculateur électriques
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 40/67 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement à distance
3.
Surgical Navigation Systems And Methods For Detecting Localizer Motion
Systems and methods for detecting localizer motion are provided. One such system is a surgical navigation system which includes a first tracker, a second tracker, a localizer, and one or more controllers. The localizer is configured to track the first tracker to generate first tracking data, and to track the second tracker to generate second tracking data. The one or more controllers are configured to receive the first tracking data and the second tracking data, calculate a relative motion of the first tracker based on the first tracking data, calculate a relative motion of the second tracker based on the second tracking data, compare the relative motions of the first and second trackers to one another, and detect a movement of the localizer based on the comparison.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
4.
ROBOTIC SURGERY SYSTEM WITH SURGICAL VISUALIZATION
A method includes providing a bone model and a surgical plan defining a planned implant pose to the bone model, providing, based on the planned implant pose, a planned resection volume and a cut-away object, generating a visualization for surgical navigation by, subtracting, from the bone model, a region of intersection between the bone model and the cut-away object and including a visualization of the planned resection volume, and dynamically updating the visualization of the planned resection volume to show progress in completing a resection by tracking movement of a surgical instrument completing the resection.
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
5.
Display screen or portion thereof with graphical user interface
A method, comprising includes applying, by a robotically-controlled joint positioner, a controlled load to a joint, and, while the controlled load is applied to the joint by the robotically-controlled joint positioner, performing a soft tissue release for the joint and determining a relative displacement between a first bone and a second bone of the joint. The method also includes determining a surgical plan once a desired value for the relative displacement has been achieved by the soft tissue release.
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
A61B 5/11 - Mesure du mouvement du corps entier ou de parties de celui-ci, p. ex. tremblement de la tête ou des mains ou mobilité d'un membre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
7.
Trackable Protective Packaging For Tools And Methods For Calibrating Tool Installation Using The Same
Surgical tracking, methods and software for assisting in determining whether a tool is properly installed on a surgical device. A protective packaging retains the tool and has a trackable feature. The trackable feature has a predetermined state defined relative to the tool and the trackable feature is detectable by a machine vision system. One or more controllers acquire the actual state of the tool based on the detected trackable feature and compare the actual state of the tool with an expected state of the tool, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device and generate an alert.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A system for surgical registration. The system may include at least one computing device in communication with a surgical navigation system and the surgical device. The at least one computing device: a) receiving external bone registration data corresponding to locations on the exterior surface of the femur; b) calculating a first registration transform based on the external bone registration data; c) transforming a first bone removal plan of a surgical plan to the operative coordinate system based on the first registration transform; d) receiving internal bone canal registration data corresponding to at least one of location or orientation data from the inner canal of the femur; e) calculating a second registration transform based on both of the external and internal bone canal bone registration data; and f) transforming a second bone removal plan of the surgical plan to the operative coordinate system based on the second registration transform.
A61F 2/46 - Outils particuliers pour l'implantation des articulations artificielles
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Surgical systems and methods for co-registering a virtual bone model and a physical bone involve a navigation system with a localizer to detect markers of a probe to track positions of the probe tip and a head-mounted device (HMD). The HMD enables the user to observe a real-world view of the physical bone and the probe on, or through, the HMD display. Controller(s) provide, on the HMD display, virtual landmarks combined with the real-world view of the physical bone, the landmarks being defined at virtual locations associated with the virtual bone model. The controller(s) capture, with the navigation system, positions of the probe tip in response to the probe tip contacting the surface of the physical bone at physical locations corresponding to the virtual locations of the landmarks. The controller(s) utilize the captured positions of the probe tip to co-register the virtual model bone and the physical bone.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
A61F 2/46 - Outils particuliers pour l'implantation des articulations artificielles
10.
Surgical Systems And Methods For Identifying Tools Guided By Surgical Robots
Systems and methods to identify a tool coupled to a surgical robot. The tool has an axis and a checkpoint feature. The system includes a pointer and a localizer to determine positions of the pointer. A memory includes identification data associated with a plurality of tools. For each respective tool of the plurality, the identification data includes unique dimensions of a predetermined checkpoint space relative to the axis of the respective tool. The predetermined checkpoint space defines a range of positions in which the checkpoint feature of the respective tool can potentially be located. Controller(s) receive, from the localizer, a position of the checkpoint feature in response to the pointer touching the checkpoint feature. The controller(s) determine an identity of the tool based on recognizing, from the identification data, which predetermined checkpoint space has the range of positions in which the position of the checkpoint feature is located.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/90 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes
A surgical system is provided. The surgical system includes a robotic arm, a navigation system, and one or more controllers. The robotic arm includes a plurality of links and joints and is configured to support an end effector. The navigation system is configured to track a pose of an anatomy of a patient. The one or more controllers are configured to associate a target trajectory with the anatomy of the patient, define a trajectory selection zone associated with the target trajectory, operate the robotic arm in a free mode, whereby the robotic arm is freely moveable, responsive to the end effector being within the trajectory selection zone in the free mode, automatically select the target trajectory associated with the trajectory selection zone, and operate the robotic arm in an automatic mode, whereby the robotic arm is automatically moved to align the end effector with the target trajectory.
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A surgical system is provided. The surgical system includes a robotic arm, a navigation system, and one or more controllers. The robotic arm includes a plurality of links and joints and is configured to support an end effector. The navigation system is configured to track a pose of an anatomy of a patient. The one or more controllers are configured to associate a target trajectory with the anatomy of the patient, define a trajectory selection zone associated with the target trajectory, operate the robotic arm in a free mode, whereby the robotic arm is freely moveable, responsive to the end effector being within the trajectory selection zone in the free mode, automatically select the target trajectory associated with the trajectory selection zone, and operate the robotic arm in an automatic mode, whereby the robotic aim is automatically moved to align the end effector with the target trajectory.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
Surgical systems and methods involve a surgical instrument, an imaging device, a surgical navigation system and controller(s). The imaging device generates ultrasound imaging of a bone by propagation of ultrasound waves along a plurality of scanlines through the bone. The surgical navigation system defines a tracking coordinate system and includes a localizer configured to detect a tracker or a marker coupled to the bone. The controller(s) detect, using the localizer, a pose of the bone in the tracking coordinate system and acquire the ultrasound imaging of the bone from the imaging device. The controller(s) temporally calibrate the ultrasound imaging with respect to the tracking coordinate system by computing a temporal lag for the ultrasound imaging. The controller(s) automatically register the ultrasound imaging to a second modality imaging of the bone and utilize the registered ultrasound imaging to provide navigated guidance of the surgical instrument relative to the bone.
A61B 8/00 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c.-à-d. recalage des images utilisant des procédés basés sur les caractéristiques
14.
ROBOTIC SURGERY SYSTEM FOR AUGMENTED ARTHROPLASTY PROCEDURES
A method includes planning a planned pose of an implant cup. The planning includes planning screw trajectories associated with the implant cup. The method also includes positioning the implant cup using a robot, checking, prior to impaction and using a trackable probe, an actual pose of the implant cup relative to the planned pose, and performing the impaction of the implant cup.
A61F 2/46 - Outils particuliers pour l'implantation des articulations artificielles
A61B 17/17 - Dispositifs de guidage pour les forets
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A surgical system comprising a robot, a cutting tool coupled to the robot, and a computing system. The computing system is programmed to capture a plurality of positions of the cutting tool in a coordinate frame as the cutting tool contacts a plurality of locations on a patient, generate, using the plurality of positions and a projection from the plurality of positions to a selected cut depth, a virtual boundary in the coordinate frame, and control the robot using the virtual boundary to guide the cutting tool in executing a resection in accordance with the virtual boundary.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
17.
