Robotic manipulation of the spine

Abstract

A system for robotic spinal manipulation includes a robotic tool including one or more screw connectors. Each screw connector is configured to connect to a pedicle screw and to move with one or more degrees of freedom. The robotic tool also includes a controller configured to control a position of each of the one or more screw connectors and a connector configured to mate with a robotic arm.

Description

A0011632W001ROBOTIC MANIPULATION OF THE SPINECROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 702,017, filed 1 October 2024, the entire content of which is incorporated herein by reference.FIELD

[0002] The present technology generally relates to robotic and robot-assisted surgeries, and relates more particularly to robotic and robot-assisted spinal surgeries.BACKGROUND

[0003] Surgical robots may assist a surgeon or other medical provider in carrying out a surgical procedure or may complete one or more surgical procedures autonomously. Spinal surgeries may require movement of the spine, whether to secure a portion of the spine to a fixation rod or otherwise.SUMMARY

[0004] Example aspects of the present disclosure include:

[0005] A robotic tool including: one or more screw connectors, wherein each screw connector is configured to connect to a pedicle screw, and each screw connector is configured to move with one or more degrees of freedom; a controller configured to control a position of each of the one or more screw connectors; and a connector configured to mate with a robotic arm.

[0006] Any of the aspects herein, further comprising one or more force sensors.

[0007] Any of the aspects herein, wherein the one or more force sensors measure a force of the robotic tool on a vertebra.

[0008] Any of the aspects herein, wherein the tool applies force to a vertebra.

[0009] Any of the aspects herein, wherein two or more tools align a spine of a patient.

[0010] Any of the aspects herein, wherein the two or more tools hold the spine aligned while a physician inserts a rod.

[0011] Any of the aspects herein, wherein the one or more screw connectors comprise two screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a vertebra.A0011632W001

[0012] Any of the aspects herein, wherein the one or more screw connectors comprise three screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a different vertebra.

[0013] Any of the aspects herein, wherein the tool is mounted to an end of a robotic arm.

[0014] Any of the aspects herein, wherein the tool is controlled by the robotic arm to apply force to one or more vertebrae.

[0015] Any of the aspects herein, wherein each screw connector is configured to move with seven degrees of freedom.

[0016] A robotic device including a tool, the tool including: one or more screw connectors, wherein each screw connector is configured to connect to a pedicle screw, and each screw connector is configured to move with one or more degrees of freedom; a controller configured to control a position of each of the one or more screw connectors; and a connector configured to mate with a robotic arm of the robotic device.

[0017] Any of the aspects herein, wherein the tool is mounted to an end of the robotic arm.

[0018] Any of the aspects herein, further comprising one or more force sensors.

[0019] Any of the aspects herein, wherein the one or more force sensors measure a force of the robotic tool on a vertebra.

[0020] Any of the aspects herein, wherein the tool applies force to a vertebra.

[0021] Any of the aspects herein, wherein two or more tools align a spine of a patient.

[0022] Any of the aspects herein, wherein the two or more tools hold the spine aligned while a physician inserts a rod.

[0023] Any of the aspects herein, wherein the one or more screw connectors comprise two screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a vertebra.

[0024] Any of the aspects herein, wherein the one or more screw connectors comprise three screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a different vertebra.

[0025] Any of the aspects herein, wherein the tool is mounted to an end of a robotic arm.

[0026] Any of the aspects herein, wherein the tool is controlled by the robotic arm to apply force to one or more vertebrae.A0011632W001

[0027] Any of the aspects herein, wherein each screw connector is configured to move with seven degrees of freedom.A method of using one or more robotic tools, the one or more robotic tools including: one or more screw connectors, wherein each screw connector is configured to connect to a pedicle screw, and each screw connector is configured to move with one or more degrees of freedom; a controller configured to control a position of each of the one or more screw connectors; and a connector configured to mate with a robotic arm of a robotic device. The method including: receiving a plan, wherein the plan comprises a location of one or more screws inserted in one or more vertebrae; controlling the controller to control the position of each of the one or more screw connectors based on the location of the one or more screws; and using the robotic tool to apply force to the one or more vertebrae.

[0028] Any of the aspects herein, further comprising using the robotic tool to align a spine.

[0029] Any of the aspects herein, further comprising inserting a rod into the spine.

[0030] Any of the aspects herein, wherein the one or more robotic tool further comprise one or more force sensors.

[0031] Any of the aspects herein, wherein the one or more force sensors measure a force of the robotic tool on a vertebra.

[0032] Any of the aspects herein, wherein the tool applies force to a vertebra.

[0033] Any of the aspects herein, wherein two or more tools align a spine of a patient.

[0034] Any of the aspects herein, wherein the two or more tools hold the spine aligned while a physician inserts a rod.

[0035] Any of the aspects herein, wherein the one or more screw connectors comprise two screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a vertebra.

[0036] Any of the aspects herein, wherein the one or more screw connectors comprise three screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a different vertebra.

[0037] Any of the aspects herein, wherein the tool is mounted to an end of a robotic arm.

[0038] Any of the aspects herein, wherein the tool is controlled by the robotic arm to apply force to one or more vertebrae.A0011632W001

[0039] Any of the aspects herein, wherein each screw connector is configured to move with seven degrees of freedom.

[0040] Any aspect in combination with any one or more other aspects.

[0041] Any one or more of the features disclosed herein.

[0042] Any one or more of the features as substantially disclosed herein.

[0043] Any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein.

[0044] Any one of the aspects / features / embodiments in combination with any one or more other aspects / features / embodiments.

[0045] Use of any one or more of the aspects or features as disclosed herein.

[0046] It is to be appreciated that any feature described herein can be claimed in combination with any other feature(s) as described herein, regardless of whether the features come from the same described embodiment.

[0047] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.

[0048] The phrases “at least one,” “one or more,” and “and / or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C,” “at least one of A, B, or C,” “one or more of A, B, and C,” “one or more of A, B, or C,” and “A, B, and / or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. When each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as Xi-Xn, Yi-Ym, and Zi-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., Xi and X2) as well as a combination of elements selected from two or more classes (e.g., Yi and Zo).

[0049] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more,” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising,” “including,” and “having” can be used interchangeably.

