JP2001506889A - 整形外科手術時の外科器具の位置決めおよび案内装置 - Google Patents
整形外科手術時の外科器具の位置決めおよび案内装置Info
- Publication number
- JP2001506889A JP2001506889A JP52837698A JP52837698A JP2001506889A JP 2001506889 A JP2001506889 A JP 2001506889A JP 52837698 A JP52837698 A JP 52837698A JP 52837698 A JP52837698 A JP 52837698A JP 2001506889 A JP2001506889 A JP 2001506889A
- Authority
- JP
- Japan
- Prior art keywords
- tactile
- arm
- mounting plate
- coordinate system
- coordinates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
- A61B17/1666—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the acetabulum
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
- A61B17/175—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip for preparing the femur for hip prosthesis insertion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39021—With probe, touch reference positions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39026—Calibration of manipulator while tool is mounted
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45117—Medical, radio surgery manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.端側に取り付け板を有するプログラム制御される多関節型のロボットームを 備えた工業ロボットと、 取り付け板に保持された、整形外科手術のための器具と、 コンピュータを備えたプログラム制御装置とを具備し、 プログラム制御装置で定められた器具座標系内で関節位置を検知するための センサがロボットアームの関節に配置され、ロボットアームがプログラム制御 装置によって外科手術のための作業位置に移動可能である、 整形外科手術の際に外科器具を位置決めおよび案内するための装置において 、 工業ロボットの器具座標系内で物体を三次元測定するための、手動で案内す ることができるセンサ装置(4,4’)を備え、プログラム制御装置によって 予め設定され前もって到達したロボットアーム(1)の基本位置において、患 者の骨上の基準点がセンサ装置(4,4’)によって検知可能であり、器具座 標系に関する基準点の座標から、コンピュータがロボットアーム(1)の作業 位置を算出することを特徴とする装置。 2.センサ装置が取り付け板(2)に接続された多関節の触知アーム(4)を備 え、この触知アームが関節位置を検知するためのセンサを有する関節(5)を 備えていることを特徴とする請求項1記載の装置。 3.触知アーム(4)が6個の関節を備えていることを特徴とする請求項2記載 の装置。 4.センサ装置がコンピュータ(12)に接続された多関節型触知アーム(4) からなり、この触知アームが定置されて配置され、それによって患者の検知す べき骨と、基本位置に移動したロボットアーム(1)の取り付け板(2)が、 触知アーム(4)によって検知可能な作業空間内にあり、取り付け板(2)の 位置および方向と患者の骨上の検知された基準点が、触知アーム(4)によっ て、空間的に固定された三次元座標系内で算出され、コンピュータ(12)が 算出された空間座標を器具座標系の座標に変換することを特徴とする請求項1 記載の装置。 5.カメラによって手術中に患者の空間的な位置を検出するために付加的な監視 装置を備え、このカメラがマークピンの位置を検出し、このマークピンが外科 手術の前に骨に挿入され、マークピンの座標が、ロボットアーム(1)の作業 位置を調整する際に触知アーム(4)によって検知され、カメラによって検出 されたマークピンの位置変化がコンピュータで処理され、ロボットアーム(1 )の作業位置の補正がブログラム制御装置によって行われることを特徴とする 請求項1〜4のいずれか一つに記載の装置。 6.センサ装置が遠隔データ伝送を行う測定装置(4’)を備え、この測定装置 が定置された受信器(7)と、第1の送信器(9)と取り付け板(2)に設け られた第2の送信器(10)を有する触知ピン(8)を備え、送信器(9,1 0)が複数の信号発信器(11)を備え、この信号発信器が予め定められて動 かぬように空間的に配置され、かつ受信器(7)によって受信した位置測定信 号を発信し、位置測定信号から、触知ピン(8)と取り付け板(2)の位置と 方向が、空間的に固定された三次元座標系で算出され、触知ピン(8)と取り 付け板(2)の算出された空間座標がコンピュータ(12)に供給され、コン ピュータが触知ピン(8)の空間座標を器具座標系の座標に変換することを特 徴とする請求項1記載の装置。 7.センサ装置が遠隔データ伝送を行う測定装置(4’)を備え、この測定装置 が定置された受信器(7)と、送信器(9)を有する触知ピン(8)を備え、 送信器(9)が複数の信号発信器(11)を備え、この信号発信器が予め定め られて動かぬように空間的に配置され、かつ受信器(7)によって受信した位 置測定信号を発信し、位置測定信号から、触知ピン(8)の位置と方向が、空 間的に固定された三次元座標系で算出され、触知ピン(8)によって取り付け 板の少なくとも1つの基準点が検知可能であり、触知ピン(8)によって、取 り付け板(2)の位置と方向および患者の骨上で検知された基準点が、空間的 に固定された三次元座標系で算出され、コンピュータが算出された空間座標を 器具座標系の座標に変換することを特徴とする請求項1記載の装置。 