[go: up one dir, main page]

WO2005000129A1 - Procede et dispositif pour orienter un outil d'usinage - Google Patents

Procede et dispositif pour orienter un outil d'usinage Download PDF

Info

Publication number
WO2005000129A1
WO2005000129A1 PCT/EP2003/006806 EP0306806W WO2005000129A1 WO 2005000129 A1 WO2005000129 A1 WO 2005000129A1 EP 0306806 W EP0306806 W EP 0306806W WO 2005000129 A1 WO2005000129 A1 WO 2005000129A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece
viewing
orientation
display device
relative
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2003/006806
Other languages
German (de)
English (en)
Inventor
François LEITNER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aesculap AG
Original Assignee
Aesculap AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aesculap AG filed Critical Aesculap AG
Priority to PCT/EP2003/006806 priority Critical patent/WO2005000129A1/fr
Priority to AU2003246613A priority patent/AU2003246613A1/en
Publication of WO2005000129A1 publication Critical patent/WO2005000129A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1725—Guides or aligning means for drills, mills, pins or wires for applying transverse screws or pins through intramedullary nails or pins
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations

Definitions

  • the invention relates to a method for orienting a machining tool relative to a workpiece with a viewing device for the workpiece.
  • a machining tool can be oriented relative to a workpiece simply by viewing the point of engagement of the machining tool via a viewing device and checking whether the workpiece is in the desired position relative to the viewing device. When this is achieved, the machining tool can be given a defined position relative to the viewing device, so that it is then ensured that the machining tool is also in a predetermined relative position and orientation to the workpiece.
  • Such tasks often occur in the medical field when an implant has to be oriented in the body, for example a bone nail in a long bone. It is then necessary to process the surrounding bone relative to the implant; for example, a hole must be drilled in the bone which opens with an opening in the implant. plantates. Only one X-ray device can be considered as the viewing device, and the relative adjustment of the viewing device relative to the workpiece is associated with longer X-ray radiation. This is detrimental to the patient, but particularly to the surgeon who frequently carries out such operations and is then exposed to the X-ray radiation of the viewing device for a prolonged period each time.
  • the viewing device is aimed at the workpiece in such a way that its optical axis is directed at the workpiece
  • a model of the workpiece and a marking that corresponds to a defined orientation of the machining tool are displayed on a second display device
  • the model is brought into the desired position and orientation on the second display device by shifting and / or rotating the model relative to the machining mark
  • the model is brought in on the second display device by displacing and / or rotating the model relative to the machining mark a position and orientation which corresponds to the position and orientation of the workpiece relative to the observation mark on the first display device, and the values of the rotations and displacements of the model which have been made are determined
  • a model of the workpiece, and a fictitious one, is displayed on the second display device with knowledge of the geometric data of the workpiece
  • the machining axis is arranged relative to the model as it is desired, for example, it is directed precisely at the area of the workpiece to be machined, and the workpiece is oriented exactly in the manner of the machining direction as is desired. This can easily be achieved on the basis of the previously known geometric data of the workpiece, for example the machining direction can be aligned with a hole in the workpiece.
  • the user then changes the position of the model of the workpiece and the orientation of the workpiece on the second display device such that the image on the second display device corresponds to the image on the first display device.
  • the originally set optimal orientation and position are misaligned on the second display device, and this misalignment corresponds to the misalignment of the optical axis relative to the workpiece.
  • the size of the rotation of the workpiece and the displacement of the workpiece is determined, and this size is a measure of how much the optical axis of the viewing device deviates from the desired machining direction relative to the workpiece.
  • This deviation can now be used to calculate the desired optimal position and orientation from the actual orientation and position of the optical axis of the viewing device, and this position and orientation is then used to orient the machining tool relative to the workpiece, for example along it corrected optical axis to align the longitudinal axis of a drill.
  • the user only has to carry out an actual observation of the workpiece once, all other processes take place via the second display device and the displacement and rotation of the workpiece relative to the observation mark shown there.
  • the viewing device is rotated and / or shifted relative to the workpiece in accordance with the determined values and then an image of the workpiece and the viewing marking is generated on the first display device. It can be used to check whether the adjustment of the optical axis has succeeded so well that the desired area of the workpiece and the desired orientation of the optical axis relative to the workpiece have actually been achieved.
  • steps d), e) and g) can be repeated in accordance with a preferred embodiment until an optimal adjustment is achieved.
  • the position and orientation of the viewing device and / or the workpiece and / or the machining tool is determined by means of a navigation system.
  • a navigation system which can determine the position of an object in space by providing the object with marking elements which are arranged at a distance from one another and which are "seen" by several cameras arranged at a distance from one another.
  • marking elements which are arranged at a distance from one another and which are "seen" by several cameras arranged at a distance from one another.
  • Such systems are known per se.
  • an X-ray device is used as the viewing device.
  • a guide gauge can preferably be used to orient the machining tool relative to the workpiece, and its position and orientation are also advantageously determined using a navigation system.
  • the machining tool can be a drill, for example.
  • machining tool is accordingly to be understood broadly; the machining tool can also simply be a button that determines a direction, or else a tool that actually carries out machining on the workpiece, for example making a hole.
