公开(公告)号：US20230181264A1

公开(公告)日：2023-06-15

申请号：US18106137

申请日：2023-02-06

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Dennis Moses ,  Arthur Quaid

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B17/17 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/71 ,  A61B34/30 ,  A61B34/76 ,  A61B90/03 ,  A61B17/1764 ,  A61B34/10 ,  A61B2090/3983 ,  A61B2034/102 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2090/363 ,  A61B34/25 ,  A61B2090/364 ,  A61B2034/305 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2017/00119

Abstract: A method includes controlling a robotic arm extending from a base in a free mode during a registration procedure and optically tracking the base and a marker mounted on the robotic arm during movement of the robotic arm in the free mode. The movement of the robotic arm causes movement of the marker without affecting a position of the base. The method also includes defining a coordinate transformation based on a position of the base and a plurality of tracked positions of the marker achieved during the movement of the robotic arm in the free mode and controlling the robotic arm using the coordinate transformation.

公开(公告)号：US11426245B2

公开(公告)日：2022-08-30

申请号：US17093084

申请日：2020-11-09

Applicant: MAKO Surgical Corp.

Inventor： Arthur Quaid ,  Hyosig Kang ,  Dennis Moses ,  Rony Abovitz ,  Scott Illsley

IPC: A61B34/30 ,  A61F2/30 ,  A61B17/16 ,  A61B90/00 ,  A61B34/20 ,  A61B34/00 ,  A61B34/37 ,  A61B34/10 ,  A61B17/17 ,  G06F3/01 ,  A61B34/35 ,  A61N1/05 ,  A61N1/36 ,  A61N1/372 ,  G16Z99/00 ,  A61F2/46 ,  A61B5/00 ,  A61B90/14 ,  A61B5/11 ,  A61B17/00 ,  A61F2/38

Abstract: A surgical system includes a surgical tool, a tracking system configured to obtain tracking data indicative of positions of the surgical tool relative to an anatomical feature, an acoustic device, and a computer system programmed to control the acoustic device to provide acoustic feedback to a user based on the tracking data.

公开(公告)号：US20190159848A1

公开(公告)日：2019-05-30

申请号：US16264164

申请日：2019-01-31

Applicant: MAKO Surgical Corp.

Inventor： Arthur Quaid ,  Hyosig Kang ,  Dennis Moses ,  Rony Abovitz ,  Scott Illsley

IPC: A61B34/30 ,  A61F2/30 ,  A61B17/17 ,  A61B34/10 ,  A61N1/36 ,  A61B90/00 ,  A61B17/16 ,  A61B34/00 ,  A61B34/20 ,  A61B34/37 ,  A61N1/372 ,  G06F3/01 ,  A61B34/35 ,  A61N1/05

Abstract: A surgical system includes a surgical device, a surgical tool coupled to the surgical device, a user interface, and a control system. The control system is configured to identify a target point or target region of an anatomy of a patient, generate a virtual object based on the target point or target region, the virtual object comprising a funnel-shaped boundary having a central axis substantially aligned with the target point or target region, and control the surgical device to constrain the surgical tool from penetrating the funnel-shaped boundary.

公开(公告)号：US11950856B2

公开(公告)日：2024-04-09

申请号：US17670927

申请日：2022-02-14

Applicant: MAKO Surgical Corp.

Inventor： Arthur Quaid ,  Hyosig Kang ,  Dennis Moses

IPC: A61B34/20 ,  A61B17/00 ,  A61B17/17 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B17/1764 ,  A61B34/10 ,  A61B34/30 ,  A61B34/71 ,  A61B34/76 ,  A61B90/03 ,  A61B2017/00119 ,  A61B2017/00694 ,  A61B2017/00712 ,  A61B2017/00725 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2034/2072 ,  A61B34/25 ,  A61B2034/305 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/3983

Abstract: A method of operating a surgical device having a surgical tool includes allowing manual movement of the surgical tool along at least one direction, controlling the surgical device to align the surgical tool with a target using a control object having a planned geometric relationship with an anatomic feature, tracking movement of the anatomic feature during a surgical procedure, moving the control object to compensate for the movement of the anatomic feature during the surgical procedure, and controlling the surgical device to realign the surgical tool with the target using the moved control object.

