Granted Patent
B2
US 12,295,676 · App. 17/032,501 · Granted May 13, 2025
Apparatus, systems, and methods for precise guidance of surgical tools
Inventors:
Szymon Kostrzewski (Lausanne, CH); Olivier Chappuis (Lutry, CH); Billy Nussbaumer (Preverenges, CH); Daniel Gehriger (Lausanne, CH); Roderik Berthelin (La Chapelle Rambaud, FR)
Assignee:
KB Medical, SA
A61B34/30A61B17/1615A61B34/20A61B34/37A61B34/70A61B90/06A61B90/11A61B34/10A61B2034/102A61B2034/105A61B2034/107A61B2034/2055A61B34/76A61B2090/064A61B2090/066A61B90/37A61B2090/376A61B2090/3762
View Patent ↗
Loading inventors, assignments & file history…
Abstract
Described herein are systems, apparatus, and methods for precise placement and guidance of tools during a surgical procedure, particularly a spinal surgical procedure. The system features a portable robot arm with end effector for precise positioning of a surgical tool. The system requires only minimal training by surgeons/operators, is intuitive to use, and has a small footprint with significantly reduced obstruction of the operating table. The system works with existing, standard surgical tools, does not required increased surgical time or preparatory time, and safely provides the enhanced precision achievable by robotic-assisted systems.
Claims (34)
1. A method of performing a surgical procedure with a robotic surgical system, the method including:
obtaining or accessing an image of at least a portion of a spine of patient undergoing the surgical procedure;
moving a mobile cart transporting the robotic surgical system, the robotic surgical system including a robotic arm in proximity to an operating table, wherein the robotic arm includes an end effector;
stabilizing the mobile cart;
computing, by a processor of a computing device, a desired trajectory for a first surgical tool from the image of and from a detected real-time position of at least one of the first surgical tool and end effector of the robotic arm;
aligning the end effector in accordance with the desired trajectory; and
maneuvering the first surgical tool by the user, wherein the first surgical tool is constrained by the end effector, wherein during the maneuvering, the end-effector is only moved when a handle attached to the end-effector detects a presence of a hand of a user.
2. The method of claim 1 , wherein the image is 3D CT scan.
3. The method of claim 1 , wherein the image is a 3D fluoroscopy scan.
4. The method of claim 1 , wherein the end-effector is configured to hold the first surgical tool.
5. The method of claim 1 , wherein stabilizing the mobile cart includes immobilizing the mobile cart with respect to the operating room floor.
6. The method of claim 1 , wherein the first surgical tool is a drill.
7. The method of claim 6 , wherein the desired trajectory is path of the drill to a vertebral body of the patient.
8. The method of claim 1 , further comprising: performing a registration, by the processor, to spatially align the end effector, the patient, and the desired trajectory.
9. The method of claim 8 , further comprising: maintaining the spatial alignment without performing a re-registration of a position of the end-effector at the desired trajectory when the first surgical tool is removed and replaced with a second surgical tool.
10. The method of claim 1 , further comprising: displaying the position of the first surgical instrument in relation to the image during the surgical procedure.
11. A method of performing a surgical procedure with a robotic surgical system, the method including:
obtaining or accessing an image of at least a portion of a spine of patient undergoing the surgical procedure;
moving a mobile cart transporting the robotic surgical system, the robotic surgical system including a robotic arm in proximity to an operating table, wherein the robotic arm includes an end effector;
stabilizing the mobile cart;
detecting, by the processor, a force applied by a user to the end effector;
determining, by the processor, whether the force exceeds a predetermined minimum force required for movement of the end-effector;
controlling, by the processor, movement of the end effector in response to the force applied to the end effector, thereby providing haptic feedback to the user via the end effector;
computing, by a processor of a computing device, a projected trajectory for a first surgical tool from the image and from a detected real-time position of at least one of the first surgical tool and end effector; and
maneuvering the first surgical tool, wherein the first surgical tool is constrained by the end effector, wherein during the maneuvering, the end-effector is only moved when a handle attached to the end-effector detects a presence of a hand of a user.
12. The method of claim 11 , wherein the image is 3D CT scan.
13. The method of claim 11 , wherein the image is a 3D fluoroscopy scan.
14. The method of claim 11 , wherein the end-effector is configured to hold the surgical tool.
15. The method of claim 11 , wherein stabilizing the mobile cart includes immobilizing the mobile cart with respect to the operating room floor.
