公开(公告)号：US20210322114A1

公开(公告)日：2021-10-21

申请号：US17365280

申请日：2021-07-01

申请人： MAKO Surgical Corp.

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

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

摘要： 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 bulk 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 fine cutting of the second portion of the anatomy.

公开(公告)号：US20210153918A1

公开(公告)日：2021-05-27

申请号：US17165220

申请日：2021-02-02

申请人： MAKO Surgical Corp.

发明人： José Luis Moctezuma de la Barrera ,  Timothy Wade Perez ,  Donald W. Malackowski

IPC分类号： A61B17/80 ,  A61B34/20 ,  A61B34/30 ,  A61B90/10

摘要： A plate for attaching to an anatomic structure with fasteners. A body defines openings for receiving the fasteners, and includes a bottom surface that is concave. The plate includes bone pad surface, and a spike extends away from the bone pad surface. The bone pad surface is oriented at an angle relative to the bottom surface to prevent further penetration of the spike into the anatomic structure beyond a predetermined depth. The bone pad surface may be oriented at an obtuse angle relative to the bottom surface. The bone pad surfaces may be planar or concave, or contoured to a corresponding profile of the anatomic structure. The spikes may be pyramidal or conical. At least one side of the spike may be integral and continuous with the bottom surface. The side may have a radius of curvature equal to that of the bottom surface.

公开(公告)号：US10117713B2

公开(公告)日：2018-11-06

申请号：US15195039

申请日：2016-06-28

申请人： MAKO Surgical Corp.

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

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

摘要： Robotic systems and methods for controlling a tool to remove material from a workpiece. Workpieces such as bones are often non-homogenous and have varying density distributions throughout their volumes. In some embodiments, the systems and methods control the feed rate of the tool, the tool path of the tool, and the rotational speed of the tool based on the density distribution in order to provide a desired outcome for a surgical procedure.

公开(公告)号：US20170000572A1

公开(公告)日：2017-01-05

申请号：US15195039

申请日：2016-06-28

申请人： MAKO Surgical Corp.

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

IPC分类号： A61B34/30 ,  A61B90/00 ,  A61B34/20 ,  A61B34/32 ,  A61B34/10

CPC分类号： A61B34/30 ,  A61B17/1764 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B90/39 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2063 ,  A61B2090/3945 ,  B25J9/1664 ,  B25J11/0055 ,  G05B19/40937 ,  G05B2219/35021 ,  G05B2219/45168

摘要： Robotic systems and methods for controlling a tool to remove material from a workpiece. Workpieces such as bones are often non-homogenous and have varying density distributions throughout their volumes. In some embodiments, the systems and methods control the feed rate of the tool, the tool path of the tool, and the rotational speed of the tool based on the density distribution in order to provide a desired outcome for a surgical procedure.

摘要翻译： 用于控制工具以从工件中去除材料的机器人系统和方法。 诸如骨头的工件通常是不均匀的，并且在整个卷中具有不同的密度分布。 在一些实施例中，系统和方法基于密度分布来控制工具的进给速率，工具的刀具路径和工具的转速，以便为外科手术提供期望的结果。

公开(公告)号：US20240335236A1

公开(公告)日：2024-10-10

申请号：US18747620

申请日：2024-06-19

申请人： MAKO Surgical Corp.

发明人： Hans-Ulrich Becker ,  Patrick Roessler ,  José Luis Moctezuma de la Barrera

IPC分类号： A61B34/10 ,  G06T7/00 ,  G06T7/73

CPC分类号： A61B34/10 ,  G06T7/0012 ,  G06T7/73 ,  A61B2034/102 ,  G06T2207/20036 ,  G06T2207/20116 ,  G06T2207/30052 ,  G06T2210/21 ,  G06T2210/44

摘要： Surgical systems, computer-implemented methods, and software programs for producing a patient-specific virtual boundary. Controller(s) obtain a virtual tibial model specific to a patient and identify an outer edge contour of the virtual tibial model. The controller(s) generate an offset contour being spaced apart from the outer edge contour by an offset distance that is based on a geometric feature of a surgical tool and generate a face extending perpendicularly from, and along, the offset contour. The controller(s) produce a patient-specific virtual boundary by merger of the virtual tibial model, the offset contour and the face and configure the patient-specific virtual boundary to provide a constraint on movement and/or operation of the surgical tool.

