Systems and methods for implantation of spinal plate

Patent metadata

Field	Value
Publication number	US-11523867-B2
Application number	US-202016736614-A
Country	US
Kind code	B2
Filing date	Jan 7, 2020
Priority date	Dec 31, 2013
Publication date	Dec 13, 2022
Grant date	Dec 13, 2022

Abstract

A method includes tracking one or more of a plurality of vertebrae of a patient, planning a planned alignment of the plurality of vertebrae, creating an implant placement plan based on the planned alignment, and robotically preparing the plurality of vertebrae to receive an implant in accordance with the implant placement plan.

First claim

What is claimed is:

1. A method, comprising:
tracking one or more of a plurality of vertebrae of a patient;
adjusting a relationship between the plurality of vertebrae to a desired rotation between the plurality of vertebrae;
creating an implant placement plan based on the adjusted relationship, the implant placement plan comprising a placement of a spinal plate across the plurality of vertebrae; and
robotically preparing the plurality of vertebrae to receive the spinal plate in accordance with the implant placement plan.

2. The method of claim 1 , wherein the plurality of vertebrae comprise three or more vertebrae.

3. The method of claim 1 , wherein:
tracking the one or more of the plurality of vertebrae of the patient comprises collecting data indicative of positions of the plurality of vertebrae; and
creating the implant placement plan comprises determining the adjusted relationship based on the data.

4. The method of claim 3 , wherein collecting the alignment data is performed while one or more spacers are positioned at the plurality of vertebrae.

5. The method of claim 1 , wherein robotically preparing the plurality of vertebrae to receive the implant comprises:
tracking a pose of a robotic device relative to the plurality of vertebrae; and
controlling the robotic device based on the pose of the robotic device relative to the plurality of vertebrae.

6. The method of claim 5 , wherein controlling the robotic device comprises providing force feedback via the robotic device.

7. The method of claim 5 , wherein creating the implant placement plan comprises defining a virtual cutting boundary; and
controlling the robotic device comprises confining the pose of the robotic device based on the virtual cutting boundary.

8. The method of claim 7 , wherein the virtual cutting boundary corresponds to a shape of the spinal plate.

9. The method of claim 1 , wherein robotically preparing the plurality of vertebrae to receive the spinal plate comprises forming a sculpted cavity at a first vertebrae of the plurality of vertebrae, the sculpted cavity corresponding to a surface of the spinal plate.

10. The method of claim 1 , wherein robotically preparing the plurality of vertebrae comprises creating a hole in a first vertebrae of the plurality of vertebrae, the hole configured to receive an engagement member of the spinal plate.

11. The method of claim 1 , wherein adjusting the relationship between the plurality of vertebrae includes adjusting the plurality of vertebrae to a desired distance between the plurality of vertebrae.

12. The method of claim 1 , wherein adjusting the relationship between the plurality of vertebrae includes adjusting the plurality of vertebrae to a desired alignment between the plurality of vertebrae.

13. A robotically-assisted surgical system, comprising:
a tracking system configured to track one or more of a plurality of vertebrae of a patient; and
a robotic device configured to modify the plurality of vertebrae;
a processing circuit configured to:
obtain an adjusted relationship to a desired rotation between the plurality of vertebrae;
obtain an implant placement plan based on the adjusted relationship, wherein the implant placement plan comprises a placement of a spinal plate across the plurality of vertebrae; and
control the robotic device to prepare the plurality of vertebrae to receive the spinal plate in accordance with the implant placement plan.

14. The robotically-assisted surgical system of claim 13 , wherein the plurality of vertebrae comprise three or more vertebrae.

15. The robotically-assisted surgical system of claim 13 , wherein the tracking system is configured to provide data indicative of a current alignment of the plurality of vertebrae; and
wherein the processing circuit is configured to obtain the adjusted relationship of the plurality of vertebrae using the data.

16. The robotically-assisted surgical system of claim 15 , comprising a spacer configured to be inserted between adjacent vertebrae of the plurality of vertebrae; and
wherein the tracking system is configured to collect the data while the spacer is between the adjacent vertebrae of the plurality of vertebrae.

17. The robotically-assisted surgical system of claim 13 , wherein the tracking system is configured to track a pose of the robotic device relative to the plurality of vertebrae; and
the processing circuit is configured to control the robotic device based on the pose for the robotic device relative to the plurality of vertebrae.

18. The robotically-assisted surgical system of claim 13 , wherein the processing circuit is configured to control the robotic device to provide force feedback to a user of the robotic device.

19. The robotically-assisted surgical system of claim 13 , wherein the implant placement plan comprises a virtual cutting boundary; and
the processing circuit is configured to control the robotic device based on the virtual cutting boundary.

20. The robotically-assisted surgical system of claim 19 , wherein the virtual cutting boundary corresponds to a shape of the spinal plate.

21. The robotically-assisted surgical system of claim 13 , wherein the robotic device is configured to prepare the plurality of vertebrae by forming a sculpted cavity at a first vertebrae of the plurality of vertebrae, the sculpted cavity corresponding to a surface of the spinal plate.

22. The robotically-assisted surgical system of claim 21 , wherein the robotic device is configured to prepare the plurality of vertebrae by creating a hole in a first vertebrae of the plurality of vertebrae, the hole configured to receive an engagement member of the spinal plate.

Assignees

• Mako Surgical Corp

Inventors

• Greenwald Jonathan
• Irwin Ron

Classifications

• 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

• A61B2017/00119

  alarm; indicating an abnormal situation · CPC title

• A61B2017/564

  Methods for bone or joint treatment · CPC title

• A61B17/7059 Primary

  Cortical plates (A61B17/7007, A61B17/7058 take precedence) · CPC title