Surgical robotic automation with tracking markers and controlled tool advancement

Abstract

Devices, systems, and methods for aiding insertion of a surgical implant by providing a threaded guide tube configured to engage a threaded surgical instrument such that an end-effector of a robot mayprovide force to drive the surgical implant into a patient. In addition, devices, systems, and methods relating to a dilator system for use with a robotic system that allows independent and separatecontrol of tools within the dilator system.

Description

[0001] Cross References to Related Applications [0002] This application is a continuation-in-part of U.S. Patent Application No. 15 / 609,334 filed May 31, 2017 (published as U.S. Patent Publication No. 2017 / 0258535), which was filed on May 31, 2016. Continuation-in-Part of U.S. Patent Application No. 15 / 157,444, filed April 18, 2016, published as U.S. Patent Publication No. 2016-0256225 Continuation-in-Part of U.S. Patent Application 15 / 095,883, published as U.S. Patent Publication No. 2016-0220320, which is U.S. Patent No. 14 / 062,707 filed October 24, 2013 Application (published as U.S. Patent Publication No. 2014-0275955), which is a continuation-in-part of U.S. Patent Application No. 14 / 062,707, filed June 21, 2013, U.S. Patent Application No. 13 / 924,505 (now 9,782,229 continuation-in-part of U.S. Patent Application No. 13 / 924,505 claiming priority to Provisional Application No. 61 / 662,702 (expired) filed June 21, 2012 and claiming priority from The priority of Provisiona...

AI Technical Summary

Problems solved by technology

While these systems can help eliminate hand tremors and provide the surgeon with improved ability to work through small openings, like many robots on the market today, these systems are expensive, obtrusive, and require relative positioning of the patient and user (e.g., surgeon) Trouble setting up the robot

Additionally, for certain procedures, such as thoracolumbar pedicle screw insertion, these traditional methods are known to be error-prone and cumbersome

[0007] Current systems suffer from a number of disadvantages, including but not limited to the fact that the lack of mechanical feedback and / or loss of visual placement can prevent autonomous movement and precise placement of surgical instruments once they are submerged within a portion of the patient

These drawbacks make existing surgical applications prone to errors, thereby posing safety hazards to patients as well as surgeons during surgical procedures

[0008] In addition, current robotic assistance systems suffer from other shortcomings

Due to the configuration of the robotic arm and the way it can move, the path and angle of insertion of surgical instruments into the patient (instrument trajectory) may be limited

For example, some current systems may not have sufficient range of motion or movement to place surgical instruments on trajectories ideal for placement within the patient and / or in positions that allow the surgeon to obtain the best view to perform the procedure

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