16. The method of claim 11 , wherein the first surgical tool is a drill.
17. The method of claim 16 , wherein the projected trajectory is path of the drill to a vertebral body of the patient.
18. The method of claim 11 , further comprising: performing a registration, by the processor, to spatially align the end effector, the patient, and the projected trajectory.
19. The method of claim 18 , further comprising: maintaining the spatial alignment without performing a re-registration of a position of the end-effector at the projected trajectory when the first surgical tool is removed and replaced with a second surgical tool.
20. The method of claim 11 , further comprising: displaying the position of the first surgical instrument in relation to the image during the surgical procedure.
Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Sep 25, 2020
From: KOSTRZEWSKI, SZYMON; CHAPPUIS, OLIVIER; NUSSBAUMER, BILLY; GEHRIGER, DANIEL; BERTHELIN, RODERIK
To: KB MEDICAL, SA
Reel/Frame 053884/0799 →
Continuity (5)
Provisional Application
61887273
· Oct 4, 2013
References Cited (400)
US 4150293A
· Franke
· 1979
[cited by applicant]
US 5246010A
· Gazzara et al.
· 1993
[cited by applicant]
US 5354314A
· Hardy et al.
· 1994
[cited by applicant]
US 5397323A
· Taylor et al.
· 1995
[cited by applicant]
US 5598453A
· Baba et al.
· 1997
[cited by applicant]
US 5772594A
· Barrick
· 1998
[cited by applicant]
US 5791908A
· Gillio
· 1998
[cited by applicant]
US 5820559A
· Ng et al.
· 1998
[cited by applicant]
US 5825982A
· Wright et al.
· 1998
[cited by applicant]
US 5887121A
· Funda et al.
· 1999
[cited by applicant]
US 5911449A
· Daniele et al.
· 1999
[cited by applicant]
US 5951475A
· Gueziec et al.
· 1999
[cited by applicant]
US 5987960A
· Messner et al.
· 1999
[cited by applicant]
US 6012216A
· Esteves et al.
· 2000
[cited by applicant]
US 6031888A
· Ivan et al.
· 2000
[cited by applicant]
US 6033415A
· Mittelstadt et al.
· 2000
[cited by applicant]
US 6080181A
· Jensen et al.
· 2000
[cited by applicant]
US 6106511A
· Jensen
· 2000
[cited by applicant]
US 6122541A
· Cosman et al.
· 2000
[cited by applicant]
US 6144875A
· Schweikard et al.
· 2000
[cited by applicant]
US 6157853A
· Blume et al.
· 2000
[cited by applicant]
US 6167145A
· Foley et al.
· 2000
[cited by applicant]
US 6167292A
· Badano et al.
· 2000
[cited by applicant]
US 6201984B1
· Funda et al.
· 2001
[cited by applicant]
US 6203196B1
· Meyer et al.
· 2001
[cited by applicant]
US 6205411B1
· DiGioia, III et al.
· 2001
[cited by applicant]
US 6212419B1
· Blume et al.
· 2001
[cited by applicant]
US 6231565B1
· Tovey et al.
· 2001
[cited by applicant]
US 6236875B1
· Bucholz et al.
· 2001
[cited by applicant]
US 6246900B1
· Cosman et al.
· 2001
[cited by applicant]
US 6301495B1
· Gueziec et al.
· 2001
[cited by applicant]
US 6306126B1
· Montezuma
· 2001
[cited by applicant]
US 6312435B1
· Wallace et al.
· 2001
[cited by applicant]
US 6314311B1
· Williams et al.
· 2001
[cited by applicant]
US 6320929B1
· Von Der Haar
· 2001
[cited by applicant]
US 6322567B1
· Mittelstadt et al.
· 2001
[cited by applicant]
US 6325808B1
· Bernard et al.
· 2001
[cited by applicant]
US 6340363B1
· Bolger et al.
· 2002
[cited by applicant]
US 6377011B1
· Ben-Ur
· 2002
[cited by applicant]
US 6379302B1
· Kessman et al.
· 2002
[cited by applicant]
US 6402762B2
· Hunter et al.
· 2002
[cited by applicant]
US 6424885B1
· Niemeyer et al.
· 2002
[cited by applicant]
US 6447503B1
· Wynne et al.
· 2002
[cited by applicant]
US 6451027B1
· Cooper et al.
· 2002
[cited by applicant]
US 6477400B1
· Barrick
· 2002
[cited by applicant]
US 6484049B1
· Seeley et al.
· 2002
[cited by applicant]
US 6487267B1
· Wolter
· 2002
[cited by applicant]
US 6490467B1
· Bucholz et al.
