WO2022162671A1 - Systèmes de planification d'insertion de tige et d'insertion de tige - Google Patents

Systèmes de planification d'insertion de tige et d'insertion de tige Download PDF

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Publication number
WO2022162671A1
WO2022162671A1 PCT/IL2022/050129 IL2022050129W WO2022162671A1 WO 2022162671 A1 WO2022162671 A1 WO 2022162671A1 IL 2022050129 W IL2022050129 W IL 2022050129W WO 2022162671 A1 WO2022162671 A1 WO 2022162671A1
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WO
WIPO (PCT)
Prior art keywords
rod
tower
processor
robotic arm
path
Prior art date
Application number
PCT/IL2022/050129
Other languages
English (en)
Inventor
Dany JUNIO
Original Assignee
Mazor Robotics Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US17/575,320 external-priority patent/US20220241031A1/en
Application filed by Mazor Robotics Ltd. filed Critical Mazor Robotics Ltd.
Priority to EP22709411.7A priority Critical patent/EP4284288A1/fr
Priority to CN202280012617.8A priority patent/CN116829090A/zh
Publication of WO2022162671A1 publication Critical patent/WO2022162671A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations

Definitions

  • the present technology relates generally to robotic surgery and relates more particularly to planning a rod insertion and executing the rod insertion using robot-assisted or robotic surgery.
  • Surgical robots are useful during surgeries, and may operate autonomously (e.g., without any human input during operation), semi-autonomously (e.g., with some human input during operation), or non-autonomously (e.g., only as directed by human input).
  • use of multiple robotic arms during a surgery can enable more to be accomplished in a shorter period of time than with only one robotic arm.
  • Example aspects of the present disclosure include:
  • a robotic system for inserting a rod comprises a robotic arm comprising a proximal end; and a distal end movable relative to the proximal end, the distal end configured to position a rod; 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: track at least one tower to identify a tower movement, the tower extending from a head of a corresponding implanted pedicle screw; calculate an insertion point and a path from the insertion point to the at least one tower; cause the robotic arm to insert the rod at the insertion point and along the path; and cause the robotic arm to adjust the path during insertion of the rod based on the tower movement.
  • any of the aspects herein further comprising: at least one sensor, wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: monitor a magnitude of a force received by the robotic arm using the at least one sensor.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the robotic arm to pause movement of the rod when the magnitude of the force meets a threshold.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the robotic arm to tighten a set screw of the corresponding pedicle screw.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the robotic arm to remove the at least one tower from the head of the corresponding pedicle screw.
  • tracking the at least one tower uses at least one of a navigation system, a marker, or a sensor.
  • causing the robotic arm to adjust the path includes adjusting at least one of an orientation of the rod or a position of the rod.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: verify placement of the rod in the at least one tower.
  • verifying placement of the rod in the at least one tower uses at least one of a laser pointer and reflector, a navigation system, a sensor, or a marker.
  • a robotic system for inserting a rod comprises a first robotic arm and a second robotic arm, each robotic arm comprising: a proximal end; and a distal end movable relative to the proximal end, wherein the distal end of the first robotic arm is configured to position a rod and the distal end of the second robotic arm is configured to hold at least one tower in a known position, the at least one tower extending from a head of a corresponding pedicle screw implanted in a vertebra of a plurality of vertebrae; 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 position information about a current position of the at least one tower; calculate an insertion point and a path from the insertion point to the at least one tower based on the current position; and cause the first robotic arm to insert the rod at the insertion point and along the calculated path.
  • the position information is received from at least one sensor of the second robotic arm.
  • any of the aspects herein further comprising at least one sensor, and wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: verify, by the at least one sensor, placement of the rod in the at least one tower.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the first robotic arm to tighten a set screw of the corresponding pedicle screw.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the first robotic arm to remove the tower from the head of the corresponding pedicle screw.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the first robotic arm to adjust the path during insertion of the rod when a difference between the current position and the known position meets a predetermined threshold.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the second robotic arm to adjust a position of the at least one tower based on a difference between the current position and the known position meeting a predetermined threshold.
  • a method for inserting a rod comprises tracking at least one tower extending from a corresponding implanted pedicle screw to detect movement of the at least one tower; calculating an insertion point and a path from the insertion point to the at least one tower; causing a robotic arm to insert the rod at the insertion point and along the path; and causing the robotic arm to adjust the path during insertion of the rod based on the detected movement.
  • tracking the at least one tower uses at least one of a navigation system, a marker, or a sensor.
  • a robotic system for inserting a rod comprises a robotic arm comprising: a proximal end; and a distal end movable relative to the proximal end, the distal end configured to hold at least one tower in a known position; 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: calculate an insertion point and a path from the insertion point to the at least one tower; generate instructions for inserting a rod along the path; and update the path during insertion of the rod based on information about a position of the rod or movement of the tower.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the robotic arm to release the tower when the magnitude of the force meets a threshold.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the robotic arm to tighten a set screw of a pedicle screw corresponding to the tower.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the robotic arm to remove the at least one tower from a head of a pedicle screw corresponding to the tower.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: cause the robotic arm to move the tower from the known position to an updated position based at least one of a force exerted on the robotic arm or information about a position of the rod.
  • the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: verify placement of the rod in the at least one tower.
  • verifying placement of the rod in the at least one tower uses at least one of a laser pointer and reflector, a navigation system, a sensor, or a marker.
  • a method for calculating an insertion point and a path for a rod comprises receiving a surgical plan having at least one image and information about a position of at least one tower, the at least one image depicting a surgical region; identifying, in the at least one image, a soft tissue portion and at least one anatomical element; calculating an insertion point and a path from the insertion point to the at least one tower based on the identified soft tissue portion and at least one anatomical element; and causing a robotic arm to insert a rod at the insertion point and along the path.
  • the at least one image is obtained from at least one of an MRI scanner, an ultrasound, or a CT scanner.
  • the at least one image comprises a first image and a second image of the surgical region, the first image comprising hard tissue information and the second image comprising soft tissue information.
  • the first image is a CT image and the second image is an ultrasound image.
  • one of the first and second images is a preoperative image
  • another of the first and second images is an intraoperative image
  • any of the aspects herein, wherein identifying the at least one anatomical element uses at least one of feature recognition, machine learning, artificial intelligence, or a neural network.
  • identifying the soft tissue portion uses segmentation.
  • calculating the insertion point and the path is based on information about a geometry of the rod.
  • a method for inserting a rod comprises receiving a surgical plan having information about an insertion point and a path of a rod to at least one tower; causing a robotic arm to insert the rod at the insertion point using the path; tracking the rod during insertion of the rod using the path; determining a difference between a pose of the rod and the path; and updating the path when the difference meets a threshold.
  • the updated path is communicated to a user.
  • tracking the rod includes tracking a soft tissue portion surrounding the rod.
  • the surgical plan includes at least one image depicting a surgical region, and further comprising: identifying, in the at least one image, a soft tissue portion and at least one anatomical element; and calculating the insertion point and path from the insertion point to the at least one tower based on the identified soft tissue portion and at least one anatomical element.
  • identifying the at least one anatomical element uses at least one of feature recognition, machine learning, artificial intelligence, or a neural network.
  • any of the aspects herein, wherein identifying the soft tissue portion uses segmentation.
