Stryker Corporation

Mako Surgical Corporation

Stryker Instruments

Douglas Alan Staunton

Timothy J Bozung

James E Flatt

Donald W Malackowski

John J Janik

Michael Dale Dozeman

Richard Franklin Huyser

Robert A Brindley

Paul M Hoekstra

Chamara L Gamhewage

Michael Moloney

Andy Staats

Philip James Tullis

Eland Cramlet

Nicole Fickes

Matthew B Pastrick

Jerry A Culp

Mark A Wasserman

Seamus Gilhooley

Jason D Toman

Rob Brindley

Harry A Wellons, Iii

Séamus Gilhooley

Patrick J Del Medico

Christopher Eager

Paul Hoekstra

Nicole Aitchenson

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

A surgical system and method of operating the same. A manipulator supports and facilitates movement of a surgical tool along a tool path relative to a surgical site. A navigation system includes a localizer to monitor states of the manipulator and the surgical site. Controller(s) determine a commanded state of the surgical tool and an actual state of the surgical tool relative to the tool path for a given time step. The controller(s) detect a deviation between the commanded state and the actual state of the surgical tool for the given time step. The controller(s) respond to the deviation by modification of one or both of: a feed rate of the surgical tool; and the tool path. In some implementations, the controller(s) predict, based on the deviation, a future deviation between a future commanded state and a future actual state of the surgical tool for a given future time step.

Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site

A method for mounting a tool to a surgical device using a packaging body. A proximal section of the packaging body is articulated about a second boundary relative to a first distal section of the packaging body for removing a proximal end of the tool from a proximal cavity for exposing the proximal end. The proximal end is mounted to the surgical device while a distal end of the tool remains securely retained by first and second distal sections of the packaging body within a distal cavity. After mounting, the distal end is released from the distal cavity by articulating one distal section relative to the other distal section for exposing a first portion of the distal end that was retained by the one distal section. Thereafter, the other distal section is removed for exposing a remaining portion of the distal end that was retained by the other distal section.

Packaging systems and methods for mounting a tool on a surgical device

A robotic surgical system and method of operating the same. A manipulator supports a tool that has a TCP and manipulates a target bone. A navigation system has a localizer to monitor states of the manipulator and the target bone. Controller(s) determine commanded states of the TCP to move the tool along a cutting path relative to the target bone to remove material from the target bone. The controller(s) determine actual states of the TCP responsive to commanded movement of the tool along the cutting path, wherein each one of the commanded states of the TCP has a corresponding one of the actual states of the TCP for a given time step. The controller(s) compare the corresponding commanded and actual states of the TCP for one or more given time steps to determine a deviation and modify operation of the tool to account for the deviation.

An end effector is disclosed for use with a surgical robotic manipulator and a cutting accessory. The end effector comprises a nose tube for receiving the cutting accessory and an actuator for driving the cutting accessory. The end effector may also comprise a mounting fixture for coupling the end effector to the surgical robotic manipulator and a handle for gripping by the user. The handle may be coupled to the nose tube and configured to rotate about the axis of the nose tube. The end effector may also comprise a lever coupled to the handle and moveable between depressed and released positions. The end effector may further comprise an activator coupled to the lever and configured to interact with a sensor for sensing the position of the lever.

End effector of a surgical robotic manipulator including a grip sensing mechanism for manual operation of the end effector

A sterile barrier assembly, mounting system, and method for kinematically coupling first and second surgical components together through the sterile barrier assembly so that positioning is repeatable and deterministic.

Sterile barrier assembly, mounting system, and method for coupling surgical components

System and methods of controlling a robotic system are disclosed. The robotic system interacts with an anatomy that is held by a support. The robotic system comprises a force-applying device that applies a force externally to the anatomy while the anatomy is held by the support. A controller measures the extent to which the anatomy is held by the support and controls the robotic system based on the measured extent.

System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure

Systems and methods for operating a robotic surgical system are provided. The system comprises a surgical tool for interacting with a surgical target, a manipulator comprising a plurality of links and supporting the tool, a navigation system comprising a manipulator tracker coupled to the manipulator and a patient tracker coupled to the surgical target and a localizer for monitoring states of the trackers. A controller determines commanded states for moving the tool relative to the surgical target using data (filtered according to a first filter length) from the manipulator and/or navigation system. The controller determines actual states of the tool while commanding the tool relative to the surgical target using data (filtered according to a second filter length being shorter than the first filter length) from the manipulator and/or navigation system. The controller compares the commanded and actual states and modifies tool operation based on an outcome of the comparison.

A packaging system for an elongate tool to be coupled to a surgical device. A segmented packaging body comprises a first distal section, a second distal section, and a proximal section. The first and second distal sections provide a clamshell casing to the distal end of the tool, and the proximal section is pivotally coupled to the first distal section and configured to receive the proximal end of the tool. The packaging body may comprise a living hinge and perforations to facilitate mounting the tool on the surgical device without the user touching the tool, thereby minimizing risk of contamination and/or injury. The proximal section may be detached from the clamshell casing at the perforations after the tool is mounted on the surgical device. Secondary packaging may be provided to receive the packaging body. Methods for mounting the tool disposed within the packaging system are also disclosed.

An electrode array and a delivery assembly are disclosed. The array is wrapped around a flexible core part of the delivery assembly. A sheath, also part of the delivery assembly, is disposed over the array and core. Steering cables extend through the core. Once the delivery assembly-encased array is inserted in the body, the combination is advanced to the tissue over which the array is to be deployed. By pulling on the steering cables the array and assembly are steered into position. Once the array is in position, the sheath is retracted, the array deploys over the target tissue.

Delivery assembly for percutaneously delivering and deploying an electrode array at a target location, the assembly including a steerable core around which the array is wrapped

An end effector includes a drive system to rotatably drive a removeable cutting accessory. The cutting accessory defines a bore. The drive system includes a drive member that defines a lumen. A cartridge is provided to deliver liquid from a liquid source, through the lumen of the drive member, through the bore of the cutting accessory, and to a surgical site.

End effector with liquid delivery system

An assembly for both targeting a location in a living being at which an implantable medical device is to be inserted and defining a percutaneous path to the target location. The assembly includes a guidewire with electrodes that is inserted percutaneously into the living being. Electrodes on the guidewire source and sink current to facilitate the identification of the target location. A dilator encased in a reinforced sleeve is disposed over the guidewire. Steering wires in the sleeve facilitate the advancement of the sleeve and the guidewire. Once the dilator and sleeve are advanced to the target location, the dilator is removed from the sleeve. The lumen in sleeve functions as the lumen in the living being through which the implantable device is delivered to the target location.

Steerable introducer assembly for first percutaneously identifying target tissue and then defining a percutaneous path to the target tissue for an implantable medical device

System and methods of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure include applying a force to the anatomy to generate a response by the anatomy. The response of the anatomy is measured and a characteristic of the anatomy is calculated based on the response. An instrument is autonomously controlled in relation to the anatomy based on the calculated characteristic.

An electrode array and a delivery assembly. The array is wrapped around a flexible core part of the delivery assembly. A sheath, also part of the delivery assembly, is disposed over the array and core. Steering cables extend through the core. Once the delivery assembly-encased array is inserted in the body, the combination is advanced to the tissue over which the array is to be deployed. By pulling on the steering cables the array and assembly are steered into position. Once the array is in position, the sheath is retracted, the array deploys over the target tissue.

Growing community of inventors

Kalamazoo, MI, United States of America

Douglas Alan Staunton