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21.发明申请公开(公告)号：US20160008087A1
公开(公告)日：2016-01-14
申请号：US14863115
申请日：2015-09-23
Applicant: MAKO Surgical Corp.
Inventor： Daniel Odermatt , Matthew Thompson
CPC classification number: A61B5/06 , A61B5/107 , A61B5/4528 , A61B5/4571 , A61B5/4851 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/76 , A61B90/37 , A61B2034/107 , A61B2505/05 , G06F19/00 , G16H50/50
Abstract: A computer-assisted surgery system includes a display, an input device configured to receive data input by a user, and a processor, coupled to the input device and the display. The processor is configured to establish a first position of a pre-operative center of rotation of a joint in a first coordinate space of a first bone and a second coordinate space of a second bone and establish a second position of the pre-operative center of rotation of the joint in the first coordinate space, wherein the second position is a projection into the first coordinate space of the position of the pre-operative center of rotation maintained in a constant position in the second coordinate space. The processor is further configured to determine a change in a parameter associated with the joint based on the first and second positions and output a result indicating the determined change to the display.
Abstract translation: 计算机辅助手术系统包括显示器，被配置为接收由用户输入的数据的输入设备和耦合到输入设备和显示器的处理器。 处理器被配置为建立第一骨骼的第一坐标空间中的关节的手术前旋转中心的第一位置和第二骨骼的第二坐标空间的第一位置，并且建立第二位置 所述关节在所述第一坐标空间中的旋转，其中所述第二位置是保持在所述第二坐标空间中的恒定位置的所述预先操作旋转中心的位置的所述第一坐标空间的投影。 处理器还被配置为基于第一和第二位置来确定与关节相关联的参数的改变，并将指示所确定的改变的结果输出到显示器。
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公开(公告)号：US20250152266A1
公开(公告)日：2025-05-15
申请号：US18940482
申请日：2024-11-07
Applicant: MAKO Surgical Corp.
Inventor： Hans-Ulrich Becker , Mohammad Javad Barakchi Fard , Matthew Thompson , Gregory Garcia , Rene Schoene , Garrett Thomas Joyal
Abstract: A computer-implemented method is provided. The computer-implemented method generates a milling path for a tool of a surgical system, the milling path designed to enable the tool to resect material from a bone, the method including obtaining a model of the bone, intersecting an allowed volume with the model for defining a resection volume intended to be removed from the bone, and generating a plurality of sections. The method also includes, for a section, identifying a sub-volume of the resection volume corresponding to the section; generating milling path segments designed to enable the tool to remove the sub-volume of the resection volume; identifying, for the sub-volume of the resection volume, a region to be avoided by the tool; generating transition path segments designed to avoid the region; and generating the milling path by combining the milling path segments and the transition path segments.
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公开(公告)号：US11903662B2
公开(公告)日：2024-02-20
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
CPC classification number: A61B34/30 , A61B34/20 , A61B34/70 , A61B2034/2055 , A61B2034/2057 , A61B2034/2059 , A61B2034/2068
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.
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24.发明授权公开(公告)号：US11864957B2
公开(公告)日：2024-01-09
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
CPC classification number: A61B90/361 , A61B34/20 , A61B90/37 , A61B34/70 , A61B2034/2057
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.
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Patent Agency Ranking
公开(公告)号：US11813052B2
公开(公告)日：2023-11-14
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 , A61B90/00
CPC classification number: A61B5/107 , A61B5/055 , A61B5/06 , A61B5/1071 , A61B5/1127 , A61B5/743 , A61B5/7435 , A61B34/20 , A61B34/30 , G06T7/33 , G06T7/73 , A61B2034/2055 , A61B2034/2068 , A61B2090/364 , G06T2207/10024 , G06T2207/10081 , G06T2207/30008 , G06T2207/30052
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.
