JP7455227B2 - 誘導手術ロボット用スプリント器具 - Google Patents
誘導手術ロボット用スプリント器具 Download PDFInfo
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- JP7455227B2 JP7455227B2 JP2022560281A JP2022560281A JP7455227B2 JP 7455227 B2 JP7455227 B2 JP 7455227B2 JP 2022560281 A JP2022560281 A JP 2022560281A JP 2022560281 A JP2022560281 A JP 2022560281A JP 7455227 B2 JP7455227 B2 JP 7455227B2
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- JP
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- Prior art keywords
- splint
- splint body
- instrument
- tracking
- fiducial marker
- 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.)
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- 238000001356 surgical procedure Methods 0.000 title description 27
- 239000003550 marker Substances 0.000 claims description 30
- 210000004373 mandible Anatomy 0.000 claims description 15
- 210000002050 maxilla Anatomy 0.000 claims description 12
- 229910010293 ceramic material Inorganic materials 0.000 claims description 4
- 238000002432 robotic surgery Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000004593 Epoxy Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 208000002354 Edentulous Jaw Diseases 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/082—Positioning or guiding, e.g. of drills
- A61C1/084—Positioning or guiding, e.g. of drills of implanting tools
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
- A61C5/007—Dental splints; teeth or jaw immobilisation devices; stabilizing retainers bonded to teeth after orthodontic treatments
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/082—Positioning or guiding, e.g. of drills
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00725—Calibration or performance testing
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/363—Use of fiducial points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3966—Radiopaque markers visible in an X-ray image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Pathology (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Description
Claims (9)
- 誘導ロボット手術用スプリント器具であって、前記器具は、
第1及び第2の端部と、対向する凹面及び凸面とを有する弧状スプリント本体であって、スプリント本体は第1及び第2の端部の間で間隔を置いて配置された複数の孔を画定し、各孔は凹面と凸面との間に延在するスプリント本体と、
複数の孔それぞれに受容され、かつ、ドリルガイドまたは締結具ガイドとして構成されるスリーブと、
追跡部であって、孔の少なくとも1つが追跡部と第1及び第2の端部のそれぞれとの間に配置されるように、第1及び第2の端部の間でスプリント本体の凸面と係合し、、該追跡部は凸面から外側に延在する追跡部と、
追跡部と係合するキネマティックマウントと、
を備える、スプリント器具。 - スリーブは金属材料又はセラミック材料からなる、請求項1に記載の器具。
- キネマティックマウントは追跡部と一体的に形成される、請求項1に記載の器具。
- 隣接する孔の間でスプリント本体を横切って延在する分離可能部を備え、分離可能部はスプリント本体の長さの調整を容易にするように切断可能に構成される、請求項1に記載の器具。
- 分離可能部は、隣接する孔の間でスプリント本体の減少した断面厚さを備える、請求項4に記載の器具。
- スプリント本体又は追跡部の外面によって画定された凹部によって受容される基準マーカ要素であって、キネマティックマウントに対して所定の位置に受容される基準マーカ要素を備える、請求項1に記載の器具。
- 基準マーカ要素は球形であり、凹部は球形の基準マーカ要素を受容するように構成された半球形又は細長凹状チャネルである、請求項6に記載の器具。
- スプリント本体又は追跡部と係合する工具較正部であって、キネマティックマウントに対して所定の位置に配置される工具較正部を備える、請求項1に記載の器具。
- スプリント本体の凹面は下顎の湾曲又は上顎の湾曲に一致するように構成される、請求項1に記載の器具。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US202063002074P | 2020-03-30 | 2020-03-30 | |
US63/002,074 | 2020-03-30 | ||
PCT/IB2021/052651 WO2021198923A1 (en) | 2020-03-30 | 2021-03-30 | Splint device for guided surgical robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2023525459A JP2023525459A (ja) | 2023-06-16 |
JP7455227B2 true JP7455227B2 (ja) | 2024-03-25 |
Family
ID=75581542
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022560281A Active JP7455227B2 (ja) | 2020-03-30 | 2021-03-30 | 誘導手術ロボット用スプリント器具 |
Country Status (9)
Country | Link |
---|---|
US (1) | US20230131343A1 (ja) |
EP (1) | EP4125682A1 (ja) |
JP (1) | JP7455227B2 (ja) |
KR (1) | KR20220156903A (ja) |
CN (1) | CN115734763A (ja) |
CA (1) | CA3174240A1 (ja) |
IL (1) | IL296940A (ja) |
TW (1) | TW202203862A (ja) |
WO (1) | WO2021198923A1 (ja) |
Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050228256A1 (en) | 2004-03-22 | 2005-10-13 | Vanderbilt University | System and method for surgical instrument disablement via image-guided position feedback |
US20060281991A1 (en) | 2003-05-09 | 2006-12-14 | Fitzpatrick J M | Fiducial marker holder system for surgery |
US20090209852A1 (en) | 2005-03-02 | 2009-08-20 | Calypso Medical Technologies, Inc. | Systems and Methods for Treating a Patient Using Guided Radiation Therapy or Surgery |
US20130009657A1 (en) | 2011-07-04 | 2013-01-10 | Hon Hai Precision Industry Co., Ltd. | Detection device |
