Lavallee, Stéphane,Girardeau-Montaut, Daniel,Demanget, Nicolas
申请号：
AU2018235079
公开号：
AU2018235079A1
申请日:
2018.03.15
申请国别(地区):
AU
年份:
2019
代理人:
摘要：
The invention relates to a system for guiding a surgical tool (200) held by a user relative to at least one target axis (T) defined in a coordinate system of a patient's spine, comprising: (i)a robotic device (300) comprising: -a base (301), -a guiding device (303) configured for constraining thetool toa guidingaxis (G), -a compact motorized actuation unit(304) movable relative to the base (301), coupled to the guiding device (303) for adjusting a position and orientation of said guiding device relative to the target axis, -a support unit(305) connected to the base (301), comprising at least one element designed to make contact with the spineor a region of the patient's body adjacent to the spineso as to provide a partial mechanical linkbetween the guiding device and the spine, (ii)a passive articulated lockable holding arm (400) supporting the base (301) of the robotic device, (iii)a tracking unit(500) configured to determine in real timethe pose of the guiding axiswith respect to the coordinate system of the patient's spine, (iv)a control unit configured to: (a)determine the pose of the guiding axiswith respect to the target axis, (b) compute a working space of the robotic device for said determined pose, (c) compute at least one indicator representing the capability of the actuation unit to bring the guiding axis in alignment with the target axis based on the computed working space and the pose of the guiding device, (v)a user interface (600) coupled to the control unit, configured for displaying a representation of the guiding axis (G) relative to the target axis (T), wherein the control unit is further configured to controlthe actuation unit to bring the guiding axis into alignment with the target axis.
