公开(公告)号：US20250000444A1

公开(公告)日：2025-01-02

申请号：US18754224

申请日：2024-06-26

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Kevin Bechtold ,  Jason Karl Otto ,  Snehal Kasodekar ,  Peter L. Ebbitt ,  David Gene Bowling

IPC: A61B5/00 ,  A61B5/11 ,  A61B17/00 ,  A61B17/02

Abstract: Systems and methods related to an orthopedic tensor for a knee joint. The tensor is motorized and operates in a force control mode and a displacement control mode. A control system controls the tensor in the force control mode to apply forces to the knee joint until a predetermined force is reached. The control system captures a plurality of force-displacement data pairs from the tensor as a result of the forces applied by the tensor in the force control mode. Control of the tensor is switched from the force control mode to the displacement control mode to perform an extension test whereby a displacement of the tensor is progressively decreased according to displacements from the plurality of force-displacement data pairs until the knee joint can reach an acceptable full extension pose during, or after completion of, the extension test.

公开(公告)号：US12035985B2

公开(公告)日：2024-07-16

申请号：US18195966

申请日：2023-05-11

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang

IPC: A61B34/30 ,  A61B17/16 ,  A61B34/00 ,  A61B34/20 ,  A61B34/32 ,  A61B17/17 ,  A61B17/70 ,  A61B34/10 ,  A61B90/00 ,  A61B90/98

CPC classification number: A61B34/30 ,  A61B17/1671 ,  A61B34/20 ,  A61B34/32 ,  A61B34/71 ,  A61B34/76 ,  A61B17/16 ,  A61B17/1757 ,  A61B17/7076 ,  A61B17/7082 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/031 ,  A61B2090/378 ,  A61B2090/3983 ,  A61B90/98

Abstract: Robotic spinal surgery systems and methods include a robotic manipulator with a tool guide and a skin incision tool to be inserted into the tool guide. A navigation system includes a localizer for tracking the patient and a base tracker of the robotic manipulator. A control system registers, with the navigation system, a line haptic object to a vertebra of the patient, the line haptic object being associated with a desired trajectory for the vertebra. In response to a user input, the control system autonomously moves the robotic manipulator to align the tool guide to the desired trajectory. The tool guide is constrained to the desired trajectory with the line haptic object to enable insertion of the skin incision tool within the tool guide to facilitate creation of the incision in the skin at the desired trajectory.

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：US11937889B2

公开(公告)日：2024-03-26

申请号：US17313056

申请日：2021-05-06

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Jienan Ding ,  David Gene Bowling ,  Christopher Wayne Jones ,  Greg McEwan ,  Lucas Gsellman

IPC: A61B34/20 ,  A61B17/16 ,  A61B17/17 ,  A61B17/70 ,  A61B17/88 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/32 ,  A61B90/98 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B17/1671 ,  A61B17/1757 ,  A61B17/7076 ,  A61B17/8875 ,  A61B34/10 ,  A61B34/32 ,  A61B34/71 ,  A61B34/76 ,  A61B90/98 ,  A61B17/1615 ,  A61B17/1626 ,  A61B17/7032 ,  A61B17/7082 ,  A61B17/7092 ,  A61B2034/105 ,  A61B2034/107 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2068 ,  A61B90/03 ,  A61B2090/031 ,  A61B2090/062 ,  A61B2090/376

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 one or more controllers. A navigation system tracks a position of a target anatomy. 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 anatomy based on the tracked position of the target anatomy. 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：US20230338098A1

公开(公告)日：2023-10-26

申请号：US18210797

申请日：2023-06-16

Applicant: MAKO Surgical Corp.

