Mako Surgical Corporation

Matthew Thompson

Varun Chandra

Mark Ellsworth Nadzadi

Daniel Odermatt

Zhu Wu

Kevin Bechtold

Ta-Cheng Chang

Zenan Zhang

Eric Branch

Sunil Gupta

Ross Crawford

Jonathan Howell

Matthew Hubble

Matthew Wilson

Graham Gie

John Timperley

Jason Karl Otto

Jonathan Mark Morgan

Roberto Montane

Bojan Gospavic

Christine Perrone

Garrett Joyal

Ahmet Bagci

Jamil Elbanna

Brent Mittelstadt

William Donnelly

A system for surgical registration. The system may include at least one computing device in communication with a surgical navigation system and the surgical device. The at least one computing device: a) receiving external bone registration data corresponding to locations on the exterior surface of the femur; b) calculating a first registration transform based on the external bone registration data; c) transforming a first bone removal plan of a surgical plan to the operative coordinate system based on the first registration transform; d) receiving internal bone canal registration data corresponding to at least one of location or orientation data from the inner canal of the femur; e) calculating a second registration transform based on both of the external and internal bone canal bone registration data; and f) transforming a second bone removal plan of the surgical plan to the operative coordinate system based on the second registration transform.

Systems and methods for surgical registration

A method includes obtaining a surgical plan comprising a first planned position of an implant and a second planned position of an augment relative to a bone. The augment is planned to provide support between the bone and the implant. The method also includes preparing the bone to receive both the implant in the first planned position and the augment in the second planned position by controlling a robotic device based on the first planned position of the implant and the second planned position of the augment.

Robotic surgery system for augmented arthroplasty procedures

A method of calculating leg length discrepancy of a patient including: receiving patient bone data associated with a lower body of the patient; identifying anatomical landmarks in the patient bone data; orienting a first proximal landmark and a second proximal landmark relative to each other and an origin in a coordinate system; aligning a first axis associated with a first femur and a second axis associated with a second femur with a longitudinal axis extending in a distal-proximal direction, wherein the first and second distal landmarks are adjusted according to the alignment of the first and second axes; calculating a distance between the first and second distal landmarks in the distal-proximal direction along the longitudinal axis; and displaying at least one of the distance or a portion of the patient bone data on a display screen.

Lower extremities leg length calculation method

In one embodiment, the present disclosure relates to a method of evaluating soft tissue tension surrounding a hip of a patient using navigation and software to track positions of the femur and a pelvis of the patient in real time. The method begins with intra-operative reduction of a femoral implant into an acetabulum of a patient and retrieval of first coordinates of a femoral head center of the femoral implant when the femoral implant is in a reduced position. Performance of a shuck test follows where the femur is distracted relative to the acetabulum. Retrieval of second coordinates of the femoral head center occurs when the femoral implant is distracted from the acetabulum, and a difference between the first coordinates and the second coordinates in a coronal plane is used to determine a shuck length vector.

Assessment of soft tissue tension in hip procedures

Surgical systems, methods and surgical planning programs to facilitate preparation of an anatomical cavity to receive a cup implant. The system includes a control system, a localizer and a robotic manipulator configured to move an energy applicator that is adapted to remove tissue. The control system obtains or generates a surgical plan that defines characteristics of cement holes to be formed within a wall of the anatomical cavity for receiving bone cement. The control system registers the surgical plan to the anatomical cavity with the localizer and controls the robotic manipulator to utilize the energy applicator to form the cement holes within the wall of the anatomical cavity according to the surgical plan.

System and method for robotically assisting a surgical procedure

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.

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

A system for intra-operatively registering a pelvis comprising an acetabulum with a computer model of the pelvis in a coordinate system. The system may include: a) a surgical navigation system including a tracking device; and b) at least one computing device in communication with the surgical navigation system. The at least one computing device: i) receiving first data points from first intra-operatively collected points on an articular surface of the acetabulum, the first data points collected with the tracking device; ii) receiving a second data point from a second intra-operatively collected point on the pelvis, the second data point collected with the tracking device, the second data point corresponding in location to a second virtual data point on the computer model; and iii) determining an intra-operative center of rotation of the femur relative to the pelvis from the first data points.

Systems and methods for intra-operative pelvic registration

A registration system including a bone pin guide and a bone pin clamp. The bone pin guide may include a guide body, a first guide including a first guide through-hole having a first longitudinal axis, and a second guide including a second guide through-hole having a second longitudinal axis. The bone pin guide may guide first and second bone pins into a bone via the first and second guides. The bone pin clamp may include a clamp body, first, second, and third clamp through-holes extending through the clamp body, a plurality of registration indents defined on the clamp body, and a clamping mechanism including at least one adjustable fastener. The bone pin clamp may receive the first and second bone pins in the first and third clamp through-holes and guide a third bone pin into the bone via the second clamp through-hole.

Registration tools, systems, and methods

A system for facilitating arthroplasty procedures includes a robotic device, a reaming tool configured to interface with the robotic device, and a processing circuit communicable with the robotic device. The processing circuit is configured to obtain a surgical plan comprising a first planned position of an implant cup and a second planned position of an implant augment relative to a bone of a patient, determine a planned bone modification configured to prepare the bone to receive the implant cup in the first planned position and the implant augment in the second planned position, generate one or more virtual objects based on the planned bone modification, control the robotic device to constrain the cutting tool with the one or more virtual objects while the cutting tool interfaces with the robotic device and is operated to modify the bone in accordance with the planned bone modification.

Robotic surgery system for augmented hip arthroplasty procedures

Methods and systems are provided for robotic assisted surgery. A robotic system includes a localizer, at least one controller, and a surgical robotic manipulator which separately and detachably receives an energy applicator and an implant insertion tool that detachably receives an implant specifically for knee, hip or shoulder replacement surgery. The at least one controller determines a location within a portion of a patient's anatomy in which to form a cavity for the implant. The surgical robotic manipulator is controlled to form the cavity with the energy applicator. The surgical robotic manipulator is then controlled to insert the implant into the cavity with the implant insertion tool.

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

Methods and systems are provided for robotic assisted surgery. A robotic system includes a localizer, a surgical robotic manipulator, an end effector configured to be removably coupled to the manipulator, and a controller. The controller is configured to receive signals from the localizer, determine a final position of a cavity creation tool used to penetrate a portion of a patient's anatomy based on the signals received from the localizer, and determine an implant insertion path for an implant to be inserted into a final implant position within the portion of the patient's anatomy, wherein the final implant position corresponds to the final position of the cavity creation tool. The controller is also configured to move the end effector with the implant coupled thereto such that the implant moves along the implant insertion path, and terminate the movement of the end effector when the implant reaches the final implant position.

A computer-assisted surgery system includes a display, an input device configured to receive data input by a user, and a processor, coupled to the input device and the display. The processor is configured to establish a first position of a pre-operative center of rotation of a joint in a first coordinate space of a first bone and a second coordinate space of a second bone and establish a second position of the pre-operative center of rotation of the joint in the first coordinate space, wherein the second position is a projection into the first coordinate space of the position of the pre-operative center of rotation maintained in a constant position in the second coordinate space. The processor is further configured to determine a change in a parameter associated with the joint based on the first and second positions and output a result indicating the determined change to the display.

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Durham, NC, United States of America

Matthew Thompson