ROBOTIC ULTRASONIC ENERGY SYSTEM

• US 20130345720A1
• Filed: 08/08/2013
• Published: 12/26/2013
• Est. Priority Date: 03/20/2002
• Status: Active Grant

• Current Assignee: P TECH, LLC
• Original Assignee: P TECH, LLC
• Inventors: Bonutti, Peter M.
• Granted Patent: US 9,271,741 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/025 Joint distractors
• CPC Class Codes: A61B 17/0401 Suture anchors, buttons or pledgets, i.e. means for attaching sutures to bone, cartilage or soft tissue; Instruments for applying or removing suture anchors A61B17/0642 takes precedence; fixation devices for tendons or ligaments A61F2/0811
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/14 Surgical saws A61B17/1637 takes precedence; tooth saws A61C3/12 ; Accessories therefor
• CPC Class Codes: A61B 17/154 for preparing bone for knee prosthesis
• CPC Class Codes: A61B 17/1626 Control means; Display units
• CPC Class Codes: A61B 17/88 Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices A61B17/7074 takes precedence
• CPC Class Codes: A61B 17/8802 Equipment for handling bone cement or other fluid fillers
• CPC Class Codes: A61B 17/8805 for introducing fluid filler into bone or extracting it A61B17/7097, A61B17/8833 take precedence
• CPC Class Codes: A61B 17/885 Tools for expanding or compacting bones or discs or cavities therein A61B17/8805, A61B17/7097 take precedence
• CPC Class Codes: A61B 17/8852 capable of being assembled or enlarged, or changing shape, inside the bone or disc
• CPC Class Codes: A61B 17/8855 inflatable, e.g. kyphoplasty balloons
• CPC Class Codes: A61B 17/8858 laterally or radially expansible inflatable A61B17/8855
• CPC Class Codes: A61B 17/8875 Screwdrivers, spanners or wrenches
• CPC Class Codes: A61B 2017/00557 inflatable A61B2017/22051 takes precedence
• CPC Class Codes: A61B 2017/0256 for the spine
• CPC Class Codes: A61B 2017/0648 threaded, e.g. tacks with a screw thread
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 2090/034 abutting on parts of the device itself
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/3916 : Bone tissue
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/32 : operating autonomously
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0071 : by measuring fluorescence emission
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61F 2/0063 : Implantable repair or support meshes, e.g. hernia meshes
• CPC Class Codes: A61F 2/389 : Tibial components A61F2/3868 takes precedence
• CPC Class Codes: A61F 2002/30133 : kidney-shaped or bean-shaped

Abstract

The robotic mechanism may include a programmable computer which is connected with a drive member by a motor. In addition to the motor, a force measurement assembly may be connected with the drive member and computer. The force measurement assembly has an output to the computer indicating the magnitude of resistance encountered. The force measurement device may be a piezoelectric cell or a spring assembly which controls energization of the electric motor. A position sensor is connected with drive member and the computer. The position sensor has an output which is indicative of the position. The output from the position sensor may indicate the depth or distance. Ultrasonic vibratory energy may be transmitted to the force transmitting member from a source or generator of ultrasonic vibratory energy. The force transmitting member may function as a horn and apply the ultrasonic vibratory energy.

Claims

1. A robotic system comprising:

a robotic mechanism having a transmitting member, the transmitting member being configured to transmit a force to an object and ultrasonic energy from an energy source to the object;

an electric motor connected to the robotic mechanism and configured to position the transmitting member; and

a sensor connected to the robotic mechanism and configured to control the force applied to the object or a distance traveled by the transmitting member.

