Sterile handle for controlling a robotic surgical system from a sterile field

Patent metadata

Field	Value
Publication number	US-10939968-B2
Application number	US-201816026272-A
Country	US
Kind code	B2
Filing date	Jul 3, 2018
Priority date	Feb 11, 2014
Publication date	Mar 9, 2021
Grant date	Mar 9, 2021

Abstract

An implant for therapeutically separating bones of a joint has two endplates each having an opening through the endplate, and at least one ramped surface on a side opposite a bone engaging side. A frame is slideably connected to the endplates to enable the endplates to move relative to each other at an angle with respect to the longitudinal axis of the implant, in sliding connection with the frame. An actuator screw is rotatably connected to the frame. A carriage forms an open area aligned with the openings in the endplates. The openings in the endplates pass through the carriage to form an unimpeded passage from bone to bone of the joint. The carriage has ramps which mate with the ramped surfaces of the endplates, wherein when the carriage is moved by rotation of the actuator screw, the endplates move closer or farther apart.

First claim

What is claimed is:

1. A method of performing surgery with a robotic surgical system, the method comprising:
moving a mobile cart transporting a robotic surgical system comprising a robotic arm in proximity to an operating table, wherein the robotic arm has an end effector comprising a surgical instrument guide for guiding a surgical instrument, the surgical instrument guide having an internal handle and a sterile handle, wherein the sterile handle comprises:
a tightening sleeve comprising a hollow tubular structure having a first open end, said structure defining an axis along which the internal handle of the surgical instrument guide may be inserted, the tightening sleeve comprising two or more openings along a length of the tightening sleeve allowing the tightening sleeve to mechanically flex under tension, wherein no part of the surgical instrument is received in the tightening sleeve,
a sterile handle housing comprising a hollow tubular structure having a first open end, said structure of the sterile handle housing defining an axis along which the tightening sleeve may be inserted,
a tightening nut coupled to the sterile handle housing and comprising a thread on an interior of the tightening nut, wherein the tightening nut is configured to engage a thread on exterior of the tightening sleeve and thereby tighten the tightening sleeve such that a diameter of a portion of the tightening sleeve decreases and securely holds a portion of the internal handle of the surgical instrument guide, and
an electrical assembly comprising one or more input devices for commanding the robotic surgical system;

stabilizing the mobile cart;
maneuvering the robotic arm to a desired position to align an axis defined by the surgical instrument guide at a desired trajectory in relation to a patient situation;
fixing the position of the robotic arm; and
maneuvering a surgical instrument in a manner that is constrained by the surgical instrument guide.

2. The method of claim 1 , wherein the surgical instrument guide is configured to at least one of hold and restrict movement of a second surgical instrument therethrough.

3. The method of claim 2 , wherein the surgical instrument is a drill bit.

4. The method of claim 3 , wherein the surgical instrument guide is a drill bit guide.

5. The method of claim 4 , further comprising: maneuvering the drill bit through the drill bit guide.

6. The method of claim 1 , further comprising: maneuvering the surgical instrument through the surgical instrument guide.

7. The method of claim 1 , wherein the robotic surgical system is for use in spinal surgery.

8. The method of claim 1 , wherein the one or more input devices comprises two or more buttons configured to enable a user to active one or more of the two or more buttons to place the robotic surgical system in one of a rotation mode, a translation mode, or course positioning mode that allows translation and rotation movements.

9. The method of claim 8 , wherein, upon selection of a first button of the two or more buttons, the robotic surgical system is in the rotation mode, upon selection of a second button of the two or more buttons, the robotic surgical system is in the translation mode, and upon selection of both the first and second buttons, the robotic surgical system is in the combined translation and rotation mode.

10. The method of claim 1 , wherein the surgical instrument guide includes a guide tube having an axis which is disposed at an angle to the axis of the internal handle.

11. The method of claim 1 , wherein the sterile handle comprises one or more sensors configured to detect a presence of a surgeon's hand in proximity to the sterile handle.

12. The method of claim 1 , wherein the sterile handle is configured to be attached directly or indirectly to an end-effector of the robotic surgical system.

13. The method of claim 1 , wherein the robotic surgical system is configured to allow robotically-assisted or unassisted positioning and/or movement of the sterile handle by a user with at least six degrees of freedom, wherein the six degrees of freedom are three degrees of translations and three degrees of rotations.

14. The method of claim 1 , wherein the sterile handle is at least one of completely or partially disposable.

15. The method of claim 1 , wherein the surgical instrument guide is configured to be used to guide a screw implant and a tissue protector.

16. The method of claim 1 , wherein the sterile handle is removably attached to the robotic arm.

17. The method of claim 16 , wherein the axis can be aligned with the desired trajectory in relation to the patient situation via the sterile handle.

18. The method of claim 17 , wherein stabilizing the mobile cart comprises extracting one or more rigid legs on the mobile cart such that the mobile cart rests on the one or more rigid legs of the mobile cart.

19. The method of claim 18 , wherein stabilizing the mobile cart comprises retracting one or more wheels on the mobile cart such that the mobile cart rests on one or more rigid legs of the mobile cart.

20. A method of performing surgery with a robotic surgical system, the method comprising:
moving a mobile cart transporting a robotic surgical system comprising a robotic arm, wherein the robotic arm has an end effector comprising a surgical instrument guide for guiding a surgical instrument, the surgical instrument guide having an internal handle and a sterile handle, wherein the sterile handle comprises:
a tightening sleeve comprising a hollow tubular structure having a first open end, said structure defining an axis along which the internal handle of the surgical instrument guide may be inserted, the tightening sleeve configured to mechanically flex under tension, wherein no part of the surgical instrument is received in the tightening sleeve,
a sterile handle housing comprising a hollow tubular structure having a first open end, said structure of the sterile handle housing defining an axis along which the tightening sleeve may be inserted,
a tightening nut coupled to the sterile handle housing and comprising a thread on an interior of the tightening nut, wherein the tightening nut is configured to engage a thread on exterior of the tightening sleeve and thereby tighten the tightening sleeve such that a diameter of a portion of the tightening sleeve decreases and securely holds a portion of the internal handle of the surgical instrument guide, and
an electrical assembly comprising one or more input devices for commanding the robotic surgical system;

stabilizing the mobile cart;
maneuvering the robotic arm to a desired position to align an axis defined by the surgical instrument guide at a desired trajectory in relation to a patient situation.

Assignees

• KB Medical SA
• Globus Medical Inc

Inventors

• Kostrzewski Szymon
• Nussbaumer Billy

Classifications

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• A61B2017/0023

  disposable · CPC title

• A61B2017/00022

  Sensing or detecting at the treatment site · CPC title

• A61B2090/0813

  Accessories designed for easy sterilising, i.e. re-usable · CPC title

• A61B2017/0042

  with special provisions for gripping · CPC title