Robotic system and method for bone preparation for intervertebral disc prosthesis implantation

Patent metadata

Field	Value
Publication number	US-2020093542-A1
Application number	US-201916578919-A
Country	US
Kind code	A1
Filing date	Sep 23, 2019
Priority date	Sep 24, 2018
Publication date	Mar 26, 2020
Grant date	—

Abstract

Systems and methods for robotically preparing a disc space are provided for implantation of an intervertebral prosthetic disc. The system includes three-dimensional modeling to identify positions of vertebrae adjacent a surgical site and a disc selection interface in a computing system to allow the surgeon to select an intervertebral disc prosthesis for implantation. A bone cutting interface allows the surgeon to determine a bone cutting pattern tailored to both the three-dimensional positions of the vertebrae and the selected intervertebral disc. A robot controls a cutting device or guides a cutting device to cut the vertebral bone in the bone cutting pattern.

First claim

What is claimed is:

1 . A surgical method for preparing a vertebral disc space for implantation of an intervertebral disc prosthesis, the method comprising:
identifying positions of first and second vertebrae and generating and storing position data for the positions of the first and second vertebrae in a computing system; selecting an intervertebral disc prosthesis to be implanted between the first and second vertebrae; determining a desired location for the selected intervertebral disc prosthesis with respect to the positions of the first and second vertebrae and storing position data for the intervertebral disc prosthesis location; determining a preselected pattern of bone to be cut based on the position data for the first and second vertebrae and the position data for the selected intervertebral disc prosthesis; and robotically guiding a cutting device to cut the bone in the preselected pattern to fit the selected intervertebral disc prosthesis.

2 . A surgical method of claim 1 , wherein the step of robotically guiding the cutting device comprises attaching a cutting tool to a robot end effector and robotically controlling the cutting tool to cut the bone in a desired pattern without a surgeon's hand on the tool.

3 . A surgical method of claim 1 , wherein the step of robotically guiding the cutting device comprises robotically guiding a guiding device to a desired position for cutting the bone and manually cutting the bone by inserting a cutting tool in the guiding device.

4 . A surgical method of claim 1 , wherein the step of robotically guiding the cutting device comprises robotically guiding a manual cutting device to prevent cutting at a no cut location.

5 . A surgical method of claim 1 , wherein the step of robotically guiding the cutting device cuts a channel in the bone in a predetermined plane and of a predetermined depth to receive a fin of the intervertebral disc prosthesis by guiding the cutting device to move only in the predetermined plane until the predetermined depth is reached.

6 . A surgical method of claim 1 , wherein the step of robotically guiding the cutting device comprises placing a tip of a cutter in a plane of a desired cut and allows cutting only in the plane of the desired cut.

7 . A surgical method of claim 1 , wherein the step of robotically guiding the cutting device cuts a dome shaped recess in one or more of the first and second vertebrae of a predetermined depth and radius for receiving a dome of the intervertebral disc prosthesis.

8 . A surgical method of claim 1 , wherein the step of identifying the positions of the first and second vertebrae comprises developing a three dimensional model of first and second vertebrae at a location of a disc to be replaced from pre-operative imaging techniques and continuously verifying the positions of the first and second vertebrae throughout the step of robotically guiding the cutting device.

9 . A surgical method of claim 8 , wherein a plurality of radiopaque markers are placed in the first and second vertebrae for verifying the positions of the first and second vertebrae.

10 . A surgical method of claim 1 , wherein the step of robotically guiding the cutting device comprises using the cutting device to remove osteophytes.

11 . A surgical method of claim 1 , further comprising robotically implanting the selected intervertebral disc prosthesis between the first and second vertebrae which have been cut to fit the selected intervertebral disc prosthesis.

12 . A surgical method of claim 11 , wherein the selected intervertebral disc prosthesis comprises:
a first plate having an outer surface locatable against the first vertebra and an inner bearing surface; a second plate having an outer surface locatable against the second vertebra and an inner bearing surface; and wherein the inner bearing surfaces of the first and second plates allow the plates to articulate and translate with respect to one another and wherein the intervertebral disc prosthesis has a center of rotation.

13 . A surgical method of claim 12 , wherein the step of determining a desired location for the selected intervertebral disc prosthesis with respect to the positions of the first and second vertebrae includes determining a desired location for the center of rotation of the intervertebral disc prosthesis.

14 . A surgical method of claim 1 , wherein the vertebral disc space for implantation of an intervertebral disc prosthesis is a cervical vertebral space.

15 . A surgical method of claim 1 , wherein the vertebral disc space for implantation of an intervertebral disc prosthesis is a lumbar vertebral space and the step of robotically guiding a cutting device to cut bone accesses the vertebral space with the cutting device from a posterior or lateral side of the vertebral space.

16 . A surgical method of claim 1 , wherein the first and second vertebra are adjacent to one another.

17 . A system for implanting an intervertebral disc prosthesis in a vertebral disc space, the system comprising:
a 3D modeling system for creating a 3D model of first and second vertebra adjacent the disc space and identifying positions of the first and second vertebrae and generating and storing position data for the positions of the first and second vertebrae; a computing system for storing and processing the 3D model and the position data; a disc selection interface on the computing system configured to allow the surgeon to select an intervertebral disc prosthesis to be implanted from a plurality of available intervertebral disc prosthesis based on the 3D model and position data for the first and second vertebrae; a bone cutting interface on the computing system configured to determine a bone cutting pattern based on the position data for the first and second vertebrae and the selected intervertebral disc prosthesis; a cutting device for cutting vertebral bone; and a robot configured to guide the cutting device to cut the bone in the bone cutting pattern to fit the selected intervertebral disc prosthesis.

18 . A system of claim 17 , wherein the cutting device is surgeon manipulated and robotically guided to cut the bone in a desired pattern.

19 . A system of claim 17 , wherein the robot includes a guiding device to robotically guide the cutting device to a desired position for cutting the bone.

Assignees

• Simplify Medical Pty Ltd

Inventors

• Arramon Yves
• Hovda David
• Sherman Michael

Classifications

• A61B34/30

  Surgical robots · CPC title

• A61B2034/105

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

• A61F2/4611

  of spinal prostheses · CPC title

• A61B2090/3966

  Radiopaque markers visible in an X-ray image · CPC title

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title