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公开(公告)号：US11564761B2
公开(公告)日：2023-01-31
申请号：US16811909
申请日：2020-03-06
申请人： MAKO Surgical Corp.
发明人： Helmut Rohs , Michael Dale Dozeman , Bharat Arora , Michael Ferko , Patrick Roessler , Richard Thomas DeLuca , David Gene Bowling
摘要： A robotic surgical system comprises a surgical tool, a manipulator configured to support the surgical tool, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a three-dimensional milling path for the surgical tool. The control system also receives one or more signals from the force/torque sensor in response to a user manually applying user forces and torques to the surgical tool. The control system determines a commanded pose to which to command the manipulator to advance the surgical tool along the milling path based on a tangential component of the user forces and torques, based on a virtual simulation using virtual constraints, and/or based on other suitable factors to promote guided, manual movement of the surgical tool along the milling path.
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2.发明申请公开(公告)号：US20200281676A1
公开(公告)日：2020-09-10
申请号：US16811909
申请日：2020-03-06
申请人： MAKO Surgical Corp.
发明人： Helmut Rohs , Michael Dale Dozeman , Bharat Arora , Michael Ferko , Patrick Roessler , Richard Thomas DeLuca , David Gene Bowling
摘要： A robotic surgical system comprises a surgical tool, a manipulator configured to support the surgical tool, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a three-dimensional milling path for the surgical tool. The control system also receives one or more signals from the force/torque sensor in response to a user manually applying user forces and torques to the surgical tool. The control system determines a commanded pose to which to command the manipulator to advance the surgical tool along the milling path based on a tangential component of the user forces and torques, based on a virtual simulation using virtual constraints, and/or based on other suitable factors to promote guided, manual movement of the surgical tool along the milling path.
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公开(公告)号：US20220233251A1
公开(公告)日：2022-07-28
申请号：US17701989
申请日：2022-03-23
申请人： MAKO Surgical Corp.
发明人： David Gene Bowling , Richard Thomas DeLuca , Michael Dale Dozeman , Patrick Roessler , Michael Ferko , Gregory Garcia , Rishabh Khurana
摘要： Systems and methods are provided for guiding movement of a tool. The system includes a tool and a manipulator. A guide handler obtains a target state for the tool and generates virtual constraints based on the target state and a current state of the tool. A constraint solver calculates a constraint force adapted to attract the tool toward the target state or repel the tool away from the target state based on the virtual constraints. A virtual simulator simulates dynamics of the tool in a virtual simulation based on the constraint force and input from one or more sensors, to output a commanded pose. The control system commands the manipulator to move the tool based on the commanded pose to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.
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4.发明公开公开(公告)号：US20230142179A1
公开(公告)日：2023-05-11
申请号：US18093384
申请日：2023-01-05
申请人： Mako Surgical Corp.
发明人： Helmut Rohs , Michael Dale Dozeman , Bharat Arora , Michael Ferko , Patrick Roessler , Richard Thomas DeLuca , David Gene Bowling
CPC分类号： A61B34/76 , A61B34/10 , A61B34/20 , A61B34/37 , A61B34/74 , A61B2034/107 , A61B2034/108 , A61B2034/2046
摘要： Robotic surgical systems and methods for controlling movement of a tool relative to a tool path. An input is received from a force/torque sensor in response to user forces/torques manually applied to the tool by a user. A component of force is calculated tangential to the path based on the input. An effective feed rate is calculated to advance the tool along the path based on the tangential component. Virtual constraints are defined on movement of the tool along the path with respect to three degrees of freedom and based on the effective feed rate to promote movement of the tool along the path. Dynamics of the tool are virtually simulated based on the virtual constraints and the input from the force/torque sensor. The manipulator is commanded to advance the tool along the path based on the virtual simulation.
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公开(公告)号：US20230255701A1
公开(公告)日：2023-08-17
申请号：US18011641
申请日：2021-09-08
申请人： MAKO Surgical Corp.
CPC分类号： A61B34/30 , A61B17/142 , A61B2017/00982
摘要： The present teachings provide for a hand-held robotic system for use with a saw blade or other surgical tool. The hand-held robotic system also includes an instrument with a hand-held portion, a blade support coupled to the hand-held portion by a plurality of actuators, the actuators configured to move the blade support or tool support in a plurality of degrees of freedom relative to the hand-held portion. The system includes a localizer and a control system coupled to the localizer and the plurality of actuators. The control system is configured to control each of the plurality of actuators and/or the tool drive motor.
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