[0050] The preceding is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. This summary is neither an extensive nor exhaustive overview ofA0011632W001 the disclosure and its various aspects, embodiments, and configurations. It is intended neither to identify key or critical elements of the disclosure nor to delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments, and configurations of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below.

[0051] Numerous additional features and advantages of the present invention will become apparent to those skilled in the art upon consideration of the embodiment descriptions provided hereinbelow.BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are incorporated into and form a part of the specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the disclosure. The drawings simply illustrate preferred and alternative examples of how the disclosure can be made and used and are not to be construed as limiting the disclosure to only the illustrated and described examples. Further features and advantages will become apparent from the following, more detailed, description of the various aspects, embodiments, and configurations of the disclosure, as illustrated by the drawings referenced below.

[0053] Fig. 1 is a block diagram of a system according to at least one embodiment of the present disclosure;

[0054] Fig. 2 is an illustration of spines;

[0055] Fig. 3 is an illustration of a vertebra with screws;

[0056] Fig. 4 is an illustration of a tool according to at least one embodiment of the present disclosure;

[0057] Fig. 5 is an illustration of a tool attached to screws in a vertebra according to at least one embodiment of the present disclosure;

[0058] Fig. 6 is an illustration of a procedure according to at least one embodiment of the present disclosure;

[0059] Fig. 7 A is an illustration of a procedure according to at least one embodiment of the present disclosure;

[0060] Fig. 7B is an illustration of a procedure according to at least one embodiment of the present disclosure;A0011632W001

[0061] Fig. 7C is an illustration of a procedure according to at least one embodiment of the present disclosure;

[0062] Fig. 8 is an illustration of a tool according to at least one embodiment of the present disclosure;

[0063] Fig. 9 is an illustration of a user interface according to at least one embodiment of the present disclosure; and

[0064] Fig. 10 is a flowchart according to at least one embodiment of the present disclosure.

[0065] Skilled artisans will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of examples, aspects, and features illustrated.

[0066] In some instances, the apparatus and method components have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the of various embodiments, examples, aspects, and features so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.DETAILED DESCRIPTION

[0067] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, and / or may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the disclosed techniques according to different embodiments of the present disclosure). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device (which may also be referred to as a computing system) and / or a medical device.

[0068] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented inA0011632W001 software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0069] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al 1, A 12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000-series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0070] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one or more examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure.A0011632W001

[0071] The purpose of many surgical procedures, particularly those involving the spine, is to align the patient’s anatomy / spine from a current state to (or closer to) a target alignment. In spinal procedures, the large-scale alignment may require a long incision (e.g., an open case). Two anchoring points, for example in the form of screws or hooks, may be inserted into each vertebra, and these anchoring points may then be manipulated to secure the anchoring points to a rod and thus achieve the desired alignment. This work, however, is manual labor (which can require significant exertion) and does not involve any specific force measurements. Consequently, such procedures result occasionally in either broken fixation points (typically pedicles) or under / over spine manipulation (e.g., not reaching, or exceeding, the target alignment). Moreover, this part of the procedure is very lengthy, requires a high proficiency and in many cases results in far less correction than desired and assumed.

[0072] According to embodiments of the present disclosure, a surgeon plans a desired procedure and spine correction for a patient. This may include determining a current shape and / or orientation for one or more vertebrae of the patient’s spine as well as a current position and / or orientation of fixation points on the spine (e.g., screws implanted in each vertebrae). A computing device determines a position and / or orientation of one or more screw connection mechanisms of one or more robotic tool to enable the tool to attach to one or more of the fixation points. The computing device also determines a position and / or orientation for each of the robotic tools. The robotic tool controls itself or is controlled in such a way as to position each screw connection mechanism into the determined position and / or orientation. One (or more) robotic arms hold the robotic tool(s) in the desired position and / or orientation. The robotic tool(s) attach to the fixation points on the spine. The robotic arm(s) use the tool(s) to manipulate the spine to a desired shape. During manipulation of the spine by the one or more robotic arms, forces may be measured using sensors on the robotic tool(s) and / or arm(s) such as to avoid exceeding a predetermined force threshold, and the spine pose may be tracked. Tracking the spine pose allows, for example, a current spine pose to be compared to a target spine pose. Upon the spine reaching the target pose, a rod may be inserted, or another procedure may be performed. Any one or more of the foregoing steps may be repeated as necessary until a planned spine procedure has been achieved.

[0073] Embodiments of the present disclosure beneficially reduce the amount of time that a patient and all attending medical personnel and / or operating room staff must be in the operating room, with a corresponding decrease in the cost of the procedure; improve efficiency; reduceA0011632W001 fatigue; and reduce the possibility of pedicle breakage and under-correction outcomes that, using manual methods, are currently very common. In short, embodiments of the present disclosure positively improve patient outcomes.

[0074] Embodiments of the present disclosure provide technical solutions to one or more of the problems of (1) ensuring that a spine or other anatomical element reaches a target pose or alignment (or is moved as close as possible to such target pose or alignment) during surgery, and thus avoiding unintended under- or over-correction of the anatomical element’s pose or alignment; (2) measuring a force exerted on a spine or other anatomical element during manipulation thereof to avoid unintended breakage of the anatomical element; (3) reducing the amount of time necessary to complete surgical procedures, with consequent reductions in the cost of the procedure, the amount of anesthesia and other medicines or chemicals required during the procedure, and the amount of radiation exposure (for procedures that involve radiation) to the patient and the operating room staff; and (4) enabling autonomous completion of robotic surgeries intended to correct a pose or alignment of an anatomical element.

[0075] Turning first to Fig. 1, a block diagram of a system 100 according to at least one embodiment of the present disclosure is shown. The system 100 may be used to assist with or autonomously complete a surgical procedure that involves manipulation of a pose or alignment of a spine or other anatomical element, and / or to carry out one or more other aspects of one or more of the methods disclosed herein. The system 100 comprises a computing device 102 and at least one robot 114, as well as in some implementations one or more imaging devices 112, a navigation system 118, a database 130, and / or a cloud 134 or other network. Systems according to other embodiments of the present disclosure may comprise more or fewer components than the system 100. For example, the system 100 may not include the imaging device 112, the navigation system 118, one or more components of the computing device 102, the database 130, and / or the cloud 134.

[0076] The computing device 102 comprises a processor 104, a memory 106, a communication interface 108, and a user interface 110. Computing devices according to other embodiments of the present disclosure may comprise more or fewer components than the computing device 102.

