| CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 34/70 (2016.02); A61B 17/00234 (2013.01); A61B 2017/00473 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02)] | 6 Claims |
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1. An apparatus for use in surgery, comprising:
a sensorized surgical guide comprising a first arm and a second arm, each of the first arm and the second arm having an opening therethrough;
an articulated instrument held by being inserted through the opening of the first arm and the opening of the second arm of the sensorized surgical guide, wherein the articulated instrument has a sleeve and a tip and at least a first joint therebetween capable of bending, the tip passing through the first arm and the second arm as the articulated instrument is inserted through the opening of the first arm and the opening of the second arm;
a sensorized control, at an opposite end portion of the articulated instrument relative to the tip, to change a bending angle of the first joint based on an amount of movement of the sensorized control;
a first sensor tracking the amount of movement of the sensorized control to determine the bending angle of the first joint; and
a second sensor, in the first arm or the second arm of the sensorized surgical guide, measuring translation of the articulated instrument, as the articulated instrument is inserted through the opening of the first arm and the opening of the second arm, to determine, in conjunction with the first sensor, a position of the tip of the articulated instrument,
wherein the sensorized surgical guide is generally U-shaped.
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