Surgical robotic automation with tracking markers and controlled tool advancement
Inventors
Crawford, Neil R. • Johnson, Norbert • Theodore, Nicholas
Assignees
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Publication Number
US-12453609-B2
Publication Date
2025-10-28
Expiration Date
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 may provide 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 separate control of tools within the dilator system.
Core Innovation
The disclosure describes a robot-assisted surgical navigation and tool-control system in which tracking markers enable camera-based 3D localization and registration between a navigation space and an image space. Tracking is performed using active, passive optical, or radiopaque tracking markers, and the system includes a registration system with fiducials and a dynamic reference base (DRB).
A dilator system and tool interface are disclosed for controlled implant insertion using force-driven and thread-coupled guide tube/tool interfaces. The dilator system includes an outer sleeve and a center shank, with a rod, including a corkscrew rod, helically disposed around the center shank, and nested inner and outer dilators.
The threaded cap includes a corkscrew shaped through-hole configured to receive the rod and a threaded through-hole configured to receive the central shaft, enabling independent advancement of multiple concentric tool components with motion constraints such as preventing inner-dilator rotation during rod-driven advancement. The disclosure further provides broader interchangeability of end-effector configurations and discusses orthopedic/spine use cases with reconfigurable tool and marker arrangements.
Claims Coverage
The partial set includes two independent claims (clm-00001 and clm-00008) directed to independently advancing multiple tool components into bone using a dilator system mounted to a surgical robot. Each independent claim centers on a threaded center shank and a corkscrew/helical rod disposed around the center shank that moves independently to advance a second tool component, with a threaded cap providing distinct through-holes for the rod and the central shaft.
Threaded center shank advancing a center pin
A center shank configured to advance a first component of the tool into a bone, wherein the center shank is threaded, and wherein the system is mounted to a surgical robot, the first component is a center pin, and the center pin has a distal end configured to engage the bone.
Independently moving corkscrew/helically disposed rod around the center shank
Advancing a rod disposed around the center shank to a second component of the tool in the bone, wherein the rod is configured to move independently from the center shank, wherein the rod is corkscrew shaped and helically disposed around the center shank, and wherein the second component is an inner dilator.
Threaded cap with separate rod and central-shaft through-holes
Further comprising a threaded cap, wherein the threaded cap has a corkscrew shaped through-hole configured to receive the rod and a threaded through-hole configured to receive the central shaft.
Dilator system mounted to a surgical robot with independent advancement into bone
Providing a dilator system having a center shank configured to advance a first component of the tool into a bone, wherein the center shank is threaded, and advancing a rod disposed around the center shank to a second component of the tool in the bone, wherein the rod is configured to move independently from the center shank, wherein the dilator system is mounted to a surgical robot, the first component is a center pin, and the second component is an inner dilator.
Across both independent claims, the coverage is focused on independently advancing multiple tool components into bone using a threaded center shank (center pin) and an independent corkscrew/helically disposed rod that drives an inner dilator, together with a threaded cap that provides a corkscrew shaped through-hole for the rod and a threaded through-hole for the central shaft, all mounted to a surgical robot.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Orthopedic/spine use cases are discussed for the robot-assisted system and tool configurations.
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