[0077] The processor 104 of the computing device 102 may be any processor described herein or any similar processor. The processor 104 may be configured to execute instructions stored in the memory 106, which instructions may cause the processor 104 to carry out one or moreA0011632W001 computing steps utilizing or based on data received from the imaging device 112, the robot 114, the navigation system 118, the database 130, and / or the cloud 134.

[0078] The memory 106 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non-transitory memory for storing computer- readable data and / or instructions. The memory 106 may store information or data useful for completing, for example, any step of the method 1000 as described herein, or of any other methods. The memory 106 may store, for example, one or more algorithms and / or instructions which may cause the processor 104 to manipulate data stored in the memory 106 and / or received from or via the imaging device 112, the robot 114, the database 130, and / or the cloud 134.

[0079] The computing device 102 may also comprise a communication interface 108. The communication interface 108 may be used for receiving image data or other information from an external source (such as the imaging device 112, the robot 114, the navigation system 118, the database 130, the cloud 134, and / or any other system or component not part of the system 100), and / or for transmitting instructions, images, or other information to an external system or device (e.g., another computing device 102, the imaging device 112, the robot 114, the navigation system 118, the database 130, the cloud 134, and / or any other system or component not part of the system 100). The communication interface 108 may comprise one or more wired interfaces (e.g., a USB port, an ethernet port, a Firewire port) and / or one or more wireless transceivers or interfaces (configured, for example, to transmit and / or receive information via one or more wireless communication protocols such as 802.1 la / b / g / n, Bluetooth, NFC, ZigBee, and so forth). In some embodiments, the communication interface 108 may be useful for enabling the computing device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.

[0080] The computing device 102 may also comprise one or more user interfaces 110. The user interface 110 may be or comprise a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 110 may be used, for example, to receive a user selection or other user input regarding any step of any method described herein. Notwithstanding the foregoing, any required input for any step of any method described herein may be generated automatically by the system 100 (e.g., by the processor 104 or another component of the system 100) or received by the system 100 from a source external to the system 100. In some embodiments,A0011632W001 the user interface 110 may be useful to allow a surgeon or other user to modify instructions to be executed by the processor 104 according to one or more embodiments of the present disclosure, and / or to modify or adjust a setting of other information displayed on the user interface 110 or corresponding thereto.

[0081] Although the user interface 110 is shown as part of the computing device 102, in some embodiments, the computing device 102 may utilize a user interface 110 that is housed separately from one or more remaining components of the computing device 102. In some embodiments, the user interface 110 may be located proximate one or more other components of the computing device 102, while in other embodiments, the user interface 110 may be located remotely from one or more other components of the computer device 102.

[0082] The imaging device 112 may be operable to image anatomical feature(s) (e.g., a vertebra or other bone, veins, tissue, etc.), surgical implants (e.g., pedicle screws), and / or other aspects of patient anatomy to yield image data (e.g., image data depicting or corresponding to a bone, veins, tissue, implanted devices, etc.). Image data as used herein refers to the data generated or captured by an imaging device 112, including in a machine-readable form, a graphical / visual form, and in any other form. In various examples, the image data may comprise data corresponding to an anatomical feature of a patient, or to a portion thereof. The image data may be or comprise a preoperative image, an intraoperative image, a postoperative image, or an image taken independently of any surgical procedure. In some embodiments, a first imaging device 112 may be used to obtain first image data (e.g., a first image) at a first time, and a second imaging device 112 may be used to obtain second image data (e.g., a second image) at a second time after the first time. The imaging device 112 may be capable of taking a 2D image or a 3D image to yield the image data. The imaging device 112 may be or comprise, for example, an ultrasound scanner (which may comprise, for example, a physically separate transducer and receiver, or a single ultrasound transceiver), an 0-arm, a C-arm, a G-arm, or any other device utilizing X-ray-based imaging (e.g., a fluoroscope, a CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, a thermographic camera (e.g., an infrared camera), a radar system (which may comprise, for example, a transmitter, a receiver, a processor, and one or more antennae), or any other imaging device 112 suitable for obtaining images of an anatomical feature of a patient. The imaging deviceA0011632W001112 may be contained entirely within a single housing or may comprise a transmi tter / emitter and a receiver / detector that are in separate housings or are otherwise physically separated.

[0083] In some embodiments, the imaging device 112 may comprise more than one imaging device 112. For example, a first imaging device may provide first image data and / or a first image, and a second imaging device may provide second image data and / or a second image. In still other embodiments, the same imaging device may be used to provide both the first image data and the second image data, and / or any other image data described herein. The imaging device 112 may be operable to generate a stream of image data. For example, the imaging device 112 may be configured to operate with an open shutter, or with a shutter that continuously alternates between open and shut so as to capture successive images. For purposes of the present disclosure, unless specified otherwise, image data may be considered to be continuous and / or provided as an image data stream if the image data represents two or more frames per second.

[0084] The robot 114 may be any surgical robot or surgical robotic system. The robot 114 may be or comprise, for example, the Mazor X™ Stealth Edition robotic guidance system. The robot 114 comprises one or more robotic arms 116, each of which may be configured to position a robotic tool 126, an imaging device 112, an end effector (which may be any interface that enables the robotic arm to hold, support, control, and / or manipulate a tool 126, implant, anatomical element, or other object, or otherwise to perform a desired task), or any other device or tool (including a device or tool held by the end effector) at one or more precise position(s) and orientation(s), and / or to return the object to the same position(s) and orientation(s) at a later point in time. The robot 114 may additionally or alternatively be configured to manipulate a robotic tool (whether based on guidance from the navigation system 118 or not) to accomplish or to assist with a surgical task. In some implementations, one or more robotic arms 116 of the robot 114 may be configured to hold and / or manipulate a robotic tool 126 during or in connection with a surgical procedure. In some embodiments, the robotic arm(s) 116 may comprise a first robotic arm and a second robotic arm, though the robot 114 may comprise more than two robotic arms 116. In some embodiments, one or more of the robotic arms 116 may be used to hold and / or maneuver the robotic tool(s) 126. In implementations where multiple robotic tools 126 are used, one or more robots 114 may each hold one or more robotic tools 126. For example, a first robotic arm 116 may be used to hold a first tool 126 and a second robotic arm 116 may be used to hold a second tool 126. The first and second robotic arms 116 may then be controlled to manipulate one or both of the first and / or second toolsA0011632W001126 to adjust a pose of one relative to the other. Each robotic arm 116 may be positionable independently of the other robotic arm. The robotic arms may be controlled in a single, shared coordinate space, or in separate coordinate spaces.