US20150133956A1 (en) | 2013-11-10 | 2015-05-14 | Brainsgate Ltd. | Implant and delivery system for neural stimulator |
US20160278875A1 (en) | 2006-02-16 | 2016-09-29 | Globus Medical, Inc. | Surgical tool systems and methods |
US20160367343A1 (en) | 2014-03-04 | 2016-12-22 | Neocis, Inc. | Surgical robot system for integrated surgical planning and implant preparation, and associated method |
JP2017509450A (ja) | 2014-01-23 | 2017-04-06 | ヴィジュアレーズ,インコーポレーテッド | 定位アクセスデバイス及び方法 |
US20170105802A1 (en) | 2014-03-27 | 2017-04-20 | Bresmedical Pty Limited | Computer aided surgical navigation and planning in implantology |
US20170265974A1 (en) | 2013-12-27 | 2017-09-21 | James R. Glidewell Dental Ceramics, Inc. | Apparatus and Methods of Making Denture Devices |
US20170348055A1 (en) | 2016-06-06 | 2017-12-07 | Neocis Inc. | Splint device for forming a fiducial marker for a surgical robot guidance system, and associated method |
JP2018110841A (ja) | 2016-11-10 | 2018-07-19 | グローバス メディカル インコーポレイティッド | 外科用システムのための位置合わせをチェックするシステム及び方法 |
WO2018158551A1 (fr) | 2017-03-03 | 2018-09-07 | Modjaw | Dispositif de fixation mandibulaire d'un marqueur de localisation |
JP2019506929A (ja) | 2016-01-08 | 2019-03-14 | ボストン サイエンティフィック サイムド,インコーポレイテッドBoston Scientific Scimed,Inc. | 手術器具を案内するための装置及び方法 |
-
2021
- 2021-03-25 TW TW110110846A patent/TW202203862A/zh unknown
- 2021-03-30 WO PCT/IB2021/052651 patent/WO2021198923A1/en unknown
- 2021-03-30 CN CN202180030886.2A patent/CN115734763A/zh active Pending
- 2021-03-30 US US17/915,863 patent/US20230131343A1/en active Pending
- 2021-03-30 EP EP21719969.4A patent/EP4125682A1/en active Pending
- 2021-03-30 KR KR1020227036547A patent/KR20220156903A/ko active Search and Examination
- 2021-03-30 CA CA3174240A patent/CA3174240A1/en active Pending
- 2021-03-30 JP JP2022560281A patent/JP7455227B2/ja active Active
- 2021-03-30 IL IL296940A patent/IL296940A/en unknown
Patent Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060281991A1 (en) | 2003-05-09 | 2006-12-14 | Fitzpatrick J M | Fiducial marker holder system for surgery |
US20050228256A1 (en) | 2004-03-22 | 2005-10-13 | Vanderbilt University | System and method for surgical instrument disablement via image-guided position feedback |
US20090209852A1 (en) | 2005-03-02 | 2009-08-20 | Calypso Medical Technologies, Inc. | Systems and Methods for Treating a Patient Using Guided Radiation Therapy or Surgery |
US20160278875A1 (en) | 2006-02-16 | 2016-09-29 | Globus Medical, Inc. | Surgical tool systems and methods |
US20130009657A1 (en) | 2011-07-04 | 2013-01-10 | Hon Hai Precision Industry Co., Ltd. | Detection device |
US20150133956A1 (en) | 2013-11-10 | 2015-05-14 | Brainsgate Ltd. | Implant and delivery system for neural stimulator |
US20170265974A1 (en) | 2013-12-27 | 2017-09-21 | James R. Glidewell Dental Ceramics, Inc. | Apparatus and Methods of Making Denture Devices |
JP2017509450A (ja) | 2014-01-23 | 2017-04-06 | ヴィジュアレーズ,インコーポレーテッド | 定位アクセスデバイス及び方法 |
US20160367343A1 (en) | 2014-03-04 | 2016-12-22 | Neocis, Inc. | Surgical robot system for integrated surgical planning and implant preparation, and associated method |
US20170105802A1 (en) | 2014-03-27 | 2017-04-20 | Bresmedical Pty Limited | Computer aided surgical navigation and planning in implantology |
JP2019506929A (ja) | 2016-01-08 | 2019-03-14 | ボストン サイエンティフィック サイムド,インコーポレイテッドBoston Scientific Scimed,Inc. | 手術器具を案内するための装置及び方法 |
US20170348055A1 (en) | 2016-06-06 | 2017-12-07 | Neocis Inc. | Splint device for forming a fiducial marker for a surgical robot guidance system, and associated method |
JP2018110841A (ja) | 2016-11-10 | 2018-07-19 | グローバス メディカル インコーポレイティッド | 外科用システムのための位置合わせをチェックするシステム及び方法 |
WO2018158551A1 (fr) | 2017-03-03 | 2018-09-07 | Modjaw | Dispositif de fixation mandibulaire d'un marqueur de localisation |
US20200237265A1 (en) | 2017-03-03 | 2020-07-30 | Modjaw | Device for mandibular attachment of a localization marker |
Also Published As
Publication number | Publication date |
---|---|
CN115734763A (zh) | 2023-03-03 |
IL296940A (en) | 2022-12-01 |
CA3174240A1 (en) | 2021-10-07 |
WO2021198923A1 (en) | 2021-10-07 |
JP2023525459A (ja) | 2023-06-16 |
TW202203862A (zh) | 2022-02-01 |
KR20220156903A (ko) | 2022-11-28 |
US20230131343A1 (en) | 2023-04-27 |
EP4125682A1 (en) | 2023-02-08 |
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