US 12,133,699 B2
System and method for surgical tool insertion using multiaxis force and moment feedback
Neil Crawford, Chandler, AZ (US); and Norbert Johnson, North Andover, MA (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on May 11, 2021, as Appl. No. 17/317,344.
Application 17/317,344 is a continuation in part of application No. 17/098,958, filed on Nov. 16, 2020.
Application 17/098,958 is a continuation of application No. 15/652,914, filed on Jul. 18, 2017, granted, now 10,874,466, issued on Dec. 29, 2020.
Application 15/652,914 is a continuation in part of application No. 15/371,304, filed on Dec. 7, 2016, granted, now 10,646,280, issued on May 12, 2020.
Application 15/371,304 is a continuation in part of application No. 15/157,444, filed on May 18, 2016.
Application 15/157,444 is a continuation in part of application No. 15/095,883, filed on Apr. 11, 2016, granted, now 10,893,912, issued on Jan. 19, 2021.
Application 15/095,883 is a continuation in part of application No. 14/062,707, filed on Oct. 24, 2013, granted, now 10,357,184, issued on Jul. 23, 2019.
Application 14/062,707 is a continuation in part of application No. 13/924,505, filed on Jun. 21, 2013, granted, now 9,782,229, issued on Oct. 10, 2017.
Claims priority of provisional application 61/800,527, filed on Mar. 15, 2013.
Claims priority of provisional application 61/662,702, filed on Jun. 21, 2012.
Prior Publication US 2022/0008147 A1, Jan. 13, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 5/06 (2006.01); A61B 17/00 (2006.01); A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 17/70 (2006.01); A61B 17/88 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 90/11 (2016.01); A61B 90/96 (2016.01); A61B 90/98 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 5/064 (2013.01); A61B 17/1604 (2013.01); A61B 17/1626 (2013.01); A61B 17/7082 (2013.01); A61B 17/8875 (2013.01); A61B 34/20 (2016.02); A61B 90/96 (2016.02); A61B 90/98 (2016.02); A61B 2017/00022 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00876 (2013.01); A61B 17/1671 (2013.01); A61B 17/1757 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/034 (2016.02); A61B 2090/062 (2016.02); A61B 2090/064 (2016.02); A61B 2090/066 (2016.02); A61B 2090/0811 (2016.02); A61B 90/11 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3983 (2016.02); A61B 2505/05 (2013.01); A61B 2562/02 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A surgical robot system comprising:
a robot base;
a robot arm connected to and in electronic communication with the robot base;
an end-effector connected to the robot arm and in electronic communication with the robot base, wherein the end-effector comprises a guide tube and is configured to receive a surgical instrument; and
an inertial sensor that is offset radially from a central axis of the guide tube, and
wherein, based on feedback from the inertial sensor, the guide tube is configured to automatically rotate about the central axis of the guide tube to maintain a desired orientation of the guide tube as the robot arm and end-effector are moved along a trajectory to a surgical site.