US 12,390,235 B2
Surgical system for cutting an anatomical structure according to at least one target plane
Stéphane Lavallee, Saint Martin d'Uriage (FR); Nicolas Demanget, Saint-Egrève (FR); Hervé Collet, Chatenay (FR); Daniel Girardeau-Montaut, Gieres (FR); Laurence Chabanas, Crets en Belledonne (FR); and François Urvoy, Sainte Nazaire les Eymes (FR)
Assigned to Orthotaxy S.A.S., Giéres (FR)
Filed by Orthotaxy S.A.S., Gières (FR)
Filed on Mar. 8, 2024, as Appl. No. 18/600,233.
Application 18/600,233 is a continuation of application No. 16/467,816, granted, now 11,974,761, previously published as PCT/EP2017/077370, filed on Oct. 25, 2017.
Claims priority of application No. 16306645 (EP), filed on Dec. 8, 2016.
Prior Publication US 2024/0293130 A1, Sep. 5, 2024
Int. Cl. A61B 17/17 (2006.01); A61B 17/14 (2006.01); A61B 17/15 (2006.01); A61B 17/16 (2006.01); A61B 17/3203 (2006.01); A61B 17/3211 (2006.01); A61B 34/30 (2016.01); A61B 18/00 (2006.01); A61B 18/20 (2006.01)
CPC A61B 17/1764 (2013.01) [A61B 17/142 (2016.11); A61B 17/1675 (2013.01); A61B 17/3203 (2013.01); A61B 17/3211 (2013.01); A61B 34/30 (2016.02); A61B 17/154 (2013.01); A61B 2018/00565 (2013.01); A61B 2018/00601 (2013.01); A61B 18/20 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a cutting tool having an attached tracker;
a planar mechanism having a first end connected to the cutting tool;
an actuation unit connected to a second end of the planar mechanism, the actuation unit for adjusting a position and orientation of the cutting tool, wherein the actuation unit has a serial architecture and at least three motorized degrees of freedom;
a passive articulated lockable holding arm connected to the actuation unit; and
a control unit configured to:
determine a pose of the cutting tool using data from sensing of the tracker;
determine a cutting plane based on the pose of the cutting tool;
detect whether the cutting plane can be aligned with a target plane for an anatomical structure of a patient, wherein the cutting plane is orthogonal to a plane defined by the planar mechanism; and
if the cutting plane can be aligned with the target plane, control the actuation unit to bring the cutting plane into alignment with the target plane.