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公开(公告)号：US20240041613A1
公开(公告)日：2024-02-08
申请号：US18380488
申请日：2023-10-16
Applicant: MAKO Surgical Corp.
Inventor： Zhu Wu , Matthew Thompson , Brent Mittelstadt , Jamil Elbanna
CPC classification number: A61F2/46 , A61F2/32 , A61F2/4607 , A61B34/10 , A61F2002/4633 , A61F2002/30943
Abstract: A system for surgical registration. The system may include at least one computing device in communication with a surgical navigation system and the surgical device. The at least one computing device: a) receiving external bone registration data corresponding to locations on the exterior surface of the femur; b) calculating a first registration transform based on the external bone registration data; c) transforming a first bone removal plan of a surgical plan to the operative coordinate system based on the first registration transform; d) receiving internal bone canal registration data corresponding to at least one of location or orientation data from the inner canal of the femur; e) calculating a second registration transform based on both of the external and internal bone canal bone registration data; and f) transforming a second bone removal plan of the surgical plan to the operative coordinate system based on the second registration transform.
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2.发明授权公开(公告)号：US11986260B2
公开(公告)日：2024-05-21
申请号：US17724634
申请日：2022-04-20
Applicant: MAKO Surgical Corp.
Inventor： Jamil Elbanna , Michael Prieto , Vijay Subramanian
CPC classification number: A61B34/30 , A61B17/1615 , A61B17/1626 , A61B17/1757 , A61B34/25 , A61B2034/107 , A61B2034/2055 , A61B2034/306 , A61B2090/062 , A61B2090/066
Abstract: Surgical systems and methods for utilizing virtual boundaries having different constraint parameters. A robotic manipulator supports and moves a surgical tool for treating a bone structure. A navigation system tracks the surgical tool and the bone structure. Controller(s) obtain a virtual model of the bone structure and define first and second virtual boundaries relative to the virtual model. The first virtual boundary has a first constraint parameter and the second virtual boundary has a second constraint parameter that is different than the first constraint parameter. The virtual model and virtual boundaries are registered to the bone structure. The manipulator moves the surgical tool relative to the bone structure and the first and second virtual boundaries. The surgical tool is constrained relative to the first virtual boundary in accordance with the first constraint parameter and constrained relative to the second virtual boundary in accordance with the second constraint parameter.
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3.发明申请公开(公告)号：US20220241036A1
公开(公告)日：2022-08-04
申请号：US17724634
申请日：2022-04-20
Applicant: MAKO Surgical Corp.
Inventor： Jamil Elbanna , Michael Prieto , Vijay Subramanian
Abstract: Surgical systems and methods for utilizing virtual boundaries having different constraint parameters. A robotic manipulator supports and moves a surgical tool for treating a bone structure. A navigation system tracks the surgical tool and the bone structure. Controller(s) obtain a virtual model of the bone structure and define first and second virtual boundaries relative to the virtual model. The first virtual boundary has a first constraint parameter and the second virtual boundary has a second constraint parameter that is different than the first constraint parameter. The virtual model and virtual boundaries are registered to the bone structure. The manipulator moves the surgical tool relative to the bone structure and the first and second virtual boundaries. The surgical tool is constrained relative to the first virtual boundary in accordance with the first constraint parameter and constrained relative to the second virtual boundary in accordance with the second constraint parameter.
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Patent Agency Ranking
4.发明授权公开(公告)号：US11337766B2
公开(公告)日：2022-05-24
申请号：US16816782
申请日：2020-03-12
Applicant: MAKO Surgical Corp.
Inventor： Jamil Elbanna , Jienan Ding , Michael Prieto , Vijay Subramanian
Abstract: Disclosed herein are techniques for preparation of a bone structure wherein a robotically controlled cutting bur is utilized for both milling the entry point at the outer cortical region and cannulation of the cancellous bone region for receipt of an implant. A robotic manipulator supports and moves the cutting bur and one or more controllers analyze measurements from sensors and, in response, control the robotic manipulator and/or the cutting bur for purposes such as landmark detection to determine entry point, avoiding tool skiving at entry point, and avoidance of cortical wall breach during cannulation. Also described are techniques for managing feed rate, rotational cutting speed, or mode of operation depending on operational conditions surrounding various stages of cannulation. A control interface is also provided to enable the user to manage or adjust cutting bur operation and feed rate.
