Systems, methods, and devices for robotic manipulation of the spine
AssigneeMazor Robotics Ltd.
InventorDany Junio
Life of this patent
Estimating the term…
Abstract
A system for robotic spinal manipulation includes a first robotic arm comprising an end effector; a second robotic arm configured to hold a spinal rod; at least one processor; and a memory storing instructions for execution by the at least one processor. The instructions, when executed, cause the at least one processor to control the first robotic arm to link the end effector with at least one vertebral screw implanted in a vertebra of a spine of a patient; control the second robotic arm to hold the spinal rod in a predetermined pose; and cause the first robotic arm to move the at least one implanted vertebral screw into engagement with the spinal rod.
Claims20
A system, comprising:
- at least one processor;
- and
- a memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
- receive a plurality of images of a spine of a patient, each image of the plurality of images showing the spine in a different pose;
- determine a range of motion of at least one vertebral body of the spine based on the plurality of images;
- cause a robotic arm to attach to the at least one vertebral body via a custom glove;
- and
- cause the robotic arm to move the at least one vertebral body to a predetermined pose without exceeding the determined range of motion.
A system, comprising:
- at least one processor;
- and
- a memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
- cause a robotic arm to grasp, via an end effector, a vertebral screw implanted in a vertebra of a spine of a patient;
- cause the robotic arm to exert a force on the vertebral screw to cause at least one of the vertebral screw or the vertebra of the spine to move toward a predetermined pose;
- determine a magnitude of the exerted force;
- compare the magnitude with a predetermined force threshold;
- when the magnitude is equal to or lower than the predetermined force threshold, cause the robotic arm to continue moving the at least one of the vertebral screw or the vertebra of the spine toward the predetermined pose;
- and
- when the magnitude is higher than the predetermined force threshold, cause the robotic arm to stop moving the at least one of the vertebral screw or the vertebra of the spine.
A system, comprising:
- a first robotic arm comprising an end effector and a sensor;
- at least one processor;
- and
- a memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
- cause the first robotic arm to grasp, via the end effector, a vertebral screw implanted in a vertebra of a spine of a patient;
- cause the first robotic arm to exert a force on the vertebral screw to cause at least one of the vertebral screw or the vertebra of the spine to move toward a predetermined pose that enables engagement of the vertebral screw with a spinal rod;
- determine, based on output of the sensor, a magnitude of the exerted force;
- compare the magnitude with a predetermined force threshold;
- when the magnitude is equal to or lower than the predetermined force threshold, cause the first robotic arm to continue moving the at least one of the vertebral screw or the vertebra of the spine toward the predetermined pose;
- and
- when the magnitude is higher than the predetermined force threshold, cause the first robotic arm to stop moving the at least one of the vertebral screw or the vertebra of the spine.
Dependencies are inferred from the claim text.