Evaluation Of Surgical Instrument Usage Using Sensed Magnetism
A monitoring system for a surgical instrument is provided. The surgical instrument includes a magnetic element and being configured to be subjected to a temperature-based sterilization process. The monitoring system includes a sensor configured to detect a magnetism parameter of the magnetic element. The monitoring system includes a controller in communication with the sensor. The controller is configured to evaluate the magnetism parameter, and based on the evaluation, generate an output indicative of usage of the surgical instrument.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
G01R 33/07 - Mesure de la direction ou de l'intensité de champs magnétiques ou de flux magnétiques en utilisant des dispositifs galvano-magnétiques des dispositifs à effet Hall
Disclosed herein are a surgical system for patella tracking and a method for selecting a properly-sized patellar implant utilizing the same. The surgical system may include first and second trackers and a patellar tracking system. The first tracker may be configured to contact an unresected or a resected patella, and the second tracker may be configured to contact a bone. The patellar tracking system may be configured to track the first and second trackers during patellar flexion and extension to generate patellar range of motion and patellar trial range of motion. A method for selecting a patellar implant may utilize the first and second trackers and the patellar tracking system.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
19.
SYSTEMS AND METHODS FOR SURGICAL SAW BLADE CUTTING ON HARD TISSUE
Surgical systems and methods involve a surgical cutting that includes a housing, a saw blade configured to attach to the housing, and a motor located in the housing to operate the saw blade for cutting a bone. A blade guide is coupled to the housing and includes at least one wall configured to slidably contact the saw blade to prevent flexion of the saw blade. The blade guide includes a biasing device configured to passively bias the blade guide towards an extended position. In response to contact between the blade guide and the bone, the blade guide is configured to passively retract away from the extended position and against the bias of the biasing device.
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
20.
SURGICAL ROBOTICS SYSTEM WITH INTRAOPERATIVE HAPTICS GENERATION
A surgical system comprising a robot, a cutting tool coupled to the robot, and a computing system. The computing system is programmed to capture a plurality of positions of the cutting tool in a coordinate frame as the cutting tool contacts a plurality of locations on a patient, generate, using the plurality of positions and a projection from the plurality of positions to a selected cut depth, a virtual boundary in the coordinate frame, and control the robot using the virtual boundary to guide the cutting tool in executing a resection in accordance with the virtual boundary.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
21.
DEVICES, SYSTEMS, AND METHODS FOR BONE BALANCE ADJUSTMENT BASED ON LIGAMENT LAXITY
A method of assessing a joint may include identifying a first bone portion in an image of the joint. The method may further include identifying a cross-sectional area of the first bone portion and identifying a medial ligament in extension value, a lateral ligament in extension value, a medial ligament in flexion value, and a lateral side in flexion value; determining a lateral ligament laxity based on the lateral ligament in extension value; and determining one or more adjustment parameters based on the identified cross-sectional area and the lateral ligament laxity. The determining the adjustment parameters may include a predicted change in soft tissue laxity after the identified first bone portion is removed. The adjustment parameters may include an adjustment to a planned bone resection and/or an adjustment to a planned thickness of an implant. The method may further include outputting the determined adjustment parameters to a display.
A method includes tracking movement of a cautery tool and displaying a visualization of a pathway to be followed by the cautery tool. The pathway corresponds to a plan for tissue resection with the cautery tool. The method also includes updating the visualization based on the tracked movement of the cautery tool.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
23.
SYSTEMS AND METHODS FOR GUIDING A REVISION PROCEDURE
A method for intraoperatively augmenting a revision implant includes removing a primary implant from a bone, intraoperatively determining a size of a defect of the bone, intraoperatively cutting a bone filler material to the size of the defect, installing the bone filler material at the defect, and installing the revision implant on the bone.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 5/055 - Détection, mesure ou enregistrement pour établir un diagnostic au moyen de courants électriques ou de champs magnétiquesMesure utilisant des micro-ondes ou des ondes radio faisant intervenir la résonance magnétique nucléaire [RMN] ou électronique [RME], p. ex. formation d'images par résonance magnétique
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A head-mounted device (HMD) includes a controller and head-mountable structure that supports a camera and a display being positionable in front of eyes of a user of the HMD. The controller is configured to obtain surgical procedure information and determine, based on the surgical procedure information, a prescribed arrangement of one or more surgical objects in an operating room to facilitate a surgical procedure for a patient. The controller is configured to provide, on the display and in front of the eyes of the user, a computer-generated image to guide the user of the HMD to arrange the one or more surgical objects in the operating room according to the prescribed arrangement, wherein the computer-generated image is combined with, or overlaid on, real-world views.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
G06T 19/00 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie
G16H 40/20 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion ou l’administration de ressources ou d’établissements de soins de santé, p. ex. pour la gestion du personnel hospitalier ou de salles d’opération
G16H 40/63 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement local
G16H 80/00 - TIC spécialement adaptées pour faciliter la communication entre les professionnels de la santé ou les patients, p. ex. pour le diagnostic collaboratif, la thérapie collaborative ou la surveillance collaborative de l’état de santé
A surgical robotic system includes a manipulator with a plurality of links and an end effector. The end effector includes a body member, a surgical tool configured to be coupled to the body member, and a handle being rotatably mounted to a portion of the body member. The handle has a tactile interface that is operatively coupled to a target. A sensor is supported by the portion of the body member. For any rotational position of the handle, the sensor is configured to sense the target in response to actuation of the tactile interface. Controller(s) are coupled to the sensor, and responsive to the sensor sensing the target, the controller(s) enable a command to control the manipulator to alter an orientation of the surgical tool.
A kinematic mounting assembly includes a first mount component having a first and second elongated mount surfaces spaced relative to one another. The kinematic mounting assembly also includes a second mount component having a third and fourth elongated mount surfaces spaced relative to one another. The kinematic mounting assembly further includes an interface component disposed between the first and second mount components. The interface component includes an interface body and a first elongated kinematic coupler and a second elongated kinematic coupler coupled to the interface body. The first elongated kinematic coupler is engageable with the first and third elongated mount surfaces. The second elongated kinematic coupler is engageable with the second and fourth elongated mount surfaces.
A robotically-assisted surgical system includes a robot and a computer. The computer is programmed to provide a user with an option to combine a first cutting stage of a surgical plan with a second cutting stage of the surgical plan in response to determining that the first cutting stage is eligible for combination with the second cutting stage by comparing first characteristics of the first cutting stage with second characteristics of the second cutting stage. The computer is also programmed to, absent selection of the option, control the robot to provide the first cutting stage and the second cutting stage sequentially and also to, in response to user selection of the option, control the robot to provide a unified cutting stage based on the first cutting stage and the second cutting stage.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
28.
ROBOTIC SURGICAL SYSTEM WITH DYNAMIC RESECTION COMBINATION
A robotically-assisted surgical system includes a robot and a computer. The computer is programmed to provide a user with an option to combine a first cutting stage of a surgical plan with a second cutting stage of the surgical plan in response to determining that the first cutting stage is eligible for combination with the second cutting stage by comparing first characteristics of the first cutting stage with second characteristics of the second cutting stage. The computer is also programmed to, absent selection of the option, control the robot to provide the first cutting stage and the second cutting stage sequentially and also to, in response to user selection of the option, control the robot to provide a unified cutting stage based on the first cutting stage and the second cutting stage.
