公开(公告)号：US12064185B2

公开(公告)日：2024-08-20

申请号：US17562325

申请日：2021-12-27

Applicant: MAKO Surgical Corp.

Inventor： David Viscardi ,  Jan Heinsohn ,  Andrew Nelson ,  Phil Kemp ,  Rajan Yadav ,  Jetinder Singh ,  Koustubh Rao

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61F2/40 ,  A61F2/46 ,  A61B17/14 ,  A61B17/15 ,  A61B17/16 ,  A61B17/56 ,  A61B90/00 ,  A61F2/30

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61F2/40 ,  A61F2/4612 ,  A61B17/142 ,  A61B17/15 ,  A61B17/1659 ,  A61B17/1684 ,  A61B2017/568 ,  A61B2034/101 ,  A61B2034/104 ,  A61B2034/108 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/3945 ,  A61F2/30942 ,  A61F2002/4632

Abstract: Robotic systems and methods for robotic arthroplasty. The robotic system includes a machining station and a guidance station. The guidance station tracks movement of various objects in the operating room, such as a surgical tool, a humerus of a patient, and a scapula of the patient. The guidance station tracks these objects for purposes of controlling movement of the surgical tool relative to virtual cutting boundaries or other virtual objects associated with the humerus and scapula to facilitate preparation of bone to receive a shoulder implant system. In some versions, planning for placement of a stemless implant component is based on a future location of a stemmed shoulder implant to be placed in the humerus during a revision surgery.

公开(公告)号：US20230355341A1

公开(公告)日：2023-11-09

申请号：US18313936

申请日：2023-05-08

Applicant: Verb Surgical Inc.

Inventor： Matthew Colin Vargas ,  Charles J. Scheib ,  Andrea Bajo ,  Koray Sahin ,  Jaime Hernandez ,  Robert Elliott DeCou

IPC: A61B46/10 ,  A61B90/00 ,  B25J15/04 ,  A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B90/40 ,  A61B17/00 ,  A61B46/00 ,  B29C45/00 ,  B29C65/02

CPC classification number: A61B46/10 ,  A61B90/06 ,  B25J15/0466 ,  A61B34/35 ,  A61B34/30 ,  A61B34/70 ,  A61B90/40 ,  A61B17/00234 ,  A61B46/40 ,  B29C45/0053 ,  B29C65/02 ,  Y10S901/49 ,  A61B34/76 ,  A61B34/74 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2017/00477 ,  A61B2017/00115 ,  A61B2017/00199 ,  Y10S901/41 ,  Y10S901/46 ,  A61B2090/0811 ,  A61B2017/00876 ,  A61B2090/0812 ,  G01V8/16

Abstract: Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.

公开(公告)号：US20230346498A1

公开(公告)日：2023-11-02

申请号：US18313213

申请日：2023-05-05

Applicant: Verb Surgical Inc.

Inventor： Charles J. SCHEIB ,  Jaime HERNANDEZ

IPC: A61B46/10 ,  A61B90/00 ,  B25J15/04 ,  A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B90/40 ,  A61B17/00 ,  A61B46/00 ,  B29C45/00 ,  B29C65/02

CPC classification number: A61B46/10 ,  A61B90/06 ,  B25J15/0466 ,  A61B34/35 ,  A61B34/30 ,  A61B34/70 ,  A61B90/40 ,  A61B17/00234 ,  A61B46/40 ,  B29C45/0053 ,  B29C65/02 ,  Y10S901/49 ,  A61B34/76 ,  A61B34/74 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2017/00477 ,  A61B2017/00115 ,  A61B2017/00199 ,  Y10S901/41 ,  Y10S901/46 ,  A61B2090/0811 ,  A61B2017/00876 ,  A61B2090/0812 ,  G01V8/16

Abstract: Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.

公开(公告)号：US11786319B2

公开(公告)日：2023-10-17

申请号：US17359044

申请日：2021-06-25

Applicant: Verb Surgical Inc.