  • the use of the described method is particularly advantageous when orienting a drilling device relative to bores in a bone nail.
  • the invention further relates to a device for orienting a machining tool relative to a workpiece with a viewing device for the workpiece.
  • a device for orienting a machining tool relative to a workpiece with a viewing device for the workpiece is provided with a first display device for displaying an image of the workpiece generated by the observation device and a viewing marking that corresponds to the optical axis of the viewing device, with a second display device for displaying a model of the workpiece and a marking that corresponds to a defined orientation corresponds to the machining tool, with an adjusting device for changing the position and / or orientation of the viewing device relative to the workpiece, and with a controller assigned to the second display device for shifting and / or rotating the image of the workpiece on the second display device and for determining the values of this shift and / or rotation.
  • control corrects the position and / or orientation of the optical axis of the viewing device in accordance with the values determined in this way and thus determines a working direction for the machining tool.
  • control rotates and / or shifts the viewing device relative to the workpiece according to the determined values and then on the first display device creates an image of the workpiece and the observation mark.
  • a navigation system which determines the position and orientation of the viewing device and / or the workpiece and / or the machining tool.
  • the viewing device can preferably be an X-ray device.
  • a guide gauge can be provided for orienting the machining tool relative to the workpiece, the position and orientation of which is preferably determined by means of a navigation system.
  • the processing tool can be a drill, the workpiece can preferably be an implant, in particular a bone nail.
  • Figure 1 is a schematic view of a device for orienting a machining tool relative to a workpiece with two display devices;
  • Figure 2 an image on the first display device
  • Figure 3 an image on the second display device.
  • the invention is explained using the example of a bone nail 1, which is inserted as a splint of a tubular bone 2 and which carries cross bores 3, through which locking screws are inserted, which are screwed into the material of the surrounding tubular bone 2.
  • a bore must be made in the long bones 2, which is aligned with a transverse bore 3 of the bone nail 1, and for this purpose a drilling tool must be aligned with one of the transverse bores 3 in the bone nail 1 with regard to its orientation and position be aligned, although these cross bores 3 are arranged inside the tubular bone 2 and are not visible from the outside.
  • Drilling jigs can be used for this purpose, which are mechanically connected to the upper end of the tubular bone 2, but they only function properly if the bone nail 1 is not deformed during the implantation. In fact, however, such deformations of the bone nail 1 occur during implantation, for example the bone nail 1 can deform about its longitudinal axis due to torsion or due to bending, and then the transverse bore 3 can no longer be reliably hit with such mechanical drilling jigs.
  • the area of the transverse bore 3 is therefore viewed with X-rays so that the contour of the bone nail 1 can be seen in the X-ray image.
  • a circular hole appears circular in the x-ray image only when the optical axis of the x-ray device is exactly aligned with the transverse hole 3, whereas when the screw is rotated, the cross hole appears oval or elliptical in cross section.
  • the x-ray device is shifted and rotated until an optimal orientation is found, in which case the x-ray radiation must be directed continuously at the area of the transverse bore 3.
  • a viewing device in the form of a so-called C-arm 4 is also used in the method described here, it is a device with a C-shaped frame 5 with two parallel legs 6 and one connecting them Web 7. At the free ends of the two legs 6 there is an X-ray source 8 and an X-ray receiver 9, the X-rays are directed from the X-ray source 8 along an optical axis 10 to the X-ray receiver 9, the optical axis 10 runs parallel to the web 7.
  • the dimensions of the C-arm are selected so that the body part to be viewed can be inserted between the X-ray source 8 and the X-ray receiver 9, so that the area of the transverse bore 3 in the long bones 2 is irradiated.
  • the C-arm is mounted on a displacement device 11 so that its position can be changed relative to the long bone 2, this displacement device 11 is controlled by a controller 13 via a control line 12.
  • This control 13 is connected to a navigation system 14 which has a plurality of transmitting and receiving devices 15 for electromagnetic radiation which are arranged at a distance from one another and which direct the radiation onto a marking element 16 and from there receive it again, which is rigid with the C-arm 4 connected is.
  • the marking element 16 has a plurality of reflection elements 17 arranged at a distance from one another, so that the navigation system can determine the position of the marking element 16 and thus of the C-arm 4 in space.
  • a corresponding marking element 18 is also rigidly attached to the bone nail 1, so that its position in space can also be determined by the navigation system 14.
  • This guide gauge 19 is used to guide a processing tool, not shown in the drawing, so that the desired machining can be carried out on the long bones 2, for example a drill which is guided by the guide gauge 19 to the transverse bore 3 and guided by the latter.
  • a robot or the like in order to maintain the specific machining direction relative to the bone nail 1 and the long bone 2.
  • the x-ray receiving device 9 is connected via a control line 21 to a first display device 22, for example a conventional monitor.
  • a first display device 22 for example a conventional monitor.
  • An image of the object irradiated with X-rays in the C-arm is depicted on this first display device 22, specifically in one plane, ie in the example shown a part of the tubular bone 2 with the Bone nail 1 inserted therein.
  • a viewing marker 23 is displayed on the first display device 22. This corresponds to the point of penetration of the optical axis 10 of the C-arm 4 through the viewing plane, in other words this viewing marking 23, which can have the shape of a cross, for example, shows how the optical axis 10 runs relative to the bone nail 1. If the optical axis is exactly aligned with a transverse bore 3, the viewing marking 23 is located directly above the image of the corresponding transverse bore 3 on the first display device 22, however, in the case of another adjustment, it is at a distance from it.
