Mako Surgical Corporation

Neocis Inc.

Alon Mozes

Hyosig Kang

Daniel Odermatt

Juan Salcedo

Brian D Schmitz

Benny Hagag

Louis K Arata

Dennis Moses

Federico Grande

Rony Abovitz

Jason Karl Otto

Martin Roche

Arthur E Quaid

Dana C Mears

Peter L Ebbitt

Robert Van Vorhis

Miranda Jamieson

Timothy Blackwell

William F Tapia

Chunyan Wu

Scott Illsley

Sherif Aly

Sandi Glauser

Maurice Ferre

Ryan Anderson

Binyamin Hajaj

Jeffrey Ganeles

Amardeep Singh Dugal

David Cole

Sarvagya Vaish

Randall E Hand

Mauro Fittipaldi

Uday N Reebye

Rony A Abovitz

William Chu-Hyon McMahan

Snehal Kasodekar

William Chu-Hyon Mcmahan

Alexandra Bellettre

Randal Hand

Manan Kishore Shah

John Philip Kennedy

William McMahan

David Peter Cole

Richard Prentice Boyle, Iii

David Paul Lustbader

Erik Paul Flor Beuckelaers

Robert Mittendorff

Ajay Gopal Royan

Wuwei He

Yohama Lorenzo

Nima Massoomi

Iii Richard Prentice Boyle

Hyosig Kank

Juan Ricardo Salcedo

A robot system includes a tracking arm in communication with a reference location about a site. A robot arm has a procedure tool/end effector engaged therewith, and a proximal end disposed in a known relation to a proximal end of the tracking arm. A controller determines an actual spatial relation between the procedure tool and the reference location in a three-dimensional space via the robot and tracking arms, and directs the procedure tool to a staging position adjacent to the site by regulating movement of the robot arm according to an operational plan and based on the actual spatial relation. An actuator is spaced-apart from the procedure tool and in communication with the controller. The actuator actuates the controller to direct the robot arm to autonomously move the procedure tool from the staging position, according to the operational plan, to interact with the site and perform the procedure.

Robot system and related methods of operating and forming a robot system

A splint device () co-operable with a guidance system of a robot is provided. In some aspects, a splint body () is fixedly coupled to a first object () disposed within a pliable housing () defining an opening. The splint body includes a laterally-extending medial portion () having opposed lateral sides (), and first and second stabilizing portions () extending therefrom and extending about and affixed to the first object. In some aspects, the splint body includes a retractor () having a first portion () coupled to the splint body, and a second portion () extending away from the splint body and engaging the pliable housing about the opening to retract and maintain the pliable housing away from the first object, such that the first object is accessible through the opening, and/or a spacer () engaged with the splint body and cooperating with the splint body to separate a second object () from the first object within the pliable housing.

Splint device forming a fiducial marker co- operable with a guidance system of a robot

A splint device for guided robotic surgery, includes an arcuate splint body having first and second ends and opposing concave and convex surfaces. The splint body defines a plurality of holes spaced apart between the first and second ends, with each hole extending between the concave and convex surfaces. A tracking portion is engaged with the convex surface of the splint body between the first and second ends such that at least one of the holes is disposed between the tracking portion and each of the first and second ends. The tracking portion extends outwardly from the convex surface and has a kinematic mount engaged therewith.

Splint device for guided surgical robot

A method includes obtaining a model of a bone of a patient, identifying a plurality of landmarks of the model of the bone, defining a plane of the patient, determining an axis based on the plurality of landmarks and the plane, and planning a planned pose of an implant relative to the bone based on a relationship between a model of the implant, the axis, and the plane.

System and method for surgical planning

A method of relating an object to a coordinate system, the object being supported by a support element, and the object and the support element being housed within a housing, includes engaging a registration element with the object or the support element, conducting an optical surface scan of the object and the registration element, using an optical scanner, to form a three-dimensional surface image of the object, the three-dimensional surface image having the coordinate system associated therewith, with the registration element being associated with the coordinate system, and correlating the object with the registration element in the three-dimensional surface image so as to register the object with the coordinate system. Associated methods and systems are also provided.

Method of registering an imaging scan with a coordinate system and associated systems

A surgical system includes a robotic arm, a straight end effector configured to be coupled to the robotic arm, an offset end effector configured to be coupled to the robotic arm, and

Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool

An end effector for a computer-assisted surgical system includes a mount configured to be coupled to an arm and a housing coupled to the mount and configured to interchangeably support a first operating member and a second operating member. When the housing supports the first operating member, the housing is configured to prevent translation of the first operating member relative to the mount. When the housing supports the second operating member, the housing is configured to allow translation of the second operating member relative to the mount along a first axis.