  • Any of the aspects herein, wherein calculating the insertion point and the path is based on information about a geometry of the rod.
  • a system for calculating an insertion point and a path for a rod comprises at least one processor; and at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to: receive a surgical plan having at least one image and information about a position of at least one tower, the at least one image depicting a surgical region; identify a soft tissue portion and at least one anatomical element; calculate an insertion point and path from the insertion point to the at least one tower based on the identified soft tissue portion and at least one anatomical element, the at least one tower extending from an implanted pedicle screw; and cause a robotic arm to insert a rod at the insertion point and along the path.
  • the at least one image is obtained from at least one of an MRI scanner, an ultrasound, or a CT scanner.
  • the at least one image comprises a first image and a second image of the surgical region, the first image comprising hard tissue information and the second image comprising soft tissue information.
  • each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and/or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together.
  • each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as Xi-X n , Y i-Y m , and Zi-Z 0
  • the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., Xi and X2) as well as a combination of elements selected from two or more classes (e.g., Y 1 and Z o ).
  • FIG. 1 is a block diagram of a system according to at least one embodiment of the present disclosure
  • FIG. 2 is a flowchart of a method according to at least one embodiment of the present disclosure.
  • FIG. 3 is another flowchart of a method according to at least one embodiment of the present disclosure.
  • the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware -based processing unit.
  • Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).
  • processors such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al 1, A12, A12X, A12Z, or Al 3 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000-series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry.
  • DSPs digital signal processors
  • MIS Minimally invasive surgery
  • the procedure includes using towers attached to inserted pedicle screws that act as screw extenders and allow for a rod (inserted from a small incision) to be slid into each tower in succession. After the rod is inside all of the towers, the rod is locked into place using set screws in each tower.
  • the procedure is time consuming and not robust in its duration. Complexity of the procedure also increases with an increase in more screws needed. Typical spine surgeons try to avoid performing the procedure on more than 3-4 spine levels.
  • a surgeon may plan a surgical procedure on a robotic platform (or using any computer with a user interface, and providing the plan to a robotic platform).
  • a preoperative image may be used to plan the surgical procedure.
  • the preoperative image may be obtained from an MRI or other imaging device.
  • Anatomical element(s) may be identified in the preoperative image using, for example, a machine -learning based tissue algorithm (e.g., U-net).
  • Soft tissue may be identified using tissue segmentation to identify main blood vessels, nerves, nerve roots, muscle tissue, bone, ligaments, and/or large organs.
  • Preoperative planning may also include identifying desired implants (including rods) and determining a desired position of the implants. The implants may then be inserted.
  • An insertion point and a path for a rod to at least one tower may be calculated based on the identified soft tissue and anatomical element(s) in the at least one image and/or the location of the inserted implants.
  • the rod may be inserted at the insertion point and along the path to place the rod in the at least one tower.
  • the at least one tower may be tracked to identify tower movement during insertion of the rod.
  • the path may be updated when tower movement is identified or movement of the rod offset from the path is identified.
  • Embodiments of the present disclosure also provide for using a robotic arm to insert the rod at the insertion point and to move the rod along the path.
  • a first robotic arm may insert the rod and a second robotic arm may support the at least one tower.
  • Some embodiments of the present disclosure provide for calculating a path for rod insertion, for either robotic or non-robotic insertion without rod tracking.
  • a patient may undergo a pre -operative MRI and a software may perform a machine-based tissue recognition using an algorithm (such as U-net, for example) on anatomical features of the patient’s designated spine section shown in the MRI.
  • Tissue segmentation is then executed to segment main blood vessels, nerves and nerve roots, muscle tissue, bone, ligaments, and other large organs.
  • Pre-operative and/or intra-operative planning is done on the MRI, including determining the desired implants and rods. The procedure is then executed to implant the desired implants.
  • the location for the rod insertion is calculated including optimizing an insertion point (based on a geometry of the rod and the tissue).
  • the path is calculated using different inputs such as avoiding main blood vessels, avoiding identified nerves and nerve roots, aligning the rod to run as parallel as possible to muscle structures, minimize the amount of ligaments transfers, minimize needed rod rotations in a path of motion, avoid rod insertion into non-relevant organs, avoid rod collision with bony anatomy, and/or data presented to the surgeon.
  • Some embodiments of the present disclosure provide for calculating a path for rod insertion, for either robotic or non-robotic insertion with rod tracking.
  • a patient may undergo a pre -operative MRI and a software may perform a machine-based tissue recognition using an algorithm (such as U-net, for example) on anatomical features of the patient’s designated spine section shown in the MRI.
  • Tissue segmentation is then executed to segment main blood vessels, nerves and nerve roots, muscle tissue, bone, ligaments, and other large organs.
  • Pre-operative and/or intra-operative planning is done on the MRI, including determining the desired implants and rods.
  • the procedure is then executed to implant the desired implants.
  • the location for the rod insertion is calculated including optimizing an insertion point (based on a geometry of the rod and the tissue).
  • the path is calculated using different inputs such as avoiding main blood vessels, avoiding identified nerves and nerve roots, aligning the rod to run as parallel as possible to muscle structures, minimize the amount of ligaments transfers, minimize needed rod rotations in a path of motion, avoid rod insertion into non-relevant organs, avoid rod collision with bony anatomy, and/or data presented to the surgeon.
  • the rod may be tracked using, for example, inertial measuring units, navigation at the rod’s distal end, and/or electro-magnetic sensors.
  • a software may also display a needed rod direction and orientation to a user. The software may also update a rod path and orientation as the rod moves.
  • Embodiments of the present disclosure also provide for tracking towers during rod insertion using one robotic arm.
  • a single arm may insert the rod while the towers location may be tracked.
  • Surgery may be planned and executed up to a point where the towers are located or implanted in the patient’s anatomy (with or without a robot).
  • Each of the relevant towers may be tracked using navigation, reflectors, inertial measurement units, or other methods.
  • a rod shape is known or measured (e.g., could be measured by a navigation probe that runs on the rod) and the rod can be attached in a known position and orientation to a robot.
  • a path for an insertion point and path to the towers may be calculated.
  • the robot may execute the rod insertion according to the calculated path.
  • the robot path may adjust as the towers move (the towers may move as the towers are flexible and the rod is moving and shifting from within the patient’s body).
  • Embodiments of the present disclosure also provide for tracking towers during rod insertion using multiple robots acting as the rod inserters.
  • Surgery may be planned and executed up to a point where the towers are located or implanted in the patient’s anatomy (with or without a robot). While the procedure takes place, one of the robotic arms may hold the tower(s) in a known, constantly measured location (the robot may have a tower holding end effector and safety mechanisms to avoid harm).
  • a rod shape is known or measured (e.g., which may be measured by a navigation probe that runs on the rod) and the rod can be attached in a known position and orientation to a robot.
  • a path for an insertion point and path to the towers may be calculated. The robot may execute the rod insertion according to the calculated path.
  • the robotic arm inserting the rod may adjust the path of the rod as the towers move (the towers may move as the towers are flexible and the rod is moving and shifting from within the patient’s body).
  • the path of the rod inserting robot may not change while the robot holding the towers moves the towers (within their calculated limits) to align with the rod path.
  • the robotic arm inserting the rod may adjust the path as the towers move and the robotic arm(s) holding the towers may move the towers.
