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1. WO2020097481 - ROBOTIC SPINE SURGERY SYSTEM AND METHODS

Publication Number WO/2020/097481
Publication Date 14.05.2020
International Application No. PCT/US2019/060502
International Filing Date 08.11.2019
IPC
A61B 34/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 34/10 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
10Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/30 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 90/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
CPC
A61B 2034/102
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
10Computer-aided planning, simulation or modelling of surgical operations
101Computer-aided simulation of surgical operations
102Modelling of surgical devices, implants or prosthesis
A61B 2034/2046
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
A61B 2034/2055
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2055Optical tracking systems
A61B 2034/2057
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2055Optical tracking systems
2057Details of tracking cameras
A61B 2090/064
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
06Measuring instruments not otherwise provided for
064for measuring force, pressure or mechanical tension
A61B 2090/066
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
06Measuring instruments not otherwise provided for
064for measuring force, pressure or mechanical tension
066for measuring torque
Applicants
  • MAKO SURGICAL CORP. [US]/[US]
Inventors
  • KANG, Hyosig
  • DING, Jienan
  • BOWLING, David, Gene
  • JONES, Christopher, W.
  • MCEWAN, Greg
  • GSELLMAN, Lucas
Agents
  • FARES, Samir, A.
  • CANTOR, Richard, J.
  • CHOJNOWSKI, Daniel, R.
  • BLISS, Daniel, H.
  • BUNTIN, Stephanie, S.
Priority Data
16/184,37608.11.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) ROBOTIC SPINE SURGERY SYSTEM AND METHODS
(FR) SYSTÈME ET MÉTHODES ROBOTIQUES D'OPÉRATION CHIRURGICALE DE LA COLONNE VERTÉBRALE
Abstract
(EN)
A robotic system and methods for performing spine surgery are disclosed. The system comprises a robotic manipulator with a tool to hold a screw and to rotate the screw about a rotational axis. The screw is self-tapping and has a known thread geometry that is stored by a controller. A navigation system tracks a position of a target site. Movement of the robotic manipulator is controlled to maintain the rotational axis of the surgical tool along a planned trajectory with respect to the target site based on the tracked position of the target site. In autonomous or manual modes of operation, the rotational rate of the screw about the rotational axis and/or an advancement rate of the screw linearly along the planned trajectory is controlled to be proportional to the known thread geometry stored in the memory.
(FR)
L'invention concerne un système et des méthodes robotiques d'opération chirurgicale de la colonne vertébrale. Le système comprend un manipulateur robotique doté d'un outil destiné à maintenir une vis et à faire tourner la vis autour d'un axe de rotation. La vis est auto-taraudeuse et présente une géométrie de filet connue qui est stockée par un dispositif de commande. Un système de navigation suit une position d'un site cible. Le mouvement du manipulateur robotique est commandé pour maintenir l'axe de rotation de l'outil chirurgical le long d'une trajectoire planifiée par rapport au site cible sur la base de la position suivie du site cible. Dans des modes de fonctionnement autonomes ou manuels, le taux de rotation de la vis autour de l'axe de rotation et/ou un taux d'avancement de la vis linéairement le long de la trajectoire planifiée sont commandés pour être proportionnels à la géométrie de filet connue stockée dans la mémoire.
Also published as
Latest bibliographic data on file with the International Bureau