· 2002
[cited by applicant]
US 6490475B1
· Seeley et al.
· 2002
[cited by applicant]
US 6499488B1
· Hunter et al.
· 2002
[cited by applicant]
US 6501981B1
· Schweikard et al.
· 2002
[cited by applicant]
US 6507751B2
· Blume et al.
· 2003
[cited by applicant]
US 6535756B1
· Simon et al.
· 2003
[cited by applicant]
US 6560354B1
· Maurer, Jr. et al.
· 2003
[cited by applicant]
US 6565554B1
· Niemeyer
· 2003
[cited by applicant]
US 6587750B2
· Gerbi et al.
· 2003
[cited by applicant]
US 6614453B1
· Suri et al.
· 2003
[cited by applicant]
US 6614871B1
· Kobiki et al.
· 2003
[cited by applicant]
US 6619840B2
· Rasche et al.
· 2003
[cited by applicant]
US 6636757B1
· Jascob et al.
· 2003
[cited by applicant]
US 6645196B1
· Nixon et al.
· 2003
[cited by applicant]
US 6666579B2
· Jensen
· 2003
[cited by applicant]
US 6669635B2
· Kessman et al.
· 2003
[cited by applicant]
US 6701173B2
· Nowinski et al.
· 2004
[cited by applicant]
US 6757068B2
· Foxlin
· 2004
[cited by applicant]
US 6782287B2
· Grzeszczuk et al.
· 2004
[cited by applicant]
US 6783524B2
· Anderson et al.
· 2004
[cited by applicant]
US 6786896B1
· Madhani et al.
· 2004
[cited by applicant]
US 6788018B1
· Blumenkranz
· 2004
[cited by applicant]
US 6804581B2
· Wang et al.
· 2004
[cited by applicant]
US 6823207B1
· Jensen et al.
· 2004
[cited by applicant]
US 6827351B2
· Graziani et al.
· 2004
[cited by applicant]
US 6837892B2
· Shoham
· 2005
[cited by applicant]
US 6839612B2
· Sanchez et al.
· 2005
[cited by applicant]
US 6856826B2
· Seeley et al.
· 2005
[cited by applicant]
US 6856827B2
· Seeley et al.
· 2005
[cited by applicant]
US 6879880B2
· Nowlin et al.
· 2005
[cited by applicant]
US 6892090B2
· Verard et al.
· 2005
[cited by applicant]
US 6920347B2
· Simon et al.
· 2005
[cited by applicant]
US 6922632B2
· Foxlin
· 2005
[cited by applicant]
US 6968224B2
· Kessman et al.
· 2005
[cited by applicant]
US 6978166B2
· Foley et al.
· 2005
[cited by applicant]
US 6988009B2
· Grimm et al.
· 2006
[cited by applicant]
US 6991627B2
· Madhani et al.
· 2006
[cited by applicant]
US 6996487B2
· Jutras et al.
· 2006
[cited by applicant]
US 6999852B2
· Green
· 2006
[cited by applicant]
US 7007699B2
· Martinelli et al.
· 2006
[cited by applicant]
US 7016457B1
· Senzig et al.
· 2006
[cited by applicant]
US 7043961B2
· Pandey et al.
· 2006
[cited by applicant]
US 7062006B1
· Pelc et al.
· 2006
[cited by applicant]
US 7063705B2
· Young et al.
· 2006
[cited by applicant]
US 7072707B2
· Galloway, Jr. et al.
· 2006
[cited by applicant]
US 7083615B2
· Peterson et al.
· 2006
[cited by applicant]
US 7097640B2
· Wang et al.
· 2006
[cited by applicant]
US 7099428B2
· Clinthorne et al.
· 2006
[cited by applicant]
US 7108421B2
· Gregerson et al.
· 2006
[cited by applicant]
US 7130676B2
· Barrick
· 2006
[cited by applicant]
US 7139418B2
· Abovitz et al.
· 2006
[cited by applicant]
US 7139601B2
· Bucholz et al.
· 2006
[cited by applicant]
US 7155316B2
· Sutherland et al.
· 2006
[cited by applicant]
US 7164968B2
· Treat et al.
· 2007
[cited by applicant]
US 7167738B2
· Schweikard et al.
· 2007
[cited by applicant]
US 7169141B2
· Brock et al.
· 2007
[cited by applicant]
US 7172627B2
· Fiere et al.
· 2007
[cited by applicant]
US 7194120B2
· Wicker et al.
· 2007
[cited by applicant]
US 7197107B2
· Arai et al.