  • the controller 13 is also connected to a second display device 24, which can also have the form of a monitor.
  • a model of the bone nail 1 is displayed on this second display device 24, for this purpose data records are used which represent the geometric data of the bone nail 1 used, namely of the undeformed bone nail 1.
  • a viewing marking 25 is shown on the second display device 24, for example also in FIG Shape of a cross, this results from the position of the point of intersection of a machining axis through the viewing plane. This machining axis corresponds to the axis along which the machining tool is to be oriented.
  • the procedure is as follows: First, the C-arm 4 is arranged relative to the long bones 2 so that its optical axis 10 is approximately aligned with the transverse bore 3. This can be done, for example, by means of a mechanical drilling jig that is connected to the bone nail 1. Drilling jigs of this type are frequently used in order to make a bore in the tubular bones 2 which coincides approximately with the orientation of the transverse bore 3. If the bone nail 1 is not deformed, this succeeds quite well, less well if the bone nail 1 has undergone deformation. In any case, such a mechanical drilling jig can enable a first rough adjustment of the C-arm 4 relative to the bone nail 1.
  • An image of the tubular bone 2 is then obtained on the first display device 22, which, in the event of an unknown deformation of the bone nail 1, is arranged in such a way that the viewing marking 23, which is defined by the optical axis 10 of the C-arm 4, does not have one Cross bore 3 coincides, moreover, in the general case, the bone nail 1 will be rotated about its longitudinal axis, so that the cross bores 3 do not show a circular cross section, but an oval or elliptical one.
  • the controller shows the model of the bone nail 1 on the second display device 24.
  • the user has the option of using the controller 13 to shift and rotate this image of the model.
  • the model is positioned so that the desired transverse bore 3 exactly coincides with the observation mark 25 and that the bone nail 1 is rotated about its longitudinal axis so that the transverse bore 3 has a circular cross section. It is therefore assumed that the machining axis is exactly aligned with the transverse bore 3.
  • This can by different input devices, for example by a foot switch 26, by a keyboard, a mouse 27 or the like.
  • the control saves this starting position, which corresponds to an optimal orientation of the model relative to the observation mark 25 and thus the machining direction.
  • the user changes the display on the second display device 24 so that the display corresponds to the display on the first display device 22, which was generated by the C-arm 4.
  • the model on the second display device 24 is thus shifted so far in the imaging plane until the observation mark 25 is arranged relative to the position of the transverse bore 3 in a manner similar to the display on the first display device 22, and it becomes the model of the bone nail 1 around it
  • the longitudinal axis is rotated until the deformation of the circular transverse bore 3 corresponds to the deformation on the first display device 22.
  • These displacements and rotations of the model on the second display device are determined and stored by the controller 13. These changes correspond to the misalignment of the optical axis 10 with respect to the transverse bore 3.
  • the controller 13 can therefore use these values to calculate a different direction from the actual position of the optical axis 10 and its orientation, which can be determined via the navigation system 14 is aligned with the transverse bore 3, that is to say coincides with the latter in terms of position and orientation.
  • the C-arm When the picture is taken again, the C-arm provides a changed image on the first display device 22. If the correction has been successful, the observation mark 23 on the first display device 22 coincides with the transverse bore 3 and the transverse bores 3 have a circular cross section. If this has not yet been optimally successful, the user can simply repeat the described method, that is, he resets the image on the second display device 24 to the initial state in which the viewing marking 25 exactly matches the transverse bore 3 and in which the transverse bore 3 appear exactly circular, and then the display on the second display device 24 is changed again until it matches the display on the first display device, this results in a new correction data record which is shown in FIG the same way to improve the orientation of the C-arm 4 and then the guide 19 relative to the bone nail 1 can be used. This method can optionally be repeated several times until an optimal orientation of the optical axis 10 relative to the transverse bore 3 is reached, and this orientation can then also be used for the orientation of the guide gauge 19.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un procédé d'orientation d'un outil d'usinage (19) par rapport à une pièce (1) au moyen d'un dispositif d'observation (4) pour cette dernière. L'objectif de l'invention est de réduire la durée d'observation lors de la mise en oeuvre de ce procédé. A cet effet, a) on dirige le dispositif d'observation sur la pièce de sorte que son axe optique soit dirigé sur la pièce; b) on produit, sur un premier dispositif d'affichage (22), une image de la pièce, produite par le dispositif d'observation, et un repère d'observation (23) qui correspond à l'axe optique du dispositif d'observation; c) on affiche, sur un deuxième dispositif d'affichage (24), un modèle de la pièce et un repère (25) qui correspond à une orientation définie de l'outil d'usinage; d) on place le modèle dans la position et l'orientation voulues, sur le deuxième dispositif d'affichage, par coulissement et/ou rotation du modèle par rapport au repère d'usinage; e) on place le modèle, sur le deuxième dispositif d'affichage, par coulissement et/ou rotation du modèle par rapport au repère d'usinage, dans une position et une orientation qui correspondent à celles de la pièce par rapport au repère d'usinage sur le premier dispositif d'affichage, et on détermine les valeurs de rotation et de coulissement du modèle, obtenues lors de cette opération; f) et on utilise l'axe optique corrigé de ces valeurs pour orienter l'outil d'usinage par rapport à la pièce. L'invention concerne également un dispositif pour la mise en oeuvre de ce procédé.
PCT/EP2003/006806 2003-06-27 2003-06-27 Procede et dispositif pour orienter un outil d'usinage Ceased WO2005000129A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/EP2003/006806 WO2005000129A1 (fr) 2003-06-27 2003-06-27 Procede et dispositif pour orienter un outil d'usinage
AU2003246613A AU2003246613A1 (en) 2003-06-27 2003-06-27 Method and device for orienting a machining tool

