Trinity Orthopedics, LLC

Nuvasive, Inc.

Mako Surgical Corporation

Trinty Orthopedics, Llc.

Marino; James F.

Elbanna, Jamil

Jamil Elbanna

James F Marino

Eric Finley

Norbert F Kaula

James E Gharib

Scot Martinelli

Allen B Farquhar

Jeffrey J Blewett

Dale Binke

Michael Prieto

Vijay Subramanian

Patrick Miles

Goretti Medeiros, Legal Representative

Jienan Ding

Zhu Wu

Brent Mittelstadt

Kevin Thomas Foley

Troy B Woolley

David G Matsuura

Jared Arambula

Matthew Thompson

Matt Thompson

Alan Curtis Stone

Jeffrey Di Blewett

Surgical systems and methods involve manipulation of a bone. A robotic manipulator supports and moves a surgical tool that has a cutting bur rotatable about a cutting axis. Controller(s) control the manipulator to align the cutting axis to a target axis associated with the bone and advance the cutting bur along the target axis towards a cortical region of the bone. The controller(s) control the surgical tool to rotate the cutting bur about the cutting axis and contact the cortical region. The controller(s) detect, from sensor(s), forces applied to the cutting bur by the cortical region and compare the sensed forces to a threshold indicative of skiving of the cutting bur relative the cortical region. In response to the sensed forces exceeding the threshold, the controller(s) adjust control of the manipulator and/or surgical tool to reduce forces applied to the cutting bur by the cortical region.

Robotic surgical systems and methods for mitigating skiving between rotary cutting tool and cortical bone

A system for surgical registration. The system may include at least one computing device in communication with a surgical navigation system and the surgical device. The at least one computing device: a) receiving external bone registration data corresponding to locations on the exterior surface of the femur; b) calculating a first registration transform based on the external bone registration data; c) transforming a first bone removal plan of a surgical plan to the operative coordinate system based on the first registration transform; d) receiving internal bone canal registration data corresponding to at least one of location or orientation data from the inner canal of the femur; e) calculating a second registration transform based on both of the external and internal bone canal bone registration data; and f) transforming a second bone removal plan of the surgical plan to the operative coordinate system based on the second registration transform.

Systems and methods for surgical registration

Systems, devices, and methods to accurately and precisely align a visualized axis with one or more objects in an image field during a procedure using an imager based positioner system attached to an electronic positioning device are described. Specific methods of implanting guide pins into a first pedicle and a second pedicle of a vertebrae of a patient through a lumen of a trocar to a target of interest are also described.

Image based positioning and guidance system and methods of use

A method of diagnosing, minimizing symptoms and/or treating the pathology of intervertebral disc degeneration includes introducing a first cannula through a vertebra along an axis of at least one pedicle of the vertebra from a generally posterior to a generally anterior direction and inserting a second cannula within a lumen of the first cannula, the second cannula constrained to a relatively straight configuration within at least a portion of the first cannula and assumes a nonlinear or curvilinear geometry external to the first cannula within at least a portion of a vertebral body of the vertebra and away from a longitudinal axis of the first cannula. The method includes forming a channel with the second cannula, the channel extending to or adjacent to a vertebral endplate of the vertebral body in order to create a defect through the vertebral endplate of the vertebra. Related systems, devices, and methods are described.

Methods, systems, and devices for diagnosing and treating intervertebral disc degeneration

Surgical systems and methods for utilizing virtual boundaries having different constraint parameters. A robotic manipulator supports and moves a surgical tool for treating a bone structure. A navigation system tracks the surgical tool and the bone structure. Controller(s) obtain a virtual model of the bone structure and define first and second virtual boundaries relative to the virtual model. The first virtual boundary has a first constraint parameter and the second virtual boundary has a second constraint parameter that is different than the first constraint parameter. The virtual model and virtual boundaries are registered to the bone structure. The manipulator moves the surgical tool relative to the bone structure and the first and second virtual boundaries. The surgical tool is constrained relative to the first virtual boundary in accordance with the first constraint parameter and constrained relative to the second virtual boundary in accordance with the second constraint parameter.

