公开(公告)号：US09456765B2

公开(公告)日：2016-10-04

申请号：US14863115

申请日：2015-09-23

Applicant: MAKO Surgical Corp.

Inventor： Daniel Odermatt ,  Matthew Thompson

IPC: A61B19/00 ,  A61B5/06 ,  A61B5/107 ,  A61B5/00 ,  G06F19/00

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。

公开(公告)号：US20150164600A1

公开(公告)日：2015-06-18

申请号：US14628888

申请日：2015-02-23

Applicant: MAKO Surgical Corp.

Inventor： Benny Hagag ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

IPC: A61B19/00 ,  A61B17/16

CPC classification number: A61B34/30 ,  A61B17/1617 ,  A61B17/162 ,  A61B17/1631 ,  A61B17/1655 ,  A61B17/1659 ,  A61B17/1664 ,  A61B17/1666 ,  A61B17/1684 ,  A61B34/20 ,  A61B34/25 ,  A61B90/03 ,  A61B2017/00199 ,  A61B2017/00477 ,  A61B2034/2051 ,  A61F2/34 ,  A61F2/36 ,  A61F2/4607 ,  A61F2/4609 ,  Y10T74/20305

Abstract: A surgical system includes a surgical tool configured to be coupled to a cutting element, a force system configured to provide at least some force to the surgical tool, and a controller programmed to generate control signals. The control signals cause the force system to provide a first constraint on a user's manual movement of the surgical tool when the cutting element is a first cutting element and provide a second constraint, different from the first constraint, on a user's manual movement of the surgical tool when the cutting element is a second cutting element.

Abstract translation: 手术系统包括被配置为联接到切割元件的手术工具，被配置为向外科手术工具提供至少一些力的力系统以及被编程为产生控制信号的控制器。 当切割元件是第一切割元件并且提供与第一约束不同的第二约束时，所述控制信号使得所述力系统为所述外科手术工具的使用者的手动移动提供第一约束， 切割元件是第二切割元件时的工具。

公开(公告)号：US20250152255A1

公开(公告)日：2025-05-15

申请号：US19019822

申请日：2025-01-14

Applicant: MAKO Surgical Corp.

Inventor： Benny Hagag ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

IPC: A61B34/20 ,  A61B17/00 ,  A61B17/16 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61F2/34 ,  A61F2/36 ,  A61F2/46

Abstract: A method for a computer-assisted surgical system includes tracking a movement of a robot, determining a current pose of an implant cup based on the movement of the robot, and guiding cup impaction by virtually overlaying a representation of the implant cup on a displayed bone in accordance with the current pose of the implant cup.

公开(公告)号：US20250090244A1

公开(公告)日：2025-03-20

申请号：US18965566

申请日：2024-12-02

Applicant: MAKO Surgical Corp.

Inventor： Benny Hagag ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

IPC: A61B34/20 ,  A61B17/00 ,  A61B17/16 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61F2/34 ,  A61F2/36 ,  A61F2/46

Abstract: A surgical system includes a robot arm, a shaft held by the robot arm at a mount between a first end of the shaft and a second end of the shaft, a power tool operable to provide a force at the first end of the shaft, and a control system programmed to control the robot arm to maintain the second end at an intended pose in an acetabulum of a patient.

公开(公告)号：US11304758B2

公开(公告)日：2022-04-19

申请号：US16705423

申请日：2019-12-06

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Daniel Odermatt ,  Alon Mozes ,  Chunyan Wu ,  Miranda Jamieson

IPC: A61B34/10

Abstract: A memory device stores instructions, which, when executed by a controller, cause the controller to perform tasks. The tasks include obtaining a three-dimensional (3D) model of a patient's pelvis, identifying two landmarks of the 3D model of the patient's pelvis, defining a coronal radiographic plane of the patient, and determining a mediolateral axis of the 3D axis based on the two landmarks. The tasks also include planning the surgical placement of the acetabular cup into the acetabulum by positioning a virtual model of the acetabular cup relative to the 3D model and determining a planned version and a planned inclination based on the virtual model of the acetabular cup, the mediolateral axis and the coronal radiographic plane.

