公开(公告)号：US12059812B2

公开(公告)日：2024-08-13

申请号：US17684801

申请日：2022-03-02

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Philip Robert Woods ,  Cory J. Welch ,  Mark A Wasserman

IPC: B25J9/16 ,  B25J9/00 ,  B25J13/02 ,  B25J13/08 ,  B25J19/02 ,  A61B17/16 ,  A61B17/28 ,  A61B34/30

CPC classification number: B25J9/1694 ,  B25J9/0096 ,  B25J9/1628 ,  B25J9/1651 ,  B25J13/02 ,  B25J19/027 ,  A61B17/1622 ,  A61B17/2841 ,  A61B34/30 ,  B25J13/088

Abstract: A sensor system includes a first member that extends along a rotational axis and has a surface disposed circumferentially about the rotational axis. A conductive element is disposed on the surface of the first member and disposed about the rotational axis. A second member extends along the rotational axis. A rotational position between the first member and the second member is adjustable. A target is mounted to and rotatable with the second member and is movable relative to the second member between first and second positions. The target is spaced apart from the conductive element in both the first and second positions and is spaced further from the conductive element in the second position compared to the first position. The conductive element detects a change in movement of the target from the first position to the second position for any rotational position between the first member and the second member.

公开(公告)号：US20240008940A1

公开(公告)日：2024-01-11

申请号：US18372721

申请日：2023-09-26

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto

IPC: A61B34/30 ,  A61B34/00 ,  A61B46/10 ,  A61B46/00 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00

CPC classification number: A61B34/30 ,  A61B34/74 ,  A61B46/10 ,  A61B34/70 ,  A61B46/00 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B2034/304 ,  A61B2560/04 ,  A61B2017/00477

Abstract: A robotic surgical system includes a robotic arm comprising a plurality of links and joints, an end effector, and a mounting assembly for coupling the end effector and the robotic arm. The mounting assembly includes a robot mount associated with the robotic arm and an end effector mount associated with the end effector. The mounting assembly also includes a sterile barrier assembly including a coupling and kinematic couplers. A first lock assembly releasably secures the coupling to the robot mount and a second lock assembly releasably secures the end effector mount to the coupling. A tensioner associated with either mount is movable between a first position and a second position such that the kinematic couplers engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.

公开(公告)号：US11918233B2

公开(公告)日：2024-03-05

申请号：US17533892

申请日：2021-11-23

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt

IPC: A61B17/16 ,  A61B17/32 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/98 ,  F16D1/08 ,  A61B17/00 ,  A61B17/14 ,  A61B18/00 ,  A61B18/08 ,  A61B18/14 ,  A61B18/18

CPC classification number: A61B17/162 ,  A61B17/1624 ,  A61B17/1631 ,  A61B17/32002 ,  A61B34/20 ,  A61B34/30 ,  A61B34/70 ,  A61B90/98 ,  F16D1/087 ,  A61B2017/00477 ,  A61B17/14 ,  A61B17/320068 ,  A61B2018/00172 ,  A61B2018/00208 ,  A61B2018/00565 ,  A61B2018/00601 ,  A61B18/082 ,  A61B18/148 ,  A61B18/18 ,  A61B2018/1807 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2059 ,  A61B2034/2068

Abstract: A tool for use with a surgical robotic manipulator that comprises an energy applicator including a shaft extending along an axis between a proximal end and a distal end. The shaft has an axial-force receiving surface. A tool assembly comprises a support structure to support the energy applicator, an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state, a drive system coupled to the support structure to rotatably drive the shaft of the energy applicator about the axis, a collet assembly cooperating with the axial connector assembly and configured to apply a force to the axial-force receiving surface of the energy applicator in the locked state, and a reference surface. The force includes an axial component directing the energy applicator proximally into continuous contact with the reference surface in the locked state.

公开(公告)号：US20230008973A1

公开(公告)日：2023-01-12

申请号：US17684801

申请日：2022-03-02

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Philip Robert Woods ,  Cory J. Welch ,  Mark A. Wasserman

IPC: B25J9/16 ,  B25J9/00 ,  B25J19/02 ,  B25J13/02

Abstract: A sensor system includes a first member that extends along a rotational axis and has a surface disposed circumferentially about the rotational axis. A conductive element is disposed on the surface of the first member and disposed about the rotational axis. A second member extends along the rotational axis. A rotational position between the first member and the second member is adjustable. A target is mounted to and rotatable with the second member and is movable relative to the second member between first and second positions. The target is spaced apart from the conductive element in both the first and second positions and is spaced further from the conductive element in the second position compared to the first position. The conductive element detects a change in movement of the target from the first position to the second position for any rotational position between the first member and the second member.

公开(公告)号：US11253330B2

公开(公告)日：2022-02-22

申请号：US16582577

申请日：2019-09-25

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B17/16 ,  A61B17/14 ,  A61B90/98 ,  A61B17/32

Abstract: A tool for use with a surgical robotic manipulator that comprises an energy applicator including a shaft extending along an axis between a proximal end and a distal end. The shaft has a retention surface and an ejection surface. A tool assembly comprises a support structure to support the energy applicator and an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state via the retention surface. The tool assembly is also configured to apply an ejection force to the energy applicator to provide a tactile indication to the user that the energy applicator is not fully engaged by the axial connector assembly if a suitable force is not provided by the user to overcome the ejection force and place the energy applicator in the locked state.

公开(公告)号：US20250032202A1

公开(公告)日：2025-01-30

申请号：US18788726

申请日：2024-07-30

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto ,  Christopher Wayne Jones

IPC: A61B34/30 ,  A61B17/00 ,  A61B34/00 ,  A61B46/00 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00

Abstract: Surgical systems and methods involve a robotic arm with a first mounting portion that releasably receives a sterile barrier assembly and a second mounting portion associated with a surgical component. An illumination device is coupled to the robotic arm. Controller(s) detect, using one or more sensors, a condition associated with installation of one or more of the sterile barrier assembly and the second mounting portion to the first mounting portion. The controller(s) control the illumination device to indicate the condition to a user.

公开(公告)号：US12082895B2

公开(公告)日：2024-09-10

申请号：US18372721

申请日：2023-09-26

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto

IPC: A61B46/00 ,  A61B34/00 ,  A61B34/30 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B46/00 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B2017/00477 ,  A61B2560/04

Abstract: A robotic surgical system includes a robotic arm comprising a plurality of links and joints, an end effector, and a mounting assembly for coupling the end effector and the robotic arm. The mounting assembly includes a robot mount associated with the robotic arm and an end effector mount associated with the end effector. The mounting assembly also includes a sterile barrier assembly including a coupling and kinematic couplers. A first lock assembly releasably secures the coupling to the robot mount and a second lock assembly releasably secures the end effector mount to the coupling. A tensioner associated with either mount is movable between a first position and a second position such that the kinematic couplers engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.

公开(公告)号：US11292135B2

公开(公告)日：2022-04-05

申请号：US16428341

申请日：2019-05-31

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt ,  Philip Robert Woods ,  Cory J. Welch ,  Mark A. Wasserman

IPC: B25J9/16 ,  B25J9/00 ,  B25J19/02 ,  B25J13/02 ,  A61B34/30 ,  A61B17/28 ,  A61B17/16

Abstract: A sensor system includes a first member extending along a rotational axis and having a surface disposed circumferentially about the axis. The sensor system further includes a conductive element fixed to the first member and disposed on the surface and about the rotational axis and a second member extending along the axis. A rotational position between the first member and the second member is adjustable. The sensor system further includes a target mounted to and rotatable with the second member and being movable relative to the second member between first and second positions. The target is spaced apart from the conductive element in both the first and second positions and is closer to the conductive element in the second position compared to the first position. The conductive element is configured to sense the target in the second position for any rotational position between the first member and the second member.

公开(公告)号：US10456207B2

公开(公告)日：2019-10-29

申请号：US15789562

申请日：2017-10-20

Applicant: MAKO Surgical Corp.

Inventor： James E. Flatt

IPC: A61B34/30 ,  A61B34/20 ,  A61B17/16 ,  A61B17/32 ,  A61B34/00 ,  A61B90/98 ,  F16D1/08 ,  A61B17/14 ,  A61B18/08 ,  A61B18/14 ,  A61B18/18 ,  A61B17/00 ,  A61B18/00

Abstract: A tool for use with a surgical robotic manipulator that comprises an energy applicator including a shaft extending along an axis between a proximal end and a distal end. The shaft has an axial-force receiving surface. A tool assembly comprises a support structure to support the energy applicator, an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state, a drive system coupled to the support structure to rotatably drive the shaft of the energy applicator about the axis, a collet assembly cooperating with the axial connector assembly and configured to apply a force to the axial-force receiving surface of the energy applicator in the locked state, and a reference surface. The force includes an axial component directing the energy applicator proximally into continuous contact with the reference surface in the locked state.

公开(公告)号：US20220087754A1

公开(公告)日：2022-03-24

申请号：US17484903

申请日：2021-09-24

Applicant: MAKO Surgical Corp.

Inventor： Jonathan P. Boyer ,  James E. Flatt

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

Abstract: An interlocking collet system includes an attachment comprising first and second attachment surfaces spaced from one another and a collet. The collet comprises a housing configured to extend along an axis. The housing defines a bore for selectively disposing and retaining the attachment therein in an installed position. First and second locking members are disposed within the bore and are moveable. At least one bias member is disposed within the bore and is arranged to position the first locking member in a first position in which the first locking member is configured to contact the first attachment surface. The at least one bias member is arranged to position the second locking member in a second position in which the second locking member is configured to contact the second attachment surface. The first and second locking members are configured to exert opposing axial forces on the attachment.