[0085] The robot 114, together with the robotic arms 116, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Further, the robotic arm 116 may be positioned or positionable in any pose, plane, and / or focal point. The pose includes a position and an orientation. As a result, a robotic tool 126, or other object held by the robot 114 (or, more specifically, by a robotic arm 116) may be precisely positionable in one or more needed and specific positions and orientations.

[0086] The robotic arms 116 may comprise a sensor 132, such as a force sensor for detecting a force exerted by the robotic arm 116 on an object (or, in some embodiments, for detecting a force exerted by an object on the robotic arm 116). In some implementations, the sensor 132, or another sensor, may be comprised by the robotic tool 126 as described herein. A force sensor may be or comprise a hydraulic, pneumatic, piezoelectric, and / or capacitive load cell. A force sensor may also be or comprise a load cell based on a strain gage. The robotic arms 116 and / or the robotic tools 126 may additionally or alternatively comprise one or more sensors that enable the processor 104 (or a processor of the robot 114 or a controller of the robotic tools 126) to determine a precise pose in space of the robotic arms 116 (as well as any object or element held by or secured to the robotic arms 116, such as a tool 126) and / or of the robotic tools 126.

[0087] The navigation system 118 may provide navigation for a surgeon and / or a surgical robot during an operation. The navigation system 118 may be any now-known or future -developed navigation system, including, for example, the Medtronic StealthStation™ S8 surgical navigation system or any successor thereof. The navigation system 118 may include one or more cameras or other sensor(s) for tracking one or more reference markers, navigated trackers, or other objects within the operating room or other room in which some or all of the system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, the navigation system may comprise one or more electromagnetic sensors. In various embodiments, the navigation system 118 may be used to track a position and orientation (i.e., pose) of the robotic tool(s) 126, imaging device 112, the robot 114 and / or robotic arm 116, and / or one or more surgical tools (or, more particularly, to track a pose of a navigated tracker attached, directly or indirectly, in fixed relation to the one or more of the foregoing). TheA0011632W001 navigation system 118 may include a display for displaying one or more images from an external source (e.g., the computing device 102, imaging device 112, or other source) or for displaying an image and / or video stream from the one or more cameras or other sensors of the navigation system 118. In some embodiments, the system 100 can operate without the use of the navigation system 118. The navigation system 118 may be configured to provide guidance to a surgeon or other user of the system 100 or a component thereof, to the robot 114, or to any other element of the system 100 regarding, for example, a pose of one or more anatomical elements, whether or not a tool 126 is in the proper trajectory, and / or how to move a tool 126 into the proper trajectory to carry out a surgical task according to a preoperative or other surgical plan.

[0088] The system 100 or similar systems may be used, for example, to carry out one or more aspects of the method 1000 described herein. The system 100 or similar systems may also be used for other purposes.

[0089] Fig. 2 illustrates various possible deformities of a spine of a scoliotic patients. Scoliotic patients may exhibit irregularities in multiple planes of their spine: i.e., the coronal, sagittal, and axial planes. Some scoliotic patients may be characterized by abnormal curvatures of the spine in the coronal plane as illustrated by the spinal column 202. To correct deformities in the coronal plane, treatment may involve moving the vertebrae of the spine toward or away from a midline of the spine, aiming to realign the spine into a more standard vertical orientation. This correction helps distribute mechanical loads evenly across the vertebral column during daily activities, reducing pain and functional limitations.

[0090] Scoliotic patients may also or alternatively exhibit abnormalities in the sagittal plane as illustrated by the spinal column 204. Corrective measures in the sagittal plane may involve moving one or more vertebrae up or down relative to a natural curve to restore a normal profile of the spine. Such an adjustment may help to maintain a natural front-to-back curve of the spine, which may improve balance and the ability to absorb shocks during movement.

[0091] Scoliotic patients may also or alternatively exhibit abnormalities in the axial plane as illustrated by the spinal column 206. Fixing abnormalities in the axial plane may involve rotating one or more vertebrae clockwise or counterclockwise. Such rotational adjustments may provide alleviating torsional stresses on the spine and correct rotational misalignments associated with particular scoliotic conditions. By addressing the axial plane, such treatments may ensure thatA0011632W001 the vertebrae and rib cage are properly aligned, which provides for the optimal function of thoracic organs.

[0092] Fig. 3 illustrates a vertebra 300 equipped with two pedicle screws 302a, 302b inserted into the pedicles of the vertebra. Each pedicle screw 302a, 302b comprises a threaded shaft designed to anchor securely into the bone of the vertebral pedicle. The screws 302a, 302b may be inserted through the pedicles of the vertebra 300 following a planned trajectory. Each pedicle screw 302a, 302b may also comprise a head 304a, 304b. The heads 304a, 304b of the pedicle screws 302a, 302b may serve as a connection point for attaching a robotic tool 126 to the vertebra 300 as described herein. The heads 304a, 304b may be designed with a receiving mechanism that allows for secure attachment of a robotic tool 126 such that the robotic tool 126 may be used to maneuver the vertebra 300.

[0093] Fig. 4 illustrates a robotic tool 126 in accordance with one or more of the implementations described herein. The tool 126 may be used in coordination with a method 1000 in which a spine of a patient may be maneuvered to enable a number of various procedures to be performed. As an example, one or more tools 126 may be used to maneuver a spine for placing one or more rods as part of a procedure to improve the spine of a scoliotic patient.

[0094] A tool 126 as described herein may be enabled to rigidly mount to pedicle screws 302a, 302b, inserted into one or more vertebrae of a patient. A robotic arm may be configured to control the movement of one or more tools 126 in such a way as to move one or more vertebrae of the patient independently of each other.

[0095] In some implementations, a tool 126 may be capable of avoiding the possibility of excessive amounts of force (i.e., harmful amounts of force) such as by using sensors 132 onboard the tool 126, onboard a robotic arm, or elsewhere.

[0096] A tool 126 as described herein may include one or more screw connectors 402a, 402b. While the tool 126 illustrated in Fig. 4 comprises two screw connectors 402a, 402b, it should be appreciated a tool 126 may include any number of screw connectors 402a, 402b.