公开(公告)号：US12102365B2

公开(公告)日：2024-10-01

申请号：US18109886

申请日：2023-02-15

申请人： MAKO Surgical Corp.

发明人： José Luis Moctezuma de la Barrera ,  Timothy Wade Perez ,  Donald W. Malackowski ,  John R. Fossez

IPC分类号： A61B17/80 ,  A61B34/20 ,  A61B34/30 ,  A61B90/10 ,  A61B17/00 ,  A61B90/00

CPC分类号： A61B17/809 ,  A61B17/8028 ,  A61B17/8061 ,  A61B34/20 ,  A61B34/30 ,  A61B90/10 ,  A61B2017/00119 ,  A61B2034/2055 ,  A61B2090/3983

摘要： A plate for attaching to an anatomic structure with fasteners. The plate has a body with a top surface and a bottom surface opposite the top surface. The body defines one or more openings to receive a respective one of the one or more fasteners. The bottom surface is concave to define a space to accommodate a portion of the anatomic structure. A bone pad surface extends from the bottom surface. A spike extends away from the bone pad surface. An extension arm can be coupled to the plate and the extension arm can support a tracking head to implement a surgical tracking assembly.

公开(公告)号：US20240058084A1

公开(公告)日：2024-02-22

申请号：US18385994

申请日：2023-11-01

申请人： MAKO Surgical Corp.

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

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

CPC分类号： A61B34/30 ,  A61B17/1626 ,  B25J11/0055 ,  A61B34/20 ,  B25J9/1664 ,  B25J9/1671 ,  A61B34/10 ,  A61B34/32 ,  A61B90/39 ,  G05B2219/35021 ,  G05B19/40937

摘要： 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：US11864852B2

公开(公告)日：2024-01-09

申请号：US17685488

申请日：2022-03-03

申请人： MAKO Surgical Corp.

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

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

CPC分类号： A61B34/30 ,  A61B17/1626 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B90/39 ,  B25J9/1664 ,  B25J9/1671 ,  B25J11/0055 ,  A61B17/1764 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2063 ,  A61B2090/3945 ,  G05B19/40937 ,  G05B2219/35021 ,  G05B2219/45168

摘要： 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：US20230114040A1

公开(公告)日：2023-04-13

申请号：US18080160

申请日：2022-12-13

申请人： MAKO Surgical Corp.

发明人： Hans-Ulrich Becker ,  Michael Dale Dozeman ,  Michael Ferko ,  Gregory Garcia ,  Vladimir Gershuni ,  José Luis Moctezuma de la Barrera ,  Mark Ellsworth Nadzadi ,  Patrick Roessler

IPC分类号： A61B34/20 ,  A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B17/16

摘要： Surgical systems, computer-implemented methods, and software programs for generating a milling path for a bone. The implementations involve obtaining a virtual model of the bone, a resection volume defined relative to the virtual model of the bone, and a reference guide defined with respect to the resection volume. Section planes are successively arranged along the reference guide, and each section plane intersects the reference guide and intersects the resection volume. A section path is generated within each section plane and is defined relative to the resection volume. Transition segments are generated to connect section paths of section planes. The milling path is then generated by combining the section paths and the transition segments.

公开(公告)号：US11622800B2

公开(公告)日：2023-04-11

申请号：US17165220

申请日：2021-02-02

申请人： MAKO Surgical Corp.

发明人： José Luis Moctezuma de la Barrera ,  Timothy Wade Perez ,  Donald W. Malackowski ,  John R. Fossez

IPC分类号： A61B17/80 ,  A61B34/20 ,  A61B34/30 ,  A61B90/10 ,  A61B17/00 ,  A61B90/00

摘要： A plate for attaching to an anatomic structure with fasteners. A body defines openings for receiving the fasteners, and includes a bottom surface that is concave. The plate includes bone pad surface, and a spike extends away from the bone pad surface. The bone pad surface is oriented at an angle relative to the bottom surface to prevent further penetration of the spike into the anatomic structure beyond a predetermined depth. The bone pad surface may be oriented at an obtuse angle relative to the bottom surface. The bone pad surfaces may be planar or concave, or contoured to a corresponding profile of the anatomic structure. The spikes may be pyramidal or conical. At least one side of the spike may be integral and continuous with the bottom surface. The side may have a radius of curvature equal to that of the bottom surface.