公开(公告)号：US20240065707A1

公开(公告)日：2024-02-29

申请号：US18343181

申请日：2023-06-28

Applicant: GLOBUS MEDICAL, INC.

Inventor： Hayden Cameron ,  Spiros Mantzavinos ,  Neil R. Crawford ,  Sanjay Joshi ,  Norbert Johnson

IPC: A61B17/16 ,  A61B34/20 ,  A61B34/32 ,  A61B90/00

CPC classification number: A61B17/1695 ,  A61B17/1615 ,  A61B17/1626 ,  A61B34/20 ,  A61B34/32 ,  A61B90/03 ,  A61B90/06 ,  A61B2034/2055 ,  A61B2034/305

Abstract: A system of robotic surgery includes components capable of drilling a bore in the cranium of a patient in connection with craniotomy and other cranial surgeries. A perforator associated with such system is controlled by suitable computer-implemented instructions to maintain the perforator tip along a desired trajectory line while moving the perforator bit at locations proximal to such perforator tip in a circular motion, thereby imparting a conical oscillation to the perforator bit relative to the trajectory line. The angle at which the perforator bit is oscillated relative to such trajectory line results in the bore formed in the cranium having a diameter larger than the bit diameter, and the larger diameter and related conical oscillation is selected so as to reduce frictional force opposing withdrawal of the bit from the situs of the bore, thereby reducing the risk of jamming of the bit during its associated operations.

公开(公告)号：US20200297426A1

公开(公告)日：2020-09-24

申请号：US16361863

申请日：2019-03-22

Applicant: GLOBUS MEDICAL, INC.

Inventor： Hayden Cameron ,  Spiros Mantzavinos ,  Neil R. Crawford ,  Sanjay Joshi ,  Norbert Johnson

IPC: A61B34/20 ,  A61B90/10 ,  A61B6/03 ,  A61B6/00 ,  A61B34/30

Abstract: A position is determined for each fiducial marker of a plurality of fiducial markers in an image volume. Based on the determined positions, a position and orientation of the registration fixture with respect to the anatomical feature is determined. A position is determined for each tracked marker of a first plurality of tracked markers on the registration fixture and a second plurality of tracked markers on the robot arm in a tracking data frame. Based on the determined positions of tracked markers, a position and orientation of the registration fixture and the robot arm of a surgical robot with respect to the tracking space are determined.

公开(公告)号：US20200297357A1

公开(公告)日：2020-09-24

申请号：US16695310

申请日：2019-11-26

Applicant: GLOBUS MEDICAL, INC.

Inventor： Hayden Cameron ,  Spiros Mantzavinos ,  Neil R. Crawford ,  Sanjay Joshi ,  Norbert Johnson ,  James Cascarano ,  Justin Larson ,  Stephen Cicchini ,  Ross Morris ,  Christopher Angelucci

IPC: A61B17/16 ,  A61B34/30 ,  A61B17/17 ,  A61B34/20 ,  A61B90/14 ,  A61B90/00 ,  A61B90/11

Abstract: A system for robotic surgery makes use of an end-effector which has been configured so that a drill connected thereto is guided in its trajectory and limited in its advancement into an associated anatomical feature by a drill guide. The drill guide may be adjusted manually to engage a corresponding surface of the drill after its advancement by a pre-selected amount. The drill guide likewise includes features to guide the drill during trajectories having oblique angles relative to the surface of the anatomical feature associated with the medical procedure.

公开(公告)号：US11850012B2

公开(公告)日：2023-12-26

申请号：US17710700

申请日：2022-03-31

Applicant: GLOBUS MEDICAL, INC.

