Howmedica Osteonics Corporation

Stryker Corporation

Mako Surgical Corporation

Michael C Ferko

Stuart L Axelson, Jr

Peter John Wellings

Emily Hampp

Patrick Roessler

Michael Dale Dozeman

Robert Davignon

Mohamed Soliman

Carlos E Collazo

David Gene Bowling

Richard Thomas DeLuca

Gregory Garcia

James H Howell

Robert Frederick Simes, Jr

Mark Ellsworth Nadzadi

John R Fossez

Helmut Rohs

Hans-Ulrich Becker

Vladimir Gershuni

Bharat Arora

José Luis Moctezuma De La Barrera

Sandeep K Chauhan

Vincent Alipit

Rishabh Khurana

Sanghita Bhattacharya

Stuart L Axelson

Craig Lawrence Cedermark

Systems and methods are provided for guiding movement of a tool. The system includes a tool and a manipulator. A guide handler obtains a target state for the tool and generates virtual constraints based on the target state and a current state of the tool. A constraint solver calculates a constraint force adapted to attract the tool toward the target state or repel the tool away from the target state based on the virtual constraints. A virtual simulator simulates dynamics of the tool in a virtual simulation based on the constraint force and input from one or more sensors, to output a commanded pose. The control system commands the manipulator to move the tool based on the commanded pose to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.

Systems and methods for guiding movement of a tool

Surgical systems, computer-implemented methods, and software programs for generating a milling path for a bone. The implementations involve obtaining a virtual model of the bone, a resection volume defined relative to the virtual model of the bone, and a reference guide defined with respect to the resection volume. Section planes are successively arranged along the reference guide, and each section plane intersects the reference guide and intersects the resection volume. A section path is generated within each section plane and is defined relative to the resection volume. Transition segments are generated to connect section paths of section planes. The milling path is then generated by combining the section paths and the transition segments.

Techniques for patient-specific milling path generation

Robotic surgical systems and methods for controlling movement of a tool relative to a tool path. An input is received from a force/torque sensor in response to user forces/torques manually applied to the tool by a user. A component of force is calculated tangential to the path based on the input. An effective feed rate is calculated to advance the tool along the path based on the tangential component. Virtual constraints are defined on movement of the tool along the path with respect to three degrees of freedom and based on the effective feed rate to promote movement of the tool along the path. Dynamics of the tool are virtually simulated based on the virtual constraints and the input from the force/torque sensor. The manipulator is commanded to advance the tool along the path based on the virtual simulation.

Systems and methods for controlling movement of a surgical tool along a predefined path class

A femoral implant for articulation with a patella or a patellar implant includes a body having an articular surface defining a trochlear groove. The trochlear groove is defined by a first trochlear radius at a first location along the trochlear groove and by a second trochlear radius at a second location along the trochlear groove, the first radius being different than the second radius. The configuration of the trochlear groove is such that it narrows as a patella or patellar implant moves from an extension configuration to a flexion configuration. A kit includes the femoral implant along with a patellar implant. A method of trialing involves use of the femoral implant or kit to ensure a smooth transition of the patella or the patellar implant from the femoral component to the adjacent bone.

Patellofemoral implant

A robotic surgical system comprises a surgical tool, a manipulator configured to support the surgical tool, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a three-dimensional milling path for the surgical tool. The control system also receives one or more signals from the force/torque sensor in response to a user manually applying user forces and torques to the surgical tool. The control system determines a commanded pose to which to command the manipulator to advance the surgical tool along the milling path based on a tangential component of the user forces and torques, based on a virtual simulation using virtual constraints, and/or based on other suitable factors to promote guided, manual movement of the surgical tool along the milling path.

Systems and methods for controlling movement of a surgical tool along a predefined path

Systems, methods, software and techniques for generating a milling path for a tool of a surgical system are provided. The milling path is designed to remove a resection volume associated with an anatomical volume. A reference guide is defined with respect to the resection volume. Sections are defined along the reference guide in succession. Each section intersects the reference guide at a different intersection point and is at a specified orientation relative to the reference guide at the intersection point. Each section further intersects the resection volume. A section path is generated to be bounded within each section and defined relative to the resection volume. A plurality of transition segments are generated and each transition segment connects section paths of successive sections along the reference guide.

