公开(公告)号：EP1973487B1

公开(公告)日：2019-06-12

申请号：EP06850614.6

申请日：2006-12-27

申请人： MAKO SURGICAL CORP.

发明人： KANG, Hyosig ,  QUAID, Arthur, E. ,  MOSES, Dennis

IPC分类号： A61B34/00

公开(公告)号：EP2798444A1

公开(公告)日：2014-11-05

申请号：EP12816572.7

申请日：2012-12-20

申请人： Mako Surgical Corp.

发明人： IORGULESCU, Radu ,  GRANCHI, Carinne Cecile ,  MOSES, Dennis ,  WOJCIK, Jason Robert

IPC分类号： G06F3/01 ,  A61B19/00

CPC分类号： A61B34/76 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2068 ,  G06F3/016 ,  G06F3/033 ,  G06F3/0338 ,  G06F3/0346 ,  G06F3/0482 ,  G06F3/04847

摘要： A method for activating a virtual haptic geometry based on a position of a portion of an instrument relative to a target feature comprises detecting a presence of a reference point of an instrument within a threshold distance of a target feature. A virtual haptic geometry corresponding to the target feature is activated in response to the detected presence of the reference point of the instrument within the threshold distance.

公开(公告)号：EP1973487A2

公开(公告)日：2008-10-01

申请号：EP06850614.6

申请日：2006-12-27

申请人： MAKO Surgical Corp.

发明人： KANG, Hyosig ,  QUAID, Arthur, E. ,  MOSES, Dennis

IPC分类号： A61B19/00 ,  A61B17/17 ,  B25J9/16 ,  G06F3/01

CPC分类号： A61B34/30 ,  A61B5/1127 ,  A61B5/745 ,  A61B17/1675 ,  A61B17/1677 ,  A61B17/1695 ,  A61B17/17 ,  A61B17/1703 ,  A61B17/1739 ,  A61B17/1764 ,  A61B17/1767 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B90/14 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00115 ,  A61B2017/00119 ,  A61B2017/00725 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2034/252 ,  A61B2034/254 ,  A61B2034/305 ,  A61B2090/08021 ,  A61B2090/365 ,  A61B2090/3937 ,  A61B2090/3983 ,  A61F2/30942 ,  A61F2/38 ,  A61F2002/4632 ,  A61F2002/4633 ,  A61N1/0534 ,  A61N1/3605 ,  A61N1/372 ,  G05B2219/36432 ,  G05B2219/39196 ,  G05B2219/40478 ,  G05B2219/45117 ,  G05B2219/45171 ,  G06F3/016 ,  G06F19/00

摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and to adjust the representation of the anatomy in response to movement of the anatomy during the procedure.

摘要翻译： 手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。 计算机系统被编程以创建患者的解剖结构的表示; 将解剖结构和手术装置与解剖结构的表示相关联; 操纵手术装置以通过在解剖结构的区域中移动外科装置的一部分来对患者执行手术; 基于所述解剖结构的表示与位置，取向，速度和加速度中的至少一个之间的关系来控制所述外科手术装置以提供所述手术装置的操纵的触觉引导和限制中的至少一个 的外科装置的一部分; 并且在手术期间响应于解剖结构的移动来调整解剖结构的表示。

公开(公告)号：EP1871267B1

公开(公告)日：2018-09-12

申请号：EP06735388.8

申请日：2006-02-21

申请人： Mako Surgical Corp.

发明人： QUAID, Arthur E. ,  MOSES, Dennis ,  KANG, Hyosig ,  ABOVITZ, Rony A. ,  FERRE, Maurice ,  HAJAJ, Binyamin ,  ROCHE, Martin ,  ILLSLEY, Scott ,  ARATA, Louis K. ,  MEARS, Dana C. ,  BLACKWELL, Timothy ,  MOZES, Alon ,  ALY, Sherif ,  DUGAL, Amardeep Singh ,  HAND, Randal ,  GLAUSER, Sandi ,  SALCEDO, Juan ,  EBBITT, Peter ,  TAPIA, William