公开(公告)号：US11771504B2

公开(公告)日：2023-10-03

申请号：US18101235

申请日：2023-01-25

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Dennis Moses ,  Arthur Quaid

IPC: A61B34/20 ,  A61B17/17 ,  A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B34/20 ,  A61B17/1764 ,  A61B34/10 ,  A61B34/30 ,  A61B34/71 ,  A61B34/76 ,  A61B90/03 ,  A61B34/25 ,  A61B2017/00119 ,  A61B2017/00694 ,  A61B2017/00712 ,  A61B2017/00725 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/207 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2034/2068 ,  A61B2034/2072 ,  A61B2034/305 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/3983

Abstract: A surgical system includes a base, a robotic arm extending from the base and comprising a plurality of segments, a first tracker secured to the base, a second tracker secured to a segment of the plurality of segments of the robotic arm, and a detection device configured to determine an arrangement of the first tracker and the second tracker.

公开(公告)号：US20220160437A1

公开(公告)日：2022-05-26

申请号：US17670927

申请日：2022-02-14

Applicant: MAKO Surgical Corp.

Inventor： Arthur Quaid ,  Hyosig Kang ,  Dennis Moses

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B17/17 ,  A61B34/10

Abstract: A method of operating a surgical device having a surgical tool includes allowing manual movement of the surgical tool along at least one direction, controlling the surgical device to align the surgical tool with a target using a control object having a planned geometric relationship with an anatomic feature, tracking movement of the anatomic feature during a surgical procedure, moving the control object to compensate for the movement of the anatomic feature during the surgical procedure, and controlling the surgical device to realign the surgical tool with the target using the moved control object.

公开(公告)号：US20210128253A1

公开(公告)日：2021-05-06

申请号：US17150370

申请日：2021-01-15

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Dennis Moses ,  Arthur Quaid

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B17/17 ,  A61B34/10

Abstract: A method of operating a robotic surgical system includes monitoring a force applied at a surgical instrument attached to a robotic arm, comparing the force to a force threshold for a surgical procedure, providing a signal in response to the force being outside the force threshold, monitoring, using a reference array attached to a patient, a bone movement caused while the surgical instrument interacts with the patient, and adjusting control of the robotic arm based on the bone movement.

公开(公告)号：US12004817B2

公开(公告)日：2024-06-11

申请号：US17150370

申请日：2021-01-15

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Dennis Moses ,  Arthur Quaid

IPC: A61B34/20 ,  A61B17/00 ,  A61B17/17 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B17/1764 ,  A61B34/10 ,  A61B34/30 ,  A61B34/71 ,  A61B34/76 ,  A61B90/03 ,  A61B2017/00119 ,  A61B2017/00694 ,  A61B2017/00712 ,  A61B2017/00725 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2034/2072 ,  A61B34/25 ,  A61B2034/305 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/3983

Abstract: A method of operating a robotic surgical system includes monitoring a force applied at a surgical instrument attached to a robotic arm, comparing the force to a force threshold for a surgical procedure, providing a signal in response to the force being outside the force threshold, monitoring, using a reference array attached to a patient, a bone movement caused while the surgical instrument interacts with the patient, and adjusting control of the robotic arm based on the bone movement.

公开(公告)号：US20210307843A1

公开(公告)日：2021-10-07

申请号：US17351731

申请日：2021-06-18

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Dennis Moses ,  Arthur Quaid

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B17/17 ,  A61B34/10

Abstract: A surgical system includes a first tracker configured to be affixed to a first object, a detection device configured to determine a change in position of the first tracker, and circuitry communicable with the detection device. The circuitry is configured to compare the change in the position of the first tracker to a condition and generate a fault signal in response to a determination that the change in the position of the first tracker violates the condition.

公开(公告)号：US20210186632A1

公开(公告)日：2021-06-24

申请号：US17191336

申请日：2021-03-03

Applicant: MAKO Surgical Corp.

Inventor： Arthur Quaid ,  Hyosig Kang ,  Dennis Moses ,  Rony Abovitz ,  Scott Illsley

IPC: A61B34/30 ,  A61F2/30 ,  A61B17/16 ,  A61B90/00 ,  A61B34/20 ,  A61B34/00 ,  A61B34/37 ,  A61B34/10 ,  A61B17/17 ,  G06F3/01 ,  A61B34/35 ,  A61N1/05 ,  A61N1/36 ,  A61N1/372

Abstract: A surgical system includes a surgical tool, a tracking system configured to obtain tracking data indicative of positions of the surgical tool relative to an anatomical feature, an indicator light configured to emit light, and a computer system programmed to control the indicator light to change a color of the light based on the tracking data.