A method of evaluating soft tissue tension surrounding a hip of a patient uses navigation and software to track positions of a femur and a pelvis of the patient in real time. The method begins with intra-operative reduction of a femoral implant into an acetabulum of a patient and retrieval of first coordinates of a femoral head center of the femoral implant when the femoral implant is in a reduced position. Performance of a shuck test follows where the femur is distracted relative to the acetabulum. Retrieval of second coordinates of the femoral head center occurs when the femoral implant is distracted from the acetabulum, and a difference between the first coordinates and the second coordinates in a coronal plane is used to determine a shuck length vector.
A61B 17/88 - Moyens ou procédés pour implanter ou pour extraire des dispositifs de fixation interne
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
30.
SYSTEM AND METHOD FOR PERFORMING ROBOT REGISTRATION USING FREE-FORM PATH
A surgical system includes a manipulator in a base coordinate system and a navigation system in a localizer coordinate system. The manipulator includes a tool and the navigation system includes a tool tracker. A control system controls movement of the tool and the tool tracker along a free-form path. The control system obtains a dataset related to movement of the tool tracker along the free-form path and obtains a dataset related to movement of the tool along the free-form path. The control system maps the datasets relative to one another to establish a relationship between the localizer coordinate system and the base coordinate system.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Techniques For Modifying Tool Operation In A Surgical Robotic System Based On Comparing Actual And Commanded States Of The Tool Relative To A Surgical Site
A surgical system and method of operating the same. A manipulator supports and facilitates movement of a surgical tool along a tool path relative to a surgical site. Controller(s) determine commanded states and actual states of the surgical tool relative to the tool path for a plurality of time steps. The controller(s) detect at least one deviation between the commanded states and the actual states of the surgical tool for at least one of the plurality of time steps. The controller(s) respond to the deviation by modification of one or both of: a feed rate of the surgical tool; and the tool path.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A method of controlling a robot of a surgical system includes monitoring positions of a first interaction point defined relative to a surgical instrument and as second interaction point defined relative to the surgical instrument, determining a first force feedback based on a first interaction between the first interaction and a boundary based on a first stiffness, determining a second force feedback based on a second interaction between the second interaction point and the boundary based on a second stiffness, and controlling the robot to provide a combined force feedback based on the first force feedback and the second force feedback.
A method of controlling a robot of a surgical system includes monitoring positions of a first interaction point defined relative to a surgical instrument and as second interaction point defined relative to the surgical instrument, determining a first force feedback based on a first interaction between the first interaction and a boundary based on a first stiffness, determining a second force feedback based on a second interaction between the second interaction point and the boundary based on a second stiffness, and controlling the robot to provide a combined force feedback based on the first force feedback and the second force feedback.
A surgical system includes a manipulator in a base coordinate system and a navigation system in a localizer coordinate system. The manipulator includes a tool and the navigation system includes a tool tracker. A control system controls movement of the tool and the tool tracker along a free-form path. The control system obtains a dataset related to movement of the tool tracker along the free-form path and obtains a dataset related to movement of the tool along the free-form path. The control system maps the datasets relative to one another to establish a relationship between the localizer coordinate system and the base coordinate system.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A femoral prosthetic component includes a patellar guide portion, a pair of condyles projecting from the guide portion and forming an intercondylar notch therebetween, a bearing surface, and an interface surface configured to face a resected surface of a femur. The interface surface comprises an anterior face and a posterior face, and is substantially contoured between the anterior and posterior face to match a contoured surface of the femur. The substantially contoured interface surface may include at least one planar surface portion to about a flat cut portion in the surface of the femur. This planar surface portion may be a distal flat at a distal face of the interface surface. The contoured interface surface may alternatively include a plurality of planar surface portions. The femoral prosthetic component is configured such that preparation of the bone to match the interface surface results in minimal resection of the distal femur.
An automated image checking suite, software program, and method to automatically evaluate whether medical imaging data of a target anatomy is acceptable to facilitate surgical planning for the target anatomy. The automated image checking suite is configured to execute one or more automated checks to determine, for example: if medical imaging data was scanned according to acceptable configuration settings; if target anatomy in the medical imaging data is acceptably captured within a boundary of the medical imaging data; if the patient moved during scanning; if a required feature of the target anatomy, which must be fully captured in the medical imaging data to acceptably facilitate surgical planning of a selected implant relative to the target anatomy, is acceptably captured within the boundary of the medical imaging data; and/or if the medical imaging data acceptably shows an intended type of target anatomy and an intended operative side of the target anatomy.
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
A computer-implemented method for evaluating a medical image exhibiting air, fat, a bone, and a motion rod. The computer-implemented method includes automatically performing the following: identifying, from the medical image, intensities of the bone, the motion rod and at least one of: air or fat; obtaining a bone mineral density equivalent value of the motion rod and the at least one of the air or the fat; determining a bone mineral density calibration factor based on a relationship between the identified intensities and a bone mineral density equivalent values of the motion rod and the at least one of the air or the fat; and determining the bone mineral density of the bone within the medical image based on the bone mineral density calibration factor.
G06T 17/20 - Description filaire, p. ex. polygonalisation ou tessellation
G06V 10/75 - Organisation de procédés de l’appariement, p. ex. comparaisons simultanées ou séquentielles des caractéristiques d’images ou de vidéosApproches-approximative-fine, p. ex. approches multi-échellesAppariement de motifs d’image ou de vidéoMesures de proximité dans les espaces de caractéristiques utilisant l’analyse de contexteSélection des dictionnaires
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
38.
SYSTEMS, DEVICES, AND METHODS FOR PREDICTING TOTAL KNEE ARTHROPLASTY, PARTIAL KNEE ARTHROPLASTY, AND OTHER MEDICAL PROCEDURES
A method for predicting a type of surgery required for a patient comprises: receiving imaging data including at least one image acquired of a patient's anatomy; determining at least one parameter of the patient's anatomy based on the image data, the at least one parameter including at least one of a B-score and a C-score; receiving patient data regarding the patient; generating, based at least in part on the at least one parameter and the patient data, a predicted procedure for the patient; and outputting the predicted procedure for display within a graphical user interface (GUI).
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
39.
Automated Pre-Checks To Evaluate Whether Medical Imaging Data Is Suitable For Surgical Planning Purposes
An automated image checking suite, software program, and method to automatically evaluate whether medical imaging data of a target anatomy is acceptable to facilitate surgical planning for the target anatomy. The automated image checking suite is configured to execute one or more automated checks to determine, for example: if medical imaging data was scanned according to acceptable configuration settings; if target anatomy in the medical imaging data is acceptably captured within a boundary of the medical imaging data; if the patient moved during scanning; if a required feature of the target anatomy, which must be fully captured in the medical imaging data to acceptably facilitate surgical planning of a selected implant relative to the target anatomy, is acceptably captured within the boundary of the medical imaging data; and/or if the medical imaging data acceptably shows an intended type of target anatomy and an intended operative side of the target anatomy.
Provided herein are methods of performing knee surgery, which include comparing a lateral distal femoral angle (LDFA) of the knee with a medial proximal tibial angle (MPTA) of the knee and determining a pre-disease alignment of the knee therefrom. Additionally, prognostic and diagnostic methods for use in knee surgery as well as methods of determining an angle of resection for a distal femur and/or a proximal tibia during knee surgery are provided herein. Also provided is an apparatus for assisting a surgeon in performing surgery on a knee of a patient, the apparatus comprising a processor configured for performing the aforementioned methods. A computer-readable medium having stored thereon a computer program, which, when executed by a computer, causes the computer to perform the aforementioned methods is also provided.
A61B 17/56 - Instruments ou procédés chirurgicaux pour le traitement des os ou des articulationsDispositifs spécialement adaptés à cet effet
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
41.