  • the robotic arm(s) holding the towers can then communicate if the rod is inside the designated tower which can be done by (i) an electrical circuit closing (e.g., between two robots), (ii) a laser pointer and reflector, (iii) visual lights with algorithms or rod marking identification.
  • the path can be updated if changes occur to the needed path.
  • the rotation orientation of the rod may change according to the needed fixation (i.e., many surgeons insert the rod in one orientation for ease of insertion and then rotate it to the right orientation).
  • the rod holding robot may tighten in the set screws that hold the rod in place.
  • the rod holding robot may also break up the tower extenders.
  • Embodiments of the present disclosure provide technical solutions to the problems of ( 1 ) improving the success of rod insertion in a spinal procedure, and in particular in an MIS spinal procedure; (2) improving rod insertion planning; (3) reducing a duration of the spinal procedure by accounting and adjusting for movement in pedicle screw towers; (4) increasing the number of levels that may be successfully reached in an MIS spine surgery; and/or (5) increasing patient safety during robot-assisted or robotic minimally invasive surgeries.
  • a block diagram of a system 100 according to at least one embodiment of the present disclosure is shown.
  • the system 100 may be used, for example: to calculate an insertion point and a path for a rod to a tower; to adjust the path when movement of the tower or movement of the rod offset from the path is identified; to carry out one or more aspects of one or more of the methods disclosed herein; for navigation purposes; to carry out a fully autonomous and/or a robot-assisted surgery using a plurality of robots; or for any other useful purpose.
  • the system 100 comprises a computing device 102, an imaging device 132, a robot 136, a navigation system 156, a database 160, and a cloud 164.
  • systems according to other embodiments of the present disclosure may omit any one or more of the computing device 102, the imaging device 132, the robot 136, the navigation system 156, the database 160, and/or the cloud 164.
  • systems according to other embodiments of the present disclosure may arrange one or more components of the system 100 differently (e.g., one or more of the imaging device 132, the robot 136, and/or the navigation system 156 may comprise one or more of the components shown in Fig. 1 as being part of the computing device 102).
  • systems according to other embodiments of the present disclosure may comprise two or more of any of the components described herein, including, for example, the imaging device 132, the robot 136, and/or the database 160.
  • the computing device 102 comprises at least one processor 104, at least one communication interface 108, at least one user interface 112, and at least one memory 116.
  • a computing device according to other embodiments of the present disclosure may omit one or both of the communication interface(s) 108 and the user interface(s) 112.
  • the at least one processor 104 of the computing device 102 may be any processor identified or described herein or any similar processor.
  • the at least one processor 104 may be configured to execute instructions 124 stored in the at least one memory 116, which instructions 124 may cause the at least one processor 104 to carry out one or more computing steps utilizing or based on data received, for example, from the imaging device 132, the robot 136, the navigation system 156, the database 160, and/or the cloud 164.
  • the computing device 102 may also comprise at least one communication interface 108.
  • the at least one communication interface 108 may be used for receiving image data or other information from an external source (such as an imaging device 132, a robot 136, the navigation system 156, the database 160, the cloud 164, and/or a portable storage medium (e.g., a USB drive, a DVD, a CD)), and/or for transmitting instructions, images, or other information from the at least one processor 104 and/or the computing device 102 more generally to an external system or device (e.g., another computing device 102, the imaging device 132, the robot 136, the navigation system 156, the database 160, the cloud 164, and/or a portable storage medium (e.g., a USB drive, a DVD, a CD)).
  • an external source such as an imaging device 132, a robot 136, the navigation system 156, the database 160, the cloud 164, and/or a portable storage medium (e.g., a USB drive,
  • the at least one communication interface 108 may comprise one or more wired interfaces (e.g., a USB port, an ethemet port, a Firewire port) and/or one or more wireless interfaces (configured, for example, to transmit information via one or more wireless communication protocols such as 802.1 la/b/g/n, Bluetooth, Bluetooth low energy, NFC, ZigBee, and so forth).
  • the at least one communication interface 108 may be useful for enabling the computing device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.
  • the at least one user interface 112 may be or comprise a keyboard, mouse, trackball, monitor, television, touchscreen, button, joystick, switch, lever, headset, eyewear, or wearable device, and/or any other device for receiving information from a user and/or for providing information to a user of the computing device 102.
  • the at least one user interface 112 may be used, for example, to receive a user selection or other user input in connection with any step of any method described herein; to receive a user selection or other user input regarding one or more configurable settings of the computing device 102, the imaging device 132, the robot 136, and/or of another component of the system 100; to receive a user selection or other user input regarding how and/or where to store and/or transfer data received, modified, and/or generated by the computing device 102; and/or to display information (e.g., text, images) and/or play a sound to a user based on data received, modified, and/or generated by the computing device 102. Notwithstanding the inclusion of the at least one user interface 112 in the system 100, the system 100 may automatically (e.g., without any input via the at least one user interface 112 or otherwise) carry out one or more, or all, of the steps of any method described herein.
  • the system 100 may automatically (e.g., without any input via the at least one user interface 11
  • the computing device 102 may utilize a user interface 112 that is housed separately from one or more remaining components of the computing device 102.
  • the user interface 112 may be located proximate one or more other components of the computing device 102, while in other embodiments, the user interface 112 may be located remotely from one or more other components of the computer device 102.
  • the at least one memory 116 may be or comprise RAM, DRAM, SDRAM, other solid- state memory, any memory described herein, or any other tangible non-transitory memory for storing computer-readable data and/or instructions.
  • the at least one memory 116 may store information or data useful for completing, for example, any step of the methods 200 or 300 described herein.
  • the at least one memory 116 may store, for example, instructions 124 for execution by the at least one processor 104, for example to cause the at least one processor 104 to carry out one or more of the steps of the methods 200 and/or 300; and/or one or more algorithms 128 for use by the processor in carrying out any calculations necessary to complete one or more of the steps of the methods 200 and/or 300 (e.g., to calculate an insertion point and path, and so forth), or for any other calculations.
  • Such instructions 124 and/or algorithms 128 may, in some embodiments, be organized into one or more applications, modules, packages, layers, or engines, and may cause the at least one processor 104 to manipulate data stored in the at least one memory 116 and/or received from or via another component of the system 100.
  • the at least one memory 116 may also store one or more surgical plans 120
  • the imaging device 132 may be operable to image anatomical feature(s) (e.g., a bone, veins, tissue, etc.) and/or other aspects of patient anatomy, and/or any surgical instruments or tools within the field of view of the imaging device 132, to yield image data (e.g., image data depicting or corresponding to a bone, veins, tissue, implants, tools, etc.).
  • image data e.g., image data depicting or corresponding to a bone, veins, tissue, implants, tools, etc.
  • the imaging device 132 may be capable of taking a 2D image or a 3D image to yield the image data.
  • “Image data” as used herein refers to the data generated or captured by an imaging device 132, including in a machine -readable form, a graphical/visual form, and in any other form.
  • the image data may comprise data corresponding to an anatomical feature of a patient, or to a portion thereof.
