Mako Surgical Corporation

Coulter International Corp.

Brian D Schmitz

Hyosig Kang

Jason Robert Wojcik

Jason Karl Otto

Carinne Cecile Granchi

Alon Mozes

Daniel Odermatt

Radu Iorgulescu

Chris Lightcap

Benny Hagag

Joseph Suarez

Christopher Labak

Seth Banks

Peter L Ebbitt

Richard P Bennett

Joseph St Cyr

Derek Verhoorn

Boh C Tsai

Richard Bennett

Luther Gross

Chunyan Wu

Thomas Breen

Renen Bassik

Richard Leparmentier

James Polselli

Hyosig Kank

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

A method of operating a surgical system includes controlling a robotic arm in a first control mode in which the robotic arm constrains movement of a surgical tool coupled to the robotic arm to a virtual geometry correlated with an anatomical feature, switching, responsive to the surgical tool crossing an exit boundary, from the first control mode to a second control mode, and controlling the robotic arm in the second control mode in which movement of the surgical tool is unconstrained by the virtual geometry.

Surgical guidance with exit boundary

A surgical system includes a robotic arm, an end effector held by the robotic arm, a tracking system configured to detect a patient position and an end effector position, and a processor and non-transitory memory storing instructions that, when executed by the processor, cause the processor to define a planned trajectory relative to the patient position, obtain the patient position and the end effector position from the tracking system during manual movement of the end effector by a user, determine whether the end effector position is within a threshold of the planned trajectory based on the patient position and the end effector position obtained during the manual movement of the end effector, and upon determination that the end effector position is within the threshold of the planned trajectory, take over and control the robotic arm to automatically align the end effector with the planned trajectory.

Automated alignment of a surgical tool

A system includes a surgical tool, a robot holding the surgical tool, and non-transitory computer-readable memory storing instructions that, when executed, cause the robot to perform operations including automatically moving the surgical tool to a virtual geometry correlated with an anatomical structure and forcing, following arrival of the surgical tool at the virtual geometry, the surgical tool to stay at the virtual geometry while allowing manual repositioning of the surgical tool along the virtual geometry.

Surgical system with automated alignment

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.

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.

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.

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.

A surgical system for positioning a prosthetic component includes a robotic arm and a surgical tool having an end effector configured to be coupled to the robotic arm. The system further includes a controller programmed to generate control signals, based on a planned pose of the prosthetic component, that cause the robotic arm to allow movement of the surgical tool in at least one degree of freedom and to constrain movement of the surgical tool in other degrees of freedom, wherein the controller is programmed to generate control signals that cause the robotic arm to maintain the constraint as the prosthetic component is implanted on the anatomy.

A surgical system for positioning a prosthetic component includes a surgical tool and a force system configured to provide a force to the surgical tool. The system further includes a controller programmed to: compare an actual pose of a prosthetic component engaged by the surgical tool and a target pose of the prosthetic component, and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and to provide a force to constrain movement of the surgical tool beyond the range of movement. The force resists movement of the surgical tool that would cause substantial deviation between an aspect of the actual pose of the prosthetic component and a corresponding aspect of the target pose. The controller is programmed to generate control signals that cause the force system to maintain the force as the prosthetic component is implanted on the anatomy.

A surgical system includes a surgical tool configured to be coupled to a cutting element, a force system configured to provide at least some force to the surgical tool, and a controller programmed to generate control signals. The control signals cause the force system to provide a first constraint on a user's manual movement of the surgical tool when the cutting element is a first cutting element and provide a second constraint, different from the first constraint, on a user's manual movement of the surgical tool when the cutting element is a second cutting element.

A surgical tool is disclosed that may be rotatably mounted to a surgical robotic arm. The surgical tool is rotatable about a first axis that is at least substantially vertical when the robotic arm is in a horizontal position. The surgical tool includes a housing that is coupled to the arm and rotatable about the first axis. The housing is at least substantially cylindrical and defines a second axis that is at least substantially perpendicular to the first axis. The tool also includes a handle that includes a grip that is coupled to a sleeve. The sleeve rotatably accommodates at least part of the housing. As a result, the handle and sleeve may be rotated about the second axis while the housing remains fixed with respect to the second axis.

Surgical tool for robotic arm with rotating handle

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.

Growing community of inventors

Fort Lauderdale, FL, United States of America

Brian D Schmitz