Robotic surgery

Patent metadata

Field	Value
Publication number	US-10869728-B2
Application number	US-201916272650-A
Country	US
Kind code	B2
Filing date	Feb 11, 2019
Priority date	Mar 20, 2002
Publication date	Dec 22, 2020
Grant date	Dec 22, 2020

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 surgical robot for facilitating spine surgery, the surgical robot comprising:
a computer configured to receive a computerized image of a spinal column of a patient on whom a spinal surgical procedure is to be performed;
a monitor connected to the computer, wherein the monitor is configured to display, from the computer, the computerized image of the spinal column of the patient on whom the spinal surgical procedure is to be performed;
a robotic arm in communication with the computer; and
a cannula coupled to the robotic arm, wherein the cannula is configured to receive a surgical instrument for performing the spinal surgical procedure,
wherein the computer is configured to control the robotic arm to position the cannula relative to the spinal column of the patient during the spinal surgical procedure,
wherein the robotic arm is coupled to a base configured to be on a floor next to the patient during the spinal surgical procedure.

2. The surgical robot set forth in claim 1 , further comprising the surgical instrument received in the cannula during the spinal surgical procedure.

3. The surgical robot set forth in claim 2 , wherein the surgical instrument is configured to insert an implant into the spinal column of the patient.

4. The surgical robot set forth in claim 2 , wherein the surgical instrument is configured to insert a screw into a vertebra of the spinal column of the patient.

5. The surgical robot set forth in claim 2 , wherein the surgical instrument is configured to insert an implant between adjacent vertebrae of the spinal column of the patient.

6. The surgical robot set forth in claim 2 , wherein the surgical instrument comprises a drill configured to create a passage in a vertebra of the spinal column of the patient.

7. The surgical robot set forth in claim 1 , further comprising:
at least one coupling component configured to couple to the spinal column of the patient; and
at least one marker configured to be coupled to the at least one coupling component, wherein the at least one marker is configured to be visible in a fluoroscope image of the spinal column of the patient during the spinal surgical procedure.

8. The surgical robot set forth in claim 7 , wherein at least one fluoroscope image is transmitted to the computer and visible on the monitor connected to the computer.

9. The surgical robot set forth in claim 1 , further comprising at least one marker configured to be coupled to the spinal column of the patient, wherein the at least one marker is configured to be visible in a fluoroscope image of the spinal column of the patient during the spinal surgical procedure.

10. The surgical robot set forth in claim 9 , wherein at least one fluoroscope image is transmitted to the computer and visible on the monitor connected to the computer.

11. A method of performing robotic spine surgery, the method comprising:
displaying a computerized image of a spinal column of a patient on monitor,
wherein the displayed computerized image is received from a computer connected to the monitor;
controlling, via the computer, a robotic arm in communication with the computer to position a cannula coupled to the robotic arm relative to the spinal column of the patient, wherein the robotic arm is coupled to a base configured to be on a floor next to the patient during the spinal surgical procedure, wherein the cannula is configured to receive a surgical instrument for performing the spinal surgical procedure.

12. The method of performing robotic spine surgery set forth in claim 11 , further comprising inserting the surgical instrument into the cannula after said controlling, via the computer, a robotic arm in communication with the computer to position a cannula coupled to the robotic arm relative to the spinal column of the patient.

13. The method of performing robotic spine surgery set forth in claim 12 , further comprising inserting an implant into the spinal column of the patient using the surgical instrument.

14. The method of performing robotic spine surgery set forth in claim 12 , further comprising threading a screw into a vertebra of the spinal column of the patient using the surgical instrument.

15. The method of performing robotic spine surgery set forth in claim 12 , further comprising inserting an implant between adjacent vertebrae of the spinal column of the patient using the surgical instrument.

16. The method of performing robotic spine surgery set forth in claim 12 , further comprising drilling a passage in a vertebra of the spinal column of the patient using the surgical instrument.

17. The method of performing robotic spine surgery set forth in claim 11 , further comprising:
coupling at least one coupling component to the spinal column of the patient; and
coupling at least one marker to the at least one coupling component, wherein the at least one marker is configured to be visible in a fluoroscope image of the spinal column of the patient.

18. The method of performing robotic spine surgery set forth in claim 17 , further comprising:
transmitting at least one fluoroscope image to the computer; and
displaying the at least one fluoroscope image on the monitor.

19. The method of performing robotic spine surgery set forth in claim 11 , further comprising coupling at least one marker to the spinal column of the patient, wherein the at least one marker is configured to be visible in a fluoroscope image of the spinal column of the patient.

20. The method of performing robotic spine surgery set forth in claim 11 , further comprising:
transmitting at least one fluoroscope image to the computer; and
displaying the at least one fluoroscope image on the monitor.

Assignees

• P Tech Llc

Inventors

• Bonutti Peter M

Classifications

• A61B17/8875

  Screwdrivers, spanners or wrenches · CPC title

• A61B6/032

  Transmission computed tomography [CT] · CPC title

• A61B17/0401

  Suture anchors, buttons or pledgets, i.e. means for attaching sutures to bone, cartilage or soft tissue; Instruments for applying or removing suture anchors (A61B17/0642 takes precedence; fixation devices for tendons or ligaments A61F2/0811) · CPC title

• A61B17/1626

  Control means; Display units · CPC title

• A61B2090/065

  for measuring contact or contact pressure · CPC title