US 12,453,562 B2
Robotic spine surgery system
Jean-Charles Roussouly, Poleymieux Au Mont d'Or (FR)
Assigned to S.M.A.I.O., Saint Priest (FR)
Filed by S.M.A.I.O., Saint Priest (FR)
Filed on Feb. 16, 2023, as Appl. No. 18/110,522.
Claims priority of application No. 2201545 (FR), filed on Feb. 22, 2022.
Prior Publication US 2023/0263541 A1, Aug. 24, 2023
Int. Cl. A61B 34/10 (2016.01); A61B 17/17 (2006.01); A61B 34/20 (2016.01); A61B 90/96 (2016.01)
CPC A61B 17/1757 (2013.01) [A61B 17/1703 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 90/96 (2016.02); A61B 2034/104 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A spine surgery system, comprising:
an electronic processor having preoperative mapping data relative to one or more vertebrae of a patient loaded thereon;
a vertebral localization element comprising
a patient-specific mating surface which is specific to the patient, the mating surface being configured to be congruent with a predetermined bony part of the vertebra or one of the vertebrae, to couple the vertebral localization element to the vertebra in a unique fixed position, applying the mating surface in customized contact with bony material of the vertebra so that the mating surface covers the predetermined bony part of the vertebra, by matching the bony reliefs of the predetermined bone portion and by cooperating by contact with the bony reliefs in a three-dimensional manner to place the vertebral localization element on the vertebra in said unique fixed position, and
a three-dimensional optical marker, defining a three-dimensional spatial frame which is fixedly linked to the mating surface so that, when the vertebral localization element is coupled to the vertebra, said three-dimensional spatial frame is fixedly linked to the vertebra according to a relative position resulting from the coupling of the vertebral localization element to the vertebra in said unique fixed position;
a robot comprising
an arm which is movable relative to a fixed station of the robot, and
an end effector member which is carried by the arm and which is configured to be applied intraoperatively on the vertebra; and
an optical sensor device, which is carried by and movable with the end effector member relative to the fixed station of the robot and which is configured, when the vertebral localization element is coupled to the vertebra, to observe the three-dimensional optical marker of the vertebral localization element and to deduce therefrom, in real time, the positioning data concerning the relative position between the three-dimensional optical marker and the end effector member,
wherein the electronic processor, from said preoperative mapping data and said positioning data, determines, in real time, the relative position between the end effector member and the vertebra, by calculating, in said three-dimensional spatial frame, the position of the end effector member and by comparing the position of the end effector member with a region of space occupied by the vertebra as modeled by said preoperative mapping data.