WO2018068115A1 - Structural arrangement in electromechanical manipulator for surgery and surgical guides - Google Patents
Structural arrangement in electromechanical manipulator for surgery and surgical guides Download PDFInfo
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- WO2018068115A1 WO2018068115A1 PCT/BR2017/050302 BR2017050302W WO2018068115A1 WO 2018068115 A1 WO2018068115 A1 WO 2018068115A1 BR 2017050302 W BR2017050302 W BR 2017050302W WO 2018068115 A1 WO2018068115 A1 WO 2018068115A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C3/00—Dental tools or instruments
- A61C3/04—Supports for holding tooth drills in order of use
Definitions
- This Utility Model Constructive Arrangement in Electromechanical Manipulator for Surgical Guides and Surgical Guides consists of a system composed of an Stewart platform mechanism-based electromechanical manipulator and one or more surgical instruments or one or more surgical tools attached to a mobile base or external structure, controlled and driven by a dedicated electronic system, which are applied in dental, medical, veterinary, hospital and laboratory surgeries, whether for human or animal procedures and in the production of surgical guides .
- This Constructive Arrangement Utility Model for Electromechanical Manipulator for Surgery and Surgical Guidance is applicable directly to human or animal surgery or procedures, and to the production of guidelines for dental and medical surgery. the manufacture of implants, molds, models and prostheses.
- Surgical guides are intended as a surgical template, very common in implant insertion, ensuring positioning accuracy as previously planned via software, whose input file is usually tomography and the output file varies from company to company. for company.
- the market prospecting of surgical guides currently made indicates that these molds have a high cost, a long and complex confection and in several steps not always performed by the same supplier.
- the models for making surgical guides for implant placement are diverse. For example, they can be obtained from the software archive that has a management model scan or from an intraoral image from a scanner. The images are sent by the professional to a laboratory in Brazil or abroad. From the fabrication of the guide, the next step is to perform surgery for implant placement.
- Some high-resolution three-dimensional printer models can be used to make guides, but both the printer and printer have a very high cost. The use of a mechanism based on the Stewart platform with application in the dental area was found in a German company, but such use of this type of system is not found in Brazil.
- the present Electromechanical Manipulator Constructive Arrangement for Surgical Guides and Surgeries allows a surgeon to use a system based on the Stewart platform mechanism plus a surgical instrument such as a scalpel, a surgical drill or any other attached to it. on the mobile base itself or on a rod, and a dedicated electronic system for manipulator control and actuation.
- the combined mechanical, surgical and electronic control systems allow precise operations without direct contact with the patient, enabling surgeries with all six degrees of freedom to be performed remotely or in a contamination-free, isolated environment through Micro camera use and built-in lighting.
- Through an accessory mechanism also based on the Sewart platform used as a control movements can be directly transferred to the manipulator, which will accurately repeat the movements performed by the operator.
- this Constructive Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides also allows the practitioner to simplify the obtaining of models, guides and prostheses by means of an accessory manipulator or a CAD / CAM system with the making parts in the office itself. It uses the system based on the Stewart platform mechanism plus a tool for machining, such as a milling cutter, a drill or whatever, which may be fixed to the movable base itself or still in an external structure and a dedicated electronic system for control and activation of the manipulator.
- the mechanical, machining and electronic control systems together allow the construction of a small machining center, with all six degrees of freedom, within the required ranges for surgical guides.
- Figure 1 Schematic drawing of the Constructive Arrangement in Electromechanical Manipulator for Surgical Guides and Surgery with fixed surgical tool in the Stewart platform-based mechanism internal to the site to be operated.
- FIG. 1 Figure 2 - Schematic Drawing of Constructive Arrangement in Electromechanical Manipulator for Surgical Guides and Surgery with surgical tool fixed to the Stewart platform-based mechanism external to the site to be operated.
- FIG. 3 Schematic drawing of the Construction Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides with manual drive system, replacing the software drive.
- FIG. 4 Schematic Drawing of Constructive Arrangement in Electromechanical Manipulator for Surgery and Surgical Guides with tool attached to an external frame and block to be machined on the movable base of the manipulator
- FIG. 5 Schematic drawing of the Constructive Arrangement in Electromechanical Manipulator for Surgery and Surgical Guides with tool fixed to an external structure and block to be machined on the movable base of the manipulator being both horizontal.
- FIG. 6 Schematic drawing of the Construction Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides with tool for machining fixed the movable base of the manipulator, both horizontally, and block to be machined fixedly fixed
- FIG. 7 Schematic drawing of the Constructive Arrangement in Electromechanical Manipulator for Surgery and Surgical Guides with a tool for securing the movable base of the manipulator and block to be machined fixed in the center of the fixed base of the same manipulator
- FIG. 8 Schematic Drawing of Constructive Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides with a tool for securing the movable base of the manipulator and block to be machined below the fixed base of the manipulator
- FIG. 9 Schematic drawing of Constructive Arrangement in Electromechanical Manipulator for Surgery and Surgical Guides with tool attached to an external frame and block to be machined on the movable base of the manipulator with crossed actuators
- FIG. 10 Schematic drawing of the Constructive Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides with Fixed tool on the movable base of the manipulator, inverted, attached to a fixed structure, and block to be machined supported on an external base.