  • the imaging device 132 may be or comprise, for example, an ultrasound scanner (which may comprise, for example, a physically separate transducer and receiver, or a single ultrasound transceiver), a radar system (which may comprise, for example, a transmitter, a receiver, a processor, and one or more antennae), an 0-arm, a C-arm, a G-arm, or any other device utilizing X-ray-based imaging (e.g., a fluoroscope, a CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography scanner, an endoscope, a microscope, a thermographic camera (e.g., an infrared camera), or any other imaging device 132 suitable for obtaining images of an anatomical feature of a patient.
  • X-ray-based imaging e.g., a fluoroscope, a CT
  • the imaging device 132 may comprise more than one imaging device 132.
  • a first imaging device may provide first image data and/or a first image
  • a second imaging device may provide second image data and/or a second image.
  • the same imaging device may be used to provide both the first image data and the second image data, and/or any other image data described herein.
  • the imaging device 132 may be operable to generate a stream of image data.
  • the imaging device 132 may be configured to operate with an open shutter, or with a shutter that continuously alternates between open and shut so as to capture successive images.
  • the robot 136 may be any surgical robot or surgical robotic system.
  • the robot 136 may be or comprise, for example, the Mazor XTM Stealth Edition robotic guidance system.
  • the robot 136 may comprise a base 140 that supports a robotic arm 148.
  • the robot 136 may comprise one or more robotic arms 148 (e.g., some robots 136 may comprise two robotic arms 148, three robotic arms 148, four robotic arms 148, or another number of robotic arms 148).
  • Each robotic arm 148 may, in some embodiments, assist with a surgical procedure (e.g., by holding and inserting a rod at an insertion point and along a path, by holding at least one tower) and/or automatically carry out a surgical procedure.
  • Each robotic arm 148 may have three, four, five, six, or more degrees of freedom.
  • the robot 136 also comprises one or more sensors 144.
  • the sensor 144 may be a force sensor, configured to detect a force applied on the robotic arm 148 (e.g., whether via an end effector of the robotic arm 148, a tool held by an end effector of the robotic arm 148, or otherwise).
  • the sensor 144 may be an inertial measurement unit sensor, position sensor, a proximity sensor, a magnetometer, or an accelerometer.
  • the sensor 144 may be a linear encoder, a rotary encoder, or an incremental encoder.
  • the sensor 144 may be an imaging sensor. Other types of sensors may also be used as the sensor 144.
  • the one or more sensors 144 may be positioned, for example, on the robotic arm 148 or elsewhere.
  • Data from the sensor(s) 144 may be provided to a processor of the robot 136, to the processor 104 of the computing device 102, and/or to the navigation system 156.
  • the data may be used to calculate a pose of the robotic arm 148, of an end effector of the robotic arm 148, and/or of a tool or other device attached to the robotic arm 148 (whether via an end effector or otherwise).
  • the calculation may be based not just on data received from the sensor(s) 144, but also on data or information (such as, for example, physical dimensions) about, for example, the robot 136 or a portion thereof, or any other relevant object, which data or information may be stored, for example, in a memory 116 of a computing device 102 or in any other memory.
  • the data may also be used to detect if a force received by the robotic arm 148 (which may be a force received by a tool supported by the robotic arm 148) exceeds a predetermined threshold.
  • One or more tracking markers 152 may be fixedly secured to or positioned on the robot 136, whether on the base 140, the robotic arm 148, and/or elsewhere. In some embodiments, one or more tracking markers 152 may additionally or alternatively be affixed to one or more other components of the system 100. The tracking markers 152 may be useful for enabling the navigation system 156 to determine and/or track a position of the robot 136 (or any other component to which one or more tracking markers 152 are secured).
  • one or more tracking markers 152 may be affixed to a patient undergoing a surgical procedure, so as to enable an imaging device 132, a navigation system 156, or another system or device to track a position of the patient.
  • the navigation system 156 of the system 100 may provide navigation for a surgeon and/or for the robot 136 during an operation.
  • the navigation system 156 may be any now-known or future- developed navigation system, including, for example, the Medtronic StealthStationTM S8 surgical navigation system.
  • the navigation system 156 may include a camera or other sensor(s) for detecting and/or tracking one or more reference markers, navigated tracking markers, or other objects within an operating room or other room where a surgical procedure takes place.
  • the navigation system 156 may be used to track a position of the robotic arm 148 (or, more particularly, of one or more tracking markers 152 attached to the robotic arm 148) of each robot 136.
  • the navigation system 156 may be used to track a position of one or more reference frames, markers, or arrays or other structures useful for detection by a camera or other sensor of the navigation system 156.
  • the navigation system 156 may be used, for example, to detect a position of a reference frame mounted to a patient and/or a position of one or more robotic arms 148.
  • the navigation system 156 may include a display for displaying one or more images from an external source (e.g., the computing device 102, the imaging device 132, a database 160, the cloud 164, or another source) or a video stream from the camera or other sensor of the navigation system 156.
  • the system 100 may operate without the use of the navigation system 156.
  • the database 160 may store information that correlates one coordinate system to another (e.g., one or more robotic coordinate systems to a patient coordinate system and/or to a navigation coordinate system).
  • the database 160 may additionally or alternatively store, for example, information about or corresponding to one or more characteristics of the tracking markers 152; one or more surgical plans 120 (including, for example, image information about a patient’s anatomy at and/or proximate the surgical site, for use by the robot 136, the navigation system 156, and/or a user of the computing device 102 or of the system 100); one or more images useful in connection with a surgery to be completed by or with the assistance of one or more other components of the system 100; and/or any other useful information.
  • the database 160 may be configured to provide any such information to the computing device 102 or to any other device of the system 100 or external to the system 100, whether directly or via the cloud 164.
  • the database 160 may be or comprise part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and/or another system for collecting, storing, managing, and/or transmitting electronic medical records including image data.
  • a hospital image storage system such as a picture archiving and communication system (PACS), a health information system (HIS), and/or another system for collecting, storing, managing, and/or transmitting electronic medical records including image data.
  • the cloud 164 may be or represent the Internet or any other wide area network.
  • the computing device 102 may be connected to the cloud 164 via the communication interface 108, using a wired connection, a wireless connection, or both.
  • the computing device 102 may communicate with the database 160 and/or an external device (e.g., a computing device) via the cloud 164.
  • Fig. 2 depicts a method 200 for a planning a rod insertion and more specifically, for calculating an insertion point and a path for a rod.
  • the method 200 (and/or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor.
  • the at least one processor may be the same as or similar to the processor(s) 104 of the computing device 102 described above.
  • the at least one processor may be part of a robot (such as a robot 136) or part of a navigation system (such as a navigation system 156).
  • a processor other than any processor described herein may also be used to execute the method 200.
  • the at least one processor may perform the method 200 by executing instructions stored in a memory, such as the instructions 124 of the memory 116.
  • the instructions may correspond to one or more steps of the method 200 described below.
  • the instructions may cause the processor to execute one or more algorithms, such as the algorithms 128.
  • one or more such algorithms 128 may be used to identify soft tissue and at least one anatomical element in at least one image, calculate an insertion point and a path from the insertion point to at least one tower, and/or determine a difference between a position and/or an orientation of a rod and the path.
  • the method 200 comprises receiving a surgical plan (step 202).
  • the surgical plan may be the same as or similar to the surgical plan 120.
  • the surgical plan may be received via a user interface (e.g., the user interface 112) and/or a communication interface (e.g., the communication interface 108) of a computing device such as the computing device 102, and may be stored in a memory such as the memory 116 of the computing device.
