MAKO Surgical Corp. Patent applications |
Patent application number | Title | Published |
20160128788 | SYSTEM FOR IMAGE-BASED ROBOTIC SURGERY - A robotic surgery system includes a robotic arm fixed relative to an operating room. The robotic arm comprises a mounting fixture configured to be coupled to a first element of a fluoroscopic imaging system, wherein the first element is one of a source element and a detector element. The system further includes a second element of the imaging system, wherein the second element is the other of the source element and the detector element. The second element is configured to be repositionable relative to the first element and relative to a patient tissue structure. The system further includes a controller operatively coupled to the robotic arm, configured to receive signals from a sensing system. The sensing system detects motion of one or more sensor elements coupled to each of the first and second elements and determine a relative spatial positioning between the elements of the fluoroscopic imaging system. | 05-12-2016 |
20160038249 | IMPLANT PLANNING USING CAPTURED JOINT MOTION INFORMATION - The description relates to surgical computer systems, including computer program products, and methods for implant planning using captured joint motion information. Data is captured representative of a range of motion of a joint associated with a particular individual, where the joint includes a first bone and a second bone. The first bone of the joint is represented and a first implant model is associated with the representation of the first bone. Based on the captured data, a relationship is determined between the first implant model and a representation of the second bone through at least a portion of the range of motion of the joint. Information is displayed representative of the determined relationship. | 02-11-2016 |
20150342691 | SYSTEMS AND METHODS FOR HAPTIC CONTROL OF A SURGICAL TOOL - A surgical system includes a surgical tool and a processing circuit. The processing circuit is configured to provide a plurality of virtual haptic interaction points where each virtual haptic interaction point is associated with a portion of the surgical tool such that movement of the surgical tool corresponds to movement of the plurality of virtual haptic interaction points, establish a haptic object that defines a working boundary for the surgical tool, and constrain at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object. | 12-03-2015 |
20150272686 | SYSTEM AND METHOD FOR ROBOTIC SURGERY - 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. | 10-01-2015 |
20150185846 | SYSTEMS AND METHODS FOR GENERATING CUSTOMIZED HAPTIC BOUNDARIES - A method for generating a customized haptic boundary based on a patient-specific anatomy includes identifying a standard haptic boundary based on a geometry of a virtual implant model to be implanted on the anatomy. The method also includes identifying a reference feature associated with a virtual implant model and determining an intersection between the identified reference feature and a virtual model associated with an anatomy of the patient. An anatomic perimeter at the intersection between the identified reference feature and the virtual model of the anatomy is identified and an one anatomic feature is determined on the virtual model of the anatomy. The standard haptic boundary is modified based on the anatomic feature to generate a customized haptic boundary. | 07-02-2015 |
20150182343 | FEMORAL COMPONENT FOR BONE CONSERVATION - A femoral prosthetic component includes a patellar guide portion, a pair of condyles projecting from the guide portion and forming an intercondylar notch therebetween, a bearing surface, and an interface surface configured to face a resected surface of a femur. The interface surface comprises an anterior face and a posterior face, and is substantially contoured between the anterior and posterior face to match a contoured surface of the femur. The substantially contoured interface surface may include at least one planar surface portion to about a flat cut portion in the surface of the femur. This planar surface portion may be a distal flat at a distal face of the interface surface. The contoured interface surface may alternatively include a plurality of planar surface portions. The femoral prosthetic component is configured such that preparation of the bone to match the interface surface results in minimal resection of the distal femur. | 07-02-2015 |
20150182237 | SYSTEMS AND METHODS FOR PREPARING A PROXIMAL TIBIA - A method of preparing a tibia to receive a tibial implant component includes performing a first set of cuts to prepare a floor interface surface on the tibia, wherein the floor interface surface includes a portion on each side of a tibial eminence extending above the floor interface surface on the tibia. The method further includes performing a second set of cuts to prepare a tibial eminence wall interface surface, wherein the wall interface surface extends substantially perpendicular to the floor interface surface between the floor interface surface and a top surface of the tibial eminence. The method further includes performing a third set of cuts to prepare a radiused intersection between the floor interface surface and the wall interface surface. The sets of cuts are performed subject to a cutting restraint guide. At least one set of cuts may be performed using a rotary cutter. | 07-02-2015 |
