公开(公告)号：WO2017117369A1

公开(公告)日：2017-07-06

申请号：PCT/US2016/069152

申请日：2016-12-29

Applicant: STRYKER CORPORATION

Inventor： MALACKOWSKI, Donald, W.

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

CPC classification number: A61B34/20 ,  A61B5/065 ,  A61B34/30 ,  A61B90/361 ,  A61B2017/00734 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/2072 ,  A61B2090/364 ,  A61B2090/3937 ,  A61B2090/3945

Abstract: System and methods for performing surgery at a target site defined by a virtual object. A surgical navigation system includes a patient tracker (54,56) to be attached to a patient. A localizer (44) cooperates with the patient tracker and generates localizer data associated with the target site during the surgery. The surgical navigation system also includes a vision device (72) to generate image data associated with the target site and surfaces surrounding the target site. A navigation computer in communication with the localizer and the vision device is configured to determine a region to be avoided outside of the target site based on the localizer data and the image data. In some cases, a second virtual object is generated to define the region to be avoided so that a surgical instrument used during the surgery avoids the region.

Abstract translation: 用于在由虚拟对象定义的目标站点处执行手术的系统和方法。 手术导航系统包括待附接到患者的患者追踪器（54,56）。 定位器（44）与患者追踪器协作并且在手术期间生成与目标部位相关联的定位器数据。 手术导航系统还包括用于生成与目标部位和目标部位周围的表面相关联的图像数据的视觉装置（72）。 与定位器和视觉设备通信的导航计算机被配置为基于定位器数据和图像数据确定要在目标站点外部避开的区域。 在某些情况下，会生成第二个虚拟物体来定义要避免的区域，以便在手术过程中使用的手术器械避开该区域。

公开(公告)号：WO2016126821A1

公开(公告)日：2016-08-11

申请号：PCT/US2016/016365

申请日：2016-02-03

Applicant: STRYKER CORPORATION

Inventor： BOWLING, David, Gene

IPC: G01L1/22 ,  B25J13/08 ,  G01L5/16

CPC classification number: A61B34/30 ,  A61B90/06 ,  A61B2090/065 ,  A61B2090/066 ,  B25J13/085 ,  G01L1/2206 ,  G01L3/108 ,  G01L5/16 ,  G01L5/162

Abstract: A force/torque transducer comprises a first member, a second member for receiving a load, and load cells connecting the first and second members. The load cells include sensors for measuring physical deformation of the load cells. Sensor measurements are convertible into force/torque measurements using a transformation matrix configured with M rows and N columns. M and N are respectively defined by a number of degrees of freedom monitored by the transducer and a number of load cells employed by the transducer, or vice-versa. Each row or column that corresponds to each load cell has values relating to that one load cell. Each row or column that corresponds to each degree of freedom has values relating to that one degree of freedom. A sum of the values in each row or column corresponding to each degree of freedom is substantially equal to zero.

Abstract translation: 力/扭矩传感器包括第一构件，用于接收负载的第二构件和连接第一构件和第二构件的负载单元。 称重传感器包括用于测量称重传感器的物理变形的传感器。 传感器测量可以使用配置有M行和N列的转换矩阵转换为力/转矩测量。 M和N分别由换能器监测的多个自由度和换能器使用的多个负载单元限定，反之亦然。 与每个称重传感器对应的每个行或列都具有与该一个称重传感器相关的值。 与每个自由度相对应的每行或列都具有与该自由度相关的值。 对应于每个自由度的每行或列中的值之和基本上等于零。

公开(公告)号：WO2022147001A1

公开(公告)日：2022-07-07

申请号：PCT/US2021/065334

申请日：2021-12-28

Applicant: MAKO SURGICAL CORP.

Inventor： KHURANA, Rishabh

IPC: A61B34/32 ,  A61B34/00 ,  B25J9/16

Abstract: A robotic surgical system includes a kinematic chain defined by components of a manipulator and a surgical tool including an energy applicator. At least one controller identifies that one or more components of the kinematic chain other than the energy applicator is either experiencing or will experience an undesired orientational motion. The at least one controller changes operation of the manipulator to mitigate for the present or expected undesired orientational motion.

公开(公告)号：WO2021195369A1

公开(公告)日：2021-09-30

申请号：PCT/US2021/024135

申请日：2021-03-25

Applicant: MAKO SURGICAL CORP.

Inventor： DOZEMAN, Michael, Dale ,  ROESSLER, Patrick ,  GARCIA, Gregory ,  KHURANA, Rishabh ,  DUNN, Jeremy, L. ,  BOWLING, David, Gene

IPC: A61B34/32 ,  A61B34/10 ,  A61B34/20 ,  A61B34/00 ,  A61B90/00 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/064 ,  A61B2090/3945 ,  A61B34/25 ,  A61B34/74 ,  A61B34/76 ,  A61B90/03

Abstract: Systems and methods are provided for controlling robotic movement of a tool based on one or more virtual boundaries. The system comprises a tool and a manipulator to support the tool. A control system controls operation of the manipulator and movement of the tool based on a relationship between the tool and the one or more virtual boundaries associated with a target site. The control system includes a boundary handler to determine whether the tool is in compliance with the one or more virtual boundaries or is in violation of the one or more virtual boundaries.

