公开(公告)号：WO2018112025A1

公开(公告)日：2018-06-21

申请号：PCT/US2017/066071

申请日：2017-12-13

Applicant: MAKO SURGICAL CORP.

Inventor： STAUNTON, Douglas, Alan ,  HOEKSTRA, Paul ,  DOZEMAN, Michael, Dale

IPC: A61B34/30 ,  A61B34/20

Abstract: Systems and methods for operating a robotic surgical system are provided. The system comprises a surgical tool for interacting with a surgical target, a manipulator comprising a plurality of links and supporting the tool, a navigation system comprising a manipulator tracker coupled to the manipulator and a patient tracker coupled to the surgical target and a localizer for monitoring states of the trackers. A controller determines commanded states for moving the tool relative to the surgical target using data (filtered according to a first filter length) from the manipulator and/or navigation system. The controller determines actual states of the tool while commanding the tool relative to the surgical target using data (filtered according to a second filter length being shorter than the first filter length) from the manipulator and/or navigation system. The controller compares the commanded and actual states and modifies tool operation based on an outcome of the comparison.

公开(公告)号：WO2016171894A1

公开(公告)日：2016-10-27

申请号：PCT/US2016/026034

申请日：2016-04-05

Applicant: NSF INTERNATIONAL

Inventor： CHESTNUT, Thomas ,  TONG, Jennifer, Leighanne

IPC: G06Q10/06

CPC classification number: G02B27/0172 ,  G02B27/017 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0141 ,  G06F3/011 ,  G06F3/14 ,  G06F3/16 ,  G06K9/00335 ,  G06K9/00671 ,  G06Q10/0639 ,  G06Q30/018 ,  G09B5/00 ,  G09B5/02 ,  G09B19/003 ,  G09B19/0076 ,  G09G5/12 ,  G09G2370/02 ,  G09G2370/16

Abstract: Techniques for remotely interacting with physical performance of a task relating to at least one of food safety, food quality, and workplace safety are provided. A first user physically performs the task at a first location utilizes a head wearable device. A computing system is utilized by an operator to remotely interact with physical performance of the task from a remote second location. Audio and first-person visual data captured by the device are transmitted to the computing system during physical performance of the task. Audio data and visual captured by the computing system during remote interaction of the task are transmitted via the network to the head wearable device.

Abstract translation: 提供了与食品安全，食品质量和工作场所安全中的至少一个有关的任务的物理性能远程交互的技术。 在第一位置物理地执行任务的第一用户使用头戴式装置。 操作者利用计算系统与来自远程第二位置的任务的物理性能进行远程交互。 在任务的物理性能期间，由设备捕获的音频和第一人称视觉数据被传送到计算系统。 在任务的远程交互期间由计算系统捕获的音频数据和视觉通过网络传输到头戴式装置。

公开(公告)号：WO2022150284A1

公开(公告)日：2022-07-14

申请号：PCT/US2022/011089

申请日：2022-01-04

Applicant: MAKO SURGICAL CORP.

Inventor： JOHNSON, Ezra ,  HAZBUN, Larry ,  MORGAN, Jonathan, Mark ,  WEINLANDT, William, Daniel

IPC: A61B90/00

Abstract: A tracker for a navigation system. A tracker body defines an opening, and a lens is positionable to seal the opening. A plug is configured to be coupled to the tracker body to secure the lens. A tracking element may be disposed between the lens and the plug so as to be visible through the lens. The tracking element may be disposed within a sealed enclosure defined by the lens and the plug. The plug may define a counterbore in fluid communication with the opening, and the plug may be at least partially disposed within the counterbore. The plug may further define a groove, and the tracker may include a sealing element disposed within the groove. The plug may include a shoulder configured to in sealing engagement with the tracker body. Methods of assembling the tracker for use with the navigation system are also disclosed.

公开(公告)号：WO2022067066A1

公开(公告)日：2022-03-31

申请号：PCT/US2021/051992

申请日：2021-09-24

Applicant: MAKO SURGICAL CORP.

Inventor： BOYER, Jonathan P. ,  FLATT, James E.

