Robotic surgical systems for preparing holes in bone tissue and methods of their use
Inventors
Kostrzewski, Szymon • Patel, Chetan
Assignees
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Publication Number
US-12082886-B2
Publication Date
2024-09-10
Expiration Date
Abstract
Described herein are systems and methods for use in preparing holes in bones. In certain embodiments, the trajectory followed in preparing a hole in a bone is optimized by adjusting characteristics of rotation of a drill bit (e.g., an anti-skiving drill bit). In certain embodiments, a change in material is determined once a hard outer layer of a bone has been drilled. Subsequently, characteristics of rotation of a drill bit are altered to allow natural features of a patient's anatomy to guide the drill bit. In this way, certain hard walls of certain bones can act to redirect a drill bit. The change in material may be determined, and/or characteristics of rotation altered, by a surgeon or a robotic surgical system (e.g., automatically). In certain embodiments, a robotic surgical system notifies a surgeon of a change in material to prompt the surgeon to alter the characteristics of rotation.
Core Innovation
The disclosed invention relates to a surgical robotic system for bone drilling that improves trajectory control to reduce undesired skiving and associated breach risk. A robotic system is configured to use an anti-skiving drill bit, including an anti-skive or flat milling-head type, to reduce entry skidding on hard cortical bone. The system supports trajectory constraints and guidance to maintain drilling along a desired path while interacting with anatomical boundaries.
To address changes in bone material encountered during drilling, the system detects a change in tissue or bone material, described as a hard outer layer transitioning to a spongious interior. Detection is performed using haptic or force sensing and/or position data and medical image data. Upon detection of the material change, the system alters drilling rotation characteristics and/or provides a notification to prompt rotation changes so that anatomical hard boundaries redirect the drill.
The described approach includes robotic system elements for guidance and trajectory constraints and for sensing and navigation or registration, including tool center point tracking and a surgical navigation display. The system can notify the surgeon using haptic, sound, graphic, and/or light indications, and it incorporates registration and tracking to support controlled drilling near anatomical structures such as a pedicle wall.
Claims Coverage
The partial content provides two independent claims. Across these, the claim coverage centers on a surgical robot system with a guide-channel end effector receiving a drill with a guide sleeve and a drill bit having two separate spaced drill shafts, while a compliant part maintains physical separation and provides compliance.
Guide-channel end effector with guide sleeve received in the guide channel
A robot having a robot arm and an end effector coupled to the robot arm, the end effector having a guide channel; and a drill including a guide sleeve coupled to the main body and adapted to be received in the guide channel of the end effector.
Two separate spaced drill shafts as separate independent components
A drill bit received in the guide sleeve, wherein the drill bit includes a first drill shaft and a separate second drill shaft spaced from the first drill shaft, wherein the first drill bit shaft and the second drill bit shaft are formed as separate independent components.
Compliant part maintaining physical separation and providing compliance
A compliant part disposed around portions of the first drill shaft and the second drill shaft to maintain a physical separation between the first drill shaft and the second drill shaft and to provide compliance between the drill bit and the main body.
Pre-planned trajectory placement and change detection
A processor programmed to control the robot arm and the end effector to place the end effector in a pre-planned trajectory, the processor further configured to detect a change in tissue to be cut.
Together, the independent claims cover a surgical robot system that uses an end effector guide channel receiving a drill guide sleeve, a drill bit with two separate spaced drill shafts formed as independent components, and a compliant part around portions of the two shafts to maintain physical separation and provide compliance. The second independent claim additionally requires pre-planned trajectory placement and detection of a change in tissue to be cut.
Stated Advantages
Reduces unwanted skiving versus conventional bits.
Improves trajectory control by detecting a change in bone material and altering rotation characteristics and/or notifying the surgeon to prompt rotation changes so anatomical hard boundaries redirect the drill and avoid breaches.
Documented Applications
Spinal surgery drilling, including drilling near anatomical structures such as a pedicle wall.
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