Systems and methods for implantation of spinal plate

Patent metadata

Field	Value
Publication number	US-10034711-B2
Application number	US-201414586192-A
Country	US
Kind code	B2
Filing date	Dec 30, 2014
Priority date	Dec 31, 2013
Publication date	Jul 31, 2018
Grant date	Jul 31, 2018

Abstract

A method for implanting a spinal plate includes the steps of displaying information about target vertebrae on which the implantation is to be performed and inserting a spacing device between two adjacent vertebrae to achieve a desired relationship there between. The method further includes planning placement of the spinal plate to achieve a desired relationship between the two adjacent vertebrae and defining a virtual cutting boundary on a virtual representation of each of the first and the second vertebrae according to the planned placement of the spinal plate. The method further includes tracking the vertebrae using a tracking array and tracking a position of a cutting tool held by a force feedback device as the tool is manipulated to form a sculpted cavity independently on each vertebrae for receiving the spinal plate, and providing force feedback to the user indicative of interaction between the tool and the virtual cutting boundary.

First claim

What is claimed is:

1. A surgical system for implanting a spinal plate, comprising:
a surgical device configured to be manipulated by a user to perform an implantation procedure on a patient;
a surgical tool coupled to the surgical device; and
a processing circuit configured to:
plan a placement of the spinal plate to span from a first vertebra to an adjacent second vertebra to achieve a desired relationship between the first and second vertebra;
associate at least one virtual object with the first vertebra and the adjacent second vertebra, based on the planned placement of the surgical plate, wherein the at least one virtual object represents a first cavity to be sculpted in the first vertebra to receive a first portion of the spinal plate and a second cavity to be sculpted in the second vertebra to receive a second portion of the spinal plate;

at least one feedback mechanism configured to supply feedback to the user manipulating the surgical device, and wherein the processing circuit is further programmed to control the feedback device to provide a limit on user manipulation of the surgical tool, based on a relationship between a position of the surgical tool and the first and second cavities.

2. The system of claim 1 , further comprising a tracking system configured to track a position and orientation of the first vertebra, the second vertebra, and the surgical tool.

3. The system of claim 1 , wherein the first and second cavities are sized and configured such that the body of the spinal plate has a minimal profile above the surface of the patient's spine when implanted.

4. The system of claim 1 , further comprising a detection device for determining a pose of an object.

5. The system of claim 4 , further comprising at least one trackable element detectable by the detection device and configured to be attached to the object.

6. The system of claim 1 , further comprising a display device and wherein the computer system is further programmed to display on the display device at least one of a representation of the target portion of the patient's spine, a representation of the spinal plate implanted on the patient's spine, a representation of the virtual object on the representation of the target portion of the patient's spine, and a representation of the surgical tool on the representation of the target portion of the patient's spine as the surgical tool moves during the surgical procedure.

7. The system of claim 1 , wherein the surgical tool is a cutting burr.

8. The system of claim 1 , wherein the computer system further comprises a database of spinal plate models such that the virtual object can be associated with the desired cavities that correspond to the shape and size of the particular spinal plate to be used in the planned placement.

9. A system, comprising:
a spinal plate including a fastener and a body, the body having a particular shape and size including a thickness;
a surgical device configured to be manipulated by a user;
a surgical tool coupled to the surgical device; and
a computing system configured to:
enable a user to plan placement of the spinal plate to span from a first vertebra to an adjacent second vertebra of a spinal target region to achieve a desired relationship between the first vertebra and the adjacent second vertebra on a spine of a patient;
define a virtual cutting boundary on a virtual representation of each of the first vertebra and the second vertebra, wherein the virtual cutting boundary represents a first cavity to be sculpted in the first vertebra to receive a first portion of the spinal plate and a second cavity to be sculpted in the second vertebra to receive a second portion of the spinal plate, according to the planned placement of the spinal plate on the spinal target region;
track a position and orientation of the first vertebra, second vertebra, and the surgical tool;
enable a user to manipulate the surgical device to prepare the first cavity and the second cavity independently on each of the first vertebra and the second vertebra, respectively, wherein the shape and size of the first cavity corresponds to the shape and size of the body of the spinal plate in the planned placement, wherein the first cavity has a depth at least partially based on the thickness of the body of the spinal plate; and
provide a limit on user manipulation of the surgical tool, based on a relationship between a position of the surgical tool and the virtual cutting boundary.

Assignees

• Mako Surgical Corp

Inventors

• Greenwald Jonathan
• Irwin Ron

Classifications

• A61F2/442

  Intervertebral or spinal discs, e.g. resilient (non-disc-shaped intervertebral inflatable pockets A61F2/441; non-disc-shaped intervertebral fusion implants A61F2/4455) · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title