# US 10,945,742 B2 · Anti-skid surgical instrument for use in preparing holes in bone tissue > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,945,742 B2 - Document ID: US10945742B2 - Status: Granted - Kind: B2 - Application number: 16/431,876 - Filed: 2019-06-05 - Published: 2019-11-21 - Granted: 2021-03-16 - Earliest claimed: 2014-07-14 - Assignees: Globus Medical, Inc. - Applicants: Globus Medical, Inc. - Inventors: Szymon Kostrzewski - Web page: https://patentgrep.com/patent/US10945742B2 ## CPC - A61B 17/1615: {Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material} - A61B 17/162: {Chucks or tool parts which are to be held in a chuck} - A61B 17/1624: {Drive mechanisms therefor} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/30: Surgical robots - A61B 2017/1602: {Mills} - A61B 2090/035: {preventing further rotation} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Described herein is an anti-skid surgical instrument for use in preparing holes in bone tissue. The disclosed surgical instrument provides the ability to prepare a precise hole in bone tissue during surgery (e.g., spinal surgeries and pedicle screw placement, intramedullary screw placement). The disclosed surgical instrument accomplishes precise hole placement regardless of whether the angle between the drill axis and surface of the bone tissue is perpendicular. The disclosed technology includes a flat drilling surface which is perpendicular to the surface of the body of the surgical instrument. This reduces the likelihood of the surgical instrument skidding on the surface of the bone tissue and thereby increases the precision of the hole. ## Claims ### Claim 1 A method of performing surgery using an anti-skid surgical instrument to prepare a hole in bone tissue of a patient, the method comprising: maneuvering the anti-skid surgical instrument to prepare the hole in the bone tissue of the patient, wherein the anti-skid surgical instrument includes: a mill head for removing bone tissue with reduced skidding of the surgical instrument upon contact of the anti-skid surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis, and one or more side-cutting flutes about the longitudinal axis for cutting into bone tissue; a shank for connection to a drill, and a shaft between the mill head and the shank, the shaft having one or more drill flutes for evacuating removed bone tissue, wherein the mill head and the shaft together define a cylindrical elongate structure and the maximum diameter of the mill head and the shaft is substantially the same, and wherein the anti-skid surgical instrument is guided by a robotic surgical system comprising a robotic arm. ### Claim 2 (depends on 1) The method of claim 1, wherein maneuvering the anti-skid surgical instrument comprises inserting the surgical instrument into a surgical instrument guide such that the surgical instrument is constrained by the surgical instrument guide. ### Claim 3 (depends on 2) The method of claim 2, wherein the surgical instrument guide comprises a rigid hollow tubular structure having a first open end and a second open end, said structure defining an axis of the tubular structure along which movement of a surgical instrument sliding through the structure is restricted, wherein the tubular structure has an interior surface shaped and sized to accommodate the anti-skid surgical instrument sliding through the guide such that movement of the anti-skid surgical instrument is constrained in all directions except along the axis defined by the guide. ### Claim 4 (depends on 3) The method of claim 3, wherein the anti-skid surgical instrument is fitted with a tool support shaped and sized to slide through the surgical instrument guide along the axis defined by the guide. ### Claim 5 (depends on 2) The method of claim 2, wherein the anti-skid surgical instrument is a drill bit and the surgical instrument guide is a drill bit guide. ### Claim 6 (depends on 1) The method of claim 1, wherein the flat end of the mill head includes end-cutting flutes. ### Claim 7 (depends on 1) The method of claim 1, wherein the robotic arm has an end effector comprising a surgical instrument guide attached thereto, the surgical instrument guide configured to hold and/or restrict movement of a surgical instrument therethrough. ### Claim 8 (depends on 1) The method of claim 1, further comprising: fixing the position of the robotic arm wherein the flat end includes a milling surface. ### Claim 9 (depends on 1) The method of claim 1, wherein a navigation marker is used by a navigation camera to track the anti-skid surgical instrument. ### Claim 10 (depends on 1) The method of claim 1, comprising: obtaining or accessing a CT scan, 3D CT scan, fluoroscopy, 3D fluoroscopy, or natural landmark-based image of the patient situation. ### Claim 11 (depends on 1) The method of claim 1, wherein a manipulator is attached to the robotic arm. ### Claim 12 (depends on 1) The method of claim 1, wherein the manipulator is molded into the robotic arm. ### Claim 13 (depends on 1) The method of claim 1, wherein the axis can be aligned with the desired trajectory in relation to the patient situation via the manipulator. ### Claim 14 A method of performing surgery using an anti-skid surgical instrument to prepare a hole in bone tissue of a patient, the method comprising: maneuvering the anti-skid surgical instrument to prepare the hole in the bone tissue of the patient, wherein the anti-skid surgical instrument includes: a mill head for removing bone tissue with reduced skidding of the surgical instrument upon contact of the anti-skid surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis, and one or more side-cutting flutes about the longitudinal axis for cutting into bone tissue; a shank for connection to a drill, and a shaft between the mill head and the shank, the shaft having one or more drill flutes for evacuating removed bone tissue, wherein the mill head and the shaft together define a cylindrical elongate structure, the flat head of the mill head includes a milling surface, wherein a maximum diameter of the mill head is substantially the same as the maximum diameter of the shaft, and wherein the anti-skid surgical instrument is guided by a robotic surgical system comprising a robotic arm. ### Claim 15 (depends on 14) The method of claim 14, wherein maneuvering the anti-skid surgical instrument comprises inserting the surgical instrument into a surgical instrument guide such that the surgical instrument is constrained by the surgical instrument guide. ### Claim 16 (depends on 15) The method of claim 15, wherein the surgical instrument guide comprises a rigid hollow tubular structure having a first open end and a second open end, said structure defining an axis of the tubular structure along which movement of a surgical instrument sliding through the structure is restricted, wherein the tubular structure has an interior surface shaped and sized to accommodate the anti-skid surgical instrument sliding through the guide such that movement of the anti-skid surgical instrument is constrained in all directions except along the axis defined by the guide. ### Claim 17 (depends on 16) The method of claim 16, wherein the anti-skid surgical instrument is fitted with a tool support shaped and sized to slide through the surgical instrument guide along the axis defined by the guide. ### Claim 18 (depends on 15) The method of claim 15, wherein the anti-skid surgical instrument is a drill bit and the surgical instrument guide is a drill bit guide. ### Claim 19 (depends on 14) The method of claim 14, wherein the robotic arm has an end effector comprising a surgical instrument guide attached thereto, the surgical instrument guide configured to hold and/or restrict movement of a surgical instrument therethrough.