Mako Surgical Corporation

Jonathan Mark Morgan

Jochen Breisacher

Paul M Hoekstra

David Hofmann

Emeric Umbdenstock

Roberto Montane

Jason Karl Otto

Bojan Gospavic

Mark Ellsworth Nadzadi

Matthew Thompson

Seamus Gilhooley

Jean Gonzalez

Michael Vu

Mark Palm

Brandt Williams

David Gene Bowling

Paul Shiels

Victor Soto

Alan Ross

Ezra Johnson

Larry Hazbun

Dave A Sinclair

David DiPietro

Paul David Ekegren

David Robert Whisler

William Daniel Weinlandt

Systems, methods and computer-program products are provided for aiding in positioning between a surgical object and a machine vision camera in a surgical environment. The machine vision camera senses a position and orientation of a surgical object in its field of view. Controller(s) virtually define a zone within the field of view that indicates a range of acceptable positions for the surgical object relative to a position of the machine vision camera. The controller(s) obtain an acceptable orientation range for the surgical object relative to an orientation of the machine vision camera. The controller(s) execute a GUI to simultaneously present, on the display device, representations of: the field of view; the zone within the field of view; the position of the surgical object relative to the zone; and a current angle difference between the surgical object and the machine vision camera.

System, method and software program for aiding in positioning of objects in a surgical environment

Surgical robotic systems and navigation systems employ a robotic arm including a plurality of links. A link tracker assembly is located on the surface of one or more of the links to enable the link to be tracked by a localizer. The link tracker assemblies can utilize a plurality of tracker elements that can be removably coupled to the link. A photosensor assembly is located on the surface of one or more of the links to receive signals from the localizer for controlling the link tracker assembly. The robotic arm can be coupled to a base and the systems can be used in collaboration with a base tracker that is coupled to the base. The robotic arm can also include a mounting interface for receiving an end effector and the systems can be used in collaboration with an end effector tracker that is coupled to the end effector.

Robotic system including a link tracker

Navigation systems, methods and software for assisting in determining whether a tool is properly installed on a surgical device. A protective packaging retains the tool and has a trackable feature. The trackable feature has a predetermined state defined relative to the tool and the trackable feature is detectable by a localizer. One or more controllers acquire the actual state of the tool based on the detected trackable feature and compare the actual state of the tool with an expected state of the tool, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device.

Trackable protective packaging for tools and methods for calibrating tool installation using the same

A tracker for a navigation system. A tracker body defines an opening, and a lens is positionable to seal the opening. A plug is configured to be coupled to the tracker body to secure the lens. A tracking element may be disposed between the lens and the plug so as to be visible through the lens. The tracking element may be disposed within a sealed enclosure defined by the lens and the plug. The plug may define a counterbore in fluid communication with the opening, and the plug may be at least partially disposed within the counterbore. The plug may further define a groove, and the tracker may include a sealing element disposed within the groove. The plug may include a shoulder configured to in sealing engagement with the tracker body. Methods of assembling the tracker for use with the navigation system are also disclosed.

Tracker for a navigation system

Surgical navigation systems and methods for tracking an object within an operating room involve a camera unit that houses a first stereoscopic sensing system and a second stereoscopic sensing system each comprising sensing elements adapted to sense light. A controller utilizes the first stereoscopic sensing system to sense light from the object and track the object according to a first resolution. The controller utilizes the second stereoscopic sensing system to sense light from the object and track the object according to a second resolution that is lower than the first resolution. The controller obtains data related to the object from the second stereoscopic sensing system and modifies control of the sensing elements of the first stereoscopic sensing system based on the obtained data related to the object.

Systems and methods for tracking objects

A navigation system includes a first and second tracker supports independently affixed to a rigid object and separated by a distance. A first plurality of trackable elements are secured to the first tracker support and a second plurality of trackable elements are secured to the second tracker support. A localizer tracks the trackable elements and controller(s) define a tracking arrangement to be tracked based on a combination of the first and second plurality of trackable elements. A geometry of the tracking arrangement is registered relative to the rigid object and the controller(s) track the rigid object by detecting the registered geometry. The controller(s) identify a condition wherein at least one trackable element has been displaced relative to the registered geometry, and in response, generate an instruction to a manipulator controller to interrupt operation of a robotic manipulator.

