US 12,102,394 B2
Multi-stage dilator and cannula system and method
Russell Stanton, Lunenberg, MA (US); and Scott Coppen, Amesbury, MA (US)
Assigned to Mobius Imaging, LLC, Shirley, MA (US)
Filed by Mobius Imaging, LLC, Shirley, MA (US)
Filed on Nov. 21, 2022, as Appl. No. 17/990,857.
Application 17/990,857 is a continuation of application No. 16/884,492, filed on May 27, 2020, granted, now 11,534,244.
Application 16/884,492 is a continuation of application No. 15/646,631, filed on Jul. 11, 2017, granted, now 10,695,133, issued on Jun. 30, 2020.
Claims priority of provisional application 62/412,450, filed on Oct. 25, 2016.
Claims priority of provisional application 62/361,040, filed on Jul. 12, 2016.
Prior Publication US 2023/0088321 A1, Mar. 23, 2023
Int. Cl. A61B 17/02 (2006.01); A61B 17/34 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 34/30 (2016.01); A61M 29/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 17/0218 (2013.01); A61B 17/025 (2013.01); A61B 17/34 (2013.01); A61B 17/3421 (2013.01); A61B 90/39 (2016.02); A61B 2017/0256 (2013.01); A61B 17/3403 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2074 (2016.02); A61B 34/30 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3979 (2016.02); A61B 2090/3983 (2016.02); A61M 29/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for performing robotically-assisted image guided surgery comprising:
a motion tracking system operable to track one or more objects in a surgical area; and
a robotic arm comprising an end effector with a cannula to receive and hold a dilator assembly, with the robotic arm being configured to move the dilator assembly to one or more predetermined positions over a body of a patient using tracking data from the motion tracking system;
wherein the dilator assembly comprises a first, second, and third elongated members in a nested configuration that are slidable relative to one another along a central axis, each of the first, second, and third elongated members having a length between a head end and a tip end of the respective elongated member, and each successive elongated member of the first, second, and third elongated members having a larger perimeter and a shorter length than a preceding elongated member.