公开(公告)号：US20240315791A1

公开(公告)日：2024-09-26

申请号：US18734569

申请日：2024-06-05

申请人： MAKO Surgical Corp.

发明人： Victor Soto ,  David Gene Bowling ,  Ezra Johnson ,  Nicholas Joseph LaBarbera

IPC分类号： A61B34/37 ,  A61B90/00

CPC分类号： A61B34/37 ,  A61B2090/066 ,  A61B2560/0266

摘要： An isolation mechanism that is configured for a robotic manipulator is provided. The robotic manipulator includes an arm to be driven by a transmission, a force/torque sensor, and one or more sensing elements configured to sense forces and torques applied to the force/torque sensor, wherein the isolation mechanism includes a body for coupling to an output of the transmission and for coupling to the force/torque sensor, wherein the body deforms in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.

公开(公告)号：US20240299098A1

公开(公告)日：2024-09-12

申请号：US18668513

申请日：2024-05-20

申请人： MAKO Surgical Corp.

发明人： Kristóf Ralovich ,  Oliver Kutter ,  Milán Ikits

IPC分类号： A61B34/10 ,  A61B17/16 ,  A61B17/34 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  G06T17/10 ,  G06T19/00 ,  G06T19/20 ,  G16H50/50

CPC分类号： A61B34/10 ,  A61B17/16 ,  A61B17/34 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/70 ,  G06T17/10 ,  G06T19/00 ,  G06T19/20 ,  G16H50/50 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/108 ,  A61B2034/2055 ,  G06T2210/41 ,  G06T2219/008 ,  G06T2219/2021

摘要： A method of computer visualization of removal of material from an object by a tool during a procedure includes tracking poses of the tool as the tool removes material from the object, performing a constructive solid geometry (CSG) operation using a model of the object, a plan for the removal of the material from the object, and an accumulation of the tracked poses of the tool, generating a two dimensional image of the object based on a result of the CSG operation, and handling movement of the tool by updating the two dimensional image via an update of only a changed sub-volume of the accumulation of the tracked poses.

公开(公告)号：US12082895B2

公开(公告)日：2024-09-10

申请号：US18372721

申请日：2023-09-26

申请人： MAKO Surgical Corp.

发明人： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto

IPC分类号： A61B46/00 ,  A61B34/00 ,  A61B34/30 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B17/00

CPC分类号： A61B34/30 ,  A61B34/70 ,  A61B46/00 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B2017/00477 ,  A61B2560/04

摘要： A robotic surgical system includes a robotic arm comprising a plurality of links and joints, an end effector, and a mounting assembly for coupling the end effector and the robotic arm. The mounting assembly includes a robot mount associated with the robotic arm and an end effector mount associated with the end effector. The mounting assembly also includes a sterile barrier assembly including a coupling and kinematic couplers. A first lock assembly releasably secures the coupling to the robot mount and a second lock assembly releasably secures the end effector mount to the coupling. A tensioner associated with either mount is movable between a first position and a second position such that the kinematic couplers engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.

公开(公告)号：US20240268904A1

公开(公告)日：2024-08-15

申请号：US18616252

申请日：2024-03-26

申请人： MAKO Surgical Corp.

发明人： Jamil Elbanna ,  Michael Prieto ,  Vijay Subramanian ,  Jienan Ding

IPC分类号： A61B34/30 ,  A61B17/16 ,  A61B17/17 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00

CPC分类号： A61B34/30 ,  A61B17/1615 ,  A61B17/1626 ,  A61B17/1757 ,  A61B34/25 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/306 ,  A61B2090/062 ,  A61B2090/066

摘要： Surgical systems and methods involve manipulation of a bone. A robotic manipulator supports and moves a surgical tool that has a cutting bur rotatable about a cutting axis. Controller(s) control the manipulator to align the cutting axis to a target axis associated with the bone and advance the cutting bur along the target axis towards a cortical region of the bone. The controller(s) control the surgical tool to rotate the cutting bur about the cutting axis and contact the cortical region. The controller(s) detect, from sensor(s), forces applied to the cutting bur by the cortical region and compare the sensed forces to a threshold indicative of skiving of the cutting bur relative the cortical region. In response to the sensed forces exceeding the threshold, the controller(s) adjust control of the manipulator and/or surgical tool to reduce forces applied to the cutting bur by the cortical region.

公开(公告)号：US20240268892A1

公开(公告)日：2024-08-15

申请号：US18440100

申请日：2024-02-13

申请人： MAKO Surgical Corp.

发明人： Jared Leichner

IPC分类号： A61B34/10 ,  G06F3/01 ,  G06T15/10 ,  G06T19/00 ,  G09B23/28 ,  G16H20/40

CPC分类号： A61B34/10 ,  G06F3/016 ,  G06T15/10 ,  G06T19/003 ,  G09B9/00 ,  G09B23/28 ,  G16H20/40 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/107 ,  G06T2210/41

摘要： Virtual reality surgical systems, methods, and software for simulating surgical navigation. A head-mounted device includes a display positionable in front of eyes of a user. The display of the head-mounted device presents a virtual environment including therein a virtual surgical object, a virtual display device, and a virtual navigation system including a virtual localizer unit. A spatial relationship between the virtual localizer unit and the virtual surgical object is determined and a virtual representation of the virtual surgical object is presented on the virtual display device. A pose of the virtual representation is based on the determined spatial relationship between the virtual localizer unit and the virtual surgical object.

公开(公告)号：US12035985B2

公开(公告)日：2024-07-16

申请号：US18195966

申请日：2023-05-11

申请人： MAKO Surgical Corp.

发明人： Hyosig Kang

IPC分类号： A61B34/30 ,  A61B17/16 ,  A61B34/00 ,  A61B34/20 ,  A61B34/32 ,  A61B17/17 ,  A61B17/70 ,  A61B34/10 ,  A61B90/00 ,  A61B90/98

CPC分类号： A61B34/30 ,  A61B17/1671 ,  A61B34/20 ,  A61B34/32 ,  A61B34/71 ,  A61B34/76 ,  A61B17/16 ,  A61B17/1757 ,  A61B17/7076 ,  A61B17/7082 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/031 ,  A61B2090/378 ,  A61B2090/3983 ,  A61B90/98

摘要： Robotic spinal surgery systems and methods include a robotic manipulator with a tool guide and a skin incision tool to be inserted into the tool guide. A navigation system includes a localizer for tracking the patient and a base tracker of the robotic manipulator. A control system registers, with the navigation system, a line haptic object to a vertebra of the patient, the line haptic object being associated with a desired trajectory for the vertebra. In response to a user input, the control system autonomously moves the robotic manipulator to align the tool guide to the desired trajectory. The tool guide is constrained to the desired trajectory with the line haptic object to enable insertion of the skin incision tool within the tool guide to facilitate creation of the incision in the skin at the desired trajectory.

公开(公告)号：US12016638B2

公开(公告)日：2024-06-25

申请号：US18112762

申请日：2023-02-22

申请人： MAKO Surgical Corp.

发明人： Kristóf Ralovich ,  Oliver Kutter ,  Milán Ikits

IPC分类号： G06K9/00 ,  A61B17/16 ,  A61B17/34 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  G06T17/10 ,  G06T19/00 ,  G06T19/20 ,  G16H50/50

CPC分类号： A61B34/10 ,  A61B17/16 ,  A61B17/34 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/70 ,  G06T17/10 ,  G06T19/00 ,  G06T19/20 ,  G16H50/50 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/108 ,  A61B2034/2055 ,  G06T2210/41 ,  G06T2219/008 ,  G06T2219/2021

摘要： A method for providing surgical navigation includes tracking poses of a surgical tool as the surgical tool modifies a bone and performing a constructive solid geometry (CSG) operation using a model of the bone and an accumulation of the tracked poses of the surgical tool. An intersection of the accumulation of the tracked poses with the model of the bone corresponds to a modification of the bone by the surgical tool. The method also includes displaying an image based on a result of the CSG operation.

公开(公告)号：US20240188966A1

公开(公告)日：2024-06-13

申请号：US18584093

申请日：2024-02-22

申请人： MAKO Surgical Corp.

发明人： Mark Nadzadi ,  Ali Abbasi ,  Amit Mistry ,  Jason Otto

IPC分类号： A61B17/15 ,  A61B17/16 ,  A61B17/17 ,  A61B34/30 ,  A61F2/46 ,  A61F2/68

CPC分类号： A61B17/157 ,  A61B17/1675 ,  A61B17/1764 ,  A61B34/30 ,  A61F2/461 ,  A61F2002/6827

摘要： A method of preparing a bone to receive an implant component includes planning one or more surgical cuts configured to provide the bone with a curved intersection between two surfaces, applying a mechanical restraint to an arm holding a cutting tool based on the one or more surgical cuts, and performing, subject to the mechanical restraint and by articulating the arm, the one or more surgical cuts using the cutting tool.

公开(公告)号：USD1029861S1

公开(公告)日：2024-06-04

申请号：US29834489

申请日：2022-04-12

申请人： MAKO Surgical Corp.

设计人： Carinne Granchi ,  Jason Otto ,  Thomas M. Coon ,  Michael Ballash ,  Tamas Erdos

摘要： FIG. 1 is a front view of a first embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 2 is a front view of a second embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 3 is a front view of a third embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 4 is a front view of a fourth embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 5 is a front view of a fifth embodiment of the claimed design of a display screen or portion thereof with a graphical user interface;
FIG. 6 is a front view of a sixth embodiment of the claimed design of a display screen or portion thereof with a graphical user interface; and,
FIG. 7 is a front view of a sixth embodiment of the claimed design of a display screen or portion thereof with a graphical user interface.
FIGS. 1-7 are being submitted in traditional black and white line drawings.
The outermost broken lines in the Figures illustrate a display screen or portion thereof and form no part of the claimed design. The other broken lines in the Figures illustrate portions of the graphical user interface that form no part of the claimed design.

公开(公告)号：US12003869B2

公开(公告)日：2024-06-04

申请号：US18213360

申请日：2023-06-23

申请人： MAKO Surgical Corp.

发明人： Jochen Breisacher ,  David Hofmann ,  Emeric Umbdenstock ,  Jonathan Morgan ,  Paul Hoekstra

IPC分类号： H04N25/44 ,  A61B34/20 ,  H04N23/60 ,  H04N23/61 ,  H04N25/40 ,  H04N25/443 ,  A61B34/00 ,  H04N23/695 ,  H04N25/42

CPC分类号： H04N25/44 ,  A61B34/20 ,  H04N23/60 ,  H04N23/61 ,  H04N25/40 ,  H04N25/443 ,  A61B2034/2046 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B34/70 ,  H04N23/695 ,  H04N25/42

摘要： Systems and methods to track an object within an operating room with a camera unit. The camera unit includes a first optical sensor with sensing elements to sense light in a near-infrared spectrum and a second optical sensor to sense light in a visible light spectrum. A controller is in communication with the first and second optical sensors. The controller obtains, from the second optical sensor, data related to the object within the operating room. The controller modifies control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor.