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公开(公告)号：US12003869B2
公开(公告)日：2024-06-04
申请号：US18213360
申请日：2023-06-23
Applicant: MAKO Surgical Corp.
Inventor： Jochen Breisacher , David Hofmann , Emeric Umbdenstock , Jonathan Morgan , Paul Hoekstra
IPC: H04N25/44 , A61B34/20 , H04N23/60 , H04N23/61 , H04N25/40 , H04N25/443 , A61B34/00 , H04N23/695 , H04N25/42
CPC classification number: H04N25/44 , A61B34/20 , H04N23/60 , H04N23/61 , H04N25/40 , H04N25/443 , A61B2034/2046 , A61B2034/2055 , A61B2034/2057 , A61B2034/2065 , A61B34/70 , H04N23/695 , H04N25/42
Abstract: Systems and methods to track an object within an operating room with a camera unit. The camera unit includes a first optical sensor with sensing elements to sense light in a near-infrared spectrum and a second optical sensor to sense light in a visible light spectrum. A controller is in communication with the first and second optical sensors. The controller obtains, from the second optical sensor, data related to the object within the operating room. The controller modifies control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor.
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公开(公告)号：US11723726B2
公开(公告)日：2023-08-15
申请号：US17972625
申请日：2022-10-25
Applicant: MAKO Surgical Corp.
Inventor： Jochen Breisacher , David Hofmann , Emeric Umbdenstock , Jonathan Morgan , Paul Hoekstra
CPC classification number: A61B34/20 , H04N23/60 , H04N23/61 , H04N25/40 , H04N25/44 , A61B34/70 , A61B2034/2046 , A61B2034/2055 , A61B2034/2057 , A61B2034/2065 , H04N23/695 , H04N25/42
Abstract: Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.
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公开(公告)号：US11510740B2
公开(公告)日：2022-11-29
申请号：US17317191
申请日：2021-05-11
Applicant: MAKO Surgical Corp.
Inventor： Jochen Breisacher , David Hofmann , Emeric Umbdenstock , Jonathan Morgan , Paul Hoekstra
Abstract: Systems and methods track objects within an operating room. A machine vision system includes a camera and a controller. A navigation system includes a camera unit including a sensor array. The sensor array includes a plurality of sensing elements. The controller system identifies a first subset of the plurality of sensing elements to be active based on the position of the object. The controller is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.
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公开(公告)号：US20190387149A1
公开(公告)日：2019-12-19
申请号：US16441645
申请日：2019-06-14
Applicant: MAKO Surgical Corp.
Inventor： Jochen Breisacher , David Hofmann , Emeric Umbdenstock , Jonathan Morgan , Paul Hoekstra
IPC: H04N5/232
Abstract: Systems and methods track objects within an operating room. A machine vision system includes at least one camera and a machine vision controller. A navigation system includes a camera unit including a plurality of sensor arrays. The sensor arrays include a plurality of sensing elements. For each of the plurality of sensor arrays, the navigation system identifies a first subset of the plurality of sensing elements to be active based on the position of the object and a second subset of the plurality of sensing elements to be inactive based on the position of the object. The navigation processor is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.
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公开(公告)号：US20230329803A1
公开(公告)日：2023-10-19
申请号：US18213360
申请日：2023-06-23
Applicant: MAKO Surgical Corp.
Inventor： Jochen Breisacher , David Hofmann , Emeric Umbdenstock , Jonathan Morgan , Paul Hoekstra
CPC classification number: A61B34/20 , H04N23/60 , H04N23/61 , H04N25/44 , H04N25/40 , A61B2034/2065 , A61B2034/2057 , A61B2034/2055 , A61B2034/2046 , A61B34/70
Abstract: Systems and methods to track an object within an operating room with a camera unit. The camera unit includes a first optical sensor with sensing elements to sense light in a near-infrared spectrum and a second optical sensor to sense light in a visible light spectrum. A controller is in communication with the first and second optical sensors. The controller obtains, from the second optical sensor, data related to the object within the operating room. The controller modifies control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor.
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Patent Agency Ranking
公开(公告)号：US12238433B2
公开(公告)日：2025-02-25
申请号：US18616266
申请日：2024-03-26
Applicant: MAKO Surgical Corp.
