公开(公告)号：WO2017004056A1

公开(公告)日：2017-01-05

申请号：PCT/US2016/039842

申请日：2016-06-28

Applicant: MAKO SURGICAL CORP.

Inventor： MOCTEZUMA DE LA BARRERA, Jose, Luis ,  BOWLING, David, Gene ,  MALACKOWSKI, Donald, W. ,  ROESSLER, Patrick ,  BEER, Joel, N.

IPC: B25J11/00 ,  A61B34/30 ,  A61B34/20 ,  A61B17/16

CPC classification number: A61B34/30 ,  A61B17/1764 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B90/39 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2063 ,  A61B2090/3945 ,  B25J9/1664 ,  B25J11/0055 ,  G05B19/40937 ,  G05B2219/35021 ,  G05B2219/45168

Abstract: Robotic systems and methods for controlling a tool to remove material from a workpiece. Workpieces such as bones are often non-homogenous and have varying density distributions throughout their volumes. In some embodiments, the systems and methods control the feed rate of the tool, the tool path of the tool, and the rotational speed of the tool based on the density distribution in order to provide a desired outcome for a surgical procedure.

Abstract translation: 用于控制工具以从工件移除材料的机器人系统和方法。 诸如骨头的工件通常是不均匀的，并且在整个体积中具有不同的密度分布。 在一些实施例中，系统和方法基于密度分布来控制工具的进给速率，工具的刀具路径和工具的转速，以便为外科手术提供期望的结果。

公开(公告)号：WO2016134266A1

公开(公告)日：2016-08-25

申请号：PCT/US2016/018691

申请日：2016-02-19

Applicant: STRYKER CORPORATION

Inventor： FLATT, James, E. ,  STAUNTON, Douglas, A. ,  PASTRICK, Matthew, B.

IPC: A61B46/10 ,  A61B34/00 ,  A61B17/00

CPC classification number: A61B46/10 ,  A61B34/30 ,  A61B34/70 ,  A61B90/40 ,  A61B90/50 ,  A61B2017/00477

Abstract: A sterile barrier assembly, mounting system, and method for kinematicaliy coupling first and second surgical components together through the sterile barrier assembly so that positioning is repeatable and deterministic.

Abstract translation: 一种无菌屏障组件，安装系统和方法，用于通过无菌屏障组件将第一和第二手术部件运动地联接在一起，使得定位是可重复的和确定性的。

公开(公告)号：WO2018075935A1

公开(公告)日：2018-04-26

申请号：PCT/US2017/057673

申请日：2017-10-20

Applicant: MAKO SURGICAL CORP.

Inventor： FLATT, James, E.

IPC: A61B17/32 ,  A61B34/30 ,  F16D1/08 ,  F16D15/00 ,  A61B90/98 ,  F16D1/10

Abstract: A tool for use with a surgical robotic manipulator that comprises an energy applicator including a shaft extending along an axis between a proximal end and a distal end. The shaft has an axial-force receiving surface. A tool assembly comprises a support structure to support the energy applicator, an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state, a drive system coupled to the support structure to rotatably drive the shaft of the energy applicator about the axis, a collet assembly cooperating with the axial connector assembly and configured to apply a force to the axial-force receiving surface of the energy applicator in the locked state, and a reference surface. The force includes an axial component directing the energy applicator proximally into continuous contact with the reference surface in the locked state.

