公开(公告)号：US11246508B2

公开(公告)日：2022-02-15

申请号：US16653207

申请日：2019-10-15

Applicant: MAKO Surgical Corp.

Inventor： Sunil Gupta ,  Ta-Cheng Chang ,  Zenan Zhang ,  Kevin Bechtold ,  Matt Thompson ,  Eric Branch ,  Varun Chandra ,  Zhu Wu

IPC: A61B5/107 ,  A61B5/06 ,  A61B5/00 ,  G06T7/73 ,  G06T7/33 ,  A61B5/11 ,  A61B5/055 ,  A61B34/30 ,  A61B34/20 ,  A61B90/00

Abstract: A system for intra-operatively registering a pelvis comprising an acetabulum with a computer model of the pelvis in a coordinate system. The system may include: a) a surgical navigation system including a tracking device; and b) at least one computing device in communication with the surgical navigation system. The at least one computing device: i) receiving first data points from first intra-operatively collected points on an articular surface of the acetabulum, the first data points collected with the tracking device; ii) receiving a second data point from a second intra-operatively collected point on the pelvis, the second data point collected with the tracking device, the second data point corresponding in location to a second virtual data point on the computer model; and iii) determining an intra-operative center of rotation of the femur relative to the pelvis from the first data points.

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.

公开(公告)号：US11813052B2

公开(公告)日：2023-11-14

申请号：US17573264

申请日：2022-01-11

Applicant: MAKO Surgical Corp.

Inventor： Sunil Gupta ,  Ta-Cheng Chang ,  Zenan Zhang ,  Kevin Bechtold ,  Matthew Thompson ,  Eric Branch ,  Varun Chandra ,  Zhu Wu

IPC: A61B5/107 ,  A61B5/06 ,  A61B5/00 ,  G06T7/73 ,  G06T7/33 ,  A61B5/11 ,  A61B5/055 ,  A61B34/30 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B5/107 ,  A61B5/055 ,  A61B5/06 ,  A61B5/1071 ,  A61B5/1127 ,  A61B5/743 ,  A61B5/7435 ,  A61B34/20 ,  A61B34/30 ,  G06T7/33 ,  G06T7/73 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2090/364 ,  G06T2207/10024 ,  G06T2207/10081 ,  G06T2207/30008 ,  G06T2207/30052

Abstract: A system for intra-operatively registering a pelvis comprising an acetabulum with a computer model of the pelvis in a coordinate system. The system may include: a) a surgical navigation system including a tracking device; and b) at least one computing device in communication with the surgical navigation system. The at least one computing device: i) receiving first data points from first intra-operatively collected points on an articular surface of the acetabulum, the first data points collected with the tracking device; ii) receiving a second data point from a second intra-operatively collected point on the pelvis, the second data point collected with the tracking device, the second data point corresponding in location to a second virtual data point on the computer model; and iii) determining an intra-operative center of rotation of the femur relative to the pelvis from the first data points.

公开(公告)号：US11737894B2

公开(公告)日：2023-08-29

申请号：US17189971

申请日：2021-03-02

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 ,  G06T7/33 ,  A61B6/00 ,  A61B17/88 ,  A61B34/10 ,  A61B34/20 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61F2/4609 ,  A61B6/505 ,  A61B17/8897 ,  G06T7/33 ,  A61B34/25 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2063 ,  A61B2090/3762 ,  A61F2002/4633 ,  G06T2207/10028 ,  G06T2207/30008 ,  G06T2207/30052

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.

公开(公告)号：US20200281742A1

公开(公告)日：2020-09-10

申请号：US16810283

申请日：2020-03-05

Applicant: MAKO Surgical Corp.

Inventor： Zhu Wu ,  Matt Thompson ,  Brent Mittelstadt ,  Jamil Elbanna

IPC: A61F2/46 ,  A61F2/32

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.

公开(公告)号：US11839551B2

公开(公告)日：2023-12-12

申请号：US16810283

申请日：2020-03-05

Applicant: MAKO Surgical Corp.

