Patent application number | Description | Published |
20090000626 | HAPTIC GUIDANCE SYSTEM AND METHOD - A method for joint replacement is provided. A representation of a first bone is created, and a representation of a second bone is created. Bone preparation for implanting a first implant on the first bone is planned. The first bone to receive the first implant is prepared by manipulating a surgical tool to sculpt the first bone. Bone preparation for implanting a second implant on the second bone after preparing the first bone is planned. The second bone to receive the second implant is prepared by manipulating the surgical tool to sculpt the second bone. | 01-01-2009 |
20090000627 | HAPTIC GUIDANCE SYSTEM AND METHOD - A surgical planning method is provided. A representation of a bone of a joint is created. The joint is moved to a first position. A first point corresponding to a first location in the joint is identified when the joint is in the first position. The joint is moved to a second position. A second point corresponding to a second location in the joint is identified, when the joint is in the second position. Bone preparation for implanting an implant on the bone is planned based at least in part on the first and second points. | 01-01-2009 |
20090012531 | HAPTIC GUIDANCE SYSTEM AND METHOD - A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and to adjust the representation of the anatomy in response to movement of the anatomy during the procedure. | 01-08-2009 |
20090012532 | HAPTIC GUIDANCE SYSTEM AND METHOD - A surgical planning method is provided. A height of a cartilage surface above a bone is detected. A representation of the bone and a representation of the height of the cartilage surface is created. Bone preparation for implanting an implant on the bone is planned based at least in part on the detected height of the cartilage surface. | 01-08-2009 |
20090314925 | FIBER OPTIC TRACKING SYSTEM AND METHOD FOR TRACKING - A fiber optic tracking system for tracking substantially rigid object(s) is described. The fiber optic tracking system includes a light source, an optical fiber having a sensing component configured to modify optical signals from the light source, the optical fiber being configured to attach to the substantially rigid object, a detection unit arranged to receive the modified optical signals from the sensing component, and a calculation unit configured to determine a pose of the substantially rigid object in six degrees of freedom based on the modified optical signals. | 12-24-2009 |
20100166496 | DEVICE THAT CAN BE ASSEMBLED BY COUPLING - A device can be assembled by a coupling. The device includes first and second body members and positioning structure. The first and second body members are designed to be coupled relative to each other. The positioning structure is designed to provide an interface between the first and second body members, and to position the first and second body members relative to each other via first, second, and third contact areas. The first, second, and third contact areas are each substantially linear and are collectively configured to receive loads, and to limit positioning of the first and second body members relative to each other with regard to five degrees of freedom. A fourth contact area between the first and second body members is designed to limit positioning of the first and second body members relative to each other in a sixth degree of freedom, in a first translational direction. | 07-01-2010 |
20100170361 | Transmission with adjustment member for varying tension force - A transmission apparatus includes a drive member, a driven member, and an at least partially flexible transmission coupled to the drive member and the driven member. The flexible transmission is configured to cause movement of the driven member in response to movement of the drive member. The flexible transmission includes a first tension element having a first portion coupled to the drive member, a second portion coupled to the driven member, and an intermediate portion between the first portion and the second portion. The transmission apparatus also includes an adjustment member that engages the intermediate portion of the first tension element. The adjustment member is configured to be adjusted to vary a tension force applied to the first tension element. | 07-08-2010 |
20100170362 | Transmission with first and second transmission elements - A transmission includes a first component, a second component, and first and second transmission elements. The first component has a drive member and a portion configured to be actuated to inhibit movement of the drive member. The first and second transmission elements are each coupled to the drive member and the second component and configured to cause movement of at least one of the first component and the second component in response to movement of the drive member. At least one of the first and second transmission elements includes a first plurality of transmission sub-elements. | 07-08-2010 |
20110003656 | Transmission with connection mechanism for varying tension force - A transmission includes a drive member, a driven member having a connection mechanism, and an at least partially flexible transmission coupled to the drive member and the connection mechanism of the driven member and configured to cause movement of the driven member in response to movement of the drive member. The connection mechanism is configured to be adjusted to vary a tension force applied to the flexible transmission. | 01-06-2011 |
20110082462 | TOOL, KIT-OF-PARTS FOR MULTI-FUNCTIONAL TOOL, AND ROBOTIC SYSTEM FOR SAME - A tool includes a housing including a receiving portion configured to receive at least a portion of an operating member so as to permit rotation of the operating member relative to the housing while constraining movement of the operating member in a radial direction of the operating member. The tool also includes a coupling device disposed on the housing and configured to couple the operating member to the housing so as to permit rotation of the operating member relative to the housing. The coupling device includes a retaining member configured to engage the operating member to constrain movement of the operating member relative to the housing in a longitudinal direction of the operating member. The retaining member is configured to rotate relative to the housing. | 04-07-2011 |
20110082468 | SURGICAL SYSTEM FOR POSITIONING PROSTHETIC COMPONENT AND/OR FOR CONSTRAINING MOVEMENT OF SURGICAL TOOL - A surgical system for positioning a prosthetic component on an anatomy of a patient includes a surgical tool configured to engage the prosthetic component, a force system configured to provide at least some force to the surgical tool, and a controller programmed to compare a target pose of the prosthetic component and an actual pose of the prosthetic component engaged by the surgical tool and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and provide haptic feedback to constrain a user's ability to manually move the surgical tool beyond the range of movement. The haptic feedback resists movement of the surgical tool by the user that would cause substantial deviation between at least one aspect of the actual pose of the prosthetic component and a corresponding aspect of the target pose of the prosthetic component. The controller is programmed to generate control signals that cause the force system to maintain the haptic feedback as the user implants the prosthetic component on the anatomy. | 04-07-2011 |