Inventor： Eric Mark Johnson ,  Emma Essock-Burns ,  Lawrence Edward Miller ,  Francois W. Brahic

IPC: A61B34/00 ,  G06F3/0482 ,  G06F3/04845 ,  A61B34/30 ,  A61B34/35 ,  A61B34/10 ,  A61B90/00 ,  A61B1/00 ,  G09G5/14 ,  B25J9/16 ,  A61B17/00 ,  A61B18/14

CPC classification number: A61B34/25 ,  A61B1/0005 ,  A61B34/30 ,  A61B34/74 ,  A61B90/361 ,  B25J9/161 ,  B25J9/1666 ,  B25J9/1689 ,  G06F3/0482 ,  G06F3/04845 ,  G09G5/14 ,  A61B1/00045 ,  A61B18/1482 ,  A61B34/35 ,  A61B2017/00119 ,  A61B2017/00128 ,  A61B2017/00199 ,  A61B2017/00203 ,  A61B2017/00207 ,  A61B2017/00212 ,  A61B2017/00216 ,  A61B2017/00221 ,  A61B2017/00225 ,  A61B2034/101 ,  A61B2034/252 ,  A61B2034/254 ,  A61B2034/256 ,  A61B2034/258 ,  A61B2034/302 ,  A61B2034/741 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/065 ,  A61B2090/365 ,  A61B2090/372 ,  G05B2219/45118 ,  G05B2219/45119 ,  G09G2340/045 ,  G09G2340/0464 ,  G09G2354/00 ,  G09G2380/08 ,  Y10S901/06 ,  Y10S901/41

Abstract: A method for a robotic surgical system includes displaying a graphical user interface on a display to a user, wherein the graphical user interface includes a plurality of reconfigurable display panels, receiving a user input at one or more user input devices, wherein the user input indicates a selection of at least one software application relating to the robotic surgical system, and rendering content from the at least one selected software application among the plurality of reconfigurable display panels.

公开(公告)号：US11779423B2

公开(公告)日：2023-10-10

申请号：US17407538

申请日：2021-08-20

Applicant: IX Innovation LLC

Inventor： Jeffrey Roh ,  Justin Esterberg ,  John Cronin ,  Seth Cronin ,  Michael D'Andrea

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/10 ,  A61B90/00 ,  A61B34/20

CPC classification number: A61B34/76 ,  A61B34/10 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/742 ,  A61B2034/744 ,  A61B2090/364

Abstract: Haptic feedback from a robotic surgical tool can be adjusted based on intra-operative assessment of the accuracy of a pre-operative surgical navigational plans. Navigational reference points are identified in at least one pre-operative image. At least one haptic response is identified for interactions between at least one robotic surgical tool and at least one navigational reference point. At least one intra-operative image is compared to the pre-operative image to determine the relative position of at least two corresponding navigational reference points in the images. The reference points' relative position determines a confidence level in the accuracy of the pre-operative navigational reference point. The haptic response is adjusted in timing, location, type, or amplitude based upon the confidence level. Tolerances and surgical navigation plan may also be updated and altered based on the confidence level.

公开(公告)号：US11660102B2

公开(公告)日：2023-05-30

申请号：US17948333

申请日：2022-09-20

Applicant: THINK SURGICAL, INC.

Inventor： Hosna Akhlaghpour ,  Ryan Sass ,  Kyle Kuznik ,  Micah Forstein ,  Gibson Elliot

IPC: A61B17/16 ,  A61B34/30 ,  A61F2/46 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00 ,  A61B17/56

CPC classification number: A61B17/1666 ,  A61B34/30 ,  A61F2/4609 ,  A61B34/32 ,  A61B34/37 ,  A61B2017/00973 ,  A61B2017/564 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2055 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/034 ,  A61F2002/4633 ,  A61F2002/4681

Abstract: A method to guide in preparation of a bone relies on an instrument having a shaft with a working end and a stop member. The shaft is free to translate along an axis. Surgical planning data is registered to the bone to determine intra-operative coordinates of the desired axis and depth. The instrument holder is positioned by the bone so the stop member contacts the instrument holder to prevent translating beyond the desired depth. Alternatively, an arm is manipulated to align the instrument with the desired axis. The working end rests on the bone to define a linear separation to the desired depth. By proximally translating the instrument holder to contact the stop member and distally translating the instrument holder along the shaft, the stop member physically stops translating beyond the desired depth. A surgical system for performing the methods is provided; a reamer or impactor are also disclosed.

公开(公告)号：US10070930B2

公开(公告)日：2018-09-11

申请号：US15418891

申请日：2017-01-30

Applicant: Memic Innovative Surgery Ltd.

Inventor： Dvir Cohen ,  Eli Shapira

IPC: A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B18/14 ,  A61B34/35 ,  A61B90/00 ,  A61B90/57 ,  A61B17/29 ,  A61B17/32 ,  A61B17/3201 ,  B25J9/06 ,  B25J9/16 ,  B25J9/00 ,  B25J13/06 ,  B25J13/08 ,  A61B1/05 ,  A61B1/303 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B1/05 ,  A61B1/303 ,  A61B17/00234 ,  A61B17/29 ,  A61B17/320016 ,  A61B17/3201 ,  A61B18/1492 ,  A61B34/35 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B90/06 ,  A61B90/361 ,  A61B90/37 ,  A61B90/50 ,  A61B90/57 ,  A61B2017/00115 ,  A61B2017/00207 ,  A61B2017/00309 ,  A61B2017/00314 ,  A61B2017/00991 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/067 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  A61B2090/571 ,  B25J9/0084 ,  B25J9/065 ,  B25J9/1674 ,  B25J13/065 ,  B25J13/088 ,  G05B2219/45117

Abstract: A method of jointed device movement inside a body comprising: measuring movement of at least one input object portion; mapping the measured input object portion movement to a jointed device portion movement; and moving the device portion according to mapped measured movements.

