Patent SG-11201805775R-A (SG)
Title: Handheld surgical instrument, surgical tool system, methods of forming and operating the same
Inventor: ANG WEI TECH
IPC: A61B34/20
Filed: 2017-03-23
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property -, Organization 111111111111101101010111110101111101101110011111H OH 1101111111110111111 International Bureau 0.. .... .. ..... ..or::,„, (10) International Publication Number (43) International Publication Date WO 2017/164818 Al 28 September 2017 (28.09.2017) WIP0 I PCT (51) International Patent Classification: (81) Designated States (unless otherwise indicated, for every A61B 34/20 (2016.01) kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, (21) International Application Number: BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, PCT/SG2017/050147 DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, (22) International Filing Date: HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, 23 March 2017 (23.03.2017) KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, (25) Filing Language: English NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, (26) Publication Language: English RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, (30) Priority Data: ZA, ZM, ZW. 10201602287P 23 March 2016 (23.03.2016) SG (84) Designated States (unless otherwise indicated, for every (71) Applicant: NANYANG TECHNOLOGICAL UNIVER- kind of regional protection available): ARIPO (BW, GH, SITY [SG/SG]; 50 Nanyang Avenue, Singapore 639798 GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, (SG). TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, (72) Inventors: ANG, Wei Tech; c/o Nanyang Technological TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, University, 50 Nanyang Avenue, Singapore 639798 (SG). DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, WANG, Zenan; c/o Nanyang Technological University, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, 50 Nanyang Avenue, Singapore 639798 (SG). SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). = (74) Agent: VIERING, JENTSCHURA & PARTNER LLP; Published: P.O Box 1088, Rochor Post Office, Rochor Road, Singa- = pore 911833 (SG). — with international search report (Art. 21(3)) = — (54) Title: HANDHELD ING THE SAME = 112 _ - = — SURGICAL INSTRUMENT, SURGICAL TOOL SYSTEM, METHODS OF FORMING AND OPERAT- FIG. IB (57) : The present invention relates to a handheld surgical instru- ment including a laser source configured to emit a laser beam for generating 100 a laser marker on a surface, an inertial measurement unit configured to de- C) tect a motion of the handheld surgical instrument and generate a first signal —1 including information on the motion of the handheld surgical instrument de- = Laser source tected by the inertial measurement unit, and a movable platform for holding a controlled tool tip. The handheld surgical instrument includes an actuator = - = 102 mechanically coupled to the movable platform, and a processing circuit con- figured to control the actuator to move the movable platform based on the = Inertial Measurement Unit first signal generated by the inertial measurement unit and a second signal generated by a vision unit based on a movement of the laser marker, so that = — Vision Unit N 104 the movement of the movable platform at least partially compensates a trem- ulous motion of the handheld surgical instrument. A surgical tool system the instrument and methods instru - comprising surgical of operation of said Movable Platform N ment and system are also provided. = 106 1-1 114 Actuator .4 GC 1-1 108 GC 71' Processing Circuit 1-1 —.... IN 1-1 0 ei 110 _. O