公开(公告)号：US20240008940A1

公开(公告)日：2024-01-11

申请号：US18372721

申请日：2023-09-26

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto

IPC: A61B34/30 ,  A61B34/00 ,  A61B46/10 ,  A61B46/00 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00

CPC classification number: A61B34/30 ,  A61B34/74 ,  A61B46/10 ,  A61B34/70 ,  A61B46/00 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B2034/304 ,  A61B2560/04 ,  A61B2017/00477

Abstract: A robotic surgical system includes a robotic arm comprising a plurality of links and joints, an end effector, and a mounting assembly for coupling the end effector and the robotic arm. The mounting assembly includes a robot mount associated with the robotic arm and an end effector mount associated with the end effector. The mounting assembly also includes a sterile barrier assembly including a coupling and kinematic couplers. A first lock assembly releasably secures the coupling to the robot mount and a second lock assembly releasably secures the end effector mount to the coupling. A tensioner associated with either mount is movable between a first position and a second position such that the kinematic couplers engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.

公开(公告)号：US20200170724A1

公开(公告)日：2020-06-04

申请号：US16703033

申请日：2019-12-04

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto

IPC: A61B34/30 ,  A61B34/00 ,  A61B46/10

Abstract: A mounting system for coupling first and second surgical components. The mounting system comprises a first mounting portion associated with the first surgical component, a second mounting portion associated with the second surgical component and comprising a tensioner movable between a first position and a second position, and a sterile barrier assembly. The sterile barrier assembly comprises a coupling configured to releasably secure to the first mounting portion and to releasably receive the second mounting portion when the tensioner of the second mounting portion is in the first position, and a plurality of kinematic couplers configured to engage the mounting portions and arranged to provide a kinematic coupling between the mounting portions through the sterile barrier assembly to constrain six degrees of freedom of movement between the surgical components when the tensioner of the second mounting portion is in the second position.

公开(公告)号：US20250032202A1

公开(公告)日：2025-01-30

申请号：US18788726

申请日：2024-07-30

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto ,  Christopher Wayne Jones

IPC: A61B34/30 ,  A61B17/00 ,  A61B34/00 ,  A61B46/00 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00

Abstract: Surgical systems and methods involve a robotic arm with a first mounting portion that releasably receives a sterile barrier assembly and a second mounting portion associated with a surgical component. An illumination device is coupled to the robotic arm. Controller(s) detect, using one or more sensors, a condition associated with installation of one or more of the sterile barrier assembly and the second mounting portion to the first mounting portion. The controller(s) control the illumination device to indicate the condition to a user.

公开(公告)号：US12082895B2

公开(公告)日：2024-09-10

申请号：US18372721

申请日：2023-09-26

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto

IPC: A61B46/00 ,  A61B34/00 ,  A61B34/30 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B46/00 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B2017/00477 ,  A61B2560/04

Abstract: A robotic surgical system includes a robotic arm comprising a plurality of links and joints, an end effector, and a mounting assembly for coupling the end effector and the robotic arm. The mounting assembly includes a robot mount associated with the robotic arm and an end effector mount associated with the end effector. The mounting assembly also includes a sterile barrier assembly including a coupling and kinematic couplers. A first lock assembly releasably secures the coupling to the robot mount and a second lock assembly releasably secures the end effector mount to the coupling. A tensioner associated with either mount is movable between a first position and a second position such that the kinematic couplers engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.

公开(公告)号：US20250057611A1

公开(公告)日：2025-02-20

申请号：US18937085

申请日：2024-11-05

Applicant: MAKO Surgical Corp.

Inventor： Paul Shiels ,  David Gene Bowling ,  Larry Douglas O'Cull ,  Patrick C. Kelly ,  Christopher Wayne Jones

IPC: A61B34/30 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  A61F2/46

Abstract: Surgical systems and methods involving a reamer tool and a surgical robotic arm. The reamer tool has a shaft, a tool engagement surface coupled to the shaft, and a reamer head attached to the shaft. The surgical robotic arm supports a guide that can receive the reamer tool. The guide has a pair of arms, each arm extending to an arm end and the arm ends being spaced apart from one another to provide an opening between the arm ends. A channel is formed between the arms. The guide enables a portion of the shaft to move through the opening between the arm ends such that the shaft portion can enter and exit the channel. The arms define a guide engagement surface that is arc-shaped and that enables contact with the tool engagement surface to facilitate alignment of the reamer tool and the guide.

公开(公告)号：US12167899B2

公开(公告)日：2024-12-17

申请号：US17568188

申请日：2022-01-04

Applicant: MAKO Surgical Corp.

Inventor： Paul Shiels ,  David Gene Bowling ,  Larry Douglas O'Cull ,  Patrick C. Kelly ,  Christopher Wayne Jones

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61F2/46 ,  A61B17/00 ,  A61B90/00

Abstract: An assembly for a surgical arm includes a tool to position a prosthesis and an end effector. The tool has a tool shaft extending along a tool axis and a tool engagement surface. The end effector has a mount attachable to the surgical arm, a body portion extending from the mount, a distal end, and a guide portion is at the distal end of the body portion to receive the tool. The guide portion has a pair of arms, each arm extending to an arm end and the arm ends are spaced apart from one another to provide an opening between the arm ends. A channel is formed between the arms and extends along a guide axis. The arms define an arc-shaped guide engagement surface to enable contact with the tool engagement surface for facilitating alignment of the tool axis and the guide axis.

公开(公告)号：US11806096B2

公开(公告)日：2023-11-07

申请号：US16703033

申请日：2019-12-04

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto

IPC: A61B46/00 ,  A61B34/30 ,  A61B34/00 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B34/74 ,  A61B46/00 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B2017/00477 ,  A61B2034/304 ,  A61B2560/04

Abstract: A mounting system for coupling first and second surgical components. The mounting system comprises a first mounting portion associated with the first surgical component, a second mounting portion associated with the second surgical component and comprising a tensioner movable between a first position and a second position, and a sterile barrier assembly. The sterile barrier assembly comprises a coupling configured to releasably secure to the first mounting portion and to releasably receive the second mounting portion when the tensioner of the second mounting portion is in the first position, and a plurality of kinematic couplers configured to engage the mounting portions and arranged to provide a kinematic coupling between the mounting portions through the sterile barrier assembly to constrain six degrees of freedom of movement between the surgical components when the tensioner of the second mounting portion is in the second position.

公开(公告)号：US20220125531A1

公开(公告)日：2022-04-28

申请号：US17568188

申请日：2022-01-04

Applicant: MAKO Surgical Corp.

Inventor： Paul Shiels ,  David Gene Bowling ,  Larry Douglas O'Cull ,  Patrick C. Kelly ,  Christopher Wayne Jones

IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20 ,  A61B34/00 ,  A61F2/46

Abstract: An assembly for a surgical arm includes a tool to position a prosthesis and an end effector. The tool has a tool shaft extending along a tool axis and a tool engagement surface. The end effector has a mount attachable to the surgical arm, a body portion extending from the mount, a distal end, and a guide portion is at the distal end of the body portion to receive the tool. The guide portion has a pair of arms, each arm extending to an arm end and the arm ends are spaced apart from one another to provide an opening between the arm ends. A channel is formed between the arms and extends along a guide axis. The arms define an arc-shaped guide engagement surface to enable contact with the tool engagement surface for facilitating alignment of the tool axis and the guide axis.