Inventor： Hayden Cameron ,  Spiros Mantzavinos ,  Neil R. Crawford ,  Sanjay Joshi ,  Norbert Johnson ,  James Cascarano ,  Justin Larson

IPC: A61B34/32 ,  A61B6/00 ,  A61B90/11 ,  A61B90/00 ,  A61B5/055 ,  A61B6/03

CPC classification number: A61B34/32 ,  A61B5/055 ,  A61B6/032 ,  A61B6/4085 ,  A61B6/4441 ,  A61B6/485 ,  A61B90/03 ,  A61B90/06 ,  A61B90/11 ,  A61B90/361 ,  A61B90/39 ,  A61B2090/034 ,  A61B2090/061 ,  A61B2090/067 ,  A61B2090/3945 ,  A61B2090/3966 ,  A61B2090/3983

Abstract: A system for robotic surgery makes use of an end-effector which has been configured so that any selected one of a group of surgical tools may be selectively connected to such end-effector. The end-effector makes use of a tool-insert locking mechanism which secures a selected one of the surgical tools at not only a respective, predetermined height and angle of orientation, but also at a rotational position relative to an anatomical feature of the patient. The tool-insert locking mechanism may include interchangeable inserts to interconnect multiple tools to the same end-effector. In this way, different robotic operations may be accomplished with less reconfiguration of the end-effector. The end-effector may also include a tool stop which has a sensor associated with a moveable stop mechanism which may be positioned to selectively inhibit tool insertion or end-effector movement.

公开(公告)号：US20230083538A1

公开(公告)日：2023-03-16

申请号：US17475408

申请日：2021-09-15

Applicant: GLOBUS MEDICAL, INC.

Inventor： Spiros Mantzavinos ,  Raul Wirz ,  James Cascarano ,  Norbert Johnson ,  Hayden Cameron ,  Neil R. Crawford

IPC: A61B34/10 ,  A61B34/20 ,  A61B34/30

Abstract: A cranial surgery planning system including at least one network interface connectable to obtain radiological patient images generated by a radiological image scanner, a display device, at least one processor, and at least one memory storing program code that is executed by the at least one processor. The operations include obtaining through the at least one network interface a first radiological patient image of cranial structure of a patient along a first plane and obtain a second radiological patient image of the cranial structure of the patient along a second plane that is angularly offset to the first plane. Operations also include merging the first and second radiological patient images to an image coordinate system. Operations also include obtaining a surgical trajectory plan defining an entry point on the patient's skull and a target point in the patient's brain captured in the merged first and second radiological patient images.

公开(公告)号：US20200297451A1

公开(公告)日：2020-09-24

申请号：US16402496

申请日：2019-05-03

Applicant: GLOBUS MEDICAL, INC.

Inventor： Hayden Cameron ,  Spiros Mantzavinos ,  Neil R. Crawford ,  Sanjay Joshi ,  Norbert Johnson

IPC: A61B90/11 ,  A61B10/02 ,  A61B34/30 ,  A61B34/20 ,  A61B17/34

Abstract: Devices, Systems, and Methods for determining a trajectory of a biopsy needle using a surgical robot. A surgical robotic may be configured to plan a trajectory and move to a location along the planned trajectory. The surgical robot may be configured to receive the biopsy needle and hold its position along the trajectory while the biopsy needle is used to aspirate a tissue sample from a patient.

公开(公告)号：US20200297427A1

公开(公告)日：2020-09-24

申请号：US16362879

申请日：2019-03-25

Applicant: GLOBUS MEDICAL, INC.

Inventor： Hayden Cameron ,  Spiros Mantzavinos ,  Neil R. Crawford ,  Sanjay Joshi ,  Norbert Johnson

IPC: A61B34/20 ,  A61B90/00 ,  A61B90/10 ,  A61B6/03 ,  A61B6/04 ,  A61B6/00 ,  A61B34/30

Abstract: A position is determined for each fiducial marker of a plurality of fiducial markers in an image volume. Based on the determined positions, a position and orientation of the registration fixture with respect to the anatomical feature is determined. A position is determined for each tracked marker of a first plurality of tracked markers on the registration fixture and a second plurality of tracked markers on the robot arm in a tracking data frame. Based on the determined positions of tracked markers, a position and orientation of the registration fixture and the robot arm of a surgical robot with respect to the tracking space are determined.