公开(公告)号：WO2021003401A1

公开(公告)日：2021-01-07

申请号：PCT/US2020/040717

申请日：2020-07-02

Applicant: STRYKER CORPORATION

Inventor： MALACKOWSKI, Donald, W. ,  BOS, Joseph ,  DELUCA, Richard, Thomas

IPC: A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  A61B34/30 ,  A61B17/00

Abstract: Systems and methods are described herein wherein a localizer is configured to detect a position of a first object and a vision device is configured to generate a depth map of surfaces near the first object. A virtual model corresponding to the first object is accessed, and a positional relationship between the localizer and the vision device in a common coordinate system is identified. An expected depth map of the vision device is then generated based on the detected position of the first object, the virtual model, and the positional relationship. A portion of the actual depth map that fails to match the expected depth map is identified, and a second object is recognize based on the identified portion.

公开(公告)号：WO2020264489A1

公开(公告)日：2020-12-30

申请号：PCT/US2020/040099

申请日：2020-06-29

Applicant: MAKO SURGICAL CORP.

Inventor： MOCTEZUMA DE LA BARRERA, Jose Luis ,  HOPPE, Harald

IPC: A61B34/20

Abstract: Systems and methods for tracking an object in a workspace. A tracker is disposed relative to the object and includes a predefined geometry of markers having first and second marker arrangements, each including three markers in a collinear relationship. A camera with a view of the tracker generates an image comprising blobs, where a subset of the blobs is directly generated from the markers of the tracker, and a remainder is not. Blob groups each including three of the blobs and satisfying a collinear criterion are identified as candidates for having been directly generated by the marker arrangements. The subset of blobs is differentiated from the remainder of blobs based on the blob groups and the predefined marker geometry, and the differentiated subset of blobs is assigned to the markers of the tracker. The pose of the tracker in the workspace is then estimated based on the assigned blobs.

公开(公告)号：WO2023018650A1

公开(公告)日：2023-02-16

申请号：PCT/US2022/039700

申请日：2022-08-08

Applicant: MAKO SURGICAL CORP.

Inventor： MOCTEZUMA DE LA BARRERA, Jose, Luis ,  MERZ, Christine ,  HESS, Peter

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

Abstract: A tracking apparatus for tracking a bone of a patient limb is provided. The tracking apparatus includes a body configured to couple to the patient limb. The body includes first and second arms each including an exterior and opposing interior surface and opposing sides connecting the exterior and interior surfaces. The tracking apparatus also includes a wing portion extending from one of the sides of the first or second arm, the wing portion sharing the interior surface of the first or second arm. The tracking apparatus also includes one or more ultrasonic sensors coupled to the interior surface of the body and the interior surface of wing portion, the one or more ultrasonic sensor being configured to transmit ultrasonic waves to and receive ultrasonic waves from the bone. The tracking apparatus also includes one or more trackable elements coupled to the body and the wing portion.

公开(公告)号：WO2022173793A1

公开(公告)日：2022-08-18

申请号：PCT/US2022/015763

申请日：2022-02-09

Applicant: MAKO SURGICAL CORP.

Inventor： SOTO, Victor ,  BOWLING, David Gene ,  JOHNSON, Ezra ,  LABARBERA, Nicholas Joseph

IPC: A61B34/30 ,  A61B34/00

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：WO2021067597A1

公开(公告)日：2021-04-08

申请号：PCT/US2020/053803

申请日：2020-10-01

Applicant: MAKO SURGICAL CORP.

Inventor： KHURANA, Rishabh ,  BOWLING, David, Gene ,  THOMPSON, Matthew

IPC: A61B17/17 ,  A61B34/10 ,  A61B34/20 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  A61B34/32 ,  A61B17/16 ,  A61B90/11 ,  B25J9/16

Abstract: A surgical system comprising a tool for engaging a target site, a manipulator configured to support the tool, and a sensing system configured to detect one or more system conditions associated with one or more of the tool, the manipulator, the target site, or combinations thereof. A controller is coupled to the manipulator and to the sensing system is configured to operate the manipulator between: a first mode to maintain alignment of the tool with respect to the target site according to a first constraint criteria, and a second mode to maintain alignment of the tool with respect to the target site according to a second constraint criteria different from the first constraint criteria. The controller changes operation of the manipulator from the first mode to the second mode in response to determining that at least one of the one or more system conditions satisfies a predetermined condition.

公开(公告)号：WO2020117913A4

公开(公告)日：2020-06-11

申请号：PCT/US2019/064429

申请日：2019-12-04

Applicant: MAKO SURGICAL CORP.

Inventor： FLATT, James, E. ,  DODDE, Robert ,  BOYER, Jonathan ,  O'CULL, Larry, Douglas ,  SOTO, Victor ,  JONES, Christopher, W.

IPC: A61B34/30 ,  A61B46/10

Abstract: A mounting system for coupling first and second surgical components. The mounting system comprises a first mounting portion associated with the first surgical component, a second mounting portion associated with the second surgical component and comprising a tensioner movable between a first position and a second position, and a sterile barrier assembly. The sterile barrier assembly comprises a coupling configured to releasably secure to the first mounting portion and to releasably receive the second mounting portion when the tensioner of the second mounting portion is in the first position, and a plurality of kinematic couplers configured to engage the mounting portions and arranged to provide a kinematic coupling between the mounting portions through the sterile barrier assembly to constrain six degrees of freedom of movement between the surgical components when the tensioner of the second mounting portion is in the second position.