公开(公告)号：US20240041350A1

公开(公告)日：2024-02-08

申请号：US18381441

申请日：2023-10-18

Applicant: MAKO SURGICAL CORP.

Inventor： Sunil Gupta ,  Ta-Cheng Chang ,  Zenan Zhang ,  Kevin Bechtold ,  Matthew Thompson ,  Eric Branch ,  Varun Chandra ,  Zhu Wu

IPC: A61B5/107 ,  A61B5/06 ,  A61B5/00 ,  G06T7/73 ,  G06T7/33 ,  A61B5/11 ,  A61B5/055 ,  A61B34/30 ,  A61B34/20

CPC classification number: A61B5/107 ,  A61B5/06 ,  A61B5/7435 ,  G06T7/73 ,  G06T7/33 ,  A61B5/1071 ,  A61B5/743 ,  A61B5/1127 ,  A61B5/055 ,  A61B34/30 ,  A61B34/20 ,  G06T2207/30052 ,  G06T2207/10081 ,  G06T2207/30008 ,  A61B2034/2068 ,  A61B2034/2055 ,  A61B2090/364

Abstract: A system for intra-operatively registering a pelvis comprising an acetabulum with a computer model of the pelvis in a coordinate system. The system may include: a) a surgical navigation system including a tracking device; and b) at least one computing device in communication with the surgical navigation system. The at least one computing device: i) receiving first data points from first intra-operatively collected points on an articular surface of the acetabulum, the first data points collected with the tracking device; ii) receiving a second data point from a second intra-operatively collected point on the pelvis, the second data point collected with the tracking device, the second data point corresponding in location to a second virtual data point on the computer model; and iii) determining an intra-operative center of rotation of the femur relative to the pelvis from the first data points.

公开(公告)号：US20220401164A1

公开(公告)日：2022-12-22

申请号：US17894207

申请日：2022-08-24

Applicant: MAKO Surgical Corp.

Inventor： John Timperley ,  Ross Crawford ,  Jonathan Howell ,  Matthew Hubble ,  Matthew Wilson ,  Matthew Thompson ,  Graham Gie

IPC: A61B34/30 ,  A61B34/20 ,  A61B34/00

Abstract: Surgical systems, methods and surgical planning programs to facilitate preparation of an anatomical cavity to receive a cup implant. The system includes a control system, a localizer and a robotic manipulator configured to move an energy applicator that is adapted to remove tissue. The control system obtains or generates a surgical plan that defines characteristics of cement holes to be formed within a wall of the anatomical cavity for receiving bone cement. The control system registers the surgical plan to the anatomical cavity with the localizer and controls the robotic manipulator to utilize the energy applicator to form the cement holes within the wall of the anatomical cavity according to the surgical plan.

公开(公告)号：US11478362B2

公开(公告)日：2022-10-25

申请号：US17257162

申请日：2020-08-20

Applicant: MAKO Surgical Corp.

Inventor： Matthew Thompson ,  Varun Chandra ,  Mark Nadzadi ,  Christine Perrone ,  Garrett Joyal

IPC: A61F2/46 ,  A61B34/37 ,  A61F2/34 ,  A61B34/10 ,  A61B34/20 ,  A61B17/17 ,  A61F2/30

Abstract: A system for facilitating arthroplasty procedures includes a robotic device, a reaming tool configured to interface with the robotic device, and a processing circuit communicable with the robotic device. The processing circuit is configured to obtain a surgical plan comprising a first planned position of an implant cup and a second planned position of an implant augment relative to a bone of a patient, determine a planned bone modification configured to prepare the bone to receive the implant cup in the first planned position and the implant augment in the second planned position, generate one or more virtual objects based on the planned bone modification, control the robotic device to constrain the cutting tool with the one or more virtual objects while the cutting tool interfaces with the robotic device and is operated to modify the bone in accordance with the planned bone modification.

公开(公告)号：US20220125334A1

公开(公告)日：2022-04-28

申请号：US17573264

申请日：2022-01-11

Applicant: MAKO Surgical Corp.

Inventor： Sunil Gupta ,  Ta-Cheng Chang ,  Zenan Zhang ,  Kevin Bechtold ,  Matthew Thompson ,  Eric Branch ,  Varun Chandra ,  Zhu Wu

IPC: A61B5/107 ,  A61B5/06 ,  A61B5/00 ,  G06T7/73 ,  G06T7/33 ,  A61B5/11 ,  A61B5/055 ,  A61B34/30 ,  A61B34/20

Abstract: A system for intra-operatively registering a pelvis comprising an acetabulum with a computer model of the pelvis in a coordinate system. The system may include: a) a surgical navigation system including a tracking device; and b) at least one computing device in communication with the surgical navigation system. The at least one computing device: i) receiving first data points from first intra-operatively collected points on an articular surface of the acetabulum, the first data points collected with the tracking device; ii) receiving a second data point from a second intra-operatively collected point on the pelvis, the second data point collected with the tracking device, the second data point corresponding in location to a second virtual data point on the computer model; and iii) determining an intra-operative center of rotation of the femur relative to the pelvis from the first data points.

公开(公告)号：US20220022994A1

公开(公告)日：2022-01-27

申请号：US17496191

申请日：2021-10-07

Applicant: MAKO Surgical Corp.

Inventor： Jason Karl Otto ,  Matthew Thompson ,  Mark Ellsworth Nadzadi ,  Roberto Montane ,  Jonathan Morgan ,  Bojan Gospavic

IPC: A61B90/00 ,  A61B34/20

Abstract: Systems, methods and software are provided for aiding in positioning of objects in a surgical environment. A tracker is rigidly affixed to a surgical object. A camera has a field of view and senses positions of the tracker in the field of view. Controller(s) provide a zone positioned within the field of view at a location that is static relative to the field of view such that the zone is located independent of the sensed positions of the tracker. The zone defines a range of acceptable positions for the tracker relative to a position of the camera. Controller(s) acquire positions of the tracker as the surgical object is moved throughout a range of motion and enable evaluation of the positions of the tracker throughout the range of motion relative to the zone to aid in positioning of one or more of: the camera, the tracker, or the surgical object.

