US 12,329,469 B2
Robot assisted volume removal during surgery
Szymon Kostrzewski, Lausanne (CH); Chetan Patel, Longwood, FL (US); and Alexander Mason, Boulder, CO (US)
Assigned to Globus Medical Inc., Audubon, PA (US)
Filed by KB Medical SA, Audubon, PA (US)
Filed on Jul. 29, 2021, as Appl. No. 17/388,173.
Application 17/388,173 is a continuation of application No. 14/957,204, filed on Dec. 2, 2015, granted, now 11,103,316.
Claims priority of provisional application 62/086,677, filed on Dec. 2, 2014.
Prior Publication US 2021/0353374 A1, Nov. 18, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 17/16 (2006.01); A61B 34/32 (2016.01); A61B 17/00 (2006.01); A61B 17/17 (2006.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/1671 (2013.01); A61B 2017/00017 (2013.01); A61B 2017/00123 (2013.01); A61B 2017/00203 (2013.01); A61B 2017/00207 (2013.01); A61B 17/1757 (2013.01); A61B 17/3403 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2068 (2016.02); A61B 34/25 (2016.02); A61B 34/76 (2016.02); A61B 2576/00 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method of performing surgery with a robotic surgical system, the method comprising:
identifying a volume to be removed, wherein medical images of the patient situation displayed on a display are automatically updated to show feedback about the planning;
removing the planned volume using robotic assistance, the removing comprising:
storing, by a processor of the robotic surgical system, a location of the volume to be removed as stay-in zone, and
storing, by the processor, a location of a second volume to protect from removal, wherein the location of the second volume defines a no-go zone;
maintaining, by the processor, the surgical instrument in the stay-in zone and/or out of the no-go zone, thereby removing the volume;
robotically maneuvering a surgical instrument to make an incision, thereby exposing a vertebra;
attaching a frame of a navigation system to the patient;
after removing at least a portion of the volume, moving at least a portion of the robotic surgical system away from the patient; and
manually completing the surgery.