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WO2018068115A1 - Agencement structural appliqué à un manipulateur électromécanique pour chirurgies et guides chirurgicaux - Google Patents

Agencement structural appliqué à un manipulateur électromécanique pour chirurgies et guides chirurgicaux Download PDF

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Publication number
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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WO
WIPO (PCT)
Prior art keywords
electromechanical
surgical
manipulator
surgery
attached
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/BR2017/050302
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English (en)
Portuguese (pt)
Inventor
Ricardo HEINE
André CASAGRANDE
Angélica COLPO
Vítor VALENTE
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Individual
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Individual
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Filing date
Publication date
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Publication of WO2018068115A1 publication Critical patent/WO2018068115A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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.

Landscapes

  • 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

L'invention, intitulée « Agencement structural appliqué à un manipulateur électromécanique pour chirurgies et guides chirurgicaux », consiste en un système comprenant un manipulateur électromécanique basé sur le mécanisme plateforme de Steward et un ou plusieurs instruments chirurgicaux ou un ou plusieurs outils d'usinage fixés à une base mobile ou à une structure externe, commandés et actionnés par un système électronique dédié, trouvant une application en chirurgie dans des cliniques odontologiques, médicales ou vétérinaires, des hôpitaux et des laboratoires, lesdits éléments étant utilisés pour des opérations pratiquées sur des être humains ou des animaux et dans la production de guides chirurgicaux, l'invention pouvant être directement utilisée en chirurgie ou dans des opérations pratiquées sur des êtres humains ou des animaux et dans la production de guides pour chirurgies odontologiques et médicales, ainsi que pour la fabrication d'implants, de moules, de modèles et de prothèses. En association, les systèmes mécanique, chirurgical et électronique de commande permettent de réaliser des opérations précises sans entrer en contact direct avec le patient, les chirurgies pouvant être exécutées avec les six degrés de liberté, que ce soit à distance ou en milieu isolé, sans contaminations, par utilisation d'une micro-caméra et d'un éclairage intégrés.
PCT/BR2017/050302 2016-10-11 2017-10-04 Agencement structural appliqué à un manipulateur électromécanique pour chirurgies et guides chirurgicaux Ceased WO2018068115A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
BRBR202016023699-7 2016-10-11
BR202016023699-7U BR202016023699U2 (pt) 2016-10-11 2016-10-11 Disposição construtiva em manipulador eletromecânico para cirurgias e guias cirúrgicos

Publications (1)

Publication Number Publication Date
WO2018068115A1 true WO2018068115A1 (fr) 2018-04-19

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Application Number Title Priority Date Filing Date
PCT/BR2017/050302 Ceased WO2018068115A1 (fr) 2016-10-11 2017-10-04 Agencement structural appliqué à un manipulateur électromécanique pour chirurgies et guides chirurgicaux

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BR (1) BR202016023699U2 (fr)
WO (1) WO2018068115A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
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
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

Patent Citations (10)

* Cited by examiner, † Cited by third party
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

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Publication number Publication date
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