Robotic surgery

Abstract

A method of using a robotic guidance system for performing surgery on a spine is provided. The method includes utilizing a computerized tomographic scan image of a location on a spinal column of a patient, such that the computerized tomographic scan image is connected to a computer and visible on a monitor connected to the computer. The method also includes attaching a coupling component to the spinal column of the patient, coupling a marker to the coupling component, and imaging, with a fluoroscope, the view of the spinal column of the patient, wherein the fluoroscope image is transmitted to the computer and visible on the monitor and the at marker is clearly visible in the fluoroscope image. The method also includes positioning a cannula, with a robotic mechanism, to a first position relative to a vertebra in the spinal column of the patient, drilling a passage through the cannula into bone of the vertebra in the spinal column of the patient, inserting a guidewire through the cannula into the passage in the bone of the vertebra in the spinal column of the patient, and positioning a screw into the bone of the vertebra in the spinal column of the patient.

What is claimed is: 
     
         1 . A method of using a robotic guidance system for performing surgery on a spine, the method comprising:
 utilizing at least one computerized tomographic scan image of a location on a spinal column of a patient on whom a surgical procedure is to be performed, wherein the at least one computerized tomographic scan image is connected to at least one computer and visible on at least one monitor connected to the at least one computer;   attaching at least one coupling component to the spinal column of the patient;   coupling at least one marker to the at least one coupling component;   imaging, with a fluoroscope, at least one view of the spinal column of the patient on whom the surgical procedure is to be performed, wherein the at least one fluoroscope image is transmitted to the at least one computer and visible on the at least one monitor connected to the at least one computer, and wherein the at least one marker is clearly visible in the at least one fluoroscope image;   positioning a cannula, with a robotic mechanism, to a first position relative to a vertebra in the spinal column of the patient;   drilling a passage through the cannula into bone of the vertebra in the spinal column of the patient;   inserting a guidewire through the cannula into the passage in the bone of the vertebra in the spinal column of the patient; and   positioning a screw into the bone of the vertebra in the spinal column of the patient, wherein the screw is configured to secure body tissue.   
     
     
         2 . The method according to  claim 1 , wherein at least one of drilling a passage further comprises drilling a passage, with a manual effort, through the cannula positioned with the robotic mechanism into bone of the vertebra in the spinal column of the patient,
 inserting a guidewire further comprises inserting a guidewire, with a manual effort, through the cannula positioned with the robotic mechanism into the passage in the bone of the vertebra in the spinal column of the patient, and   positioning a screw further comprises positioning a screw, with a manual effort, into the bone of the vertebra in the spinal column of the patient, wherein the screw is configured to secure body tissue.   
     
     
         3 . The method according to  claim 1 , further comprising:
 positioning the cannula, with the robotic mechanism, to a second position different from the first position relative to the vertebra in the spinal column of the patient;   drilling a second passage through the cannula positioned in the second position into bone of the vertebra in the spinal column of the patient;   inserting a second guidewire through the cannula positioned in the second position into the second passage in the bone of the vertebra in the spinal column of the patient; and   positioning a second screw, in the second position, into the bone of the vertebra in the spinal column of the patient, wherein the second screw is configured to secure body tissue.   
     
     
         4 . The method according to  claim 3 , wherein at least one of
 drilling a second passage further comprises drilling a second passage, with a manual effort, through the cannula positioned in the second position with the robotic mechanism into bone of the vertebra in the spinal column of the patient,   inserting a second guidewire further comprises inserting a guidewire, with a manual effort, through the cannula positioned in the second position with the robotic mechanism into the second passage in the bone of the vertebra in the spinal column of the patient, and   positioning a second screw further comprises positioning a screw, with a manual effort, positioned in the second position, into the bone of the vertebra in the spinal column of the patient, wherein the second screw is configured to secure body tissue.   
     
