US 11,751,945 B2
Minimally invasive intervertebral rod insertion
Edo Zucker, Tel Aviv (IL); Moshe Shoham, Hoshaya (IL); and Yuval Chen, Tel Aviv (IL)
Assigned to MAZOR ROBOTICS LTD., Caesarea (IL)
Filed by MAZOR ROBOTICS LTD., Caesarea (IL)
Filed on Nov. 12, 2020, as Appl. No. 17/96,757.
Application 17/096,757 is a continuation of application No. 16/312,296, granted, now 10,849,691, previously published as PCT/IL2017/050699, filed on Jun. 23, 2017.
Claims priority of provisional application 62/353,780, filed on Jun. 23, 2016.
Prior Publication US 2021/0137603 A1, May 13, 2021
Int. Cl. A61B 17/88 (2006.01); A61B 17/70 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 17/56 (2006.01); A61B 90/00 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/10 (2016.02) [A61B 17/70 (2013.01); A61B 17/7013 (2013.01); A61B 17/7077 (2013.01); A61B 17/7089 (2013.01); A61B 34/20 (2016.02); A61B 2017/00238 (2013.01); A61B 2017/564 (2013.01); A61B 2017/568 (2013.01); A61B 2034/104 (2016.02); A61B 2034/107 (2016.02); A61B 2034/108 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/301 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3983 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method of planning an intervertebral rod insertion procedure, comprising:
receiving a preoperative surgical plan comprising a planned position and orientation for insertion of each of a plurality of screws into vertebrae of a subject's spine to achieve a target curvature profile of the subject's spine, each of the screws having a head;
calculating a first rod shape that will enable a rod to connect the heads of the plurality of screws;
determining, using a path planning algorithm, whether performance of one or more osteotomies is required such that manipulation of a proximal end of the rod having the first rod shape enables a distal end of the rod to pass sequentially through the heads of the screws; and
when the distal end of the rod can be passed sequentially through the heads of the screws by manipulation of the proximal end only when the one or more osteotomies is performed:
adjusting, in the plan, at least one of the position and orientation of at least one screw of the plurality of screws to yield an adjusted plan with an updated screw configuration;
calculating an updated rod shape to match the updated screw configuration;
determining, using the path planning algorithm, whether performance of the one or more osteotomies is required so that manipulation of the proximal end of a rod having the updated rod shape enables the distal end of the rod to pass sequentially through the heads of the screws in the updated screw configuration; and
repeating, as needed, the steps of adjusting at least one of the position and orientation of the at least one screw and calculating an updated rod shape until the updated rod shape enables the distal end the rod having the updated rod shape to be passed sequentially through the heads of the screws by manipulation of the proximal end of the rod without performance of at least one osteotomy of the one or more osteotomies.