IPC: A61B34/00 ,  A61B17/16 ,  A61B17/32 ,  B23B31/107 ,  B23B31/22 ,  A61B17/162 ,  A61B17/1622 ,  A61B17/32002 ,  A61B2017/00477 ,  A61B2034/2048 ,  A61B2090/034 ,  A61B34/20 ,  A61B34/30 ,  A61B34/70 ,  A61B90/03 ,  A61B90/37 ,  B23B2270/14 ,  B23B31/1071

Abstract: An interlocking collet system includes an attachment (106) comprising first and second attachment surfaces (108, 110) spaced from one another and a collet. The collet comprises a housing configured to extend along an axis. The housing defines a bore for selectively disposing and retaining the attachment therein in an installed position. First and second locking members (122, 124) are disposed within the bore and are moveable. At least one bias member (126) is disposed within the bore and is arranged to position the first locking member in a first position in which the first locking member is configured to contact the first attachment surface. The at least one bias member is arranged to position the second locking member in a second position in which the second locking member is configured to contact the second attachment surface. The first and second locking members are configured to exert opposing axial forces on the attachment.

公开(公告)号：WO2021067438A1

公开(公告)日：2021-04-08

申请号：PCT/US2020/053548

申请日：2020-09-30

Applicant: MAKO SURGICAL CORP.

Inventor： BOWLING, David, Gene ,  DELUCA, Richard, Thomas ,  DOZEMAN, Michael, Dale ,  ROESSLER, Patrick ,  FERKO, Michael ,  GARCIA, Gregory ,  KHURANA, Rishabh

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B34/20 ,  A61B18/00 ,  A61B34/10

Abstract: Systems and methods are provided for guiding movement of a tool. The system comprises 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.

公开(公告)号：WO2020123808A1

公开(公告)日：2020-06-18

申请号：PCT/US2019/065985

申请日：2019-12-12

Applicant: MAKO SURGICAL CORP.

Inventor： BECKER, Hans-Ulrich ,  ROESSLER, Patrick ,  MOCTEZUMA DE LA BARRERA, Jose Luis

IPC: A61B34/30 ,  A61B17/16 ,  A61B34/32 ,  A61B34/10 ,  A61B34/20

Abstract: Systems, methods, software and techniques are disclosed for morphing a generic virtual boundary into a patient-specific virtual boundary for an anatomical model. The generic virtual boundary comprises one or more morphable faces. An intersection of the generic virtual boundary and the anatomical model is computed to define a cross-sectional contour of the anatomical model. One or more faces of the generic virtual boundary are morphed to conform to the cross-sectional contour of the anatomical model to produce the patient-specific virtual boundary. In some cases, the morphed faces are spaced apart from the cross-sectional contour by an offset distance that accounts for a geometric feature of a surgical tool.

公开(公告)号：WO2020097481A1

公开(公告)日：2020-05-14

申请号：PCT/US2019/060502

申请日：2019-11-08

Applicant: MAKO SURGICAL CORP.

Inventor： KANG, Hyosig ,  DING, Jienan ,  BOWLING, David, Gene ,  JONES, Christopher, W. ,  MCEWAN, Greg ,  GSELLMAN, Lucas

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

Abstract: A robotic system and methods for performing spine surgery are disclosed. The system comprises a robotic manipulator with a tool to hold a screw and to rotate the screw about a rotational axis. The screw is self-tapping and has a known thread geometry that is stored by a controller. A navigation system tracks a position of a target site. Movement of the robotic manipulator is controlled to maintain the rotational axis of the surgical tool along a planned trajectory with respect to the target site based on the tracked position of the target site. In autonomous or manual modes of operation, the rotational rate of the screw about the rotational axis and/or an advancement rate of the screw linearly along the planned trajectory is controlled to be proportional to the known thread geometry stored in the memory.

公开(公告)号：WO2018045312A1

公开(公告)日：2018-03-08

申请号：PCT/US2017/049901

申请日：2017-09-01

Applicant: FORESEE RESULTS, INC.

Inventor： HUNIGAN, Michael, B. ,  WHITE, Alexei

IPC: G06F17/30

Abstract: Computer-implemented techniques are disclosed for presenting an in-page console on a website for reviewing interaction data captured during user interaction with one or more web pages of the website. The web browser activates the in-page console via an activation procedure. One or more of the web pages of the website are selected after activation of the in-page console. A feedback badge on the website can be replaced with a reporting badge upon activation of the in-page console and with the reporting badge displaying an indicator of interaction data captured for the selected web page. The in-page console is overlaid one or more of the selected web pages. The in-page console displays the interaction data, or recordings of user interaction, captured during user interaction with the selected web page to enable review of the captured interaction data for the selected web page overlaid on the selected web page.