Robotic surgical system and methods utilizing virtual boundaries with variable constraint parameters

Disclosed herein are techniques for preparation of a bone structure wherein a robotically controlled cutting bur is utilized for both milling the entry point at the outer cortical region and cannulation of the cancellous bone region for receipt of an implant. A robotic manipulator supports and moves the cutting bur and one or more controllers analyze measurements from sensors and, in response, control the robotic manipulator and/or the cutting bur for purposes such as landmark detection to determine entry point, avoiding tool skiving at entry point, and avoidance of cortical wall breach during cannulation. Also described are techniques for managing feed rate, rotational cutting speed, or mode of operation depending on operational conditions surrounding various stages of cannulation. A control interface is also provided to enable the user to manage or adjust cutting bur operation and feed rate.

Robotic surgical system and methods utilizing a cutting bur for bone penetration and cannulation

The present invention involves systems and related methods for performing percutaneous pedicle integrity assessments involving the use of neurophysiology.

System and methods for performing percutaneous pedicle integrity assessments

Disclosed are embodiments of a removable tip device, which include a bone penetration feature at a distal end and a securing feature that allows the removable tip device to be removably secured to a distal end of various embodiments of a bone coring device. Some embodiments of the removable tip device include features that assist in transmitting torsional loads from the bone coring device to the bone removal feature. In addition, some embodiments of the removable tip device include a protective element that is configured to provide a protective surface for a distal feature of the bone coring device.

Removable bone penetrating device and methods

An anchor device for attaching materials within bone including a body having a distal end region, a proximal end region, and a plurality of struts extending between the distal end region to the proximal end region and at least partially surrounding an interior volume of the body. The anchor device includes an attachment feature positioned within the interior volume of the body and coupled near the distal end region. The attachment feature is configured to secure material to the body. Upon removal of a constraint and after delivery of the anchor device into bone, the body passively transitions from a constrained, delivery configuration that is radially contracted and axially elongated to a relaxed, deployment configuration that is radially expanded and axially shortened.

Anchor devices and methods of use

Provided are devices, systems and methods related to articulating interbody cages. The device includes a caudal plate configured to be positioned adjacent a first vertebral endplate within an intervertebral disc space, a cephalad plate configured to be positioned adjacent a second vertebral endplate within the intervertebral disc space; and a first and second sidewall each rotatably coupled to both the caudal and cephalad plates. At least one of the first and second sidewalls includes a hinge element restricted from achieving an on-center or over-center rotational position around the hinge element upon dimensional expansion of the device in at least a first dimension.

Articulating interbody cage and methods thereof

Disclosed herein are devices (), systems and methods of use relating to articulating interbody cages. In one aspect, disclosed is an intervertebral device () for use in a human spine including an anterior end (); a posterior end (); and at least four peripheral walls (). The peripheral walls () define an interior volume surrounding a midline of the device and include a superior wall (), an inferior wall () and a pair of opposing, generally trapezoidal-shaped sidewalls. Each of the trapezoidal-shaped sidewalls () includes an internal hinge element () that is rotatable from a first configuration to at least a second configuration such that the device is expandable in first dimension. Each of the internal hinge elements includes an axis that is coplanar with the midline of the device.

This disclosure is directed to minimally-invasive devices, methods and systems used through small access portals to minimize trauma to structures adjacent the treatment site. The access device includes a guide frame and a cannula support washer movebly coupled to the guide frame. The washer has a cannula port aperture extending therethrough and a surface geometry complementary to the surface geometry of the guide frame. The complementary surface geometries limit movement of the cannula port aperture to arcuate movement along a surface segment of a sphere.

Growing community of inventors

San Diego, CA, United States of America

Jamil Elbanna