Inventor： Zhu Wu ,  Matt Thompson ,  Brent Mittelstadt ,  Jamil Elbanna

IPC: A61F2/46 ,  A61F2/32 ,  A61B34/10 ,  A61F2/30 ,  A61B34/20

CPC classification number: A61F2/46 ,  A61B34/10 ,  A61F2/32 ,  A61F2/4607 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2068 ,  A61F2002/30943 ,  A61F2002/4633 ,  A61F2002/4667

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.

公开(公告)号：US20230380988A1

公开(公告)日：2023-11-30

申请号：US18221690

申请日：2023-07-13

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: A61F2/46 ,  G06T7/33 ,  A61B6/00 ,  A61B17/88

CPC classification number: A61F2/4609 ,  G06T7/33 ,  A61B6/505 ,  A61B17/8897 ,  A61B2034/105

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.

公开(公告)号：US20190201155A1

公开(公告)日：2019-07-04

申请号：US16329157

申请日：2017-08-30

Applicant: MAKO Surgical Corp.

Inventor： Sunil Gupta ,  Ta-Cheng Chang ,  Zenan Zhang ,  Kevin Bechtold ,  Matt Thompson ,  Eric Branch ,  Varun Chandra ,  Zhu Wu

IPC: A61B90/00 ,  A61B34/20 ,  A61F2/46 ,  A61F2/36

CPC classification number: A61B90/36 ,  A61B5/055 ,  A61B5/1071 ,  A61B5/1127 ,  A61B5/743 ,  A61B5/7435 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B2090/365 ,  A61B2090/374 ,  A61B2090/3762 ,  A61F2/3607 ,  A61F2/4609 ,  A61F2/4657 ,  A61F2002/3483 ,  A61F2002/4632 ,  A61F2002/4659 ,  G06T7/33 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10081 ,  G06T2207/30008 ,  G06T2207/30052

Abstract: A system for intra-operatively registering a pelvis comprising an acetabulum with a computer model of the pelvis in a coordinate system. The system may include: a) a surgical navigation system including a tracking device; and b) at least one computing device in communication with the surgical navigation system. The at least one computing device: i) receiving first data points from first intra-operatively collected points on an articular surface of the acetabulum, the first data points collected with the tracking device; ii) receiving a second data point from a second intra-operatively collected point on the pelvis, the second data point collected with the tracking device, the second data point corresponding in location to a second virtual data point on the computer model; and iii) determining an intra-operative center of rotation of the femur relative to the pelvis from the first data points.

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

IPC: A61F2/46 ,  A61F2/32 ,  A61B34/10

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.

公开(公告)号：US20240041350A1

公开(公告)日：2024-02-08

申请号：US18381441

申请日：2023-10-18

Applicant: MAKO SURGICAL CORP.

Inventor： Sunil Gupta ,  Ta-Cheng Chang ,  Zenan Zhang ,  Kevin Bechtold ,  Matthew Thompson ,  Eric Branch ,  Varun Chandra ,  Zhu Wu

IPC: A61B5/107 ,  A61B5/06 ,  A61B5/00 ,  G06T7/73 ,  G06T7/33 ,  A61B5/11 ,  A61B5/055 ,  A61B34/30 ,  A61B34/20

CPC classification number: A61B5/107 ,  A61B5/06 ,  A61B5/7435 ,  G06T7/73 ,  G06T7/33 ,  A61B5/1071 ,  A61B5/743 ,  A61B5/1127 ,  A61B5/055 ,  A61B34/30 ,  A61B34/20 ,  G06T2207/30052 ,  G06T2207/10081 ,  G06T2207/30008 ,  A61B2034/2068 ,  A61B2034/2055 ,  A61B2090/364

Abstract: A system for intra-operatively registering a pelvis comprising an acetabulum with a computer model of the pelvis in a coordinate system. The system may include: a) a surgical navigation system including a tracking device; and b) at least one computing device in communication with the surgical navigation system. The at least one computing device: i) receiving first data points from first intra-operatively collected points on an articular surface of the acetabulum, the first data points collected with the tracking device; ii) receiving a second data point from a second intra-operatively collected point on the pelvis, the second data point collected with the tracking device, the second data point corresponding in location to a second virtual data point on the computer model; and iii) determining an intra-operative center of rotation of the femur relative to the pelvis from the first data points.