University of Washington

Brian S Pratt

Joseph L Garbini

Frederick A Matsen

John A Sidles

Donald C Baumgarten

A prosthesis template for aiding in the determination of a desired position of a prosthesis relative to a bone, the prosthesis having an exterior surface that simulates the exterior surface of the bone and an interior surface comprised of one or more contact surfaces to which the prepared bone must conform to provide an adequate fit of the prosthesis. The template comprises a template member having an interior surface which corresponds to an exterior surface of the prosthesis, whereby the template can be positioned adjacent to the bone and thereby provide means for evaluating a desired position of the prosthesis exterior surface.

Prosthesis template for use in a robot-aided system for surgery

An orthopedic saw guide for confining the blade of a surgical saw to movement in a single plane while allowing translational and rotational movement of the blade within the plane. A pair of elongated guideplates are secured together at either end to form a partially enclosed space. The distance between the inner surfaces of the guide plates is adjustable, and is preferably adjusted to be slightly greater than the thickness of the specific blade to be used. Mounting means is provided for rigidly securing the saw guide relative to the bone, so that the plane defined by the space between the inner surfaces corresponds to the cut plane. The inner surfaces of the guide plates include guide liners that are comprised of a low-friction material. The liners may be permanently secured to the guide plates or removable and disposable. The guide plates are curved in the plane of the guide surfaces so that the saw guide can be mounted close to the end of a bone to provide maximum access to the bone with the closest possible positioning of the guide.

Orthopedic saw guide for use in a robot-aided system for surgery

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 bone imobilization device includes two semicircular frame pieces having a plurality of radial apertures through which bone gripping components adjustably extend in order to contact the bone. The bone gripping components include a shaft with a point inserted through a shaft bore of a serrated bone contact element. A support attaches to the frame to adjustably secure and position the frame relative to the reference structure.

Bone imobilization device

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 the 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.

Robot-aided system for surgery

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.

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Seattle, WA, United States of America

Brian S Pratt