Systems and methods are provided for planning a procedure. A display device is configured to display a first virtual element. A controller device having a processor is configured to be in communication with the display device, and the controller device is further configured to direct the display device to display the first virtual element. A physical control element is in communication with the controller device, and is configured to correspond to the first virtual element such that an actual manipulation of the control element is displayed, via the processor of the controller device and on the display device, as a corresponding response of the first virtual element to the actual manipulation of the control element. Associated systems, methods, and computer program products are also provided.

Method for using a physical object to manipulate a corresponding virtual object in a virtual environment, and associated apparatus and computer program product

A memory device stores instructions, which, when executed by a controller, cause the controller to perform tasks. The tasks include obtaining a three-dimensional (3D) model of a patient's pelvis, identifying two landmarks of the 3D model of the patient's pelvis, defining a coronal radiographic plane of the patient, and determining a mediolateral axis of the 3D axis based on the two landmarks. The tasks also include planning the surgical placement of the acetabular cup into the acetabulum by positioning a virtual model of the acetabular cup relative to the 3D model and determining a planned version and a planned inclination based on the virtual model of the acetabular cup, the mediolateral axis and the coronal radiographic plane.

A tracking and guidance arrangement for a surgical robot system and related method are provided. The arrangement includes a patient-interacting device including an instrument engaged a distal end of a guide arm and a fiducial marker coupled to maxillofacial anatomy of the patient. A detector is connected to an articulating arm and co-operable therewith to be positioned adjacent to the fiducial marker, with the detector being configured to interact with the fiducial marker. A controller device is configured to receive data from the detector relative to the interaction thereof with the fiducial marker, to determine a spatial relation between the fiducial marker and the detector based on the data, to determine a spatial relation of the instrument relative to the fiducial marker, and to direct the instrument to interact with the maxillofacial anatomy of the patient according to the determined spatial relations.

Tracking and guidance arrangement for a surgical robot system and related method

Dental implantation systems and methods are provided, including a system comprising a patient-interacting device having an instrument for preparing a site within a patient's mouth for a dental implant. A guiding device in communication with a fiducial marker engaged with the patient's mouth receives the patient-interacting device, and guides the instrument, relative to the fiducial marker, in conjunction with user manipulation of the patient-interacting device. A controller device including a processor is in communication with the guiding device, and directs the patient-interacting device via the guiding device to prepare the site to receive the dental implant. An engagement sensor is operably engaged with the patient-interacting device and communicates with the controller device. The controller device is responsive to sensed disengagement between the patient-interacting device and the user to direct the guiding device to maintain the patient-interacting device at a minimum vertical disposition. Associated systems and methods are also provided.

Interactive guidance and manipulation detection arrangements for a surgical robotic system, and associated method

A method for computer-assisted orthopedic feedback of at least one surgical tool relative a pre-operative plan, wherein the surgical tool is moveable relative to an anatomy of a patient during surgery, including providing the pre-operative plan including a planned position and orientation of an implant relative to a virtual model of the anatomy. Further including obtaining a position of the patient structure and at least one surgical tool using a navigation system, and registering the anatomy to the model of the anatomy. Further including tracking a current position and orientation of the at least one surgical tool and the anatomy of the patient using the navigation system, and providing feedback of the current position and orientation of the at least one surgical tool relative to the planned position and orientation of the implant based on the tracked current position and orientation of the at least one surgical tool.

Dental implantation systems and methods are provided, including a site preparation device for preparing a site within a patient's mouth for receiving an anchor portion of a dental implant. An implant preparation device forms a crown portion of the dental implant for reception by the anchor portion. A guidance device communicates with a fiducial marker engaged with the patient's mouth, to interchangeably receive the site and implant preparation devices, and to guide the site and/or implant preparation device, relative to the fiducial marker, in conjunction with manipulation thereof by a user. A planning device communicates with and via the guidance device, and determines an arrangement of the dental implant at the site, to direct the site preparation device to prepare the site to receive the dental implant arrangement, and to direct the implant preparation device to prepare the crown portion for receipt by the anchor portion.

Surgical robot system for integrated surgical planning and implant preparation, and associated method

A method of implementing a splint device, and associated splint device are provided for a guidance system of a surgical robot. An adhesive material is engaged with a first stabilizing portion of a first splint portion, and the adhesive material is engaged with a second stabilizing portion of a second splint portion. The first or second splint portion has a mounting portion extending outwardly therefrom, The first and second splint portions are removably engaged with each other and about a tooth of a patient such that, when engaged, the first stabilizing portion is generally opposed to and laterally spaced apart from the second stabilizing portion to define a channel therebetween, with the mounting portion being disposed and extending outwardly of the channel, and with the first and second stabilizing portions defining the channel being secured to respective sides of the tooth via the adhesive material.

Splint device for forming a fiducial marker for a surgical robot guidance system, and associated method

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.

Growing community of inventors

Miami Beach, FL, United States of America

Alon Mozes