US 11,690,687 B2
Methods for performing medical procedures using a surgical robot
Neil Crawford, Chandler, AZ (US); and Nicholas Theodore, Ruxton, MD (US)
Assigned to Globus Medical Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Dec. 10, 2019, as Appl. No. 16/708,545.
Application 16/708,545 is a continuation of application No. 14/476,101, filed on Sep. 3, 2014, granted, now 10,531,927.
Application 14/476,101 is a continuation of application No. 14/475,998, filed on Sep. 3, 2014, abandoned.
Application 14/475,998 is a continuation in part of application No. 13/924,505, filed on Jun. 21, 2013, granted, now 9,782,229, issued on Oct. 10, 2017.
Claims priority of provisional application 61/800,527, filed on Mar. 15, 2013.
Claims priority of provisional application 61/662,702, filed on Jun. 21, 2012.
Prior Publication US 2020/0179065 A1, Jun. 11, 2020
Int. Cl. A61B 34/30 (2016.01); A61B 17/70 (2006.01); A61B 34/00 (2016.01); A61B 17/16 (2006.01); A61B 34/10 (2016.01); A61B 17/17 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61M 5/172 (2006.01); A61B 10/02 (2006.01); A61B 17/88 (2006.01); A61B 50/13 (2016.01); A61B 46/20 (2016.01); A61B 34/32 (2016.01); A61B 17/02 (2006.01); A61B 90/14 (2016.01); A61N 1/05 (2006.01); A61B 5/06 (2006.01); B25J 9/10 (2006.01); A61B 90/96 (2016.01); A61B 90/98 (2016.01); A61B 90/11 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 5/061 (2013.01); A61B 5/062 (2013.01); A61B 5/066 (2013.01); A61B 10/02 (2013.01); A61B 10/0233 (2013.01); A61B 10/0275 (2013.01); A61B 17/025 (2013.01); A61B 17/1615 (2013.01); A61B 17/1671 (2013.01); A61B 17/1703 (2013.01); A61B 17/1757 (2013.01); A61B 17/7082 (2013.01); A61B 17/8866 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/32 (2016.02); A61B 34/70 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 46/20 (2016.02); A61B 50/13 (2016.02); A61B 90/14 (2016.02); A61B 90/37 (2016.02); A61B 90/39 (2016.02); A61B 90/96 (2016.02); A61B 90/98 (2016.02); A61M 5/172 (2013.01); A61N 1/0529 (2013.01); B25J 9/1065 (2013.01); A61B 5/064 (2013.01); A61B 17/17 (2013.01); A61B 90/11 (2016.02); A61B 2010/0208 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/00203 (2013.01); A61B 2017/00207 (2013.01); A61B 2017/00876 (2013.01); A61B 2017/0256 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/301 (2016.02); A61B 2034/741 (2016.02); A61B 2034/742 (2016.02); A61B 2034/743 (2016.02); A61B 2034/744 (2016.02); A61B 2090/034 (2016.02); A61B 2090/064 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/365 (2016.02); A61B 2090/374 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3764 (2016.02); A61B 2090/395 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3941 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/3975 (2016.02); A61B 2090/3979 (2016.02); A61B 2090/3983 (2016.02)] 13 Claims
OG exemplary drawing
 
11. A method for inserting a tubular element into a patient with a robot system comprising:
loading a 3-D computed tomography scan volume onto a control device of the robot system, the robot system further including a tubular element through which a drill is received;
programming a route for the tubular element to travel through the patient to a target anatomical location on a display, wherein the control device is configured to manipulate the tubular element;
controlling the tubular element with the robot system to guide the tubular element along the programmed route through the patient,
wherein the control device calculates a two-dimensional slice plane perpendicular to a longitudinal axis of the drill attached to the tubular element and iteratively recalculates a slice plane distally down the programmed route and distal to the tubular element as the tubular element is advanced,
wherein each calculated slice plane is a two-dimensional slice perpendicular to the programmed route and to the longitudinal axis of the drill, and wherein each calculated slice plane is a reformatted slice of the 3-D computed tomography scan volume.