- the present Constructive Arrangement Utility Model for Electromechanical Manipulator for Surgery and Surgical Guides presents a system composed by an electromechanical manipulator based on the Stewart platform mechanism, plus a scalpel, drill and surgical instrument (I). or any other, or a milling cutter-type tool (F), or drill or other, which may be attached to the movable base (B2) of the manipulator as shown in Figures 1, 2, 3, 6, 7, 8 , and 10, or are still attached to an external fixation structure (E), as shown in Figures 4, 5 and 9.
- This system is applicable for performing remote surgeries or in isolation environments or for making surgical guides within the medicine and dentistry, for fabrication in clinics by means of software or an operator's repeat motion control over an accessory manipulator, also via a Stewar platform-based mechanism t ( Figures 1, 2 and 3). Still the system can be operated directly by means of a CAD / CAM system, where CAD part is related to the computer assisted design, which already comes from software and the planning of the surgery and the CAM part is specific to the processing by a computer. equipment for making a part.
- Stewart's platform consists of a fixed base (BI) and a movable base (B2) connected via six linear displacement electromechanical actuators (A), or six rotary electromechanical actuators in conjunction with a mechanical system that transforms rotational motion into linear, or of another convenient type, which have variation in their length .
- the movable base (B2) can achieve movements at six degrees of freedom, that is, three translations and three rotations with respect to the center point itself. The range of motion depends on the radius of the bases, the distances between the bearing points of the actuators and the useful length of the electromechanical linear actuators (A).
- electromechanical linear actuators (A) are connected to the bases on both sides by joints, which can be universal on both sides or universal on one side and spherical on the other side, or spherical on either side, or of another configuration. possible .
- Both the fixed base (BI) and the mobile base (B2) may or may not be part of the equipment's external supporting structure.
- the surgical instrument (I) may be attached to the movable base (B 2) and the fixed base (BI) may be attached to the jaw or head or fixation rod (H) attached to a wall or chair or table in the office ( Figure 1), or the surgical instrument (I) may be attached to an external fixation structure (E) the mobile base (B 2) and the fixed base (BI) can be attached to a wall or to the chair or table itself in the office ( Figure 2).
- the material block to be used (B) can be on the movable base (B2), with the tool for use (F) clamped to an external clamping frame (E) as in Figures 4, 5 and 9, or the block to be machined (B) may be fixed in a defined position and the movable base (B2) move with the tool for machining (F), as in Figures 6, 7, 8 and 10, or Constructive Arrangement in Electromechanical Manipulator For Surgical Guides and Surgeries it can be mounted horizontally with the machining tool (F), making the material removal process from the side of the block to be machined (B), as in Figure 6 or; the material block to be machined (B) can be mounted on the Electromechanical Surgical Guide Manipulator and the machining tool (F) making the lateral material removal process horizontally, as shown in Figure 5.
- the assembly is directed to move the material block to be machined (B) by holding the machining tool (F) fixed or by moving the machining tool (F) and keeping the material block to be used (B) fixed . In the end, only a few finishes should be performed on parts prior to sterilization.
- the assembly is directed to tool movement (F) keeping the material block (B) to be used. fixed .
- the assembly can still be made according to Figures 7 and 8, with the addition of a second mechanism, in small scale, whose purpose is to generate the movement references for the main system movement.
- This second equipment has the form of a Stewart platform, but its links are not actuated and, therefore, provided only with adapted linear or rotary sensors, in order to obtain the position of the tool and reproduce it in the main system.
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- Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
Description
"DISPOSIÇÃO CONSTRUTIVA EM MANIPULADOR ELETROMECÂNICO PARA CIRURGIAS E GUIAS "CONSTRUCTIVE ARRANGEMENT IN ELECTROMECHANICAL MANIPULATOR FOR SURGERIES AND GUIDES
CIRÚRGICOS" SURGICAL "
[001 ] O presente Modelo de Utilidade Disposição Construtiva em Dispositivo Manipulador Eletromecânico para Cirurgias e Guias Cirúrgico s consiste em um sistema composto por manipulador eletromecânico baseado no mecanismo plataforma de Stewart e um ou mais instrumentos cirúrgicos ou uma ou mais ferramentas de u sinagem presas a uma base móvel ou a uma estrutura externa, controlados e acionados por um sistema eletrônico dedicado, que são aplicados em cirurgias em clínicas odontológicas , médicas , veterinárias , hospitais e laboratório s , sendo eles para procedimentos em humanos ou animais e na produção de guias cirúrgicos . [001] This Utility Model Constructive Arrangement in Electromechanical Manipulator for Surgical Guides and Surgical Guides consists of a system composed of an Stewart platform mechanism-based electromechanical manipulator and one or more surgical instruments or one or more surgical tools attached to a mobile base or external structure, controlled and driven by a dedicated electronic system, which are applied in dental, medical, veterinary, hospital and laboratory surgeries, whether for human or animal procedures and in the production of surgical guides .
