US 11,744,648 B2
Robotic system and method for spinal and other surgeries
Szymon Kostrzewski, Lausanne (CH); Philippe Berard, Chavannes-pres-Renens (CH); Charles Baur, Saint-Aubin-Sauges (CH); John Michael Duff, La Croix-sur-Lutry (CH); and Kishore Sandu, Savigny (CH)
Assigned to Globus Medicall, Inc., Audubon, PA (US)
Filed by KB MEDICAL SA, Audubon, PA (US)
Filed on Apr. 12, 2020, as Appl. No. 16/846,360.
Application 16/846,360 is a continuation of application No. 15/705,578, filed on Sep. 15, 2017, granted, now 10,660,712.
Application 15/705,578 is a continuation of application No. 14/824,602, filed on Aug. 12, 2015, granted, now 9,833,292, issued on Dec. 5, 2017.
Application 14/824,602 is a continuation of application No. 14/522,509, filed on Oct. 23, 2014, granted, now 9,125,680, issued on Sep. 8, 2015.
Application 14/522,509 is a continuation of application No. 14/009,050, granted, now 9,308,050, issued on Apr. 12, 2016, previously published as PCT/IB2012/051611, filed on Apr. 2, 2012.
Claims priority of provisional application 61/470,545, filed on Apr. 1, 2011.
Prior Publication US 2020/0237448 A1, Jul. 30, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 90/57 (2016.01); A61B 34/30 (2016.01); A61B 90/50 (2016.01); A61B 5/11 (2006.01); A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 17/70 (2006.01); A61B 17/86 (2006.01); A61B 90/00 (2016.01); A61B 34/10 (2016.01); A61B 17/00 (2006.01); A61B 90/90 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 5/1127 (2013.01); A61B 17/1671 (2013.01); A61B 17/1703 (2013.01); A61B 17/7082 (2013.01); A61B 17/86 (2013.01); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 90/06 (2016.02); A61B 90/50 (2016.02); A61B 90/57 (2016.02); A61B 90/90 (2016.02); A61B 2017/00694 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 2034/305 (2016.02); A61B 2090/061 (2016.02); A61B 2090/062 (2016.02); A61B 2090/064 (2016.02); A61B 2090/067 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3983 (2016.02); Y10S 901/03 (2013.01); Y10S 901/09 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of performing surgery comprising:
providing a robotic surgical system having:
a robot comprising an end-effector for holding a surgical tool for use in a surgical procedure;
a controller for controlling the position of the end-effector, wherein the end-effector is adapted to be manually and freely positioned by the surgeon during the operation; and
a measurement system with a computer processor for:
measuring, by the processor a position of the surgical tool held by the end effector and a position of a bone of a patient;
determining by the processor a change in the position of the bone; and
automatically adjusting via the robot the position of the end effector based at least in part on the determined change in the position of the bone such that a spatial relationship between the end effector and the bone remains substantially unaltered as at least a portion of the operation is performed, thereby ensuring the surgical tool remains aligned with a predetermined path;
performing a surgical procedure with the surgical tool.