Abstract translation: 用于手术机器人操纵器的工具，其包括能量施加器，该能量施加器包括沿近端和远端之间的轴线延伸的轴。 轴具有轴向力接收表面。 一种工具组件，包括：支撑能量施加器的支撑结构;轴向连接器组件，设置成在锁定状态下将能量施加器接合并可释放地锁定到支撑结构;驱动系统，联接到支撑结构以可旋转地驱动 能量施加器以及参考表面，所述夹具组件与所述轴向连接器组件配合并且构造成在所述锁定状态下向所述能量施加器的所述轴向力接收表面施加力。 该力包括在锁定状态下将能量施加器向近侧引导成与参考表面持续接触的轴向分量。

公开(公告)号：WO2017112684A1

公开(公告)日：2017-06-29

申请号：PCT/US2016/067812

申请日：2016-12-20

Applicant: STRYKER CORPORATION

Inventor： DAVIE, Daniel ,  ZOLLINGER, Michael ,  MACLACHLAN, Brian ,  ISHAM, Steve ,  EDINGER, Benjamin ,  DURNELL, Troy

IPC: A61M1/00

CPC classification number: A61M1/0023 ,  A61M2205/07 ,  A61M2205/3606 ,  A61M2205/362 ,  A61M2205/42 ,  A61M2209/10

Abstract: A waste collection unit is provided that comprises a vacuum pump and smoke evacuation system including a blower and blower motor. The vacuum pump, the blower, and the blower motor, create noise. This noise is attenuated in first and second sound attenuating enclosures for the vacuum pump and the blower and blower motor. A cleaning system is also provided with rotating liquid delivery devices. An actuator is operatively coupled to the liquid delivery devices to rotate the liquid delivery devices.

Abstract translation: 提供了一种废物收集单元，其包括真空泵和包括鼓风机和鼓风机马达的排烟系统。 真空泵，鼓风机和鼓风机电机会产生噪音。 该噪音在真空泵和鼓风机和鼓风机电机的第一和第二声音衰减壳体中被衰减。 清洁系统还配备有旋转液体输送装置。 致动器可操作地连接到液体输送装置以旋转液体输送装置。

公开(公告)号：WO2016112276A1

公开(公告)日：2016-07-14

申请号：PCT/US2016/012627

申请日：2016-01-08

Applicant: STRYKER CORPORATION

Inventor： MALACKOWSKI, Donald, W. ,  DELUCA, Richard, T.

IPC: A61B34/30 ,  B25J1/02 ,  B25J9/16 ,  B25J13/08 ,  A61B90/00

CPC classification number: G01L5/226 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B90/03 ,  A61B2034/305 ,  A61B2090/034 ,  A61B2090/064 ,  B25J1/02 ,  B25J9/1633 ,  B25J9/1694 ,  B25J13/085 ,  G05B2219/39529 ,  Y10S901/09

Abstract: An isolated force/torque sensor assembly (10, 110, 210) for a force controlled robot (12) includes an end effector (22, 122, 222) for operatively attaching to an arm (14) of the force controlled robot (12), the end effector (22, 122, 222) having a gripping portion (36, 136, 236) adapted to be gripped by a hand of a user, and a force/torque sensor (42, 142, 242) adapted to be disposed between the gripping portion (36, 136, 236) and the arm (14) of the robot (12), the force/torque sensor (42, 142, 242) having a high force end effector interface (44, 144, 244) adapted to be attached to the arm (14) of the robot (12), a low force end effector interface (48, 148, 248) operatively attached to the gripping portion (36, 136, 236), and a transducer (45, 145, 245) disposed between the high force end effector interface (44, 144, 244) and the low force end effector interface (48, 148, 248) for reacting to loads applied to the low force end effector interface (48, 148, 248) for user controlled positioning of a surgical tool and for generating corresponding output signals, and wherein the transducer (45, 145, 245) is bypassed for high loads.

Abstract translation: 用于受力机器人（12）的隔离力/扭矩传感器组件（10,110,210）包括用于可操作地连接到受力机器人（12）的臂（14）的末端执行器（22,122,222） ，所述末端执行器（22,122,222）具有适于被使用者的手握住的夹紧部分（36,136,236）以及适于被布置的力/扭矩传感器（42,142,242） 在所述抓握部分（36,136,236）和所述机器人（12）的所述臂（14）之间，所述力/扭矩传感器（42,142,242）具有高力的末端执行器接口（44,144,244） 适于附接到所述机器人（12）的臂（14），可操作地附接到所述抓握部分（36,136,236）的低力末端执行器接口（48,148,248） 设置在高力末端执行器接口（44,144,244）和低力末端执行器接口（48,148,248）之间，用于对施加到低力末端执行器接口（48,148,244）的负载进行反应， 248）用于用户控制的posi 并且用于产生相应的输出信号，并且其中换能器（45,145,245）被旁路用于高负载。

