Abstract: Surgical robot for tracking and compensating bone movement, the robot comprising: a robot arm (3) and a tool guide (5) at the arm's end-effector, a tracker (1) attached to the robot arm at the same plane as the tool guide, the tracker comprising an assembly of articulated segments (1a-1d) and encoders (2) associated to the segments such that movement of the tracker is allowed and monitored in at least six degrees of freedom. The tracker base and the tool guide share the same frame, that is, are on the same plane, so that the system is able to determine directly the exact positioning of the tool guide with respect to the tracked bone without any intermediate device. This way, an optical tracker and the associated cameras can be dispensed with.
Type:
Grant
Filed:
May 12, 2017
Date of Patent:
January 30, 2024
Assignee:
Cyber Surgery, S.L.
Inventors:
Jorge Presa Alonso, Jon Oñativia Bravo, Álvaro Escudero Martínez De Ibarreta, Alfonso Urzainqui Glaria, Emilio Sanchez Tapia
Abstract: A surgical clamp comprising two halves, each halve with an upper (2) and a lower portion (3), the lower portions forming two jaws (3) adapted to be in contact with a surgical site, one of the upper portions (2) being provided with a kinematic coupling mechanism (4, 5) and a passive circuit with a predetermined impedance value such that it is possible to identify different clamps because of their different impedances.
Type:
Grant
Filed:
May 12, 2017
Date of Patent:
August 30, 2022
Assignee:
Cyber Surgery, S.L.
Inventors:
Jon Oñativia Bravo, Jorge Presa Alonso, Álvaro Escudero Martínez De Ibarreta, Alfonso Urzainqui Glaria, Álvaro Bertelsen Simonetti