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1.发明申请公开(公告)号：US20190321126A1
公开(公告)日：2019-10-24
申请号：US16390730
申请日：2019-04-22
Applicant: MAKO Surgical Corp.
Inventor： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Morgan , Bojan Gospavic
Abstract: Systems, methods and software are provided for aiding in positioning of a camera relative to objects in a surgical environment. The camera has a 3D field of view and senses positions of the objects in the field of view. A controller is coupled to the camera and defines a first zone and a second zone within the field of view. Each zone defines a range of acceptable positions for one of the objects relative to a position of the camera. The controller receives the position of the objects. A graphical user interface displays image representations of: the field of view, the first zone relative to the field of view, the second zone relative to the field of view, the position of one object relative to the first zone, and the position of another object relative to the second zone.
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公开(公告)号：US11690680B2
公开(公告)日：2023-07-04
申请号：US16817118
申请日：2020-03-12
Applicant: MAKO Surgical Corp.
Inventor： Roberto Montane , Brandt Williams , Seamus Gilhooley , Jonathan Mark Morgan , Mark Palm , Michael Vu
CPC classification number: A61B34/20 , A61B34/10 , A61B34/30 , A61B34/70 , A61B2034/104 , A61B2034/107 , A61B2034/2057 , A61B2034/2065
Abstract: Protective packaging, surgical kits, systems, and methods are described herein for assisting in determining whether a tool is properly installed on a surgical device. The protective packaging retains the tool and has trackable features defined relative to a tool center point of the tool. The trackable features have a predetermined state defined relative to the tool center point and the trackable features are configured to be detectable by a localizer to locate the tool center point. One or more controllers can compare the actual state of the tool center point with an expected state of the tool center point, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device.
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3.发明授权公开(公告)号：US11864957B2
公开(公告)日：2024-01-09
申请号：US17496191
申请日：2021-10-07
Applicant: MAKO Surgical Corp.
Inventor： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Morgan , Bojan Gospavic
CPC classification number: A61B90/361 , A61B34/20 , A61B90/37 , A61B34/70 , A61B2034/2057
Abstract: Systems, methods and software are provided for aiding in positioning of objects in a surgical environment. A tracker is rigidly affixed to a surgical object. A camera has a field of view and senses positions of the tracker in the field of view. Controller(s) provide a zone positioned within the field of view at a location that is static relative to the field of view such that the zone is located independent of the sensed positions of the tracker. The zone defines a range of acceptable positions for the tracker relative to a position of the camera. Controller(s) acquire positions of the tracker as the surgical object is moved throughout a range of motion and enable evaluation of the positions of the tracker throughout the range of motion relative to the zone to aid in positioning of one or more of: the camera, the tracker, or the surgical object.
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Patent Agency Ranking
4.发明公开公开(公告)号：US20230270508A1
公开(公告)日：2023-08-31
申请号：US18195046
申请日：2023-05-09
Applicant: MAKO Surgical Corp.
Inventor： Roberto Montane , Brandt Williams , Seamus Gilhooley , Jonathan Mark Morgan , Mark Palm , Michael Vu
CPC classification number: A61B34/20 , A61B34/10 , A61B34/30 , A61B34/70 , A61B2034/104 , A61B2034/107 , A61B2034/2057 , A61B2034/2065
Abstract: Navigation systems, methods and software for assisting in determining whether a tool is properly installed on a surgical device. A protective packaging retains the tool and has a trackable feature. The trackable feature has a predetermined state defined relative to the tool and the trackable feature is detectable by a localizer. One or more controllers acquire the actual state of the tool based on the detected trackable feature and compare the actual state of the tool with an expected state of the tool, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device.
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5.发明公开公开(公告)号：US20240081940A1
公开(公告)日：2024-03-14
申请号：US18513815
申请日：2023-11-20
Applicant: MAKO Surgical Corp.
Inventor： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Mark Morgan , Bojan Gospavic
CPC classification number: A61B90/361 , A61B34/20 , A61B90/37 , A61B34/70
Abstract: Systems, methods and computer-program products are provided for aiding in positioning between a surgical object and a machine vision camera in a surgical environment. The machine vision camera senses a position and orientation of a surgical object in its field of view. Controller(s) virtually define a zone within the field of view that indicates a range of acceptable positions for the surgical object relative to a position of the machine vision camera. The controller(s) obtain an acceptable orientation range for the surgical object relative to an orientation of the machine vision camera. The controller(s) execute a GUI to simultaneously present, on the display device, representations of: the field of view; the zone within the field of view; the position of the surgical object relative to the zone; and a current angle difference between the surgical object and the machine vision camera.
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6.发明申请公开(公告)号：US20220022994A1
公开(公告)日：2022-01-27
申请号：US17496191
申请日：2021-10-07
Applicant: MAKO Surgical Corp.
Inventor： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Morgan , Bojan Gospavic
Abstract: Systems, methods and software are provided for aiding in positioning of objects in a surgical environment. A tracker is rigidly affixed to a surgical object. A camera has a field of view and senses positions of the tracker in the field of view. Controller(s) provide a zone positioned within the field of view at a location that is static relative to the field of view such that the zone is located independent of the sensed positions of the tracker. The zone defines a range of acceptable positions for the tracker relative to a position of the camera. Controller(s) acquire positions of the tracker as the surgical object is moved throughout a range of motion and enable evaluation of the positions of the tracker throughout the range of motion relative to the zone to aid in positioning of one or more of: the camera, the tracker, or the surgical object.
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公开(公告)号：US11166781B2
公开(公告)日：2021-11-09
申请号：US16390730
申请日：2019-04-22
Applicant: MAKO Surgical Corp.
Inventor： Jason Karl Otto , Matthew Thompson , Mark Ellsworth Nadzadi , Roberto Montane , Jonathan Morgan , Bojan Gospavic
Abstract: Systems, methods and software are provided for aiding in positioning of a camera relative to objects in a surgical environment. The camera has a 3D field of view and senses positions of the objects in the field of view. A controller is coupled to the camera and defines a first zone and a second zone within the field of view. Each zone defines a range of acceptable positions for one of the objects relative to a position of the camera. The controller receives the position of the objects. A graphical user interface displays image representations of: the field of view, the first zone relative to the field of view, the second zone relative to the field of view, the position of one object relative to the first zone, and the position of another object relative to the second zone.
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8.发明申请公开(公告)号：US20200297429A1
公开(公告)日：2020-09-24
申请号：US16817118
申请日：2020-03-12
Applicant: MAKO Surgical Corp.
Inventor： Roberto Montane , Brandt Williams , Seamus Gilhooley , Jonathan Mark Morgan , Mark Palm , Michael Vu
Abstract: Protective packaging, surgical kits, systems, and methods are described herein for assisting in determining whether a tool is properly installed on a surgical device. The protective packaging retains the tool and has trackable features defined relative to a tool center point of the tool. The trackable features have a predetermined state defined relative to the tool center point and the trackable features are configured to be detectable by a localizer to locate the tool center point. One or more controllers can compare the actual state of the tool center point with an expected state of the tool center point, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device.
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