US 11,883,111 B2
Surgical robot for orthopaedic interventions
Jorge Presa Alonso, Mendaro (ES); Jon Oñativia Bravo, Mendaro (ES); Álvaro Escudero Martínez De Ibarreta, Mendaro (ES); Alfonso Urzainqui Glaria, Mendaro (ES); and Emilio Sanchez Tapia, Mendaro (ES)
Assigned to Cyber Surgery, S.L., San Sebastian (ES)
Appl. No. 16/612,685
Filed by Cyber Surgery, S.L., San Sebastian (ES)
PCT Filed May 12, 2017, PCT No. PCT/ES2017/070305
§ 371(c)(1), (2) Date Nov. 11, 2019,
PCT Pub. No. WO2018/206830, PCT Pub. Date Nov. 15, 2018.
Prior Publication US 2020/0229871 A1, Jul. 23, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 17/17 (2006.01); A61B 17/70 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 17/1757 (2013.01); A61B 17/7074 (2013.01); A61B 34/30 (2016.02); A61B 2017/00694 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02)] 8 Claims
OG exemplary drawing
 
1. A surgical robot for tracking and compensating bone movement, the robot comprising:
a robot arm comprising an end-effector;
a tool guide located at the end-effector of the robot arm; and
a tracker configured to determine a spatial relationship between the robot arm and a bone, the tracker comprising:
a base fixed to the end-effector of the robot arm,
a distal end adapted to be coupled with a clamp,
an assembly of articulated segments configuring a kinematic chain that connects the base with the distal end, and
encoders associated to the articulated segments and configured to track movement of the articulated segments,
wherein
a movement of the tracker is allowed and monitored in at least six degrees of freedom,
the tracker and the tool guide share the same base in order to monitor a geometrical relationship between the tool guide and the bone when the distal end of the tracker is attached to the bone,
the surgical robot further comprises a clamp, wherein the clamp is removably attached with a kinematic coupler to an articulated segment of the distal end of the tracker configured to be closer to a patient, and
the kinematic coupler comprises:
a base portion located at the clamp and comprising a first magnet, and
a top portion located at the tracker and fixed to the last articulated segment of the tracker at the distal end, the top portion comprising a second magnet of opposite polarity to the first magnet.