[002] Campo de Aplicação : O presente Modelo de Utilidade Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgico s é aplicável diretamente na cirurgia ou procedimentos em humanos ou animais e na produção de guias para cirurgias odontológicas e médicas , podendo ser utilizado também para a fabricação de implantes , moldes, modelos e próteses . Field of Application: This Constructive Arrangement Utility Model for Electromechanical Manipulator for Surgery and Surgical Guidance is applicable directly to human or animal surgery or procedures, and to the production of guidelines for dental and medical surgery. the manufacture of implants, molds, models and prostheses.
[003 ] Estado da Técnica e Problemática: O estado da técnica de cirurgias remotas , motivo do presente patente, é que existem diversos mecanismo s de manipulação de instrumentos cirúrgicos em cirurgias , como braços eletromecânicos e manipuladores eletromecânicos em geral, entretanto a aplicação de um mecanismo baseado na plataforma de Stewart diretamente na cirurgia, permitindo que a operação sej a realizada diretamente pelo dispo sitivo com o acionamento por comando numérico , com a fixação da mesma na maxila ou mandíbula do paciente ou qualquer parte óssea para outras aplicações médicas , não foi encontrada em nenhuma aplicação, nacional nem internacional. [004] Os guias cirúrgicos têm por objetivo servir como gabarito em cirurgias , muito comum na inserção de implantes , garantindo exatidão no posicionamento conforme planej amento realizado previamente via software, cujo arquivo de entrada é geralmente a tomografia e o arquivo de saída varia de empresa para empresa. A prospecção de mercado de guias cirúrgicos confeccionado s atualmente indica que estes moldes pos suem um custo elevado , uma confecção demorada e complexa além de ser efetuado em várias etapas nem sempre executadas por um mesmo fornecedor. O s modelos de confecção de guias cirúrgicos para colocação de implantes são diversos . Por exemplo , podem ser obtidos a partir do arquivo de software que pos sui uma digitalização do modelo de ges so ou , ainda, a partir da imagem intraoral provenientes de um escâner. As imagens são enviadas pelo profis sional para um laboratório dentro do Brasil ou no exterior. A partir da fabricação do guia, o próximo pas so é a realização da cirurgia para colocação dos implantes . Alguns modelos de impres soras tridimensional de alta resolução podem ser utilizado s para a confecção de guias , mas tanto a impressora quanto o impres so pos suem um custo muito elevado . O uso de um mecanismo baseado na plataforma de Stewart com aplicação na área odontológica foi encontrado numa empresa alemã, mas tal utilização de ste tipo de sistema não é encontrado no Brasil. State of the Art and Problem: The state of the art of remote surgery, reason for the present patent, is that there are several mechanisms of manipulation of surgical instruments in surgeries, such as electromechanical arms and electromechanical manipulators in general, however the application of a Stewart's platform-based mechanism directly in surgery, allowing the operation to be performed directly by the device with the numerical command drive, with the fixation on the patient's jaw or jaw or any bony part for other medical applications, was not found in any application, national or international. [004] Surgical guides are intended as a surgical template, very common in implant insertion, ensuring positioning accuracy as previously planned via software, whose input file is usually tomography and the output file varies from company to company. for company. The market prospecting of surgical guides currently made indicates that these molds have a high cost, a long and complex confection and in several steps not always performed by the same supplier. The models for making surgical guides for implant placement are diverse. For example, they can be obtained from the software archive that has a management model scan or from an intraoral image from a scanner. The images are sent by the professional to a laboratory in Brazil or abroad. From the fabrication of the guide, the next step is to perform surgery for implant placement. Some high-resolution three-dimensional printer models can be used to make guides, but both the printer and printer have a very high cost. The use of a mechanism based on the Stewart platform with application in the dental area was found in a German company, but such use of this type of system is not found in Brazil.
[005] Enquanto proces so de confecção de guias cirúrgicos , o único no mercado que permite ao próprio profissional confeccionar seus guias é baseado em um sistema extremamente artesanal, trabalhoso e com um custo elevado para o proces so e o produto final . O processo adotado atualmente no Brasil, em sua quase totalidade, é por meio de impressão tridimensional o qual inclui diferentes etapas . O uso de centros de usinagem j á é realidade em alguns consultórios , porém, extremamente raro por pos suírem um custo elevado , necessidade de infraestrutura específica e comportarem um grande volume. [005] As a surgical guide making process, the only one on the market that allows the professional to make his own guides is based on an extremely handcrafted, laborious and costly system for the process and the final product. The process currently adopted in Brazil, almost entirely, is through three-dimensional printing which includes different steps. The use of machining centers is already a reality in some offices, but extremely rare because they have a high cost, need for specific infrastructure and carry a large volume.