公开(公告)号：US12171503B2

公开(公告)日：2024-12-24

申请号：US18137623

申请日：2023-04-21

Applicant: MAKO Surgical Corp.

Inventor： Benny Hagag ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

IPC: A61B34/30 ,  A61B17/16 ,  A61B34/20 ,  A61B90/00 ,  A61F2/34 ,  A61F2/36 ,  A61F2/46 ,  A61B17/00 ,  A61B34/00

Abstract: A surgical system includes a robotic arm, a straight end effector configured to be coupled to the robotic arm, an offset end effector configured to be coupled to the robotic arm, and a controller configured to control the robotic arm using first control logic when the straight end effector is coupled to the robotic arm and second control logic when the offset end effector is coupled to the robotic arm.

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.

公开(公告)号：US20230255697A1

公开(公告)日：2023-08-17

申请号：US18137623

申请日：2023-04-21

Applicant: MAKO Surgical Corp.

Inventor： Benny Hagag ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

IPC: A61B34/20 ,  A61B17/16 ,  A61F2/34 ,  A61F2/36 ,  A61B90/00 ,  A61B34/30 ,  A61F2/46

CPC classification number: A61B34/20 ,  A61B17/162 ,  A61B17/1631 ,  A61F2/34 ,  A61F2/36 ,  A61B90/03 ,  A61B17/1666 ,  A61B34/30 ,  A61B17/1655 ,  A61B17/1659 ,  A61B17/1664 ,  A61B17/1684 ,  A61F2/4607 ,  A61F2/4609 ,  Y10T74/20305 ,  A61B17/1617 ,  A61B2017/00477

Abstract: A surgical system includes a robotic arm, a straight end effector configured to be coupled to the robotic arm, an offset end effector configured to be coupled to the robotic arm, and

a controller configured to control the robotic arm using first control logic when the straight end effector is coupled to the robotic arm and second control logic when the offset end effector is coupled to the robotic arm.

公开(公告)号：US10531924B2

公开(公告)日：2020-01-14

申请号：US15667306

申请日：2017-08-02

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Daniel Odermatt ,  Alon Mozes ,  Chunyan Wu ,  Miranda Jamieson

IPC: A61B34/10

Abstract: A system and method for determining inclination and version of a prosthetic acetabular cup relative to a coronal radiographic plane is provided. The system and method include the identification of a coronal radiographic plane in a three dimensional medical image. The system and method further include the identification of two symmetric landmarks on the pelvis to determine a mediolateral axis. The version and inclination can then be calculated based on the relationship between the axis of the acetabular cup, the coronal radiographic plan, and the mediolateral axis.

公开(公告)号：US10206750B2

公开(公告)日：2019-02-19

申请号：US15714202

申请日：2017-09-25

Applicant: MAKO Surgical Corp.

Inventor： Benny Hagag ,  Hyosig Kang ,  Alon Mozes ,  Daniel Odermatt ,  Brian D. Schmitz

IPC: A61B34/30 ,  A61F2/34 ,  A61F2/36 ,  A61B90/00 ,  A61B34/20 ,  A61F2/46 ,  A61B17/16 ,  A61B17/00 ,  A61B34/00

Abstract: A surgical system for positioning a prosthetic component includes a robotic arm and a surgical tool having an end effector configured to be coupled to the robotic arm. The system further includes a controller programmed to generate control signals, based on a planned pose of the prosthetic component, that cause the robotic arm to allow movement of the surgical tool in at least one degree of freedom and to constrain movement of the surgical tool in other degrees of freedom, wherein the controller is programmed to generate control signals that cause the robotic arm to maintain the constraint as the prosthetic component is implanted on the anatomy.