· 2007
[cited by applicant]
US 7231014B2
· Levy
· 2007
[cited by applicant]
US 7231063B2
· Naimark et al.
· 2007
[cited by applicant]
US 7239940B2
· Wang et al.
· 2007
[cited by applicant]
US 7248914B2
· Hastings et al.
· 2007
[cited by applicant]
US 7301648B2
· Foxlin
· 2007
[cited by applicant]
US 7302288B1
· Schellenberg
· 2007
[cited by applicant]
US 7313430B2
· Urquhart et al.
· 2007
[cited by applicant]
US 7318805B2
· Schweikard et al.
· 2008
[cited by applicant]
US 7318827B2
· Leitner et al.
· 2008
[cited by applicant]
US 7319897B2
· Leitner et al.
· 2008
[cited by applicant]
US 7324623B2
· Heuscher et al.
· 2008
[cited by applicant]
US 7327865B2
· Fu et al.
· 2008
[cited by applicant]
US 7331967B2
· Lee et al.
· 2008
[cited by applicant]
US 7333642B2
· Green
· 2008
[cited by applicant]
US 7339341B2
· Oleynikov et al.
· 2008
[cited by applicant]
US 7366562B2
· Dukesherer et al.
· 2008
[cited by applicant]
US 7379790B2
· Toth et al.
· 2008
[cited by applicant]
US 7386365B2
· Nixon
· 2008
[cited by applicant]
US 7422592B2
· Morley et al.
· 2008
[cited by applicant]
US 7435216B2
· Kwon et al.
· 2008
[cited by applicant]
US 7440793B2
· Chauhan et al.
· 2008
[cited by applicant]
US 7460637B2
· Clinthorne et al.
· 2008
[cited by applicant]
US 7466303B2
· Yi et al.
· 2008
[cited by applicant]
US 7493153B2
· Ahmed et al.
· 2009
[cited by applicant]
US 7505617B2
· Fu et al.
· 2009
[cited by applicant]
US 7533892B2
· Schena et al.
· 2009
[cited by applicant]
US 7542791B2
· Mire et al.
· 2009
[cited by applicant]
US 7555331B2
· Viswanathan
· 2009
[cited by applicant]
US 7567834B2
· Clayton et al.
· 2009
[cited by applicant]
US 7594912B2
· Cooper et al.
· 2009
[cited by applicant]
US 7606613B2
· Simon et al.
· 2009
[cited by applicant]
US 7607440B2
· Coste-Maniere et al.
· 2009
[cited by applicant]
US 7623902B2
· Pacheco
· 2009
[cited by applicant]
US 7630752B2
· Viswanathan
· 2009
[cited by applicant]
US 7630753B2
· Simon
· 2009
[cited by examiner]
US 7643862B2
· Schoenefeld
· 2010
[cited by applicant]
US 7660623B2
· Hunter et al.
· 2010
[cited by applicant]
US 7661881B2
· Gregerson et al.
· 2010
[cited by applicant]
US 7683331B2
· Chang
· 2010
[cited by applicant]
US 7683332B2
· Chang
· 2010
[cited by applicant]
US 7689320B2
· Prisco et al.
· 2010
[cited by applicant]
US 7691098B2
· Wallace et al.
· 2010
[cited by applicant]
US 7702379B2
· Avinash et al.
· 2010
[cited by applicant]
US 7702477B2
· Tuemmler et al.
· 2010
[cited by applicant]
US 7711083B2
· Heigl et al.
· 2010
[cited by applicant]
US 7711406B2
· Kuhn et al.
· 2010
[cited by applicant]
US 7720523B2
· Omernick et al.
· 2010
[cited by applicant]
US 7725253B2
· Foxlin
· 2010
[cited by applicant]
US 7726171B2
· Langlotz et al.
· 2010
[cited by applicant]
US 7742801B2
· Neubauer et al.
· 2010
[cited by applicant]
US 7751865B2
· Jascob et al.
· 2010
[cited by applicant]
US 7760849B2
· Zhang
· 2010
[cited by applicant]
US 7762825B2
· Burbank et al.
· 2010
[cited by applicant]
US 7763015B2
· Cooper et al.
· 2010
[cited by applicant]
US 7787699B2
· Mahesh et al.
· 2010
[cited by applicant]
US 7796728B2
· Bergfjord
· 2010
[cited by applicant]
US 7813838B2
· Sommer
· 2010
[cited by applicant]
US 7818044B2
· Dukesherer et al.
· 2010
[cited by applicant]
US 7819859B2
· Prisco et al.
