US 12,465,445 B2
Robotic surgical system and method
Peter L. Bono, Bingham Farms, MI (US); James D. Lark, West Bloomfield, MI (US); John S. Scales, Ann Arbor, MI (US); and Thomas J Lord, South Milwaukee, WI (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Nov. 20, 2023, as Appl. No. 18/514,151.
Application 18/514,151 is a continuation of application No. 17/459,754, filed on Aug. 27, 2021, granted, now 11,819,300.
Application 17/459,754 is a continuation of application No. 15/816,861, filed on Nov. 17, 2017, granted, now 11,135,026, issued on Oct. 5, 2021.
Application 15/816,861 is a continuation in part of application No. 13/469,665, filed on May 11, 2012, granted, now 10,194,922, issued on Feb. 5, 2019.
Claims priority of provisional application 62/432,651, filed on Dec. 11, 2016.
Claims priority of provisional application 62/423,677, filed on Nov. 17, 2016.
Claims priority of provisional application 62/423,624, filed on Nov. 17, 2016.
Prior Publication US 2024/0081931 A1, Mar. 14, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/35 (2016.01); A61B 17/32 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 17/32002 (2013.01); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 2017/00477 (2013.01); A61B 2017/320028 (2013.01); A61B 2034/305 (2016.02); A61B 34/74 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3925 (2016.02); A61B 2090/3966 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method of performing a surgical procedure using a multi-axis robot, the method comprising:
creating, from a medical imaging device, a medical image and storing the medical image in a computer, the stored medical image containing a portion of the patient and a plurality of radiopaque fiducial points;
positioning a multi-axis robot adjacent the patient, the robot having:
a plurality of interconnected arms movable relative to one another;
an end effector attached to the arms and having a tool holder configured to releasably retain at least one surgical tool, wherein the computer is configured to control movement of the arms;
creating from an ultrasound (US) probe an US image of at least a portion of the patient during surgery and storing the US image in the computer;
displaying the medical image and the US image on a monitor coupled to the computer, the displayed medical and US images including at least a portion of a surgical sight of the patient; and
operating on the patient with the robot having the surgical tool attached to the tool holder while viewing the displayed medical and US images.