Methods of using a robotic spine system

Patent metadata

Field	Value
Publication number	US-10265128-B2
Application number	US-201615218608-A
Country	US
Kind code	B2
Filing date	Jul 25, 2016
Priority date	Mar 20, 2002
Publication date	Apr 23, 2019
Grant date	Apr 23, 2019

Abstract

A method of using a robotic guidance system for performing surgery on a spine is provided. The method includes utilizing a computerized tomographic scan image of a location on a spinal column of a patient, such that the computerized tomographic scan image is connected to a computer and visible on a monitor connected to the computer. The method also includes attaching a coupling component to the spinal column of the patient, coupling a marker to the coupling component, and imaging, with a fluoroscope, the view of the spinal column of the patient, wherein the fluoroscope image is transmitted to the computer and visible on the monitor and the at marker is clearly visible in the fluoroscope image. The method also includes positioning a cannula, with a robotic mechanism, to a first position relative to a vertebra in the spinal column of the patient, drilling a passage through the cannula into bone of the vertebra in the spinal column of the patient, inserting a guidewire through the cannula into the passage in the bone of the vertebra in the spinal column of the patient, and positioning a screw into the bone of the vertebra in the spinal column of the patient.

First claim

What is claimed is:

1. A robotic guidance system for performing surgery on a spine, the robotic guidance system comprising:
at least one computer configured to receive at least one computerized tomographic scan image of a spinal column of a patient on whom a surgical procedure is to be performed;
at least one monitor connected to the at least one computer, wherein the at least one monitor is configured to display, from the at least one computer, the at least one computerized tomographic scan image of the spinal column of the patient on whom the surgical procedure is to be performed;
at least one coupling component configured to couple to the spinal column of the patient;
at least one marker configured to be positionable relative to the at least one coupling component, wherein the at least one marker is configured to be clearly visible in at least one fluoroscope image of the spinal column of the patient on whom the surgical procedure is to be performed, and wherein at least one fluoroscope image is transmitted to the at least one computer and visible on the at least one monitor connected to the at least one computer;
a robotic mechanism connected to the at least one computer and configured to move through various programmed motions for the performance of the surgical procedure on the spinal column of the patient; and
a cannula coupled to the robotic mechanism, the robotic mechanism being configured to position the cannula relative to at least one vertebrae in the spinal column of the patient;
wherein the robotic mechanism is connected to a base configured to be on a floor next to the patient when surgery is performed.

2. The robotic guidance system according to claim 1 , wherein the cannula is at least one portion of a tissue retractor assembly.

3. The robotic guidance system according to claim 1 , further comprising at least one tissue retractor configured to be positioned through the cannula.

4. The robotic guidance system according to claim 1 , further comprising at least one surgical instrument configured to be utilized through the cannula.

5. The robotic guidance system according to claim 1 , further comprising at least one prosthetic implant configured to be positioned in a bone of the at least one vertebrae in the spinal column of the patient.

6. The robotic guidance system according to claim 1 , further comprising a drill configured to create at least one passage into bone of the at least one vertebrae in the spinal column of the patient.

7. The robotic guidance system according to claim 6 , further comprising at least one elongate member configured to be inserted into the at least one passage in the bone of the at least one vertebrae in the spinal column of the patient, wherein the elongate member is positionable through the cannula.

8. The robotic guidance system according to claim 7 , wherein the elongate member has an external thread.

9. The robotic guidance system according to claim 8 , wherein the elongate member is configured to be screwed into a passage in bone of the vertebrae.

10. The robotic guidance system according to claim 6 , further comprising at least one screw configured to be positioned into the at least one passage in the bone of the at least one vertebrae in the spinal column of the patient, wherein the at least one screw is configured to secure body tissue.

11. The robotic guidance system according to claim 1 , wherein the cannula is configured to facilitate the insertion of one or more surgical instruments to a location on the body of the patient.

12. The robotic guidance system according to claim 11 , wherein the location on the body of the patient comprises an opening formed in a vertebrae of the patient's spinal column.

13. The robotic guidance system according to claim 12 , wherein the robotic mechanism is configured to be used to form the opening in the vertebrae of the patient's spinal column.

14. The robotic guidance system according to claim 1 , wherein the marker is radiopaque.

15. The robotic guidance system as set forth in claim 1 , further comprising:
a drill configured to create at least one passage into bone of the at least one vertebrae in the spinal column of the patient;
at least one elongate member configured to be inserted into the at least one passage in the bone of the at least one vertebrae in the spinal column of the patient, wherein the elongate member is positionable through the cannula; and
at least one screw configured to be positioned into the at least one passage in the bone of the at least one vertebrae in the spinal column of the patient, wherein the at least one screw is configured to secure body tissue.

16. The robotic guidance system according to claim 1 , wherein the programmed motions are configured such that the robotic mechanism positions the cannula at one or more desired locations relative to the spinal column of the patient as the robotic mechanism moves through the programmed motions.

17. The robotic guidance system according to claim 16 , wherein the desired locations are related to the surgical procedure.

18. The robotic guidance system according to claim 16 , wherein the desired locations are configured to facilitate inserting a surgical instrument through the cannula into a defined working space of the patient during the surgical procedure.

19. A robotic guidance system for performing surgery on a spine, the robotic guidance system comprising:
at least one computer configured to receive at least one computerized tomographic scan image of a spinal column of a patient on whom a surgical procedure is to be performed;
at least one monitor connected to the at least one computer, wherein the at least one monitor is configured to display, from the at least one computer, the at least one computerized tomographic scan image of the spinal column of the patient on whom the surgical procedure is to be performed;
at least one coupling component configured to couple to the spinal column of the patient;
at least one marker configured to be positionable relative to the at least one coupling component, wherein the at least one marker is configured to be clearly visible in at least one fluoroscope image of the spinal column of the patient on whom the surgical procedure is to be performed, and wherein at least one fluoroscope image is transmitted to the at least one computer and visible on the at least one monitor connected to the at least one computer;
a robotic mechanism connected to the at least one computer and configured to move through programmed motions for the performance of the surgical procedure on the spinal column of the patient; and
a cannula coupled to the robotic mechanism, the robotic mechanism being configured to position the cannula relative to the spinal column of the patient;
wherein the cannula is configured such that at least one surgical instrument is configured to be inserted through the cannula into the patient during the surgical procedure;
wherein the robotic mechanism is connected to a base configured to be on a floor next to the patient when surgery is performed.

20. The robotic guidance system according to claim 19 , wherein the cannula is at least one portion of a tissue retractor assembly.

21. The robotic guidance system according to claim 19 , further comprising at least one tissue retractor configured to be positioned through the cannula.

22. The robotic guidance system according to claim 19 , further comprising at least one prosthetic implant configured to be positioned in

Assignees

• P Tech Llc

Inventors

• Bonutti Peter M

Classifications

• A61B2090/065

  for measuring contact or contact pressure · CPC title

• A61B90/39

  Markers, e.g. radio-opaque or breast lesions markers · CPC title

• A61B34/77

  Manipulators with motion or force scaling · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B17/154

  for preparing bone for knee prosthesis · CPC title