[006] Conceito Inventivo : Tendo em vista tal problemática, o presente Modelo de Utilidade Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgico s apresenta as seguintes inovações e funcionalidades : Inventive Concept: In view of such a problem, the present Utility Model Constructive Arrangement in Manipulator Electromechanical Surgery and Surgical Guide s features the following innovations and features:
[007] O presente Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos e Cirurgias permite que um cirurgião utilize um sistema baseado no mecanismo plataforma de Stewart acrescido de um instrumento cirúrgico , como por exemplo um bisturi, uma broca cirúrgica ou outro qualquer, presos na própria base móvel ou ainda em uma haste, e um sistema eletrônico dedicado para controle e acionamento do manipulador. O s sistemas mecânico, de cirurgia e eletrônico de controle juntos permitem operações precisas sem entrar em contato direto com o paciente, pos sibilitando que as cirurgias com todos os seis graus de liberdade sej am remotamente ou em ambiente isolado, livre de contaminações, através do uso de micro câmera e iluminação embutidas . Através de um mecanismo acessório também baseado na plataforma de S tewart, utilizado como controle, pode -se transferir diretamente movimentos para o manipulador, que repetirá com precisão os movimentos executado s pelo operador. [007] The present Electromechanical Manipulator Constructive Arrangement for Surgical Guides and Surgeries allows a surgeon to use a system based on the Stewart platform mechanism plus a surgical instrument such as a scalpel, a surgical drill or any other attached to it. on the mobile base itself or on a rod, and a dedicated electronic system for manipulator control and actuation. The combined mechanical, surgical and electronic control systems allow precise operations without direct contact with the patient, enabling surgeries with all six degrees of freedom to be performed remotely or in a contamination-free, isolated environment through Micro camera use and built-in lighting. Through an accessory mechanism also based on the Sewart platform used as a control, movements can be directly transferred to the manipulator, which will accurately repeat the movements performed by the operator.
[008] Com esta aplicação, o presente Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos , também permite ao profis sional simplificar a obtenção de modelos, guias e próteses , através de um manipulador acessório ou de um sistema CAD/CAM, com a confecção de peças no próprio consultório . Utiliza o sistema baseado no mecanismo plataforma de Stewart acrescido de uma ferramenta para usinagem, como por exemplo uma fresa, uma broca ou outra qualquer, a(s) qual(is) pode(m) estar fixa(s) na própria base móvel ou ainda em uma estrutura externa e um sistema eletrônico dedicado para controle e acionamento do manipulador. O s sistemas mecânico, de usinagem e eletrônico de controle junto s permitem a construção de um pequeno centro de usinagem, com todo s os seis graus de liberdade, dentro das variações requisitadas para guias cirúrgic os . [008] With this application, this Constructive Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides also allows the practitioner to simplify the obtaining of models, guides and prostheses by means of an accessory manipulator or a CAD / CAM system with the making parts in the office itself. It uses the system based on the Stewart platform mechanism plus a tool for machining, such as a milling cutter, a drill or whatever, which may be fixed to the movable base itself or still in an external structure and a dedicated electronic system for control and activation of the manipulator. The mechanical, machining and electronic control systems together allow the construction of a small machining center, with all six degrees of freedom, within the required ranges for surgical guides.
[009] O presente Modelo de Utilidade Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos permite que a confecção não fique na dependência de um trabalho manual do dentista e sim de um técnico, j á que após o planej amento da cirurgia, o dentista enviará o arquivo, e o sistema ao ser acionado fará a confecção/usinagem da peça, tal como acontece com uma impressora tridimensional simples . [009] The present Constructive Arrangement Utility Model in Electromechanical Manipulator for Surgeries and Surgical Guides allows the confection not to depend on a manual work of the dentist and yes of a technician, since after the surgery is planned, the dentist will send the file, and the system when activated will make the part making / machining, as with a simple three-dimensional printer.
[010] Vantagens : O objeto Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos apresenta como vantagens : [010] Advantages: The Constructive Arrangement object in Electromechanical Manipulator for Surgeries and Surgical Guides presents as advantages:
[01 1 ] Aplicável diretamente para a realização da cirurgia reduzindo os custos ; [01 1] Applicable directly to surgery by reducing costs;
[012] Garantindo precisão em operações delicadas ou perfeito posicionamento dos furo s para implantes dentário s ; [012] Guaranteeing precision in delicate operations or perfect positioning of the holes for dental implants;
[013 ] Possibilita execução remota ou em isolamento de procedimentos cirúrgicos ; [013] Enables remote execution or isolation of surgical procedures;
[014] Possui um baixo custo e um volume pequeno, sendo extremamente interes sante à aplicação odontológica e medicinal em clínica; It has a low cost and a small volume, being extremely interesting to the dental and medicinal application in clinic;
[015] Permite ao profis sional a confecção do seu próprio guia cirúrgico em seu consultório de maneira simples e com baixo custo ; [015] It allows the professional to make his own surgical guide in his office in a simple and low cost way;
[016] Permite realizar todos os processos relacionados à produção de guias cirúrgicas em um único equipamento . [016] Allows you to perform all processes related to the production of surgical guides in a single equipment.