· 2010
[cited by applicant]
US 7824401B2
· Manzo et al.
· 2010
[cited by applicant]
US 7831294B2
· Viswanathan
· 2010
[cited by applicant]
US 7834484B2
· Sartor
· 2010
[cited by applicant]
US 7835557B2
· Kendrick et al.
· 2010
[cited by applicant]
US 7835778B2
· Foley et al.
· 2010
[cited by applicant]
US 7835784B2
· Mire et al.
· 2010
[cited by applicant]
US 7840253B2
· Tremblay et al.
· 2010
[cited by applicant]
US 7840256B2
· Lakin et al.
· 2010
[cited by applicant]
US 7843158B2
· Prisco
· 2010
[cited by applicant]
US 7844320B2
· Shahidi
· 2010
[cited by applicant]
US 7853305B2
· Simon et al.
· 2010
[cited by applicant]
US 7853313B2
· Thompson
· 2010
[cited by applicant]
US 7865269B2
· Prisco et al.
· 2011
[cited by applicant]
US D631966S
· Perloff et al.
· 2011
[cited by applicant]
US 7879045B2
· Gielen et al.
· 2011
[cited by applicant]
US 7881767B2
· Strommer et al.
· 2011
[cited by applicant]
US 7881770B2
· Melkent et al.
· 2011
[cited by applicant]
US 7886743B2
· Cooper et al.
· 2011
[cited by applicant]
US RE42194E
· Foley et al.
· 2011
[cited by applicant]
US RE42226E
· Foley et al.
· 2011
[cited by applicant]
US 7900524B2
· Calloway et al.
· 2011
[cited by applicant]
US 7907166B2
· Lamprecht et al.
· 2011
[cited by applicant]
US 7909122B2
· Schena et al.
· 2011
[cited by applicant]
US 7925653B2
· Saptharishi
· 2011
[cited by applicant]
US 7930065B2
· Larkin et al.
· 2011
[cited by applicant]
US 7935130B2
· Williams
· 2011
[cited by applicant]
US 7940999B2
· Liao et al.
· 2011
[cited by applicant]
US 7945012B2
· Ye et al.
· 2011
[cited by applicant]
US 7945021B2
· Shapiro et al.
· 2011
[cited by applicant]
US 7953470B2
· Vetter et al.
· 2011
[cited by applicant]
US 7954397B2
· Choi et al.
· 2011
[cited by applicant]
US 7971341B2
· Dukesherer et al.
· 2011
[cited by applicant]
US 7974674B2
· Hauck et al.
· 2011
[cited by applicant]
US 7974677B2
· Mire et al.
· 2011
[cited by applicant]
US 7974681B2
· Wallace et al.
· 2011
[cited by applicant]
US 7979157B2
· Anvari
· 2011
[cited by applicant]
US 7983733B2
· Viswanathan
· 2011
[cited by applicant]
US 7988215B2
· Seibold
· 2011
[cited by applicant]
US 7996110B2
· Lipow et al.
· 2011
[cited by applicant]
US 8004121B2
· Sartor
· 2011
[cited by applicant]
US 8004229B2
· Nowlin et al.
· 2011
[cited by applicant]
US 8010177B2
· Csavoy et al.
· 2011
[cited by applicant]
US 8019045B2
· Kato
· 2011
[cited by applicant]
US 8021310B2
· Sanborn et al.
· 2011
[cited by applicant]
US 8035685B2
· Jensen
· 2011
[cited by applicant]
US 8046054B2
· Kim et al.
· 2011
[cited by applicant]
US 8046057B2
· Clarke
· 2011
[cited by applicant]
US 8052688B2
· Wolf, II
· 2011
[cited by applicant]
US 8054184B2
· Cline et al.
· 2011
[cited by applicant]
US 8054752B2
· Druke et al.
· 2011
[cited by applicant]
US 8057397B2
· Li et al.
· 2011
[cited by applicant]
US 8057407B2
· Martinelli et al.
· 2011
[cited by applicant]
US 8062288B2
· Cooper et al.
· 2011
[cited by applicant]
US 8062375B2
· Glerum et al.
· 2011
[cited by applicant]
US 8066524B2
· Burbank et al.
· 2011
[cited by applicant]
US 8073335B2
· Labonville et al.
· 2011
[cited by applicant]
US 8079950B2
· Stern et al.
· 2011
[cited by applicant]
US 8086299B2
· Adler et al.
· 2011
[cited by applicant]
US 8092370B2
· Roberts et al.
· 2012
[cited by applicant]
US 8098914B2
· Liao et al.