Abstract translation: 公开了计算机实现的技术，用于在网站上呈现页面内控制台，用于浏览在与用户与网站的一个或多个网页进行交互期间捕获的交互数据。 Web浏览器通过激活过程激活页面内控制台。 激活页面内控制台后，将选择一个或多个网站网页。 激活页内控制台后，网站上的反馈徽章可以替换为报告徽章，报告徽章会显示为所选网页捕获的交互数据指标。 页内控制台覆盖一个或多个选定的网页。 页面内控制台显示在用户与所选网页​​交互期间捕获的交互数据或用户交互记录，以允许浏览覆盖在所选网页上的所选网页的捕获交互数据。

公开(公告)号：WO2017095870A3

公开(公告)日：2017-06-08

申请号：PCT/US2016/064128

申请日：2016-11-30

Applicant: STRYKER CORPORATION

Inventor： BOZUNG, Timothy J.

IPC: A61B17/16 ,  A61B17/32 ,  A61B34/20 ,  A61B17/00

Abstract: A surgical instrument (1200) comprises a hand-held portion (1204) configured to be manipulated by a user and a pivoting portion (1202) operatively coupled to the hand-held portion and a drive motor. The pivoting portion is configured to pivot with respect to the hand¬ held portion according to first and second degrees of freedom. The pivoting portion includes a telescoping nose mechanism (1222) including a nose tube (1212) and an intermediate unit (1228). The intermediate unit includes a plurality of threaded lead screws (1238) and has a carriage (1242) threaded for interfacing with the lead screws to enable rotation of the lead screws, such that the carriage linearly translates along the lead screws to linearly translate the nose tube enabling telescoping of the nose tube relative to the hand-held portion with respect to a third degree of freedom.

Abstract translation: 手术器械（1200）包括被配置为由使用者操纵的手持部分（1204）和可操作地连接到手持部分和驱动马达的枢转部分（1202）。 枢转部分构造成相对于手和/ 根据第一自由度和第二自由度确定被保持部分。 枢转部分包括包括鼻管（1212）和中间单元（1228）的伸缩式鼻部机构（1222）。 中间单元包括多个带螺纹的导向螺杆（1238）并且具有螺纹（1242），螺纹用于与导向螺杆接口以使导向螺杆旋转，使得滑动架沿着导向螺杆线性平移以线性平移鼻部 使鼻管相对于手持部分相对于第三自由度伸缩。

公开(公告)号：WO2017095870A2

公开(公告)日：2017-06-08

申请号：PCT/US2016/064128

申请日：2016-11-30

Applicant: STRYKER CORPORATION

Inventor： BOZUNG, Timothy J.

IPC: A61B17/16 ,  A61B17/32 ,  A61B34/20

CPC classification number: A61B17/1617 ,  A61B17/162 ,  A61B17/1624 ,  A61B17/1626 ,  A61B17/1628 ,  A61B17/32002 ,  A61B34/20 ,  A61B34/25 ,  A61B2017/00991 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2059 ,  F16H25/2056

Abstract: A surgical instrument comprises a hand-held portion configured to be manipulated by a user and a pivoting portion operatively coupled to the hand-held portion. The pivoting portion is configured to pivot with respect to the hand-held portion according to first and second degrees of freedom. The pivoting portion includes a telescoping nose mechanism including a nose tube, an intermediate unit having a carriage extending from the nose tube to enable linear translation of the nose tube, and a drive motor cooperating with the carriage to linearly translate the nose tube relative to the hand-held portion with respect to a third degree of freedom.

Abstract translation: 手术器械包括被配置为由使用者操纵的手持部分和可操作地耦合到手持部分的枢转部分。 枢转部分构造成根据第一和第二自由度相对于手持部分枢转。 枢转部分包括伸缩鼻部机构，该伸缩鼻部机构包括鼻管，具有从鼻管延伸的托架的中间单元以实现鼻管的线性平移，驱动马达与托架配合以相对于鼻管线性平移鼻管 手持部分相对于第三自由度。