Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems

Patent metadata

Field	Value
Publication number	US-11602402-B2
Application number	US-201816209266-A
Country	US
Kind code	B2
Filing date	Dec 4, 2018
Priority date	Dec 4, 2018
Publication date	Mar 14, 2023
Grant date	Mar 14, 2023

Abstract

A drill guide fixture may be configured to prepare a skull for attachment of a cranial insertion fixture. The drill guide fixture may include a central drill guide and a bone anchor guide at a base of the drill guide fixture. The central drill guide may define a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture. The bone anchor drill guide may define a bone anchor drill guide hole therethrough, and the bone anchor drill guide hole may be offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole. Related cranial insertion fixtures, robotic systems, and methods are also discussed.

First claim

What is claimed is:

1. A surgical robotic system comprising:
a robotic actuator;
a drill guide fixture adapted to be attached to the robot actuator;
a cranial insertion fixture adapted to insert a medical device into a brain, and configured to be attached to a skull;
the drill guide fixture including:
a central drill guide defining a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture, wherein the central drill guide is generally cylindrical and extends through a portion of the base of the drill guide fixture, and
a bone anchor drill guide at the base of the drill guide fixture, wherein the bone anchor drill guide defines a bone anchor drill guide hole therethrough, and wherein the bone anchor drill guide hole is offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole;

wherein the robotic actuator is configured to position the drill guide fixture; and
a controller coupled with the robotic actuator, wherein the controller is configured to control the robotic actuator to move the drill guide fixture to the skull based on medical imaging information related to the skull and/or the brain and based on a planned trajectory for insertion of the medical device into the brain,
wherein the central drill guide telescopically adjusts with respect to the bone anchor drill guide.

2. The surgical robotic system of claim 1 , wherein the drill guide fixture further comprises:
a rotational coupling between the central drill guide and the bone anchor drill guide so that the bone anchor drill guide is rotatable relative to the central drill guide.

3. The surgical robotic system of claim 2 , wherein the bone anchor drill guide hole is a first drill guide hole, and wherein the bone anchor drill guide comprises a second bone anchor drill guide hole spaced apart from the first bone anchor drill guide hole.

4. The surgical robotic system of claim 2 , wherein the central drill guide hole is cylindrical, wherein the bone anchor drill guide hole is cylindrical, wherein an axis of rotation of the bone anchor drill guide is parallel with respect to an axial direction of the central drill guide hole, and wherein a first opening of the bone anchor drill guide hole adjacent the base of the drill guide fixture is closer to the central drill guide hole than a second opening of the bone anchor drill guide hole spaced apart from the base of the drill guide fixture.

5. The surgical robotic system of claim 1 , wherein the bone anchor drill guide hole is non-parallel with respect to the central drill guide hole.

6. The surgical robotic system of claim 1 , wherein a width of the central drill guide hole is greater than a width of the bone anchor drill guide hole.

7. The surgical robotic system of claim 1 , further comprising:
a connector configured to provide a detachable coupling with the robotic actuator.

8. A surgical robotic system comprising:
a robotic actuator;
a drill guide fixture adapted to be attached to the robotic actuator;
a temporary cranial insertion fixture configured to guide an electrode into a brain, the temporary cranial insertion fixture having an electrode guide tube and a base attached to the electrode guide tube to provide a plurality of spaced apart fastener holes, the drill guide fixture including:
a central drill guide defining a central through hole therethrough; and
a bone anchor drill guide disposed around the central drill guide, wherein the bone anchor drill guide defines a plurality of bone anchor drill guide holes which are laterally offset from the central through hole, the bone anchor drill guide holes providing a guide for drilling pilot holes that correspond to the fastener holes of the temporary cranial insertion fixture;

a controller coupled with the robotic actuator and adapted to control the robotic actuator to position the drill guide fixture to the skull based on a planned trajectory for insertion of the electrode into the brain,
wherein the central drill guide telescopically adjusts with respect to the bone anchor drill guide, and
wherein the controller controls the telescopic adjustment of the central drill guide.

9. The surgical robotic system of claim 8 , wherein the drill guide fixture further includes a rotational coupling between the central drill guide and the bone anchor drill guide so as to allow the bone anchor drill guide rotate relative to the central drill guide.

10. The surgical robotic system of claim 9 , wherein the drill guide fixture further includes a lock adapted to lock the circumferential orientation of the bone anchor drill guide relative to the central drill guide so as to prevent rotation of the bone anchor drill guide.

Assignees

• Globus Medical Inc

Inventors

• Cameron Hayden
• Cicchini Stephen
• Reinhard Danielle
• Mantzavinos Spiros
• Cascarano James
• Crawford Neil
• Wirz Raul
• Ponce Francisco
• Senatus Patrick
• Vardiman Arnold
• Johnson Norbert

Classifications

• A61B90/11

  with guides for needles or instruments, e.g. arcuate slides or ball joints · CPC title

• A61B2090/062

  penetration depth · CPC title

• A61B2090/103

  Cranial plugs for access to brain · CPC title

• A61B2034/2046

  Tracking techniques · CPC title

• A61B17/1695

  Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull · CPC title