SYSTEMS, DEVICES, AND METHODS FOR PREDICTING TOTAL KNEE ARTHROPLASTY AND PARTIAL KNEE ARTHROPLASTY PROCEDURES
A method for predicting a type of surgery required for a patient comprises: receiving imaging data including at least one image acquired of a patient's anatomy; determining at least one parameter of the patient's anatomy based on the image data, the at least one parameter including at least one of a B-score and a C-score; receiving patient data regarding the patient; generating, based at least in part on the at least one parameter and the patient data, a predicted procedure for the patient; and outputting the predicted procedure for display within a graphical user interface (GUI).
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G16H 10/60 - TIC spécialement adaptées au maniement ou au traitement des données médicales ou de soins de santé relatives aux patients pour des données spécifiques de patients, p. ex. pour des dossiers électroniques de patients
G16H 50/30 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le calcul des indices de santéTIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour l’évaluation des risques pour la santé d’une personne
G16H 50/70 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour extraire des données médicales, p. ex. pour analyser les cas antérieurs d’autres patients
A method of calculating leg length discrepancy of a patient including: receiving patient bone data associated with a lower body of the patient; identifying anatomical landmarks in the patient bone data; orienting a first proximal landmark and a second proximal landmark relative to each other and an origin in a coordinate system; aligning a first axis associated with a first femur and a second axis associated with a second femur with a longitudinal axis extending in a distal-proximal direction, wherein the first and second distal landmarks are adjusted according to the alignment of the first and second axes; calculating a distance between the first and second distal landmarks in the distal-proximal direction along the longitudinal axis; and displaying at least one of the distance or a portion of the patient bone data on a display screen.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 5/055 - Détection, mesure ou enregistrement pour établir un diagnostic au moyen de courants électriques ou de champs magnétiquesMesure utilisant des micro-ondes ou des ondes radio faisant intervenir la résonance magnétique nucléaire [RMN] ou électronique [RME], p. ex. formation d'images par résonance magnétique
A61B 5/107 - Mesure de dimensions corporelles, p. ex. la taille du corps entier ou de parties de celui-ci
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
A61B 6/50 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations spécialement adaptés à des parties du corps spécifiquesAppareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations spécialement adaptés à des applications cliniques spécifiques
A61B 8/00 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
The teachings generally provide for a hand-held medical robotic system for use with a surgical tool, the system comprising an instrument comprising a hand-held portion, a tool support coupled to the hand-held portion, and an actuator assembly operatively interconnecting to move the tool support in a plurality of degrees of freedom to place the surgical tool and a localizer. The system additionally comprises a control system configured to determine a state of the surgical tool and determine a position and/or orientation of a reference coordinate system relative to a known coordinate system, activate a guided mode based on a first relationship criteria between the state of the surgical tool and the reference coordinate system, and deactivate the guided mode based on a second relationship criteria between the state of the surgical tool and the reference coordinate system, wherein the first relationship criteria and the second relationship criteria are different.
A connector for attaching a fluid source to a surgical tool includes a body extending along an axis and defining a lumen within the body. The lumen has a lumen proximal end configured to receive fluid from the fluid source. The fluid is transported through the body by the lumen. An attachment portion extends from the body transverse to the axis and is configured to releasably attach the body to an exterior surface of the surgical tool. The body and the attachment portion are integrally formed by additive manufacturing.
A surgical system includes a tool, a robot configured to move the tool, and a controller. The controller is programed to generate a plan for the robot to move, in a planned amount of time, the tool from a starting pose to a target pose, control the robot to provide automated movement of the tool based on the plan such that the robot moves the tool toward the target pose without requiring user assistance, and stop the automated movement if the target pose is not reached after the automated movement for the planned amount of time.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
G05B 15/02 - Systèmes commandés par un calculateur électriques
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 40/67 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement à distance
First and second tracker assemblies each having a single optical marker are secured to a bone, with the first tracker assembly also including a motion sensor. A localizer optically tracks the optical marker positions, and a pose of a tracker coordinate system (TCS) associated with the tracker assemblies according to three positional DOF and two rotational DOF is determined from the tracked marker positions. Measurements from the motion sensor are utilized to determine an angle of inclination with respect to gravity, and an orientation of the TCS according to a further rotational DOF defined about a virtual line extending between the optical markers is determined from the angle of inclination. A pose of the bone according to six DOF is then determined from the determined pose of the TCS according to three positional and two rotational DOF and the orientation of the TCS according to the further rotational DOF.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
47.
TRACKER FOR MAGNETICALLY COUPLING TO ROBOTIC GUIDE TUBE
A surgical system is provided. The surgical system includes a robotic manipulator supporting a guide tube and an instrument configured to be temporarily fixed to the guide tube through magnetic coupling. The instrument supports a tracker.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
First and second tracker assemblies each having a single optical marker are secured to a bone, with the first tracker assembly also including a motion sensor. A localizer optically tracks the optical marker positions, and a pose of a tracker coordinate system (TCS) associated with the tracker assemblies according to three positional DOF and two rotational DOF is determined from the tracked marker positions. Measurements from the motion sensor are utilized to determine an angle of inclination with respect to gravity, and an orientation of the TCS according to a further rotational DOF defined about a virtual line extending between the optical markers is determined from the angle of inclination. A pose of the bone according to six DOF is then determined from the determined pose of the TCS according to three positional and two rotational DOF and the orientation of the TCS according to the further rotational DOF.
A61B 17/70 - Dispositifs de mise en position ou de stabilisation de la colonne vertébrale, p. ex. stabilisateurs comprenant un liquide de remplissage dans un implant
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
49.
Tracker For Magnetically Coupling To Robotic Guide Tube
A surgical system is provided. The surgical system includes a robotic manipulator supporting a guide tube and an instrument configured to be temporarily fixed to the guide tube through magnetic coupling. The instrument supports a tracker.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
An end effector configured to be coupled to an arm of a robotic manipulator, the end effector including a blade mounting assembly for receiving a saw blade. The blade mounting assembly including a drive hub and a blade clamp. The drive hub having a support surface configured to support the saw blade, and a plurality of bosses protruding from the support surface. The blade clamp being disposed above the drive hub and moveable between first and second positions relative to the drive hub. The blade clamp configured such that in the first position the blade clamp is spaced a first distance from the drive hub and configured to enable coupling or removal of the saw blade from the drive hub, and in the second position the blade clamp is spaced a second distance from the drive hub and configured to secure the saw blade to the drive hub.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A hand-held robotic system for use with a saw blade, the system including an instrument, a localizer, and a controller. The instrument including a hand-held portion, a blade support coupled to the hand-held portion, and an actuator assembly including a plurality of actuators to move the blade support in three degrees of freedom relative to the hand-held portion to place the blade on a desired plane. The controller capable of determining a pose of the saw blade relative to the desired plane based on a position of each of the plurality of actuators. The controller being further configured to be operable between a first mode allowing the instrument to operate and to control each of the plurality of actuators to maintain the saw blade on the desired plane; and a second mode disabling the instrument based on the pose of the saw blade relative to the desire plane.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Robotic system and methods for robotic arthroplasty are provided. The robotic system includes a machining system and a guidance system. The guidance station tracks movement of one or more of various objects in the operating room, such as a surgical tool, a tibia of a patient, a talus of the patient, or a component of an implant. The guidance system tracks these objects for purposes of displaying their relative positions and orientations to the surgeon and, in some cases, for purposes of controlling movement of the surgical tool of the machining system relative to virtual cutting boundaries or other virtual objects associated with the tibia and talus to facilitate preparation of bone to receive an ankle implant system.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A camera unit for use with a surgical navigation system. The camera unit includes an outer casing and a rigid support structure enclosed within the outer casing. Two first optical sensors are coupled to the outer casing, and each including sensing elements adapted to sense light in a near-infrared spectrum. The two first optical sensors are commonly fixed to the rigid support structure and are separated by a predefined distance on the rigid support structure so as to be stereoscopically arranged. A second optical sensor is coupled to the outer casing and is adapted to sense light in a visible light spectrum. A camera controller is disposed within the outer casing and is configured to control the two first optical sensors and the second optical sensor for tracking an object within an operating room.