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2003/006806 WO2005000129A1 (fr) 2003-06-27 2003-06-27 Procede et dispositif pour orienter un outil d'usinage

Publications (1)

Publication Number Publication Date
WO2005000129A1 true WO2005000129A1 (fr) 2005-01-06

Family

ID=33547565

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2003/006806 Ceased WO2005000129A1 (fr) 2003-06-27 2003-06-27 Procede et dispositif pour orienter un outil d'usinage

Country Status (2)

Country Link
AU (1) AU2003246613A1 (fr)
WO (1) WO2005000129A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008019510A1 (fr) * 2006-08-15 2008-02-21 Ao Technology Ag Procédé et dispositif pour fermeture distale assistée par ordinateur de clous intramédulaires
WO2008071014A1 (fr) * 2006-12-15 2008-06-19 Ao Technology Ag Procédé et dispositif pour verrouillage distal assisté par ordinateur de clous intramédullaires
WO2010025575A1 (fr) * 2008-09-03 2010-03-11 Ao Technology Ag Dispositif de manipulation d'un os ou d'un fragment d'os ou d'un instrument, outil ou implant chirurgical, et procédé de positionnement d'un tel dispositif
US9987093B2 (en) 2013-07-08 2018-06-05 Brainlab Ag Single-marker navigation

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002067783A2 (fr) * 2001-02-27 2002-09-06 Smith & Nephew, Inc. Systemes et procedes d'arthroplastie complete du genou
WO2003043485A2 (fr) * 2001-11-19 2003-05-30 Thomas Kienzle, Iii Systeme chirurgical assiste par ordinateur de tige intramedullaire a caracteristiques ameliorees

