Mako Surgical Corporation

Milan Ikits

Jason Karl Otto

Carinne Cecile Granchi

Ali Zafar Abbasi

Ta-Cheng Chang

Abdullah Zafar Abbasi

Daniel Antonio Perez

Shang Mu

Xiping Li

Aspects of the disclosure may involve a method of generating resection plane data for use in planning an arthroplasty procedure on a patient bone. The method may include: obtaining patient data associated with at least a portion of the patient bone, the patient data captured using a medical imaging machine; generating a three-dimensional patient bone model from the patient data, the patient bone model including a polygonal surface mesh; identifying a location of a posterior point on the polygonal surface mesh; creating a three-dimensional shape centered at or near the location; identifying a most posterior vertex of all vertices of the polygonal surface mesh that may be enclosed by the three-dimensional shape; using the most posterior vertex as a factor for determining a posterior resection depth; and generating resection data using the posterior resection depth, the resection data configured to be utilized by a navigation system during the arthroplasty procedure.

Preoperative planning and associated intraoperative registration for a surgical system

A method includes obtaining a planned position of a first prosthetic component for implantation in a joint, obtaining positional data indicative of relative positions of bones of the joint, calculating, based on the positional data and the planned position of the first prosthetic component, a planned separation distance for the joint, facilitating adjustment of the planned position based on a desired separation distance by updating the planned separation distance in response to an adjusted planned position of the first prosthetic component, and guiding installation of the first prosthetic component in the joint in the adjusted planned position.

Surgical system with separation distance planning

A method for guiding implantation of a first prosthetic component includes determining, using a virtual model of a joint including first and second bones, a planned orientation of the first prosthetic component in the joint, applying a valgus/varus moment to the joint at a plurality of flexion positions of the joint, and recording positional data indicative of relative positions of the first bone and the second bone at the plurality of flexion positions of the joint. The method also includes calculating estimated separation distances between the first prosthetic component and a second prosthetic component, adjusting the planned orientation of the first prosthetic component in the joint in response to an error between the estimated separation distances and one or more desired separation distances, and guiding implantation of the first prosthetic component on the first bone in accordance with the adjusted planned orientation of the first prosthetic component.

Systems and methods for prosthetic component orientation

A computer-implemented method determines an orientation parameter value of a prosthetic component. The method includes receiving a first desired separation distance between a first prosthetic component and a second prosthetic component at a first flexion position of a flexion joint and estimating a first estimated separation distance between the first prosthetic component and the second prosthetic component at the first flexion position of the joint for at least one potential orientation of the first prosthetic component. The method also includes determining a first orientation parameter value of the first prosthetic component by comparing the first estimated separation distance to the first desired separation distance and outputting the first orientation parameter value via a user interface.

A computer-implemented method determines an orientation parameter value of a prosthetic component. The method includes receiving a first desired separation distance between a tibial prosthetic component and a femoral prosthetic component at a first flexion position of a knee joint and estimating a first estimated separation distance between the tibial prosthetic component and the femoral prosthetic component at the first flexion position of the knee joint for at least one potential orientation of the femoral prosthetic component. The method also includes determining a first orientation parameter value of the femoral prosthetic component by comparing the first estimated separation distance to the first desired separation distance and outputting the first orientation parameter value via a user interface.

A method of creating an image including retrieving three-dimensional image data of an anatomy, retrieving a model of a portion of the anatomy, associating the model with the three-dimensional image data such that the model defines a bounded volume within the three-dimensional image data corresponding to the portion of the anatomy, and creating a virtual radiograph of the portion of the anatomy. Creating the virtual radiograph includes casting a plurality of rays from an origin point through the bounded volume, sampling, for each ray, the bounded volume at a plurality of sampling steps along the ray, the sampling steps separated by a sampling distance, and calculating, for each ray, an accumulated attenuation value of the bounded volume along the ray based on the samples.

Method and system for X-ray image generation

A method for generating a virtual radiograph for display on a display device, including providing an image generation system having a processing circuit including a processor and a memory device, the image generation system coupled to the display device. The method further including retrieving three-dimensional image data of an anatomy stored in the memory and retrieving a three-dimensional bone model corresponding to a portion of the anatomy stored in the memory. The method further including associating the three-dimensional bone model with the three-dimensional image data such that the three-dimensional bone model defines first boundary containing a first bounded volume within the three-dimensional image data corresponding to the portion of the anatomy, and performing a volume ray casting process on the three-dimensional image data.

Method and system for x-ray image generation

A method of creating an image including providing three-dimensional image data of an anatomy, providing a model of a portion of the anatomy, and creating a virtual radiograph of a target portion of the anatomy using information from the image data and information from the model. The method may further include representing the portion of the anatomy in a modified state, wherein the modified state is a resected, translated, rotated, and/or otherwise modified portion of the anatomy. The method may further include adding a virtual image of a prosthetic device to the virtual radiograph. The virtual radiograph may by created by executing a ray casting process on the three-dimensional image data.

A system and method for surgical visualization transform a cut procedure into a visual representation, e.g., during resection via a cutting tool. The system and method obtain shape data, e.g., bone shape data for the bone to be resected, and generate a CSG object model such as a bone model. Another CSG model is also generated, based, for example, on the cutting tool shape. During resection, tool position data is collected and multiple CSG subtraction models are generated based on the cutting tool model and the position data. The CSG bone model and subtraction models are used to create an image space visual representation by merging the CSG subtraction models into a single merged CSG subtraction model and subtracting the single merged CSG subtraction model from the CSG bone model.

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Plantation, FL, United States of America

Milan Ikits