[0097] Each screw connector 402 may be configured to connect to a pedicle screw 302. By connecting to a pedicle screw 302, the screw connectors 402a, 402b may enable a tool 126 to firm connect to one or more vertebrae of a patient, improving the ability for a physician to insert a rod during an open surgery by holding the spine aligned while the physician inserts the rod. InA0011632W001 some implementations of a procedure, two or more tools may be used in tandem to apply force to multiple vertebrae, aligning a spine of a patient.

[0098] The screw connectors 402 may be shaped depending on a type of pedicle (or other type) of screw to be connected to by the tool 126. For example, a screw connector 402 may be adapted to a particular screw type. Such screw types may include, for example, screws with a flat head, slotted head, Phillips head, torx head, hex head, square head, or other type. In some implementations, a screw may be in the form of a bolt and may include a hex or square head. In some implementations, a screw may be in the form of a hook, J-bolt, eye bolt, or other form.

[0099] A screw connector 402 may be shaped such as to provide a firm connection between the tool 126 and the pedicle screw(s) in one or more vertebrae of a patient. In some implementations, a screw connector 402 may be a cylinder with a cavity shaped to mate with a pedicle screw.Such a cavity may be shaped in a square, hex, star, or other shape depending on a shape of the pedicle screws being used. In other implementations, a screw connector 402 may not include a cavity and may instead include a protrusion shaped to fit within a head of a pedicle screw, such as a flat head shape, a hex shape, a star shape, etc.

[0100] A tool 126 may include any number of screw connectors 402. In some implementations, a tool 126 includes only one screw connector 402, while in other implementations, a tool 126 include two, three, or more screw connectors 402.

[0101] Each screw connector 402 of a tool 126 may be configured to connect to a particular screw. For example, a tool 126 may include multiple screw connectors 402 and each screw connector 402 may be of a different size and / or shape to ensure each screw connector 402 connects to the proper screw. In other implementations, each screw connector 402 of a tool 126 may be of the same size and / or shape.

[0102] While described in greater detail below, it should be appreciated that a single tool 126 may connect to screws inserted into the same or different vertebra. As an example, a tool 126 may include three screw connectors 402 and each screw connector 402 may connect to a respective screw inserted into different vertebra, enabling the tool 126 to connect to three vertebrae at the same time. As should be appreciated, any number of tools 126 may be enabled to connect to any number of vertebrae at the same time.

[0103] In some implementations, each screw connector 402 of a tool 126 may be configured to be independently adjusted in seven degrees of freedom. The tool 126 may be configured toA0011632W001 control both the location and orientation of each screw connector 402. Such a feature enables the tool 126 to be capable of mounting to particular pedicle screws given the particular distinctions of a given patient.

[0104] The seven degrees of freedom may include three translational movements (e.g., x, y, and z-axes) allowing each screw connector 402 to move in any direction. Additionally, the seven degrees of freedom may include four rotational movements — pitch, yaw, roll, and an extra rotational axis, such as at a base of the screw connector 402 on a body of the tool 126. This combination enables each screw connector 402 to approach a pedicle screw from any required angle and / or position.

[0105] In some implementations, a tool 126 may include a controller 404, such as a processor. The controller may be configured to control the position and / or orientation of each of the one or more screw connectors 402 of the tool 126. In other implementations, positions, and / or orientations of screw connectors 402 of a tool 126 may be controlled by a processor or controller external to the tool 126.

[0106] A controller 404 may be the same as or similar to a processor 104 as described above in relation to the computing device 102 illustrated in Fig. 1. As should be appreciated, a controller 404 may be any type of device capable of controlling the position and / or orientation of each of one or more screw connectors 402 of a tool 126.

[0107] A tool 126 may also include, in some implementations, one or more sensors 132. Such sensors 132 may include, for example, force sensors for detecting a force exerted by the tool 126 on an object such as a vertebra or pedicle screw(s). As described above, a force sensor may be or comprise a hydraulic, pneumatic, piezoelectric, and / or capacitive load cell. A force sensor may also be or comprise a load cell based on a strain gage.

[0108] The robotic arms 116 and / or the robotic tools 126 may additionally or alternatively comprise one or more sensors that enable the processor 104 (or a processor of the robot 114 or a controller of the robotic tools 126) to determine a precise pose in space of the robotic arms 116 (as well as any object or element held by or secured to the robotic arms 116, such as a tool 126) and / or of the robotic tools 126.

[0109] Data from the sensors 132 may be received by the controller 404, a processor of a robot, and / or a processor 104 of a computing device 102 as illustrated in Fig. 1. The controller 404 (or another processor) may be configured to poll the sensor(s) 132 to obtain information relating to aA0011632W001 position, orientation, and / or movement of the tool 126. Such information may be used in relation to a method such as the method 1000 described below in relation to Fig. 10.

[0110] A tool 126 may also include a connector 406 configured to connect the tool 126 to a robotic arm 116, an effector, or an end-effector. By connecting the tool 126 to a robotic arm 116, the location and / or orientation of a tool 126 may be controlled by the robot 114. In some implementations, the robot 114 to which the tool 126 is connected may be enabled to control the position and / or orientation of screw connectors 402 of the tool 126.

[0111] As a tool 126 is being used, the tool 126 may communicate data either wirelessly or a via a wired connection using the connector 406. As an example, the tool 126 may output data from a controller 404 of the tool 126 and / or a sensor 132 of the tool. The output may be in the form of raw sensor data and / or the results of processing of sensor data using the controller 404.

[0112] A tool 126 may be used in a variety of manners as described below and illustrated by Figs. 5-10. As described above, screw connectors 402 of a tool 126 may be controlled with a number of degrees of freedom. Screw connectors 402 of a tool 126 may be automatically positioned by the tool 126, a robot 114, a processor 104 of a computing device 102, or by another device, in such a way as to configure the screw connectors 402 of the tool 126 to align with and mate with heads 304 of pedicle screws 302 inserted into one or more vertebrae of a spine of a patient. Once connected to the vertebrae, one or more tools 126, controlled by a robotic arm 116, may be used to maneuver the spine to align the vertebrae as needed to complete a procedure such as insertion of a rod.