  • the surgical plan may include information about at least one tower of at least one pedicle screw.
  • the information may include information about placement of and/or a position and/or orientation of the at least one pedicle screw.
  • the information may also include at least one dimension of the at least one tower.
  • the surgical plan may also include information about at least one anatomical element. For example, the information may identify a vertebra that the pedicle screw may be implanted into.
  • the surgical plan may also include at least one image depicting a surgical region.
  • the at least one image may be obtained from an imaging device such as the imaging device 132.
  • the at least one image is obtained from or otherwise corresponds to an MRI.
  • the at least one image comprises an ultrasound image, a CT image, or an image generating using an imaging modality other than magnetic resonance and/or ultrasound.
  • the image may be obtained prior to a surgical procedure (e.g. , preoperatively) or during the surgical procedure (e.g., intraoperatively).
  • the at least one image may be obtained after the at least one pedicle screw is implanted.
  • the at least one image may comprise a first image and a second image of a surgical region.
  • the first image or the second image may be a preoperative image or an intraoperative image.
  • the first image may comprise hard tissue information and the second image may comprise soft tissue information.
  • the first image may be generated, for example, using a first imaging modality such as a CT scanner.
  • the second image may be generated, for example, using a second imaging modality such as an ultrasound image.
  • the first image and the second image may be combined.
  • the soft tissue information of the second image may be combined with or added to the hard tissue information of the first image.
  • the method 200 also comprises identifying at least a soft tissue portion and at least one anatomical element in the at least one image (step 204).
  • the identifying can be performed automatically by an algorithm such as the algorithm 128. In other embodiments, the identifying can be performed by a surgeon or other user.
  • Identifying the soft tissue portion and/or at least one anatomical element may include annotating or otherwise labeling each anatomical element and/or soft tissue element in the image.
  • identifying the soft tissue portion comprises segmenting the at least one image using one or more image processing algorithms.
  • the anatomical elements may be or include one or more of, for example, bones, organs, arteries, muscles, ligaments, nerves, and/or any other anatomical elements.
  • the soft tissue portion may be or include, for example, blood vessels, nerves, nerve roots, muscle tissue, ligaments, and/or organs.
  • the at least one anatomical element and the soft tissue portion may or may not be mutually exclusive (e.g., an organ in the image may be identified as soft tissue portion and as an anatomical element).
  • identifying the at least one anatomical element uses feature recognition (using, e.g., an edge detection or other feature recognition algorithm). For example, a contour of a vertebra, femur, or other bone may be identified in the image. In other embodiments, machine learning, artificial intelligence, and/or a neural network may be used to identify the at least one anatomical element. In such embodiments, a plurality of training images (each depicting on or more anatomical elements) may be provided to a processor such as the processor 104, and each training image may be annotated to include identifying information about an anatomical element in the image.
  • feature recognition using, e.g., an edge detection or other feature recognition algorithm. For example, a contour of a vertebra, femur, or other bone may be identified in the image.
  • machine learning, artificial intelligence, and/or a neural network may be used to identify the at least one anatomical element.
  • a plurality of training images may be provided to a processor such as the processor 104, and
  • the processor executing instructions stored in memory such as the memory 116 or in another memory, may analyze the images using a machine -learning algorithm and, based on the analysis, generate one or more image processing algorithms for identifying anatomical elements in an image. Such image processing algorithms may then be applied to the at least one image.
  • the method 200 also comprises calculating an insertion point and a path for a rod (step 206).
  • the calculating can be performed automatically by an algorithm such as the algorithm 128. In other embodiments, the calculating can be performed by a surgeon or other user.
  • the path is calculated from the insertion point to the at least one tower to position the rod in the at least one tower.
  • the path may be calculated based on the identified soft tissue portion and the identified at least one anatomical element. For example, the path may be based on avoiding specific soft tissue features or anatomical elements.
  • Calculating the insertion point and/or the path may be based on one or more inputs.
  • the inputs may include, for example, a geometry of the rod, a location of one or more towers through which the rod is to be inserted, and/or a target pose of the vertebrae to which the rod will be attached (e.g., via pedicle screws).
  • the inputs may also include inputs needed to accomplish one or more objectives in connection with calculating the insertion point and/or the path.
  • Such objectives may include, for example, avoiding main blood vessels, avoiding identified nerves and nerve roots, aligning the rod to run as parallel as possible to muscle structures, minimizing ligament transfers, minimizing needed rod rotations in a path of motion, avoiding rod insertion into or through organs, and/or avoiding rod collision with bony anatomy.
  • the one or more inputs may be received via the user interface and/or the communication interface and may be stored in the memory. In some embodiments, the one or more inputs may be provided in or via a surgical plan. The one or more inputs may also be determined from the at least one image obtained in step 202 and processed in step 204.
  • the step 206 may include generating instructions for orienting the rod at the insertion point and moving the rod along the path.
  • the instructions may be in machine readable form (such as the instructions 124) and/or human readable form.
  • the instructions may be communicated to a surgeon or user via a user interface such as the user interface 112 and/or via a communication interface such as the communication interface 108.
  • the instructions may also be communicated to a robot such as the robot 136 to cause a robotic arm such as the robotic arm 148 to execute the instructions.
  • the method 200 also comprises inserting the rod at the insertion point and along the path (step 208).
  • inserting the rod may be performed by a surgeon.
  • the instructions generated in step 206 may be communicated to the surgeon or a user for inserting the rod and moving it along the path.
  • a surgeon may be robotically assisted. For example, a robot may hold the rod, but the robot may move based on input from the surgeon.
  • a robotic arm such as the robotic arm 148 may insert the rod.
  • the robotic arm may hold or otherwise support the rod to orient the rod and/or move the rod.
  • the instructions generated in step 206 may be transmitted to the robot to cause the robotic arm to orient the rod at the insertion point and to move the rod along the path.
  • the method 200 also comprises tracking the rod (step 210). Tracking the rod may comprise using a navigation system such as the navigation system 156, a tracking marker such as the tracking marker 152, and/or a sensor such as the sensor 144 to enable determination of a pose (e.g., a position and orientation) of the rod at any given time.
  • a marker may be attached to the rod (e.g., to a proximal end of the rod, so as to be visible while the distal end of the rod is inserted into the patient) and the marker may be tracked by a navigation camera.
  • the rod may be supported and manipulated by an accurate robotic arm (e.g., a robotic arm whose pose relative to at least a robotic coordinate system is always known) such as the robotic arm 148, and information about a pose of the robotic arm, and thus of the rod, may be obtained from the robot.
  • a sensor may be disposed on or integrated with the rod and/or the robotic arm and the sensor may transmit or otherwise provide information about a position of the rod.
  • the sensor may be, for example, an inertial measurement unit.
  • the step 210 may also include tracking at least a soft tissue portion surrounding the rod.
  • the soft tissue portion may be tracked or otherwise monitored in real-time by an imaging device such as the imaging device 132.
  • the soft tissue portion may be tracked to monitor for damage to the soft tissue or to prevent damage to the soft tissue.
  • a position of the soft tissue portion may also be tracked or otherwise monitored, whether to ensure that the calculated path remains available or for any other purpose.