20150178468 | SYSTEMS AND METHODS FOR CUSTOMIZING INTERACTIVE VIRTUAL BOUNDARIES - A method for customizing an interactive control boundary based on a patient-specific feature comprises identifying a reference feature associated with a virtual implant model. The method also comprises determining an intersection between the identified reference feature and a virtual model associated with an anatomy of the patient. A virtual boundary is generated based on the determined intersection between the identified reference feature associated with the virtual implant model and the virtual model associated with the anatomy of the patient. | 06-25-2015 |
20150173845 | SYSTEMS AND METHODS FOR CUSTOMIZING INTERACTIVE VIRTUAL BOUNDARIES - A method for customizing an interactive boundary based on a patient-specific feature, includes displaying a graphical representation of an implant in virtual coordinate space and displaying a graphical representation of a bone in virtual coordinate space. The method further includes positioning the graphical representation of the implant relative to the graphical representation of the bone based on a user input and extracting reference feature information associated with the virtual representation of the implant. The method further includes mapping the extracted reference feature information to the graphical representation of the bone, receiving information indicative of a positional landmark associated with the bone, and estimating an intersection between the positional landmark and the mapped reference feature. A virtual boundary is generated based, at least in part, on the estimated intersection between the positional landmark and the mapped reference feature. | 06-25-2015 |
20140343681 | UNICONDYLAR TIBIAL KNEE IMPLANT - An implant providing for both short and long term stability and fixation is disclosed. The implant includes a plurality of projections extending from a bone contacting surface, and a porous material covering at least portions of the surface and projections. The orientation of the projections and the porous material provide for the stability and fixation. Methods of forming and utilizing the implant are also disclosed. | 11-20-2014 |
20140277548 | UNICONDYLAR TIBIAL KNEE IMPLANT - An implant providing for both short and long term stability and fixation is disclosed. The implant includes a plurality of projections extending from a bone contacting surface, and a porous material covering at least portions of the surface and projections. The orientation of the projections and the porous material provide for the stability and fixation. Methods of forming and utilizing the implant are also disclosed. | 09-18-2014 |
20140206990 | CT View Window - A method for verifying a spatial registration of an anatomical region is provided. The method may track a spatial pose of at least one checkpoint defined within the anatomical region, track a spatial pose of a probe tip in proximity to the anatomical region at the checkpoint, map a spatial proximity between the probe tip and the anatomical region onto a visual representation of the anatomical region based on the tracked spatial poses, quantify a deviation between the mapped spatial proximity and an actual spatial proximity in response to a verification request where the verification request is initiated by a user and indicative of the actual spatial proximity between the probe tip and the anatomical region, and generate a graphical index indicative of a degree of accuracy of the spatial registration of the anatomical region based on the quantified deviation. | 07-24-2014 |
20140188134 | PROSTHETIC DEVICE, METHOD OF PLANNING BONE REMOVAL FOR IMPLANTATION OF PROSTHETIC DEVICE, AND ROBOTIC SYSTEM - A robotic system for preparing a bone to receive a prosthetic device. The robotic system includes a controllable guide structure configured to guide cutting of the bone into a shape for receiving the prosthetic device, and a computer readable medium for storing data representative of the prosthetic device. The prosthetic device includes a body portion having an implantation surface configured to face the bone upon implantation and at least one feature that provides a constraint structure that will constrain the prosthetic device in the bone. The robotic system includes a control system for controlling the guide structure, and is configured to define at least one bone-cutting pattern for (i) removing a first portion of bone in a first area sufficient to seat the body portion and (ii) at least one of removing and maintaining a second portion of bone in a second area configured to interact with the constraint structure. | 07-03-2014 |