公开(公告)号：WO2014144321A1

公开(公告)日：2014-09-18

申请号：PCT/US2014/028677

申请日：2014-03-14

Applicant: STRYKER CORPORATION

Inventor： MALACKOWSKI, Donald, W. ,  MOCTEZUMA DE LA BARRERA, Jose, Luis ,  ROHS, Helmut ,  RIEDLINGER, Norbert

IPC: A61B19/00 ,  A61B19/08

CPC classification number: A61B46/23 ,  A61B34/20 ,  A61B46/10 ,  A61B50/00 ,  A61B90/361 ,  A61B2017/00876 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2090/0808

Abstract: A camera and drape assembly for use with tracking elements of a surgical system includes a camera unit and a drape covering the camera unit. The camera unit includes a casing presenting a face for facing the tracking elements. Optical sensors are supported by the casing and are exposed through the casing for detecting the tracking elements. The drape covers the camera unit such that light signals from the tracking elements can be received by the optical sensors.

Abstract translation: 与外科系统的跟踪元件一起使用的相机和悬垂组件包括相机单元和覆盖相机单元的盖布。 相机单元包括呈现面向跟踪元件的面的壳体。 光学传感器由壳体支撑并通过壳体暴露以检测跟踪元件。 悬垂覆盖相机单元，使得来自跟踪元件的光信号可以被光学传感器接收。

公开(公告)号：WO2013102134A2

公开(公告)日：2013-07-04

申请号：PCT/US2012/072160

申请日：2012-12-28

Applicant: STRYKER CORPORATION

Inventor： DIEHL, Eric, K. ,  LYNCH, Robert, E. ,  COLEMAN, John, Horton ,  KEILERS, Cyril, A. ,  BERNERO, John, P.

IPC: A61F2/46

CPC classification number: A61B17/1635 ,  A61F2/4644 ,  A61F2002/4646

Abstract: A cleaning module for cleaning bone stock used in surgical procedures. The cleaning module includes a shell. The shell defines a void space to receive the bone stock. A cutter is located within the void space. A shaving tube is coaxially disposed about the cutter to move at different speeds and/or directions relative to the cutter. When actuated, the cutter rotates to clean the bone stock by cutting soft tissue from the bone stock. A tumble plate reorients the bone stock, while an arm moves across the tumble plate from a disengaged position to an engaged position to press the bone stock into the cutter through a window in the shaving tube. A drive assembly actuates the cutter, shaving tube, arm and tumble plate.

Abstract translation:

清洁模块，用于清洁手术过程中使用的骨头。 清洁模块包括外壳。 外壳定义了一个空间来接收骨头。 切割器位于空隙空间内。 剃刀管围绕刀具同轴布置以相对于刀具以不同的速度和/或方向移动。 当启动时，切割器旋转以通过从骨头骨头切割软组织来清洁骨头。 滚筒板重新调整骨头的方向，而手臂穿过滚筒板从脱离位置移动到啮合位置，以通过剃须管中的窗口将骨头压入切割器中。 驱动组件驱动切割器，剃须管，臂和滚筒板。

公开(公告)号：WO2006086723A2

公开(公告)日：2006-08-17

申请号：PCT/US2006/004904

申请日：2006-02-10

Applicant: STRYKER CORPORATION ,  BROCKMAN, Christopher, S. ,  WASSERMAN, Mark, A. ,  HERSHBERGER, David, E. ,  TOMAN, Jason, D. ,  STRICKLER, Michael ,  FOOR, Jacob, C.