  • the soft tissue portion may be tracked, for example, using an imaging device capable of detecting soft tissue, or in any other manner.
  • An alert or notification may be generated and communicated to the surgeon or user to indicate when undesired damage has occurred or may occur to the soft tissue.
  • the alert or notification may be communicated via a user interface such as the user interface 112.
  • the method 200 also comprises determining a difference between a position and/or an orientation of the rod and the path (step 212).
  • the position and/or the orientation of the rod may be obtained from step 210 described above.
  • the determining can be performed automatically by an algorithm such as the algorithm 128.
  • the determining can be performed by a surgeon or other user.
  • the position and orientation, or pose, of the rod may be determined in a robotic coordinate system or another coordinate system in which the path was originally determined or into which the path has been translated, so that the pose of the rod and the path can be compared in a single coordinate system.
  • the difference may be determined continuously during insertion of the rod. In other embodiments, the difference may be determined at predetermined increments. The predetermined increments may be based on time (e.g., every 5 seconds), distance (e.g., every quarter inch), and/or percentage of completion of the path (e.g., every 5% of completion of the path). The difference may be displayed or otherwise communicated to a surgeon or user.
  • the actual pose of the rod may vary from the path for various reasons.
  • a pose of the patient may cause soft tissue of the patient’s anatomy to shift in a way that obstructs the originally calculated path, exerts an unexpected force on the rod during insertion thereof, or otherwise renders the originally calculated path unworkable.
  • the rod may be defective and bend or otherwise deform unexpectedly.
  • a previously undetected obstacle may be identified during insertion of the rod, and may necessitate altering the calculated path.
  • one or more pedicle screws to which the rod is being attached may dislodge from the vertebra in which it is implanted, or the vertebra may break, or placement of the rod in a pedicle screw attached to one vertebra may cause a vertebra to which another pedicle screw is attached to move out of the calculated path. Any one or more of these reasons, and/or any other reason, may result in the rod having a pose that varies from the path.
  • the method 200 also comprises updating the path (step 214).
  • the path may be updated based on detected movement of the soft tissue portion. The movement may be detected when the difference determined, for example, in step 212 meets a threshold.
  • the path may be updated based on detected movement of at least one tower.
  • the updating can be performed automatically by an algorithm such as the algorithm 128. In other embodiments, the updating can be performed by a surgeon or other user. Updating the path may include updating the insertion point (e.g., calculating a new insertion point), the entire path, or a portion of the path.
  • the path may be updated from a current position of the rod (in other words, a remaining portion of the path may be updated).
  • the rod may be removed and the entire path and/or the insertion point may be updated. Updating the path may also include adjusting an orientation of the rod and/or a position of the rod at one or more points in the path.
  • the updated path may be provided to a robot that is being used to insert the rod, or the updated path may be communicated to a surgeon or user and may be communicated via a user interface such as the user interface 112. In some embodiments, a new rod direction and/or rod orientation may be displayed or communicated to the surgeon.
  • the step 214 may also include updating one or more steps of the surgical plan.
  • the updated path may require one or more steps to be removed, added, or adjusted based on the new path.
  • the updated path may require a new order for tightening set screws of corresponding pedicle screws.
  • the step 214 may also include generating updated instructions based on the updated path.
  • the updated instructions may be human readable and communicated to a surgeon.
  • the updated instructions may be machine readable and communicated to the robot to cause the robotic arm to move the rod along the new path.
  • the updated instructions may also cause the robotic arm to remove the rod from the current path and reorient the rod to move the rod along the updated path.
  • the step 214 may also include triggering an alert or an alarm to notify the surgeon that the threshold has been met by the difference.
  • the alert or alarm may also notify the surgeon that the path has been updated and may prompt the surgeon to accept the updated path.
  • the threshold may be received via the user interface and/or the communication interface and may be stored in the memory.
  • the threshold may be provided in or via a surgical plan.
  • the threshold may be 1mm. In other embodiments, the threshold may be less than or greater than 1mm.
  • the difference may be calculated based on a maximum displacement of any point on the rod from a corresponding point on the path.
  • the difference may be calculated based on a displacement of a tip of the rod from the path. In still other embodiments, the difference may be calculated as an angle of rotation between the actual orientation of the rod and an orientation that matches the path. Thus, for example, if a rod is fully inserted in an orientation that results in the least resistance, and then must be rotated into a final position, the difference may be the angle by which the rod needs to be rotated to reach the final position.
  • a method 300 of inserting a rod may be carried out or otherwise performed, for example, by at least one processor.
  • the at least one processor may be the same as or similar to the processor(s) 104 of the computing device 102 described above.
  • the at least one processor may be part of a robot (such as a robot 136) or part of a navigation system (such as a navigation system 156).
  • a processor other than any processor described herein may also be used to execute the method 300.
  • the at least one processor may perform the method 300 by executing instructions stored in a memory, such as the instructions 124 of the memory 116.
  • the instructions may correspond to one or more steps of the method 300 described below.
  • the instructions may cause the processor to execute one or more algorithms, such as the algorithms 128.
  • one or more such algorithms 128 may be used to map one coordinate system to another coordinate system once each coordinate system has been located, and/or to calculate an insertion point and a path, and/or to generate rod insertion instructions.
  • the method 300 comprises receiving information about a current position of at least one tower (step 302).
  • the information is sensor data obtained from a sensor such as the sensor 144.
  • the sensor is disposed on or integrated with the at least one tower.
  • the sensor may be disposed on or integrated with a robotic arm such as the robotic arm 148.
  • the sensor may be, for example, an inertial measurement unit.
  • a first robotic arm may support and move the rod and a second robotic arm may support the at least one tower at a known position and/or orientation.
  • the first robotic arm and/or the second robotic arm may be the same as or similar to the robotic arm 148.
  • information about a current position and/or orientation of the second robotic arm, and thus the at least one tower may be obtained (e.g., from one or more sensors 144 disposed on the second robotic arm).
  • a sensor may be disposed on or integrated with the at least one tower and a redundant sensor may be disposed on or integrated with the second robotic arm, and each sensor may be tracked or may transmit information about a current position of the at least one tower.
  • the information may be received from a navigation system such as the navigation system 156.
  • the at least one tower, the first robotic arm, and/or the second robotic arm may comprise a tracking marker such as the tracking marker 152 (which may, in some embodiments, be a navigation LED) and/or another device detectable by the navigation system 156, which the navigation system 156 may use to determine a pose of the at least one tower.
  • the tracking marker may be positioned on or integrated with the at least one tower and/or the first robotic arm.
  • the information may comprise image data obtained via a camera or other imaging sensor.
  • the method 300 also comprises tracking the at least one tower to identify a tower movement (step 304). Tracking the at least one tower may use a navigation system such as the navigation system 156, a tracking marker such as the tracking marker 152, and/or a sensor such as the sensor 144. For example, a marker may be attached to the at least one tower and the marker may be tracked by a navigation camera. The marker may also be attached or secured to a robotic arm such as the robotic arm 148 holding the at least one tower and the marker may be tracked by the navigation camera.
  • a navigation system such as the navigation system 156
  • a tracking marker such as the tracking marker 152
  • a sensor such as the sensor 144.
  • a marker may be attached to the at least one tower and the marker may be tracked by a navigation camera.
