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公开(公告)号：US20230045799A1
公开(公告)日：2023-02-16
申请号：US17972625
申请日：2022-10-25
申请人： MAKO Surgical Corp.
摘要： Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.
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公开(公告)号：US20230329803A1
公开(公告)日：2023-10-19
申请号：US18213360
申请日：2023-06-23
申请人： MAKO Surgical Corp.
CPC分类号： A61B34/20 , H04N23/60 , H04N23/61 , H04N25/44 , H04N25/40 , A61B2034/2065 , A61B2034/2057 , A61B2034/2055 , A61B2034/2046 , A61B34/70
摘要： Systems and methods to track an object within an operating room with a camera unit. The camera unit includes a first optical sensor with sensing elements to sense light in a near-infrared spectrum and a second optical sensor to sense light in a visible light spectrum. A controller is in communication with the first and second optical sensors. The controller obtains, from the second optical sensor, data related to the object within the operating room. The controller modifies control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor.
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3.发明申请公开(公告)号：US20220022994A1
公开(公告)日：2022-01-27
申请号：US17496191
申请日：2021-10-07
申请人： MAKO Surgical Corp.
发明人： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Morgan , Bojan Gospavic
摘要： Systems, methods and software are provided for aiding in positioning of objects in a surgical environment. A tracker is rigidly affixed to a surgical object. A camera has a field of view and senses positions of the tracker in the field of view. Controller(s) provide a zone positioned within the field of view at a location that is static relative to the field of view such that the zone is located independent of the sensed positions of the tracker. The zone defines a range of acceptable positions for the tracker relative to a position of the camera. Controller(s) acquire positions of the tracker as the surgical object is moved throughout a range of motion and enable evaluation of the positions of the tracker throughout the range of motion relative to the zone to aid in positioning of one or more of: the camera, the tracker, or the surgical object.
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公开(公告)号：US11166781B2
公开(公告)日：2021-11-09
申请号：US16390730
申请日：2019-04-22
申请人： MAKO Surgical Corp.
发明人： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Morgan , Bojan Gospavic
摘要： Systems, methods and software are provided for aiding in positioning of a camera relative to objects in a surgical environment. The camera has a 3D field of view and senses positions of the objects in the field of view. A controller is coupled to the camera and defines a first zone and a second zone within the field of view. Each zone defines a range of acceptable positions for one of the objects relative to a position of the camera. The controller receives the position of the objects. A graphical user interface displays image representations of: the field of view, the first zone relative to the field of view, the second zone relative to the field of view, the position of one object relative to the first zone, and the position of another object relative to the second zone.
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5.发明授权公开(公告)号：US11864957B2
公开(公告)日：2024-01-09
申请号：US17496191
申请日：2021-10-07
申请人： MAKO Surgical Corp.
发明人： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Morgan , Bojan Gospavic
CPC分类号： A61B90/361 , A61B34/20 , A61B90/37 , A61B34/70 , A61B2034/2057
摘要： Systems, methods and software are provided for aiding in positioning of objects in a surgical environment. A tracker is rigidly affixed to a surgical object. A camera has a field of view and senses positions of the tracker in the field of view. Controller(s) provide a zone positioned within the field of view at a location that is static relative to the field of view such that the zone is located independent of the sensed positions of the tracker. The zone defines a range of acceptable positions for the tracker relative to a position of the camera. Controller(s) acquire positions of the tracker as the surgical object is moved throughout a range of motion and enable evaluation of the positions of the tracker throughout the range of motion relative to the zone to aid in positioning of one or more of: the camera, the tracker, or the surgical object.
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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：US20240267641A1
公开(公告)日：2024-08-08
申请号：US18616266
申请日：2024-03-26
申请人： MAKO Surgical Corp.
IPC分类号： H04N25/44 , A61B34/00 , A61B34/20 , H04N23/60 , H04N23/61 , H04N23/695 , H04N25/40 , H04N25/42 , H04N25/443
CPC分类号： H04N25/44 , A61B34/20 , H04N23/60 , H04N23/61 , H04N25/40 , H04N25/443 , A61B2034/2046 , A61B2034/2055 , A61B2034/2057 , A61B2034/2065 , A61B34/70 , H04N23/695 , H04N25/42
摘要： Surgical navigation systems and methods for tracking an object within an operating room involve a camera unit that houses a first stereoscopic sensing system and a second stereoscopic sensing system each comprising sensing elements adapted to sense light. A controller utilizes the first stereoscopic sensing system to sense light from the object and track the object according to a first resolution. The controller utilizes the second stereoscopic sensing system to sense light from the object and track the object according to a second resolution that is lower than the first resolution. The controller obtains data related to the object from the second stereoscopic sensing system and modifies control of the sensing elements of the first stereoscopic sensing system based on the obtained data related to the object.
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公开(公告)号：US20210259787A1
公开(公告)日：2021-08-26
申请号：US17317191
申请日：2021-05-11
申请人： MAKO Surgical Corp.
摘要： Systems and methods track objects within an operating room. A machine vision system includes a camera and a controller. A navigation system includes a camera unit including a sensor array. The sensor array includes a plurality of sensing elements. The controller system identifies a first subset of the plurality of sensing elements to be active based on the position of the object. The controller is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.
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公开(公告)号：US11007018B2
公开(公告)日：2021-05-18
申请号：US16441645
申请日：2019-06-14
申请人： MAKO Surgical Corp.
摘要： Systems and methods track objects within an operating room. A machine vision system includes at least one camera and a machine vision controller. A navigation system includes a camera unit including a plurality of sensor arrays. The sensor arrays include a plurality of sensing elements. For each of the plurality of sensor arrays, the navigation system identifies a first subset of the plurality of sensing elements to be active based on the position of the object and a second subset of the plurality of sensing elements to be inactive based on the position of the object. The navigation processor is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.
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10.发明申请公开(公告)号：US20190321126A1
公开(公告)日：2019-10-24
申请号：US16390730
申请日：2019-04-22
申请人： MAKO Surgical Corp.
发明人： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Morgan , Bojan Gospavic
摘要： Systems, methods and software are provided for aiding in positioning of a camera relative to objects in a surgical environment. The camera has a 3D field of view and senses positions of the objects in the field of view. A controller is coupled to the camera and defines a first zone and a second zone within the field of view. Each zone defines a range of acceptable positions for one of the objects relative to a position of the camera. The controller receives the position of the objects. A graphical user interface displays image representations of: the field of view, the first zone relative to the field of view, the second zone relative to the field of view, the position of one object relative to the first zone, and the position of another object relative to the second zone.
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