ROBOTIC SURGICAL SYSTEMS AND METHODS

• US 20170056116A1
• Filed: 08/31/2016
• Published: 03/02/2017
• Est. Priority Date: 08/31/2015
• Status: Active Grant

• Current Assignee: KB Medical SA (Globus Medical, Inc.)
• Original Assignee: KB Medical SA (Globus Medical, Inc.)
• Inventors: Kostrzewski, PhD, Szymon
• Granted Patent: US 10,687,905 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/1671 for the spine
• CPC Class Codes: A61B 17/1757 for the spine
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2018/00839 Bioelectrical parameters, e.g. ECG, EEG
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• 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 2090/066 for measuring torque
• CPC Class Codes: A61B 2090/3937 Visible markers
• 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 34/32 operating autonomously
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 5/24 Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
• CPC Class Codes: A61B 5/4893 Nerves
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/11 : with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: B25J 19/06 : Safety devices
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation

Abstract

The disclosed technology relates to robotic surgical systems for improving surgical procedures. In certain embodiments, the disclosed technology relates to robotic surgical systems for use in osteotomy procedures in which bone is cut to shorten, lengthen, or change alignment of a bone structure. The osteotome, an instrument for removing parts of the vertabra, is guided by the surgical instrument guide which is held by the robot. In certain embodiments, the robot moves only in the “locked” plane (one of the two which create the wedge—i.e., the portion of the bone resected during the osteotomy). In certain embodiments, the robot shall prevent the osteotome (or other surgical instrument) from getting too deep/beyond the tip of the wedge. In certain embodiments, the robotic surgical system is integrated with neuromonitoring to prevent damage to the nervous system.

Claims

1. A robotic surgical system for use in a surgical procedure performed on a patient, the system comprising:

a robotic arm comprising an end-effector;

an actuator for controlled movement of the robotic arm and positioning of the end effector, thereby controlling the trajectory and/or insertion depth of a surgical instrument in a guide affixed to the end effector;

a neuromonitoring module for implementing real-time neuromonitoring during a surgical procedure; and

a processor and a memory storing instructions thereon, wherein the instructions, when executed, cause the processor to;

receive, by the neuromonitoring module, a trigger based on a neurological response of a portion of a nerve structure of the patient that is measured by a neuromonitoring system; and

prevent, by the neuromonitoring module, deeper insertion into the patient of a surgical instrument guided by the robotic surgical system upon receipt of the trigger.

2. The robotic surgical system of claim 1, wherein preventing deeper insertion into the patient of a surgical instrument guided by the robotic surgical system upon receipt of the trigger comprising moving, by the robotic surgical system, a position of the end-effector away from the patient.

3. The robotic surgical system of claim 1, comprising a surgical instrument guide arranged to pass a neuromonitoring cable therethrough.

4. The robotic surgical system of claim 1, wherein the surgical instrument guide is integrated with the neuromonitoring system such that a neuromonitoring cable can pass through a sterile zone.

5. The robotic surgical system of claim 1, comprising the neuromonitoring system which is separate from the robotic surgical system.

6. The robotic surgical system of claim 1, wherein the neuromonitoring system comprises a cable that extends through a surgical instrument guide connected to the end-effector.

9. The robotic surgical system of claim 1, wherein the surgical instrument guide comprises a block and/or notch for preventing further insertion of the surgical instrument.

10. The robotic surgical system of claim 1, comprising a navigation module for maintaining the position of the end-effector upon detection, by a navigation system, of movement of a navigation marker.

11. The robotic surgical system of claim 1, comprising a user interface on a robotic arm of the robotic surgical system.

7-8. -8. (canceled)

12-34. -34. (canceled)

35. A method of controlling the position of an end-effector of a robotic surgical system, the method comprising:

receiving, by a neuromonitoring module of the robotic surgical system, a trigger from a neuromonitoring system, wherein the robotic surgical system comprises;

a robotic arm comprising the end-effector,

an actuator for controlled movement of the robotic arm and positioning of the end effector, thereby controlling the trajectory and/or insertion depth of a surgical instrument in a guide affixed to the end effector, and

the neuromonitoring module for implementing real-time neuromonitoring during a surgical procedure; and

controlling, by a processor of a computing device in the robotic surgical system, a position of an end-effector of the robotic surgical system to prevent deeper insertion into a patient of a surgical instrument guided by the robotic surgical system upon receipt of the trigger.

36. The method of claim 35, wherein preventing deeper insertion into the patient of a surgical instrument guided by the robotic surgical system upon receipt of the trigger comprising moving, by the robotic surgical system, a position of the end-effector away from the patient.

37. The method of claim 35, wherein the robotic surgical system comprises a surgical instrument guide arranged to pass a neuromonitoring cable therethrough.

38. The method of claim 35, wherein the surgical instrument guide is integrated with the neuromonitoring system such that a neuromonitoring cable can pass through a sterile zone.

39. The method of claim 35, wherein the robotic surgical system comprises the neuromonitoring system is separate from the robotic surgical system.

40. The method of claim 35, wherein the neuromonitoring system comprises a cable that extends through a surgical instrument guide connected to the end-effector.

41. The method of claim 35, wherein the surgical instrument guide comprises a user interface thereon.

42. The method of claim 41, wherein the user interface comprises one or more buttons thereon.

43. The method of claim 35, wherein the surgical instrument guide comprises a block and/or notch for preventing further insertion of the surgical instrument.

44. The method of claim 35, comprising:

receiving, by a navigation module in the robotic surgical system, a navigation signal indicating movement of a navigation marker; and

moving, by the robotic surgical system, a position of the end-effector based on the navigation signal.

45-68. -68. (canceled)