  • the marker may also be attached or secured to a robotic arm such as the robotic arm 148 holding the at least one tower and the marker may be tracked by the navigation camera.
  • Tracking the at least one tower may include comparing a current position and/or orientation of the at least one tower and an expected or known position and/or orientation of the at least one tower to identify the tower movement.
  • the current position and/or orientation of the at least one tower may be obtained in step 302.
  • the current position and/or the orientation of the at least one tower may then be compared to the known position and/or orientation (e.g., as determined from previously obtained sensor data or otherwise) to determine if a difference exists. If a difference exists between the current and the known position and/or orientation exists, then this difference indicates that the at least one tower has moved.
  • the difference may then be quantified to determine a magnitude of the movement.
  • Identified tower movement may indicate that insertion of the rod is offset from a calculated path (described below with respect to step 306) or otherwise is no longer on the calculated path. Identified tower movement may also indicate that the calculated path is no longer a feasible path for inserting the rod into the tower (because the tower no longer lies along the calculated path). In some embodiments, identified tower movement may trigger one or more additional actions, such as recalculating a path, or causing the robotic arm to move the tower back to a position on a previously calculated path.
  • the method 300 also comprises calculating an insertion point and a path (step 306).
  • the step 306 is the same as or similar to the step 206 of the method 200 described above.
  • calculating the insertion point and the path may be based on the current position and/or orientation of the at least one tower identified in step 302.
  • the current position and/or orientation of the at least one tower may be different than an expected or known position and/or orientation of the tower (as reflected, for example, in preoperative imagery, a surgical plan, or even the sensor data received in the step 302).
  • the insertion point and the path may be calculated or recalculated based on the current position and/or orientation.
  • the method 300 also comprises causing a robotic arm to insert a rod at the insertion point and along the path (step 308).
  • the step 308 is the same as or similar to the step 208 of the method 200 described above with respect to insertion of the rod by a robotic arm.
  • the method 300 also comprises causing the robotic arm to adjust the path during insertion of the rod based on the tower movement (step 310).
  • the adjusting may be based on the use of an algorithm such as the algorithm 128 executed by a processor such as the processor 104 or a processor of the robotic arm.
  • the adjusting may be performed automatically.
  • Adjusting the path may include adjusting the insertion point (e.g., calculating a new insertion point), the entire path, or a portion of the path.
  • the path may be adjusted from a current position of the rod (in other words, a remaining portion of the path may be adjusted).
  • the rod may be removed and the entire path and/or the insertion point may be adjusted.
  • Adjusting the path may also include adjusting an orientation of the rod and/or a position of the rod at a number of points in the path.
  • the remaining portion or the entire path may be shifted by the increment. For example, if each tower of a plurality of towers have moved 1cm in a particular direction, then the path may be shifted 1cm in the same direction.
  • the step 310 may also include generating and transmitting updated instructions based on the adjusted path to the robotic arm to cause the robotic arm to move the rod along the adjusted path.
  • the updated instructions may also cause the robotic arm to remove the rod from the current path and re-orient the rod to move the rod along the adjusted path.
  • the step 310 may also include triggering an alert or an alarm to notify the surgeon that tower movement has been identified.
  • the alert or alarm may also notify the surgeon that the path has been adjusted and may prompt the surgeon to accept the adjusted path prior to the robotic arm moving the rod along the adjusted path.
  • a surgeon or other user may provide input to modify the adjusted path.
  • the method 300 also comprises causing the second robotic arm to adjust a position and/or an orientation of the at least one tower (step 312).
  • the position and/or orientation of the at least one tower may be adjusted to move the at least one tower back to the known position and/or orientation.
  • the at least one tower may be adjusted to accommodate the rod path.
  • the at least one tower may be adjusted to accommodate the current position and/or orientation of the rod.
  • the step 312 may occur only to the extent that a force exerted by the second robotic arm on the at least one tower does not exceed a predetermined threshold.
  • the threshold may be an absolute magnitude or a relative magnitude.
  • the predetermined threshold may be generated automatically based on information about, for example, a pedicle screw to which the tower is connected (e.g., a length of the pedicle screw, a width of the pedicle screw) and/or information about the vertebra to which the tower is attached via a pedicle screw (e.g., dimensions of the vertebra, bone quality of the vertebra).
  • the predetermined threshold may be input by a surgeon or other user.
  • a recommended predetermined threshold may be generated automatically, and a surgeon or other user may modify and/or approve the recommended predetermined threshold.
  • the force exerted by the second robotic arm on the at least one tower may be measured, for example, by one or more sensors (e.g., sensors 144) on the second robotic arm.
  • steps 310 and 312 may occur within sequence or simultaneously. For example, when tower movement is identified, the path of the rod and the position of the at least one tower may both be adjusted. In another example, the path of the rod may be adjusted, then the position of the at least one tower may be adjusted, or vice versa. Further, the steps 310 and 312 may optimize a placement of the rod in the at least one tower based on the current positions and/or orientations of the at least one tower and/or rod. In some embodiments, the pose of the at least one tower may be adjusted until the predetermined threshold is reached, and the path may then be calculated based on the resulting position of the at least one tower.
  • the method 300 also comprises monitoring a magnitude of a force received by the robotic arm (step 314).
  • the robotic arm that receives the force may be the robotic arm attached to the at least one tower (as described above in connection with the step 312), or alternatively may be the robotic arm manipulating the rod.
  • the force may be detected with a sensor such as a sensor 144.
  • the detected force may be or comprise a linear force, rotational force (e.g., torque), and/or any other type of force.
  • the sensor may be positioned on the robotic arm or elsewhere.
  • the sensor may be configured to detect motion of the robotic arm and to calculate a force based on information about a stiffness of the robotic arm as well as the detected motion. Alternatively, the sensor may be configured to measure force directly.
  • the detected force may comprise one or more individual force components (e.g., a force component in each of an X-axis, a Y-axis, and a Z-axis, and/or a torque component around an X-axis, a Y-axis, and a Z-axis).
  • individual force components e.g., a force component in each of an X-axis, a Y-axis, and a Z-axis, and/or a torque component around an X-axis, a Y-axis, and a Z-axis.
  • the method 300 also comprises causing the robotic arm manipulating the rod to pause movement of the rod when the magnitude of the force meets a predetermined threshold (step 316).
  • the predetermined threshold may be determined in any manner described herein or in any other manner.
  • the step 316 may include generating, transmitting, and/or executing instructions such as the instructions 124 when the magnitude of the force meets the predetermined threshold to cause the robotic arm to pause movement.
  • the instructions may further cause the robotic arm to remove the rod from the path and/or the insertion point when the magnitude of the force meets the predetermined threshold.
  • the step 316 may comprise comparing the detected force to the predetermined threshold.
  • the comparing may comprise comparing a single combined force vector to a predetermined threshold, and/or comparing individual force components to individual force thresholds.
  • the detected force may be considered to be lower than the predetermined threshold if the overall force vector has a lower magnitude than the predetermined threshold, or the detected force may be considered to be lower than the predetermined threshold if any individual force component exceeds a corresponding predetermined threshold component (and/or regardless of whether the overall force vector has a lower magnitude than the predetermined threshold).
  • the predetermined threshold may comprise a threshold magnitude that depends on a direction of the detected force vector.