· 2012
[cited by applicant]
US 8100950B2
· St. Clair et al.
· 2012
[cited by applicant]
US 8105320B2
· Manzo
· 2012
[cited by applicant]
US 8108025B2
· Csavoy et al.
· 2012
[cited by applicant]
US 8109877B2
· Moctezuma de la Barrera et al.
· 2012
[cited by applicant]
US 8112292B2
· Simon
· 2012
[cited by applicant]
US 8116430B1
· Shapiro et al.
· 2012
[cited by applicant]
US 8120301B2
· Goldberg et al.
· 2012
[cited by applicant]
US 8121249B2
· Wang et al.
· 2012
[cited by applicant]
US 8123675B2
· Funda et al.
· 2012
[cited by applicant]
US 8133229B1
· Bonutti
· 2012
[cited by applicant]
US 8142420B2
· Schena
· 2012
[cited by applicant]
US 8147494B2
· Leitner et al.
· 2012
[cited by applicant]
US 8150494B2
· Simon et al.
· 2012
[cited by applicant]
US 8150497B2
· Gielen et al.
· 2012
[cited by applicant]
US 8150498B2
· Gielen et al.
· 2012
[cited by applicant]
US 8165658B2
· Waynik et al.
· 2012
[cited by applicant]
US 8170313B2
· Kendrick et al.
· 2012
[cited by applicant]
US 8179073B2
· Farritor et al.
· 2012
[cited by applicant]
US 8182476B2
· Julian et al.
· 2012
[cited by applicant]
US 8184880B2
· Zhao et al.
· 2012
[cited by applicant]
US 8202278B2
· Orban, III et al.
· 2012
[cited by applicant]
US 8208708B2
· Homan et al.
· 2012
[cited by applicant]
US 8208988B2
· Jensen
· 2012
[cited by applicant]
US 8219177B2
· Smith et al.
· 2012
[cited by applicant]
US 8219178B2
· Smith et al.
· 2012
[cited by applicant]
US 8220468B2
· Cooper et al.
· 2012
[cited by applicant]
US 8224024B2
· Foxlin et al.
· 2012
[cited by applicant]
US 8224484B2
· Swarup et al.
· 2012
[cited by applicant]
US 8225798B2
· Baldwin et al.
· 2012
[cited by applicant]
US 8228368B2
· Zhao et al.
· 2012
[cited by applicant]
US 8231610B2
· Jo et al.
· 2012
[cited by applicant]
US 8263933B2
· Hartmann et al.
· 2012
[cited by applicant]
US 8239001B2
· Verard et al.
· 2012
[cited by applicant]
US 8241271B2
· Millman et al.
· 2012
[cited by applicant]
US 8248413B2
· Gattani et al.
· 2012
[cited by applicant]
US 8256319B2
· Cooper et al.
· 2012
[cited by applicant]
US 8271069B2
· Jascob et al.
· 2012
[cited by applicant]
US 8271130B2
· Hourtash
· 2012
[cited by applicant]
US 8281670B2
· Larkin et al.
· 2012
[cited by applicant]
US 8282653B2
· Nelson et al.
· 2012
[cited by applicant]
US 8301226B2
· Csavoy et al.
· 2012
[cited by applicant]
US 8311611B2
· Csavoy et al.
· 2012
[cited by applicant]
US 8320991B2
· Jascob et al.
· 2012
[cited by applicant]
US 8332012B2
· Kienzle, III
· 2012
[cited by applicant]
US 8333755B2
· Cooper et al.
· 2012
[cited by applicant]
US 8335552B2
· Stiles
· 2012
[cited by applicant]
US 8335557B2
· Maschke
· 2012
[cited by applicant]
US 8348931B2
· Cooper et al.
· 2013
[cited by applicant]
US 8353963B2
· Glerum
· 2013
[cited by applicant]
US 8358818B2
· Miga et al.
· 2013
[cited by applicant]
US 8359730B2
· Burg et al.
· 2013
[cited by applicant]
US 8374673B2
· Adcox et al.
· 2013
[cited by applicant]
US 8374723B2
· Zhao et al.
· 2013
[cited by applicant]
US 8379791B2
· Forthmann et al.
· 2013
[cited by applicant]
US 8386019B2
· Camus et al.
· 2013
[cited by applicant]
US 8392022B2
· Ortmaier et al.
· 2013
[cited by applicant]
US 8394099B2
· Patwardhan
· 2013
[cited by applicant]
US 8395342B2
· Prisco
· 2013
[cited by applicant]
US 8398634B2
· Manzo et al.
· 2013
[cited by applicant]
US 8400094B2
· Schena
· 2013
[cited by applicant]
US 8414957B2
· Enzerink et al.
· 2013
[cited by applicant]
US 8418073B2
· Mohr et al.
· 2013
[cited by applicant]
US 8450694B2
· Baviera et al.
· 2013
[cited by applicant]
US 8452447B2
· Nixon
· 2013
[cited by applicant]
US RE44305E
· Foley et al.
· 2013
[cited by applicant]
US 8462911B2
· Vesel et al.
· 2013
[cited by applicant]
US 8465476B2
· Rogers et al.
· 2013
[cited by applicant]
US 8465771B2
· Wan et al.
· 2013
[cited by applicant]
US 8467851B2
· Mire et al.
· 2013
[cited by applicant]
US 8467852B2
· Csavoy et al.
· 2013
[cited by applicant]
US 8469947B2
· Devengenzo et al.
· 2013
[cited by applicant]
US RE44392E
· Hynes
· 2013
[cited by applicant]
US 8483434B2
· Buehner et al.
· 2013
[cited by applicant]
US 8483800B2
· Jensen et al.
· 2013
[cited by applicant]
US 8486532B2
· Enzerink et al.
· 2013
[cited by applicant]
US 8489235B2
· Moll et al.
· 2013
[cited by applicant]
US 8500722B2
· Cooper
· 2013
[cited by applicant]
US 8500728B2
· Newton et al.
· 2013
[cited by applicant]
US 8504201B2
· Moll et al.
· 2013
[cited by applicant]
US 8506555B2
· Ruiz Morales
· 2013
[cited by applicant]
US 8506556B2
· Schena
· 2013
[cited by applicant]
US 8508173B2
· Goldberg et al.
· 2013
[cited by applicant]
US 8512318B2
· Tovey et al.
· 2013
[cited by applicant]
US 8515576B2
· Lipow et al.
· 2013
[cited by applicant]
US 8518120B2
· Glerum et al.
· 2013
[cited by applicant]
US 8521331B2
· Itkowitz
· 2013
[cited by applicant]
US 8526688B2
· Groszmann et al.
· 2013
[cited by applicant]
US 8526700B2
· Isaacs
· 2013
[cited by applicant]
US 8527094B2
· Kumar et al.
· 2013
[cited by applicant]
US 8528440B2
· Morley et al.
· 2013
[cited by applicant]
US 8532741B2
· Heruth et al.
· 2013
[cited by applicant]
US 8541970B2
· Nowlin et al.
· 2013
[cited by applicant]
US 8548563B2
· Simon et al.
· 2013
[cited by applicant]
US 8549732B2
· Burg et al.
· 2013
[cited by applicant]
US 8551114B2
· Ramos de la Pena
· 2013
[cited by applicant]
US 8551116B2
· Julian et al.
· 2013
[cited by applicant]
US 8556807B2
· Scott et al.
· 2013
[cited by applicant]
US 8556979B2
· Glerum et al.
· 2013
[cited by applicant]
US 8560118B2
· Green et al.
· 2013
[cited by applicant]
US 8561473B2
· Blumenkranz
· 2013
[cited by applicant]
US 8562594B2
· Cooper et al.
· 2013
[cited by applicant]
US 8571638B2
· Shoham
· 2013
[cited by applicant]
US 8571710B2
· Coste-Maniere et al.
· 2013
[cited by applicant]
US 8573465B2
· Shelton, IV
· 2013
[cited by applicant]
US 8574303B2
· Sharkey et al.
· 2013
[cited by applicant]
US 8585420B2
· Burbank et al.
· 2013
[cited by applicant]
US 8594841B2
· Zhao et al.
· 2013
[cited by applicant]
US 8597198B2
· Sanborn et al.
· 2013
[cited by applicant]
US 8600478B2
· Verard et al.
· 2013
[cited by applicant]
US 8603077B2
· Cooper et al.
· 2013
[cited by applicant]
US 8611985B2
· Lavallee et al.
· 2013
[cited by applicant]
US 8613230B2
· Blumenkranz et al.
· 2013
[cited by applicant]
US 8621939B2
· Blumenkranz et al.
· 2014
[cited by applicant]
US 8624537B2
· Nowlin et al.
· 2014
[cited by applicant]
US 8630389B2
· Kato
· 2014
[cited by applicant]
US 8634897B2
· Simon et al.
· 2014
[cited by applicant]
US 8634957B2
· Toth et al.