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002067783A2 (fr) * 2001-02-27 2002-09-06 Smith & Nephew, Inc. Systemes et procedes d'arthroplastie complete du genou
WO2003043485A2 (fr) * 2001-11-19 2003-05-30 Thomas Kienzle, Iii Systeme chirurgical assiste par ordinateur de tige intramedullaire a caracteristiques ameliorees

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008019510A1 (fr) * 2006-08-15 2008-02-21 Ao Technology Ag Procédé et dispositif pour fermeture distale assistée par ordinateur de clous intramédulaires
US8444645B2 (en) 2006-08-15 2013-05-21 Ao Technology Ag Method and device for computer assisted distal locking of intramedullary nails
WO2008071014A1 (fr) * 2006-12-15 2008-06-19 Ao Technology Ag Procédé et dispositif pour verrouillage distal assisté par ordinateur de clous intramédullaires
US8118818B2 (en) 2006-12-15 2012-02-21 Ao Technology Ag Method and device for computer assisted distal locking of intramedullary nails
WO2010025575A1 (fr) * 2008-09-03 2010-03-11 Ao Technology Ag Dispositif de manipulation d'un os ou d'un fragment d'os ou d'un instrument, outil ou implant chirurgical, et procédé de positionnement d'un tel dispositif
US9119641B2 (en) 2008-09-03 2015-09-01 Ao Technology Ag Device for manipulating a bone or bone fragment or a surgical instrument, tool or implant and a method for positioning such a device
US9987093B2 (en) 2013-07-08 2018-06-05 Brainlab Ag Single-marker navigation

Also Published As

Publication number Publication date
AU2003246613A1 (en) 2005-01-13

Similar Documents

Publication Publication Date Title
EP3261564B1 (fr) Instrument médical et procédé
DE69631344T2 (de) Bohrlehre instrument
DE602004009861T2 (de) Verfahren zur Erfassung Informationen um eine Schraube in einem Loch eines metallischen Gegenstands zu verriegeln
DE69403199T2 (de) Vorrichtung zur äusseren ausrichtung von knochenfrakturen
EP1348383B1 (fr) Appareil de navigation pour un ecarteur
EP3287093B1 (fr) Instrument médical et procédé
DE69521945T2 (de) Anzeigevorrichtung zur Markierung von einem oder mehreren Festpunkten für Befestigungseinrichtung(en) in einem Menschenkörperteil, vorzugsweise dem Kiefer
DE10309987B4 (de) Chirurgische Positionier- und Haltevorrichtung
DE10353913B4 (de) Verfahren und Vorrichtung zum Herstellen einer navigierten Bohrschablone für die Einbringung von Zahnimplantatbohrungen
EP0871407B1 (fr) Dispositif pour piloter des structures tridimensionnelles
DE10200690A1 (de) Hilfsmittel zur Implantation einer Hüftgelenkendoprothese, sowie Verfahren für Handhabung derselben
EP0135804A2 (fr) Dispositif pour positionner des alésages transversaux d'implants intra-médullaires
DE102008023760A1 (de) Anordnung zur Bestimmung der Position und Lage eines an einem Objekt befindlichen Merkmals
WO2007095917A2 (fr) Système d'ajustage et de guidage pour outils
DE19711441B4 (de) Vorrichtung zur Herstellung eines lateralen Bohrloches in einem Röhrenknochen
DE2919935C2 (de) Vorrichtung zur Führung chirurgischer Instrumente bei Operationen an Röhrenknochen
DE102015201067B4 (de) Bestimmung eines Winkels zwischen zwei Teilen eines Knochens
EP1374780B1 (fr) Système d'implantation et appareil de visée associé
DE3245680C2 (de) Distales Zielgerät für einen Verriegelungsnagel
WO2005000129A1 (fr) Procede et dispositif pour orienter un outil d'usinage
DE102011007512B4 (de) Vorrichtung zum Setzen eines Bohrlochs für Verriegelungselemente eines Marknagels
EP1255497B1 (fr) Clou d'immobilisation et appareil de visee
DE102005047895B4 (de) Verfahren und Einrichtung zur Bestimmung der Lage eines Gegenstandes
DE20106526U1 (de) Chirurgische Vorrichtung
DE4306724A1 (de) Vorrichtung zum Ausrichten von Bohrern bei der distalen Fixierung von chirurgischen Marknägeln

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ OM PH PL PT RO RU SC SD SE SG SK SL TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP