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公开(公告)号：US11944392B2
公开(公告)日：2024-04-02
申请号：US17387643
申请日：2021-07-28
申请人： MAKO Surgical Corp.
发明人： Viktor Krebs , Hyosig Kang , Snehal Kasodekar , Matt Harrow , Jienan Ding , Ta-Cheng Chang , Min Wu , Jean Gonzalez , Peter Ebbitt
IPC分类号： A61B34/20 , A61B5/055 , A61B6/03 , A61B8/08 , A61B17/15 , A61B17/17 , A61B34/30 , A61B90/00 , A61B34/10
CPC分类号： A61B34/20 , A61B5/055 , A61B6/032 , A61B8/0875 , A61B17/15 , A61B17/1703 , A61B34/30 , A61B90/361 , A61B2034/102 , A61B2034/105 , A61B2034/2055 , A61B2034/2065 , A61B90/37 , A61B2090/3983
摘要： A method for intraoperative planning and facilitating a revision arthroplasty procedure includes displaying a virtual model of a bone, capturing positions of a tracked probe as the tracked probe contacts points at a perimeter of a primary implant component coupled to the bone, generating a virtual representation of an interface between the primary implant component and the virtual model of the bone using the positions of the tracked probe, planning a bone resection using the virtual representation of the interface, and guiding execution of the bone resection.
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公开(公告)号：US20210113278A1
公开(公告)日：2021-04-22
申请号：US17134774
申请日：2020-12-28
申请人： MAKO Surgical Corp.
发明人： Viktor Krebs , Hyosig Kang , Snehal Kasodekar , Matt Harrow , Jienan Ding , Ta-Cheng Chang , Min Wu , Jean Gonzalez , Peter Ebbitt
摘要： A method of performing a procedure includes preparing a subject, gaining access to a portion of the subject with a first instrument, removing a first portion of the portion of the subject with the first instrument, gaining access to the portion of the subject with a tracked instrument, moving the tracked instrument to a surface revealed by removal of at least the first portion from the portion of the subject, tracking the tracked instrument while moving at least the tracked instrument to the surface, and determining a representation of the surface based on the tracking the tracked instrument.
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公开(公告)号：US11484368B2
公开(公告)日：2022-11-01
申请号：US16923192
申请日：2020-07-08
申请人： MAKO Surgical Corp.
发明人： Viktor Krebs , Hyosig Kang , Snehal Kasodekar , Matt Harrow , Jienan Ding , Ta-Cheng Chang , Min Wu , Jean Gonzalez , Peter Ebbitt
IPC分类号： A61B34/20 , A61B34/30 , A61B90/00 , A61B5/055 , A61B6/03 , A61B8/08 , A61B17/15 , A61B17/17 , A61B34/10
摘要： A method for intraoperatively planning and facilitating a revision arthroplasty procedure. The method includes capturing positions of a tracked probe as the tracked probe contacts an interface area between a bone and a primary implant component implanted on the bone, intraoperatively generating a virtual boundary corresponding to a portion of the interface area to be removed to detach the primary implant component from the bone using the positions of the tracked probe and without use of pre-operative medical imaging, facilitating removal of the primary implant component from the bone by providing a constraint on operation of a cutting tool while the cutting tool removes the portion of the interface area, the constraint based on a relationship between the cutting tool and the virtual boundary.
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公开(公告)号：US20200337784A1
公开(公告)日：2020-10-29
申请号：US16923192
申请日：2020-07-08
申请人： MAKO Surgical Corp.
发明人： Viktor Krebs , Hyosig Kang , Snehal Kasodekar , Matt Harrow , Jienan Ding , Ta-Cheng Chang , Min Wu , Jean Gonzalez , Peter Ebbitt
摘要： A method for intraoperatively planning and facilitating a revision arthroplasty procedure. The method includes capturing positions of a tracked probe as the tracked probe contacts an interface area between a bone and a primary implant component implanted on the bone, intraoperatively generating a virtual boundary corresponding to a portion of the interface area to be removed to detach the primary implant component from the bone using the positions of the tracked probe and without use of pre-operative medical imaging, facilitating removal of the primary implant component from the bone by providing a constraint on operation of a cutting tool while the cutting tool removes the portion of the interface area, the constraint based on a relationship between the cutting tool and the virtual boundary.
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公开(公告)号：US11857270B2
公开(公告)日：2024-01-02
申请号：US17134774
申请日：2020-12-28
申请人： MAKO Surgical Corp.
发明人： Viktor Krebs , Hyosig Kang , Snehal Kasodekar , Matt Harrow , Jienan Ding , Ta-Cheng Chang , Min Wu , Jean Gonzalez , Peter Ebbitt
IPC分类号： A61B34/20 , A61B34/30 , A61B90/00 , A61B5/055 , A61B6/03 , A61B8/08 , A61B17/15 , A61B17/17 , A61B34/10
CPC分类号： A61B34/20 , A61B5/055 , A61B6/032 , A61B8/0875 , A61B17/15 , A61B17/1703 , A61B34/30 , A61B90/361 , A61B90/37 , A61B2034/102 , A61B2034/105 , A61B2034/2055 , A61B2034/2065 , A61B2090/3983
摘要： A method of performing a procedure includes preparing a subject, gaining access to a portion of the subject with a first instrument, removing a first portion of the portion of the subject with the first instrument, gaining access to the portion of the subject with a tracked instrument, moving the tracked instrument to a surface revealed by removal of at least the first portion from the portion of the subject, tracking the tracked instrument while moving at least the tracked instrument to the surface, and determining a representation of the surface based on the tracking the tracked instrument.
