US 11,944,325 B2
System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
Hayden Cameron, Philadelphia, PA (US); Spiros Mantzavinos, Nashua, NH (US); Neil R. Crawford, Chandler, AZ (US); Sanjay Joshi, Andover, MA (US); Norbert Johnson, North Andover, MA (US); James Cascarano, Cambridge, MA (US); Justin Larson, Reading, MA (US); Stephen Cicchini, North Wales, PA (US); Ross Morris, Norristown, PA (US); and Christopher Angelucci, Schwenksville, PA (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on May 9, 2022, as Appl. No. 17/662,437.
Application 17/662,437 is a division of application No. 16/695,310, filed on Nov. 26, 2019.
Application 16/695,310 is a continuation in part of application No. 16/452,737, filed on Jun. 26, 2019, granted, now 11,317,978, issued on May 3, 2022.
Application 16/452,737 is a continuation in part of application No. 16/361,863, filed on Mar. 22, 2019.
Prior Publication US 2022/0330954 A1, Oct. 20, 2022
Int. Cl. A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/11 (2016.01); A61B 90/14 (2016.01); A61B 17/00 (2006.01)
CPC A61B 17/1695 (2013.01) [A61B 17/162 (2013.01); A61B 17/1739 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 90/03 (2016.02); A61B 90/08 (2016.02); A61B 90/11 (2016.02); A61B 90/14 (2016.02); A61B 2017/00407 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/034 (2016.02); A61B 2090/0807 (2016.02)] 16 Claims
OG exemplary drawing
 
9. A method of guiding a drill during robot-assisted surgery on an anatomical feature of a patient, the method comprising the steps of:
determining, by computer processing, a drill target and an associated drill trajectory and effectuating movement of an end-effector to a position corresponding to the determined target and the determined drill trajectory;
coupling a drill guide to the end effector, the drill guide having a guide sleeve adapted to receive a drill bit attached to a drill, and a depth stop sleeve slidably received in the guide sleeve and longitudinally lockable to the guide sleeve, the depth stop sleeve having a through hole to allow the drill bit to be freely slidable therein,
setting a depth stop of the depth stop sleeve by longitudinally sliding the depth stop sleeve relative to the guide sleeve;
locking the set depth stop;
inserting the drill bit through the locked depth stop sleeve and the guide sleeve of the drill guide such that a distal tip of the drill bit extends from a distal end of the drill guide;
drilling the anatomical feature with the inserted drill bit until the locked depth stop of the depth stop sleeve stops the drill from advancing further.