公开(公告)号：US11166781B2

公开(公告)日：2021-11-09

申请号：US16390730

申请日：2019-04-22

Applicant: MAKO Surgical Corp.

Inventor： Jason Karl Otto ,  Matthew Thompson ,  Mark Ellsworth Nadzadi ,  Roberto Montane ,  Jonathan Morgan ,  Bojan Gospavic

IPC: G09G5/00 ,  A61B90/00 ,  A61B34/20 ,  A61B34/00

Abstract: Systems, methods and software are provided for aiding in positioning of a camera relative to objects in a surgical environment. The camera has a 3D field of view and senses positions of the objects in the field of view. A controller is coupled to the camera and defines a first zone and a second zone within the field of view. Each zone defines a range of acceptable positions for one of the objects relative to a position of the camera. The controller receives the position of the objects. A graphical user interface displays image representations of: the field of view, the first zone relative to the field of view, the second zone relative to the field of view, the position of one object relative to the first zone, and the position of another object relative to the second zone.

公开(公告)号：US20210177621A1

公开(公告)日：2021-06-17

申请号：US17189971

申请日：2021-03-02

Applicant: MAKO Surgical Corp.

Inventor： Zhu Wu ,  Sunil Gupta ,  Ta-Cheng Chang ,  Zenan Zhang ,  Kevin Bechtold ,  Matthew Thompson ,  Eric Branch ,  Varun Chandra ,  Ahmet Bagci

IPC: A61F2/46 ,  G06T7/33 ,  A61B6/00 ,  A61B17/88

Abstract: A registration system including a bone pin guide and a bone pin clamp. The bone pin guide may include a guide body, a first guide including a first guide through-hole having a first longitudinal axis, and a second guide including a second guide through-hole having a second longitudinal axis. The bone pin guide may guide first and second bone pins into a bone via the first and second guides. The bone pin clamp may include a clamp body, first, second, and third clamp through-holes extending through the clamp body, a plurality of registration indents defined on the clamp body, and a clamping mechanism including at least one adjustable fastener. The bone pin clamp may receive the first and second bone pins in the first and third clamp through-holes and guide a third bone pin into the bone via the second clamp through-hole.

公开(公告)号：US20230380988A1

公开(公告)日：2023-11-30

申请号：US18221690

申请日：2023-07-13

Applicant: MAKO SURGICAL CORP.

Inventor： Zhu Wu ,  Sunil Gupta ,  Ta-Cheng Chang ,  Zenan Zhang ,  Kevin Bechtold ,  Matthew Thompson ,  Eric Branch ,  Varun Chandra ,  Ahmet Bagci

IPC: A61F2/46 ,  G06T7/33 ,  A61B6/00 ,  A61B17/88

CPC classification number: A61F2/4609 ,  G06T7/33 ,  A61B6/505 ,  A61B17/8897 ,  A61B2034/105

Abstract: A registration system including a bone pin guide and a bone pin clamp. The bone pin guide may include a guide body, a first guide including a first guide through-hole having a first longitudinal axis, and a second guide including a second guide through-hole having a second longitudinal axis. The bone pin guide may guide first and second bone pins into a bone via the first and second guides. The bone pin clamp may include a clamp body, first, second, and third clamp through-holes extending through the clamp body, a plurality of registration indents defined on the clamp body, and a clamping mechanism including at least one adjustable fastener. The bone pin clamp may receive the first and second bone pins in the first and third clamp through-holes and guide a third bone pin into the bone via the second clamp through-hole.

公开(公告)号：US11471226B2

公开(公告)日：2022-10-18

申请号：US17024035

申请日：2020-09-17

Applicant: MAKO Surgical Corp.

Inventor： John Timperley ,  Ross William Crawford ,  Jonathan Howell ,  Matthew Hubble ,  Matthew Wilson ,  Matthew Thompson ,  Graham Gie

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/00

Abstract: Methods and systems are provided for robotic assisted surgery. A robotic system includes a localizer, at least one controller, and a surgical robotic manipulator which separately and detachably receives an energy applicator and an implant insertion tool that detachably receives an implant specifically for knee, hip or shoulder replacement surgery. The at least one controller determines a location within a portion of a patient's anatomy in which to form a cavity for the implant. The surgical robotic manipulator is controlled to form the cavity with the energy applicator. The surgical robotic manipulator is then controlled to insert the implant into the cavity with the implant insertion tool.

公开(公告)号：US20210000556A1

公开(公告)日：2021-01-07

申请号：US17024035

申请日：2020-09-17

Applicant: MAKO Surgical Corp.

Inventor： John Timperley ,  Ross William Crawford ,  Jonathan Howell ,  Matthew Hubble ,  Matthew Wilson ,  Matthew Thompson ,  Graham Gie

IPC: A61B34/30 ,  A61B34/20 ,  A61B34/00

Abstract: Methods and systems are provided for robotic assisted surgery. A robotic system includes a localizer, at least one controller, and a surgical robotic manipulator which separately and detachably receives an energy applicator and an implant insertion tool that detachably receives an implant specifically for knee, hip or shoulder replacement surgery. The at least one controller determines a location within a portion of a patient's anatomy in which to form a cavity for the implant. The surgical robotic manipulator is controlled to form the cavity with the energy applicator. The surgical robotic manipulator is then controlled to insert the implant into the cavity with the implant insertion tool.