Stryker Corporation

Mako Surgical Corporation

Stryker Instruments

Howmedica Leibinger Inc.

Stryker Leibinger Gmbh & Co Kg

Donald W Malackowski

José Luis Moctezuma De La Barrera

John Michael Stuart

Patrick Roessler

Joel N Beer

David Gene Bowling

Jerry A Culp

Stuart L Axelson, Jr

Chunwu Wu

John J Janik

Hyosig Kang

Bruce D Henniges

James G Walen

Richard Franklin Huyser

David Hershberger

Douglas Alan Staunton

Timothy Wade Perez

Christopher D Philipp

Richard Thomas DeLuca

Robert A Brindley

Steven J Carusillo

Dennis Alan Stratton

Paul M Hoekstra

Michael D Strickler

Luis A Diaz

Victor Soto

Jason D Toman

Helmut Rohs

John S Ketchel

Oscar Williams

John R Fossez

Waldean Allen Schulz

Michael Dale Dozeman

Mark A Wasserman

Douglas L Tyler

Chris Philipp

Kathryn Aubrey

Yashdeep Kumar

Norbert Riedlinger

Matt Shinew

Peter Forst

Klaus Welte

Harry A Wellons, Iii

Brey Daniel Hansford

David S Goldenberg

Michael R Wildgen

Christopher Alan Lightcap

Martin Stangenberg

Joseph Bos

Ulrich Buehner

Paul Hoekstra

Patrick J Del Medico

Jose-Luis Moctezuma De La Barrera

Paul A Welch

Jose Luis Moctezuma De La Barrere

Markus Bohringer

Jose Luis Louis Moctezuma De La Barrera

Jeff Stryker Leibinger Miller

Jim Bertolina

Milton Barnes

Dave Hershberger

Jerry S Culp

José-Luis Moctezuma De La Barrera

Richard T Deluca

Jason Dee Toman

A surgical navigation system and method of operating the same involve a pointer tool and a localizer configured to track the pointer tool. Controller(s) is/are coupled to the localizer and are configured to generate a virtual boundary relative to a bone at a surgical site. The virtual boundary has a shape that delineates a region of the bone to be removed from a region to be avoided. The controller(s) identify, with the localizer, a position of one or more landmarks at the surgical site in response to the pointer tool touching the one or more landmarks at the surgical site. The controller(s) revise the shape of the virtual boundary based on the position of the one or more landmarks.

Surgical systems and methods for dynamic virtual boundary adjustment

Systems and methods are disclosed involving a navigation system including a localizer and a tracker detected within a field-of-view of the localizer. In one example, a virtual line-of-sight boundary is generated based on a line-of-sight relationship between the tracker and localizer. Additionally, or alternatively, a virtual field-of-view boundary is generated based on the field-of-view of the localizer. A virtual object is associated with a physical object and/or the tracker. Controller(s) detect whether a virtual collision occurs between the virtual object and the virtual line-of-sight boundary and/or virtual field-of-view boundary. The controller(s) enable a response based on detecting the virtual collision.

Navigation systems and methods for reducing tracking interruptions during a surgical procedure

Surgical systems and methods to interact with a limb of a patient held by a limb holder. An instrument is configured to apply a force externally to the limb held by the limb holder, One or more controllers measure an extent to which the limb moves relative to the limb holder in response to the force applied externally to the limb by the instrument. The one or more controllers generate, based on the measured extent, a notification relating to physical adjustment of one or both of the limb and the limb holder.

Surgical system and method of evaluating the extent to which a limb is held by a limb holder

Systems and methods are described herein wherein a localizer is configured to detect a position of a first object and a vision device is configured to generate a depth map of surfaces near the first object. A virtual model corresponding to the first object is accessed, and a positional relationship between the localizer and the vision device in a common coordinate system is identified. An expected depth map of the vision device is then generated based on the detected position of the first object, the virtual model, and the positional relationship. A portion of the actual depth map that fails to match the expected depth map is identified, and a second object is recognize based on the identified portion.

Obstacle avoidance techniques for surgical navigation

Surgical systems and methods of operating the same involve controlling a robotic manipulator to move a cutting instrument to cut away material from a bone at a surgical site. A machine vision system uses a vision camera to detect an object at, or in proximity to, the surgical site. A control system associates a virtual boundary with the detected object and controls the robotic manipulator to move the cutting instrument based on the virtual boundary such that the cutting instrument avoids the detected object. In one example, the control system modifies a tool path of the cutting instrument based on the virtual boundary to avoid the detected object. Additionally, or alternatively, the control system can automatically adjust an orientation of the cutting instrument based on the virtual boundary to avoid the detected object.

Systems and methods for establishing virtual constraint boundaries

A camera and drape assembly for use with one or more tracking elements of a surgical system. The assembly includes a camera unit including a casing and a plurality of optical sensors supported by the casing for detecting the one or more tracking elements. The casing includes a base and a post extending from the base. The assembly also includes a drape having a flexible section for draping over the post of the casing to cover the casing and the optical sensors. The assembly also includes a collar to fit over the post to trap the flexible section of the drape between the collar and the post.

Assembly for positioning a sterile surgical drape relative to optical position sensors

A user control device for a surgical system. The surgical system includes a robotic manipulator to support and move a surgical instrument that has an energy applicator. One or more controllers operate the robotic manipulator in a semi-autonomous mode and calculate an instrument feed rate, which is the velocity at which the energy applicator advances along a tool path in the semi-autonomous mode. The user control device includes a housing configured as a pendant configured to be held in one hand of a user. A first control member is mounted to the housing and can be depressed to initiate operation of the robotic manipulator in the semi-autonomous mode. A second control member is mounted to the housing and can be depressed to modify the instrument feed rate in the semi-autonomous mode.

Hand-held pendant for controlling a surgical robotic manipulator in a semi-autonomous mode

Surgical systems, methods and non-transitory computer readable medium for comparing localizer and image data to identify a region, such as an avoidance region or object. A localizer generates the localizer data associated with a surgical object. A vision device generates image data associated with the surgical object and an environment of the surgical object within a field-of-view of the vision device. Controller(s) associate a first virtual object with the surgical object and determine a pose of the first virtual object based on the localizer data. The controller(s) compare the image data and the localizer data to identify a region in the image data located outside of the first virtual object. The controller(s) associate a second virtual object with the identified region.

Systems and methods for comparing localization and vision data to identify an avoidance region

A tracking device for a navigation system that includes a localizer. The tracking device has a tracking body. At least one tracking element is supported by the tracking body and configured to transmit a tracking signal for the localizer. A visual indicator is supported by the tracking body and has an emitter configured to generate a visible light. A tracker controller supported by the tracking body is configured to receive a signal from the navigation system indicative of the tracking signal being received by the localizer, and in response, control the visual indicator to activate the emitter to generate the visible light to produce a color to indicate to a user that the tracking signal is being received by the localizer.

Navigation systems and methods for indicating and reducing line-of-sight errors

Surgical systems and methods for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate a virtual boundaries delineating a portions of the anatomy allowed to be removed by the surgical tool. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a first virtual boundary and according to a first feed rate or first frequency of path oscillations to remove a first portion. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a second virtual boundary that is spaced from the first virtual boundary, and according to a different feed rate or different frequency of path oscillations, to remove a second portion.

System and method for manipulating an anatomy

A sterile drape assembly for a surgical robot including a robotic arm with a plurality of links and a plurality of joints. The sterile drape assembly includes a surgical drape adapted to be disposed over the robotic arm and a drape belt configured to be secured to the surgical drape. The drape belt has at least one optical tracking element that moves with the drape belt as the drape belt is secured to the surgical drape.

Sterile drape assembly for surgical robot

A surgical system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. A navigation system includes a localizer, a first tracker coupled to the robotic manipulator or the tool, and a second tracker coupled to a workpiece. Controller(s) determine, from the navigation system, a pose of the tool relative to the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a first portion from the workpiece with the tool and sense interaction between the tool and the workpiece during removal of the first portion to detect a density of the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a second portion from the workpiece with the tool, wherein a cutting depth for the second portion is based, at least in part, on the detected density.

Robotic systems and methods for controlling a tool to remove material from a workpiece

Disclosed is a navigation system configured to track an object. The navigation system comprises a tracker configured to couple to the object and a localization device configured to track the tracker. The tracker and the localization device are configured to wirelessly communicate using a first communication method operable on a first spectrum and to wirelessly communicate using a second communication method operable on a second spectrum different from the first spectrum. The localization device utilizes the first communication method to track the tracker and utilizes the first communication method to manage an operating parameter of the tracker with respect to the second communication method.

High bandwidth and low latency hybrid communication techniques for a navigation system

A plate for attaching to an anatomic structure with fasteners. The plate has a body with a top surface and a bottom surface opposite the top surface. The body defines one or more openings to receive a respective one of the one or more fasteners. The bottom surface is concave to define a space to accommodate a portion of the anatomic structure. A bone pad surface extends from the bottom surface. A spike extends away from the bone pad surface. An extension arm can be coupled to the plate and the extension arm can support a tracking head to implement a surgical tracking assembly.

Bone plate for attaching to an anatomic structure

Surgical systems and methods for generating a tool path. A manipulator is configured to support and move a surgical instrument. Controller(s) obtain data that defines a volume of tissue to be removed from a surgical site. The controller(s) operate the manipulator to move the surgical instrument to remove first portions of the volume and acquire data defining the first portions removed from the volume. The controller(s) identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal. The controller(s) generate a tool path that passes through the additional portions and operate the manipulator to move the surgical instrument along the tool path to remove the additional portions.

Robotic system and method for removing a volume of material from a patient

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Schoolcraft, MI, United States of America

Donald W Malackowski