20140187955 | SYSTEMS AND METHODS OF REGISTRATION USING AN ULTRASOUND PROBE - A system for registration of a bone structure includes a registration probe and a processing circuit. The registration probe includes a two-dimensional array of a plurality of ultrasonic transducers coupled to a rounded tip of the probe, wherein the ultrasonic transducers are configured to provide ultrasonic data. The processing circuit is configured to receive ultrasonic data from the ultrasonic transducers, determine which of the ultrasonic transducers are in contact with anatomy of a patient, generate registration points based on the ultrasonic data and the determination of which of the ultrasonic transducers are in contact with the anatomy of the patient, and register the anatomy of the patient to a model of bone using the registration points. | 07-03-2014 |
20140180341 | METHODS AND SYSTEMS FOR PLANNING AND PERFORMING AN OSTEOTOMY - A method for performing an open wedge osteotomy includes providing a fixation plate defining a first aperture and a second aperture and creating a first hole and a second hole in a bone. The fixation plate is coupled to the bone by aligning the first aperture of the fixation plate and the first hole of the bone and inserting a fastener through the first aperture and into the first hole. A cut is created through at least a portion of the bone to create a first resected surface and a second resected surface after creating the first hole and the second hole. The method further includes moving the first resected surface and the second resected surface relative to each other until the second aperture of the fixation plate is aligned with the second hole of the bone. The fixation plate is coupled to the bone by inserting a second fastener through the second aperture of the fixation plate and into the second hole of the bone. | 06-26-2014 |
20140180290 | SYSTEMS AND METHODS FOR HAPTIC CONTROL OF A SURGICAL TOOL - A surgical system includes a surgical tool associated with a virtual haptic interaction point such that movement of the virtual haptic interaction point corresponds to movement of the surgical tool. The surgical system further includes a processing circuit to establish a virtual entry boundary and activate a haptic object, which constrains the surgical tool after the haptic interaction point crosses the virtual entry boundary. | 06-26-2014 |
20140171962 | REGISTRATION AND NAVIGATION USING A THREE-DIMENSIONAL TRACKING SENSOR - Systems and methods for registration and navigation using a 3D tracking sensor are shown and described. The systems and methods utilize a 3D tracking sensor coupled to a portable surgical element to track a trackable element fixed to an object. The pose of the trackable element is determined based at least in part on information provided by the 3D tracking sensor, and the object is registered to a three-dimensional representation of the object. The 3D tracking sensor can also be used to track various objects during a surgical procedure. | 06-19-2014 |
20140031664 | RADIOGRAPHIC IMAGING DEVICE - An imaging system includes a radiation source, a detector fixed to the radiation source such that the radiation source and detector form a hand-held imaging device configured to acquire image data, and a navigation system configured to track a pose of the hand-held imaging device. | 01-30-2014 |
20130218137 | INTEGRATED SURGERY SYSTEM - A system for conducting a medical procedure in an operating room includes a first camera-based 3-D motion sensor mounted in a known position and orientation relative to a global coordinate system of the operating room and configured to generate signals related to the 3-D position of a procedure object in the operating room based upon an outer shape of the procedure object relative to the first camera-based 3-D motion sensor; and a controller operatively coupled to the first camera-based 3-D motion sensor and configured to automatically monitor progress of the medical procedure based at least in part upon one or more positions of the procedure object relative to time as compared with a predetermined operational plan for moving the procedure object over time, the one or more positions based at least in part upon the signals. | 08-22-2013 |
20130211792 | SYSTEMS AND METHODS FOR CUSTOMIZING INTERACTIVE HAPTIC BOUNDARIES - A method for customizing an interactive haptic boundary based on a patient-specific feature comprises identifying a reference feature associated with a virtual implant model. The method also comprises determining an intersection between the identified reference feature and a virtual model associated with an anatomy of the patient. A virtual haptic boundary is generated based on the determined intersection between the identified reference feature associated with the virtual implant model and the virtual model associated with the anatomy of the patient. | 08-15-2013 |