Inventor： BROCKMAN, Christopher, S. ,  WASSERMAN, Mark, A. ,  HERSHBERGER, David, E. ,  TOMAN, Jason, D. ,  STRICKLER, Michael ,  FOOR, Jacob, C.

IPC: A61M5/142 ,  A61M5/168 ,  A61M5/172

CPC classification number: A61M5/14244 ,  A61M5/14216 ,  A61M5/172 ,  A61M2205/505 ,  A61M2209/045

Abstract: A fluid delivery system is provided for delivering fluid to a patient. The system comprises a reservoir for storing the fluid to be delivered to the patient and a fluid discharge device operatively coupled to the reservoir for delivering the fluid from the reservoir to the patient. A controller is configured to operate the fluid discharge device. An input device is in electronic communication with the controller and configured for setting at least one operating parameter of the system. The controller operates the fluid discharge device based on the at least one operating parameter and locks the system after the at least one operating parameter is set such that the at least one operating parameter is unable to be modified. A display is in electronic communication with the controller to at least periodically display a code for resetting the at least one operating parameter. The code is altered at least once during use. The controller is further configured to unlock the system upon receiving the code thereby allowing a user to reset the at least one operating parameter.

Abstract translation: 提供流体递送系统用于将流体输送给患者。 该系统包括用于存储要输送给患者的流体的储存器和可操作地耦合到储存器的流体排放装置，用于将流体从储存器输送到患者。 控制器构造成操作流体排放装置。 输入设备与控制器电子通信并被配置用于设置系统的至少一个操作参数。 所述控制器基于所述至少一个操作参数操作所述流体排出装置，并且在所述至少一个操作参数被设置为使得所述至少一个操作参数不能被修改之后锁定所述系统。 显示器与控制器进行电子通信，以至少周期性地显示用于复位至少一个操作参数的代码。 代码在使用过程中至少改变一次。 控制器还被配置为在接收到代码时解锁系统，从而允许用户重新设置至少一个操作参数。

公开(公告)号：WO2019055904A4

公开(公告)日：2019-03-21

申请号：PCT/US2018/051313

申请日：2018-09-17

Applicant: MAKO SURGICAL CORP.

Inventor： GILHOOLEY, Seamus ,  BOWLING, David, Gene ,  SHIELS, Paul

IPC: A61B34/30 ,  A61B34/32 ,  B25J9/16

Abstract: A robotic cutting system including a robotic manipulator and a cutting tool coupled to the robotic manipulator. The cutting tool comprises a saw blade. A controller is also coupled to the robotic manipulator. The controller is configured to control operation of the robotic manipulator, the cutting tool, and/or another cutting tool, to cut the bone in an initial stage of cutting until a notch is created in the bone at a predetermined depth. A final stage of cutting is then completed by cutting along the cutting plane.

公开(公告)号：WO2017100180A1

公开(公告)日：2017-06-15

申请号：PCT/US2016/065125

申请日：2016-12-06

Applicant: STRYKER CORPORATION

Inventor： WOODS, Philip Robert ,  PHILIPP, Christopher Donald

IPC: F21K9/00 ,  A61B34/20 ,  A61B90/00 ,  F21V5/00

CPC classification number: A61B34/20 ,  A61B90/39 ,  A61B2034/2055 ,  A61B2090/3945 ,  A61B2090/3983

Abstract: Tracking devices for use in a navigation system and methods of manufacturing the same. The tracking device comprises a tracking head and a plurality of emitters supported by the tracking head to emit light. A plurality of dome-shaped lenses having arcuate inner and outer surfaces define an outer wall of uniform thickness disposed over the emitters so that light is emitted through the outer wall in a manner that minimizes light refraction.

Abstract translation: 用于导航系统的跟踪装置及其制造方法。 跟踪装置包括跟踪头和由跟踪头支撑以发光的多个发射器。 具有弓形内表面和外表面的多个圆顶形透镜限定了均匀厚度的外壁，该外壁设置在发射器上方，从而以最小化光折射的方式通过外壁发射光。