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公开(公告)号：US20210353367A1
公开(公告)日：2021-11-18
申请号：US17387643
申请日：2021-07-28
申请人： MAKO Surgical Corp.
发明人： Viktor Krebs , Hyosig Kang , Snehal Kasodekar , Matt Harrow , Jienan Ding , Ta-Cheng Chang , Min Wu , Jean Gonzalez , Peter Ebbitt
摘要： A method for intraoperative planning and facilitating a revision arthroplasty procedure includes displaying a virtual model of a bone, capturing positions of a tracked probe as the tracked probe contacts points at a perimeter of a primary implant component coupled to the bone, generating a virtual representation of an interface between the primary implant component and the virtual model of the bone using the positions of the tracked probe, planning a bone resection using the virtual representation of the interface, and guiding execution of the bone resection.
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公开(公告)号：US20240008934A1
公开(公告)日：2024-01-11
申请号：US18372815
申请日：2023-09-26
申请人： MAKO Surgical Corp.
发明人： Viktor Krebs , Hyosig Kang , Snehal Kasodekar , Matt Harrow , Jienan Ding , Ta-Cheng Chang , Min Wu , Jean Gonzalez , Peter Ebbitt
CPC分类号： A61B34/20 , A61B34/30 , A61B90/361 , A61B5/055 , A61B6/032 , A61B8/0875 , A61B17/15 , A61B17/1703 , A61B2034/2055 , A61B90/37 , A61B2034/102
摘要： A method for intraoperatively augmenting a revision implant includes removing a primary implant from a bone, intraoperatively determining a size of a defect of the bone, intraoperatively cutting a bone filler material to the size of the defect, installing the bone filler material at the defect, and installing the revision implant on the bone.
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公开(公告)号：US10716630B2
公开(公告)日：2020-07-21
申请号：US15649416
申请日：2017-07-13
申请人： MAKO Surgical Corp.
发明人： Viktor Krebs , Hyosig Kang , Snehal Kasodekar , Matt Harrow , Jienan Ding , Ta-Cheng Chang , Min Wu , Jean Gonzalez , Peter Ebbitt
IPC分类号： A61B34/20 , A61B34/30 , A61B90/00 , A61B5/055 , A61B6/03 , A61B8/08 , A61B17/15 , A61B17/17 , A61B34/10
摘要： A method for performing a revision surgery using a robotic-assisted surgery system includes determining information related to an interface area between an implant component and a bone, and generating a planned virtual boundary associated with a portion of the interface area to be removed in a representation of the implant and the bone, based at least in part on the information related to the interface area. The method further includes tracking movement in the physical space of a cutting tool such that movement of the cutting tool is correlated with movement of a virtual tool, and providing a constraint on the cutting tool while the cutting tool removes the portion of the interface area. The constraint is based on a relationship between the virtual tool and the planned virtual boundary. The portion of the interface area is removed to remove the implant component from the bone.
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公开(公告)号：US11191594B2
公开(公告)日：2021-12-07
申请号：US16422007
申请日：2019-05-24
申请人： MAKO SURGICAL CORP.
发明人： Jonathan Morgan , Jean Gonzalez
摘要： A navigation system is disclosed comprising a first and a second tracker support separately affixed to the same rigid object by a distance. A first and a second plurality of trackable elements are secured to the first and second tracker supports, respectively. The navigation system defines a tracking arrangement to be tracked based on a combination of the first and second plurality of trackable elements. A geometry of the tracking arrangement relative to the rigid object is registered. The navigation system has a localizer configured to track the rigid object by detecting the registered geometry of the tracking arrangement. The navigation system identifies a condition wherein at least one trackable element has been displaced relative to the registered geometry, and in response, generates a response to address the condition.
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公开(公告)号：US20180014891A1
公开(公告)日：2018-01-18
申请号：US15649416
申请日：2017-07-13
申请人： MAKO Surgical Corp.
发明人： Viktor Krebs , Hyosig Kang , Snehal Kasodekar , Matt Harrow , Jienan Ding , Ta-Cheng Chang , Min Wu , Jean Gonzalez , Peter Ebbitt
摘要： A method for performing a revision surgery using a robotic-assisted surgery system includes determining information related to an interface area between an implant component and a bone, and generating a planned virtual boundary associated with a portion of the interface area to be removed in a representation of the implant and the bone, based at least in part on the information related to the interface area. The method further includes tracking movement in the physical space of a cutting tool such that movement of the cutting tool is correlated with movement of a virtual tool, and providing a constraint on the cutting tool while the cutting tool removes the portion of the interface area. The constraint is based on a relationship between the virtual tool and the planned virtual boundary. The portion of the interface area is removed to remove the implant component from the bone.
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