Methods of using a robotic spine system

• US 9,271,779 B2
• Filed: 08/13/2013
• Issued: 03/01/2016
• Est. Priority Date: 03/20/2002
• Status: Active Grant

• Current Assignee: P TECH, LLC
• Original Assignee: P TECH, LLC
• Inventors: Bonutti, Peter M
• Primary Examiner(s): Waggle, Jr., Larry E
• Application Number:
  US13/965,671
• Publication Number:
  US 20130325036A1
• Time in Patent Office: 931 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/025 Joint distractors
• CPC Class Codes: A61B 17/0401 Suture anchors, buttons or pledgets, i.e. means for attaching sutures to bone, cartilage or soft tissue; Instruments for applying or removing suture anchors A61B17/0642 takes precedence; fixation devices for tendons or ligaments A61F2/0811
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/14 Surgical saws A61B17/1637 takes precedence; tooth saws A61C3/12 ; Accessories therefor
• CPC Class Codes: A61B 17/154 for preparing bone for knee prosthesis
• CPC Class Codes: A61B 17/1626 Control means; Display units
• CPC Class Codes: A61B 17/88 Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices A61B17/7074 takes precedence
• CPC Class Codes: A61B 17/8802 Equipment for handling bone cement or other fluid fillers
• CPC Class Codes: A61B 17/8805 for introducing fluid filler into bone or extracting it A61B17/7097, A61B17/8833 take precedence
• CPC Class Codes: A61B 17/885 Tools for expanding or compacting bones or discs or cavities therein A61B17/8805, A61B17/7097 take precedence
• CPC Class Codes: A61B 17/8852 capable of being assembled or enlarged, or changing shape, inside the bone or disc
• CPC Class Codes: A61B 17/8855 inflatable, e.g. kyphoplasty balloons
• CPC Class Codes: A61B 17/8858 laterally or radially expansible inflatable A61B17/8855
• CPC Class Codes: A61B 17/8875 Screwdrivers, spanners or wrenches
• CPC Class Codes: A61B 2017/00557 inflatable A61B2017/22051 takes precedence
• CPC Class Codes: A61B 2017/0256 for the spine
• CPC Class Codes: A61B 2017/0648 threaded, e.g. tacks with a screw thread
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 2090/034 abutting on parts of the device itself
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/3916 : Bone tissue
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/32 : operating autonomously
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0071 : by measuring fluorescence emission
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61F 2/0063 : Implantable repair or support meshes, e.g. hernia meshes
• CPC Class Codes: A61F 2/389 : Tibial components A61F2/3868 takes precedence
• CPC Class Codes: A61F 2002/30133 : kidney-shaped or bean-shaped

Abstract

A tissue retractor assembly may be moved through an opening formed in vertebrae in a patient'"'"'s spinal column. The robotic mechanism may be utilized to form the opening in the vertebrae and to move the contracted tissue retractor assembly into the vertebra. The tissue retractor assembly may include a cannula or scope which is utilized to position the balloon or bladder relative to the vertebra and to conduct the fluid (gas or liquid) into the balloon or bladder to effect expansion of the balloon or bladder. The balloon or bladder may be formed of a biodegradable material. The robotic mechanism may be utilized to position the cannula through which the flow of synthetic bone material or cement is conducted into the space created in the vertebra by expansion of the balloon or bladder.

Claims

1. A method of using a robotic spine system, comprising:

imaging a portion of the spine;

positioning a substantially tubular member relative to a portion of the spine;

passing a robotic mechanism through the tubular member and to a portion of the spine; and

providing a flowable material to a portion of the spine.

2. The method of claim 1 wherein the positioning act is performed by the robotic mechanism.

3. The method of claim 1 wherein the portion of the spine includes a portion of a vertebra.

4. The method of claim 1 wherein the flowable material includes a synthetic material.

5. The method of claim 1 wherein the flowable material includes bone.

6. The method of claim 1 wherein the flowable material includes cement.

7. The method of claim 1 further comprising the act of inserting the tubular member between adjacent vertebrae of the spine.

8. The method of claim 1 further comprising the act of creating a space in a portion of the spine.

9. The method of claim 1 further comprising the act of expanding a balloon to create a space in the spine.

10. The method of claim 9 wherein the balloon includes a biodegradable material.

11. The method of claim 9 wherein the balloon is filled with growth inductive factors.

12. The method of claim 9 wherein the balloon is configured to degrade to enable tissue to grow in the created space.

13. The method of claim 1 further comprising the act of filling a space in the spine with bone material or cement.

14. The method of claim 1 further comprising the act of changing the spatial orientation of portions of the spine relative to each other.

15. The method of claim 1 further comprising the act of creating an opening in a portion of the spine.

16. The method of claim 1 further comprising the act of positioning a fastener with the robotic mechanism.

17. The method of claim 1 further comprising the act of controlling movement of a cutting tool with the robotic mechanism.

18. A method of using a robotic spine system, comprising:

imaging a portion the spine with a fluoroscope;

positioning a substantially tubular member relative to a portion of the spine;

passing a robotic mechanism through the tubular member and to a portion of the spine; and

providing a flowable material to a portion of the spine under guidance from the fluoroscope.

19. The method of claim 18 wherein the positioning act is performed by the robotic mechanism.

20. The method of claim 18 wherein the portion of the spine includes a portion of a vertebra.

21. The method of claim 18 further comprising the act of inserting the tubular member between adjacent vertebrae of the spine.

22. The method of claim 18 further comprising the act of creating a space in a portion of the spine.

23. The method of claim 18 further comprising the act of expanding a balloon to create a space in the spine.

24. The method of claim 23 wherein the balloon includes a biodegradable material.

25. The method of claim 23 wherein the balloon is filled with growth inductive factors.

26. The method of claim 23 wherein the balloon is configured to degrade to enable tissue to grow in the created space.

27. The method of claim 18 further comprising the act of filling a space in the spine with bone material or cement.

28. The method of claim 18 further comprising the act of changing the spatial orientation of portions of the spine relative to each other.

29. The method of claim 18 further comprising the act of creating an opening in a portion of the spine.

30. The method of claim 18 further comprising the act of positioning a fastener with the robotic mechanism.

31. The method of claim 18 further comprising the act of controlling movement of a cutting tool with the robotic mechanism.

32. A method of using a robotic spine system, comprising:

imaging a portion the spine with at least two imaging devices;

positioning a substantially tubular member relative to a portion of the spine;

passing a robotic mechanism through the tubular member and to a portion of the spine; and

providing a flowable material to a portion of the spine.

33. The method of claim 32 wherein the positioning act is performed by the robotic mechanism.

34. The method of claim 32 wherein the portion of the spine includes a portion of a vertebra.

35. The method of claim 32 wherein the imaging devices provide a monitor with two separate monoscopic views.

36. The method of claim 32 wherein the imaging devices provide a monitor with a stereoscopic view.