公开(公告)号：CA3086691A1

公开(公告)日：2019-07-25

申请号：CA3086691

申请日：2019-01-21

Applicant: CLARONAV INC

Inventor： DEKEL DORON ,  MITULESCU RAZVAN

IPC: A61B34/20 ,  A61B17/14 ,  A61B17/16 ,  A61B17/32 ,  A61C3/02

Abstract: Surgical systems and methods of controlling a surgical instrument are provided. The system includes a surgical instrument having a cutting portion and a body, the body having a handle, a drive motor for driving the cutting portion in a rotating, a reciprocating or a vibrating motion, a plurality of adjustment motors for adjusting a cutting pose of the cutting portion relative to the handle; and, a controller configured to measure the deviations between the cutting pose and a desired pose of the cutting portion and to activate the adjustment motors to reduce those deviations. The method involves coupling a cutting portion of a surgical instrument to a plurality of adjustment motors; holding the handle of the surgical instrument; operating a controller to measure deviations between a cutting pose and a desired pose; and operating the adjustment motors to adjust the cutting pose relative to the handle to reduce the deviations.