H04N 25/44 - Extraction de données de pixels provenant d'un capteur d'images en agissant sur les circuits de balayage, p. ex. en modifiant le nombre de pixels ayant été échantillonnés ou à échantillonner en lisant partiellement une matrice de capteurs SSIS
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
H04N 13/243 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques utilisant au moins trois capteurs d’images 2D
H04N 23/60 - Commande des caméras ou des modules de caméras
H04N 23/61 - Commande des caméras ou des modules de caméras en fonction des objets reconnus
H04N 23/695 - Commande de la direction de la caméra pour modifier le champ de vision, p. ex. par un panoramique, une inclinaison ou en fonction du suivi des objets
H04N 25/40 - Extraction de données de pixels provenant d'un capteur d'images en agissant sur les circuits de balayage, p. ex. en modifiant le nombre de pixels ayant été échantillonnés ou à échantillonner
H04N 25/42 - Extraction de données de pixels provenant d'un capteur d'images en agissant sur les circuits de balayage, p. ex. en modifiant le nombre de pixels ayant été échantillonnés ou à échantillonner en commutant entre différents modes de fonctionnement utilisant des résolutions ou des formats d'images différents, p. ex. entre un mode d'images fixes et un mode d'images vidéo ou entre un mode entrelacé et un mode non entrelacé
H04N 25/443 - Extraction de données de pixels provenant d'un capteur d'images en agissant sur les circuits de balayage, p. ex. en modifiant le nombre de pixels ayant été échantillonnés ou à échantillonner en lisant partiellement une matrice de capteurs SSIS en lisant les pixels de zones 2D sélectionnées de la matrice, p. ex. pour le fenêtrage ou le zoom numérique
55.
Techniques For Patient-Specific Milling Path Generation
Generating a milling path to enable a tool to remove material from bone. An allowed volume is intersected with a virtual bone model. An offset boundary is spaced inward from the allowed volume. Intersection between the allowed volume and the virtual bone model defines a resection volume. An outer portion of the resection volume is defined between the allowed volume and offset boundary. An inner portion of the resection volume is defined within the offset boundary. Section planes are defined to successively intersect the resection volume. Section paths are bounded within each section plane and are defined relative to the resection volume. One or more sections plane includes a section path with a path segment enabling the tool to remove only the outer portion of the resection volume. Transition segments connect section paths of successive section planes. The section paths and transition segments are combined to generate the milling path.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A robotically-assisted implant impaction system includes a robot arm, a release member coupled to the robot arm, and an impactor coupled to the robot arm via the release member. The release member includes a spring, a slide member biased by the spring to a position retaining the impactor on the robot arm, and a knob manipulable by a user to compress the spring to allow release of the impactor from the robot arm.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
Surgical systems and methods for positioning a workpiece involve a first tool assembly including one of a coupler or a receiver, and a second tool assembly with an interface adapted to attach to the workpiece and including the other one of the coupler or the receiver. A tool guide is configured to mount to a surgical robot. The tool guide defines an aperture through which the first tool assembly is configured to extend. The tool guide is configured to support the first tool assembly and enable the first tool assembly to pivot relative to the tool guide to facilitate engagement between the coupler and receiver to align the first and second tool assemblies.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/92 - Instruments à percussion ou extracteurs, p. ex. pour retirer les dispositifs intramédullaires
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A system includes a medical imaging device configured to collect an image of a bone and a computer programmed to present the image of the bone, enable locating of a plurality of landmarks of the bone via the image, and determine a version and inclination of an acetabular cup based on the plurality of landmarks of the bone.
A method includes positioning an imaging element relative to a patient tissue structure, establishing, by moving a robotic arm, registration between the imaging element and a surgical instrument held by the robotic arm, and conducting, using the surgical instrument, an intervention on the patient tissue structure while calculating an orientation of the surgical instrument relative to the patient tissue structure using the registration.
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
60.
SYSTEMS AND METHODS FOR CONSTRAINED SURGICAL INSTRUMENT ALIGNMENT
A method for surgical navigation includes providing a graphical user interface showing a virtual boundary around a target axis, tracking a movement of a tool toward the target axis, and updating the graphical user interface by collapsing the virtual boundary towards the target axis based on 5 the movement of the tool.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/17 - Dispositifs de guidage pour les forets
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A computer-implemented method is provided. The computer-implemented method generates a milling path for a tool of a surgical system, the milling path designed to enable the tool to resect material from a bone, the method including obtaining a model of the bone, intersecting an allowed volume with the model for defining a resection volume intended to be removed from the bone, and generating a plurality of sections. The method also includes, for a section, identifying a sub-volume of the resection volume corresponding to the section; generating milling path segments designed to enable the tool to remove the sub-volume of the resection volume; identifying, for the sub-volume of the resection volume, a region to be avoided by the tool; generating transition path segments designed to avoid the region; and generating the milling path by combining the milling path segments and the transition path segments.
A method for a computer-assisted surgical system includes tracking a movement of a robot, determining a current pose of an implant cup based on the movement of the robot, and guiding cup impaction by virtually overlaying a representation of the implant cup on a displayed bone in accordance with the current pose of the implant cup.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A sterile drape assembly for use with a robotic arm. The robotic arm includes a plurality of links and a plurality of motorized joints for moving the plurality of links. The robotic arm supports an end effector on a distal end of the robotic arm. A plurality of light emitting diode (LED) units are located on a surface of at least one of the links of the robotic arm. Each of the LED units projects from the surface and includes an attachment interface. The sterile drape assembly includes a flexible and substantially transparent surgical drape to be disposed over the robotic arm and the LED units. Drape attachment elements couple to the attachment interfaces of the LED units to secure portions of the surgical drape to the LED units such that the secured portions of the surgical drape cover the LED units.
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 46/23 - Draps de chirurgie spécialement adaptés aux patients avec des moyens pour maintenir ou porter des instruments chirurgicaux
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
Surgical systems and methods for manipulating an anatomy involve a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate first and second virtual boundaries associated with the anatomy. The second virtual boundary is spaced apart from the first virtual boundary. The controller(s) control movement of the surgical tool in a first mode wherein the first boundary is activated. In the first mode, the controller(s) produce a first alert to inform that constraint of the surgical tool is occurring in relation to the first boundary. The controller(s) control movement of the surgical tool in a second mode wherein the first boundary is deactivated, and the surgical tool is constrained in relation to the second boundary. In the second mode, the controller(s) produce a second alert to inform that constraint of the surgical tool is occurring in relation to the second boundary.
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
65.
SYSTEM AND METHOD FOR GENERATING A PATIENT-SPECIFIC MILLING PATH
A computer-implemented method is provided. The computer-implemented method generates a milling path for a tool of a surgical system, the milling path designed to enable the tool to resect material from a bone, the method including obtaining a model of the bone, intersecting an allowed volume with the model for defining a resection volume intended to be removed from the bone, and generating a plurality of sections. The method also includes, for a section, identifying a sub-volume of the resection volume corresponding to the section; generating milling path segments designed to enable the tool to remove the sub-volume of the resection volume; identifying, for the sub-volume of the resection volume, a region to be avoided by the tool; generating transition path segments designed to avoid the region; and generating the milling path by combining the milling path segments and the transition path segments.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
66.
