Robotic system for fastening layers of body tissue together and method thereof
DC CAFCFirst Claim
1. A method of fastening at least first and second portions of body tissue together, the method comprising:
- imparting, using an adaptive arm of a robotic mechanism, a clamping force to the first and second portions of body tissue suitable to press the first and second portions against one another;
generating, using a force measurement system associated with the adaptive arm, a clamping force signal indicative of the clamping force imparted by the adaptive arm to the first and second portions of body tissue;
receiving, using a computer in communication with the force measurement system and the robotic mechanism, the clamping force signal from the force measurement system;
determining, using the computer and the received clamping force signal, that the clamping force imparted by the adaptive arm to the first and second portions of body tissue has a predetermined magnitude; and
fastening, after said determining and simultaneously with the clamping force imparted by the adaptive arm to the first and second portions of body tissue having the predetermined magnitude, the first and second portions of body tissue together using the adaptive arm.
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Litigations
1 Petition
Accused Products
Abstract
A method of using a robotic guidance system for performing surgery on a spine is provided. The method includes utilizing a computerized tomographic scan image of a location on a spinal column of a patient, such that the computerized tomographic scan image is connected to a computer and visible on a monitor connected to the computer. The method also includes attaching a coupling component to the spinal column of the patient, coupling a marker to the coupling component, and imaging, with a fluoroscope, the view of the spinal column of the patient, wherein the fluoroscope image is transmitted to the computer and visible on the monitor and the at marker is clearly visible in the fluoroscope image. The method also includes positioning a cannula, with a robotic mechanism, to a first position relative to a vertebra in the spinal column of the patient, drilling a passage through the cannula into bone of the vertebra in the spinal column of the patient, inserting a guidewire through the cannula into the passage in the bone of the vertebra in the spinal column of the patient, and positioning a screw into the bone of the vertebra in the spinal column of the patient.
1219 Citations
30 Claims
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1. A method of fastening at least first and second portions of body tissue together, the method comprising:
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imparting, using an adaptive arm of a robotic mechanism, a clamping force to the first and second portions of body tissue suitable to press the first and second portions against one another; generating, using a force measurement system associated with the adaptive arm, a clamping force signal indicative of the clamping force imparted by the adaptive arm to the first and second portions of body tissue; receiving, using a computer in communication with the force measurement system and the robotic mechanism, the clamping force signal from the force measurement system; determining, using the computer and the received clamping force signal, that the clamping force imparted by the adaptive arm to the first and second portions of body tissue has a predetermined magnitude; and fastening, after said determining and simultaneously with the clamping force imparted by the adaptive arm to the first and second portions of body tissue having the predetermined magnitude, the first and second portions of body tissue together using the adaptive arm. - View Dependent Claims (2, 3, 4, 5)
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6. A method of fastening at least first and second portions of body tissue together, the method comprising:
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applying, using a robotic mechanism, a force to the first and second portions of body tissue suitable to press the first and second portions against one another; generating, using a sensor associated with the robotic mechanism, a fastening signal indicative of the first and second portions being suitable for being fastened to one another during said applying a force to the first and second portions of body tissue; receiving, using a computer in communication with the sensor and the robotic mechanism, the fastening signal from the sensor; determining, using the computer and the received fastening signal, that the first and second portions of body tissue are suitable for being fastened to one another; and fastening, after said determining, the first and second portions of body tissue together using a fastener applied by the robotic mechanism. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification