# US 12,108,969 B2 · Navigated percutaneous lumbar and thoracic spine facet fusion

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- Number: US 12,108,969 B2
- Document ID: US12108969B2
- Status: Granted
- Kind: B2
- Application number: 17/228,866
- Filed: 2021-04-13
- Published: 2021-07-29
- Granted: 2024-10-08
- Earliest claimed: 2019-11-12
- Applicants: Seth K. Williams
- Inventors: Seth K. Williams
- Web page: https://patentgrep.com/patent/US12108969B2

## CPC

- A61B 17/7064: {Devices acting on, attached to, or simulating the effect of, vertebral facets; Tools therefor}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/25: {User interfaces for surgical systems}
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 17/1671: {for the spine}
- A61B 17/1757: {for the spine}
- A61B 34/32: operating autonomously
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 2017/00933: {bone or bone-like}
- A61B 2017/564: {Methods for bone or joint treatment}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2090/374: {NMR or MRI}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3762: {using computed tomography systems [CT]}
- A61B 2090/378: {using ultrasound}
- A61B 2090/392: {Radioactive markers}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A system for facet joint fusion includes a cannula having a body and a navigation arm mounted to the body. The navigation arm includes a base and a plurality of individual arms mounted to the base. The navigation arm also includes one or more markers mounted to the plurality of individual arms. The system also includes an imaging system configured to identify a position of the one or more markers relative to a facet joint of a patient. The system further includes a rotary tool that is configured to mount within the cannula. The rotary tool is configured to create a void in the facet joint by way of the cannula, and the void is configured to receive a bone graft or bone growth promoting material.

## Claims

### Claim 1

A system for facet joint fusion, the system comprising:
a cannula comprising:
a body;
a navigation arm mounted to the body, wherein the navigation arm includes a base and a plurality of individual arms mounted to the base; and
one or more markers mounted to the plurality of individual arms;
an imaging system configured to identify a position of the one or more markers relative to a facet joint of a patient;
a computing system in communication with the imaging system, wherein the computing system is configured to determine a docking location at the facet joint and a docking angle at which to position the cannula at the docking location, wherein the docking angle is specific to the patient and is determined based on analysis of the facet joint of the patient; and
a rotary tool that is configured to mount within the cannula, wherein the rotary tool is configured to create a void in the facet joint by way of the cannula, and wherein the void is configured to receive a bone graft or bone growth promoting material.

### Claim 2 (depends on 1)

The system of claim 1, wherein the rotary tool includes one or more tool markers mounted thereto, and wherein the imaging system is configured to identify the one or more tool markers on the rotary tool.

### Claim 3 (depends on 1)

The system of claim 1, wherein the navigation arm comprises a first navigation arm, and further comprising a second navigation arm mounted to the rotary tool.

### Claim 4 (depends on 3)

The system of claim 3, wherein the second navigation arm includes a second base and a second plurality of arms mounted to the second base, and wherein the second navigation arm also includes one or more second markers mounted to the second plurality of arms.

### Claim 5 (depends on 4)

The system of claim 4, wherein the imaging system is configured to distinguish between the one or more markers on the first navigation arm and the one or more second markers on the second navigation arm.

### Claim 6 (depends on 1)

The system of claim 1, wherein the imaging system is configured to display a position of the cannula relative to the one or more markers and to one or more anatomical features of the patient such that the cannula can be docked without damage to the one or more anatomical features.

### Claim 7 (depends on 1)

The system of claim 1, wherein at least one of the docking location and the docking angle are determined by the computing system based at least in part on a position of the one or more markers.

### Claim 8 (depends on 1)

The system of claim 1, further comprising a tamp that is configured to fit within the cannula such that the bone graft or bone growth promoting material can be forced into the void.

### Claim 9 (depends on 1)

The system of claim 1, wherein the imaging system is configured to identify one or more biological markers within the patient and the one or more markers mounted to the cannula, and wherein the imaging system is configured to display the positional relationship between the one or more biological markers and the one or more markers.