[0113] Fig. 5 illustrates a tool 126 connected to pedicle screws 302a, 302b in a vertebra. As should be appreciated, the screw connectors 402a, 402b of the tool 126 are attached to heads 304a, 304b of the pedicle screws 302a, 302b inserted in the vertebra. The screw connectors 402a, 402b have been positioned in a proper location and orientation such as to perfectly align with the screw heads 304a, 304b.

[0114] Fig. 6 illustrates two tools 126a, 126b as described herein controlled by two robotic arms 116a, 116b to perform a procedure on a patient 602 in an operating environment 600. The two robotic arms 116a, 116b, by using the two tools 126a, 126b, can be used to align a spine of the patient 602 to a desired orientation and improve the insertion of a rod by a physician as compared to conventional methods of preparing for insertion of a rod.A0011632W001

[0115] The procedure may occur as a patient 602 lays on a bed 604 or operating table. Two robotic effectors 606a, 606b may connect the tools 126a, 126b to each robotic arm 116a, 116b. The robotic arms 116a, 116b and the tools 126a, 126b may be controlled by a robot 114 and / or a computing device 102. Once connected to pedicle screws, such as illustrated by Fig. 5, the two tools 126a, 126b may be used together to perform separate movements of vertebrae of the spine of the patient 602. By maneuvering the spine of the patient 602, the spine may be brought into an alignment as may be required to perform the procedure.

[0116] Figs. 7A, 7B, and 7C illustrate a process of a robotic arm 116 using a tool 126 to adjust an orientation of a vertebra 300, thereby aligning a spine of a patient in preparation for rod insertion or for other purposes. While only a single tool 126 and a single vertebra 300 are illustrated, it should be appreciated that another tool 126 or tools 126 may be used to hold another vertebra 300 or vertebrae 300 in position or to separately adjust an orientation of another vertebra 300 or vertebrae 300 of the same spine. Moreover, it should be appreciated that two or more tools 126 may be capable of connecting to different pedicle screws 302 in a single vertebra 300 at the same time.

[0117] Fig. 7A illustrates a vertebra 300 of a misaligned spine of a patient. A tool 126 including two screw connectors 402a, 402b is attached to pedicle screws 302a, 302b inserted in the vertebra 300. The screw connectors 402a, 402b have been positioned in such a way as to provide a perfectly aligned connection between the tool 126 and the pedicle screws 302a, 302b, providing the tool 126 with a firm grasp of the vertebra 300. A robotic arm 116 holds the tool 126 in place.

[0118] The robotic arm 116 may be enabled to physically move the tool 126 to place the tool 126, and the attached vertebra 300, into a desired position. As illustrated in Fig. 7B, the tool 126 may be rotated by the robotic arm 116 in such a way as to align the vertebra into a desired position to achieve a spine that is aligned appropriately to complete a procedure such as a rod insertion.

[0119] Fig. 7C illustrates a rod 700 being inserted into the vertebra 300 after the vertebrae have been aligned using the tool 126. The rod may be inserted by a surgeon. The rod may be made of a biocompatible metal, e.g., titanium. The rod may be contoured to match a spinal anatomy and corrective needs of the patient. The rod may be maneuvered into place by the surgeon usingA0011632W001 specialized instruments to adjust the rod's position. Once the rod is positioned in the spine, the rod may be secured in place, effectively stabilizing the spine.

[0120] While the illustrations of Figs. 4, 5, 6, 7A, 7B, and 7C illustrate a tool 126 with two screw connectors 402a, 402b, it should be appreciated a tool 126 may include any number of screw connectors. For example, Fig. 8 illustrates a tool 126 with three screw connectors 402a, 402b, 402c.

[0121] Fig. 9 illustrates a user interface 900 of a pre-operation planning application. The user interface 900 may enable a user, such as a surgeon, to view image data of a patient's spine. The image data may show a current location and orientation of each vertebra of the patient's spine. The image data may also indicate locations of pedicle screws installed in the spine.

[0122] In some implementations, the user interface 900 may display an ideal spine shape, such as by showing an ideal location and / or orientation of each vertebra. The user interface 900 may also indicate a target rod insertion path.

[0123] A user may be enabled, by interacting with the user interface 900, to select one or more pedicle screws in the illustrated patient's spine and assign each pedicle screw to a particular tool 126. In some implementations, the application may be enabled to pre-select or recommend selections and assignments of pedicle screws to tool(s) 126 such that the tool(s) 126 may be enabled to complete maneuvering of the spine to an ideal shape for rod insertion.

[0124] The pre-operation planning application may be capable of receiving a selection of pedicle screws assigned to a particular tool 126 and determining a location of the tool 126 and a location and orientation of screw connectors 402 of the tool 126 to enable the tool 126 to mount to the selected pedicle screws assigned to the tool 126. This process may be a part of a larger process as described in greater detail in relation to Fig. 10.

[0125] Fig. 10 depicts a method 1000 that may be used, for example, to manipulate a spine of a patient into a desired pose. The method 1000 (and / or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor / s) 104 of the computing device 102 described above. The at least one processor may be part of a robot (such as a robot 114) or part of a navigation system (such as a navigation system 118). A processor other than any processor described herein may also be used to execute the method 1000. The at least one processor may perform the method 1000 by executing instructions stored in a memory such as the memory 106. The instructions mayA0011632W001 correspond to one or more steps of the method 1000 described below. The instructions may cause the processor to execute one or more algorithms.

[0126] At 1004, the computing device 102 may receive a model of an anatomical element. The model of the anatomical element may include patient-specific data, for example sourced from high-resolution medical imaging techniques such as MRI, X-Ray, or CT scans. The model may be a detailed 3D model of the patient’ s spine created from the imaging technique data. In some implementations, a software application, such as illustrated in Fig. 9, may allow a user such as a surgeon to visualize the anatomical structure in multiple dimensions.

[0127] In some implementations, the plan may include a preoperative plan. The plan may be received by a processor such as the processor 104 from and / or via a database 130, a network such as the cloud 134, a memory 106, a user interface 110, and / or a communication interface 108. In some embodiments, one or more aspects of the plan (including, for example, a prescribed order of attachment of a plurality of vertebral screws to a spinal rod) may be generated automatically, whether using artificial intelligence (e.g., machine learning, a neural network, etc.) or otherwise. In such embodiments, the automatically generated surgical plan or portion thereof may be presented to a surgeon or other user for modification and / or acceptance thereof.