· 2014
[cited by applicant]
US 8638056B2
· Goldberg et al.
· 2014
[cited by applicant]
US 8638057B2
· Goldberg et al.
· 2014
[cited by applicant]
US 8639000B2
· Zhao et al.
· 2014
[cited by applicant]
US 8641726B2
· Bonutti
· 2014
[cited by applicant]
US 8644907B2
· Hartmann et al.
· 2014
[cited by applicant]
US 8657809B2
· Schoepp
· 2014
[cited by applicant]
US 8660635B2
· Simon et al.
· 2014
[cited by applicant]
US 8666544B2
· Moll et al.
· 2014
[cited by applicant]
US 8675939B2
· Moctezuma de la Barrera
· 2014
[cited by applicant]
US 8678647B2
· Gregerson et al.
· 2014
[cited by applicant]
US 8679125B2
· Smith et al.
· 2014
[cited by applicant]
US 8679183B2
· Glerum et al.
· 2014
[cited by applicant]
US 8682413B2
· Lloyd
· 2014
[cited by applicant]
US 8684253B2
· Giordano et al.
· 2014
[cited by applicant]
US 8685098B2
· Glerum et al.
· 2014
[cited by applicant]
US 8693730B2
· Umasuthan et al.
· 2014
[cited by applicant]
US 8694075B2
· Groszmann et al.
· 2014
[cited by applicant]
US 8696458B2
· Foxlin et al.
· 2014
[cited by applicant]
US 8700123B2
· Okamura et al.
· 2014
[cited by applicant]
US 8706086B2
· Glerum
· 2014
[cited by applicant]
US 8706185B2
· Foley et al.
· 2014
[cited by applicant]
US 8706301B2
· Zhao et al.
· 2014
[cited by applicant]
US 8717430B2
· Simon et al.
· 2014
[cited by applicant]
US 8727618B2
· Maschke et al.
· 2014
[cited by applicant]
US 8734432B2
· Tuma et al.
· 2014
[cited by applicant]
US 8738115B2
· Amberg et al.
· 2014
[cited by applicant]
US 8738181B2
· Greer et al.
· 2014
[cited by applicant]
US 8740882B2
· Jun et al.
· 2014
[cited by applicant]
US 8746252B2
· McGrogan et al.
· 2014
[cited by applicant]
US 8749189B2
· Nowlin et al.
· 2014
[cited by applicant]
US 8749190B2
· Nowlin et al.
· 2014
[cited by applicant]
US 8761930B2
· Nixon
· 2014
[cited by applicant]
US 8764448B2
· Yang et al.
· 2014
[cited by applicant]
US 8771170B2
· Mesallum et al.
· 2014
[cited by applicant]
US 8781186B2
· Clements et al.
· 2014
[cited by applicant]
US 8781630B2
· Banks et al.
· 2014
[cited by applicant]
US 8784385B2
· Boyden et al.
· 2014
[cited by applicant]
US 8786241B2
· Nowlin et al.
· 2014
[cited by applicant]
US 8787520B2
· Baba
· 2014
[cited by applicant]
US 8792704B2
· Isaacs
· 2014
[cited by applicant]
US 8798231B2
· Notohara et al.
· 2014
[cited by applicant]
US 8800838B2
· Shelton, IV
· 2014
[cited by applicant]
US 8808164B2
· Hoffman et al.
· 2014
[cited by applicant]
US 8812077B2
· Dempsey
· 2014
[cited by applicant]
US 8814793B2
· Brabrand
· 2014
[cited by applicant]
US 8816628B2
· Nowlin et al.
· 2014
[cited by applicant]
US 8818105B2
· Myronenko et al.
· 2014
[cited by applicant]
US 8820605B2
· Shelton, IV
· 2014
[cited by applicant]
US 8821511B2
· Von Jako et al.
· 2014
[cited by applicant]
US 8823308B2
· Nowlin et al.
· 2014
[cited by applicant]
US 8827996B2
· Scott et al.
· 2014
[cited by applicant]
US 8828024B2
· Farritor et al.
· 2014
[cited by applicant]
US 8830224B2
· Zhao et al.
· 2014
[cited by applicant]
US 8834489B2
· Cooper et al.
· 2014
[cited by applicant]
US 8834490B2
· Bonutti
· 2014
[cited by applicant]
US 8838270B2
· Druke et al.
· 2014
[cited by applicant]
US 8844789B2
· Shelton, IV et al.
· 2014
[cited by applicant]
US 8855822B2
· Bartol et al.
· 2014
[cited by applicant]