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：US20230240793A1

公开(公告)日：2023-08-03

申请号：US18104687

申请日：2023-02-01

Applicant: MAKO Surgical Corp.

Inventor： Victor Soto

IPC: A61B90/50

CPC classification number: A61B90/50 ,  F16B2/18

Abstract: A mounting system for mounting two components together includes a first mounting portion having a first body. A lip and a push pin that is spaced from the lip extend from the first body. The mounting system includes a second mounting portion for coupling to the first mounting portion. The second mounting portion has a second body defining a bore. Retainers are moveable within openings of the second body. A loading assembly is disposed in the bore of the second body. The loading assembly is moveable to a first state. In the first state, the loading assembly moves the retainers to a coupling position where each retainer extends through one opening beyond an outer surface of the second body. In the coupling position, each retainer abuts the lip of the first mounting portion to secure the mounting portions together.

公开(公告)号：US11096754B2

公开(公告)日：2021-08-24

申请号：US16151439

申请日：2018-10-04

Applicant: MAKO Surgical Corp.

Inventor： Victor Soto ,  Oscar Williams ,  Donald W. Malackowski ,  Kathryn Aubrey

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/20 ,  A61B90/00 ,  A61B46/23

Abstract: A sterile drape assembly for a surgical robot having a robotic arm, a cart coupled to the robotic arm, and optical tracking elements coupled to the robotic arm. The sterile drape assembly includes a surgical drape having an arm drape portion adapted to be disposed over the robotic arm. The sterile drape assembly also includes a drape holder cooperating with the surgical drape to cover the optical tracking elements located on the robotic arm.

公开(公告)号：US20250152289A1

公开(公告)日：2025-05-15

申请号：US19021585

申请日：2025-01-15

Applicant: MAKO Surgical Corp.

Inventor： Victor Soto ,  Oscar Williams ,  Donald W. Malackowski ,  Kathryn Aubrey

IPC: A61B46/10 ,  A61B34/20 ,  A61B34/30 ,  A61B46/23 ,  A61B90/00

Abstract: A sterile drape assembly for use with a robotic arm. The robotic arm includes a plurality of links and a plurality of motorized joints for moving the plurality of links. The robotic arm supports an end effector on a distal end of the robotic arm. A plurality of light emitting diode (LED) units are located on a surface of at least one of the links of the robotic arm. Each of the LED units projects from the surface and includes an attachment interface. The sterile drape assembly includes a flexible and substantially transparent surgical drape to be disposed over the robotic arm and the LED units. Drape attachment elements couple to the attachment interfaces of the LED units to secure portions of the surgical drape to the LED units such that the secured portions of the surgical drape cover the LED units.

公开(公告)号：US20220273378A1

公开(公告)日：2022-09-01

申请号：US17668063

申请日：2022-02-09

Applicant: MAKO Surgical Corp.

Inventor： Victor Soto ,  David Gene Bowling ,  Ezra Johnson ,  Nicholas Joseph LaBarbera

IPC: A61B34/37

Abstract: A robotic manipulator includes an arm including at least one joint driven by a transmission comprising an output, an isolation mechanism coupled to the output of the transmission, and a force/torque sensor coupled to the isolation mechanism. The force/torque sensor includes a body, which includes a stationary part and a movable part coupled to and being movable relative to the stationary part. The force/torque sensor also includes one or more sensing elements configured to sense forces and torques applied to the movable part. The isolation mechanism is configured to deform in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.

公开(公告)号：US20190099232A1

公开(公告)日：2019-04-04

申请号：US16151439

申请日：2018-10-04

Applicant: MAKO Surgical Corp.

Inventor： Victor Soto ,  Oscar Williams ,  Donald W. Malackowski ,  Kathryn Aubrey

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

Abstract: A sterile drape assembly for a surgical robot having a robotic arm, a cart coupled to the robotic arm, and optical tracking elements coupled to the robotic arm. The sterile drape assembly includes a surgical drape having an arm drape portion adapted to be disposed over the robotic arm. The sterile drape assembly also includes a drape holder cooperating with the surgical drape to cover the optical tracking elements located on the robotic arm.

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：US20240315791A1

公开(公告)日：2024-09-26

申请号：US18734569

申请日：2024-06-05

Applicant: MAKO Surgical Corp.

Inventor： Victor Soto ,  David Gene Bowling ,  Ezra Johnson ,  Nicholas Joseph LaBarbera

IPC: A61B34/37 ,  A61B90/00

CPC classification number: A61B34/37 ,  A61B2090/066 ,  A61B2560/0266

Abstract: An isolation mechanism that is configured for a robotic manipulator is provided. The robotic manipulator includes an arm to be driven by a transmission, a force/torque sensor, and one or more sensing elements configured to sense forces and torques applied to the force/torque sensor, wherein the isolation mechanism includes a body for coupling to an output of the transmission and for coupling to the force/torque sensor, wherein the body deforms in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.

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：US20230277256A1

公开(公告)日：2023-09-07

申请号：US18115964

申请日：2023-03-01

Applicant: MAKO Surgical Corp.

Inventor： Victor Soto ,  Alan Ross ,  David Gene Bowling ,  Jochen Breisacher ,  Jonathan Mark Morgan ,  Dave A. Sinclair ,  David DiPietro ,  David Robert Whisler ,  Paul David Ekegren ,  Paul Shiels

IPC: A61B34/30 ,  A61B46/10 ,  A61B34/00 ,  A61B34/20

CPC classification number: A61B34/30 ,  A61B46/10 ,  A61B34/73 ,  A61B34/20 ,  A61B2034/305 ,  A61B2034/2055

Abstract: Surgical robotic systems and navigation systems employ a robotic arm including a plurality of links. A link tracker assembly is located on the surface of one or more of the links to enable the link to be tracked by a localizer. The link tracker assemblies can utilize a plurality of tracker elements that can be removably coupled to the link. A photosensor assembly is located on the surface of one or more of the links to receive signals from the localizer for controlling the link tracker assembly. The robotic arm can be coupled to a base and the systems can be used in collaboration with a base tracker that is coupled to the base. The robotic arm can also include a mounting interface for receiving an end effector and the systems can be used in collaboration with an end effector tracker that is coupled to the end effector.