Robotic surgical systems and methods for rod bending
The disclosed technology relates to a rod bending machine for use with a robotic surgical system in an operating room. The system which is capable to bend rods for surgeries directly in the operating room. The rigidity of the rods is such that the robotic arm alone would have to be huge to provide sufficient forces and torques. This invention introduces bending module integrated into robotic system which allows free bending of rods within limits required for surgeries.
1 . A robotic surgical system for use in a spinal surgical procedure, the system comprising:
a mobile cart having a top surface;
a robot base having a top surface and a side surface, the side surface extending from the top surface of the mobile cart;
a bending apparatus located directly adjacent the top surface of the mobile cart and directly adjacent the side surface of the robot base;
a robotic arm extending from the top surface of the robot base and including an end-effector, the robot base and the robotic arm adapted to perform the spinal surgical procedure, wherein the robotic arm is configured to allow the end-effector to have at least three degrees of translational movement and at least three degrees of rotational movement;
an actuator for controlled movement of the robotic arm and positioning of the end effector; and
a processor and a non-transitory computer readable medium storing instructions thereon wherein the instructions, when executed, cause the processor to:
receive a pre-operatively planned curvature of a skeletal structure of a patient;
determine a position of each of two or more screws actually implanted in the patient during the surgical procedure using a pointing device and a navigation system that tracks the pointing device; and
intraoperatively determine a desired curvature of an implantable rod based at least in part on the pre-operatively planned curvature of the skeletal structure and the position of the two or more screws placed in the patient during the spinal surgical procedure,
wherein the end effector is adapted to securely receive the implantable rod, and wherein the instructions, when executed by the processor, cause the processor to:
position the end effector thereby positioning the rod relative to the bending; and
send signals to the bending apparatus that cause the bending apparatus to bend the rod.
2 . The robotic surgical system of claim 1 , wherein the end effector is adapted to securely receive the implantable rod, and wherein the instructions, when executed by the processor, cause the processor to:
position the end effector and send signals to a bending apparatus thereby causing the bending apparatus to bend the rod, thereby creating a shaped rod.
3 . The robotic surgical system of 1 , further comprising a rod fixation apparatus for grasping a rod.
4 . The robotic surgical system of claim 3 , wherein the rod fixation apparatus is arranged to be held by the end effector.
5 . The robotic surgical system of 1 , further comprising:
the bending apparatus for bending a rod, the bending apparatus comprising:
a force die;
a bend die;
a force transfer device that transfers energy from an actuator to the force die thereby causing a rod positioned between the force die and the bend die to bend around the bend die; and
a fixation apparatus for releasably securing the bending apparatus to the robotic surgical system.
6 . A robotic surgical system for performing a spinal surgical procedures, the system comprising:
a mobile cart having a top surface;
a robot base having a top surface and a side surface, the side surface extending from the top surface of the mobile cart;
a bending apparatus for bending a rod, the bending apparatus located directly adjacent the top surface of the mobile cart and directly adjacent the side surface of the robot base;
a robotic arm extending from the top surface of the robot base and including an end-effector, the robot base and the robotic arm adapted to perform the spinal surgical procedure and for bending a rod during the surgical procedure, wherein the robotic arm is configured to allow the end-effector to have at least three degrees of translational movement and at least three degrees of rotational movement;
a rod fixation apparatus adapted to be attached to the end effector and configured for grasping the rod;
an actuator for controlled movement of the robotic arm and positioning of the end effector; and
a processor and a non-transitory computer readable medium storing instructions thereon wherein the instructions, when executed, cause the processor to:
control the robotic arm to position the grasped rod within the bending apparatus;
intraoperatively coordinate the bending of the grasped rod to produce a shaped rod based at least in part on a desired curvature of a skeletal structure and the position of each of two or more implanted screws in the patient during the spinal surgical procedure.
7 . The robotic surgical system of claim 6 , wherein the instructions, when executed by the processor, cause the processor to:
receive a desired curvature of a skeletal structure of a patient;
determine a position of each the two or more screws in the patient during the surgical procedure; and
intraoperatively determine the desired curvature of an implantable rod based at least in part on the desired curvature of the skeletal structure and the position of the two or more screws placed in the patient during the surgical procedure.
8 . The robotic surgical system of claim 7 , wherein the instructions, when executed by the processor, cause the processor to:
position the end effector thereby positioning the grasped rod relative to the bending apparatus; and
send signals to the bending apparatus that cause the bending apparatus to bend the rod as the end effector positions the grasped rod within the bending apparatus.
9 . The robotic surgical system of claim 7 , wherein the instructions, when executed by the processor, cause the processor to:
position the end effector and send signals to the bending apparatus thereby causing the bending apparatus to bend the rod, thereby creating a shaped rod.
10 . The robotic surgical system of claim 7 , wherein the desired curvature of the skeletal structure is determined pre-operatively.
11 . The robotic surgical system of claim 7 , wherein the position of each of the two or more screws is the patient is determined intra-operatively.
12 . The robotic surgical system of claim 7 , wherein the position of each of the two or more screws in the patient is determined using a navigation system.
13 . The robotic surgical system of claim 12 , wherein the position of each of the two or more screws in the patient is determined using a point device with the navigation system to identify the locations of the screws during the surgical procedure.
14 . The robotic surgical system of claim 13 , wherein the rod fixation apparatus is arranged to be held by the end effector.
15 . The robotic surgical system of 12 , wherein the bending apparatus comprises:
a force die;
a bend die; and
a force transfer device that transfers energy from an actuator to the force die thereby causing a rod positioned between the force die and the bend die to bend around the bend die.