Robot guided oblique spinal stabilization
First Claim
1. A method for performing spinal stabilization between two adjacent vertebrae of a subject, the method comprising:
- drilling two oblique posterior entry passages, one from each pedicle region in an inferior one of said two adjacent vertebrae into the body of the adjacent superior vertebra towards its anterior cortical rim;
cleaning the disc space between said two adjacent vertebrae;
inserting an inflatable distraction balloon through a first one of said oblique posterior entry passages into said disc space between said two adjacent vertebrae, and inflating said distraction balloon;
inserting a screw obliquely into said inferior and superior vertebrae along the other one of said oblique posterior entry passages, such that said vertebrae are mutually fixed in position;
deflating and withdrawing said distraction balloon; and
inserting a second screw obliquely between said inferior and superior vertebrae along the first one of said oblique posterior entry passages, such that said vertebrae are firmly fixed in position.
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Accused Products
Abstract
A robotic system for performing minimally invasive spinal stabilization, using two screws inserted in oblique trajectories from an inferior vertebra pedicle into the adjacent superior vertebra body. The procedure is less traumatic than such procedures performed using open back surgery, by virtue of the robot used to guide the surgeon along a safe trajectory, avoiding damage to nerves surrounding the vertebrae. The robot arm is advantageous since no access is provided in a minimally invasive procedure for direct viewing of the operation site, and the accuracy required for oblique entry can readily be achieved only using robotic control. This robotic system also obviates the need for a large number of fluoroscope images to check drill insertion position relative to the surrounding nerves. Disc cleaning tools with flexible wire heads are also described. The drilling trajectory is determined by comparing fluoroscope images to preoperative images showing the planned path.
152 Citations
17 Claims
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1. A method for performing spinal stabilization between two adjacent vertebrae of a subject, the method comprising:
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drilling two oblique posterior entry passages, one from each pedicle region in an inferior one of said two adjacent vertebrae into the body of the adjacent superior vertebra towards its anterior cortical rim; cleaning the disc space between said two adjacent vertebrae; inserting an inflatable distraction balloon through a first one of said oblique posterior entry passages into said disc space between said two adjacent vertebrae, and inflating said distraction balloon; inserting a screw obliquely into said inferior and superior vertebrae along the other one of said oblique posterior entry passages, such that said vertebrae are mutually fixed in position; deflating and withdrawing said distraction balloon; and inserting a second screw obliquely between said inferior and superior vertebrae along the first one of said oblique posterior entry passages, such that said vertebrae are firmly fixed in position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification