Device and method for instrument adjustment in computer assisted surgery
First Claim
1. A device for adjusting a position of a mobile part ofa surgical instrument with respect to a solid, tracked by a navigation system, wherein the surgical instrument comprises a fixed part that is rigidly fixed to the solid so as to be immobilized with respect to the solid and the mobile part that is attached to the fixed part by several screws, wherein a rotation of at least one screw about an axis of rotation thereof moves the mobile part with respect to the fixed part along said axis of rotation,the device comprising:
- a stem comprising a tip suited to a head of the screws, the stem having a longitudinal axis,a motorized system to drive the stem in rotation about the longitudinal axis,communication means with the navigation system, such that the navigation system is configured to transmit to the motorized system screw identification information comprising a number of turns to apply to the stem in a screwing or unscrewing direction to reach a target position of each screw,wherein the screws do not contact the solid, andthe axis of rotation and the longitudinal axis are parallel when the tip of the stem is positioned in the head of the respective screw for rotation thereof.
1 Assignment
0 Petitions
Accused Products
Abstract
The present invention relates to a device for adjusting the position of a surgical instrument (1) with respect to a solid (3) tracked by a navigation system (2), wherein the instrument (1) comprises a fixed part (11) that is rigidly fixed to the solid (3) and a mobile part (12) that is attached to the fixed part by screws (13), the device (4) comprising:
- a stem (41) comprising a tip (42) suited to the head (130) of the screws (13),
- a motorized system (45) for driving the stem (41) in rotation,
- a communication device with the navigation system (2), such that the navigation systems (2) transmits to the motorized system (45) the number of turns to apply to the stem (41) to reach the target position of each screw (13).
-
Citations
21 Claims
-
1. A device for adjusting a position of a mobile part of
a surgical instrument with respect to a solid, tracked by a navigation system, wherein the surgical instrument comprises a fixed part that is rigidly fixed to the solid so as to be immobilized with respect to the solid and the mobile part that is attached to the fixed part by several screws, wherein a rotation of at least one screw about an axis of rotation thereof moves the mobile part with respect to the fixed part along said axis of rotation, the device comprising: -
a stem comprising a tip suited to a head of the screws, the stem having a longitudinal axis, a motorized system to drive the stem in rotation about the longitudinal axis, communication means with the navigation system, such that the navigation system is configured to transmit to the motorized system screw identification information comprising a number of turns to apply to the stem in a screwing or unscrewing direction to reach a target position of each screw, wherein the screws do not contact the solid, and the axis of rotation and the longitudinal axis are parallel when the tip of the stem is positioned in the head of the respective screw for rotation thereof. - View Dependent Claims (2, 3, 4, 5, 6, 7, 11, 12, 14, 18, 19)
-
-
8. A method of adjusting a position of a mobile part of
a surgical instrument with respect to a solid, tracked by a navigation system, wherein the surgical instrument comprises a fixed part that is rigidly fixed to the solid so as to be immobilized with respect to the solid and the mobile part that is attached to the fixed part by screws, wherein a rotation of at least one screw about an axis of rotation thereof moves the mobile part with respect to the fixed part along said axis of rotation, comprising the following steps: -
determining the position of the mobile part of the surgical instrument with respect to the solid, comparing the determined position with respect to a target position of the mobile part with respect to the solid, if the determined position is different from the target position, computing, for each screw of the surgical instrument, a number of turns to apply in a screwing or unscrewing direction in order to move the mobile part until reaching with respect to the fixed part to the target position of the mobile part, providing a device, the device comprising; a stem comprising a tip suited to a head of the screws, the stem having a longitudinal axis, a motorized system to drive the stem in rotation about the longitudinal axis, communication means with the navigation system, such that the navigation system is configured to transmit to the motorized system the number of turns to apply to the stem in a screwing direction to reach a target position of each screw, for each screw, positioning the tip of the stem of the device in the respective screw head such that the longitudinal axis of the stem is parallel to the axis of rotation of the screw, operating the motorized system of the device such that it rotates the stem about the longitudinal axis the computed number of turns in a screwing or unscrewing direction, wherein the fixed part is immobilized before applying to the stem the computed number of turns in a screwing or unscrewing direction. - View Dependent Claims (9, 13, 15, 16, 17, 20)
-
-
10. A computer assisted surgical navigation system for adjusting a position of a mobile part of a surgical instrument with respect to a solid, wherein the surgical instrument comprises a fixed part that is rigidly fixed to the solid so as to be immobilized with respect to the solid and the mobile part that is attached to the fixed parts by screws, wherein a rotation of at least one screw about an axis of rotation thereof moves the mobile part with respect to the fixed part along˜
- said axis of rotation, the surgical navigation system comprising;
a first reference element applied to the solid that generates a first three-dimensional dynamic reference tracker, which is independently registered in the surgical navigation system, a second reference element applied to the mobile part of the surgical instrument that needs to be adjusted, that generates a second three-dimensional dynamic reference tracker, which is independently registered in the surgical navigation system, a computer, and a device, the device comprising; a stem comprising a tip suited to a head of the screws, the head having a longitudinal axis, a motorized system to drive the stem in rotation about the longitudinal axis, communication means with computer, such that computer is configured to transmit to the motorized system a number of turns to apply to the stem in a screwing or unscrewing direction to reach a target position of the each screw, wherein the computer is configured to determine the number of turns to be applied to the each screw by the stem of the device and the screwing or unscrewing direction for the each screw, taking into account a position of the mobile part determined by the second reference element, a target position of the mobile part, the geometry of the screws and the geometry of the surgical instrument, and to transmit to the device by the communication means the determined number of turns to be applied. - View Dependent Claims (21)
- said axis of rotation, the surgical navigation system comprising;
Specification