20130211421 | INTEGRATED SURGERY METHOD - A method for conducting a medical procedure in an operating room includes the steps of using a first camera-based 3-D motion sensor mounted in a known position and orientation relative to a global coordinate system of the operating room to generate signals related to the 3-D position of a procedure object in the operating room based upon an outer shape of the procedure object relative to the first camera-based 3-D motion sensor; and automatically monitoring progress of the medical procedure with a controller based at least in part upon one or more positions of the procedure object relative to time as compared with a predetermined operational plan for moving the procedure object over time, the one or more positions based at least in part upon the signals from the first camera-based 3-D motion sensor. | 08-15-2013 |
20130211420 | METHOD FOR IMAGE-BASED ROBOTIC SURGERY - A robotic surgery method may include moving and temporarily fixing the position of a mobile base relative to the floor; coupling a first element of a fluoroscopic imaging system comprising a source element and a detector element to a first robotic arm coupled to the mobile base, the first robotic arm comprising a mounting fixture configured to be interchangeably coupled to a surgical tool and the first element; mounting a second element of the fluoroscopic imaging system in a position and orientation relative to the first element such that a targeted patient tissue structure may be positioned between the first and second elements of the fluoroscopic imaging system; and utilizing a sensing system and one or more sensing elements coupled to each of the first and second elements of the fluoroscopic imaging system to determine a relative spatial positioning between each of the first and second elements. | 08-15-2013 |
20130211419 | SYSTEM FOR IMAGE-BASED ROBOTIC SURGERY - A robotic surgery system includes a mobile base configured to be movably coupled to the operating room; a first robotic arm coupled to the mobile base and comprising a mounting fixture configured to be interchangeably coupled to a surgical tool and a first element of a fluoroscopic imaging system comprising a source element and a detector element; a second element configured to be repositionable relative to a patient tissue structure that may be placed between the first and second elements; and a controller operatively coupled to the first robotic arm, the controller configured to receive signals from a sensing system operatively coupled to the controller, the sensing system configured to detect motion of one or more sensor elements coupled to each of the first and second elements of the fluoroscopic imaging system and determine a relative spatial positioning between each of the first and second elements. | 08-15-2013 |
20130173011 | LOCKING ASSEMBLY FOR TIBIAL PROSTHESIS COMPONENT - An orthopedic prosthetic system comprises a base portion and an elongated guide member protruding from a bottom surface of the base portion. The elongated guide member extends from a posterior edge of the base portion toward an anterior edge of the base portion and comprises an overhang element and an undercut face. The prosthetic system further comprises an insert portion configured to slideably engage the base portion and the elongated guide member. The insert portion comprises an underhang element configured to engage at least a portion of an undercut area defined by the overhang element and undercut face of the elongated guide member. | 07-04-2013 |
20130173010 | CRUCIATE-RETAINING TIBIAL PROSTHESIS - A tibial prosthesis comprises a medial base portion configured to engage a medial surface of a tibia and a lateral base portion configured to engage a lateral surface of the tibia. At least a portion of the medial and lateral base portions are separated by a passage interposed therebetween. The tibial prosthesis also comprises a bridge coupling the medial base portion and the lateral base portion, wherein at least a portion of the bridge is elevated above a portion of the passage between the medial base portion and the lateral base portion. The bridge may define an underlying area that receives at least a portion of a tibial eminence when the tibial prosthesis is engaged with the tibia, wherein the height of the bridge varies in a superior direction across the passage. | 07-04-2013 |
20130173008 | FEMORAL IMPLANT FOR PRESERVING CRUCIATE LIGAMENTS - A femoral prosthetic component comprises a pair of condyles having an intercondylar notch interposed substantially therebetween. Each of the pair of condyles comprises an edge that borders the intercondylar notch. At least one of the pair of condyles comprises a condylar notch disposed within the respective edge of the at least one of the pair of condyles. | 07-04-2013 |
20130172905 | SYSTEMS AND METHODS FOR GUIDING AN INSTRUMENT USING HAPTIC OBJECT WITH COLLAPSING GEOMETRY - A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle. | 07-04-2013 |