IPC分类号： A61B34/20

CPC分类号： A61B90/36 ,  A61B5/1127 ,  A61B5/745 ,  A61B6/032 ,  A61B6/037 ,  A61B6/4423 ,  A61B6/463 ,  A61B6/5247 ,  A61B8/463 ,  A61B17/1677 ,  A61B17/1739 ,  A61B17/1764 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B90/14 ,  A61B2017/00119 ,  A61B2017/00725 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2034/252 ,  A61B2034/254 ,  A61B2034/305 ,  A61B2090/08021 ,  A61B2090/365 ,  A61B2090/3983 ,  A61F2/38 ,  G05B2219/36432 ,  G06F19/00

摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

公开(公告)号：EP2798444B1

公开(公告)日：2018-05-23

申请号：EP12816572.7

申请日：2012-12-20

申请人： Mako Surgical Corp.

发明人： IORGULESCU, Radu ,  GRANCHI, Carinne Cecile ,  MOSES, Dennis ,  WOJCIK, Jason Robert

IPC分类号： G06F3/01 ,  G06F3/0346 ,  G06F3/0484 ,  A61B34/30 ,  A61B34/00 ,  A61B34/20

CPC分类号： A61B34/76 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2068 ,  G06F3/016 ,  G06F3/033 ,  G06F3/0338 ,  G06F3/0346 ,  G06F3/0482 ,  G06F3/04847

摘要： A method for activating a virtual haptic geometry based on a position of a portion of an instrument relative to a target feature comprises detecting a presence of a reference point of an instrument within a threshold distance of a target feature. A virtual haptic geometry corresponding to the target feature is activated in response to the detected presence of the reference point of the instrument within the threshold distance.

公开(公告)号：EP2023844A2

公开(公告)日：2009-02-18

申请号：EP07777157.4

申请日：2007-05-18

申请人： MAKO Surgical Corp.

发明人： MOSES, Dennis ,  QUAID, Arthur ,  KANG, Hyosig

IPC分类号： A61B19/00

CPC分类号： A61B34/20 ,  A61B17/1764 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B34/71 ,  A61B34/76 ,  A61B90/03 ,  A61B2017/00119 ,  A61B2017/00694 ,  A61B2017/00712 ,  A61B2017/00725 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2034/2072 ,  A61B2034/305 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/3983

摘要： The invention relates to a surgical system and, more particularly, to a surgical system and method for verifying calibration of a surgical device. The surgical system or method can be configured to perform the steps of: identifying an interface on an anatomy of a patient, determining a position of a checkpoint of the interface in a coordinate frame of reference, contacting the interface with a portion of a surgical tool of the surgical device, determining a position of the portion of the surgical tool in the coordinate frame of reference, and determining whether the position of the portion of the surgical tool has an expected correspondence to the position of the checkpoint. The interface may comprise a painted portion of a bone of the patient, a divot made in the bone, or a mechanical interface that includes a portion configured to be affixed to the bone and an interface portion that is configured to be contacted by the portion of the surgical tool.

摘要翻译： 本发明涉及一种手术系统，更具体地，涉及用于验证手术装置的校准的外科系统和方法。 手术系统或方法可以被配置为执行以下步骤：识别患者的解剖结构上的界面，在坐标参考系中确定界面的检查点的位置，将界面与手术工具的一部分接触 确定所述外科手术工具的所述部分在所述坐标参照系中的位置，以及确定所述外科手术工具的所述部分的位置是否具有与所述检查点的位置的预期对应关系。 界面可以包括患者的骨头的涂漆部分，在骨头中制成的牙齿，或机械界面，其包括构造成固定到骨头的部分和接口部分，所述接口部分被构造成与所述部分接触 手术工具。

公开(公告)号：EP1871267A1

公开(公告)日：2008-01-02

申请号：EP06735388.8

申请日：2006-02-21

申请人： Mako Surgical Corp.

