公开(公告)号：US20250143814A1

公开(公告)日：2025-05-08

申请号：US19013060

申请日：2025-01-08

Applicant: MAKO Surgical Corp.

Inventor： José Luis Moctezuma de la Barrera ,  David Gene Bowling ,  Donald W. Malackowski ,  Patrick Roessler ,  Joel N. Beer

IPC: A61B34/30 ,  A61B17/16 ,  A61B17/17 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B90/00 ,  B25J9/16 ,  B25J11/00 ,  G05B19/4093

Abstract: Surgical systems involve a robotic manipulator that moves a surgical tool to remove material from a workpiece and a navigation system to track a pose of the surgical tool relative to the workpiece. A control system determines a non-homogenous density distribution of the workpiece. The control system generates a tool path based on the density distribution. The control system controls the robotic manipulator to move the surgical tool along the tool path to remove the material from the workpiece while accounting for the density distribution. As the surgical tool moves along the tool path, the control system adjusts one or more operating parameters of the surgical tool to account for the density distribution, such as by adjusting the feed rate of the surgical tool, the cutting speed of the surgical tool, and/or the cutting depth of the surgical tool.

公开(公告)号：US12220192B2

公开(公告)日：2025-02-11

申请号：US18385994

申请日：2023-11-01

Applicant: MAKO Surgical Corp.

Inventor： José Luis Moctezuma de la Barrera ,  David Gene Bowling ,  Donald W. Malackowski ,  Patrick Roessler ,  Joel N. Beer

IPC: A61B34/30 ,  A61B17/16 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B90/00 ,  B25J9/16 ,  B25J11/00 ,  A61B17/17 ,  G05B19/4093

Abstract: A surgical system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. A navigation system includes a localizer, a first tracker coupled to the robotic manipulator or the tool, and a second tracker coupled to a workpiece. Controller(s) determine, from the navigation system, a pose of the tool relative to the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a first portion from the workpiece with the tool and sense interaction between the tool and the workpiece during removal of the first portion to detect a density of the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a second portion from the workpiece with the tool, wherein a cutting depth for the second portion is based, at least in part, on the detected density.

公开(公告)号：US12178540B2

公开(公告)日：2024-12-31

申请号：US18093384

申请日：2023-01-05

Applicant: MAKO Surgical Corp.

Inventor： Helmut Rohs ,  Michael Dale Dozeman ,  Bharat Arora ,  Michael Ferko ,  Patrick Roessler ,  Richard Thomas DeLuca ,  David Gene Bowling

IPC: A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/37

Abstract: Robotic surgical systems and methods for controlling movement of a tool relative to a tool path. An input is received from a force/torque sensor in response to user forces/torques manually applied to the tool by a user. A component of force is calculated tangential to the path based on the input. An effective feed rate is calculated to advance the tool along the path based on the tangential component. Virtual constraints are defined on movement of the tool along the path with respect to three degrees of freedom and based on the effective feed rate to promote movement of the tool along the path. Dynamics of the tool are virtually simulated based on the virtual constraints and the input from the force/torque sensor. The manipulator is commanded to advance the tool along the path based on the virtual simulation.

公开(公告)号：US20230329811A1

公开(公告)日：2023-10-19

申请号：US18213293

申请日：2023-06-23

Applicant: MAKO Surgical Corp.

Inventor： David Gene Bowling ,  John Michael Stuart ,  Jerry A. Culp ,  Donald W. Malackowski ,  José Luis Moctezuma de la Barrera ,  Patrick Roessler ,  Joel N. Beer

IPC: A61B34/30 ,  A61B34/32 ,  A61B34/00 ,  A61B34/20 ,  A61B34/10 ,  A61B34/37 ,  A61B90/00 ,  A61B17/16

CPC classification number: A61B34/30 ,  A61B34/32 ,  A61B34/76 ,  A61B34/20 ,  A61B34/10 ,  A61B34/37 ,  A61B90/39 ,  A61B17/1675 ,  A61B2018/00565

Abstract: A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the second portion of the anatomy.

公开(公告)号：US11648074B2

公开(公告)日：2023-05-16

申请号：US17572710

申请日：2022-01-11

Applicant: MAKO Surgical Corp.

Inventor： David Gene Bowling

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/00 ,  A61B34/20 ,  A61B17/32 ,  A61B34/32 ,  A61B34/10 ,  A61B90/11 ,  A61B5/06 ,  A61B17/16 ,  A61B90/00 ,  A61B17/14

CPC classification number: A61B34/70 ,  A61B17/320068 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/76 ,  B25J9/1633 ,  A61B5/064 ,  A61B17/14 ,  A61B17/16 ,  A61B90/11 ,  A61B2034/101 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2034/2068 ,  A61B2034/301 ,  A61B2090/066 ,  A61B2090/378 ,  G05B2219/40122 ,  G05B2219/45117

Abstract: Robotic systems and methods employ a virtual simulation wherein a tool is represented as a virtual volume adapted to interact relative to a virtual boundary defined by a mesh of polygonal elements. A reactive force is computed in response to penetration of one of the polygonal elements by the virtual volume in the virtual simulation. The reactive force is computed as a function of a volume of a penetrating portion of the virtual volume that is penetrating a plane of the polygonal element. The reactive force is applied to the virtual volume in the virtual simulation for reducing penetration of the polygonal element by the virtual volume.