     
         5 . The method according to  claim 1 , further comprising:
 positioning the cannula, with the robotic mechanism, to a second position different from the first position relative to at least one of a second position on the same vertebra in the spinal column of the patient, an adjacent vertebra in the spinal column of the patient, and a different vertebral structure in the spinal column of the patient;   drilling a second passage through the cannula positioned in the second position into at least one of bone of the same vertebra, bone of the adjacent vertebra, and the different vertebral structure in the spinal column of the patient;   inserting a second guidewire through the cannula positioned in the second position into the second passage in at least one of the bone of the same vertebra, the bone of the adjacent vertebra, and the different vertebral structure in the spinal column of the patient; and   positioning a second screw, positioned in the second position, into at least one of the bone of the same vertebra, the bone of the adjacent vertebra, and the different vertebral structure, wherein the second screw is configured to secure body tissue.   
     
     
         6 . The method according to  claim 5 , further comprising:
 drilling a second passage further comprises drilling a second passage, with a manual effort, through the cannula positioned in the second position with the robotic mechanism into at least one of the bone of the same vertebra, the bone of the adjacent vertebra, and the different vertebral structure in the spinal column of the patient;   inserting a second guidewire further comprises inserting a guidewire, with a manual effort, through the cannula positioned in the second position with the robotic mechanism into the second passage into at least one of the bone of the same vertebra, the bone of the adjacent vertebra, and the different vertebral structure in the spinal column of the patient; and   positioning a second screw further comprises positioning a screw, with a manual effort, through the cannula positioned in the second position with the robotic mechanism into at least one of the bone of the same vertebra, the bone of the adjacent vertebra, and the different vertebral structure in the spinal column of the patient, wherein the second screw is configured to secure body tissue.   
     
     
         7 . The method according to  claim 1 , wherein the cannula is at least one portion of a tissue retractor assembly. 
     
     
         8 . The method according to  claim 1 , further comprising positioning at least one tissue retractor through the cannula positioned by the robotic mechanism. 
     
     
         9 . The method according to  claim 1 , further comprising utilizing at least one surgical instrument positioned through the cannula. 
     
     
         10 . The method according to  claim 1 , wherein the guidewire is configured to have external threads. 
     
     
         11 . The method according to  claim 10 , wherein the guidewire is configured to be screwed into the passage in the bone. 
     
     
         12 . The method according to  claim 1 , wherein the body tissue is at least a portion of one of a bone, ligament, tendon, and muscle. 
     
     
         13 . A method of using a robotic guidance system for performing surgery on a spine, the method comprising:
 utilizing at least one computerized tomographic scan image of a location on a spinal column of a patient on whom a surgical procedure is to be performed, wherein the at least one computerized tomographic scan image is connected to at least one computer and visible on at least one monitor connected to the at least one computer;   attaching at least one coupling component to the spinal column of the patient;   coupling at least one marker to the at least one coupling component;   imaging, with a fluoroscope, at least one view of the spinal column of the patient on whom the surgical procedure is to be performed, wherein the at least one fluoroscope image is transmitted to the at least one computer and visible on the at least one monitor connected to the at least one computer, and wherein the at least one marker is clearly visible in the at least one fluoroscope image;   positioning a cannula, with a robotic mechanism, to a first position relative to the spinal column of the patient; and   inserting a surgical instrument through the cannula, wherein the surgical instrument is configured for use in the surgical procedure on the spinal column of the patient.   
     
     
         14 . The method according to  claim 13 , wherein inserting a surgical instrument further comprises inserting a surgical instrument, with a manual effort, through the cannula positioned with the robotic mechanism, wherein the surgical instrument is configured for use in the surgical procedure on the spinal column of the patient. 
     
     
         15 . The method according to  claim 13 , further comprising:
 positioning the cannula, with the robotic mechanism, to a second position different from the first position relative to the spinal column of the patient; and   inserting a surgical instrument through the cannula positioned in the second position, wherein the surgical instrument is configured for use in the surgical procedure on the spinal column of the patient.   
     
     
         16 . The method according to  claim 15 , wherein inserting a surgical instrument further comprises inserting a surgical instrument, with a manual effort, through the cannula positioned in the second position with the robotic mechanism, wherein the surgical instrument is configured for use in the surgical procedure on the spinal column of the patient. 
     
     
         17 . The method according to  claim 13 , wherein the cannula is at least one portion of a tissue retractor assembly. 
     
     
         18 . The method according to  claim 13 , further comprising positioning at least one tissue retractor through the cannula. 
     