8.少なくとも1個の基準ピンによって手術中の患者の空間的な位置を検出する ための付加的な監視装置を備え、この基準ピンが外科手術の前に患者の骨に固 定可能であり、かつ第3の送信器を備え、同様に複数の信号発信器を備えた基 準ピンの送信器が受信器によって受信された位置測定信号を発信することを特 徴とする請求項6または7記載の装置。 9.器具(3)が取り付け板(2)に固定されたキャリッジ上で軸方向に移動可 能に案内されていることを特徴とする請求項1〜8のいずれか一つに記載の装 置。 10.キャリッジ(6)が取り付け板(2)に対して一定の角度で、好ましくは垂 直に配置されていることを特徴とする請求項9記載の装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19653966.8 | 1996-12-21 | ||
DE19653966A DE19653966C2 (de) | 1996-12-21 | 1996-12-21 | Vorrichtung zum Positionieren und Führen eines chirurgischen Werkzeuges bei orthopädischen Eingriffen |
PCT/EP1997/007186 WO1998027887A1 (de) | 1996-12-21 | 1997-12-19 | Vorrichtung zum positionieren und führen eines chirurgischen werkzeuges bei orthopädischen eingriffen |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2001506889A true JP2001506889A (ja) | 2001-05-29 |
JP4118343B2 JP4118343B2 (ja) | 2008-07-16 |
Family
ID=7815977
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP52837698A Expired - Fee Related JP4118343B2 (ja) | 1996-12-21 | 1997-12-19 | 整形外科手術時の外科器具の位置決めおよび案内装置 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0957803B8 (ja) |
JP (1) | JP4118343B2 (ja) |
DE (3) | DE19653966C2 (ja) |
WO (1) | WO1998027887A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101114227B1 (ko) | 2009-07-08 | 2012-03-05 | 주식회사 이턴 | 수술용 로봇 및 그 세팅방법 |
KR101486866B1 (ko) * | 2005-12-27 | 2015-01-29 | 인튜어티브 서지컬 인코포레이티드 | 수술용 로봇을 위한 관절형 교환가능한 내시경 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6033415A (en) * | 1998-09-14 | 2000-03-07 | Integrated Surgical Systems | System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system |
GB0015683D0 (en) | 2000-06-28 | 2000-08-16 | Depuy Int Ltd | Apparatus for positioning a surgical instrument |
DE10146042A1 (de) * | 2001-09-18 | 2003-05-08 | Urs Universal Robot Systems Gm | Chirurgisches Instrument zum Bearbeiten einer knöchernen Struktur |
DE10246783A1 (de) * | 2002-10-08 | 2004-04-22 | Stotz-Feinmesstechnik Gmbh | Verfahren und Vorrichtung zum Handhaben von Objekten |
EP1633534B1 (en) | 2003-04-28 | 2018-09-12 | Nikon Metrology NV | Cmm arm with exoskeleton |
US6822412B1 (en) * | 2003-06-11 | 2004-11-23 | Zhongxue Gan | Method for calibrating and programming of a robot application |
DE102004054867B4 (de) | 2004-11-12 | 2018-03-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Mit sensorischer Intelligenz ausgestatteter Roboter |
GB2444738A (en) * | 2006-12-12 | 2008-06-18 | Prosurgics Ltd | Registration of the location of a workpiece within the frame of reference of a device |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03224553A (ja) * | 1990-01-30 | 1991-10-03 | Suzuki Eng:Kk | 医療用ドリルと内視鏡付きドリル装置 |