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公开(公告)号：US11771498B2
公开(公告)日：2023-10-03
申请号：US17113850
申请日：2020-12-07
Applicant: MAKO Surgical Corp.
Inventor： Daniel Odermatt , Matthew Thompson
IPC: A61B34/10 , A61B5/055 , A61B5/107 , A61B6/03 , A61B6/00 , A61B34/00 , A61B34/30 , A61B8/00 , A61B34/20 , A61B90/50 , A61B8/08 , A61B17/16
CPC classification number: A61B34/10 , A61B5/055 , A61B5/107 , A61B6/032 , A61B6/505 , A61B6/5217 , A61B8/00 , A61B34/20 , A61B34/25 , A61B34/30 , A61B90/50 , A61B8/0875 , A61B8/5223 , A61B17/1666 , A61B2034/101 , A61B2034/104 , A61B2034/105 , A61B2034/108
Abstract: A method of calculating leg length discrepancy of a patient including: receiving patient bone data associated with a lower body of the patient; identifying anatomical landmarks in the patient bone data; orienting a first proximal landmark and a second proximal landmark relative to each other and an origin in a coordinate system; aligning a first axis associated with a first femur and a second axis associated with a second femur with a longitudinal axis extending in a distal-proximal direction, wherein the first and second distal landmarks are adjusted according to the alignment of the first and second axes; calculating a distance between the first and second distal landmarks in the distal-proximal direction along the longitudinal axis; and displaying at least one of the distance or a portion of the patient bone data on a display screen.
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公开(公告)号：US11737894B2
公开(公告)日：2023-08-29
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: G06K9/00 , A61F2/46 , G06T7/33 , A61B6/00 , A61B17/88 , A61B34/10 , A61B34/20 , A61B34/00 , A61B90/00
CPC classification number: A61F2/4609 , A61B6/505 , A61B17/8897 , G06T7/33 , A61B34/25 , A61B2034/105 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2063 , A61B2090/3762 , A61F2002/4633 , G06T2207/10028 , G06T2207/30008 , G06T2207/30052
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.
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公开(公告)号：US20220218422A1
公开(公告)日：2022-07-14
申请号：US17706968
申请日：2022-03-29
Applicant: MAKO Surgical Corp.
Inventor： Rishabh Khurana , David Gene Bowling , Matthew Thompson
Abstract: A surgical system comprising a tool for engaging a target site, a manipulator configured to support the tool, and a sensing system configured to detect one or more system conditions associated with one or more of the tool, the manipulator, the target site, or combinations thereof. A controller is coupled to the manipulator and to the sensing system is configured to operate the manipulator between: a first mode to maintain alignment of the tool with respect to the target site according to a first constraint criteria, and a second mode to maintain alignment of the tool with respect to the target site according to a second constraint criteria different from the first constraint criteria. The controller changes operation of the manipulator from the first mode to the second mode in response to determining that at least one of the one or more system conditions satisfies a predetermined condition.
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公开(公告)号：US10806529B2
公开(公告)日：2020-10-20
申请号：US16039805
申请日：2018-07-19
Applicant: MAKO Surgical Corp.
Inventor： John Timperley , Ross Crawford , Jonathan Howell , Matthew Hubble , Matthew Wilson , Matthew Thompson , Graham Gie
Abstract: Methods and systems are provided for robotic assisted surgery. A robotic system includes a localizer, a surgical robotic manipulator, an end effector configured to be removably coupled to the manipulator, and a controller. The controller is configured to receive signals from the localizer, determine a final position of a cavity creation tool used to penetrate a portion of a patient's anatomy based on the signals received from the localizer, and determine an implant insertion path for an implant to be inserted into a final implant position within the portion of the patient's anatomy, wherein the final implant position corresponds to the final position of the cavity creation tool. The controller is also configured to move the end effector with the implant coupled thereto such that the implant moves along the implant insertion path, and terminate the movement of the end effector when the implant reaches the final implant position.
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