An optimized press-fit between a resected bone and an articular implant may, for instance, reduce undesirable qualities, including excess micromotion, stress transmission, and/or strain. By taking into account heterogeneous bone properties, the parameters of a bone resection can be determined as to optimize the press-fit between a resected bone and an articular implant. An optimized press-fit is obtained by determining ideal engagement characteristics corresponding to the fit between the fixation features of an articular implant and a bone. Then, taking into account a bone's heterogeneous properties, the parameters of a bone resection that would substantially achieve the determined ideal engagement characteristics are determined.

Patient specific bone preparation for consistent effective fixation feature engagement

Disclosed herein are implants with pivots that can be rotated about these pivots to be implanted onto bone, and methods for implanting same. The implant may have a plurality of pivot pads and curved projections extending from one or more bone contacting surfaces. The pivot pads and curved projections may engage with corresponding features on bone for implantation and securement of the implant to the bone. The implant may be rotated about the plurality of pivot pads placed in corresponding recesses on bone to seat the projections into the corresponding recesses.

Concentric keel TKA

Disclosed herein are systems and methods of patella arthroplasty. A navigated patella clamp used in an arthroplasty procedure includes first and second movable jaw members and an actuation member coupled to the first and second jaw members for moving the first and second jaw members along a plane toward and away from one another. The patella clamp further includes a tracker and adjustable stylus for positioning the clamp on a patient's patella below a desired resection plane. The adjustable stylus coupled to the clamp is used to check the position and orientation of the clamp with respect to the patella to ensure the correct amount of bone will be resected from the patella corresponding to the thickness of a patella component that will be implanted on the resected patella.

Navigated patella clamp

Disclosed herein are patellar implants and methods to prepare bone for receiving the same. The patellar implant may include an articulating surface with an elliptically shaped median ridge. The anterior surface of the patellar implant may have a non-planar surface to engage with a resected natural patella. The non-planar surface may allow for varying thickness of the patellar implant. The patellar implant may include dual attachment features to secure patellar implant to a resected patella by onlay and inlay techniques. A method for attaching a patellar implant to a patella may include onlay and inlay techniques and may further include bone preparation at the implant-bone interface.

Rotary arc patella articulating geometry

Disclosed herein are methods of designing and fabricating prosthetic implants having a sagittal wall in which at least a portion thereof traverses a non-linear path. A method of fabricating such a prosthetic implant may include generating a virtual bone model based on image information obtained from at least one bone, determining a proposed height of the prosthetic implant at a first location on the virtual bone model, determining a proposed resection depth into the at least one bone at the first location based at least in part on the proposed height of the prosthetic implant, and determining a curved resection path across a portion of the virtual bone model. The curved resection path may intersect the first location and the prosthetic implant may have a curved sagittal wall corresponding to the curved resection path.

Morphologically curved sagittal wall of a tibial implant

Disclosed herein are systems and methods of patella preparation. A method of patella preparation includes creating a patellar coordinate system utilizing key honey landmarks of a patella on a virtual model of an unresected patella. The method can further include defining a resection plane at a predetermined implant thickness and aligning the resection plane with the patellar coordinate system. Implant selection can be finalized on the resection plane to meet predetermined tolerances. A navigated patella clamp with a tracker and stylus can then be used to intraoperatively resect the patella and locate the implant.

Patella implant planning

Disclosed herein are orthopedic implants having a medial portion and a lateral portion, each of the medial and lateral portions having a proximal surface and a distal surface opposite the proximal surface. An intermediate portion joins the medial and lateral portions, wherein the intermediate portion has a proximal surface angled to the proximal surfaces of the medial and lateral portions about a longitudinal axis of the orthopedic implant. The proximal surface of the medial portion is stepped from the proximal surface of the lateral portion about the longitudinal axis. The proximal surfaces of the medial and lateral portions are configured to receive corresponding medial and lateral inserts.

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Warwick, NY, United States of America

Michael C Ferko