Robot-aided system for surgery

Details Robot-aided system for surgery Robot-aided system for surgery

1988-04-26

1990-12-25

Hafer, Robert A.

Surgery

Instruments

Orthopedic instrumentation

606 88, 414 9, A61B 1700

Patent

active

049799495

ABSTRACT:
A system and method for positioning a tool relative to a patient's bone to facilitate the performance of a surgical bone alteration task. The system comprises a bone immobilization device for supporting the bone in a fixed position with respect to a reference structure, and a robot that includes a base fixed in position with respect to the reference structure. The robot also includes a mounting member, and a manipulator connected between the base and the mounting member and permitting relative movement therebetween. The tool to be positioned by the system is mounted to the mounting member. The mounting member is caused to move relative to the reference structure in response to movement commands, so that the tool can be moved to a desired task position to facilitate performance of the task. The system preferably also includes a template attachable to the mounting member, a feature of the template representing a portion of a task. Preferably, the template is secured to the mounting member, and the template is then manually manipulated such that the template feature is properly oriented with respect to the patient's bone. The template position is then recorded as a reference position that may thereafter be combined with a geometric database defining the task to determine the position of the tool. Particular embodiments for a bone immobilizer, a template and a saw guide are also described, together with a stabilizing device for the robot and a safety device for the robot base.

REFERENCES:
patent: 4211228 (1980-07-01), Cloutier
patent: 4445184 (1984-04-01), Noguchi
patent: 4467801 (1984-08-01), Whiteside
patent: 4604016 (1986-08-01), Joyce

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