公开(公告)号：US11633248B2

公开(公告)日：2023-04-25

申请号：US17495014

申请日：2021-10-06

Applicant: MAKO Surgical Corp.

Inventor： Seamus Gilhooley ,  David Gene Bowling ,  Paul Shiels

IPC: A61B34/00 ,  A61B34/32 ,  A61B34/30 ,  A61B17/14 ,  A61B17/15 ,  A61B90/00 ,  A61B17/16 ,  A61B17/00

Abstract: Methods of cutting bone using a robotic cutting system are provided. The robotic cutting system includes one or more controllers, a robotic manipulator, and one or more cutting tools, such as those including a bur or a saw blade, that can be coupled to the robotic manipulator. An initial cut, such as a notch, is made into the bone with the bur or the saw blade. This notch is then used to constrain the saw blade for limiting skiving of the saw blade during cutting along a cutting plane.

公开(公告)号：US20220183777A1

公开(公告)日：2022-06-16

申请号：US17685488

申请日：2022-03-03

Applicant: MAKO Surgical Corp.

Inventor： Jose' Luis Moctezuma de la Barrera ,  David Gene Bowling ,  Donald W. Malackowski ,  Patrick Roessler ,  Joel N. Beer

IPC: A61B34/30 ,  A61B17/16 ,  B25J11/00 ,  A61B34/20 ,  B25J9/16 ,  A61B34/10 ,  A61B34/32 ,  A61B90/00

Abstract: A surgical robotic system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. Controller(s) generate a first tool path to remove a first portion of material from the bone and control the manipulator to position the tool for movement along the first tool path to remove the first portion. The controller(s) sense interaction between the tool and the bone during movement of the tool along the first tool path and generate a second tool path to remove a second portion of material from the bone. Generation of the second tool path is based, at least in part, on the sensed interaction between the tool and the bone during movement along the first tool path. The controller(s) control the manipulator to position the tool for movement along the second tool path to remove the second portion.

公开(公告)号：US11083531B2

公开(公告)日：2021-08-10

申请号：US16902360

申请日：2020-06-16

Applicant: MAKO Surgical Corp.

Inventor： David Gene Bowling ,  John Michael Stuart ,  Jerry A. Culp ,  Donald W. Malackowski ,  José Luis Moctezuma de la Barrera ,  Patrick Roessler ,  Joel N. Beer

IPC: B25J9/02 ,  A61B34/30 ,  A61B34/32 ,  A61B34/00 ,  A61B34/20 ,  A61B34/10 ,  A61B34/37 ,  A61B90/00 ,  A61B17/16 ,  A61B18/00

Abstract: A system includes a robotic manipulator and an end effector coupled to the robotic manipulator and being moveable for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a virtual boundary relative to the target site, prevent the end effector from penetrating the virtual boundary in the autonomous mode, and allow the end effector to penetrate the virtual boundary in the manual mode.

公开(公告)号：US11033341B2

公开(公告)日：2021-06-15

申请号：US16184376

申请日：2018-11-08

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Jienan Ding ,  David Gene Bowling ,  Christopher Wayne Jones ,  Greg McEwan ,  Lucas Gsellman

IPC: A61B17/88 ,  A61B34/20 ,  A61B34/30 ,  A61B17/16 ,  A61B17/70 ,  A61B34/00 ,  A61B90/98 ,  A61B17/17 ,  A61B34/32 ,  A61B34/10 ,  A61B90/00

Abstract: A robotic system and methods for performing spine surgery are disclosed. The system comprises a robotic manipulator with a tool to hold a screw and to rotate the screw about a rotational axis. The screw is self-tapping and has a known thread geometry that is stored by a controller. A navigation system tracks a position of a target site. Movement of the robotic manipulator is controlled to maintain the rotational axis of the surgical tool along a planned trajectory with respect to the target site based on the tracked position of the target site. In autonomous or manual modes of operation, the rotational rate of the screw about the rotational axis and/or an advancement rate of the screw linearly along the planned trajectory is controlled to be proportional to the known thread geometry stored in the memory.

公开(公告)号：US20200305993A1

公开(公告)日：2020-10-01

申请号：US16902360

申请日：2020-06-16

Applicant: MAKO Surgical Corp.

Inventor： David Gene Bowling ,  John Michael Stuart ,  Jerry A. Culp ,  Donald W. Malackowski ,  José Luis Moctezuma de la Barrera ,  Patrick Roessler ,  Joel N. Beer

IPC: A61B34/30 ,  A61B34/32 ,  A61B34/00 ,  A61B34/20 ,  A61B34/10 ,  A61B34/37 ,  A61B90/00 ,  A61B17/16

Abstract: A system includes a robotic manipulator and an end effector coupled to the robotic manipulator and being moveable for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a virtual boundary relative to the target site, prevent the end effector from penetrating the virtual boundary in the autonomous mode, and allow the end effector to penetrate the virtual boundary in the manual mode.