Mako Surgical Corporation

Hyosig Kang

Dennis Moses

Arthur E Quaid

Peter L Ebbitt

Rony Abovitz

Jason Karl Otto

Alon Mozes

Brian D Schmitz

Daniel Odermatt

Jienan Ding

Snehal Kasodekar

Benny Hagag

Scott David Nortman

Chris Lightcap

Scott Illsley

Viktor Krebs

Matt Harrow

Min Wu

Ta-Cheng Chang

Jean Gonzalez

David Gene Bowling

Radu Iorgulescu

Kevin Bechtold

Xiao Hui Gao

Martin Roche

Dana C Mears

Juan Salcedo

Louis K Arata

Arthur E Quaid, Iii

Miranda Jamieson

Timothy Blackwell

Chunyan Wu

William F Tapia

Christopher Wayne Jones

Sherif Aly

Binyamin Hajaj

Maurice Ferre

Sandi Glauser

Greg McEwan

Amardeep Singh Dugal

Richard P Bennett

Jose Luis Moctezuma De La Barrera

Randall E Hand

Victor Soto

Oscar Williams

Ezra Johnson

Matthew Harrow

Lucas Gsellman

Donald W Malackowski

Mark Ellsworth Nadzadi

Jerry A Culp

Patrick Roessler

Joel N Beer

John Michael Stuart

Robert Van Vorhis

Richard Bennett

Daryle Lee

Kana Nishimura

Christopher Alan Lightcap

Joseph Suarez

James Polselli

Randal Hand

Xiaohui Gao

Brian Donald Schmitz

Rony A Abovitz

Richard Paul Bennett

Alan Christopher Lightcap

Surgical systems and methods involve a robotic manipulator with a force sensor and a surgical tool that holds a screw. The screw has a known thread geometry. A navigation system tracks a pose of a target anatomy. Controller(s) store the known thread geometry and control the robotic manipulator to maintain the rotational axis on a planned trajectory with respect to the target anatomy based on the tracked pose of the target anatomy. The controller(s) detect, with the force sensor, a force applied by a user. The controller(s) control a rotational rate of the surgical tool to rotate the screw about a rotational axis and an advancement rate of the surgical tool to linearly advance the screw along the planned trajectory. The rotational rate and the advancement rate are based on the force applied by the user and are proportional to the known thread geometry.

Robotic spine surgery system and methods

A method of robotically evaluating soft tissue characteristics of a joint includes measuring, by a robotic device, information about a joint during a controlled range of motion manipulation of the joint; determining a motion limit of the joint, using the information about the joint measured during the controlled range of motion manipulation of the joint, wherein the motion limit is at least one of a displacement limit or a force limit of the joint; and replicating, using a joint positioner controlled by the robotic device, the controlled range of motion manipulation of the joint while introducing perturbations to the joint, wherein the replicated range of motion manipulation is controlled, at least in part, based on the motion limit. The method further includes using data obtained by the computer-assisted surgery system during the range of motion manipulation with perturbations to characterize the constraints of a soft tissue envelope of the joint.

Systems and methods for robotic soft tissue evaluation

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 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 method for intraoperatively augmenting a revision implant includes removing a primary implant from a bone, intraoperatively determining a size of a defect of the bone, intraoperatively cutting a bone filler material to the size of the defect, installing the bone filler material at the defect, and installing the revision implant on the bone.

Systems and methods for guiding a revision procedure

A method includes obtaining a model of a bone of a patient, identifying a plurality of landmarks of the model of the bone, defining a plane of the patient, determining an axis based on the plurality of landmarks and the plane, and planning a planned pose of an implant relative to the bone based on a relationship between a model of the implant, the axis, and the plane.

System and method for surgical planning

A surgery system includes a mechanical hub, an anatomy support structure coupled to the mechanical hub, a first moveable support structure, and an imaging system comprising a source element and a detector element. The imaging system is coupled to the mechanical hub via the first moveable support structure such that the source element and the detector element are repositionable relative to the anatomy support structure. The surgical system also includes a second moveable support structure coupled to the mechanical hub and a surgical instrument coupled to the mechanical hub via the second moveable support structure.

Integrated robotic surgery system

A robot-aided knee arthroplasty system includes a robotic device and a controller communicable with the robotic device. The controller is configured to control the robotic device to apply a force configured to increase a gap distance between a femur and a tibia of a knee joint and collect measurements of the gap distance between the femur and the tibia as the robotic device applies the force.

Motorized joint positioner

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 surgical system includes a surgical robot with an end effector that supports a drive assembly, a manual interface, and a trigger assembly. A cutting tool is attached to the drive assembly and rotatable about a cutting axis. A method includes positioning, with the surgical robot, the cutting tool relative to a surgical site to align the cutting axis with a predetermined trajectory. A user engages the trigger assembly for rotating the cutting tool about the cutting axis with the drive assembly and advancing the cutting tool along the predetermined trajectory at the surgical site to a first depth. A user applies force to the manual interface for rotating the cutting tool about the cutting axis and advancing the cutting tool along the predetermined trajectory to a second depth greater than the first depth.

End effectors and methods for driving tools guided by surgical robotic systems

A joint distraction lever, comprising a lever body comprising a handle portion and a working portion, a distal tip coupled to the working portion, and a fulcrum extending from a bottom surface of the working portion and spaced apart from the distal tip such that the fulcrum is positioned between the distal tip and the handle portion, where the joint distraction lever is configured to determine a distraction force based on deformation of the joint distraction lever.

Force measuring joint distraction lever

A joint distraction lever includes a lever body having a handle portion coupled to a working portion, a fulcrum extending from a bottom surface of the working portion of the lever body, a distal tip, which is raised above a top surface of the working portion of the lever body, a force measurement device used to measure a distraction force applied at the distal tip during a distraction procedure for a joint during which a torque is applied at the handle portion of the lever body, and a force value output used to indicate the distraction force applied at the distal tip.

A method includes providing a handheld manipulator, a surgical tool coupled to the handheld manipulator, and a mechanical arm, affecting, with the handheld manipulator connected to the mechanical arm, motion of the surgical tool by operating a motor of the handheld manipulator, and affecting, with the handheld manipulator disconnected from the mechanical arm, the motion of the surgical tool by operating the motor of the handheld manipulator.

Systems and methods for handheld robotic surgery

A method includes obtaining a surgical plan comprising a plurality of stages, determining, for each stage, a corresponding position of a first holder of a motorized joint positioner, selecting a selected stage of the plurality of stages of the surgical plan, and moving, by a computer programmed to control the motorized joint positioner, the first holder to the corresponding position of the first holder for the selected stage.

Robotic spinal surgery systems and methods include a robotic manipulator with a tool guide and a skin incision tool to be inserted into the tool guide. A navigation system includes a localizer for tracking the patient and a base tracker of the robotic manipulator. A control system registers, with the navigation system, a line haptic object to a vertebra of the patient, the line haptic object being associated with a desired trajectory for the vertebra. In response to a user input, the control system autonomously moves the robotic manipulator to align the tool guide to the desired trajectory. The tool guide is constrained to the desired trajectory with the line haptic object to enable insertion of the skin incision tool within the tool guide to facilitate creation of the incision in the skin at the desired trajectory.

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Weston, FL, United States of America

Hyosig Kang