Spinal implant system and methods of use

Patent metadata

Field	Value
Publication number	US-12064192-B2
Application number	US-202117346653-A
Country	US
Kind code	B2
Filing date	Jun 14, 2021
Priority date	Feb 22, 2019
Publication date	Aug 20, 2024
Grant date	Aug 20, 2024

Abstract

A method comprises the steps of: imaging a patient anatomy; selecting an implant strategy for at least one bone fastener having a first member; registering the imaging of the patient anatomy with imaging of a surgical driver; engaging the first member with tissue of the patient anatomy via the surgical driver according to the implant strategy; manipulating the patient anatomy; acquiring data points representative of a position of the first member relative to tissue; and retrieving the data points from a computer database for attaching a second member with the first member. Systems, spinal constructs, implants and surgical instruments are disclosed.

First claim

What is claimed is:

1. A method comprising:
manipulating patient anatomy, the patient anatomy including a vertebra;
acquiring a set of data points representative of a three dimensional position of a first member of an implant relative to the vertebra subsequent to manipulating the patient anatomy;
aligning a second member of the implant with the first member according to the set of data points;
engaging the second member with the first member to assemble the implant;
coupling a surgical driver to a robot arm;
coupling the implant to the surgical driver;
generating images of a portion of the robot arm;
registering the generated images with imaging of the patient anatomy; and
implanting the first member in the vertebra using guidance from the robot arm.

2. The method recited in claim 1 , further comprising:
wherein coupling the driver to the robot arm includes guiding the surgical driver through a channel of an effector of the robot arm.

3. The method recited in claim 1 , wherein the implant is a bone screw, the first member is a shaft of the bone screw and the second member is an implant receiver of the bone screw.

4. The method recited in claim 1 , further comprising implanting the first member in the vertebra using the surgical driver, wherein acquiring the set of data points comprises a navigation component of the surgical driver generating a signal representative of a position of the first member relative to the surgical driver.

5. The method recited in claim 1 , wherein the surgical driver is configured to rotate the implant relative to the robot arm.

6. The method recited in claim 1 , further comprising tracking placement of the second member with the first member.

7. The method recited in claim 1 , further comprising implanting the first member in the vertebra using the surgical driver wherein acquiring the set of data points comprises position sensors of the robot arm generating a signal representative of a position of the first member relative to the vertebra.

8. The method recited in claim 1 , wherein engaging the second member with the first member comprises inserting a head of the first member into a cavity of the second member.

9. The method recited in claim 1 , wherein engaging the second member with the first member comprises snap fitting the first member with the second member.

10. The method recited in claim 1 , further comprising:
acquiring a set of data points representative of a three dimensional position of the first member relative to the vertebra prior to manipulating the patient anatomy; and
transmitting the set of data points representative of the three dimensional position of the first member relative to the vertebra prior to manipulating the patient anatomy and the set of data points representative of the three dimensional position of the first member relative to the vertebra subsequent to manipulating the patient anatomy to a computer database.

11. The method recited in claim 10 , further comprising:
pre-operatively generating a scan of the vertebra;
generating images of the robot arm; and
registering the scan with the images prior to implanting the first member in the vertebra using the robot arm and the driver.

12. The method recited in claim 1 , further comprising implanting the first member in the vertebra using the robot arm and the surgical driver prior to acquiring the set of data points.

13. The method recited in claim 12 , wherein the scan is a CT scan and the images are fluoroscopic images.

14. The method recited in claim 1 , further comprising displaying indicia of confirmation of alignment of the second member with the first member.

15. The method recited in claim 1 , wherein manipulating the patient anatomy includes spinal decompression therapy.

16. The method recited in claim 1 , wherein manipulating the patient anatomy includes preparation of a space between the vertebra and an adjacent vertebra.

17. The method recited in claim 1 , wherein manipulating the patient anatomy includes inserting an interbody implant into a space between the vertebra and an adjacent vertebra.

18. The method recited in claim 1 , further comprising inserting a spinal rod into an implant cavity of the second member after engaging the second member with the first member to assemble the implant.

19. A method comprising:
pre-operatively generating a CT scan of a patient anatomy including a vertebra;
coupling a surgical driver to a robot arm;
generating fluoroscopic images of a portion of the robot arm;
registering the CT scan with the fluoroscopic images;
registering the generated fluoroscopic images with the registered CT scan;
coupling a bone screw to the surgical driver, the bone screw having a bone screw shaft;
engaging the bone screw shaft with the vertebra via robotic guidance from the robot arm;
manipulating the patient anatomy;
acquiring a set of data points representative of a three dimensional position of the bone screw shaft relative to the vertebra subsequent to manipulating the patient anatomy;
aligning an implant receiver with the bone screw shaft according to the set of data points; and
manually engaging the implant receiver with the bone screw shaft to comprise a bone screw.

20. A method comprising:
imaging vertebral tissue;
registering the imaging of the vertebral tissue with imaging of a robot arm connected with the vertebral tissue;
connecting a surgical driver to the robot arm by guiding the surgical driver through a channel of an effector of the robot arm;
connecting the surgical driver with a bone screw shaft, the surgical driver including an image guide oriented relative to a sensor to communicate a signal representative of a three dimensional position of the bone screw shaft relative to the vertebral tissue;
engaging the bone screw shaft with the vertebral tissue via robotic guidance from the robot arm;
manipulating the vertebral tissue;
acquiring a set of data points representative of a three dimensional position of the bone screw shaft relative to the vertebral tissue subsequent to manipulating the vertebral tissue;
aligning an implant receiver with the bone screw shaft according to the set of data points; and
manually engaging the implant receiver with the bone screw shaft to comprise a bone screw.

Assignees

• Warsaw Orthopedic Inc

Inventors

• Rezach William Alan
• Dace Mark C
• Brown Richard Quinn
• Ballard Rodney Ray

Classifications

• A61B2034/104

  Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring · CPC title

• A61B2090/367

  creating a 3D dataset from 2D images using position information · CPC title

• A61B2034/2072

  Reference field transducer attached to an instrument or patient · CPC title

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title