Think Surgical, Inc.

Daniel Patrick Bonny

Joel F Zuhars

Timothy J Pack

Kyle Kuznik

Michael E Hoppe

Saleh Tabandeh

Stephen M Howell

Babak Kianmajd

Nathan A Netravali

Saurabh Jain

Randall Hanson

Micah Forstein

Timothy Pack

Avery A Goldstein

A system for determining an orientation of a tool axis with respect to a coordinate frame of a robot is described herein. The robot includes a tool holder and a plurality of fiducial markers for defining a first coordinate frame of the robot. A calibration device is provided having a second fiducial marker for a tracking system to track positions and configured to couple to the tool holder; and rotate relative to the tool holder when coupled to the tool holder. A computer having a processor is configured to fit a circle or arc to recorded positions of the calibration device. The recorded positions of the calibration device are recorded when coupled to the tool holder, is rotated relative to the tool holder. A vector normal to the fitted circle or arc is calculated to determine an orientation of the tool axis. A method of use is also provided.

Methods for locating and tracking a tool axis

A system and method are provided for aligning a tool with a targeted axis in tissue to perform a medical procedure. A medical plan is registered to the location of the tissue using a computer-assisted medical system, where the medical plan include a planned position for the targeted axis based on pre-procedure data. The tool is aligned with the planned position for the targeted axis using a computer- assisted medical system. The computer-assisted medical system includes a hand- held device having a handle and a working portion adjustable relative to the handle so as to orient the tool. A computing system is also provided comprising a tracking system and a control system for registering the medical plan to the location of the tissue, tracking the hand-held device relative to the tissue and the medical plan, and adjusting the working portion of the hand-held device relative to its handle.

System and method for aligning a tool with an axis to perform a medical procedure

A surgical device is provided includes a hand-held portion with a working portion movably coupled to the hand-held portion for driving a tool. Actuators are provided for moving the working portion with each of the actuators having a travel range. An indicator notices a user when at least one of actuators is: (i) within the travel range; (ii) approaching a travel limit of the travel range; or (iii) outside the travel range. A surgical system is also provided inclusive the surgical device and a computing system configured to activate the indicator.

Active robotic pin placement in total knee arthroplasty

Systems and methods for creating cuts on a bone are provided utilizing one or more cutting guides assembled to a plurality of bone pins, where the bone pins are inserted on the bone coincident with one or more virtual pin planes defined relative to one or more of the cuts. Alignment guides are also disclosed herein that aid in the creation of pilot holes for receiving a cutting block in a desired position and orientation (POSE). An articulating surgical device actively positions the bone pins coincident with the virtual plane to ensure the cutting guides, when assembled to the pins, aligns one or more guide slots in the desired POSE to create the cuts.

Cut guide for arthroplasty procedures

Robotic alignment of a tool or pin with a virtual plane

Systems and methods are provided to aid in planning at least a portion of a total knee arthroplasty procedure. The system and method automatically aligns the implant components and the bones according to a desired clinical alignment goal with minimum user input. The system and method further allows the user to adjust the position and orientation of the femur, tibia, or implant in a clinical direction regardless of a pre-adjusted position and orientation of the femur, tibia, or implant. The graphical user interface is provided that includes a three-dimensional (3-D) view window, a view options window, a patient information window, an implant family window, a workflow-specific tasks window, and a limb and knee alignment measures window.

Automated arthroplasty planning

Robotic pin placement

A method for registering one or more surfaces associated with a bone for implant revision procedures includes a digitizer used to digitize surface points on remaining cement, bone surfaces, or both. The bone is adapted to hold a primary implant and from which the primary implant was removed. The position of the one or more surfaces associated with bone is registered by computing at least one of: a generic set of one or more planes using the surface points or a best match between a known implant geometry and the surface points. A computer-assisted surgical system is also provided to execute the method.

Registration for computer-assisted revision arthroplasty

A system and process is provided for dynamically positioning or repositioning a robot in a surgical context based on workspace and task requirements, manipulator requirements, or user preferences to execute a surgical plan. The system and method accurately determines and indicates an optimal position for a robot with respect to a patient's anatomy before or during a surgical procedure. Optimal positions for a robot are intuitively indicated to a user. surgical procedures can illustratively include surgery to the knee joint, hip joint, spine, shoulder joint, elbow joint, ankle joint, jaw, a tumor site, joints of the hand or foot, and other appropriate surgical sites.

Method and system for guiding user positioning of a robot

A system and process for performing orthopedic surgery is provided that uses a tibial trial system in total knee arthroplasty for assessing optimal internal-external rotation and posterior tibial slope, and for measuring the rotation of a tibial trial throughout flexion-extension to determine and mark the best position for the final tibial component. The tibial trial system determines the internal-external location on a patient specific basis with improved component placement well within the present manual methods. One particular advantage to the tibial trial system is to assess the natural internal-external rotation that the tibial component will experience relative to the femoral component during flexion-extension as opposed to simply recording and balancing forces on a static tibial trial. The invention disclosed herein may also be adapted to be used with a computer assisted surgical device. Such surgical devices include active, semi-active, and haptic devices as well as articulating drill and saw systems.

Tibial trial for joint arthroplasty

A process for confirming registration of bones involved in a joint replacement procedure is provided that includes a three dimensional (3-D) models of the bones being generated. The bones are tracked with a tracking device attached to each of the bones to allow 6-degrees of freedom (DOF) tracking during the joint replacement procedure. The 3-D models to the bones are registered and the bones having the tracking device are moved. A corresponding motion in the 3-D models with the moving of the bones is then observed. The registration of the 3-D models to the bone when the observations of the 3-D models move in correspondence with the actual bones is then confirmed or an alarm when an algorithm detects the 3-D bone models move unexpectedly during the movement of the bones. A system for confirming registration of bones involved in the joint replacement procedure is also provided.

Method for confirming registration of tracked bones

A calibration device is provided having a body with an exterior surface configured for placement about a tool such that the body rotates about a tool axis. One or more fiducial marker is positioned on the exterior surface and in communication with a tracking system. A fixed fiducial marker array is provided that is also in communication with the tracking system. A calibration tool defines the tool axis relative to the fiducial marker array. A surgical system is also provided with a tracking module that calculates a center point of the rotation or a normal vector to the circular path to define a tool axis orientation. A method of using the surgical system and defining a tool axis relative to a fiducial marker array is provided. A system for defining a robot link orientation or tracking a tool a medical procedure and a fiducial marker array are provided.

Systems and methods for creating planar cuts on a bone are provided utilizing one or more cutting guides assembled to a plurality of bone pins, where the bone pins are inserted on the bone coincident with one or more virtual pin planes defined relative to one or more of the planar cuts. Alignment guides are also disclosed herein that aid in the creation of pilot holes for receiving a cutting block in a desired position and orientation (POSE). An articulating surgical device actively positions the bone pins coincident with the virtual plane to ensure the cutting guides, when assembled to the pins, aligns one or more guide slots in the desired POSE to create the planar cuts.

Growing community of inventors

Fremont, CA, United States of America

Daniel Patrick Bonny