[017] Ilustrações : No intuito de facilitar a pesquisa e proporcionar entendimento do presente patente, conforme preconizado no relatório, segundo uma forma básica e preferencial de realização elaborada pelo requerente, faz- se referência à ilu stração anexa, que integra e subsidia o presente relatório descritivo onde, a: [017] Illustrations: In order to facilitate research and to provide understanding of the present patent, as advocated in the report, according to a basic and preferred embodiment elaborated by the applicant, reference is made to the attached illustration, which integrates and subsidizes the present descriptive report where the:
[018] Figura 1 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Guias Cirúrgicas e Cirurgias com ferramenta cirúrgica fixa no mecanismo baseado em plataforma de Stewart interno ao local a ser operado . [018] Figure 1 - Schematic drawing of the Constructive Arrangement in Electromechanical Manipulator for Surgical Guides and Surgery with fixed surgical tool in the Stewart platform-based mechanism internal to the site to be operated.
[019] Figura 2 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Guias Cirúrgicas e Cirurgias com ferramenta cirúrgica fixa no mecanismo baseado em plataforma de Stewart externo ao local a ser operado. [019] Figure 2 - Schematic Drawing of Constructive Arrangement in Electromechanical Manipulator for Surgical Guides and Surgery with surgical tool fixed to the Stewart platform-based mechanism external to the site to be operated.
[020] Figura 3 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos com sistema de acionamento manual, em substituição ao acionamento por software. [020] Figure 3 - Schematic drawing of the Construction Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides with manual drive system, replacing the software drive.
[021 ] Figura 4 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos com ferramenta fixa a uma estrutura externa e bloco a ser usinado sobre a base móvel do manipulador [021] Figure 4 - Schematic Drawing of Constructive Arrangement in Electromechanical Manipulator for Surgery and Surgical Guides with tool attached to an external frame and block to be machined on the movable base of the manipulator
[022] Figura 5 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos com ferramenta fixa a uma estrutura externa e bloco a ser usinado sobre a base móvel do manipulador sendo ambos na horizontal [022] Figure 5 - Schematic drawing of the Constructive Arrangement in Electromechanical Manipulator for Surgery and Surgical Guides with tool fixed to an external structure and block to be machined on the movable base of the manipulator being both horizontal.
[023 ] Figura 6 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos com ferramenta para usinagem fixa a base móvel do manipulador, ambos na horizontal, e bloco a ser usinado fixado em estrutura fixa [023] Figure 6 - Schematic drawing of the Construction Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides with tool for machining fixed the movable base of the manipulator, both horizontally, and block to be machined fixedly fixed
[024] Figura 7 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos com ferramenta para u sinagem fixa a base móvel do manipulador e bloco a ser usinado fixado no centro da base fixa do mesmo manipulador [024] Figure 7 - Schematic drawing of the Constructive Arrangement in Electromechanical Manipulator for Surgery and Surgical Guides with a tool for securing the movable base of the manipulator and block to be machined fixed in the center of the fixed base of the same manipulator
[025] Figura 8 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos com ferramenta para u sinagem fixa a base móvel do manipulador e bloco a ser usinado abaixo da base fixa do manipulador [025] Figure 8 - Schematic Drawing of Constructive Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides with a tool for securing the movable base of the manipulator and block to be machined below the fixed base of the manipulator
[026] Figura 9 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos com ferramenta fixa a uma estrutura externa e bloco a ser usinado sobre a base móvel do manipulador com os atuadores cruzados [026] Figure 9 - Schematic drawing of Constructive Arrangement in Electromechanical Manipulator for Surgery and Surgical Guides with tool attached to an external frame and block to be machined on the movable base of the manipulator with crossed actuators
[027] Figura 10 - Desenho esquemático da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos com ferramenta fixa na base móvel do manipulador, invertido , preso s a uma estrutura fixa, e bloco a ser usinado apoiado sobre uma base externa. [027] Figure 10 - Schematic drawing of the Constructive Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides with Fixed tool on the movable base of the manipulator, inverted, attached to a fixed structure, and block to be machined supported on an external base.
