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    ROBOTIC SURGICAL SYSTEMS FOR PREPARINIG HOLES IN BONE TISSUE AND METHODS OF THEIR USE
    4.
    发明申请
    ROBOTIC SURGICAL SYSTEMS FOR PREPARINIG HOLES IN BONE TISSUE AND METHODS OF THEIR USE 有权

    公开(公告)号：US20220079688A1

    公开(公告)日：2022-03-17

    申请号：US17534670

    申请日：2021-11-24

    申请人： KB MEDICAL, SA

    发明人： Szymon Kostrzewski ,  Chetan Patel

    IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B17/16 ,  A61B17/17 ,  A61B34/00

    摘要： Described herein are systems and methods for use in preparing holes in bones. In certain embodiments, the trajectory followed in preparing a hole in a bone is optimized by adjusting characteristics of rotation of a drill bit (e.g., an anti-skiving drill bit). In certain embodiments, a change in material is determined once a hard outer layer of a bone has been drilled. Subsequently, characteristics of rotation of a drill bit are altered to allow natural features of a patient's anatomy to guide the drill bit. In this way, certain hard walls of certain bones can act to redirect a drill bit. The change in material may be determined, and/or characteristics of rotation altered, by a surgeon or a robotic surgical system (e.g., automatically). In certain embodiments, a robotic surgical system notifies a surgeon of a change in material to prompt the surgeon to alter the characteristics of rotation.

    Robotic navigation of robotic surgical systems
    6.
    发明授权
    Robotic navigation of robotic surgical systems 有权

    公开(公告)号：US11071594B2

    公开(公告)日：2021-07-27

    申请号：US15920491

    申请日：2018-03-14

    申请人： KB MEDICAL SA

    发明人： Szymon Kostrzewski ,  Jean-Marc Wismer ,  Daniel Gehriger ,  Roderik Berthelin ,  Chetan Patel

    IPC分类号： A61B17/58 ,  A61B17/60 ,  A61F2/00 ,  A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  A61B17/17 ,  A61B90/00

    摘要： In certain embodiments, the systems, apparatus, and methods disclosed herein relate to robotic surgical systems with built-in navigation capability for patient position tracking and surgical instrument guidance during a surgical procedure, without the need for a separate navigation system. Robotic based navigation of surgical instruments during surgical procedures allows for easy registration and operative volume identification and tracking. The systems, apparatus, and methods herein allow re-registration, model updates, and operative volumes to be performed intra-operatively with minimal disruption to the surgical workflow. In certain embodiments, navigational assistance can be provided to a surgeon by displaying a surgical instrument's position relative to a patient's anatomy. Additionally, by revising pre-operatively defined data such as operative volumes, patient-robot orientation relationships, and anatomical models of the patient, a higher degree of precision and lower risk of complications and serious medical error can be achieved.

    Robotic surgical systems
    7.
    发明授权
    Robotic surgical systems 有权

    公开(公告)号：US11039893B2

    公开(公告)日：2021-06-22

    申请号：US15790538

    申请日：2017-10-23

    申请人： KB MEDICAL, SA

    发明人： Szymon Kostrzewski

    IPC分类号： G05B15/00 ,  G05B19/00 ,  A61B34/30 ,  A61B34/10 ,  B25J9/16 ,  B25J15/00 ,  A61B34/00 ,  A61B90/11 ,  A61B34/20

    摘要： A robotic surgical system for performing surgery, the system includes a robotic arm having a force and/or torque control sensor coupled to the end-effector and configured to hold a first surgical tool. The robotic system further includes an actuator that includes controlled movement of the robotic arm and/or positioning of the end-effector. The system further includes a tracking detector having optical markers for real time detection of (i) surgical tool position and/or end-effector position and (ii) patient position. The system also includes a feedback system for moving the end effector to a planned trajectory based on the threshold distance between the planned trajectory and the actual trajectory.

