US 12,114,939 B2
Apparatus, systems, and methods for precise guidance of surgical tools
Szymon Kostrzewski, Lausanne (CH); Olivier Chappuis, Lutry (CH); Billy Nussbaumer, Preverenges (CH); Daniel Gehriger, Lausanne (CH); and Roderik Berthelin, La Chapelle Rambaud (FR)
Assigned to KB Medical SA, Audubon, PA (US)
Filed by KB MEDICAL SA, Audubon, PA (US)
Filed on Oct. 14, 2021, as Appl. No. 17/501,392.
Application 17/501,392 is a continuation of application No. 14/947,674, filed on Nov. 20, 2015, granted, now 11,172,997.
Application 14/947,674 is a continuation of application No. 14/266,769, filed on Apr. 30, 2014, granted, now 9,283,048, issued on Mar. 15, 2016.
Claims priority of provisional application 61/887,273, filed on Oct. 4, 2013.
Prior Publication US 2022/0031411 A1, Feb. 3, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 17/16 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); A61B 90/11 (2016.01); A61B 34/10 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/1615 (2013.01); A61B 34/20 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 90/06 (2016.02); A61B 90/11 (2016.02); A61B 34/10 (2016.02); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 34/76 (2016.02); A61B 2090/064 (2016.02); A61B 2090/066 (2016.02); A61B 90/37 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method for performing a surgical procedure using a robotic surgical system, said method comprising:
obtaining an image of at least a portion of a spine of a patient undergoing the surgical procedure;
moving the robotic surgical system in proximity to an operating area, wherein the robotic surgical system comprises:
a computing system;
a robot arm;
a mobile cart configured to support the robot arm;
an end-effector attached to the robot arm, wherein the end-effector is configured to releasably hold one of a plurality of instruments;
a control interface configured to receive commands and to control operation of the robot arm, wherein the control interface is in electronic communication with the computing system;
an actuator, in electronic communication with the control interface, configured to move the robot arm; and
a tracking detector configured to capture a position of the one of the plurality of surgical instruments in relation to the patient;
wherein the computing system is configured to perform a registration to spatially align the end-effector, the patient, and a desired trajectory of the end-effector, and to maintain the spatial alignment without performing re-registration of the end-effector position when the one of the plurality of surgical instruments held by the end-effector is removed and replaced with a different one of the plurality of surgical instruments
drilling a hole into a vertebral body though one of the plurality of surgical instruments,
positioning a surgical screw into the vertebral body through one of the plurality of surgical instruments, wherein the one of the plurality of surgical instruments moderates the screwing motion at a predetermined pace.