20130172902 | Neural Monitor-Based Dynamic Haptics - A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm. | 07-04-2013 |
20130172783 | Systems and Methods for Prosthetic Component Orientation - A computer-implemented method determines an orientation parameter value of a prosthetic component. The method includes receiving a first desired separation distance between a tibial prosthetic component and a femoral prosthetic component at a first flexion position of a knee joint and estimating a first estimated separation distance between the tibial prosthetic component and the femoral prosthetic component at the first flexion position of the knee joint for at least one potential orientation of the femoral prosthetic component. The method also includes determining a first orientation parameter value of the femoral prosthetic component by comparing the first estimated separation distance to the first desired separation distance and outputting the first orientation parameter value via a user interface. | 07-04-2013 |
20130169423 | SYSTEMS AND METHODS FOR SELECTIVELY ACTIVATING HAPTIC GUIDE ZONES - A method for activating a virtual haptic geometry based on a position of a portion of an instrument relative to a target feature comprises detecting a presence of a reference point of an instrument within a threshold distance of a target feature. A virtual haptic geometry corresponding to the target feature is activated in response to the detected presence of the reference point of the instrument within the threshold distance. | 07-04-2013 |
20130072821 | SYSTEMS AND METHODS FOR MEASURING PARAMETERS IN JOINT REPLACEMENT SURGERY - A computer-implemented method for determining changes in parameters of a hip joint due to modification of the hip joint comprises establishing a first position of a pre-operative center of rotation of the joint in a first coordinate space. The method further comprises estimating a second position of the pre-operative center of rotation of the joint in the first coordinate space, when the estimated pre-operative center of rotation is maintained in a constant position in a second coordinate space. A change in a parameter associated with the joint is determined based on the first and second positions of the pre-operative center of rotation of the joint. | 03-21-2013 |
20120310617 | Implant Planning for Multiple Implant Components Using Constraints - Described are computer-based methods and apparatuses, including computer program products, for implant planning for multiple implant components using constraints. A representation of a bone and a representation of a first implant component are displayed with respect to the representation of the bone. A representation of a second implant component is displayed, wherein the first implant component and the second implant component are physically separated and not connected to each other. A positioning of the representation of the second implant component that violates at least one positioning constraint is prevented, wherein the positioning constraint is based on the representation of the first implant component. | 12-06-2012 |
20110320153 | Inertially Tracked Objects - Described are computer-based methods and apparatuses, including computer program products, for inertially tracked objects with a kinematic coupling. A tracked pose of a first inertial measurement unit (IMU) is determined, wherein the first IMU is mounted to a first object. The tracked pose of the first IMU is reset while the first object is in a first reproducible reference pose with a second object. | 12-29-2011 |
20100153081 | IMPLANT PLANNING FOR MULTIPLE IMPLANT COMPONENTS USING CONSTRAINTS - Described are computer-based methods and apparatuses, including computer program products, for implant planning for multiple implant components using constraints. A representation of a bone and a representation of a first implant component are displayed with respect to the representation of the bone. A representation of a second implant component is displayed, wherein the first implant component and the second implant component are physically separated and not connected to each other. A positioning of the representation of the second implant component that violates at least one positioning constraint is prevented, wherein the positioning constraint is based on the representation of the first implant component. | 06-17-2010 |
20100153076 | IMPLANT PLANNING USING AREAS REPRESENTING CARTILAGE - Described are computer-based methods and apparatuses, including computer program products, for implant planning using areas representing cartilage. A predetermined number of control points for generating a predetermined number of areas representing cartilage are determined, wherein the predetermined number of control points are based on an implant component. Measurements corresponding to a plurality of measured cartilage points are received, wherein each cartilage point is based on an associated control point from the predetermined number of control points. A plurality of areas representing cartilage are generated, wherein each area representing cartilage is larger than and projects to an associated control point from the plurality of control points. A representation of the implant component is positioned based on a representation of a bone, the representation of the bone comprising representations of the plurality of areas representing cartilage. | 06-17-2010 |
