US 12,076,095 B2
Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
Marc Morard, Lausanne (CH); Kristof van Dommelen, Lausanne (CH); and Szymon Kostrzewski, Lausanne (CH)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by KB Medical SA, Audubon, PA (US)
Filed on Jan. 31, 2022, as Appl. No. 17/588,992.
Application 17/588,992 is a continuation of application No. 16/720,187, filed on Dec. 19, 2019, granted, now 11,266,470.
Application 16/720,187 is a continuation of application No. 15/047,277, filed on Feb. 18, 2016, granted, now 10,555,782, issued on Feb. 11, 2020.
Claims priority of provisional application 62/117,919, filed on Feb. 18, 2015.
Prior Publication US 2022/0249179 A1, Aug. 11, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 17/70 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 90/11 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/1671 (2013.01); A61B 17/17 (2013.01); A61B 17/1703 (2013.01); A61B 17/1757 (2013.01); A61B 17/70 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 90/11 (2016.02); B25J 9/1694 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/254 (2016.02); A61B 2034/256 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A method of operating a robotic surgical system comprising:
storing, by a processor of a computer device, a planned trajectory of a surgical instrument;
sequentially inserting a plurality of dilators through a patient skin for successively enlarging a surgical incision to access a vertebra of the patient, wherein the last inserted dilator defines a working channel for accessing the vertebra;
removing all dilators while leaving the last inserted dilator with the largest circumference in place as a working dilator; and
after the removing step, rigidly attaching the working dilator and only the working dilator to an end effector of the robotic surgical system through a dilator fixation which is rigidly secured to a robot arm such that the robotic surgical system always knows the position of the dilator fixation;
repositioning the trajectory of the surgical instrument after the working dilator has been attached to the end effector.