Back to results
US 12,721,636 B2Granted
Device system and method for robotic spinal decompression
AssigneeCarevature Medical Ltd.
InventorsYoseph Weitzman, Eran Miller
Life of this patent
Estimating the term…
Abstract
Disclosed are robotic systems, surgical instruments for used therewith as well as methods of utilizing same in spinal decompression surgeries.
Claims18
A robotic system for spinal decompression surgery comprising:
- a. a robotic arm having multi-degree of freedom;
- b. a surgical instrument configured to be received by the robotic arm;
- wherein the surgical instrument comprises:
- a non-flexible elongated hollow tubular member comprising a bend at a distal end thereof and a bending mechanism, wherein an angle of the bend is structurally and intraoperatively adjustable via the bending mechanism;
- and
- a bendable flexible drive shaft positionable within the elongated hollow tubular member;
- and
- an end effector coupled to the flexible drive shaft, wherein the end effector comprises a cutting head,
- wherein the drive shaft is configured to transfer torque and rotational speed from a proximal end of the elongated hollow member, through the bend and to the end effector, and
- wherein the drive shaft is configured to transfer torque and rotational speed of at least 10,000 rpm, from a proximal end of the elongated member, to the end effector;
- and
- c. a processor configured to control the position of the robotic arm and/or the surgical instrument relative to a target tissue, and to control the bending mechanism to thereby enable intraoperatively changing the angle of the adjustable bend, while maintaining the position of the robotic arm and the surgical instrument;
- d. a driving unit configured to control the operation of the surgical instrument based on inputs from the processor.
10 more elements
A surgical instrument for robotic spinal decompression surgery, the surgical instrument comprising:
- a handle;
- an end effector;
- a non-flexible elongated hollow tubular member extending from the handle, the elongated hollow tubular having a bend at a distal end thereof;
- and a flexible core positionable within the elongated hollow tubular member, the flexible drive shaft configured to transfer torque and rotational speed of at least 10,000 rpm, from a proximal end of the elongated member, through the bend and to the end effector;
- one or more torque transfer element connected to the flexible drive shaft;
- and
- an elongation mechanism;
- wherein the elongated hollow tubular member, the end effector and/or the torque transfer element are intraoperatively structurally elongatable via the elongation mechanism, thereby allowing advancement of the end effector, while maintaining the surgical instrument and a surgical arm grasping the surgical instrument in a fixed position, and wherein the elongation mechanism is configured to be controlled by a processor.
5 more elements
A method for performing a robotic spinal decompression surgery, the method comprises:
- attaching a surgical device comprising
- a non-flexible elongated hollow tubular member comprising a bend at a distal end thereof and a bending mechanism, wherein an angle of the bend is structurally and intraoperatively adjustable via the bending mechanism,
- a flexible drive shaft positionable within the elongated hollow tubular member, and
- an end effector,
- wherein the drive shaft is configured to transfer torque and rotational speed from a proximal end of the elongated hollow member, through the bend and to the end effector, and
- wherein the drive shaft is configured to transfer torque and rotational speed of at least 10,000 rpm, from a proximal end of the elongated member to the end effector;
- advancing the surgical instrument to the target anatomy until engaging bone to be removed;
- and
- activate rotation of the end effector to a at least 10,000 rpm;
- thereby causing bone removal, and
- intraoperatively triggering, via a processor, adjustment of an angle of the adjustable bend of the elongated hollow tubular member, based on feedback obtained in real time from one or more of a sensor, a camera, a microscope, and/or an endoscope configured to track a position of the surgical instrument in real time in relation to the target tissue, such that the position of the end effector is changed while the position of the robotic arm and the surgical instrument is maintained.
8 more elements
Dependencies are inferred from the claim text.