  • the predetermined threshold may comprise a first threshold magnitude for a force exerted in a first direction, and a second threshold magnitude different than the first threshold magnitude for a force exerted in a second direction different than the first direction.
  • the predetermined threshold may comprise individual components (e.g., in the X-axis, Y-axis, and Z- axis directions, and/or around the X-axis, the Y-axis, and the Z-axis) or may simply comprise an overall threshold magnitude and direction.
  • the predetermined threshold may comprise only a threshold magnitude.
  • the method 300 also comprises verifying placement of the rod in the at least one tower (step 318). Placement of the rod may be verified using a laser pointer and reflector disposed on or integrated with the rod, a navigation system such as the navigation system 156, a tracking marker such as the tracking marker 152, and/or a sensor such as the sensor 144.
  • placement of the rod may be verified by the second robotic arm.
  • a sensor disposed on or integrated with the second robotic arm may sense the rod placed in the at least tower.
  • an accelerometer may be configured to sense vibrations and/or other movement of the at least one tower (and/or an associated pedicle screw) caused by movement of the rod through the tower.
  • an electrical circuit may be utilized to verify placement of the rod in the at least one tower. The circuit may be between a first robotic arm supporting the rod and a second robotic arm supporting the at least one tower.
  • an electrical signal may be transmitted through the rod, and a sensor on the second robotic arm may be used to detect whether the signal is transmitted through the at least one tower (which would suggest that the rod and the at least one tower are in contact).
  • the reverse could also be done (e.g., the electrical signal could be introduced to the tower, and detected at the rod).
  • an electrical signal could be introduced on a first side of the tower and detected on an opposite second side of the tower that is insulated from the first side of the tower. If the signal is detected, then an inference could be made that the rod has been properly placed between the two sides of the tower and has placed the two sides in electrical communication with each other.
  • An electrical circuit created as described above or in any other manner may thus be used to determine whether the rod has been properly placed within each of the at least one tower.
  • the method 300 also comprises causing the robotic arm to tighten a set screw (step 320).
  • the robotic arm may be the same robotic arm that is (or was) attached to the at least one tower, and may support a tool, such as a screwdriver, to tighten the set screw in the tower and/or the head of the pedicle screw.
  • a tool such as a screwdriver
  • each set screw may be incrementally tightened in a sequence to avoid point loading any single pedicle screw. For example, a first set screw may be tightened, then a second set screw may be tightened, then the first set screw may be further tightened, etc.
  • the robotic arm that inserted the rod may also tighten the set screw.
  • a different robotic arm may tighten the set screw.
  • the method 300 also comprises causing the robotic arm to remove the at least one tower from a head of a pedicle screw (step 322).
  • the robotic arm may support and operate a tool to grasp the at least one tower and apply a force to detach, disconnect, break, or otherwise remove the least one tower from the head.
  • the robotic arm may also apply a force to the at least one tower to break the at least one tower using any sort of tool or by simply pressing an end of the robotic arm against the tower.
  • the at least one tower may include a score to facilitate breakage of the at least one tower from the head.
  • the robotic arm that inserted the rod may also remove the at least one tower.
  • a different robotic arm may remove the at least one tower.
  • the present disclosure encompasses methods with fewer than all of the steps identified in Figs. 2 and 3 (and the corresponding description of the methods 200 and 300), as well as methods that include additional steps beyond those identified in Figs. 2 and 3 (and the corresponding description of the methods 200 and 300).
  • One or more steps of the methods described herein may be performed in an order other than the order in which they are described herein.
  • aspects of the present disclosure may be utilized to automatically or with robotic assistance calculate a path for insertion of a rod through one, two, three, four, five, six, seven, eight, nine, ten, or more towers extending from implanted pedicle screws.
  • the methods described herein may be carried out using two robotic arms (with one robotic arm manipulating the rod and a second holding or manipulating one of the towers at a time), or using more than two robotic arms (with each additional robotic arm configured to hold or manipulate another one of the towers).
  • the greater the number of robotic arms the greater the number of towers that may be held or manipulated simultaneously.
  • the plurality of robotic arms may be caused to align (or to otherwise arrange) the plurality of pedicle screw towers to facilitate insertion of the rod therein.
  • any such manipulation of the pedicle screw towers may be limited by an amount of force that may be safely applied to each pedicle screw tower by a corresponding robotic arm, and so perfect alignment or other arrangement of the pedicle screw towers (e.g., according to a surgical plan) may not be possible.
  • a single robotic arm may be provided with an end effector (or otherwise equipped to be) capable of connecting to, and/or of manipulating, multiple pedicle screw towers simultaneously.
  • a plurality of pedicle screw towers may be held or otherwise manipulated using a single robotic arm, while another robotic arm manipulates a rod.
  • only a single robotic arm may be available, which robotic arm may be used either to insert the rod or to hold and/or manipulate one or more pedicle screw towers. Whichever task(s) is/are not accomplished by the robotic arm may be carried out by a surgeon or other user, whether based on instructions displayed on a user interface or otherwise.
  • Embodiments of the present disclosure beneficially provide for rod insertion planning and rod insertion that accounts for tower movement.
  • placement of the rod in the tower may be optimized in real-time during the procedure, thereby preventing placement of the rod that may cause unforeseen issues due to inaccurate placement.
  • planning of the rod insertion and path may be optimized to reduce trauma to soft tissue or other anatomical elements in the path.
  • patient safety may be increased and soft tissue and/or anatomical element trauma may be reduced.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

Des systèmes et des procédés d'insertion d'une tige sont fournis. Au moins une tour s'étendant à partir d'une tête d'une vis pédiculaire implantée correspondante peut être suivie pour identifier un mouvement de tour. Un point d'insertion et un trajet allant du point d'insertion à ladite au moins une tour peuvent être calculés. La tige peut être insérée au niveau du point d'insertion et le long de la tige et le trajet peut être ajusté pendant l'insertion de la tige sur la base du mouvement de la tour identifié.
PCT/IL2022/050129 2021-02-01 2022-01-30 Systèmes de planification d'insertion de tige et d'insertion de tige WO2022162671A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22709411.7A EP4284288A1 (fr) 2021-02-01 2022-01-30 Systèmes de planification d'insertion de tige et d'insertion de tige
CN202280012617.8A CN116829090A (zh) 2021-02-01 2022-01-30 用于棒插入计划和棒插入的系统

Applications Claiming Priority (4)

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US202163144046P 2021-02-01 2021-02-01
US63/144,046 2021-02-01
US17/575,320 US20220241031A1 (en) 2021-02-01 2022-01-13 Systems and methods for rod insertion planning and rod insertion
US17/575,320 2022-01-13

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012131660A1 (fr) * 2011-04-01 2012-10-04 Ecole Polytechnique Federale De Lausanne (Epfl) Système robotisé et procédé pour chirurgie rachidienne et autre
WO2017221257A1 (fr) * 2016-06-23 2017-12-28 Mazor Robotics Ltd. Insertion non effractive de tige intervertébrale

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012131660A1 (fr) * 2011-04-01 2012-10-04 Ecole Polytechnique Federale De Lausanne (Epfl) Système robotisé et procédé pour chirurgie rachidienne et autre
WO2017221257A1 (fr) * 2016-06-23 2017-12-28 Mazor Robotics Ltd. Insertion non effractive de tige intervertébrale

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