Mako Surgical Corporation

Verb Surgical Inc.

Neocis Inc.

Dennis Moses

Hyosig Kang

Arthur E Quaid

Radu Iorgulescu

Pablo E Garcia Kilroy

Bernhard A Fuerst

Carinne Cecile Granchi

Jason Robert Wojcik

Rony Abovitz

Scott Illsley

Jose Luis Cordoba

Berk Gonenc

Alon Mozes

Juan Salcedo

Renbin Zhou

Sina Nia Kosari

Martin Roche

Peter L Ebbitt

Dana C Mears

Louis K Arata

Xin Liu

Timothy Blackwell

William F Tapia

Sandi Glauser

Maurice Ferre

Binyamin Hajaj

Sherif Aly

Amardeep Singh Dugal

Randall E Hand

Michael K Wong

Mauro Fittipaldi

Miguel Alberto Piedrahita

Kam Ziaei

Arthur Quaid

Pablo Garcia Kilroy

Rony A Abovitz

Alexander Maxfield Parker

Daniel Jose García Mijares

Melissa Francesca Gianello

Erik Paul Flor Beuckelaers

Robert Mittendorff

Ajay Gopal Royan

Randal Hand

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 () for robotically-guided surgery includes elongate first and second splint portions () each having opposed longitudinal ends and an interface edge extending between the ends, wherein the respective interface edges () are arranged as a complement to each other. First and second alignment elements (A,B) engaged with the first and second splint portions are arranged to interact with each other such that a substantially consistent gap is defined between the first and second interface edges, from the first ends to the second ends of the first and second splint portions. A threaded member () is engaged between the first and second splint portions and arranged to advance the first and second interface edges toward each other in response to advancement of the threaded member. A tracking portion () having a kinematic mount () engaged therewith is engaged with the first or second splint portion and extends outwardly therefrom. An associated method is also provided.

Splint device for guided surgical robot

A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. One or more sensors in the docking interface sense a magnetic field generated by the trocar. One or more processors are configured to determine a position and orientation of the trocar based on the sensed magnetic field, and then drive the actuators to orient the docking interface to the determined orientation of the trocar, or otherwise guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

Systems and methods for magnetic sensing and docking with a trocar

A method includes controlling a robotic system using a virtual boundary and based on optical tracking of a tracker, detecting a condition in which an optical detection device is occluded from detecting the tracker, and maintaining the virtual boundary if the condition persists for shorter than a predetermined period of time.

Surgical system with occlusion detection

A splint device for robotically-guided surgery includes elongate co-extending first and second splint portions each defining spaced-apart relief holes between first and second ends. A first separability provision is disposed between and extends along the first and second splint portions. A tracking portion is engaged with and extends outwardly from the first or second splint portion and extending outwardly therefrom, and has a kinematic mount engaged therewith. A second separability provision extending between one of the relief holes of the first splint portion and one of the relief holes of the second splint portion, wherein the second separability provision is arranged to be severable so as to facilitate adjustability of a length of the first and second splint portions and the first separability provision. The splint device can include a tool calibration provision or a fiducial marker element disposed in a predetermined disposition relative to the kinematic mount.

A method includes controlling a robotic arm extending from a base in a free mode during a registration procedure and optically tracking the base and a marker mounted on the robotic arm during movement of the robotic arm in the free mode. The movement of the robotic arm causes movement of the marker without affecting a position of the base. The method also includes defining a coordinate transformation based on a position of the base and a plurality of tracked positions of the marker achieved during the movement of the robotic arm in the free mode and controlling the robotic arm using the coordinate transformation.

Surgical system with free mode registration

A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

Systems and methods for docking with a trocar

A method for operating a surgical robot includes providing a plurality of virtual haptic geometries associated with different steps of a surgical procedure, evaluating a plurality of criteria associated with a first virtual haptic geometry of the plurality of virtual haptic geometries, activating the first virtual haptic geometry of the plurality of virtual haptic geometries without activating a second virtual haptic geometry of the plurality of virtual haptic geometries in response to satisfaction of the plurality of criteria, and controlling the surgical robot to constrain movement of an end effector of the surgical robot to the first virtual haptic geometry in response to activating the first virtual haptic geometry.

Systems and methods for selectively activating virtual guide geometries

A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.

Active backdriving for a robotic arm

A method of operating a robotic surgical system includes monitoring a force applied at a surgical instrument attached to a robotic arm, comparing the force to a force threshold for a surgical procedure, providing a signal in response to the force being outside the force threshold, monitoring, using a reference array attached to a patient, a bone movement caused while the surgical instrument interacts with the patient, and adjusting control of the robotic arm based on the bone movement.

Method and apparatus for controlling a haptic device

A method of operating a surgical device having a surgical tool includes allowing manual movement of the surgical tool along at least one direction, controlling the surgical device to align the surgical tool with a target using a control object having a planned geometric relationship with an anatomic feature, tracking movement of the anatomic feature during a surgical procedure, moving the control object to compensate for the movement of the anatomic feature during the surgical procedure, and controlling the surgical device to realign the surgical tool with the target using the moved control object.

Surgical device with movement compensation

A surgical system includes a first tracker configured to be affixed to a first object, a detection device configured to determine a change in position of the first tracker, and circuitry communicable with the detection device. The circuitry is configured to compare the change in the position of the first tracker to a condition and generate a fault signal in response to a determination that the change in the position of the first tracker violates the condition.

Systems and methods for sensing of and docking with a trocar

A surgical guidance system for use with a robotic device configured to support and move a surgical tool includes a tracking system configured to track the surgical tool and at least one bone, a display device, and a control system coupled to the tracking system and the display device. The control system is configured to register a plurality of target trajectories to the at least one bone, determine a distance between the surgical tool and each target trajectory, automatically identify which one of the target trajectories is closest to and within a threshold distance of the surgical tool, and display, on the display device, the identified target trajectory relative to the at least one bone and a tracked pose of the surgical tool relative to the identified target trajectory.

A surgical system includes a robotic arm, an end effector coupled to the robotic arm, a divot at the end effector, a probe configured to be inserted into the divot, a tracking system configured to obtain data indicative of a position of the probe while the probe is in the divot, and circuitry configured to verify a proper physical configuration of the surgical system based on the data indicative of the position of the probe while the probe is in the divot.

System and method for verifying calibration of a surgical system

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Hollywood, FL, United States of America

Dennis Moses