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公开(公告)号：US20230296121A1
公开(公告)日：2023-09-21
申请号：US18122450
申请日：2023-03-16
申请人： MAKO Surgical Corp.
摘要： A surgical cart includes a base and a plurality of wheels coupled to the base such that the base is moveable. The surgical cart also includes a first device coupled to the base and moveable relative to the base, and a first docking feature coupled to the base and moveable relative to the base. The surgical cart further includes a second device coupled to the base and moveable relative to the base, and a second docking feature coupled to the second device and moveable with the second device relative to the base. The first docking feature is engageable with the second docking feature to selectively couple the first device and the second device together.
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公开(公告)号：US20230277256A1
公开(公告)日：2023-09-07
申请号：US18115964
申请日：2023-03-01
申请人： MAKO Surgical Corp.
发明人： Victor Soto , Alan Ross , David Gene Bowling , Jochen Breisacher , Jonathan Mark Morgan , Dave A. Sinclair , David DiPietro , David Robert Whisler , Paul David Ekegren , Paul Shiels
CPC分类号： A61B34/30 , A61B46/10 , A61B34/73 , A61B34/20 , A61B2034/305 , A61B2034/2055
摘要： Surgical robotic systems and navigation systems employ a robotic arm including a plurality of links. A link tracker assembly is located on the surface of one or more of the links to enable the link to be tracked by a localizer. The link tracker assemblies can utilize a plurality of tracker elements that can be removably coupled to the link. A photosensor assembly is located on the surface of one or more of the links to receive signals from the localizer for controlling the link tracker assembly. The robotic arm can be coupled to a base and the systems can be used in collaboration with a base tracker that is coupled to the base. The robotic arm can also include a mounting interface for receiving an end effector and the systems can be used in collaboration with an end effector tracker that is coupled to the end effector.
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公开(公告)号：US11730490B2
公开(公告)日：2023-08-22
申请号：US17318444
申请日：2021-05-12
申请人： MAKO Surgical Corp.
发明人： Carl Gayle
CPC分类号： A61B17/142 , A61B90/03 , A61B2017/00477
摘要： A blade mounting assembly for coupling a saw blade to a surgical saw. The blade mounting assembly including a blade clamp guard and a blade clamp moveably coupled to a drive hub of the surgical saw. The blade clamp guard defining a recess and a blade clamp at least partially disposed within the recess. The blade clamp further comprising a safety indicator. The blade clamp may be configured to move relative to the blade camp guard, the blade clamp moving between a first position where the safety indicator is exposed and a second position where the safety indicator is concealed by the blade clamp guard. The blade mounting assembly may also comprise a biasing mechanism disposed between the blade clamp guard and the blade clamp. The biasing mechanism configured to urge the blade clamp guard away from the blade clamp.
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公开(公告)号：US11723726B2
公开(公告)日：2023-08-15
申请号：US17972625
申请日：2022-10-25
申请人： MAKO Surgical Corp.
IPC分类号： A61B34/20 , H04N23/60 , H04N23/61 , H04N25/44 , H04N25/40 , A61B34/00 , H04N23/695 , H04N25/42
CPC分类号： A61B34/20 , H04N23/60 , H04N23/61 , H04N25/40 , H04N25/44 , A61B34/70 , A61B2034/2046 , A61B2034/2055 , A61B2034/2057 , A61B2034/2065 , H04N23/695 , H04N25/42
摘要： Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.
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公开(公告)号：US20230248349A1
公开(公告)日：2023-08-10
申请号：US18137546
申请日：2023-04-21
申请人： MAKO Surgical Corp.
发明人： Kevin Bechtold , Jason Otto , Hyosig Kang , Radu Iorgulescu
CPC分类号： A61B17/025 , A61B17/1675 , A61B17/16 , A61B2017/0268 , A61B2017/00115
摘要： A joint distraction lever, comprising a lever body comprising a handle portion and a working portion, a distal tip coupled to the working portion, and a fulcrum extending from a bottom surface of the working portion and spaced apart from the distal tip such that the fulcrum is positioned between the distal tip and the handle portion, where the joint distraction lever is configured to determine a distraction force based on deformation of the joint distraction lever.
