Robot for use with orthopaedic inserts
First Claim
1. A surgical system comprising:
- a robot connected to a bone, with which is associated an orthopaedic insert having at least one predrilled hole for attaching said insert to said bone;
a drill guiding plate carried by said robot, said guiding plate having at least one hole for guiding a drill into said bone and through said at least one predrilled hole;
an imaging system generating at least one image including said drill guiding plate and said at least one predrilled hole; and
a computational system utilizing data from said at least one image to align said robot such that the axis of said at least one hole defined by said drill guiding plate is aligned essentially colinearly with the axis of said at least one predrilled hole defined by said insert.
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Accused Products
Abstract
A robot-guided system to assist orthopaedic surgeons in performing orthopaedic surgical procedures on pre-positioned inserts, including for the fixation of bone fractures, and especially for use in long bone distal intramedullary locking procedures. The system provides a mechanical guide for drilling the holes for distal screws in intramedullary nailing surgery. The drill guide is automatically positioned by the robot relative to the distal locking nail holes, using data derived from only a small number of X-ray fluoroscopic images. The system allows the performance of the locking procedure without trial and error, thus enabling the procedure to be successfully performed by less experienced surgeons, reduces exposure of patient and operating room personnel to radiation, shortens the intra-operative time, and thus reduces post-operative complications.
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Citations
39 Claims
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1. A surgical system comprising:
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a robot connected to a bone, with which is associated an orthopaedic insert having at least one predrilled hole for attaching said insert to said bone;
a drill guiding plate carried by said robot, said guiding plate having at least one hole for guiding a drill into said bone and through said at least one predrilled hole;
an imaging system generating at least one image including said drill guiding plate and said at least one predrilled hole; and
a computational system utilizing data from said at least one image to align said robot such that the axis of said at least one hole defined by said drill guiding plate is aligned essentially colinearly with the axis of said at least one predrilled hole defined by said insert. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An imaging system comprising:
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a radiation source for illuminating a target to be imaged, said target having at least one predefined hole;
a target guide having at least a second predefined hole, whose axis is to be brought into coincidence with the axis of said at least one predefined hole of said target;
a robot on which said target guide is mounted, for bringing the axes of said at least one target guide hole and said at least one target hole into coincidence;
an image intensifier generating images of said target and said target guide; and
a computation system comprising;
a first position localizing module, which computes the position of said at least one target guide hole from an image thereof;
a second position localizing module, which computes the position of said at least one target hole from an image thereof; and
a registration unit adapted to determine a spatial relationship between said at least one target guide hole and said at least one target hole. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. In an imaging system, a method of bringing the positions of the axes of a hole defined by a target guide and a hole defined by said target into coincidence, comprising the steps of:
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localizing the position of said target guide hole from at least one image thereof;
localizing the axis of said target hole from at least one image thereof; and
registering said localized target guide hole with said axis of said target hole. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39)
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Specification