公开(公告)号：US10052165B2

公开(公告)日：2018-08-21

申请号：US15402257

申请日：2017-01-10

Applicant: Memic Innovative Surgery Ltd.

Inventor： Dvir Cohen ,  Eli Shapira

IPC: A61B34/00 ,  A61B34/35 ,  A61B90/00 ,  B25J9/06 ,  B25J9/16 ,  A61B34/30 ,  A61B90/50 ,  A61B18/14 ,  A61B90/57 ,  A61B17/29 ,  A61B17/32 ,  A61B17/3201 ,  B25J9/00 ,  B25J13/06 ,  B25J13/08 ,  A61B1/05 ,  A61B1/303 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B1/05 ,  A61B1/303 ,  A61B17/00234 ,  A61B17/29 ,  A61B17/320016 ,  A61B17/3201 ,  A61B18/1492 ,  A61B34/35 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B90/06 ,  A61B90/361 ,  A61B90/37 ,  A61B90/50 ,  A61B90/57 ,  A61B2017/00115 ,  A61B2017/00207 ,  A61B2017/00309 ,  A61B2017/00314 ,  A61B2017/00991 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/067 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  A61B2090/571 ,  B25J9/0084 ,  B25J9/065 ,  B25J9/1674 ,  B25J13/065 ,  B25J13/088 ,  G05B2219/45117

Abstract: A method of jointed device movement inside a body comprising: measuring movement of at least one input object portion; mapping the measured input object portion movement to a jointed device portion movement; and moving the device portion according to mapped measured movements.

公开(公告)号：US20180001475A1

公开(公告)日：2018-01-04

申请号：US15535654

申请日：2016-11-02

Applicant: Brainlab AG

Inventor： Wolfgang STEINLE ,  Christoffer HAMILTON ,  Nils FREILINGHAUS

IPC: B25J9/16 ,  A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B34/10

CPC classification number: B25J9/1676 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B90/37 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2048 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/364 ,  A61B2090/365 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  B25J9/1679 ,  G05B2219/45117

Abstract: A computer implemented method for determining a configuration of a medical robotic arm, wherein the configuration comprises a pose of the robotic arm and a position of a base of the robotic arm, comprising the steps of: —acquiring treatment information data representing information about the treatment to be performed by use of the robotic arm; —acquiring patient position data representing the position of a patient to be treated; and —calculating the configuration from the treatment information data and the patient position data.

公开(公告)号：US20170360517A1

公开(公告)日：2017-12-21

申请号：US15697943

申请日：2017-09-07

Applicant: GLOBUS MEDICAL, INC.

Inventor： Neil R. Crawford ,  Nicholas Theodore ,  Mitchell A. Foster

IPC: A61B34/30 ,  A61N1/05 ,  A61B90/00 ,  A61B17/02 ,  A61B34/32 ,  A61B34/20 ,  A61B5/06 ,  A61B34/10 ,  A61B90/14 ,  A61B34/00 ,  A61B10/02 ,  A61B17/16

CPC classification number: A61B34/30 ,  A61B5/066 ,  A61B10/02 ,  A61B10/0233 ,  A61B10/0275 ,  A61B17/025 ,  A61B17/1615 ,  A61B17/1671 ,  A61B17/1703 ,  A61B17/1757 ,  A61B17/7082 ,  A61B17/8866 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/32 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B46/20 ,  A61B50/13 ,  A61B90/14 ,  A61B90/37 ,  A61B90/39 ,  A61B2010/0208 ,  A61B2017/00119 ,  A61B2017/00203 ,  A61B2017/00207 ,  A61B2017/0256 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/034 ,  A61B2090/064 ,  A61B2090/365 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3764 ,  A61B2090/378 ,  A61B2090/3937 ,  A61B2090/3941 ,  A61B2090/3945 ,  A61B2090/395 ,  A61B2090/3966 ,  A61B2090/3975 ,  A61B2090/3979 ,  A61B2090/3983 ,  A61M5/172 ,  A61N1/0529

Abstract: A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element.