公开(公告)号：US20200170730A1

公开(公告)日：2020-06-04

申请号：US16209266

申请日：2018-12-04

Applicant: GLOBUS MEDICAL, INC.

Inventor： Hayden Cameron ,  Stephen Cicchini ,  Danielle Reinhard ,  Spiros Mantzavinos ,  James Cascarano ,  Neil Crawford ,  Raul Wirz ,  Francisco Ponce ,  Patrick Senatus ,  Arnold Vardiman ,  Norbert Johnson

IPC: A61B34/35 ,  A61B34/20 ,  A61B17/16

Abstract: A drill guide fixture may be configured to prepare a skull for attachment of a cranial insertion fixture. The drill guide fixture may include a central drill guide and a bone anchor guide at a base of the drill guide fixture. The central drill guide may define a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture. The bone anchor drill guide may define a bone anchor drill guide hole therethrough, and the bone anchor drill guide hole may be offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole. Related cranial insertion fixtures, robotic systems, and methods are also discussed.

公开(公告)号：US11944325B2

公开(公告)日：2024-04-02

申请号：US17662437

申请日：2022-05-09

Applicant: GLOBUS MEDICAL, INC.

Inventor： Hayden Cameron ,  Spiros Mantzavinos ,  Neil R. Crawford ,  Sanjay Joshi ,  Norbert Johnson ,  James Cascarano ,  Justin Larson ,  Stephen Cicchini ,  Ross Morris ,  Christopher Angelucci

IPC: A61B17/16 ,  A61B17/17 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B90/11 ,  A61B90/14 ,  A61B17/00

CPC classification number: A61B17/1695 ,  A61B17/162 ,  A61B17/1739 ,  A61B34/20 ,  A61B34/30 ,  A61B90/03 ,  A61B90/08 ,  A61B90/11 ,  A61B90/14 ,  A61B2017/00407 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2090/034 ,  A61B2090/0807

Abstract: A system for robotic surgery makes use of an end-effector which has been configured so that a drill connected thereto is guided in its trajectory and limited in its advancement into an associated anatomical feature by a drill guide. The drill guide may be adjusted manually to engage a corresponding surface of the drill after its advancement by a pre-selected amount. The drill guide likewise includes features to guide the drill during trajectories having oblique angles relative to the surface of the anatomical feature associated with the medical procedure.

公开(公告)号：US11744598B2

公开(公告)日：2023-09-05

申请号：US17813638

申请日：2022-07-20

Applicant: GLOBUS MEDICAL, INC.

Inventor： Hayden Cameron ,  Spiros Mantzavinos ,  Neil R. Crawford ,  Sanjay Joshi ,  Norbert Johnson

IPC: A61B17/16 ,  A61B34/20 ,  A61B90/00 ,  A61B34/32 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B17/1695 ,  A61B17/1615 ,  A61B17/1626 ,  A61B34/20 ,  A61B34/32 ,  A61B90/03 ,  A61B90/06 ,  A61B2017/00212 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/305 ,  A61B2090/031 ,  A61B2090/062 ,  A61B2090/065

Abstract: A system of robotic surgery includes components capable of drilling a bore in the cranium of a patient in connection with craniotomy and other cranial surgeries. A perforator associated with such system is controlled by suitable computer-implemented instructions to maintain the perforator tip along a desired trajectory line while moving the perforator bit at locations proximal to such perforator tip in a circular motion, thereby imparting a conical oscillation to the perforator bit relative to the trajectory line. The angle at which the perforator bit is oscillated relative to such trajectory line results in the bore formed in the cranium having a diameter larger than the bit diameter, and the larger diameter and related conical oscillation is selected so as to reduce frictional force opposing withdrawal of the bit from the situs of the bore, thereby reducing the risk of jamming of the bit during its associated operations.