DEVICES, SYSTEMS, AND METHODS FOR JOINT PARAMETER VISUALIZATION
Systems and methods are disclosed for receiving imaging data of a joint, determining gap parameter information based on the imaging data, generating a graphical user interface (GUI) configured to display a three-dimensional element comprising a plurality of sub-elements, determining which of the plurality of sub-elements correspond to the determined gap parameter information, and generating a display of the GUI, wherein at least one sub-element is associated with the determined gap parameter information.
Surgical systems involve a robotic manipulator that moves a surgical tool to remove material from a workpiece and a navigation system to track a pose of the surgical tool relative to the workpiece. A control system determines a non-homogenous density distribution of the workpiece. The control system generates a tool path based on the density distribution. The control system controls the robotic manipulator to move the surgical tool along the tool path to remove the material from the workpiece while accounting for the density distribution. As the surgical tool moves along the tool path, the control system adjusts one or more operating parameters of the surgical tool to account for the density distribution, such as by adjusting the feed rate of the surgical tool, the cutting speed of the surgical tool, and/or the cutting depth of the surgical tool.
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 17/17 - Dispositifs de guidage pour les forets
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G05B 19/4093 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par la programmation de pièce, p. ex. introduction d'une information géométrique dérivée d'un dessin technique, combinaison de cette information avec l'information d'usinage et de matériau pour obtenir une information de commande, appelée programme de pièce, pour la machine à commande numérique [CN]
68.
SYSTEMS AND METHODS FOR ROBOTIC INFECTION TREATMENT OF A PROSTHESIS
A system for debriding an infected implant area includes an ultrasonic tool, a navigation system for tracking movement of the ultrasonic tool, and a processing circuit programmed to determine an area to debride and control the ultrasonic tool to automatically adjust a parameter of the ultrasonic tool to provide a first vibrational characteristic when debridement is of a surface of the implant and a second vibrational characteristic when the debridement is of patient tissue.
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/22 - Instruments pour comprimer les ulcères ou similaires placés sur les organes internes du corpsInstruments pour curer les cavités des organes du corps, p. ex. des osInstruments, dispositifs ou procédés chirurgicaux pour l'élimination ou la destruction invasives des calculs utilisant des vibrations mécaniquesInstruments, dispositifs ou procédés chirurgicaux pour l'élimination non prévue ailleurs des obstructions dans les vaisseaux sanguins
A61B 18/18 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par application de radiations électromagnétiques, p. ex. de micro-ondes
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A method of operating a joint positioner includes securing a first holder of the joint positioner to a first portion of a limb and a second holder of the joint positioner to a second portion of the limb, manually articulating a mechanical arm extending between the first holder and the second holder to a position causing tension in soft tissue of the limb, and switching between a first mode in which arm segments of the mechanical arm are manually repositionable and a second mode in which the mechanical arm is fixed in the position.
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61G 13/12 - Appuis qui leur sont spécialement adaptésDisposition des surfaces pour supporter des patients
70.
SURGICAL SYSTEM FOR POSITIONING PROSTHETIC COMPONENT AND/OR FOR CONSTRAINING MOVEMENT OF SURGICAL TOOL
A method for registering a virtual model of a bone to the bone includes displaying, on the virtual model of the bone, a plurality of registration points indicating locations on the bone to be touched with a tracked probe, tracking positions of the tracked probe as the tracked probe is moved to the locations on the bone, and registering the virtual model of the bone to the bone based on tracked positions of the tracked probe corresponding to the plurality of registration points.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
Systems and methods are disclosed for receiving imaging data of a joint, determining gap parameter information based on the imaging data, generating a graphical user interface (GUI) configured to display a three-dimensional element comprising a plurality of sub-elements, determining which of the plurality of sub-elements correspond to the determined gap parameter information, and generating a display of the GUI, wherein at least one sub-element is associated with the determined gap parameter information.
G06T 19/00 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie
A61F 2/00 - Filtres implantables dans les vaisseaux sanguinsProthèses, c.-à-d. éléments de substitution ou de remplacement pour des parties du corpsAppareils pour les assujettir au corpsDispositifs maintenant le passage ou évitant l'affaissement de structures corporelles tubulaires, p. ex. stents
A surgical driving system includes a driver and a cutting accessory. The driver includes a body driven by a motor. First and second arms project from the body, each arm having its own alignment tip. The arms define a channel between each other. The alignment tips are offset. Each tip includes two alignment surfaces facing away from each other. The cutting accessory includes a distal portion having a cutting tip and being coupled to a tool shaft. A proximal portion of the cutting accessory is coupled to the tool shaft and received within the channel. The proximal portion has a drive section with a flat to engage the arms of the driver. The proximal portion also has an alignment section separate from and proximal to the drive section to engage the alignment tips of the driver to orient the drive section relative to the arms.
A method of operation of a robotically-assisted surgical system includes capturing a first pose of a surgical tool during the operation of the robotically-assisted surgical system, intraoperatively defining a target orientation for the surgical tool using the first pose of the surgical tool, and controlling a robotic device to automatically move the surgical tool to the target orientation.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
G05B 15/02 - Systèmes commandés par un calculateur électriques
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 40/67 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement à distance
74.
SYSTEMS AND METHODS FOR ADAPTIVE PLANNING AND CONTROL OF A SURGICAL TOOL
A method of assisting a joint arthroplasty procedure for a joint comprising a bone includes determining, by tracking a cutting tool during a first stage of modifying the bone with the cutting tool, a surface corresponding to a bone modification created by the cutting tool during the first stage of modifying the bone, generating, based on the surface and an implant geometry, a planned bone resection to be completed during a second stage of modifying the bone, and assisting, by a robot controlled using the planned bone resection, execution of the second stage of modifying the bone.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A clamp assembly for use with a surgical attachment system for fixing a navigation tracker to a portion of bone. The clamp assembly includes a first clamp jaw with a first engagement surface and a second clamp jaw with a second engagement surface. The clamp assembly includes a linear driver with a shaft. The second clamp jaw is coupled to the first clamp jaw at a fixed pivot and coupled to the shaft at a moving pivot. The linear driver translates the shaft in a first direction to pivot the second engagement surface towards the first engagement surface. The linear driver translates the shaft in a second direction opposite to the first direction to pivot the second engagement surface away from the first engagement surface.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
The present teachings provide for a hand-held robotic instrument for use with a surgical tool. In one configuration, the instrument comprises a housing configured to be held by a user, the housing defining a remote axis of motion. Control systems for controlling the hand-held robotic instrument are also contemplated, which are capable of switching control modes based on fixation, boundaries, and/or frames.
A surgical system includes a robot arm, a shaft held by the robot arm at a mount between a first end of the shaft and a second end of the shaft, a power tool operable to provide a force at the first end of the shaft, and a control system programmed to control the robot arm to maintain the second end at an intended pose in an acetabulum of a patient.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A method includes generating a surgical plan for aligning a structure with a first bone segment and a second bone segment, and controlling a controllable guide structure to guide a cutting tool to sculpt the first bone segment, the second bone segment, and the structure based on the surgical plan. The method can include providing the first bone segment with a first bone mating surface by sculpting the first bone segment, providing the second bone segment with a second bone mating surface by sculpting the second bone segment, and providing, by sculpting the structure, the structure with at least one structure mating surface that is complementary to at least one of the first bone mating surface or the second bone mating surface.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A surgical robotics system includes a robot, a tool coupled to the robot, and control circuitry programmed to determine a movement of the tool to within a threshold distance relative to a planned path and control, in response to the movement, the robot to automatically move the tool to a target point on the planned path.