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公开(公告)号：US20200281742A1
公开(公告)日：2020-09-10
申请号：US16810283
申请日：2020-03-05
Applicant: MAKO Surgical Corp.
Inventor： Zhu Wu , Matt Thompson , Brent Mittelstadt , Jamil Elbanna
Abstract: A system for surgical registration. The system may include at least one computing device in communication with a surgical navigation system and the surgical device. The at least one computing device: a) receiving external bone registration data corresponding to locations on the exterior surface of the femur; b) calculating a first registration transform based on the external bone registration data; c) transforming a first bone removal plan of a surgical plan to the operative coordinate system based on the first registration transform; d) receiving internal bone canal registration data corresponding to at least one of location or orientation data from the inner canal of the femur; e) calculating a second registration transform based on both of the external and internal bone canal bone registration data; and f) transforming a second bone removal plan of the surgical plan to the operative coordinate system based on the second registration transform.
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6.发明公开公开(公告)号：US20240268904A1
公开(公告)日：2024-08-15
申请号：US18616252
申请日：2024-03-26
Applicant: MAKO Surgical Corp.
Inventor： Jamil Elbanna , Michael Prieto , Vijay Subramanian , Jienan Ding
CPC classification number: A61B34/30 , A61B17/1615 , A61B17/1626 , A61B17/1757 , A61B34/25 , A61B2034/107 , A61B2034/2055 , A61B2034/306 , A61B2090/062 , A61B2090/066
Abstract: 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.
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公开(公告)号：US11839551B2
公开(公告)日：2023-12-12
申请号：US16810283
申请日：2020-03-05
Applicant: MAKO Surgical Corp.
Inventor： Zhu Wu , Matt Thompson , Brent Mittelstadt , Jamil Elbanna
CPC classification number: A61F2/46 , A61B34/10 , A61F2/32 , A61F2/4607 , A61B2034/102 , A61B2034/105 , A61B2034/2068 , A61F2002/30943 , A61F2002/4633 , A61F2002/4667
Abstract: A system for surgical registration. The system may include at least one computing device in communication with a surgical navigation system and the surgical device. The at least one computing device: a) receiving external bone registration data corresponding to locations on the exterior surface of the femur; b) calculating a first registration transform based on the external bone registration data; c) transforming a first bone removal plan of a surgical plan to the operative coordinate system based on the first registration transform; d) receiving internal bone canal registration data corresponding to at least one of location or orientation data from the inner canal of the femur; e) calculating a second registration transform based on both of the external and internal bone canal bone registration data; and f) transforming a second bone removal plan of the surgical plan to the operative coordinate system based on the second registration transform.
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8.发明申请公开(公告)号：US20200289133A1
公开(公告)日：2020-09-17
申请号：US16816782
申请日：2020-03-12
Applicant: MAKO Surgical Corp.
Inventor： Jamil Elbanna , Jienan Ding , Michael Prieto , Vijay Subramanian
Abstract: Disclosed herein are techniques for preparation of a bone structure wherein a robotically controlled cutting bur is utilized for both milling the entry point at the outer cortical region and cannulation of the cancellous bone region for receipt of an implant. A robotic manipulator supports and moves the cutting bur and one or more controllers analyze measurements from sensors and, in response, control the robotic manipulator and/or the cutting bur for purposes such as landmark detection to determine entry point, avoiding tool skiving at entry point, and avoidance of cortical wall breach during cannulation. Also described are techniques for managing feed rate, rotational cutting speed, or mode of operation depending on operational conditions surrounding various stages of cannulation. A control interface is also provided to enable the user to manage or adjust cutting bur operation and feed rate.
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