JPH04231034A (ja) * | 1990-05-11 | 1992-08-19 | Internatl Business Mach Corp <Ibm> | 手術用ロボット装置、骨中への空洞形成装置及び手術計画装置 |
JPH05500911A (ja) * | 1989-10-05 | 1993-02-25 | ディアディクス エス アー | 不均質組織内部における局部手術用対話型装置 |
WO1995007055A1 (fr) * | 1993-09-07 | 1995-03-16 | Deemed International S.A. | Installation pour operation de microchirurgie assistee par ordinateur et procedes mis en ×uvre par ladite installation |
JPH07265330A (ja) * | 1994-03-31 | 1995-10-17 | Shimadzu Corp | 手術器具の位置表示装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4882527A (en) * | 1987-10-16 | 1989-11-21 | Nissan Motor Co., Ltd. | Three-dimensional measuring robot |
DE69112538T2 (de) * | 1990-07-31 | 1996-03-21 | Faro Medical Technologies Us I | Computerunterstützte chirurgische Vorrichtung. |
DE19601857A1 (de) * | 1995-02-10 | 1996-08-14 | Siemens Ag | Vorrichtung zur Positionserfassung |
-
1996
- 1996-12-21 DE DE19653966A patent/DE19653966C2/de not_active Expired - Fee Related
- 1996-12-21 DE DE19655008A patent/DE19655008C2/de not_active Expired - Fee Related
-
1997
- 1997-12-19 EP EP97953883A patent/EP0957803B8/de not_active Expired - Lifetime
- 1997-12-19 JP JP52837698A patent/JP4118343B2/ja not_active Expired - Fee Related
- 1997-12-19 WO PCT/EP1997/007186 patent/WO1998027887A1/de active IP Right Grant
- 1997-12-19 DE DE59711475T patent/DE59711475D1/de not_active Expired - Lifetime
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05500911A (ja) * | 1989-10-05 | 1993-02-25 | ディアディクス エス アー | 不均質組織内部における局部手術用対話型装置 |
JPH03224553A (ja) * | 1990-01-30 | 1991-10-03 | Suzuki Eng:Kk | 医療用ドリルと内視鏡付きドリル装置 |
JPH04231034A (ja) * | 1990-05-11 | 1992-08-19 | Internatl Business Mach Corp <Ibm> | 手術用ロボット装置、骨中への空洞形成装置及び手術計画装置 |
WO1995007055A1 (fr) * | 1993-09-07 | 1995-03-16 | Deemed International S.A. | Installation pour operation de microchirurgie assistee par ordinateur et procedes mis en ×uvre par ladite installation |
JPH07265330A (ja) * | 1994-03-31 | 1995-10-17 | Shimadzu Corp | 手術器具の位置表示装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101486866B1 (ko) * | 2005-12-27 | 2015-01-29 | 인튜어티브 서지컬 인코포레이티드 | 수술용 로봇을 위한 관절형 교환가능한 내시경 |
KR101114227B1 (ko) | 2009-07-08 | 2012-03-05 | 주식회사 이턴 | 수술용 로봇 및 그 세팅방법 |
Also Published As
Publication number | Publication date |
---|---|
EP0957803B1 (de) | 2004-03-31 |
DE59711475D1 (de) | 2004-05-06 |
DE19655008A1 (de) | 2001-12-06 |
JP4118343B2 (ja) | 2008-07-16 |
DE19655008C2 (de) | 2003-10-23 |
EP0957803B8 (de) | 2005-04-20 |
WO1998027887A1 (de) | 1998-07-02 |
DE19653966C2 (de) | 1999-06-10 |
DE19653966A1 (de) | 1998-06-25 |
EP0957803A1 (de) | 1999-11-24 |
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