Mako Surgical Corporation

Matt Harrow

Hyosig Kang

Peter L Ebbitt

Min Wu

Jienan Ding

Ta-Cheng Chang

Snehal Kasodekar

Jean Gonzalez

Viktor Krebs

José Luis Moctezuma De La Barrera

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 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 for intraoperative planning and facilitating a revision arthroplasty procedure includes displaying a virtual model of a bone, capturing positions of a tracked probe as the tracked probe contacts points at a perimeter of a primary implant component coupled to the bone, generating a virtual representation of an interface between the primary implant component and the virtual model of the bone using the positions of the tracked probe, planning a bone resection using the virtual representation of the interface, and guiding execution of the bone resection.

A method of performing a procedure includes preparing a subject, gaining access to a portion of the subject with a first instrument, removing a first portion of the portion of the subject with the first instrument, gaining access to the portion of the subject with a tracked instrument, moving the tracked instrument to a surface revealed by removal of at least the first portion from the portion of the subject, tracking the tracked instrument while moving at least the tracked instrument to the surface, and determining a representation of the surface based on the tracking the tracked instrument.

Systems and methods for a robotic-assisted revision procedure

A method for intraoperatively planning and facilitating a revision arthroplasty procedure. The method includes capturing positions of a tracked probe as the tracked probe contacts an interface area between a bone and a primary implant component implanted on the bone, intraoperatively generating a virtual boundary corresponding to a portion of the interface area to be removed to detach the primary implant component from the bone using the positions of the tracked probe and without use of pre-operative medical imaging, facilitating removal of the primary implant component from the bone by providing a constraint on operation of a cutting tool while the cutting tool removes the portion of the interface area, the constraint based on a relationship between the cutting tool and the virtual boundary.

A method for performing a revision surgery using a robotic-assisted surgery system includes determining information related to an interface area between an implant component and a bone, and generating a planned virtual boundary associated with a portion of the interface area to be removed in a representation of the implant and the bone, based at least in part on the information related to the interface area. The method further includes tracking movement in the physical space of a cutting tool such that movement of the cutting tool is correlated with movement of a virtual tool, and providing a constraint on the cutting tool while the cutting tool removes the portion of the interface area. The constraint is based on a relationship between the virtual tool and the planned virtual boundary. The portion of the interface area is removed to remove the implant component from the bone.

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Fort Lauderdale, FL, United States of America

Matt Harrow