Inventor： Jochen Breisacher , David Hofmann , Emeric Umbdenstock , Jonathan Morgan , Paul Hoekstra
IPC: H04N25/44 , A61B34/20 , H04N13/243 , H04N23/60 , H04N23/61 , H04N25/40 , H04N25/443 , A61B34/00 , H04N23/695 , H04N25/42
Abstract: Surgical navigation systems and methods for tracking an object within an operating room involve a camera unit that houses a first stereoscopic sensing system and a second stereoscopic sensing system each comprising sensing elements adapted to sense light. A controller utilizes the first stereoscopic sensing system to sense light from the object and track the object according to a first resolution. The controller utilizes the second stereoscopic sensing system to sense light from the object and track the object according to a second resolution that is lower than the first resolution. The controller obtains data related to the object from the second stereoscopic sensing system and modifies control of the sensing elements of the first stereoscopic sensing system based on the obtained data related to the object.
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公开(公告)号：US11806090B2
公开(公告)日：2023-11-07
申请号：US17679241
申请日：2022-02-24
Applicant: MAKO Surgical Corp.
Inventor： Jean Stawiaski , Fadi Ghanam , David Hofmann
CPC classification number: A61B34/20 , A61B17/16 , A61B34/10 , A61B34/30 , A61B34/70 , G06T7/00 , G06T7/74 , A61B2017/1602 , A61B2034/101 , A61B2034/107 , A61B2034/2051 , A61B2034/2063 , A61B2034/2065 , A61B2034/2068 , G06V2201/03
Abstract: Systems and methods for calibration of a surgical tool having a tracker. At least one camera captures images of the tracker at a first exposure and captures images of the surgical tool at a second exposure with a different exposure time and/or illumination than the first exposure. Controller(s) recognize a pose of the tracker based on the first exposure images and recognize a geometry of the surgical tool based on the second exposure images. The controller(s) correlate the recognized pose of the tracker and the recognized geometry of the surgical tool to define a relationship between the tracker and the surgical tool and calibrate the surgical tool based on the defined relationship.
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公开(公告)号：US20230045799A1
公开(公告)日：2023-02-16
申请号：US17972625
申请日：2022-10-25
Applicant: MAKO Surgical Corp.
Inventor： Jochen Breisacher , David Hofmann , Emeric Umbdenstock , Jonathan Morgan , Paul Hoekstra
Abstract: Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.
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公开(公告)号：US20240008933A1
公开(公告)日：2024-01-11
申请号：US18370606
申请日：2023-09-20
Applicant: MAKO Surgical Corp.
Inventor： Jean Stawiaski , Fadi Ghanam , David Hofmann
CPC classification number: A61B34/20 , A61B34/30 , A61B17/16 , A61B34/70 , A61B34/10 , G06T7/00 , G06T7/74 , A61B2034/2051 , A61B2034/2063 , A61B2034/2065 , A61B2034/101 , A61B2034/107 , A61B2017/1602 , A61B2034/2068 , G06V2201/03
Abstract: Systems and methods for defining a relationship between a surgical object and a tracker coupled to the surgical object. A first optical sensor senses light in an infrared spectrum or a near-infrared spectrum. A second optical sensor senses light in a visible light spectrum. Controller(s) acquire one or more first images of the tracker from the first optical sensor and acquire one or more second images of the surgical object from the second optical sensor. The controller(s) recognize a pose of the tracker based on the one or more first image and recognize a geometry of the surgical object based on the one or more second images. The controller(s) correlate the recognized pose of the tracker and the recognized geometry of the surgical object to define a relationship between the tracker and the surgical object.
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公开(公告)号：US20220175467A1
公开(公告)日：2022-06-09
申请号：US17679241
申请日：2022-02-24
Applicant: MAKO Surgical Corp.
Inventor： Jean Stawiaski , Fadi Ghanam , David Hofmann
Abstract: Systems and methods for calibration of a surgical tool having a tracker. At least one camera captures images of the tracker at a first exposure and captures images of the surgical tool at a second exposure with a different exposure time and/or illumination than the first exposure. Controller(s) recognize a pose of the tracker based on the first exposure images and recognize a geometry of the surgical tool based on the second exposure images. The controller(s) correlate the recognized pose of the tracker and the recognized geometry of the surgical tool to define a relationship between the tracker and the surgical tool and calibrate the surgical tool based on the defined relationship.
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