# US 10,864,057 B2 · Universal instrument guide for robotic surgical systems, surgical instrument systems, and methods of their use > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,057 B2 - Document ID: US10864057B2 - Status: Granted - Kind: B2 - Application number: 15/874,365 - Filed: 2018-01-18 - Published: 2018-07-19 - Granted: 2020-12-15 - Earliest claimed: 2017-01-18 - Assignees: KB Medical SA - Applicants: Kb Medical, SA - Inventors: Olivier Chappuis; Szymon Kostrzewski - Web page: https://patentgrep.com/patent/US10864057B2 ## CPC - A61B 90/11: with guides for needles or instruments, e.g. arcuate slides or ball joints - A61B 17/1757: {for the spine} - A61B 34/30: Surgical robots - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 17/1655: {for tapping} - A61B 17/1671: {for the spine} - A61B 17/1703: {using imaging means, e.g. by X-rays} - A61B 2017/00464: {for use with different instruments} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/347: {Locking means, e.g. for locking instrument in cannula} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/303: {specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels} - A61B 2090/103: {Cranial plugs for access to brain} - A61B 2090/373: {using light, e.g. by using optical scanners} - A61B 2090/3937: {Visible markers} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61M 29/00: Dilators with or without means for introducing media, e.g. remedies - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract Described herein are systems and apparatus of surgical instruments engineered for integration with robotic surgical systems to enhance precision in surgical procedures. Also described herein are methods of using such surgical instruments in performing surgical procedures. The use of such surgical instruments reduce complications arising from misalignment during surgery. The disclosed technology assists in stages of a surgical procedure that require a precise trajectory to be followed. Surgical instrument guides are attached to a universal surgical instrument guide, which is engineered to attach directly or indirectly with a robotic arm of a robotic surgical system. Surgical instruments can then be precisely guided along an axis defined by the universal surgical instrument guide. Individual instruments are easily inserted and removed from the channel of the universal surgical instrument guide, thus allowing a range of instruments to be used throughout a procedure while maintaining the surgical trajectory. ## Claims ### Claim 1 A universal surgical instrument guide for accommodating surgical instruments to facilitate precise positioning of the surgical instruments using a robotic surgical system, the universal surgical instrument guide comprising: a body arranged to be mechanically coupled to a robotic arm of the robotic surgical system, the body comprising: a first channel comprising an interior surface sized and shaped to accommodate a fastener that securely attaches the body directly or indirectly to the robotic arm of the robotic surgical system, a second channel having an interior surface shaped and sized to accommodate a portion of a surgical instrument, wherein the second channel comprises a first opening, wherein a portion of the second channel adjacent to the first opening is threaded such that when the surgical instrument is inserted in the second channel, threads of the threaded portion of the second channel engage threads on the surgical instrument to secure the surgical instrument to the universal surgical instrument guide, and wherein the second channel defines an axis such that, when the surgical instrument is inserted into the universal surgical instrument guide, movement of the surgical instrument is constrained along the axis within the universal surgical instrument guide; and an opening sized and shaped to receive a navigation marker used by a navigation camera to track the position of the surgical instrument; and one or more alignment members extending from the body such that the one or more alignment members are configured to engage one or more openings in the robotic arm, wherein an axis along a length of the first channel and an axis along a length of the second channel are on a common plane. ### Claim 2 (depends on 1) The universal surgical instrument guide of claim 1 further comprising a handle support member, wherein the handle support member is attached to the body. ### Claim 3 (depends on 1) The universal surgical instrument guide of claim 1, wherein the navigation marker comprises a plurality of navigation marker elements wherein the plurality of navigation marker elements are used to triangulate a position of the universal surgical instrument guide. ### Claim 4 (depends on 1) The universal instrument guide of claim 1, wherein the body comprises a threaded bushing having an interior surface. ### Claim 5 (depends on 4) The universal instrument guide of claim 4, wherein the interior surface of the threaded bushing defines an axis parallel to an axis defined by the interior surface of the first channel and the interior surface of the threaded bushing is threaded such that the threads on the fastener engage the threads on the threaded bushing as the fastener is inserted through the threaded bushing. ### Claim 6 (depends on 1) The universal surgical instrument guide of claim 1, wherein the fastener comprises: a tip on a proximate end of a screw body; a head on a distal end of the screw body; and threads along a portion of the screw body. ### Claim 7 (depends on 6) The universal surgical instrument guide of claim 6, wherein the threads along the portion of the fastener are along a portion of the fastener closest to the tip of the tightening screw. ### Claim 8 (depends on 7) The universal surgical instrument guide of claim 7, wherein the portion of the fastener closest to the head is smooth such that the fastener is loosely held in place by the threaded bushing when the fastener is fully inserted into the threaded bushing. ### Claim 9 (depends on 1) The universal surgical instrument guide of claim 1, wherein the surgical instrument has a hollow tubular structure sized and shaped to receive a surgical tool selected from the group consisting of: a drill bit, a tubular dilator, a rod dilator, a surgical tap, a screw driver, a screw extender, and an awl. ### Claim 10 (depends on 1) The universal surgical instrument guide of claim 1, wherein the surgical instrument is a drill guide. ### Claim 11 (depends on 1) The universal surgical instrument guide of claim 1, wherein the surgical instrument is a drill bit and the drill bit is an anti-skiving drill bit. ### Claim 12 (depends on 1) The universal surgical instrument guide of claim 1, wherein the surgical instrument is a master guide. ### Claim 13 (depends on 1) The universal surgical instrument guide of claim 1, wherein the robotic surgical system is for use in a member selected from the group consisting of: spinal surgery, ENT surgery, neurosurgery, and orthopedic surgery. ### Claim 14 (depends on 1) The universal surgical instrument guide of claim 1, wherein the axis along the length of the first channel and the axis along the length of the second channel are perpendicular.