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 17/17 - Dispositifs de guidage pour les forets
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
80.
JOINT GAP BALANCING LEVER AND METHODS OF USE THEREOF
A method includes receiving a measurement of a force applied to a first bone of a joint via a distraction tool and determining a first gap distance between the first bone of the joint and a second bone of the joint and correlating the first gap distance with the measurement of the force. The method also includes causing, using the first gap distance and the measurement of the force, a modified force to be applied to the first bone, determining a second gap distance between the first bone of the joint and the second bone of the joint while the modified force is applied to the first bone, and creating an implant placement plan using the second gap distance and a measurement of the modified force.
A61B 17/02 - Instruments, dispositifs ou procédés chirurgicaux pour maintenir les blessures ouvertes, p. ex. rétracteursÉcarteurs
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
81.
Tool Assembly, Systems, And Methods For Manipulating Tissue
Tool assemblies, system, and methods for manipulating tissue and methods for performing a surgical procedure on a vertebral body adjacent soft tissue. A dilator probe is configured to be attached to a robotic manipulator. A sleeve is disposed coaxially around the dilator probe and releasably engaged with the dilator probe. A navigation system tracks the vertebral body and defines an insertion trajectory with respect to the vertebral body. Controller(s) control the robotic manipulator to align the dilator probe and the sleeve to the insertion trajectory and advance the dilator probe and the sleeve along the insertion trajectory to penetrate the soft tissue. After penetration of the soft tissue, the sleeve remains embedded in the soft tissue and the dilator probe is robotically or manually retracted to disengage from the sleeve to enable the sleeve to create a working channel through the soft tissue.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/70 - Dispositifs de mise en position ou de stabilisation de la colonne vertébrale, p. ex. stabilisateurs comprenant un liquide de remplissage dans un implant
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
Surgical systems and methods involve a first and second trackers with trackable elements and which are independently secured to a bone and separated by a distance. A localizer tracks the trackable elements. Controller(s) define a tracking arrangement based on a combination of the trackable elements from the trackers. The controller(s) register a geometry of the tracking arrangement relative to the bone and track the bone by detection of the registered geometry. The controller(s) detect a condition wherein at least one trackable element has been displaced relative to the registered geometry. The controller(s) register a position of an anatomical landmark of the bone and use the landmark to identify the at least one trackable element that has been displaced.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/56 - Instruments ou procédés chirurgicaux pour le traitement des os ou des articulationsDispositifs spécialement adaptés à cet effet
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
83.
Systems And Methods For Controlling Movement Of A Surgical Tool Along A Predefined Path
Robotic surgical systems and methods for controlling movement of a surgical tool involve a manipulator, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a virtual boundary for the tool that is a three-dimensional and elongated virtual tube to predefine a tool path for the tool. The control system defines virtual constraints to constrain movement of the surgical tool to be along the tool path defined by the virtual tube. An input is received from the force/torque sensor in response to user forces and torques manually applied to the tool by a user. The control system simulates dynamics of the tool in a virtual simulation based on the virtual constraints and the input from the force/torque sensor and commands the manipulator to advance the tool along the tool path based on the virtual simulation.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Surgical systems and methods involving a reamer tool and a surgical robotic arm. The reamer tool has a shaft, a tool engagement surface coupled to the shaft, and a reamer head attached to the shaft. The surgical robotic arm supports a guide that can receive the reamer tool. The guide has a pair of arms, each arm extending to an arm end and the arm ends being spaced apart from one another to provide an opening between the arm ends. A channel is formed between the arms. The guide enables a portion of the shaft to move through the opening between the arm ends such that the shaft portion can enter and exit the channel. The arms define a guide engagement surface that is arc-shaped and that enables contact with the tool engagement surface to facilitate alignment of the reamer tool and the guide.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61F 2/46 - Outils particuliers pour l'implantation des articulations artificielles
85.
Packaging Systems And Methods For Mounting A Tool On A Surgical Device
A packaging body for use with an elongated tool that includes a distal cutting bur, a first shaft portion proximal to the distal cutting bur, and a second shaft portion extending from the first shaft portion. The packaging body has a distal casing with first and second distal sections. The distal sections each have a distal cavity being shaped to conform to the distal cutting bur and the first shaft portion. The distal sections are configured to couple to one another to collectively encase the distal cutting bur and the first shaft portion within the distal cavities. The packaging body includes a proximal section with a proximal cavity that is elongated and sized to receive the second shaft portion. A packaged tool assembly can include the packaging body that houses the elongated tool or a sealed pouch that includes the packaging body and the elongated tool disposed therein.
A61B 50/30 - Récipients spécialement adaptés à l'emballage, la protection, la distribution, la collecte ou l'élimination des appareils ou des instruments chirurgicaux ou de diagnostic
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/3215 - Emballages ou distributeurs, p. ex. pour lames de bistouri
A61B 50/00 - Récipients, étuis, mobilier ou supports spécialement adaptés aux appareils ou aux instruments chirurgicaux ou de diagnostic, p. ex. étuis stériles
A61B 50/20 - Équipements de support spécialement adaptés aux appareils ou aux instruments chirurgicaux ou de diagnostic
B65D 17/28 - Réceptacles rigides ou semi-rigides spécialement conçus pour être ouverts par coupage ou perçage, ou en perçant ou en déchirant des éléments ou des parties frangibles le long de lignes ou à partir de points de moindre résistance
B65D 75/36 - Objets ou matériaux enveloppés entre deux feuilles ou flans opposés à bords réunis, p. ex. par adhésifs à pression, pliage, thermosoudage ou soudage une ou les deux feuilles ou flans étant renfoncés pour épouser la forme du contenu une feuille ou un flan étant renfoncés et l'autre fait d'une feuille plate relativement rigide, p. ex. empaquetage pour ampoules
86.
SURGICAL ROBOTICS SYSTEM WITH TOOL AXIS REGISTRATION
A surgical robotics method includes capturing points along a surface of a cutting tool by tracking a probe, deriving a tool axis from relative locations of the points, and controlling, using the tool axis, a robot that interfaces with the cutting tool.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
G06F 3/033 - Dispositifs de pointage déplacés ou positionnés par l'utilisateurLeurs accessoires
G06F 3/0338 - Dispositifs de pointage déplacés ou positionnés par l'utilisateurLeurs accessoires avec détection du déplacement linéaire ou angulaire limité d’une partie agissante du dispositif à partir d’une position neutre, p. ex. manches à balai isotoniques ou isométriques
G06F 3/0346 - Dispositifs de pointage déplacés ou positionnés par l'utilisateurLeurs accessoires avec détection de l’orientation ou du mouvement libre du dispositif dans un espace en trois dimensions [3D], p. ex. souris 3D, dispositifs de pointage à six degrés de liberté [6-DOF] utilisant des capteurs gyroscopiques, accéléromètres ou d’inclinaison
G06F 3/0482 - Interaction avec des listes d’éléments sélectionnables, p. ex. des menus
G06F 3/04847 - Techniques d’interaction pour la commande des valeurs des paramètres, p. ex. interaction avec des règles ou des cadrans
A method for treating a bone includes cutting away a portion of the bone, including cutting non-planar features into the bone for engagement by implant components. The method further includes fitting the multiple implant components to the bone, with at least some of the multiple implant components engaging the non-planar features cut into the bone. The implant components interlock such that later added implant components secure earlier added implant components in place on the bone.
