公开(公告)号：US11857270B2

公开(公告)日：2024-01-02

申请号：US17134774

申请日：2020-12-28

Applicant: MAKO Surgical Corp.

Inventor： Viktor Krebs ,  Hyosig Kang ,  Snehal Kasodekar ,  Matt Harrow ,  Jienan Ding ,  Ta-Cheng Chang ,  Min Wu ,  Jean Gonzalez ,  Peter Ebbitt

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08 ,  A61B17/15 ,  A61B17/17 ,  A61B34/10

CPC classification number: 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

Abstract: 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.

公开(公告)号：US20210353367A1

公开(公告)日：2021-11-18

申请号：US17387643

申请日：2021-07-28

Applicant: MAKO Surgical Corp.

Inventor： Viktor Krebs ,  Hyosig Kang ,  Snehal Kasodekar ,  Matt Harrow ,  Jienan Ding ,  Ta-Cheng Chang ,  Min Wu ,  Jean Gonzalez ,  Peter Ebbitt

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08 ,  A61B17/15 ,  A61B17/17

Abstract: 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.

公开(公告)号：US20170340389A1

公开(公告)日：2017-11-30

申请号：US15167771

申请日：2016-05-27

Applicant: MAKO Surgical Corp.

Inventor： Jason Karl Otto ,  Abdullah Zafar Abbasi ,  Milan Ikits ,  Daniel Perez ,  Shang Mu ,  Xiping Li ,  Ta-Cheng Chang

IPC: A61B34/10 ,  A61B34/20 ,  A61B17/17 ,  A61F2/38 ,  A61B5/055 ,  A61B34/30 ,  A61F2/46

CPC classification number: A61B34/10 ,  A61B5/0037 ,  A61B5/055 ,  A61B5/1075 ,  A61B5/1077 ,  A61B34/30 ,  A61B34/32 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2505/05 ,  A61B2576/02 ,  A61F2002/4662

Abstract: Aspects of the disclosure may involve a method of generating resection plane data for use in planning an arthroplasty procedure on a patient bone. The method may include: obtaining patient data associated with at least a portion of the patient bone, the patient data captured using a medical imaging machine; generating a three-dimensional patient bone model from the patient data, the patient bone model including a polygonal surface mesh; identifying a location of a posterior point on the polygonal surface mesh; creating a three-dimensional shape centered at or near the location; identifying a most posterior vertex of all vertices of the polygonal surface mesh that may be enclosed by the three-dimensional shape; using the most posterior vertex as a factor for determining a posterior resection depth; and generating resection data using the posterior resection depth, the resection data configured to be utilized by a navigation system during the arthroplasty procedure.

公开(公告)号：US11484368B2

公开(公告)日：2022-11-01

申请号：US16923192

申请日：2020-07-08

Applicant: MAKO Surgical Corp.

Inventor： Viktor Krebs ,  Hyosig Kang ,  Snehal Kasodekar ,  Matt Harrow ,  Jienan Ding ,  Ta-Cheng Chang ,  Min Wu ,  Jean Gonzalez ,  Peter Ebbitt

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08 ,  A61B17/15 ,  A61B17/17 ,  A61B34/10

Abstract: 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.

公开(公告)号：US20220104881A1

公开(公告)日：2022-04-07

申请号：US17553915

申请日：2021-12-17

Applicant: MAKO Surgical Corp.

Inventor： Jason Karl Otto ,  Abdullah Zafar Abbasi ,  Milan Ikits ,  Daniel Perez ,  Shang Mu ,  Xiping Li ,  Ta-Cheng Chang

IPC: A61B34/10 ,  A61B5/055 ,  A61B5/00 ,  A61B5/107

Abstract: Aspects of the disclosure may involve a method of generating resection plane data for use in planning an arthroplasty procedure on a patient bone. The method may include: obtaining patient data associated with at least a portion of the patient bone, the patient data captured using a medical imaging machine; generating a three-dimensional patient bone model from the patient data, the patient bone model including a polygonal surface mesh; identifying a location of a posterior point on the polygonal surface mesh; creating a three-dimensional shape centered at or near the location; identifying a most posterior vertex of all vertices of the polygonal surface mesh that may be enclosed by the three-dimensional shape; using the most posterior vertex as a factor for determining a posterior resection depth; and generating resection data using the posterior resection depth, the resection data configured to be utilized by a navigation system during the arthroplasty procedure.

公开(公告)号：US11246508B2

公开(公告)日：2022-02-15

申请号：US16653207

申请日：2019-10-15

Applicant: MAKO Surgical Corp.

Inventor： Sunil Gupta ,  Ta-Cheng Chang ,  Zenan Zhang ,  Kevin Bechtold ,  Matt 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

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：US10959857B2

公开(公告)日：2021-03-30

申请号：US16970493

申请日：2019-02-26

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 ,  A61B6/00 ,  G06T7/33 ,  A61B17/88 ,  A61B34/10 ,  A61B34/20 ,  A61B34/00 ,  A61B90/00

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：US20200337784A1

公开(公告)日：2020-10-29

申请号：US16923192

申请日：2020-07-08

Applicant: MAKO Surgical Corp.

Inventor： Viktor Krebs ,  Hyosig Kang ,  Snehal Kasodekar ,  Matt Harrow ,  Jienan Ding ,  Ta-Cheng Chang ,  Min Wu ,  Jean Gonzalez ,  Peter Ebbitt

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08 ,  A61B17/15 ,  A61B17/17

Abstract: 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.

公开(公告)号：US20240008934A1

公开(公告)日：2024-01-11

申请号：US18372815

申请日：2023-09-26

Applicant: MAKO Surgical Corp.

Inventor： Viktor Krebs ,  Hyosig Kang ,  Snehal Kasodekar ,  Matt Harrow ,  Jienan Ding ,  Ta-Cheng Chang ,  Min Wu ,  Jean Gonzalez ,  Peter Ebbitt

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08 ,  A61B17/15 ,  A61B17/17

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B90/361 ,  A61B5/055 ,  A61B6/032 ,  A61B8/0875 ,  A61B17/15 ,  A61B17/1703 ,  A61B2034/2055 ,  A61B90/37 ,  A61B2034/102

Abstract: 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.

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.