# US 11,298,196 B2 · Surgical robotic automation with tracking markers and controlled tool advancement

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,298,196 B2
- Document ID: US11298196B2
- Status: Granted
- Kind: B2
- Application number: 15/881,971
- Filed: 2018-01-29
- Published: 2018-05-31
- Granted: 2022-04-12
- Earliest claimed: 2012-06-21
- Assignees: Globus Medical, Inc.
- Applicants: Globus Medical, Inc.
- Inventors: Neil R. Crawford; Norbert Johnson; Nicholas Theodore
- Web page: https://patentgrep.com/patent/US11298196B2

## CPC

- A61B 34/30: Surgical robots
- A61B 17/02: for holding wounds open, e.g. retractors; Tractors
- A61B 17/7035: {Screws or hooks, wherein a rod-clamping part and a bone-anchoring part can pivot relative to each other}
- A61B 17/7082: {for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws}
- A61B 17/7083: {Tools for guidance or insertion of tethers, rod-to-anchor connectors, rod-to-rod connectors, or longitudinal elements}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/32: operating autonomously
- A61B 90/11: with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61F 2/4455: {for the fusion of spinal bodies, e.g. intervertebral fusion of adjacent spinal bodies, e.g. fusion cages (intervertebral discs A61F2/442)}
- A61F 2/4465: {having a circular or kidney shaped cross-section substantially perpendicular to the axis of the spine}
- A61F 2/447: {substantially parallelepipedal, e.g. having a rectangular or trapezoidal cross-section}
- A61F 2/4611: {of spinal prostheses}
- A61B 17/1757: {for the spine}
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 2017/0042: {with special provisions for gripping}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/00876: {magnetic}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2034/2072: {Reference field transducer attached to an instrument or patient}
- A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3762: {using computed tomography systems [CT]}
- A61B 2090/3937: {Visible markers}
- A61B 2090/3945: {Active visible markers, e.g. light emitting diodes}
- A61B 2090/3966: {Radiopaque markers visible in an X-ray image}
- A61B 2090/3979: {infrared}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61F 2002/30133: {kidney-shaped or bean-shaped}
- A61F 2002/4628: {with linear motion along or rotating motion about an axis transverse to the instrument axis or to the implantation direction, e.g. clamping}
- A61F 2002/4629: {connected to the endoprosthesis or implant via a threaded connection}
- A61M 25/0662: {Guide tubes}
- A61M 29/00: Dilators with or without means for introducing media, e.g. remedies
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- 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

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.

## Claims

### Claim 1

A system for independently advancing multiple components of a tool into bone, comprising:
a center shank configured to advance a first component of the tool into a bone, wherein the center shank is threaded;
a rod disposed around the center shank and configured to advance a second component of the tool in the bone, wherein the rod is configured to move independently from the center shank,
wherein the system is mounted to a surgical robot, the first component is a center pin, and the second component is an inner dilator,
wherein the center pin is configured to have a pointy distal end to engage the bone, and wherein the rod is corkscrew shaped and helically disposed around the center shank.

### Claim 2 (depends on 1)

The system of claim 1, further comprising an outer sleeve and an outer dilator,
wherein the center shank, the rod, the inner dilator, and the outer dilator are disposed within the outer sleeve, and
wherein the inner dilator is configured to advance over the center pin and the outer dilator is configured to advance over the inner dilator.

### Claim 3 (depends on 2)

The system of claim 2, further comprising at least one handle configured to advance the outer dilator over the inner dilator.

### Claim 4 (depends on 1)

The system of claim 1, wherein the inner dilator is restricted from rotating as rod advances the inner dilator.

### Claim 5 (depends on 1)

The system of claim 1, further comprising a threaded cap.

### Claim 6 (depends on 5)

The dilator system of claim 5, 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.

### Claim 7 (depends on 1)

The system of claim 1, wherein the robot is configured to position the system relative to a patient.

### Claim 8 (depends on 7)

The system of claim 7, further comprising a plurality of helical rods disposed around the center shank and configured to independently rotate as nested helices, each helical rod configured to advance a different component of the tool into a patient.