US 12,251,140 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 May 18, 2023, as Appl. No. 18/319,775.
Application 18/319,775 is a continuation of application No. 16/708,545, filed on Dec. 10, 2019, granted, now 11,690,687.
Application 16/708,545 is a continuation of application No. 14/476,101, filed on Sep. 3, 2014, granted, now 10,531,927, issued on Jan. 14, 2020.
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 2023/0285093 A1, Sep. 14, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 5/06 (2006.01); A61B 10/02 (2006.01); A61B 17/02 (2006.01); A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 17/70 (2006.01); A61B 17/88 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/32 (2016.01); A61B 46/20 (2016.01); A61B 50/13 (2016.01); A61B 90/00 (2016.01); A61B 90/14 (2016.01); A61B 90/96 (2016.01); A61B 90/98 (2016.01); A61M 5/172 (2006.01); A61N 1/05 (2006.01); B25J 9/10 (2006.01); A61B 17/00 (2006.01); A61B 90/11 (2016.01)
CPC A61B 17/7074 (2013.01) [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 17/7002 (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 34/30 (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 90/37 (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 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 17/17 (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 90/11 (2016.02); A61B 90/14 (2016.02); A61B 2090/365 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3764 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3941 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/395 (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 on to a control device of the robot system, the robot system further including a tubular element configured to receive a drill;
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; and
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 lateral to the longitudinal axis of the drill and iteratively recalculates a slice plane distally down the programmed route and distal to the tubular element as the tubular element is advanced, and
preparing a pathway for positioning of an implant,
wherein each calculated slice plane is a two-dimensional slice perpendicular to the programmed route.