US 12,472,017 B2
Robotic spine surgery system and methods
Hyosig Kang, Weston, FL (US); Jienan Ding, Weston, FL (US); David Gene Bowling, Los Ranchos De Albuquerque, NM (US); Christopher Wayne Jones, Kokomo, IN (US); Greg McEwan, Mattawan, MI (US); and Lucas Gsellman, Medina, OH (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Feb. 14, 2024, as Appl. No. 18/441,032.
Application 17/313,056 is a division of application No. 16/184,376, filed on Nov. 8, 2018, granted, now 11,033,341, issued on Jun. 15, 2021.
Application 18/441,032 is a continuation of application No. 17/313,056, filed on May 6, 2021, granted, now 11,937,889.
Application 16/184,376 is a continuation in part of application No. 15/976,376, filed on May 10, 2018, granted, now 11,065,069, issued on Jul. 20, 2021.
Claims priority of provisional application 62/504,019, filed on May 10, 2017.
Prior Publication US 2024/0180639 A1, Jun. 6, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 17/70 (2006.01); A61B 17/88 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 90/98 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/1671 (2013.01); A61B 17/1757 (2013.01); A61B 17/7076 (2013.01); A61B 17/8875 (2013.01); A61B 34/10 (2016.02); A61B 34/32 (2016.02); A61B 34/71 (2016.02); A61B 34/76 (2016.02); A61B 90/98 (2016.02); A61B 17/1615 (2013.01); A61B 17/1626 (2013.01); A61B 17/7032 (2013.01); A61B 17/7082 (2013.01); A61B 17/7092 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 34/20 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2068 (2016.02); A61B 90/03 (2016.02); A61B 2090/031 (2016.02); A61B 2090/062 (2016.02); A61B 2090/376 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a robotic manipulator comprising:
a force sensor; and
a surgical tool coupled to the robotic manipulator and configured to hold a screw and to rotate the screw about a rotational axis of the surgical tool, the screw having a known thread geometry;
a navigation system configured to track a pose of a target anatomy; and
one or more controllers coupled to the robotic manipulator and the navigation system and comprising a memory for storing the known thread geometry, wherein the one or more controllers are configured to:
control the robotic manipulator to maintain the rotational axis of the surgical tool on a planned trajectory with respect to the target anatomy based on the tracked pose of the target anatomy;
detect, with the force sensor, a force applied by a user; and
control a rotational rate of the surgical tool to rotate the screw about the rotational axis and control an advancement rate of the surgical tool to linearly advance the screw along the planned trajectory, wherein the rotational rate and the advancement rate are based on the force applied by the user and are proportional to the known thread geometry stored in the memory.