[028] A - - Atuador linear eletromecânico [028] A - - Electromechanical Linear Actuator
[029] B I - B ase fixa [029] B I - Fixed B ase
[030] B2 - B ase móvel [030] B2 - Mobile B ase
[03 1 ] B - Bloco de material a ser usinado [03 1] B - Material block to be machined
[032] E - Estrutura de fixação externa [032] E - External fixing structure
[033 ] F - Ferramenta para usinagem [033] F - Tool for machining
[034] H - - haste de fixação [034] H - - fixing rod
[035] I - Instrumento cirúrgico [035] I - Surgical instrument
[036] M - Mecanismo adicional [036] M - Additional Mechanism
[037] Descrição : O presente Modelo de Utilidade Dispo sição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgico s apresenta um sistema composto por um manipulador eletromecânico baseado no mecanismo plataforma de Stewart, acrescido de instrumento cirúrgico (I) , tipo bisturi, broca c irúrgica ou outro qualquer, ou uma ferramenta para usinagem (F) tipo fresa, ou broca ou outra qualquer, que podem estar fixos na base móvel (B2) do manipulador, como demonstrado nas Figuras 1 , 2, 3 , 6, 7 , 8 , e 10, ou ainda estarem fixos em uma estrutura de fixação externa (E) , como demonstrado nas Figuras 4, 5 e 9. Este sistema é aplicável na execução de cirurgias remotas ou em ambientes de isolamento ou na confecção de guias cirúrgicas dentro da medicina e odontologia, para fabricação em clínicas através de software ou controle de repetição de movimento de um operador sobre um manipulador acessório, também de mecanismo baseado em plataforma de Stewart (Figuras 1 , 2 e 3 ) . Ainda o sistema pode ser operado diretamente por meio de um sistema CAD/CAM, onde parte CAD está relacionada ao projeto assistido pelo computador, que j á vem de softwares e do planej amento da cirurgia e a parte CAM é específica ao proces samento por um equipamento para a confecção de uma peça. A plataforma de Stewart consiste em uma base fixa (B I ) e uma base móvel (B2) conectadas através de seis atuadores lineares eletromecânicos (A) com deslocamento linear, ou seis atuadores eletromecânicos rotativos em conjunto com sistema mecânico que transforma o movimento rotacional em linear, ou ainda de outro tipo conveniente, que pos suem variação no seu comprimento . A base móvel (B2) pode atingir movimentos nos seis graus de liberdade, ou sej a, três translações e três rotações com relação ao próprio ponto central . As amplitudes dos movimentos dependem do raio das bases , das distâncias entre os pontos de apoio do s atuadores e do comprimento útil dos atuadores lineares eletromecânicos (A) . Estes atuadores lineares eletromecânicos (A) estão conectado s às bases em ambos o s lados por juntas, que podem ser universais nos dois lados ou universais de um lado e esféricas de outro lado , ou ainda, esféricas em ambos os lados , ou de outra configuração possível . Tanto a base fixa (B I ) quanto a base móvel (B2) podem ou não fazer parte da estrutura externa de sustentação do equipamento . [037] Description: The present Constructive Arrangement Utility Model for Electromechanical Manipulator for Surgery and Surgical Guides presents a system composed by an electromechanical manipulator based on the Stewart platform mechanism, plus a scalpel, drill and surgical instrument (I). or any other, or a milling cutter-type tool (F), or drill or other, which may be attached to the movable base (B2) of the manipulator as shown in Figures 1, 2, 3, 6, 7, 8 , and 10, or are still attached to an external fixation structure (E), as shown in Figures 4, 5 and 9. This system is applicable for performing remote surgeries or in isolation environments or for making surgical guides within the medicine and dentistry, for fabrication in clinics by means of software or an operator's repeat motion control over an accessory manipulator, also via a Stewar platform-based mechanism t (Figures 1, 2 and 3). Still the system can be operated directly by means of a CAD / CAM system, where CAD part is related to the computer assisted design, which already comes from software and the planning of the surgery and the CAM part is specific to the processing by a computer. equipment for making a part. Stewart's platform consists of a fixed base (BI) and a movable base (B2) connected via six linear displacement electromechanical actuators (A), or six rotary electromechanical actuators in conjunction with a mechanical system that transforms rotational motion into linear, or of another convenient type, which have variation in their length . The movable base (B2) can achieve movements at six degrees of freedom, that is, three translations and three rotations with respect to the center point itself. The range of motion depends on the radius of the bases, the distances between the bearing points of the actuators and the useful length of the electromechanical linear actuators (A). These electromechanical linear actuators (A) are connected to the bases on both sides by joints, which can be universal on both sides or universal on one side and spherical on the other side, or spherical on either side, or of another configuration. possible . Both the fixed base (BI) and the mobile base (B2) may or may not be part of the equipment's external supporting structure.