20090324078 | AUTOMATIC IMAGE SEGMENTATION USING CONTOUR PROPAGATION - Described are computer-based methods and apparatuses, including computer program products, for automatic image segmentation using contour propagation. A path metric of a candidate piece of a contour in a cross-sectional image is calculated to generate a three dimensional model using a plurality of cross-sectional images of an object. Data indicative of the cross-sectional image is stored. A cost of each of a plurality of pixels associated with the candidate piece is calculated using the data, wherein the cost is representative of a likelihood the pixel is on the contour and the cost is based on one or more templates. An orientation change value is calculated for each of the plurality of pixels associated with the candidate piece based on an initial pixel of the candidate piece and the pixel. A ratio of pixels is calculated. The path metric of the candidate piece of the contour is stored, the value of the stored path metric being based on the calculated cost, the calculated orientation change value, and the calculated ratio. | 12-31-2009 |
20090306499 | SELF-DETECTING KINEMATIC CLAMP ASSEMBLY - Described are computer-based surgical methods and apparatuses for a self-detecting kinematic assembly. The self-detecting kinematic clamp assembly detects and indicates a degradation in pose. The self-detecting kinematic clamp assembly includes a tracking element for tracking a pose of the kinematic clamp assembly. The self-detecting kinematic clamp assembly includes a base portion comprising a fixation device that is attachable to a rigid body, and a top portion connected to the tracking element, the top portion being removably connected to the base portion. The self-detecting kinematic clamp assembly includes a detection mechanism, the detection mechanism including three or more contact points between the base potion and top portion and a mechanism that detects movement between one or more of the three or more contact points. | 12-10-2009 |
20090209884 | IMPLANT PLANNING USING CORRECTED CAPTURED JOINT MOTION INFORMATION - The description relates to surgical computer systems, including computer program products, and methods for implant planning using corrected captured joint motion information. Data representative of a corrected limb pose at a plurality of poses within a range of motion of a joint associated with a particular individual is captured, the joint comprising a first bone and a second bone, while the first bone, the second bone, or both are subject to a corrective force aligning the first and second bones in a desired alignment. The first bone of the joint is represented. The second bone of the joint is represented. A first implant model is associated with the representation of the first bone. A second implant model is associated with the representation of the second bone. Based on the captured data, a relationship is determined between the first implant model and the second implant model at one or more poses of the plurality of poses within the range of motion of the joint. Information representative of the determined relationship is displayed. | 08-20-2009 |
20090160855 | Cumulative Buffering for Surface Imaging - The description relates to surgical computer systems, including computer program products, and methods for cumulative buffering for surface imaging. A display image is buffered that has been saved from a previous update. A model representing a tool is subtracted from the buffered display image. The subtracted display image is displayed using a CSG technique at a fixed angle. The subtracted display image is saved. This process is repeated so that the displayed image is cumulatively changed with each change in location of the model representing the tool. | 06-25-2009 |
20080262812 | Implant Planning Using Captured Joint Motion Information - The description relates to surgical computer systems, including computer program products, and methods for implant planning using captured joint motion information. Data is captured representative of a range of motion of a joint associated with a particular individual, where the joint includes a first bone and a second bone. The first bone of the joint is represented and a first implant model is associated with the representation of the first bone. Based on the captured data, a relationship is determined between the first implant model and a representation of the second bone through at least a portion of the range of motion of the joint. Information is displayed representative of the determined relationship. | 10-23-2008 |