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Publication Number
US-12472015-B2
Publication Date
2025-11-18
Expiration Date
Abstract
The disclosed technology relates to robotic surgical systems for improving surgical procedures. In certain embodiments, the disclosed technology relates to robotic surgical systems for use in osteotomy procedures in which bone is cut to shorten, lengthen, or change alignment of a bone structure. The osteotome, an instrument for removing parts of the vertebra, is guided by the surgical instrument guide which is held by the robot. In certain embodiments, the robot moves only in the “locked” plane (one of the two which create the wedge—i.e., the portion of the bone resected during the osteotomy). In certain embodiments, the robot shall prevent the osteotome (or other surgical instrument) from getting too deep/beyond the tip of the wedge. In certain embodiments, the robotic surgical system is integrated with neuromonitoring to prevent damage to the nervous system.
Core Innovation
The robotic surgical system described for a surgical procedure performed on a patient includes a robotic arm with an end-effector and an actuator for controlled movement and positioning of the end effector. The system further includes a neuromonitoring module for implementing real-time neuromonitoring during the surgical procedure, integrated with a tool holder attached to the robotic arm.
The processor and memory instructions cause the processor to receive, by the neuromonitoring module, a trigger based on a neurological response of a portion of a nerve structure measured by a neuromonitoring system. Upon receipt of the trigger, the neuromonitoring module prevents deeper insertion into the patient of a surgical instrument guided by the robotic surgical system.
The disclosed system architecture integrates neuromonitoring with the robotic tool holder and surgical instrument guidance. Navigation marker-based determination of instrument position and locked planes supports constrained movement toward forming a wedge while limiting insertion depth, and guide notch and depth block features prevent over-insertion.
The document also describes neuromonitoring cable routing through a sterile zone and real-time neuromonitoring triggers related to nerve response, including optional responses that move the end-effector away or stop insertion to protect the nervous system. The robotic system includes navigation and tracking components, a user interface, and computing/cloud environment descriptions associated with system operation.
Claims Coverage
Independent claim clm-00001 covers a robotic surgical system that integrates real-time neuromonitoring into a robotic tool holder and uses a neurological-response trigger to prevent deeper insertion of a robot-guided instrument. Dependent claims further specify tool-holder force sensing and mechanical holding, constrained motion degrees of freedom, handle-based manipulation, and navigation-based instrument position determination using markers.
Real-time neuromonitoring integrated with robotic tool holder
A neuromonitoring module implementing real-time neuromonitoring during a surgical procedure integrated with a tool holder attached to the robotic arm.
Neurological response trigger measured by neuromonitoring system
Receiving, by the neuromonitoring module, a trigger based on a neurological response of a portion of a nerve structure measured by a neuromonitoring system.
Prevent deeper insertion upon receipt of trigger
Preventing, by the neuromonitoring module, deeper insertion into the patient of a surgical instrument guided by the robotic surgical system upon receipt of the trigger.
Force-sensor tool holder configured to hold a surgical tool
A tool holder connected to the robotic arm through a force sensor and configured to hold a first surgical tool.
Unassisted and robotically assisted motion with at least six degrees of freedom
A manipulator enabling a user to position and move an end-effector robotically and/or unassisted with at least six degrees of freedom comprising three translational and three rotational degrees.
Hand-graspable handle for moving or positioning the end effector
A hand-graspable handle used to move and/or position an end effector.
Navigation system using marker on the instrument to determine position
Determining the surgical instrument’s position using a navigation system that relies at least partly on the position of a marker on the instrument.
Overall, the claim set centers on neuromonitoring integrated into the robotic tool holder, using a trigger based on a neurological response measured by a neuromonitoring system to prevent deeper insertion of a robot-guided instrument. Dependent features further refine the mechanical/tool-holder interface, manipulation degrees of freedom, user handling, and navigation-based instrument position determination using markers.
Stated Advantages
Protects the nervous system by preventing deeper insertion into the patient upon receipt of a neurological-response trigger.
Provides real-time neuromonitoring integrated with the robotic tool holder during the surgical procedure.
Documented Applications
Robotic surgical procedures performed on a patient involving osteotomy procedures for spinal/orthopedic contexts using a robot-guided surgical instrument guided by the robotic surgical system.
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