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公开(公告)号：US11684374B2
公开(公告)日：2023-06-27
申请号：US16845823
申请日：2020-04-10
申请人： MAKO Surgical Corp.
发明人： Hyosig Kang , Jason Karl Otto , Matthew Harrow
CPC分类号： A61B17/14 , A61B17/15 , A61B34/20 , A61B34/32 , A61B90/50 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2063 , A61B2090/064 , A61B2090/066
摘要： A robotic surgery system includes a robotic manipulator and a cutting guide to be coupled to the robotic manipulator. The cutting guide is configured to guide a cutting tool so that the cutting tool cuts tissue of the patient. A control system is coupled to the robotic manipulator to control a location of the cutting guide and/or the cutting tool relative to the tissue.
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27.发明公开公开(公告)号：US20230190378A1
公开(公告)日：2023-06-22
申请号：US18082996
申请日：2022-12-16
申请人： MAKO Surgical Corp.
发明人： Rishabh Khurana , Brandt Williams , Erick Muniz , Delin Shen
CPC分类号： A61B34/10 , A61B34/30 , A61B34/70 , A61B5/4509 , A61B2034/105 , A61B2034/104 , A61B2034/107
摘要： A computer-implemented surgical planning method is provided. The method includes obtaining anatomical data of an anatomical volume and path data including a tool path along which a tool will move. The method also includes obtaining tool data; merging the path data and the anatomical data; and for a point of the tool path, identifying a location of the point, loading a geometry of the tool at the location, identifying an intersection between the tool and the anatomical volume at the location, determining density values of the anatomical data within the intersection, computing a tool contact factor related to the intersection, setting a planned feed rate factor for the tool based on the density values and the tool contact factor, associating the planned feed rate factor with the point; and outputting cut plan data including the planned feed rate factor associated with the point of the tool path.
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28.发明申请公开(公告)号：US20230068121A1
公开(公告)日：2023-03-02
申请号：US17759927
申请日：2021-01-20
申请人： MAKO Surgical Corp.
摘要： A system is provided comprising a robotic instrument for use with a surgical tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the surgical tool. A plurality of actuators operatively interconnect the tool support and the hand-held portion to move the tool support in three degrees of freedom relative to the hand-held portion. An optional constraint assembly may operatively interconnect the tool support and the hand-held portion to constrain movement of the tool support relative to the hand-held portion in three degrees of freedom. A visual indicator assists users in positioning hand-held portion of the instrument to maximize the useability of the system.
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公开(公告)号：US20230039959A1
公开(公告)日：2023-02-09
申请号：US17975117
申请日：2022-10-27
申请人： Mako Surgical Corp.
发明人： Daniel Antonio Perez , Daniel Rudolf Scholl , Gokce Yildirim , Alvin Perez , Alex McLachlan , Zenan Zhang , Geoffrey Westrich
摘要： Disclosed herein are a surgical system for patella tracking and a method for selecting a properly-sized patellar implant utilizing the same. The surgical system may include first and second trackers and a patellar tracking system. The first tracker may be configured to contact an unresected or a resected patella, and the second tracker may be configured to contact a bone. The patellar tracking system may be configured to track the first and second trackers during patellar flexion and extension to generate patellar range of motion and patellar trial range of motion. A method for selecting a patellar implant may utilize the first and second trackers and the patellar tracking system.
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公开(公告)号：US11564761B2
公开(公告)日：2023-01-31
申请号：US16811909
申请日：2020-03-06
申请人： MAKO Surgical Corp.
发明人： Helmut Rohs , Michael Dale Dozeman , Bharat Arora , Michael Ferko , Patrick Roessler , Richard Thomas DeLuca , David Gene Bowling
摘要： A robotic surgical system comprises a surgical tool, a manipulator configured to support the surgical tool, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a three-dimensional milling path for the surgical tool. The control system also receives one or more signals from the force/torque sensor in response to a user manually applying user forces and torques to the surgical tool. The control system determines a commanded pose to which to command the manipulator to advance the surgical tool along the milling path based on a tangential component of the user forces and torques, based on a virtual simulation using virtual constraints, and/or based on other suitable factors to promote guided, manual movement of the surgical tool along the milling path.
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