A surgical system and method involve a robotic system with a base and a localizer that monitors a tracker supported by the robotic system. Controller(s) determine a relationship between the base and the localizer. The controller(s) monitor the relationship to detect an error related to one or both of the robotic system and the localizer. In response to detection of the error, the controller(s) modify operation of the robotic system.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Surgical systems and methods involve a robotic arm with a first mounting portion that releasably receives a sterile barrier assembly and a second mounting portion associated with a surgical component. An illumination device is coupled to the robotic arm. Controller(s) detect, using one or more sensors, a condition associated with installation of one or more of the sterile barrier assembly and the second mounting portion to the first mounting portion. The controller(s) control the illumination device to indicate the condition to a user.
A surgical method includes operating, by a surgical robot, in a first mode, detecting a crossing of an object from a first side of a boundary to a second side of the boundary, switching, in response to the crossing of the object from the first side of the boundary to the second side of the boundary, the surgical robot from the first mode to a second mode, and operating, by the surgical robot, in the second mode.
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 17/17 - Dispositifs de guidage pour les forets
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
91.
SYSTEMS AND METHODS FOR PREOPERATIVE PLANNING AND POSTOPERATIVE ANALYSIS OF SURGICAL PROCEDURES
A system for determining accuracy of a surgical procedure to implant an implant on a patient bone. The system including at least one computing device configured to perform the following steps. Receive preoperative patient data including preoperative images of the patient bone and planned implant position and orientation data. Receive postoperative patient data including postoperative images of the patient bone and an implant implanted on the patient bone. Segment the patient bone and the implant from the postoperative images of the patient bone and the implant. Register separately the patient bone and the implant from the postoperative images to the patient bone from the preoperative images. And compare an implanted position and orientation of the implant from the postoperative images relative to the patient bone from the preoperative images to the planned implant position and orientation data relative to the patient bone from the preoperative images.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A method of operating a robotic device includes tracking movement of a tool coupled to the robotic device, determining a direction of movement of the tool, determining whether the direction of movement points towards a virtual control object, and, in response to a determination that the direction of movement points towards the virtual control object, controlling the robotic device to guide the tool to the virtual control object.
A surgical tracker assembly includes a tracker body including a first connector. The surgical tracker assembly also includes a mount assembly couplable to the tracker body. The mount assembly includes a second connector engageable with the first connector in at least a first position and a second position different from the first position. One of the first connector and the second connector includes a multipositional receptacle extending between a first receptacle end and a second receptacle end. The first receptacle end defines a first opening, and the second receptacle end defines a second opening. The other of the first connector and the second connector includes a projection disposable in the first opening to couple the tracker body to the mount assembly in the first position and disposable in the second opening to couple to the tracker body to the mount assembly in the second position.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
94.
Surgical Tracker Assemblies With Optimized Size, Weight, And Accuracy
A surgical tracker assembly includes a tracker body including a first connector. The surgical tracker assembly also includes a mount assembly couplable to the tracker body. The mount assembly includes a second connector engageable with the first connector in at least a first position and a second position different from the first position. One of the first connector and the second connector includes a multipositional receptacle extending between a first receptacle end and a second receptacle end. The first receptacle end defines a first opening, and the second receptacle end defines a second opening. The other of the first connector and the second connector includes a projection disposable in the first opening to couple the tracker body to the mount assembly in the first position and disposable in the second opening to couple to the tracker body to the mount assembly in the second position.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
95.
SYSTEMS AND METHODS FOR IMPLANTATION OF SPINAL PLATE
A method includes tracking three or more bones of a patient, planning a planned alignment between the three or more bones, and creating an implant placement plan based on the planned alignment. The implant placement plan includes a placement of a plate across the three or more bones. The method also includes robotically assisting preparation of the three or more bones to receive the plate in accordance with the implant placement plan.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/02 - Instruments, dispositifs ou procédés chirurgicaux pour maintenir les blessures ouvertes, p. ex. rétracteursÉcarteurs
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 17/56 - Instruments ou procédés chirurgicaux pour le traitement des os ou des articulationsDispositifs spécialement adaptés à cet effet
A61B 17/70 - Dispositifs de mise en position ou de stabilisation de la colonne vertébrale, p. ex. stabilisateurs comprenant un liquide de remplissage dans un implant
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
A61F 2/44 - Articulations pour l'épine dorsale, p. ex. vertèbres, disques intervertébraux
Surgical systems and methods involve a head-mounted device (HMD) and navigation system that includes a localizer to track a pose of a surgical object. The HMD includes a display positionable in front of the eyes of a user and an input device to sense a command of the user. The HMD enables the surgical object to be observed on, or through, the display. The HMD presents a virtual model of the surgical object on the display. The HMD senses, with the input device, the command of the user to manipulate the virtual model into alignment with the surgical object. Controller(s) coupled to one or both of the navigation system and the HMD co-register the virtual model and the surgical object in response to detection of alignment between the virtual model and the surgical object.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
A61F 2/46 - Outils particuliers pour l'implantation des articulations artificielles
97.
MOTORIZED ORTHOPEDIC TENSOR AND METHODS OF USING THE SAME
Systems and methods related to an orthopedic tensor for a knee joint. The tensor is motorized and operates in a force control mode and a displacement control mode. A control system controls the tensor in the force control mode to apply forces to the knee joint until a predetermined force is reached. The control system captures a plurality of force-displacement data pairs from the tensor as a result of the forces applied by the tensor in the force control mode. Control of the tensor is switched from the force control mode to the displacement control mode to perform an extension test whereby a displacement of the tensor is progressively decreased according to displacements from the plurality of force-displacement data pairs until the knee joint can reach an acceptable full extension pose during, or after completion of, the extension test.
A61B 17/02 - Instruments, dispositifs ou procédés chirurgicaux pour maintenir les blessures ouvertes, p. ex. rétracteursÉcarteurs
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61F 2/46 - Outils particuliers pour l'implantation des articulations artificielles
A61B 5/11 - Mesure du mouvement du corps entier ou de parties de celui-ci, p. ex. tremblement de la tête ou des mains ou mobilité d'un membre
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
98.
Motorized Orthopedic Tensor And Methods Of Using The Same
Systems and methods related to an orthopedic tensor for a knee joint. The tensor is motorized and operates in a force control mode and a displacement control mode. A control system controls the tensor in the force control mode to apply forces to the knee joint until a predetermined force is reached. The control system captures a plurality of force-displacement data pairs from the tensor as a result of the forces applied by the tensor in the force control mode. Control of the tensor is switched from the force control mode to the displacement control mode to perform an extension test whereby a displacement of the tensor is progressively decreased according to displacements from the plurality of force-displacement data pairs until the knee joint can reach an acceptable full extension pose during, or after completion of, the extension test.
A surgical system includes a tool operable to modify a bone and circuitry programmed to orient a voxel grid relative to a model of the bone based on a planned bone modification and generate, using the voxel grid, a visualization of progress of the tool in executing the planned bone modification based on tracking data indicative of positions of the tool.
A tracker mount includes a fastener assembly, a sleeve assembly to be disposed over the fastener assembly, and a tracker interface coupled to the sleeve assembly and configured to removably attach to a tracker. The fastener assembly includes a fastener adapted to be attached to a bone and a first keying feature. The sleeve assembly includes a sleeve, which includes a body defining a channel including a second keying feature to interface with the first keying feature to prevent rotation of the sleeve relative to the fastener assembly. The sleeve assembly includes an engagement feature at a distal part of the sleeve to engage a surface of the bone.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
