US 11,737,766 B2
Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
Szymon Kostrzewski, Lausanne (CH); Billy Nussbaumer, Boudry (CH); Roderik Berthelin, La Chapelle Rambaud (FR); and Chetan K. Patel, Longwood, FL (US)
Assigned to Globus Medical Inc., Audubon, PA (US)
Filed by KB MEDICAL SA, Audubon, PA (US)
Filed on Jan. 6, 2020, as Appl. No. 16/734,447.
Application 16/734,447 is a continuation of application No. 15/671,274, filed on Aug. 8, 2017, granted, now 10,548,620.
Application 15/671,274 is a continuation of application No. 14/996,115, filed on Jan. 14, 2016, granted, now 9,750,510, issued on Sep. 5, 2017.
Application 14/996,115 is a continuation of application No. 14/597,883, filed on Jan. 15, 2015, granted, now 9,241,771, issued on Jan. 26, 2016.
Claims priority of provisional application 61/953,609, filed on Mar. 14, 2014.
Claims priority of provisional application 61/935,281, filed on Feb. 3, 2014.
Claims priority of provisional application 61/927,894, filed on Jan. 15, 2014.
Prior Publication US 2020/0146696 A1, May 14, 2020
Int. Cl. A61B 17/17 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 17/34 (2006.01); A61B 90/11 (2016.01); A61B 90/00 (2016.01); A61B 34/20 (2016.01)
CPC A61B 17/17 (2013.01) [A61B 17/1703 (2013.01); A61B 17/3417 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 90/11 (2016.02); A61B 90/39 (2016.02); A61B 34/20 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/305 (2016.02); A61B 2090/365 (2016.02); A61B 2090/368 (2016.02); A61B 2090/3937 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
a robot arm;
a processor configured to control movement of the robot arm;
a surgical instrument guide adapted to attach to the robot arm, the surgical instrument guide including a rigid hollow tube having a first open end and a second open end, the tube defining an axis along which a surgical instrument slides;
wherein the tube has an interior surface shaped and sized to accommodate the surgical instrument sliding through the guide such that movement of the surgical instrument is constrained in all directions except along the axis defined by the guide;
wherein the tube has an instrument sensor to detect the presence of the surgical instrument in the tube and the processor determines whether or not to generate movement of the tube based on output from the instrument sensor
wherein the surgical instrument includes a peg and a navigation marker attached to the peg; and
wherein the tube includes a longitudinal notch along its length, wherein the longitudinal notch is sized to allow the peg to slide there through while the guide is held in a fixed position by the robot arm, thereby constraining movement of the marker in a fixed orientation along the tube axis.