[038] Para a montagem da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgicos a ser utilizada em cirurgias , o instrumento cirúrgico (I) pode estar preso à base móvel (B 2) e a base fixa (B I ) pode estar presa ao maxilar ou à cabeça ou a uma haste de fixação (H) presa em uma parede ou na própria cadeira ou mesa no consultório (Figura 1 ), ou o instrumento cirúrgico (I) pode estar preso a uma estrutura de fixação externa (E) presa à base móvel (B 2) e a base fixa (B I ) pode estar presa em uma parede ou na própria cadeira ou mesa no consultório (Figura 2) . [038] For the assembly of the Constructive Arrangement in Electromechanical Manipulator for Surgeries and Surgical Guides to be used in surgeries, the surgical instrument (I) may be attached to the movable base (B 2) and the fixed base (BI) may be attached to the jaw or head or fixation rod (H) attached to a wall or chair or table in the office (Figure 1), or the surgical instrument (I) may be attached to an external fixation structure (E) the mobile base (B 2) and the fixed base (BI) can be attached to a wall or to the chair or table itself in the office (Figure 2).
[039] Para a montagem da Disposição Construtiva em Manipulador Eletromecânico para Cirurgias Guias e Cirúrgicos a ser utilizada em usinagem, o bloco de material a ser u sinado (B ) pode estar sobre a base móvel (B2) , com a ferramenta para u sinagem (F) fixa em uma estrutura de fixação externa (E) , como nas Figuras 4, 5 e 9 , ou o bloco a ser usinado (B ) pode estar fixo numa posição definida e a base móvel (B2) se movimentar com a ferramenta para usinagem (F) , como nas Figuras 6, 7 , 8 e 10, ou a Disposição Construtiva em Manipulador Eletromecânico para Guias Cirúrgicas e Cirurgias pode estar montado horizontalmente com a ferramenta para usinagem (F), fazendo o proces so de retirada de material pela lateral do bloco a ser usinado (B ), como na Figura 6 ou ; o bloco de material a ser usinado (B ) pode estar montado no Manipulador Eletromecânico para Guias Cirúrgicos e a ferramenta para usinagem (F) fazendo horizontalmente o proces so de retirada de material pela lateral, como na Figura 5. Ou sej a, é pos sível que a montagem sej a direcionada para movimentação do bloco de material a ser usinado (B ) mantendo a ferramenta para usinagem (F) fixa ou movimentando a ferramenta para usinagem (F) e mantendo o bloco de material a ser u sinado (B ) fixo . Ao final, apenas alguns acabamentos devem ser realizados nas peças antes da esterilização . [039] For the assembly of the Constructive Arrangement in Electromechanical Manipulator for Guide and Surgical Surgery to be used in machining, the material block to be used (B) can be on the movable base (B2), with the tool for use (F) clamped to an external clamping frame (E) as in Figures 4, 5 and 9, or the block to be machined (B) may be fixed in a defined position and the movable base (B2) move with the tool for machining (F), as in Figures 6, 7, 8 and 10, or Constructive Arrangement in Electromechanical Manipulator For Surgical Guides and Surgeries it can be mounted horizontally with the machining tool (F), making the material removal process from the side of the block to be machined (B), as in Figure 6 or; the material block to be machined (B) can be mounted on the Electromechanical Surgical Guide Manipulator and the machining tool (F) making the lateral material removal process horizontally, as shown in Figure 5. That is, it is pos- It is possible that the assembly is directed to move the material block to be machined (B) by holding the machining tool (F) fixed or by moving the machining tool (F) and keeping the material block to be used (B) fixed . In the end, only a few finishes should be performed on parts prior to sterilization.
[040] No caso de a ferramenta ser comandada através da repetição do movimento efetuado em um segundo manipulador, passivo (Figura 3 ) , a montagem está direcionada para movimentação da ferramenta (F) mantendo o bloco de material (B ) a ser u sinado fixo . A montagem ainda pode ser feita conforme as Figuras 7 e 8 , com adição de um segundo mecanismo , em escala reduzida, cuj a finalidade é gerar as referências de movimentação para a movimentação do sistema principal. Este segundo equipamento pos sui a forma de uma plataforma de Stewart, porém seus elos não são atuados sendo, portanto, dotado apenas de sensores lineares ou rotativos adaptados, de forma a se obter a posição da ferramenta e reproduzi-la no sistema principal. [040] In case the tool is controlled by repeating the movement performed on a second passive manipulator (Figure 3), the assembly is directed to tool movement (F) keeping the material block (B) to be used. fixed . The assembly can still be made according to Figures 7 and 8, with the addition of a second mechanism, in small scale, whose purpose is to generate the movement references for the main system movement. This second equipment has the form of a Stewart platform, but its links are not actuated and, therefore, provided only with adapted linear or rotary sensors, in order to obtain the position of the tool and reproduce it in the main system.
