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公开(公告)号：US20240148452A1
公开(公告)日：2024-05-09
申请号：US18413105
申请日：2024-01-16
Applicant: MAKO Surgical Corp.
Inventor： John Timperley , Ross Crawford , Jonathan Howell , Matthew Hubble , Matthew Wilson , Matthew Thompson , Graham Gie
CPC classification number: A61B34/30 , A61B34/20 , A61B34/70 , A61B2034/2055 , A61B2034/2057 , A61B2034/2059 , A61B2034/2068
Abstract: Surgical systems and methods for robotically-assisted insertion of a stem implant into a cavity of a bone. A manipulator includes a robotic arm that supports an end effector which detachably receives the stem implant. A navigation system includes a localizer to track poses of the bone and the end effector. Controller(s) coupled to the manipulator and the navigation system obtain a surgical plan defining a planned relationship between the stem implant and the bone. Based on the tracked poses and the surgical plan, the controller(s) control the manipulator to enable movement of the end effector and the stem implant to facilitate insertion of the stem implant into the cavity.
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公开(公告)号：US20230141368A1
公开(公告)日：2023-05-11
申请号：US17980793
申请日：2022-11-04
Applicant: Mako Surgical Corp.
Inventor： William Donnelly , Matthew Thompson
CPC classification number: A61B17/8869 , A61B90/37 , A61B34/10 , A61B2034/105
Abstract: In one embodiment, the present disclosure relates to a method of evaluating soft tissue tension surrounding a hip of a patient using navigation and software to track positions of the femur and a pelvis of the patient in real time. The method begins with intra-operative reduction of a femoral implant into an acetabulum of a patient and retrieval of first coordinates of a femoral head center of the femoral implant when the femoral implant is in a reduced position. Performance of a shuck test follows where the femur is distracted relative to the acetabulum. Retrieval of second coordinates of the femoral head center occurs when the femoral implant is distracted from the acetabulum, and a difference between the first coordinates and the second coordinates in a coronal plane is used to determine a shuck length vector.
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公开(公告)号：US20220409396A1
公开(公告)日：2022-12-29
申请号：US17939519
申请日：2022-09-07
Applicant: MAKO Surgical Corp.
Inventor： Matthew Thompson , Varun Chandra , Mark Nadzadi , Christine Perrone , Garrett Joyal
Abstract: A method includes obtaining a surgical plan comprising a first planned position of an implant and a second planned position of an augment relative to a bone. The augment is planned to provide support between the bone and the implant. The method also includes preparing the bone to receive both the implant in the first planned position and the augment in the second planned position by controlling a robotic device based on the first planned position of the implant and the second planned position of the augment.
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4.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
Applicant: MAKO Surgical Corp.
Inventor： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Morgan , Bojan Gospavic
Abstract: 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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公开(公告)号：US20220192844A1
公开(公告)日：2022-06-23
申请号：US17257162
申请日：2020-08-20
Applicant: MAKO Surgical Corp.
Inventor： Matthew Thompson , Varun Chandra , Mark Nadzadi , Christine Perrone , Garrett Joyal
Abstract: A system for facilitating arthroplasty procedures includes a robotic device, a reaming tool configured to interface with the robotic device, and a processing circuit communicable with the robotic device. The processing circuit is configured to obtain a surgical plan comprising a first planned position of an implant cup and a second planned position of an implant augment relative to a bone of a patient, determine a planned bone modification configured to prepare the bone to receive the implant cup in the first planned position and the implant augment in the second planned position, generate one or more virtual objects based on the planned bone modification, control the robotic device to constrain the cutting tool with the one or more virtual objects while the cutting tool interfaces with the robotic device and is operated to modify the bone in accordance with the planned bone modification.
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Patent Agency Ranking
公开(公告)号：US10959857B2
公开(公告)日：2021-03-30
申请号：US16970493
申请日：2019-02-26
Applicant: MAKO Surgical Corp.