     
         19 . The method according to  claim 13 , further comprising positioning at least one prosthetic implant in the spinal column of the patient. 
     
     
         20 . A robotic guidance system for performing surgery on a spine, the robotic guidance system comprising:
 at least one computer configured to receive at least one computerized tomographic scan image of a spinal column of a patient on whom a surgical procedure is to be performed;   at least one monitor connected to the at least one computer, wherein the at least one monitor is configured to display, from the at least one computer, the at least one computerized tomographic scan image of the spinal column of the patient on whom the surgical procedure is to be performed;   at least one coupling component configured to couple to the spinal column of the patient;   at least one marker configured to couple to the at least one coupling component, wherein the at least one marker is configured to be clearly visible in at least one fluoroscope image of the spinal column of the patient on whom the surgical procedure is to be performed, and wherein at least one fluoroscope image is transmitted to the at least one computer and visible on the at least one monitor connected to the at least one computer;   a robotic mechanism connected to the at least one computer and configured to move through various programmed motions for the performance of the surgical procedure on the spinal column of the patient;   a cannula configured to be positioned, by the robotic mechanism, relative to at least one vertebrae in the spinal column of the patient;   a drill configured to create at least one passage into bone of the at least one vertebrae in the spinal column of the patient, wherein the drill is configured to be positioned through the cannula;   at least one guidewire configured to be inserted into the at least one passage in the bone of the at least one vertebrae in the spinal column of the patient, wherein the guidewire is positionable through the cannula; and   at least one screw configured to be positioned into the at least one passage in the bone of the at least one vertebrae in the spinal column of the patient, wherein the at least one screw is configured to secure body tissue.   
     
     
         21 . The robotic guidance system according to  claim 20 , wherein the cannula is at least one portion of a tissue retractor assembly. 
     
     
         22 . The robotic guidance system according to  claim 20 , further comprising at least one tissue retractor configured to be positioned through the cannula. 
     
     
         23 . The robotic guidance system according to  claim 20 , further comprising at least one surgical instrument configured to be utilized through the cannula. 
     
     
         24 . The robotic guidance system according to  claim 20 , wherein the guidewire is configured to have external threads. 
     
     
         25 . The robotic guidance system according to  claim 24 , wherein the guidewire is configured to be screwed into the passage in the bone. 
     
     
         26 . The robotic guidance system according to  claim 20 , wherein the body tissue is at least a portion of one of a bone, ligament, tendon, and muscle. 
     
     
         27 . The robotic guidance system according to  claim 20 , further comprising at least one prosthetic implant configured to be positioned in the bone of the at least one vertebrae in the spinal column of the patient. 
     
     
         28 . A robotic guidance system for performing surgery on a spine, the robotic guidance system comprising:
 at least one computer configured to receive at least one computerized tomographic scan image of a spinal column of a patient on whom a surgical procedure is to be performed;   at least one monitor connected to the at least one computer, wherein the at least one monitor is configured to display, from the at least one computer, the at least one computerized tomographic scan image of the spinal column of the patient on whom the surgical procedure is to be performed;   at least one coupling component configured to couple to the spinal column of the patient;   at least one marker configured to couple to the at least one coupling component, wherein the at least one marker is configured to be clearly visible in at least one fluoroscope image of the spinal column of the patient on whom the surgical procedure is to be performed, and wherein at least one fluoroscope image is transmitted to the at least one computer and visible on the at least one monitor connected to the at least one computer;   a robotic mechanism connected to the at least one computer and configured to move through various programmed motions for the performance of the surgical procedure on the spinal column of the patient;   a cannula configured to be positioned, by the robotic mechanism, relative to the spinal column of the patient; and   at least one surgical instrument configured for use in the surgical procedure on the spinal column of the patient, wherein the surgical instrument is positionable through the cannula.   
     
     
         29 . The robotic guidance system according to  claim 28 , wherein the cannula is at least one portion of a tissue retractor assembly. 
     
     
         30 . The robotic guidance system according to  claim 28 , further comprising at least one tissue retractor configured to be positioned through the cannula. 
     
     
         31 . The robotic guidance system according to  claim 28 , further comprising at least one prosthetic implant configured to be positioned in the spinal column of the patient.