[0128] Receiving the model may involve receiving images of a patient’s spine, each showing the spine in a different pose. The images may show, for example, the patient’s spine in a position of flexion, a position of extension, a position of maximum lateral bending to the left, and a position of maximum lateral bending to the right. The images may be obtained using an imaging device such as the imaging device 112, or any other imaging device. The plurality of images may be three-dimensional images or two-dimensional images. One or more of the plurality of images may be received directly from the imaging device used to capture the images, and / or from or via a database such as the database 130, a network such as the cloud 134, a memory such as the memory 106, a user interface such as the user interface 110, or a communication interface such as the communication interface 108.

[0129] By reviewing the model and / or plan, a user may be enabled to generate a plan for maneuvering the spine in preparation of inserting the rod into the spine. A plan may include, for example, identifying one or more pedicle screws inserted in the patient's vertebrae which may be attached onto by tools 126 and used to maneuver the vertebrae.A0011632W001

[0130] At 1008, the computing device 102 may identify locations of one or more pedicle screws inserted in the patient's spine. The above-described plan may include the identified location of the screws, indicating a position and / or orientation of the screws as inserted in the vertebrae of the patient. In some implementations, the computer application may be configured to automatically select and locate the screws necessary for performing the maneuvering required to insert a rod.

[0131] At 1012, the computing device 102 may determine one or more tool locations. Determining a tool location may involve identifying a position and orientation in a three- dimensional space associated with the model. A tool located in the position and orientation may be capable of being adjusted in such a way as to enable screw connectors of the tool to be adjusted to mate with screw heads of the identified pedicle screws.

[0132] At 1016, the computing device 102 may adjust the screw connectors of the tool to reach a position in which the screw connectors may mate with the identified pedicle screws. In some implementations, adjusting the screw connectors of the tool may involve controlling or instruction a controller to control the position of each of the one or more screw connectors of the tool based on the location of the one or more screws identified at 1008.

[0133] Once the screw connectors of the tool have been adjusted, the tool may be mounted to a robotic arm and the robotic arm may be controlled to place the tool in the determined tool location at 1020. Controlling the robotic arm may involve linking the tool attached to the robotic arm with one or more pedicle screws or other implanted fixation points on the spine of the patient. The first robotic arm may be, for example, a robotic arm 116 of a robot 114. The pedicle screw may be any kind of screw that has been implanted in a vertebra of the patient. In some embodiments, a hook or other vertebral implant other than a pedicle screw may be used instead of a pedicle screw.

[0134] At 1024, the robotic arm holding the tool may be controlled to perform a procedure, such as maneuvering a patient's spine using the tool. Maneuvering a patient's spine using the tool may involve using two or more robotic arms, each holding custom configured tools to apply force to two or more vertebrae of the patient's spine, thereby using the tools to align the spine in such a way that a surgeon or other person may insert a rod into the spine.

[0135] In some embodiments, the step 1020 may comprise causing the first robotic arm to maneuver the tool 126 in a particular manner so that one or more screw connections of the tool 126 each receives a pedicle screw (or, more specifically, a head of or tulip attached to the pedicle screw)A0011632W001 in a slot, receptacle, aperture, or other linking feature thereof. In these and / or in other embodiments, the tool 126 may be controllable, and the step 1020 may comprise causing the first robotic arm to maneuver in a particular manner so that the tool 126 can be controlled to grasp or otherwise actively secure itself to the pedicle screw. Notwithstanding the foregoing examples, the first robotic arm may be caused to link a tool 126 thereof with a pedicle screw or other implanted fixation point in any manner that enables the step 1020 of the method 1000 to be performed.

[0136] The present disclosure encompasses embodiments of the method 1000 that comprise more or fewer steps than those described above, and / or one or more steps that are different than the steps described above.

[0137] The present disclosure encompasses embodiments of the method 1000 that comprise more or fewer steps than those described above, and / or one or more steps that are different than the steps described above.

[0138] As noted above, the present disclosure encompasses methods with fewer than all of the steps identified in Fig. 10 (and the corresponding description of the method 1000), as well as methods that include additional steps beyond those identified in Fig. 10 (and the corresponding description of the method 1000). The present disclosure also encompasses methods that comprise one or more steps from one method described herein, and one or more steps from another method described herein. Any correlation described herein may be or comprise a registration or any other correlation.

[0139] Additionally, while aspects of the present disclosure have been described in connection with spinal fixation surgeries or other surgeries involving manipulation of a spine or portion thereof, the present disclosure encompasses the application of the teachings herein to other types of surgeries, including manipulation of anatomical elements other than a spine or portion thereof.

[0140] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and / or configurations of the disclosure may be combined in alternate aspects, embodiments, and / or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoingA0011632W001 disclosed aspect, embodiment, and / or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0141] Moreover, though the foregoing has included description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and / or configurations to the extent permitted, including alternate, interchangeable and / or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

[0142] The following paragraphs provide non-limiting Examples for various embodiments that are disclosed herein.

[0143] Example 1. A robotic tool, the tool comprising: one or more screw connectors, wherein each screw connector is configured to connect to a pedicle screw, and each screw connector is configured to move with one or more degrees of freedom; a controller configured to control a position of each of the one or more screw connectors; and a connector configured to mate with a robotic arm.

[0144] Example 2. The robotic tool of example 1, further comprising one or more force sensors.

[0145] Example 3. The robotic tool of example 2, wherein the one or more force sensors measure a force of the robotic tool on a vertebra.

[0146] Example 4. The robotic tool of example 1 , wherein the tool applies force to a vertebra.

[0147] Example 5. The robotic tool of example 4, wherein two or more tools align a spine of a patient.

[0148] Example 6. The robotic tool of example 5, wherein the two or more tools hold the spine aligned while a physician inserts a rod.

[0149] Example 7. The robotic tool of example 1, wherein the one or more screw connectors comprise two screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a vertebra.A0011632W001

[0150] Example 8. The robotic tool of example 1, wherein the one or more screw connectors comprise three screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a different vertebra.

[0151] Example 9. The robotic tool of example 1, wherein the tool is mounted to an end of a robotic arm.

[0152] Example 10. The robotic tool of example 1, wherein the tool is controlled by the robotic arm to apply force to one or more vertebrae.

