Mako Surgical Corporation

Andrei Danilchenko

José Luis Moctezuma De La Barrera

Jeremy Weinstein

Abdullah Zafar Abbasi

Amar Bhatt

A mixed reality system includes a head-mounted device (HMD) having an HMD coordinate system and a camera to capture images. A localizer has a localizer coordinate system and position sensors supported by a housing to track a pose of a real object. Registration markers are configured to be recognized from the captured images of the camera of the HMD. The registration markers are disposed on the housing of the localizer in a predetermined spatial relationship with respect to the localizer coordinate system. At least one controller is configured to utilize the registration markers recognized from the captured images to register the localizer coordinate system and the HMD coordinate system.

Systems and methods for surgical navigation

A surgical system includes a controller and a robotic arm configured to hold a surgical tool at a distal end of the robotic arm. The controller is configured to define, based on a surgical plan, a target pose relative to a tracked position of an anatomical feature, generate a planned path for moving the surgical tool held by the robotic arm from a first pose to the target pose, output control signals configured to cause automated motion of the robotic arm based on the planned path, detect a deviation of the surgical tool from the planned path, and in response to detecting the deviation of the distal end from the planned path, update the control signals to stop the automated motion of the robotic arm.

Robotic surgical system with slingshot prevention

A method of operation of a robotically-assisted surgical system includes defining a virtual geometry associated with a planned resection, determining a first pose of a surgical tool, defining a target orientation for the surgical tool based on the first pose, controlling a robotic device to automatically move the surgical tool to both the virtual geometry and the target orientation

Robotic surgical system with recovery alignment

Disclosed are systems, methods, and techniques for registering a HMD coordinate system of a head-mounted display (HMD) and a localizer coordinate system of a surgical navigation localizer. A camera of the HMD captures at least one image of a registration device having a registration coordinate system and a plurality of registration markers. The registration markers are analyzed in the at least one image to determine a pose of the HMD coordinate system relative to the registration coordinate system. One or more position sensors comprised in the localizer detect a plurality of tracking markers comprised in the registration device to determine a pose of the registration coordinate system relative to the localizer coordinate system. The HMD coordinate system and the localizer coordinate system are registered using the registration device, wherein positions of the registration markers are known with respect to positions of the tracking markers in the registration coordinate system.

System and methods for surgical navigation providing mixed reality visualization are provided. The mixed reality visualization depicts virtual images in conjunction with real objects to provide improved visualization to users.

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Miami, FL, United States of America

Andrei Danilchenko