    ROBOTIC SURGICAL SYSTEMS AND METHODS
    8.
    发明申请
    ROBOTIC SURGICAL SYSTEMS AND METHODS 有权

    公开(公告)号：US20210038326A1

    公开(公告)日：2021-02-11

    申请号：US16888917

    申请日：2020-06-01

    申请人： KB Medical SA

    发明人： Szymon Kostrzewski

    IPC分类号： A61B34/30 ,  A61B17/17 ,  A61B90/00 ,  A61B34/20 ,  B25J19/06 ,  A61B5/04 ,  A61B90/11 ,  A61B34/00 ,  G16H20/40 ,  G16H40/63

    摘要： The disclosed technology relates to robotic surgical systems for improving surgical procedures. In certain embodiments, the disclosed technology relates to robotic surgical systems for use in osteotomy procedures in which bone is cut to shorten, lengthen, or change alignment of a bone structure. The osteotome, an instrument for removing parts of the vertebra, is guided by the surgical instrument guide which is held by the robot. In certain embodiments, the robot moves only in the “locked” plane (one of the two which create the wedge—i.e., the portion of the bone resected during the osteotomy). In certain embodiments, the robot shall prevent the osteotome (or other surgical instrument) from getting too deep/beyond the tip of the wedge. In certain embodiments, the robotic surgical system is integrated with neuromonitoring to prevent damage to the nervous system.

    ROBOTIC SURGICAL SYSTEMS FOR PREPARING HOLES IN BONE TISSUE AND METHODS OF THEIR USE
    9.
    发明申请
    ROBOTIC SURGICAL SYSTEMS FOR PREPARING HOLES IN BONE TISSUE AND METHODS OF THEIR USE 审中-公开

    公开(公告)号：US20180289432A1

    公开(公告)日：2018-10-11

    申请号：US15946179

    申请日：2018-04-05

    申请人： KB MEDICAL, SA

    发明人： Szymon Kostrzewski ,  Chetan Patel

    IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B17/16 ,  A61B17/17

    摘要： Described herein are systems and methods for use in preparing holes in bones. In certain embodiments, the trajectory followed in preparing a hole in a bone is optimized by adjusting characteristics of rotation of a drill bit (e.g., an anti-skiving drill bit). In certain embodiments, a change in material is determined once a hard outer layer of a bone has been drilled. Subsequently, characteristics of rotation of a drill bit are altered to allow natural features of a patient's anatomy to guide the drill bit. In this way, certain hard walls of certain bones can act to redirect a drill bit. The change in material may be determined, and/or characteristics of rotation altered, by a surgeon or a robotic surgical system (e.g., automatically). In certain embodiments, a robotic surgical system notifies a surgeon of a change in material to prompt the surgeon to alter the characteristics of rotation.

    UNIVERSAL INSTRUMENT GUIDE FOR ROBOTIC SURGICAL SYSTEMS, SURGICAL INSTRUMENT SYSTEMS, AND METHODS OF THEIR USE
    10.
    发明申请
    UNIVERSAL INSTRUMENT GUIDE FOR ROBOTIC SURGICAL SYSTEMS, SURGICAL INSTRUMENT SYSTEMS, AND METHODS OF THEIR USE 审中-公开

    公开(公告)号：US20180199951A1

    公开(公告)日：2018-07-19

    申请号：US15874467

    申请日：2018-01-18

    申请人： KB MEDICAL, SA

    发明人： Olivier Chappuis ,  Szymon Kostrzewski

    IPC分类号： A61B17/17 ,  A61B50/13 ,  A61B34/32 ,  A61B90/00 ,  A61B17/88 ,  A61B17/16 ,  A61B17/70 ,  A61B34/00

    摘要： Described herein are systems and apparatus of surgical instruments engineered for integration with robotic surgical systems to enhance precision in surgical procedures. Also described herein are methods of using such surgical instruments in performing surgical procedures. The use of such surgical instruments reduce complications arising from misalignment during surgery. The disclosed technology assists in stages of a surgical procedure that require a precise trajectory to be followed. Surgical instrument guides are attached to a universal surgical instrument guide, which is engineered to attach directly or indirectly with a robotic arm of a robotic surgical system. Surgical instruments can then be precisely guided along an axis defined by the universal surgical instrument guide. Individual instruments are easily inserted and removed from the channel of the universal surgical instrument guide, thus allowing a range of instruments to be used throughout a procedure while maintaining the surgical trajectory.