Multi-stage dilator and cannula system and method

Patent metadata

Field	Value
Publication number	US-12102394-B2
Application number	US-202217990857-A
Country	US
Kind code	B2
Filing date	Nov 21, 2022
Priority date	Jul 12, 2016
Publication date	Oct 1, 2024
Grant date	Oct 1, 2024

Abstract

A multi-stage dilator and cannula assembly for use in surgical procedures, including minimally invasive surgical procedures, to provide tissue dilation and opening of a portal to enable the surgeon to access and provide treatment to anatomical feature of interest.

First claim

What is claimed is:

1. A system for performing robotically-assisted image guided surgery comprising:
a motion tracking system operable to track one or more objects in a surgical area; and
a robotic arm comprising an end effector with a cannula to receive and hold a dilator assembly, with the robotic arm being configured to move the dilator assembly to one or more predetermined positions over a body of a patient using tracking data from the motion tracking system;
wherein the dilator assembly comprises a first, second, and third elongated members in a nested configuration that are slidable relative to one another along a central axis, each of the first, second, and third elongated members having a length between a head end and a tip end of the respective elongated member, and each successive elongated member of the first, second, and third elongated members having a larger perimeter and a shorter length than a preceding elongated member.

2. The system of claim 1 , wherein the dilator assembly is configured such that an application of a force in a first direction on the head end of the first elongated member causes the first elongated member and one or more successive elongated members that are located radially outward of the first elongated member to move in the first direction.

3. The system of claim 2 , wherein the application of a force on the first elongated member in a second direction opposite the first direction causes the first elongated member to move in the second direction relative to the one or more successive elongated members of the dilator assembly that are located radially outward of the first elongated member.

4. The system of claim 1 , wherein the second elongated member includes an opening extending lengthwise from the head end to the tip end through the second elongated member and the third elongated member includes an opening extending lengthwise from the head end to the tip end through the third elongated member.

5. The system of claim 4 , wherein the first elongated member comprises a first portion extending from the tip end of the first elongated member that is sized and shaped to slide within the opening of the second elongated member and a second portion proximate to the head end of the first elongated member that has a dimension in a direction transverse to the central axis that is larger than a dimension of the opening at the head end of the second elongated member.

6. The system of claim 5 , wherein the second portion of the first elongated member proximate to the head end of the first elongated member comprises at least one of a handle and a flange.

7. The system of claim 5 , wherein when the second portion of the first elongated member is located adjacent to the opening at the head end of the second elongated member, the tip end of the first elongated member extends beyond the tip end of the second elongated member by a pre-determined distance.

8. The system of claim 4 , wherein the second elongated member comprises a first portion extending from the tip end of the second elongated member that is sized and shaped to slide within the opening of the third elongated member and a second portion proximate to the head end of the second elongated member that has a dimension in a direction transverse to the central axis that is larger than a dimension of the opening at the head end of the third elongated member.

9. The system of claim 8 , wherein the second portion of the second elongated member proximate to the head end of the second elongated member comprises a flange.

10. The system of claim 8 , wherein when the second portion of the second elongated member is located adjacent to the opening of the third elongated member at the head end of the third elongated member, the tip end of the second elongated member extends beyond the tip end of the third elongated member by a pre-determined distance.

11. The system of claim 8 , wherein the flange of the second elongated member is dimensioned larger than the opening of the third elongated member and wherein movement in a first direction of the second elongated member causes the flange of the second elongated member to push down on the third elongated member causing the third elongated member to advance in the first direction.

12. The system of claim 1 , wherein each of the first elongated member and the second elongated member may be removed from the dilator assembly to provide open passageways through the dilator assembly having varying diameters.

13. The system of claim 1 , wherein a first portion of the third elongated member proximate to the head end of the third elongated member comprises a flange.

14. The system of claim 13 , wherein an application of a force in a first direction on the flange of the third elongated member causes the third elongated member to slide relative at least one of the first and second elongated members.

15. The system of claim 13 , wherein the first portion of the third elongated member proximate to the head end of the third elongated member further comprises a protrusion extending from the flange in a direction opposite the tip end of the third elongated member.

16. The system of claim 15 , further comprising a marker device secured to the protrusion of the third elongated member to enable tracking of at least one of the position and orientation of the dilator assembly using the motion tracking system.

17. The system of claim 1 , wherein the first elongated member comprises a pointed tip end for breaking a cortical surface of a bone.

18. The system of claim 1 , wherein the first elongated member is configured to provide a pilot opening through tissue of a patient as the tip end of the first elongated member is advanced to a pre-determined depth within the patient's body, an outer surface of the second elongated member is configured to dilate the pilot opening as the tip end of the second elongated member is advanced to the pre-determined depth, and an outer surface of the third elongated member is configured to provide additional dilation as the tip end of the third elongated member is advanced to the pre-determined depth.

19. The system of claim 1 , wherein the end effector with the cannula is configured to guide movement of the dilator assembly.

20. The system of claim 1 , further comprising a marker device fixed to the dilator assembly to enable tracking of at least one of the position and orientation of the dilator assembly using the motion tracking system.

Assignees

• Mobius Imaging Llc

Inventors

• Stanton Russell
• Coppen Scott

Classifications

• A61M29/00

  Dilators with or without means for introducing media, e.g. remedies · CPC title

• A61B2017/0256

  for the spine · CPC title

• A61B17/3421

  Cannulas · CPC title

• A61B17/025

  Joint distractors · CPC title

• A61B17/0218 Primary

  for minimally invasive surgery (A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence) · CPC title