Versatile tracking arrays for a navigation system and methods of recovering registration using the same

Systems and methods to track an object within an operating room with a camera unit. The camera unit includes a first optical sensor with sensing elements to sense light in a near-infrared spectrum and a second optical sensor to sense light in a visible light spectrum. A controller is in communication with the first and second optical sensors. The controller obtains, from the second optical sensor, data related to the object within the operating room. The controller modifies control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor.

Systems, methods and software are provided for aiding in positioning of objects in a surgical environment. A tracker is rigidly affixed to a surgical object. A camera has a field of view and senses positions of the tracker in the field of view. Controller(s) provide a zone positioned within the field of view at a location that is static relative to the field of view such that the zone is located independent of the sensed positions of the tracker. The zone defines a range of acceptable positions for the tracker relative to a position of the camera. Controller(s) acquire positions of the tracker as the surgical object is moved throughout a range of motion and enable evaluation of the positions of the tracker throughout the range of motion relative to the zone to aid in positioning of one or more of: the camera, the tracker, or the surgical object.

A navigation system is disclosed which comprises a tracker having a trackable feature, a localizer configured to track states of the trackable feature within a field of view, an illumination assembly operable to direct light within the field of view, and a controller coupled to the localizer and to the illumination assembly. The controller is configured to receive the tracked states from the localizer, to determine a status condition of the tracker based on the tracked states received from the localizer, and to control the illumination assembly to direct light at the tracker such that light reflected by the tracker from the illumination assembly is visible to a user of the navigation system to communicate the status condition of the tracker.

Navigation systems for communicating tracker status conditions

Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.

Protective packaging, surgical kits, systems, and methods are described herein for assisting in determining whether a tool is properly installed on a surgical device. The protective packaging retains the tool and has trackable features defined relative to a tool center point of the tool. The trackable features have a predetermined state defined relative to the tool center point and the trackable features are configured to be detectable by a localizer to locate the tool center point. One or more controllers can compare the actual state of the tool center point with an expected state of the tool center point, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device.

Systems and methods track objects within an operating room. A machine vision system includes a camera and a controller. A navigation system includes a camera unit including a sensor array. The sensor array includes a plurality of sensing elements. The controller system identifies a first subset of the plurality of sensing elements to be active based on the position of the object. The controller is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.

A navigation system is disclosed comprising a first and a second tracker support separately affixed to the same rigid object by a distance. A first and a second plurality of trackable elements are secured to the first and second tracker supports, respectively. The navigation system defines a tracking arrangement to be tracked based on a combination of the first and second plurality of trackable elements. A geometry of the tracking arrangement relative to the rigid object is registered. The navigation system has a localizer configured to track the rigid object by detecting the registered geometry of the tracking arrangement. The navigation system identifies a condition wherein at least one trackable element has been displaced relative to the registered geometry, and in response, generates a response to address the condition.

Systems, methods and software are provided for aiding in positioning of a camera relative to objects in a surgical environment. The camera has a 3D field of view and senses positions of the objects in the field of view. A controller is coupled to the camera and defines a first zone and a second zone within the field of view. Each zone defines a range of acceptable positions for one of the objects relative to a position of the camera. The controller receives the position of the objects. A graphical user interface displays image representations of: the field of view, the first zone relative to the field of view, the second zone relative to the field of view, the position of one object relative to the first zone, and the position of another object relative to the second zone.

System, method and software program for aiding in positioning of a camera relative to objects in a surgical environment

Systems and methods track objects within an operating room. A machine vision system includes at least one camera and a machine vision controller. A navigation system includes a camera unit including a plurality of sensor arrays. The sensor arrays include a plurality of sensing elements. For each of the plurality of sensor arrays, the navigation system identifies a first subset of the plurality of sensing elements to be active based on the position of the object and a second subset of the plurality of sensing elements to be inactive based on the position of the object. The navigation processor is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.

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Biscayne Park, FL, United States of America

Jonathan Mark Morgan