Depuy Synthes Products, Inc.

Medos International Sarl

Marc Puls

Daniel Thommen

William J Frasier

Robert Brik

Nicholas Pavento

James Murray

Jörn Richter

Richard Patrick Courtis

Steffen Schumann

Joern Richter

Mark T Hall

Thomas J Gamache

Eric Buehlmann

Dennis Chien

William Miller

Tarik Yardibi

Klaus Radermacher

Brice Dudley, Jr

Manuel Vossel

Lukas Theisgen

Matias De La Fuente Klein

Cheng-Ju Wu

William Frasier

Brice Dudley

Surgical instrument calibration methods, systems, and devices are provided that allow a virtual representation of a surgical instrument to be modified to adjust for any variations in a distal tip of a surgical instrument. For example, an instrument calibration system is provided that can have a surgical instrument, a calibration instrument, and a monitoring system. The surgical instrument can have a distal tip and an orientation element thereon, and the calibration instrument can have a pivot point thereon and a calibration reference element attached thereto. The monitoring system can be configured to record movement of the surgical instrument with respect to the calibration instrument when the tip of the surgical instrument is inserted into the pivot point of the calibration instrument, and to calculate a deviation of the tip of the surgical instrument from a predefined ideal tip based on the recorded movement.

Instrument calibration

In an embodiment, a system attaches a patient reference array of a computer-assisted surgery system to a patient. The system includes a fixation post having a shaft having proximal and distal ends that are offset from. A threaded fastener is coupled to the shaft at the distal end that rotates relative to the shaft so as to engage internal threads of a pedicle screw, thereby causing the distal end of the shaft to translate in the anchor seat and urge the pedicle screw to transition from an unlocked configuration to a locked configuration. The attachment assembly has an arm that supports the patient reference array, and a coupler supported by the arm. The coupler has a fixation body that defines a recess that receives at least a portion of the fixation post, and an actuator that secures the attachment assembly to the fixation post.

Assembly for coupling a patient reference array to a medical implant such as a pedicle screw

Systems, methods, and instruments for tracking localized movement of an anatomic structure at a surgical site are provided that can, for example, detect and identify movement of the anatomic structure not otherwise tracked by a global navigation system. One embodiment can include a cannula with a localized navigation sensor coupled to a distal end thereof. The cannula can be coupled to a robot arm and the localized navigation sensor can detect movement of an anatomic structure relative to the cannula. The localized navigation sensor can include one or more tines that selectively extend from the cannula to contact the anatomic structure. A controller can receive data from the localized navigation sensor and a global navigation system, and determine if movement detected by the localized navigation sensor is tracked by the global navigation system. Systems, methods, and instruments of the present disclosure can be used independently of a global navigation system.

Systems, methods, and devices for localized tracking of a vertebral body or other anatomic structure

Systems, methods, and devices are disclosed for surgical systems comprising an applicator having a first shaft, an implant having a first member pivotably and detachably coupled to the first shaft, and a second member for converting rotational motion of the implant to a translational offset, and at least one of a sensor for determining the offset or an indicator for indicating the offset, provided that the indicator is not a protrusion located at an end of the applicator. A controller may be provided, the controller being configured to receive offset data from the sensor, determine an angle of the implant in a patient using dimensions of the implant and the offset, and display a current position of the implant relative to patient anatomy. The applicator may have a second shaft slidably disposed on the first shaft along an axis defined by a longitudinal axis of the applicator.

Surgical implant position detection

Surgical systems and methods are disclosed, including, in one embodiment, a system having a coupling system disposed on a distal end portion of a surgical robot arm that secures a navigation array to the robot arm in a plurality of different orientations. The system further includes a navigation system configured to determine a precise location of the distal end portion by measuring a precise location of the navigation array by visually observing the navigation array, receiving a location of the coupling system via one or more encoders in the robot arm, determining the orientation of the navigation array relative to the robot arm based on the visual observation of the navigation array and the received location of the coupling system, and determining the precise location of the distal end portion of the surgical robot arm based on a known spatial relationship between the distal end portion and the coupling system.

Systems and methods for using surgical robots with navigation arrays

Systems, methods, and devices are disclosed for surgical instruments, systems, and methods for preventing skiving of a drilling instrument during a robotic or robot-assisted surgery are disclosed. In one embodiment, a scan of a patient's anatomy can be performed to produce a model of the bone to be drilled into and analysis of the surface can determine if the curvature is such that, if a target trajectory for a bore were followed, skiving of the drilling instrument is likely. If so, an alternate anti-skiving trajectory can be determined. The anti-skiving trajectory of a bore differs from the target trajectory by at least one of entry point, diameter, axis, or depth.

Surgical robot with anti-skive feature

Systems, devices, and methods are provided for trajectory guidance using instrument position data and planned trajectories into or through a patient's body or an object. Lasers are emitted from a laser system toward the patient's body or object at an area within or proximate to the instrument operator's line of sight. Information about the instrument, including the position of its proximal and distal ends, and the position of the patient's body or object, are used to direct the emission of the lasers in real-time during operation of the instrument. The emitted lasers function as visual cues indicating the manner in which to position the distal and proximal ends of the instrument to properly align with the planned trajectory. A guidance map on the instrument can be used to output visual cues about the position of the distal and proximal ends of the instrument relative to a planned trajectory.

Systems, devices, and methods for providing surgical trajectory guidance

Accuracy enhancing systems, devices and methods are provided using data obtained from inertial measurement units (IMUs). IMUs are provided on one or more of a patient, surgical table, surgical instruments, imaging devices, navigation systems, and the like. Data from sensors in each IMU is collected and used to calculate absolute and relative positions of the patient, surgical table, surgical instruments, imaging devices, and navigation systems on which the IMUs are provided. The data generated by the IMUs can be coupled with medical images and camera vision, among other information, to generate and/or provide surgical navigation, alignment of imaging systems, pre-operative diagnoses and plans, intra-operative tool guidance and error correction, and post-operative assessments.

Systems, devices and methods for enhancing operative accuracy using inertial measurement units

Growing community of inventors

Thörigen, Switzerland

Marc Puls