[041 ] Conclusão : Deste modo, o Modelo de Utilidade Dispo sição Construtiva em Manipulador Eletromecânico para Cirurgias e Guias Cirúrgico s é subsidiada por características técnicas e funcionais inéditas, como se pode verificar nas figuras anexas e compreender no relatório descritivo, merecendo, portanto, a proteção legal pleiteada. [041] Conclusion: Thus, the Utility Model Constructive Disposition in Electromechanical Manipulator for Surgery and Surgical Guide s is subsidized by unprecedented technical and functional characteristics, as can be seen in the attached figures and understood in the descriptive report, thus deserving the legal protection claimed.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| BR202016023699-7U BR202016023699U2 (en) | 2016-10-11 | 2016-10-11 | CONSTRUCTIVE ARRANGEMENT IN ELECTROMECHANICAL MANIPULATOR FOR SURGERIES AND SURGICAL GUIDES |
| BRBR202016023699-7 | 2016-10-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018068115A1 true WO2018068115A1 (en) | 2018-04-19 |
Family
ID=61904963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/BR2017/050302 Ceased WO2018068115A1 (en) | 2016-10-11 | 2017-10-04 | Structural arrangement in electromechanical manipulator for surgery and surgical guides |
Country Status (2)
| Country | Link |
|---|---|
| BR (1) | BR202016023699U2 (en) |
| WO (1) | WO2018068115A1 (en) |
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|---|---|---|---|---|
| US5354158A (en) * | 1989-09-01 | 1994-10-11 | Kearney & Trecker Corporation | Six axis machine tool |
| US20030053901A1 (en) * | 1999-08-05 | 2003-03-20 | Roy Shambhu Nath | Parallel kinematics mechanism with a concentric spherical joint |
| US20080269741A1 (en) * | 2007-04-28 | 2008-10-30 | John Peter Karidis | Orthopedic fixation device with zero backlash and adjustable compliance, and process for adjusting same |
| US20110256496A1 (en) * | 2010-04-15 | 2011-10-20 | Arzanpour Siamak | Intelligent dental handpiece control system |
| US20110313418A1 (en) * | 2010-05-19 | 2011-12-22 | Arkadijus Nikonovas | Orthopedic fixation with imagery analysis |
| US20120180593A1 (en) * | 2010-07-13 | 2012-07-19 | Thales | Hexapod actuator device |
| US20120258430A1 (en) * | 2009-12-04 | 2012-10-11 | Heraeus Kulzer Gmbh | Production of individual dental prosthesis via cad/cam and rapid manufactoring/rapid prototyping from data of the digital impression |
| US20130061710A1 (en) * | 2011-09-08 | 2013-03-14 | Hon Hai Precision Industry Co., Ltd. | Ball joint mechanism, kinematic chain and parallel robot |
| US20140170591A1 (en) * | 2012-12-17 | 2014-06-19 | Global Filtration Systems, A Dba Of Gulf Filtration Systems Inc. | Dental arch model and method of making the same |
| US20160135931A1 (en) * | 2013-12-27 | 2016-05-19 | James R. Glidewell Dental Ceramics, Inc. | Apparatus and methods of making denture devices |
-
2016
- 2016-10-11 BR BR202016023699-7U patent/BR202016023699U2/en not_active Application Discontinuation
-
2017
- 2017-10-04 WO PCT/BR2017/050302 patent/WO2018068115A1/en not_active Ceased
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5354158A (en) * | 1989-09-01 | 1994-10-11 | Kearney & Trecker Corporation | Six axis machine tool |
| US20030053901A1 (en) * | 1999-08-05 | 2003-03-20 | Roy Shambhu Nath | Parallel kinematics mechanism with a concentric spherical joint |
| US20080269741A1 (en) * | 2007-04-28 | 2008-10-30 | John Peter Karidis | Orthopedic fixation device with zero backlash and adjustable compliance, and process for adjusting same |
| US20120258430A1 (en) * | 2009-12-04 | 2012-10-11 | Heraeus Kulzer Gmbh | Production of individual dental prosthesis via cad/cam and rapid manufactoring/rapid prototyping from data of the digital impression |
| US20110256496A1 (en) * | 2010-04-15 | 2011-10-20 | Arzanpour Siamak | Intelligent dental handpiece control system |
| US20110313418A1 (en) * | 2010-05-19 | 2011-12-22 | Arkadijus Nikonovas | Orthopedic fixation with imagery analysis |
| US20120180593A1 (en) * | 2010-07-13 | 2012-07-19 | Thales | Hexapod actuator device |
| US20130061710A1 (en) * | 2011-09-08 | 2013-03-14 | Hon Hai Precision Industry Co., Ltd. | Ball joint mechanism, kinematic chain and parallel robot |
| US20140170591A1 (en) * | 2012-12-17 | 2014-06-19 | Global Filtration Systems, A Dba Of Gulf Filtration Systems Inc. | Dental arch model and method of making the same |
| US20160135931A1 (en) * | 2013-12-27 | 2016-05-19 | James R. Glidewell Dental Ceramics, Inc. | Apparatus and methods of making denture devices |
Also Published As
| Publication number | Publication date |
|---|---|
| BR202016023699U2 (en) | 2018-05-02 |
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