Systems, devices, and methods for triggering intraoperative neuromonitoring in robotic-assisted medical procedures

Patent metadata

Field	Value
Publication number	US-12186045-B2
Application number	US-202217590045-A
Country	US
Kind code	B2
Filing date	Feb 1, 2022
Priority date	Feb 1, 2022
Publication date	Jan 7, 2025
Grant date	Jan 7, 2025

Abstract

A system comprises a neuromonitoring system configured to generate nerve data regarding a state of a nerve of a patient during a surgical procedure on the patient. The system includes a robotic system configured to receive or generate, for the surgical procedure, location data that identifies a location of the nerve of the patient. The robotic system may cause the neuromonitoring system to be in either an active state or an inactive state based on the location data, where the active state is a state in which the neuromonitoring system provides the nerve data to the robotic system, while the inactive state is a state in which the neuromonitoring system does not provide the nerve data to the robotic system. The robotic system may further generate at least one control signal that implements one or more safeguards for the surgical procedure.

First claim

What is claimed is:

1. A system, comprising:
a neuromonitoring system configured to:
monitor a nerve of a patient with one or more electrodes attached to the patient; and
generate, based on the monitoring, nerve data regarding a state of the nerve during a surgical procedure on the patient; and

a robotic system configured to:
receive or generate, for the surgical procedure, location data that identifies a location of the nerve of the patient;
cause the neuromonitoring system to be in either an active state or an inactive state based on the location data, the active state being a state in which the neuromonitoring system monitors the nerve with the one or more electrodes attached to the patient and provides corresponding nerve data to the robotic system, the inactive state being a state in which the neuromonitoring system does not monitor the nerve with the one or more electrodes and does not provide corresponding nerve data to the robotic system; and
generate at least one control signal that implements one or more safeguards for the surgical procedure.

2. The system of claim 1 , wherein the robotic system is configured to generate the at least one control signal based on the provided nerve data.

3. The system of claim 2 , wherein the robotic system is configured to generate the at least one control signal further based on the location data.

4. The system of claim 1 , wherein the robotic system is configured to generate the at least one control signal based on the location data.

5. The system of claim 4 , wherein the robotic system further comprises:
a robotic arm, and wherein the at least one control signal causes movement of the robotic arm to stop.

6. The system of claim 4 , wherein the robotic system further comprises:
a robotic arm, and wherein the at least one control signal causes the robotic system to determine a new path of motion for the robotic arm.

7. The system of claim 4 , wherein the robotic system further comprises:
a surgical tool, and wherein the at least one control signal causes operation of the surgical tool to stop.

8. The system of claim 1 , wherein the robotic system further comprises:
a surgical tool, wherein the robotic system is configured to:
generate tool data that identifies a current operation frequency of the surgical tool, and
cause the neuromonitoring system to be in either the active state or the inactive state further based on the tool data.

9. The system of claim 1 , wherein the robotic system is configured to:
determine, using the location data, whether a part of the robotic system is within a threshold distance of the nerve of the patient;
cause the neuromonitoring system to be in the active state when the part of the robotic system is within the threshold distance of the nerve of the patient; and
cause the neuromonitoring system to be in the inactive state when the part of the robotic system is not within the threshold distance of the nerve of the patient.

10. The system of claim 9 , wherein the part of the robotic system corresponds to a robotic arm or a surgical tool.

11. The system of claim 1 , wherein the at least one control signal causes an audio and/or visual alert to be produced for a clinician performing the surgical procedure.

12. A robotic system, comprising:
a robotic arm;
a surgical tool mechanically coupled to the robotic arm; and
processing circuitry configured to:
receive or generate, for a surgical procedure on a patient, location data that identifies a location of a nerve of the patient; and
cause a neuromonitoring system to be in either an active state or an inactive state based on the location data, the active state being a state in which the neuromonitoring system monitors the nerve of the patient with one or more electrodes attached to the patient and provides corresponding nerve data regarding a state of the nerve of the patient to the robotic system, the inactive state being a state in which the neuromonitoring system does not monitor the nerve of the patient with the one or more electrodes and does not provide corresponding nerve data to the robotic system.

13. The robotic system of claim 12 , wherein the processing circuitry is configured to generate at least one control signal that implements one or more safeguards for the surgical procedure.

14. The robotic system of claim 13 , wherein the processing circuitry is configured to generate the at least one control signal based on the location data or the provided nerve data, or based on the location data and the provided nerve data.

15. The robotic system of claim 13 , wherein the at least one control signal causes the robotic arm or the surgical tool to stop.

16. The robotic system of claim 13 , wherein the at least one control signal causes the robotic arm to follow a new path of motion.

17. The robotic system of claim 12 , wherein the processing circuitry is configured to:
determine, using the location data, whether a part of the robotic system is within a threshold distance of the nerve of the patient;
cause the neuromonitoring system to be in the active state when the part of the robotic system is within the threshold distance of the nerve of the patient; and
cause the neuromonitoring system to be in the inactive state when the part of the robotic system is not within the threshold distance of the nerve of the patient.

18. The robotic system of claim 17 , wherein the part of the robotic system corresponds to the robotic arm or the surgical tool.

19. A method, comprising:
receiving location data that identifies a location of a nerve of a patient within a robotic system that assists with a surgical procedure on the patient;
determining, using the location data, whether a part of the robotic system is within a threshold distance of the nerve;
causing a neuromonitoring system to be in an active state when the part of the robotic system is within the threshold distance of the nerve, the active state being a state in which the neuromonitoring system monitors the nerve with one or more electrodes and provides corresponding nerve data regarding a state of the nerve of the patient to the robotic system; and
maintaining the neuromonitoring system in an inactive state when the part of the robotic system is not within the threshold distance of the nerve, the inactive state being a state in which the neuromonitoring system does not monitor the nerve with the one or more electrodes and does not provide corresponding nerve data to the robotic system.

20. The method of claim 19 , further comprising:
generating, based on the nerve data provided by the neuromonitoring system in the active state, at least one control signal that implements one or more safeguards for the surgical procedure; and
mapping a no-fly zone for the part of the robotic system based on the provided nerve data or the location data, or both of the provided nerve data and the location data.

Assignees

• Mazor Robotics Ltd

Inventors

• Sandelson Adi

Classifications

• G05B2219/45117

  Medical, radio surgery manipulator · CPC title

• G05B19/4155

  characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program · CPC title

• A61B5/388

  Nerve conduction study, e.g. detecting action potential of peripheral nerves · CPC title

• A61B5/062

  using magnetic field · CPC title

• A61B2576/00

  Medical imaging apparatus involving image processing or analysis (A61B1/00009, A61B6/52 and A61B8/52 take precedence) · CPC title