[0153] Example 11. The robotic tool of example 1 , wherein each screw connector is configured to move with seven degrees of freedom.

[0154] Example 12. A robotic device, the robotic device comprising a tool, the tool comprising: one or more screw connectors, wherein each screw connector is configured to connect to a pedicle screw, and each screw connector is configured to move with one or more degrees of freedom; a controller configured to control a position of each of the one or more screw connectors; and a connector configured to mate with a robotic arm of the robotic device.

[0155] Example 13. The robotic device of example 12, wherein the tool is mounted to an end of the robotic arm.

[0156] Example 14. The robotic device of example 12, further comprising one or more force sensors.

[0157] Example 15. The robotic device of example 14, wherein the one or more force sensors measure a force of the tool on a vertebra.

[0158] Example 16. The robotic device of example 12, wherein the tool applies force to a vertebra.

[0159] Example 17. The robotic device of example 16, wherein two or more tools align a spine of a patient.

[0160] Example 18. The robotic device of example 17, wherein the two or more tools hold the spine aligned while a physician inserts a rod.

[0161] Example 19. The robotic device of example 12, wherein the one or more screw connectors comprise two screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a vertebra.A0011632W001

[0162] Example 20. The robotic device of example 12, wherein the one or more screw connectors comprise three screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a different vertebra.

[0163] Example 21. The robotic device of example 12, wherein the tool is mounted to an end of a robotic arm.

[0164] Example 22. The robotic device of example 12, wherein the tool is controlled by the robotic arm to apply force to one or more vertebrae.

[0165] Example 23. The robotic device of example 12, wherein each screw connector is configured to move with seven degrees of freedom.

[0166] Example 24. A method of using one or more robotic tools, the one or more robotic tools comprising: one or more screw connectors, wherein each screw connector is configured to connect to a pedicle screw, and each screw connector is configured to move with one or more degrees of freedom; a controller configured to control a position of each of the one or more screw connectors; and a connector configured to mate with a robotic arm of a robotic device; and the method comprising: receiving a plan, wherein the plan comprises a location of one or more screws inserted in one or more vertebrae; controlling the controller to control the position of each of the one or more screw connectors based on the location of the one or more screws; and using the robotic tool to apply force to the one or more vertebrae.

[0167] Example 25. The method of example 24, further comprising using the one or more robotic tools to align a spine.

[0168] Example 26. The method of example 25, further comprising inserting a rod into the spine.

[0169] Example 27. The method of example 24, wherein the one or more robotic tool further comprise one or more force sensors.

[0170] Example 28. The method of example 27, wherein the one or more force sensors measure a force of the one or more robotic tools on a vertebra.

[0171] Example 29. The method of example 24, wherein the tool applies force to a vertebra.

[0172] Example 30. The method of example 29, wherein two or more tools align a spine of a patient.

[0173] Example 31. The method of example 30, wherein the two or more tools hold the spine aligned while a physician inserts a rod.A0011632W001

[0174] Example 32. The method of example 24, wherein the one or more screw connectors comprise two screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a vertebra.

[0175] Example 33. The method of example 24, wherein the one or more screw connectors comprise three screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a different vertebra.

[0176] Example 34. The method of example 24, wherein the tool is mounted to an end of a robotic arm.

[0177] Example 35. The method of example 24, wherein the tool is controlled by the robotic arm to apply force to one or more vertebrae.

[0178] Example 36. The method of example 24, wherein each screw connector is configured to move with seven degrees of freedom.

[0179] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and / or configurations of the disclosure may be combined in alternate aspects, embodiments, and / or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and / or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0180] Moreover, though the foregoing has included description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and / or configurations to the extent permitted, including alternate, interchangeable and / or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and / or equivalent structures,A0011632W001 functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

Claims

A0011632W001CLAIMSWhat is claimed is:

1. A robotic tool (126), the tool comprising: one or more screw connectors (402), wherein each screw connector is configured to connect to a pedicle screw (302), and each screw connector is configured to move with one or more degrees of freedom; a controller (402) configured to control a position of each of the one or more screw connectors; and a connector (406) configured to mate with a robotic arm (116).

2. The robotic tool of claim 1, further comprising one or more force sensors (132).

3. The robotic tool of claim 2, wherein the one or more force sensors measure a force of the robotic tool on a vertebra (300).

4. The robotic tool of claim 1 , wherein the tool applies force to a vertebra.

5. The robotic tool of claim 4, wherein two or more tools align a spine (202) of a patient.

6. The robotic tool of claim 5, wherein the two or more tools hold the spine aligned while a physician inserts a rod (700).

7. The robotic tool of claim 1, wherein the one or more screw connectors comprise two screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a vertebra.

8. The robotic tool of claim 1, wherein the one or more screw connectors comprise three screw connectors, wherein each screw connector is configured to connect to a respective screw, wherein each screw is inserted in a different vertebra.A0011632W0019. The robotic tool of claim 1, wherein the tool is mounted to an end of a robotic arm.

10. The robotic tool of claim 1, wherein the tool is controlled by the robotic arm to apply force to one or more vertebrae.

11. The robotic tool of claim 1 , wherein each screw connector is configured to move with seven degrees of freedom.

12. A robotic device (114), the robotic device comprising a tool (126), the tool comprising: one or more screw connectors (402), wherein each screw connector is configured to connect to a pedicle screw (302), and each screw connector is configured to move with one or more degrees of freedom; a controller (402) configured to control a position of each of the one or more screw connectors; and a connector (406) configured to mate with a robotic arm (116) of the robotic device.

13. The robotic device of claim 12, wherein the tool is mounted to an end of the robotic arm.

14. The robotic device of claim 12, further comprising one or more force sensors (132).

15. A method (1000) of using one or more robotic tools (126), the one or more robotic tools comprising: one or more screw connectors (402), wherein each screw connector is configured to connect to a pedicle screw (302), and each screw connector is configured to move with one or more degrees of freedom;A0011632W001 a controller (406) configured to control a position of each of the one or more screw connectors; and a connector (406) configured to mate with a robotic arm (116) of a robotic device (114); and the method comprising: receiving a plan (1004), wherein the plan comprises a location of one or more screws inserted in one or more vertebrae; controlling the controller to control the position of each of the one or more screw connectors based on the location of the one or more screws (1016); and using the robotic tool to apply force to the one or more vertebrae (1024).

Images