公开(公告)号：US12150731B2

公开(公告)日：2024-11-26

申请号：US18396892

申请日：2023-12-27

Applicant: MAKO Surgical Corp.

Inventor： Radu Iorgulescu ,  Carinne Cecile Granchi ,  Dennis Moses ,  Jason Robert Wojcik

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  G06F3/01 ,  G06F3/0346 ,  G06F3/0482 ,  G06F3/04847 ,  G06F3/033 ,  G06F3/0338

Abstract: A method for operating a surgical robot includes providing a plurality of virtual haptic geometries associated with different steps of a surgical procedure, evaluating a plurality of criteria associated with a first virtual haptic geometry of the plurality of virtual haptic geometries, activating the first virtual haptic geometry of the plurality of virtual haptic geometries without activating a second virtual haptic geometry of the plurality of virtual haptic geometries in response to satisfaction of the plurality of criteria, and controlling the surgical robot to constrain movement of an end effector of the surgical robot to the first virtual haptic geometry in response to activating the first virtual haptic geometry.

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：US20200170739A1

公开(公告)日：2020-06-04

申请号：US16777301

申请日：2020-01-30

Applicant: MAKO Surgical Corp.

Inventor： Radu Iorgulescu ,  Carinne Cecile Granchi ,  Dennis Moses ,  Jason Robert Wojcik

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  G06F3/0346 ,  G06F3/0484 ,  G06F3/01 ,  G06F3/0482

Abstract: A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.

公开(公告)号：US10575913B2

公开(公告)日：2020-03-03

申请号：US16017675

申请日：2018-06-25

Applicant: MAKO Surgical Corp.

Inventor： Radu Iorgulescu ,  Carinne Cecile Granchi ,  Dennis Moses ,  Jason Robert Wojcik

IPC: G06F3/01 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  G06F3/0346 ,  G06F3/0484 ,  G06F3/0482 ,  G06F3/0338 ,  G06F3/033

Abstract: A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.

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：US20220151720A1

公开(公告)日：2022-05-19

申请号：US17591254

申请日：2022-02-02

Applicant: MAKO Surgical Corp.

Inventor： Radu Iorgulescu ,  Carinne Cecile Granchi ,  Dennis Moses ,  Jason Robert Wojcik

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  G06F3/0346 ,  G06F3/04847 ,  G06F3/01 ,  G06F3/0482

Abstract: A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.