Robotic surgical systems and methods

Patent metadata

Field	Value
Publication number	US-12472015-B2
Application number	US-202318389994-A
Country	US
Kind code	B2
Filing date	Dec 20, 2023
Priority date	Aug 31, 2015
Publication date	Nov 18, 2025
Grant date	Nov 18, 2025

Abstract

The disclosed technology relates to robotic surgical systems for improving surgical procedures. In certain embodiments, the disclosed technology relates to robotic surgical systems for use in osteotomy procedures in which bone is cut to shorten, lengthen, or change alignment of a bone structure. The osteotome, an instrument for removing parts of the vertebra, is guided by the surgical instrument guide which is held by the robot. In certain embodiments, the robot moves only in the “locked” plane (one of the two which create the wedge—i.e., the portion of the bone resected during the osteotomy). In certain embodiments, the robot shall prevent the osteotome (or other surgical instrument) from getting too deep/beyond the tip of the wedge. In certain embodiments, the robotic surgical system is integrated with neuromonitoring to prevent damage to the nervous system.

First claim

The invention claimed is:

1 . A robotic surgical system for use in a surgical procedure performed on a patient, the system comprising:
a robotic arm comprising an end-effector; an actuator for controlled movement of the robotic arm and positioning of the end effector; a neuromonitoring module for implementing real-time neuromonitoring during a surgical procedure, wherein the neuromonitoring module is integrated with a tool holder attached to the robotic arm; and a processor and a memory storing instructions thereon, wherein the instructions, when executed, cause the processor to:
receive, by the neuromonitoring module, a trigger based on a neurological response of a portion of a nerve structure of the patient that is measured by a neuromonitoring system; and
prevent, by the neuromonitoring module, deeper insertion into the patient of a surgical instrument guided by the robotic surgical system upon receipt of the trigger.

2 . The robotic surgical system of claim 1 , wherein the instructions, when executed by the processor, cause the processor to:
provide for display on the user interface a list of one or more trajectories for selection by a user.

3 . The robotic surgical system of claim 1 , wherein the instructions, when executed by the processor, cause the processor to:
limit movement of the end effector such that movement of the surgical instrument is limited to a locked plane.

4 . The robotic surgical system of claim 1 , wherein the instructions, when executed by the processor, cause the processor to:
limit movement of the end effector such that movement of the surgical instrument is limited to translational movement.

5 . The robotic surgical system of claim 1 , wherein the instructions, when executed by the processor, cause the processor to:
determine the position of the surgical instrument.

6 . The robotic surgical system of claim 5 , wherein the position of the surgical instrument is determined by a navigation system based at least in part on the position of a marker on the surgical instrument.

7 . The robotic surgical system of claim 6 , wherein the position of the surgical instrument is determined by a navigation system based at least in part on the position of a marker on the robotic surgical system and the robotic arms actual position.

8 . The robotic surgical system of claim 1 , wherein the end effector is a force and/or torque control end-effector.

9 . The robotic surgical system of claim 1 , wherein the end effector is configured to hold a first surgical tool.

10 . The robotic surgical system of claim 1 , wherein the tool holder is attached to the robotic arm via a force sensor, wherein the tool holder is sized and shaped to hold a first surgical tool.

11 . The robotic surgical system of claim 1 , comprising a manipulator configured to allow robotically-assisted or unassisted positioning and/or movement of the end-effector by a user with at least four degrees of freedom.

12 . The robotic surgical system of claim 11 , wherein the manipulator is configured to allow robotically assisted or unassisted positioning and/or movement of the end-effector by a user with at least six degrees of freedom, wherein the six degrees of freedom are three degrees of translations and three degrees of rotations.

13 . The robotic surgical system of claim 1 , comprising a handle that may be grasped by a hand of a user to move and/or position the end effector.

14 . The robotic surgical system of claim 1 , comprising a force sensor located between the robotic arm and the tool holder for measuring forces and/or torques applied by a user to the first surgical tool held by the tool holder.

15 . The robotic surgical system of claim 1 , comprising a sensor that detects the presence of the hand of the user on the handle.

16 . The robotic surgical system of claim 1 , wherein the robotic surgical system is configured to permit a surgeon to manually move the end-effector to a position for an operation.

17 . The robotic surgical system of claim 1 , wherein the surgery is spinal surgery, neurosurgery, or orthopedic surgery.

18 . The robotic surgical system of claim 1 , wherein the end-effector is configured to releasably hold a first surgical tool, allowing the first surgical tool to be removed and replaced with a second surgical tool.

19 . The robotic surgical system of claim 1 , wherein controlling the actuator to move the end-effector comprises controlling the actuator to move the end-effector in a direction corresponding to a direction of application of the force and/or torque.

Assignees

• KB Medical SA
• Globus Medical Inc

Inventors

• Kostrzewski Szymon

Classifications

• G16H40/63

  for local operation · CPC title

• G16H20/40

  relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title

• A61B34/32

  operating autonomously · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title