# US 12,599,447 B2 · Surgical robotic system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,599,447 B2 - Document ID: US12599447B2 - Status: Granted - Kind: B2 - Application number: 18/635,439 - Filed: 2024-04-15 - Published: 2025-09-18 - Granted: 2026-04-14 - Earliest claimed: 2024-03-13 - Assignees: Globus Medical, Inc. - Applicants: Globus Medical, Inc. - Inventors: Norbert Johnson; David C. Paul - Web page: https://patentgrep.com/patent/US12599447B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/32: operating autonomously - A61B 17/7074: {Tools specially adapted for spinal fixation operations other than for bone removal or filler handling (A61B17/7062, A61B17/808, A61B17/8858 take precedence; for spinal image producing devices A61B90/36, A61B34/20; markers A61B90/39)} - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 50/13: Trolleys{, e.g. carts} - A61B 90/20: Surgical microscopes characterised by non-optical aspects - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 2017/564: {Methods for bone or joint treatment} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2059: {Mechanical position encoders} - A61B 2090/309: {using white LEDs} - A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Devices, systems, and methods for a robot-assisted surgery. A surgical robotic system with integrated navigation and multiple surgical arms may assist a user with one or more surgical procedures. In addition to the multiple surgical arms, the robotic system may also have peripheral arms to position a navigation camera and surgeon displays. The robotic system is collaborative to allow for easy integration into procedural workflows, for example, to install pedicle screws, interbody implants, or other surgical devices. ## Claims ### Claim 1 An active fixation method of a surgical robotic system having a moveable base station, including an on-board computer, a navigation camera mounted to the base station with a camera arm, a display mounted to the base station with a display arm, and a pair of surgical arms mounted to the base station, each surgical arm having an end effector, the method comprising: identifying a first portion of bone, attaching the end effector of a first surgical arm to a first identified location, and leaving the first surgical arm rigidly attached to the first identified location; and identifying a second portion of bone, attaching the end effector of a second surgical arm to a second identified location while the first surgical arm remains rigidly attached to the first identified location, and once attached, removing the first surgical arm while leaving the second surgical arm rigidly attached to the second identified location, wherein at least one of the first and second surgical arms remain attached to bone at all times to act as a navigation source for enhanced navigation of the surgical robotic system. ### Claim 2 (depends on 1) The method of claim 1, wherein the bone is one or more vertebrae. ### Claim 3 (depends on 1) The method of claim 1, wherein the first identified location is a vertebral osteophyte. ### Claim 4 (depends on 3) The method of claim 3, wherein after the second surgical arm is rigidly attached to the second identified location, the osteophyte is removed with the first surgical arm. ### Claim 5 (depends on 1) The method of claim 1, wherein the first identified location is a facet. ### Claim 6 (depends on 5) The method of claim 5, wherein after the second surgical arm is rigidly attached to the second identified location, the facet is removed with the first surgical arm. ### Claim 7 (depends on 1) The method of claim 1, wherein the first identified location is a lamina. ### Claim 8 (depends on 7) The method of claim 7, wherein after the second surgical arm is rigidly attached to the second identified location, the lamina is removed with the first surgical arm. ### Claim 9 (depends on 1) The method of claim 1, wherein the first or second identified location is a pedicle. ### Claim 10 (depends on 1) The method of claim 1, further comprising sequentially performing a procedure while always leaving one surgical arm rigidly affixed to the last location, thereby enhancing navigation. ### Claim 11 An active fixation method of a surgical robotic system having a moveable base station, including an on-board computer, a navigation camera mounted to the base station with a camera arm, a display mounted to the base station with a display arm, and a pair of surgical arms mounted to the base station, the method comprising: guiding a first surgical arm of the surgical robotic system to a location on bone of a patient and attaching the first surgical arm to the location on the bone; navigating a second surgical arm of the surgical robotic system based on the first attached surgical arm; and performing a surgical task while one surgical arm remains rigidly attached to the bone to act as a fixation anchor point for the bone and for providing spatial information about the location of the bone to the surgical robotic system, wherein the surgical task includes a decompression procedure. ### Claim 12 (depends on 11) The method of claim 11, wherein the first surgical arm is guided to a facet, and the second surgical arm navigates off the facet. ### Claim 13 (depends on 11) The method of claim 11, wherein the first surgical arm is guided to a lamina, and the second surgical arm navigates off the lamina. ### Claim 14 (depends on 11) The method of claim 11, wherein the first surgical arm is guided to an osteophyte, and the second surgical arm navigates off the osteophyte. ### Claim 15 (depends on 11) The method of claim 11, wherein the decompression procedure includes an osteotomy, laminectomy, or facetectomy. ### Claim 16 An active fixation method of a surgical robotic system having a moveable base station, including an on-board computer, a navigation camera mounted to the base station with a camera arm, a display mounted to the base station with a display arm, and a pair of surgical arms mounted to the base station, each surgical arm having an end effector, the method comprising: identifying an osteophyte, attaching the end effector of a first surgical arm to the osteophyte, and leaving the first surgical arm rigidly attached to the osteophyte; navigating the end effector of a second surgical arm based on the first surgical arm while the first surgical arm remains rigidly attached to the osteophyte, and attaching the end effector of the second surgical arm to another location, and once attached, removing the first surgical arm while leaving the second surgical arm rigidly attached; and removing the osteophyte while leaving the second surgical arm rigidly attached to bone. ### Claim 17 (depends on 16) The method of claim 16, wherein the end effector includes a powered end effector for cutting bone. ### Claim 18 (depends on 16) The method of claim 16, wherein the osteophyte is a vertebral osteophyte. ### Claim 19 (depends on 16) The method of claim 16, wherein once the second surgical arm is rigidly attached, navigating the first surgical arm to the osteophyte, and then removing the osteophyte.