Systems and methods for implantation of spinal plate

Patent metadata

Field	Value
Publication number	US-10568698-B2
Application number	US-201816025462-A
Country	US
Kind code	B2
Filing date	Jul 2, 2018
Priority date	Dec 31, 2013
Publication date	Feb 25, 2020
Grant date	Feb 25, 2020

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 method for preparing a bone for implantation of a spinal plate during a surgical procedure, comprising:
displaying, at a display device, information about a spinal target region of a patient including a first vertebra and a second vertebra on which the implantation is to be performed;
inserting a spacing device between the first and second vertebrae to achieve a desired relationship between the first and second vertebrae;
planning placement of a spinal plate on the spinal target region to maintain the desired relationship between the first and second vertebrae;
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 on the spinal target region;
tracking the first and second vertebrae using a tracking array attached to the spacing device;
tracking a position of a tracked surgical cutting tool held by a force feedback device as the surgical cutting tool is manipulated to form a sculpted cavity independently on each of the first and the second vertebrae for receiving the spinal plate; and
providing feedback to the user indicative of interaction between the surgical cutting tool and the virtual cutting boundary.

2. The method of claim 1 , further comprising implanting the spinal plate on the first and second vertebrae within the sculpted cavities, such that a top surface of the spinal plate is substantially flush with a surface of the first and second vertebrae.

3. The method of claim 1 , wherein the virtual cutting boundaries correspond to a shape of the spinal plate.

4. The method of claim 1 , wherein the virtual cutting boundaries correspond to one or more dimensions of the spinal plate.

5. The method of claim 1 , wherein the surgical cutting tool is a surgical burr.

6. The method of claim 1 , wherein the spinal target region is the cervical region of the spine.

7. The method of claim 1 , wherein the spinal target region is the lumbar region of the spine.

8. The method of claim 1 , further comprising:
defining a virtual cutting boundary in the intervertebral disc space between the first and second vertebrae according to the planned placement of the spinal plate on the spinal target region; and
tracking a position of the surgical cutting tool held by the force feedback device as the surgical cutting tool is manipulated to form a sculpted cavity in the intervertebral disc space.

9. The method of claim 1 , wherein the sculpted cavities further comprise at least one predrilled hole for receiving an engagement member to engage the spinal plate with the bone.

10. The method of claim 1 , further comprising displaying, at a display device, an anatomical image of the anatomy of the patient including a representation of the surgical cutting tool as the surgical cutting tool moves during the surgical procedure.

Assignees

• Mako Surgical Corp

Inventors

• Greenwald Jonathan
• Irwin Ron

Classifications

• A61B17/025

  Joint distractors · CPC title

• 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

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title