Flexible master - slave robotic endoscopy system
US-2015230697-A1 · Aug 20, 2015 · US
US11737743B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11737743-B2 |
| Application number | US-202117181477-A |
| Country | US |
| Kind code | B2 |
| Filing date | Feb 22, 2021 |
| Priority date | Oct 5, 2007 |
| Publication date | Aug 29, 2023 |
| Grant date | Aug 29, 2023 |
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A method of forming an access opening through a psoas muscle to a patient's spine includes laterally inserting a stimulating dilator into the psoas muscle. The stimulating dilator has a stimulation channel formed in an outer surface thereof. An electrical pulse is transmitted into the stimulating dilator to locate a position of a nerve in the patient's psoas muscle. The stimulating dilator is laterally inserted through the psoas muscle and toward the patient's spine in a way that avoids the nerve. A stimulating probe is inserted into the stimulation channel along the outer surface of the stimulating dilator while transmitting an electrical pulse into the stimulating probe to verify the position of the nerve.
Opening claim text (preview).
What is claimed is: 1. A method of forming an access opening through a psoas muscle to a patient's spine, comprising: (a) inserting a stimulating probe into the psoas muscle to locate a nerve and a safe zone in the psoas muscle, the stimulating probe having a probe axis and a probe tip; (b) inserting the stimulating probe through the psoas muscle so the probe tip is proximate the patient's spine; (c) obtaining a first directional dilator having a longitudinal axis, a bore with a length extending from a proximal end to a distal end, a bore axis that is offset from the longitudinal axis, and a channel formed in an outer surface thereof and extending from the proximal end to the distal end so as to be in communication with the bore along an entirety of the length of the bore; (d) inserting the first directional dilator through the psoas muscle and toward the patient's spine guided by sliding engagement of the stimulating probe with the bore of the first directional dilator and with the channel of the first directional dilator positioned between the nerve and the longitudinal axis of the first directional dilator; (e) obtaining a second directional dilator having a longitudinal axis, a bore with a length extending from a proximal end to a distal end, a bore axis that is offset from the longitudinal axis, and a channel formed in an outer surface thereof and extending from the proximal end to the distal end so as to be in communication with the bore along an entirety of the length of the bore; and (f) inserting the second directional dilator through the psoas muscle toward the patient's spine guided by sliding engagement of the first directional dilator with the bore of the second directional dilator and with the channel of the second directional dilator positioned between the nerve and the longitudinal axis of the second directional dilator. 2. The method of claim 1 , wherein in the step of inserting the first directional dilator, the bore axis of the first directional dilator is coaxial with the probe axis. 3. The method of claim 1 , wherein in the step of inserting the second directional dilator, the bore axis of the second directional dilator is coaxial with the longitudinal axis of the first directional dilator. 4. The method of claim 1 , wherein the first directional dilator has a first length and the second directional dilator has a second length, and wherein the first length is greater than the second length so the first directional dilator extends beyond the second directional dilator upon the second directional dilator being inserted through the psoas muscle. 5. The method of claim 4 , wherein the stimulating probe has a probe length that is greater than the first length so the stimulating probe extends beyond the first directional dilator upon the first directional dilator being inserted through the psoas muscle. 6. The method of claim 1 , wherein the channel of the first directional dilator is radially aligned with the channel of the second directional dilator when the stimulating probe is received in the bore of the first directional dilator and when the first directional dilator is received in the bore of the second directional dilator. 7. The method of claim 1 , further comprising the step of: inserting a retractor over the second directional dilator. 8. The method of claim 1 , further comprising the step of: confirming via intra-operative fluoroscopy the location of the safe zone prior to step (b). 9. A method of forming an access opening through a psoas muscle to a patient's spine, comprising: (a) inserting a stimulating probe into the psoas muscle to locate a nerve and a safe zone in the psoas muscle, the stimulating probe having a probe axis and a probe tip; (b) inserting the stimulating probe through the psoas muscle so the probe tip is proximate the patient's spine; (c) obtaining a first directional dilator having a longitudinal axis, a bore with a length extending from a proximal end to a distal end, a bore axis that is offset from the longitudinal axis, and a channel formed in an outer surface thereof and extending from the proximal end to the distal end so as to be in communication with the bore along at least a portion of the length of the bore; (d) inserting the first directional dilator through the psoas muscle and toward the patient's spine guided by sliding engagement of the stimulating probe with the bore of the first directional dilator and with the channel of the first directional dilator positioned between the nerve and the longitudinal axis of the first directional dilator; (e) obtaining a second directional dilator having a longitudinal axis, a bore with a length extending from a proximal end to a distal end, a bore axis that is offset from the longitudinal axis of the second directional dilator, and a channel formed in an outer surface thereof and extending from the proximal end to the distal end so as to be in communication with the bore of the second directional dilator along at least a portion of the length of the bore of the second directional dilator; and (f) inserting the second directional dilator through the psoas muscle toward the patient's pine guided by sliding engagement of the first directional dilator with the bore of the second directional dilator and with the channel of the second directional dilator positioned between the nerve and the longitudinal axis of the second directional dilator. 10. The method of claim 9 , wherein in the step of inserting the first directional dilator, the bore axis of the first directional dilator is coaxial with the probe axis. 11. The method of claim 9 , wherein in the step of inserting the second directional dilator, the bore axis of the second directional dilator is coaxial with the longitudinal axis of the first directional dilator. 12. The method of claim 9 , wherein the first directional dilator has a first length and the second directional dilator has a second length, and wherein the first length is greater than the second length so the first directional dilator extends beyond the second directional dilator upon the second directional dilator being inserted through the psoas muscle. 13. The method of claim 12 , wherein the stimulating probe has a probe length that is greater than the first length so the stimulating probe extends beyond the first directional dilator upon the first directional dilator being inserted through the psoas muscle. 14. The method of claim 9 , wherein the channel of the first directional dilator is radially aligned with the channel of the second directional dilator when the stimulating probe is received in the bore of the first directional dilator and when the first directional dilator is received in the bore of the second directional dilator. 15. The method of claim 9 , further comprising the step of: inserting a retractor over the second directional dilator. 16. The method of claim 9 , further comprising the step of: confirming via intra-operative fluoroscopy the location of the safe zone prior to step (b).
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