Robotic systems and methods for distraction in intervertebral disc prosthesis implantation

Patent metadata

Field	Value
Publication number	US-11160672-B2
Application number	US-201916578968-A
Country	US
Kind code	B2
Filing date	Sep 23, 2019
Priority date	Sep 24, 2018
Publication date	Nov 2, 2021
Grant date	Nov 2, 2021

Abstract

Systems and methods for robotically distracting a disc space are provided for implantation of an intervertebral prosthetic disc. The system includes a 3D modeling system for creating a 3D model of first and second vertebra adjacent the disc space and identifying positions of the first and second vertebrae. A robotic distractor precisely opens the disc space just large enough to receive a selected intervertebral disc. A computing system stores and processes the 3D model and the positions of the first and second vertebrae before and after distraction. A surgeon interface on the computing system allows the surgeon to select an intervertebral disc prosthesis to be implanted and a desired distraction distance or force to be achieved.

First claim

What is claimed is:

1. A surgical method for distraction of a disc space for implantation of an intervertebral disc prosthesis, the method comprising:
identifying positions of first and second vertebrae and generating and storing a 3D model of the first and second vertebrae in a computing system;
determining a size of an intervertebral disc prosthesis to be implanted between the first and second vertebrae;
inserting distractor pins in the first and second vertebrae in a known trajectory;
distracting the first and second vertebrae with a computer controlled robotic distractor which precisely opens the disc space just large enough to receive the intervertebral disc prosthesis of the selected size.

2. A surgical method of claim 1 , wherein the step of determining the size of the intervertebral disc prosthesis is performed via image analysis.

3. A surgical method of claim 1 , wherein the step of determining the size of the intervertebral disc prosthesis is performed manually by a surgeon.

4. A surgical method of claim 1 , wherein the step of determining the size of the intervertebral disc prosthesis is performed robotically.

5. A surgical method of claim 1 , wherein the step of inserting distractor pins is performed manually by a surgeon.

6. A surgical method of claim 1 , wherein the step of inserting distractor pins is performed robotically.

7. A surgical method of claim 1 , wherein the step of inserting distractor pins includes inserting two distractor pins in each of the first and second vertebrae.

8. A surgical method of claim 1 , wherein an initial distraction is performed before the step of determining a size of an intervertebral disc prosthesis.

9. A surgical method of claim 1 , further comprising inserting an intervertebral disc prosthesis into the disc space.

10. A surgical method of claim 1 , wherein the intervertebral disc prosthesis is inserted into the disc space without the use of an impacting instrument.

11. A surgical method of claim 1 , wherein the step of distracting distracts two lateral sides of the disc space independently.

12. A surgical method of claim 1 , wherein the step of distracting independently controls distraction of anterior and posterior edges of the disc space.

13. A surgical method of claim 1 , wherein a maximum distraction force is set.

14. A surgical method of claim 13 , wherein the maximum distraction force is set by the surgeon.

15. A surgical method of claim 13 , wherein the maximum distraction force is used to determine the amount of allowable distraction.

Assignees

• Simplify Medical Pty Ltd

Inventors

• Arramon Yves
• Hovda David
• Sherman Michael

Classifications

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61F2/4611 Primary

  of spinal prostheses · CPC title

• A61B2034/108

  Computer aided selection or customisation of medical implants or cutting guides · CPC title

• A61B90/03 Primary

  Automatic limiting or abutting means, e.g. for safety · CPC title

• A61B34/76

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