Inventor： Viktor Krebs ,  Peter Ebbitt ,  Snehal Kasodekar ,  Hyosig Kang

IPC: A61B34/32 ,  A61M3/02 ,  A61B34/00 ,  A61N5/06 ,  A61B34/20 ,  A61F2/46 ,  A61B17/22 ,  A61B34/10 ,  A61B90/80 ,  A61B34/30

CPC classification number: A61B34/32 ,  A61M3/0266 ,  A61B34/76 ,  A61N5/0624 ,  A61B34/20 ,  A61F2/461 ,  A61B17/22012 ,  A61B34/10 ,  A61B90/80 ,  A61B34/30 ,  A61B34/25 ,  A61M2202/0468 ,  A61B2034/105 ,  A61B2034/102 ,  A61F2002/4632 ,  A61N2005/0661 ,  A61N2005/0652 ,  A61B2034/2055 ,  A61N2005/0626 ,  A61B2018/1807

Abstract: A system for irrigating an infected implant area, the system comprising an irrigation tool, and a navigation system for tracking movement of the irrigation tool. The system also includes a processing circuit programmed to determine an area to be irrigated, the irrigation area including at least a surface of an implant and patient tissue, and control the irrigation tool to automatically adjust a speed of a spray of irrigation fluid from the irrigation tool to provide a first speed when debridement is of the surface of the implant and a second speed when the debridement is of the patient tissue.

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：US20230248349A1

公开(公告)日：2023-08-10

申请号：US18137546

申请日：2023-04-21

Applicant: MAKO Surgical Corp.

Inventor： Kevin Bechtold ,  Jason Otto ,  Hyosig Kang ,  Radu Iorgulescu

IPC: A61B17/02 ,  A61B17/16

CPC classification number: A61B17/025 ,  A61B17/1675 ,  A61B17/16 ,  A61B2017/0268 ,  A61B2017/00115

Abstract: A joint distraction lever, comprising a lever body comprising a handle portion and a working portion, a distal tip coupled to the working portion, and a fulcrum extending from a bottom surface of the working portion and spaced apart from the distal tip such that the fulcrum is positioned between the distal tip and the handle portion, where the joint distraction lever is configured to determine a distraction force based on deformation of the joint distraction lever.

公开(公告)号：US11684374B2

公开(公告)日：2023-06-27

申请号：US16845823

申请日：2020-04-10

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Jason Karl Otto ,  Matthew Harrow

IPC: A61B17/14 ,  A61B34/20 ,  A61B34/32 ,  A61B90/50 ,  A61B17/15 ,  A61B90/00

CPC classification number: A61B17/14 ,  A61B17/15 ,  A61B34/20 ,  A61B34/32 ,  A61B90/50 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2090/064 ,  A61B2090/066

Abstract: A robotic surgery system includes a robotic manipulator and a cutting guide to be coupled to the robotic manipulator. The cutting guide is configured to guide a cutting tool so that the cutting tool cuts tissue of the patient. A control system is coupled to the robotic manipulator to control a location of the cutting guide and/or the cutting tool relative to the tissue.

公开(公告)号：US11517380B2

公开(公告)日：2022-12-06

申请号：US16731640

申请日：2019-12-31

Applicant: MAKO Surgical Corp.

Inventor： Hyosig Kang ,  Scott Nortman

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/00 ,  A61B17/16 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

公开(公告)号：US11484368B2

公开(公告)日：2022-11-01

申请号：US16923192

申请日：2020-07-08

Applicant: MAKO Surgical Corp.

Inventor： Viktor Krebs ,  Hyosig Kang ,  Snehal Kasodekar ,  Matt Harrow ,  Jienan Ding ,  Ta-Cheng Chang ,  Min Wu ,  Jean Gonzalez ,  Peter Ebbitt

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08 ,  A61B17/15 ,  A61B17/17 ,  A61B34/10

Abstract: A method for intraoperatively planning and facilitating a revision arthroplasty procedure. The method includes capturing positions of a tracked probe as the tracked probe contacts an interface area between a bone and a primary implant component implanted on the bone, intraoperatively generating a virtual boundary corresponding to a portion of the interface area to be removed to detach the primary implant component from the bone using the positions of the tracked probe and without use of pre-operative medical imaging, facilitating removal of the primary implant component from the bone by providing a constraint on operation of a cutting tool while the cutting tool removes the portion of the interface area, the constraint based on a relationship between the cutting tool and the virtual boundary.