Robotic system and method for spinal and other surgeries

• US 9,308,050 B2
• Filed: 04/02/2012
• Issued: 04/12/2016
• Est. Priority Date: 04/01/2011
• Status: Active Grant

• Current Assignee: KB Medical SA (Globus Medical, Inc.)
• Original Assignee: Ecole polytechnique fãdãrale de lausanne epfl (Schweizerische Eidgenossenschaft)
• Inventors: Kostrzewski, Szymon, Berard, Philippe, Baur, Charles, Duff, John Michael, Sandu, Kishore
• Primary Examiner(s): Boles, Sameh
• Application Number:
  US14/009,050
• Publication Number:
  US 20140121676A1
• Time in Patent Office: 1,471 Days
• Field of Search: 606/80, 606/86.R
• US Class Current: 1/1
• CPC Class Codes: A61B 17/1671 for the spine
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/7082 for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws driving other bone screws A61B17/8875
• CPC Class Codes: A61B 17/86 Pins or screws or threaded wires; nuts therefor A61B17/72 take precedence
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• 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 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/1127 : using markers
• CPC Class Codes: A61B 90/06 : Measuring instruments not otherwise provided for
• CPC Class Codes: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61B 90/57 : Accessory clamps
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: Y10S 901/03 : Teaching system
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement

Abstract

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods.

The present invention further concerns a device suitable to carry out the methods according to the present invention.

Claims

1. A method of using a robotic surgical system to assist a surgeon in removing a target volume in a body of a patient during surgery, the method comprising:

storing, by a processor of the robotic surgical system, a location of the target volume to be removed, wherein a stay-in zone is defined based at least in part on the target volume;

after a surgical instrument affixed to the end of an end effector of the robotic surgical system enters the target volume, controlling, by the processor, a position of the robot such that the surgical instrument remains in the stay-in zone;

providing, based on a position of the tool in the target volume, a repulsive/wall-like force to the surgeon manipulating the surgical instrument to inform the surgeon of the position of the surgical instrument inside the stay-in zone.

2. The method of claim 1, wherein the surgical instrument is a drill.

3. The method of claim 1, wherein the surgery is at least one or ear, nose, and throat surgery.

4. The method of claim 1, the method comprising:

preventing, by the robotic surgical system, removal of a portion of the surgical instrument from the target volume thereby keeping the portion of the surgical instrument within the target volume until the surgeon explicitly wants to leave the target volume.

5. The method of claim 1, wherein a margin of interaction between the surgical instrument and the second volume is defined by the surgeon.

6. The method of claim 1, comprising:

storing, by the processor, a location of a second volume to protect from removal, wherein the location of the second volume defines a “

no-go zone”

.

7. The method of claim 6, wherein the second volume comprises at least one of nerves, orbitals, and other important tissues.

8. The method of claim 6, wherein the target volume and the second volume are defined preoperatively.

9. The method of claim 8, wherein the target volume and the second volume are defined intra-operatively.

10. The method of claim 6, wherein the repulsive/wall-like force prevents the surgeon from moving a position of the surgical instrument into the second volume.

11. The method of claim 1, wherein the surgical instrument is a shaver.

12. The method of claim 1, comprising adjusting, by the processor, the position of a surgical instrument based at least in part upon a position of a haptic device controlled by a surgeon.

13. The method of claim 12, wherein a coupling between the position of haptic device and the position of the surgical instrument is definable such that a user may make small movements with high precision or large movements with high speed.

14. The method of claim 1, comprising upon receiving a request by the surgeon, causing a robot to be rigidly held in place such that the target volume to be removed is inside a workspace of the robotic surgical system.

15. The method of claim 1, wherein the repulsive/wall-like force is provided to the surgeon by a haptic device.

16. The method of claim 1, wherein the stay-in zone is a larger volume than the target volume.

17. The method of claim 1, wherein the stay-in zone is a smaller volume than the target volume.

18. The method of claim 1, wherein controlling, by the processor, a position of the robot such that the surgical instrument remains in the stay-in zone comprises:

preventing, by the processor, movement of a tip of the surgical instrument from leaving the stay-in zone by controlling the position of the robot.

19. The method of claim 1, wherein controlling, by the processor, a position of the robot such that the surgical instrument remains in the stay-in zone comprises:

controlling, by the processor, a position of the robot such that the surgical instrument remains in the stay-in zone until a surgeon explicitly wants to leave the stay-in zone.

20. The method of claim 1, wherein the repulsive/wall-like force prevents the surgeon from moving a position of the surgical instrument outside of the stay-in zone.