# US 11,432,892 B1 · Systems and methods for cutting an anatomical element

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- Number: US 11,432,892 B1
- Document ID: US11432892B1
- Status: Granted
- Kind: B1
- Application number: 17/190,289
- Filed: 2021-03-02
- Published: 2022-09-08
- Granted: 2022-09-06
- Earliest claimed: 2021-03-02
- Assignees: Mazor Robotics Ltd.
- Applicants: Mazor Robotics Ltd.
- Inventors: Avi Turgeman; Omer Ravid
- Web page: https://patentgrep.com/patent/US11432892B1

## CPC

- A61B 17/1626: {Control means; Display units}
- A61B 34/32: operating autonomously
- A61B 17/1633: {Sleeves, i.e. non-rotating parts surrounding the bit shaft, e.g. the sleeve forming a single unit with the bit shaft (A61B17/1644 takes precedence)}
- A61B 17/1637: {Hollow drills or saws producing a curved cut, e.g. cylindrical (A61B10/025, A61B17/1695 take precedence)}
- A61B 17/1671: {for the spine}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/30: Surgical robots
- A61B 34/35: for telesurgery
- A61B 2017/00991: {Telescopic means}
- A61B 2017/320075: {single edge blade, e.g. for cutting}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2090/034: {abutting on parts of the device itself}
- A61B 2090/08021: {of the patient or his organs}
- A61B 2217/005: with suction drainage system
- A61B 2217/007: with irrigation system
- A61B 2560/0475: Special features of memory means, e.g. removable memory cards
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A system for cutting bone is provided and may comprise a cutting tool configured to rotate and a shield. The system may also comprise a first robotic arm configured to hold the cutting tool and a second robotic arm configured to hold the shield. A processor and a memory storing instructions for execution by the processor that, when executed, may cause the processor to cause the second robotic arm to orient the shield proximate an anatomical element along a cutting path of the cutting tool.

## Claims

### Claim 1

A system for cutting bone comprising:
a cutting tool configured to rotate;
a shield;
a first robotic arm configured to hold the cutting tool;
a second robotic arm configured to hold the shield;
a processor; and
a memory storing instructions for execution by the processor that, when executed, cause the processor to:
cause the second robotic arm to orient the shield proximate an anatomical element along a cutting path of the cutting tool.

### Claim 2 (depends on 1)

The system of claim 1, wherein the cutting tool is configured to extend in a first direction, wherein the shield comprises a first body configured to extend in a second direction and a second body coupled to the first body by a joint, the second direction distinct from the first direction, the second body configured to selectively rotate about the joint.

### Claim 3 (depends on 1)

The system of claim 1, wherein the cutting tool comprises a first tube nested inside of a second tube, the first tube having a distal end comprising a set of cutting teeth.

### Claim 4 (depends on 3)

The system of claim 3, further comprising:
a vacuum source configured to apply a suction force to the cutting tool to suction anatomical particles through the first tube.

### Claim 5 (depends on 3)

The system of claim 3, wherein the first tube is configured to extend axially.

### Claim 6 (depends on 1)

The system of claim 1, wherein the shield has a width at least as wide as a diameter of the cutting tool.

### Claim 7 (depends on 1)

The system of claim 1, wherein a diameter of the cutting tool is about 10 mm.

### Claim 8

A system for cutting bone comprising:
a cutting tool supported by a robotic arm;
a shield supported by the robotic arm;
a processor; and
a memory storing instructions for execution by the processor that, when executed, cause the processor to:
cause the robotic arm to orient the shield proximate an anatomical element at a planned exit point of the cutting tool, and to control the cutting tool to cut through the anatomical element toward the planned exit point.

### Claim 9 (depends on 8)

The system of claim 8, wherein at least one of a cutting tool and the shield is configured to extend telescopically.

### Claim 10 (depends on 8)

The system of claim 8, wherein the cutting tool comprises a first tube nested inside of a second tube, the first tube configured to extend from the second tube, the first tube having a distal end comprising a set of cutting teeth.

### Claim 11 (depends on 10)

The system of claim 10, wherein causing the robotic arm to orient the cutting tool includes extending the second tube to orient the cutting tool at the side of the anatomical element, wherein the first tube does not extend past the second tube.

### Claim 12 (depends on 8)

The system of claim 8, wherein the shield comprises a first segment and a second segment disposed at an angle to the first segment.

### Claim 13 (depends on 12)

The system of claim 12, wherein the second segment is perpendicular to the first segment.

### Claim 14 (depends on 12)

The system of claim 12, wherein the first segment and the second segment are fixed.