US 12,268,401 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); and Norbert Johnson, North Andover, MA (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Jun. 28, 2023, as Appl. No. 18/343,181.
Application 18/343,181 is a continuation of application No. 17/813,638, filed on Jul. 20, 2022, granted, now 11,744,598.
Application 17/813,638 is a continuation of application No. 16/821,331, filed on Mar. 17, 2020, granted, now 11,419,616, issued on Aug. 23, 2022.
Application 16/821,331 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, abandoned.
Prior Publication US 2024/0065707 A1, Feb. 29, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 17/16 (2006.01); A61B 34/20 (2016.01); A61B 34/32 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 17/1695 (2013.01) [A61B 17/1615 (2013.01); A61B 17/1626 (2013.01); A61B 34/20 (2016.02); A61B 34/32 (2016.02); A61B 90/03 (2016.02); A61B 90/06 (2016.02); A61B 2017/00212 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/305 (2016.02); A61B 2090/031 (2016.02); A61B 2090/062 (2016.02); A61B 2090/065 (2016.02)] 20 Claims
OG exemplary drawing
 
14. A method for drilling a hole in a cranium of a patient in connection with cranial surgery, the method comprising:
providing a surgical robot system including:
a surgical robot;
a robot arm connected to the surgical robot;
an end-effector connected to the robot arm;
a perforator connectable to the end-effector and configured to be advanced or withdrawn relative to the cranium, the perforator having an elongated bit terminating in a sharp, perforator tip, the bit having a bit diameter, the perforator having a clutch operable to rotate the bit in response to detection by the surgical robot of resistance during advancement of the bit and further operable to stop bit rotation in response to detection by the surgical robot of penetration past an internal wall of the cranium,
maintaining the perforator bit along a trajectory line;
moving the bit in a conical oscillation relative to the trajectory line during advancement of the perforator tip into the cranium.