Inventor： Zhu Wu , Sunil Gupta , Ta-Cheng Chang , Zenan Zhang , Kevin Bechtold , Matthew Thompson , Eric Branch , Varun Chandra , Ahmet Bagci
IPC: G06K9/00 , A61F2/46 , A61B6/00 , G06T7/33 , A61B17/88 , A61B34/10 , A61B34/20 , A61B34/00 , A61B90/00
Abstract: A registration system including a bone pin guide and a bone pin clamp. The bone pin guide may include a guide body, a first guide including a first guide through-hole having a first longitudinal axis, and a second guide including a second guide through-hole having a second longitudinal axis. The bone pin guide may guide first and second bone pins into a bone via the first and second guides. The bone pin clamp may include a clamp body, first, second, and third clamp through-holes extending through the clamp body, a plurality of registration indents defined on the clamp body, and a clamping mechanism including at least one adjustable fastener. The bone pin clamp may receive the first and second bone pins in the first and third clamp through-holes and guide a third bone pin into the bone via the second clamp through-hole.
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7.发明授权公开(公告)号：US09456765B2
公开(公告)日：2016-10-04
申请号：US14863115
申请日：2015-09-23
Applicant: MAKO Surgical Corp.
Inventor： Daniel Odermatt , Matthew Thompson
CPC classification number: A61B5/06 , A61B5/107 , A61B5/4528 , A61B5/4571 , A61B5/4851 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/76 , A61B90/37 , A61B2034/107 , A61B2505/05 , G06F19/00 , G16H50/50
Abstract: A computer-assisted surgery system includes a display, an input device configured to receive data input by a user, and a processor, coupled to the input device and the display. The processor is configured to establish a first position of a pre-operative center of rotation of a joint in a first coordinate space of a first bone and a second coordinate space of a second bone and establish a second position of the pre-operative center of rotation of the joint in the first coordinate space, wherein the second position is a projection into the first coordinate space of the position of the pre-operative center of rotation maintained in a constant position in the second coordinate space. The processor is further configured to determine a change in a parameter associated with the joint based on the first and second positions and output a result indicating the determined change to the display.
Abstract translation: 计算机辅助手术系统包括显示器，被配置为接收由用户输入的数据的输入设备和耦合到输入设备和显示器的处理器。 处理器被配置为建立第一骨骼的第一坐标空间中的关节的手术前旋转中心的第一位置和第二骨骼的第二坐标空间的第一位置，并且建立第二位置 所述关节在所述第一坐标空间中的旋转，其中所述第二位置是保持在所述第二坐标空间中的恒定位置的所述预先操作旋转中心的位置的所述第一坐标空间的投影。 处理器还被配置为基于第一和第二位置来确定与关节相关联的参数的改变，并将指示所确定的改变的结果输出到显示器。
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公开(公告)号：US20240407852A1
公开(公告)日：2024-12-12
申请号：US18734863
申请日：2024-06-05
Applicant: MAKO Surgical Corp.
Inventor： Timothy Wade Perez , Adam L. Nagy , Anthony Andrew Laviano , Nicolas Perilla , Matthew Thompson
Abstract: A tracker mount includes a fastener assembly, a sleeve assembly to be disposed over the fastener assembly, and a tracker interface coupled to the sleeve assembly and configured to removably attach to a tracker. The fastener assembly includes a fastener adapted to be attached to a bone and a first keying feature. The sleeve assembly includes a sleeve, which includes a body defining a channel including a second keying feature to interface with the first keying feature to prevent rotation of the sleeve relative to the fastener assembly. The sleeve assembly includes an engagement feature at a distal part of the sleeve to engage a surface of the bone.
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9.发明公开公开(公告)号：US20240081940A1
公开(公告)日：2024-03-14
申请号：US18513815
申请日：2023-11-20
Applicant: MAKO Surgical Corp.
Inventor： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Mark Morgan , Bojan Gospavic
CPC classification number: A61B90/361 , A61B34/20 , A61B90/37 , A61B34/70
Abstract: Systems, methods and computer-program products are provided for aiding in positioning between a surgical object and a machine vision camera in a surgical environment. The machine vision camera senses a position and orientation of a surgical object in its field of view. Controller(s) virtually define a zone within the field of view that indicates a range of acceptable positions for the surgical object relative to a position of the machine vision camera. The controller(s) obtain an acceptable orientation range for the surgical object relative to an orientation of the machine vision camera. The controller(s) execute a GUI to simultaneously present, on the display device, representations of: the field of view; the zone within the field of view; the position of the surgical object relative to the zone; and a current angle difference between the surgical object and the machine vision camera.
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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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