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 |
20120109150 | HAPTIC GUIDANCE SYSTEM AND METHOD - A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure. | 05-03-2012 |
20120176306 | SYSTEM AND METHOD FOR PROVIDING SUBSTANTIALLY STABLE HAPTICS - A system for providing substantially stable haptics includes at least one computer configured to identify a first subset and a second subset of haptic interaction geometric primitives for a virtual tool. The computer is configured to determine based on the first subset, haptic forces in a first subspace. The computer is also configured to determine based on the second subset, haptic forces in a second subspace different from the first subspace. | 07-12-2012 |
20120209419 | System and Method for Surgical Planning - A system and method for determining inclination and version of a prosthetic acetabular cup relative to a coronal radiographic plane is provided. The system and method include the identification of a coronal radiographic plane in a three dimensional medical image. The system and method further include the identification of two symmetric landmarks on the pelvis to determine a mediolateral axis. The version and inclination can then be calculated based on the relationship between the axis of the acetabular cup, the coronal radiographic plan, and the mediolateral axis. | 08-16-2012 |
20130053648 | Surgical Tool for Selectively Illuminating a Surgical Volume - A device for providing a colorfield for guiding a surgical tool within a surgical volume is provided. The device may include a coupling mechanism configured to couple the device to a surgical tool, and a light source configured to selectively emit light having a first predetermined color upon at least one of a surgical volume and the surgical tool. The first predetermined color may be selected based, at least in part, on a current spatial position of a portion of the surgical tool relative to a first pre-defined zone within the surgical volume. | 02-28-2013 |
20130096573 | SYSTEM AND METHOD FOR SURGICAL TOOL TRACKING - Systems and methods for robotic surgery are disclosed. In one embodiment, a system comprises a controller configured to control actuation of at least one servo motor; a surgical instrument configured to be movable in a workspace controlled, at least in part, by actuation of the at least one servo motor; and a mechanical tracker linkage coupled between the elongate instrument and a portion of skeletal anatomy of a patient, the tracker linkage comprising one or more joints associated with one or more joint rotation sensors and being configured to send joint signals to the controller; wherein the controller controls positioning of the instrument based at least in part upon the joint signals received from the mechanical tracker. | 04-18-2013 |
20130096574 | SYSTEM AND METHOD FOR ROBOTIC SURGERY - In one embodiment, a robotic surgery system comprises a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone, the handheld manipulator comprising a bone cutting tool comprising an end effector portion, a frame assembly, and a motion compensation assembly movably coupled to the frame assembly and bone cutting tool. A controller may be operatively coupled to the manipulator and configured to operate one or more actuators within the frame assembly to cause the motion compensation assembly to automatically move relative to the frame assembly to defeat aberrant movement of the bone cutting tool that would place the end effector portion of the tool out of a desired bone cutting envelope that is based at least in part upon one or more images of the bone, while allowing the bone cutting tool to continue cutting one or more portions of the bone. | 04-18-2013 |
20130114866 | Computer-Aided Planning with Dual Alpha Angles in Femoral Acetabular Impingement Surgery - A method for determining a resection volume of a pathologic femur having a femoral head and a femoral neck is provided. The method may determine a first point of a desired contour based on a pathologic alpha angle of the pathologic femur, determine a second point of the desired contour based on a desired alpha angle of the pathologic femur, determine a third point of the desired contour on the femoral neck of the pathologic femur, and generate a resection volume of the pathologic femur based on the first, second and third points of the desired contour. | 05-09-2013 |
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 |
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 |
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 |
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 |
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 |
20140163377 | Registration Using Phased Array Ultrasound - A system and method for performing registration of a bone structure to align a computerized model of the bone structure with the detected surface of the actual bone structure utilizes a two-dimensional ultrasound array. The array is positioned in a manner such that the position of the array is known relative to the actual bone structure. The array is phased to produce a point-focused beam of acoustic energy which is scanned in three dimensions throughout the volume of interest to map the surface of the bone structure. | 06-12-2014 |
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 |
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 |
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 |
20140188129 | MOTORIZED JOINT POSITIONER - A motorized joint positioner includes a first robotic arm coupled to a first holder and a second robotic arm coupled to a second holder. At least one of the first and second robotic arms includes an actuator controllable to position the corresponding first or second holder. | 07-03-2014 |
20140188132 | SYSTEM FOR IMAGE-BASED ROBOTIC SURGERY - A robotic surgery system having a mobile base and a first moveable support structure coupled between the mobile base and a first element of a fluoroscopic imaging system. The first element is a source element or a detector element, and a second element of the imaging system is a source element or a detector element. The second element is configured to be repositionable relative to patient tissue disposed between the first and second elements. The system further includes a coupling member configured to fixedly couple the first element to the second element, and a surgical instrument for conducting a procedure on the patient tissue. The system further includes a second moveable support structure coupled between the coupling member and the surgical instrument. The second moveable support structure includes one or more actuators which may be controlled to electromechanically characterize movement of the surgical instrument relative to the coupling member. | 07-03-2014 |