Robotic surgical systems and methods

Patent metadata

Field	Value
Publication number	US-10687905-B2
Application number	US-201615253206-A
Country	US
Kind code	B2
Filing date	Aug 31, 2016
Priority date	Aug 31, 2015
Publication date	Jun 23, 2020
Grant date	Jun 23, 2020

Abstract

The disclosed technology relates to robotic surgical systems for improving surgical procedures. In certain embodiments, the disclosed technology relates to robotic surgical systems for use in osteotomy procedures in which bone is cut to shorten, lengthen, or change alignment of a bone structure. The osteotome, an instrument for removing parts of the vertabra, is guided by the surgical instrument guide which is held by the robot. In certain embodiments, the robot moves only in the “locked” plane (one of the two which create the wedge—i.e., the portion of the bone resected during the osteotomy). In certain embodiments, the robot shall prevent the osteotome (or other surgical instrument) from getting too deep/beyond the tip of the wedge. In certain embodiments, the robotic surgical system is integrated with neuromonitoring to prevent damage to the nervous system.

First claim

What is claimed:

1. A robotic surgical system for use in a surgical procedure performed on a patient, the system comprising:
a robotic arm comprising an end-effector;
an actuator for controlled movement of the robotic arm and positioning of the end effector, thereby controlling the trajectory and/or insertion depth of a surgical instrument in a guide affixed to the end effector;
a neuromonitoring module for implementing real-time neuromonitoring during a surgical procedure; and
a processor and a memory storing instructions thereon, wherein the instructions, when executed, cause the processor to: receive, by the neuromonitoring module, a trigger based on a neurological response of a portion of a nerve structure of the patient that is measured by a neuromonitoring system; and
move a surgical instrument guided by the robotic surgical system away from upon receipt of the trigger
wherein the surgical instrument guide is integrated with the neuromonitoring module,
wherein the neuromonitoring module is configured to control the robotic system in response to an external signal.

2. The robotic surgical system of claim 1 , wherein preventing deeper insertion into the patient of a surgical instrument guided by the robotic surgical system upon receipt of the trigger comprising moving, by the robotic surgical system, a position of the end-effector away from the patient.

3. The robotic surgical system of claim 1 , comprising a surgical instrument guide arranged to pass a neuromonitoring cable therethrough.

4. The robotic surgical system of claim 1 , comprising the neuromonitoring system which is separate from the robotic surgical system.

5. The robotic surgical system of claim 1 , wherein the neuromonitoring system comprises a cable that extends through a surgical instrument guide connected to the end-effector.

6. The robotic surgical system of claim 1 , wherein the surgical instrument guide comprises a block and/or notch for preventing further insertion of the surgical instrument.

7. The robotic surgical system of claim 1 , comprising a navigation module for maintaining the position of the end-effector upon detection, by a navigation system, of movement of a navigation marker.

8. The robotic surgical system of claim 1 , comprising a user interface on the robotic arm of the robotic surgical system.

Assignees

• KB Medical SA

Inventors

• Kostrzewski Szymon

Classifications

• A61B5/24

  Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof · CPC title

• A61B34/32

  operating autonomously · CPC title

• A61B2018/00839

  Bioelectrical parameters, e.g. ECG, EEG · CPC title

• A61B5/4893

  Nerves · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title