发明人： QUAID, Arthur E. ,  MOSES, Dennis ,  KANG, Hyosig ,  ABOVITZ, Rony A. ,  FERRE, Maurice ,  HAJAJ, Binyamin ,  ROCHE, Martin ,  ILLSLEY, Scott ,  ARATA, Louis K. ,  MEARS, Dana C. ,  BLACKWELL, Timothy ,  MOZES, Alon ,  ALY, Sherif ,  DUGAL, Amardeep Singh ,  HAND, Randal ,  GLAUSER, Sandi ,  SALCEDO, Juan ,  EBBITT, Peter ,  TAPIA, William

IPC分类号： A61B19/00 ,  A61G13/12 ,  G01S3/786 ,  A61B17/00 ,  A61B17/16

CPC分类号： A61B90/36 ,  A61B5/1127 ,  A61B5/745 ,  A61B6/032 ,  A61B6/037 ,  A61B6/4423 ,  A61B6/463 ,  A61B6/5247 ,  A61B8/463 ,  A61B17/1677 ,  A61B17/1739 ,  A61B17/1764 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B90/14 ,  A61B2017/00119 ,  A61B2017/00725 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2034/252 ,  A61B2034/254 ,  A61B2034/305 ,  A61B2090/08021 ,  A61B2090/365 ,  A61B2090/3983 ,  A61F2/38 ,  G05B2219/36432 ,  G06F19/00

摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

公开(公告)号：EP3470040A1

公开(公告)日：2019-04-17

申请号：EP18193075.1

申请日：2006-02-21

申请人： Mako Surgical Corp.

发明人： QUAID, Arthur E. ,  MOSES, Dennis ,  KANG, Hyosig ,  ABOVITZ, Rony, A. ,  FERRE, Maurice ,  HAJAJ, Binyamin ,  ROCHE, Martin ,  ILLSLEY, Scott ,  ARATA, Louis, K. ,  MEARS, Dana, C. ,  BLACKWELL, Timothy ,  MOZES, Alon ,  ALY, Sherif ,  DUGAL, Amardeep Singh ,  HAND, Randal ,  GLAUSER, Sandi ,  SALCEDO, Juan ,  EBBITT, Peter ,  TAPIA, William

IPC分类号： A61G13/12 ,  G01S3/786 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00 ,  A61B17/16

摘要： A surgical apparatus includes a surgical device configured to be manipulated by a user to perform a procedure on a patient, and a computer system (20). The computer system (20) is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

公开(公告)号：EP2018606B1

公开(公告)日：2019-02-20

申请号：EP07795023.6

申请日：2007-05-18

申请人： MAKO SURGICAL CORP.

发明人： QUAID, Arthur E. ,  KANG, Hyosig ,  MOSES, Dennis

IPC分类号： G06F3/01 ,  B25J9/16 ,  B25J13/02

公开(公告)号：EP2023842A2

公开(公告)日：2009-02-18

申请号：EP07756266.8

申请日：2007-05-18

申请人： MAKO Surgical Corp.

发明人： QUAID, Arthur ,  MOSES, Dennis ,  KANG, Hyosig

IPC分类号： A61B19/00

CPC分类号： A61B34/20 ,  A61B17/1764 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B34/71 ,  A61B34/76 ,  A61B90/03 ,  A61B2017/00119 ,  A61B2017/00694 ,  A61B2017/00712 ,  A61B2017/00725 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2034/2072 ,  A61B2034/305 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/3983

摘要： The invention relates to a surgical system and, more particularly, to a surgical system and method for verifying calibration of a surgical device. The surgical system or method can be configured to perform the steps of: identifying an interface on an anatomy of a patient, determining a position of a checkpoint of the interface in a coordinate frame of reference, contacting the interface with a portion of a surgical tool of the surgical device, determining a position of the portion of the surgical tool in the coordinate frame of reference, and determining whether the position of the portion of the surgical tool has an expected correspondence to the position of the checkpoint. The interface may comprise a painted portion of a bone of the patient, a divot made in the bone, or a mechanical interface that includes a portion configured to be affixed to the bone and an interface portion that is configured to be contacted by the portion of the surgical tool.

摘要翻译： 本发明涉及一种手术系统，更具体地，涉及用于验证手术装置的校准的外科系统和方法。 手术系统或方法可以被配置为执行以下步骤：识别患者的解剖结构上的界面，在坐标参考系中确定界面的检查点的位置，将界面与手术工具的一部分接触 确定所述外科手术工具的所述部分在所述坐标参照系中的位置，以及确定所述外科手术工具的所述部分的位置是否具有与所述检查点的位置的预期对应关系。 界面可以包括患者的骨头的涂漆部分，在骨头中制成的牙齿，或机械界面，其包括构造成固定到骨头的部分和接口部分，所述接口部分被构造成与所述部分接触 手术工具。