2. The system of claim 1 wherein the sensor is configured to control actuation of the electric motor.

3. The system of claim 1 wherein the sensor is configured to limit the force applied to a predetermined magnitude.

4. The system of claim 1 wherein the robotic mechanism is configured to apply tension at a predetermined magnitude.

5. The system of claim 1 wherein a magnitude of the force is determined by the user.

6. The system of claim 1 further comprising an indicator associated with the sensor.

7. The system of claim 1 wherein the sensor includes a piezoelectric cell.

8. The system of claim 1 wherein the sensor is configured to provide an output associated with the transmitting member.

9. The system of claim 8 wherein the output is indicative of a resistance encountered by the transmitting member.

10. The system of claim 8 wherein the output is indicative of a position of the transmitting member.

11. The system of claim 8 wherein the output is indicative of a depth or distance traveled by the transmitting member.

12. The system of claim 1 wherein the ultrasonic energy is applied in a range of approximately 20 khz to 70 khz.

13. The system of claim 1 wherein the ultrasonic energy heats the object.

14. The system of claim 1 wherein at least one of the force or ultrasonic energy plastically deforms the object.

15. The system of claim 1 further comprising a laser connected to the robotic mechanism.

16. The system of claim 1 further comprising an electrical resistance heater connected to the robotic mechanism.

17. A robotic system comprising:

a robotic mechanism having a transmitting member, the transmitting member being configured to transmit a force to an object and ultrasonic energy from an energy source to the object;

an electric motor connected to the robotic mechanism and configured to position the transmitting member; and

a sensor having a piezoelectric cell, the sensor being connected to the robotic mechanism and configured to control actuation of the electric motor.

18. The system of claim 17 wherein the sensor is configured to limit the force applied to a predetermined magnitude.

19. The system of claim 17 wherein the robotic mechanism is configured to apply tension at a predetermined magnitude.

20. The system of claim 17 wherein a magnitude of the force is determined by the user.

21. The system of claim 17 further comprising an indicator associated with the sensor.

22. The system of claim 17 wherein the sensor is configured to provide an output associated with the transmitting member.

23. The system of claim 22 wherein the output is indicative of a resistance encountered by the transmitting member.

24. The system of claim 22 wherein the output is indicative of a position of the transmitting member.

25. The system of claim 22 wherein the output is indicative of a depth or distance traveled by the transmitting member.

26. The system of claim 17 wherein the ultrasonic energy is applied in a range of approximately 20 khz to 70 khz.

27. The system of claim 17 wherein the ultrasonic energy heats the object.

28. The system of claim 17 wherein at least one of the force or ultrasonic energy plastically deforms the object.

29. The system of claim 17 further comprising a laser connected to the robotic mechanism.

30. The system of claim 17 further comprising an electrical resistance heater connected to the robotic mechanism.

31. The system of claim 17 wherein the robotic mechanism is configured to apply tension at a predetermined magnitude.

32. A robotic system comprising:

a robotic mechanism having first and second transmitting members;

the first transmitting member being configured to transmit a force to an object and ultrasonic energy from an energy source to the object;

the second transmitting member being configured to support the object during transmission of ultrasonic energy; and

a sensor connected to the robotic mechanism and configured to provide an output associated with the first or second transmitting member.

33. The system of claim 32 wherein the sensor is configured to limit the force applied to a predetermined magnitude.

34. The system of claim 32 wherein the robotic mechanism is configured to apply tension at a predetermined magnitude.

35. The system of claim 32 wherein a magnitude of the force is determined by the user.

36. The system of claim 32 further comprising an indicator associated with the sensor.

37. The system of claim 32 wherein the output is indicative of a resistance encountered by the first or second transmitting member.

38. The system of claim 32 wherein the output is indicative of a position of the first or second transmitting member.

39. The system of claim 32 wherein the output is indicative of a depth or distance traveled by the first or second transmitting member.

40. The system of claim 32 wherein the ultrasonic energy is applied in a range of approximately 20 khz to 70 khz.

41. The system of claim 32 wherein the ultrasonic energy heats the object.

42. The system of claim 32 wherein at least one of the force or ultrasonic energy plastically deforms the object.

43. The system of claim 32 wherein the first and second transmitting members press on substantially opposite sides of the object.

44. The system of claim 32 further comprising a laser connected to the robotic mechanism.

45. The system of claim 32 further comprising an electrical resistance heater connected to the robotic mechanism.

46. The system of claim 32 wherein the robotic mechanism is configured to urge two portions of the object together.

47. The system of claim 32 wherein the robotic mechanism is configured to close a staple.