Mako Surgical Corporation

Stryker Corporation

Stryker European Operations Limited

Other

Stryker European Holdings I LLC

Paul Shiels

Jason Karl Otto

David Gene Bowling

Seamus Gilhooley

Alan Ross

Larry D O'Cull

John R Fossez

Christopher Wayne Jones

Greg McEwan

Jevin Scrivens

Greg Starr

Patrick C Kelly

Jochen Breisacher

Jonathan Mark Morgan

Victor Soto

Timothy Wade Perez

Louis E Bell

Mohammad Salaheldin Sallam

Martin Gaigl

Dave A Sinclair

David DiPietro

Paul David Ekegren

David Robert Whisler

Brian Meehan

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

A surgical cart includes a base and a plurality of wheels. The surgical cart also includes a first device coupled to the base and moveable relative to the base, and a first docking feature coupled to the base. The surgical cart further includes a second device coupled to the base and moveable relative to the base, and a second docking feature coupled to the second device. The surgical cart further includes a third device coupled to the base and a third docking feature coupled to the third device. The first docking feature is engageable with the second docking feature to selectively couple the first device and the second device together, and the third docking feature is engageable with the first docking feature and the second docking feature to selectively engage the first docking feature, the second docking feature, and the third docking feature together.

Techniques for securing together components of one or more surgical carts

A surgical robot a robotic device and a cart. The cart is coupled to the robotic device and includes a steering assembly. The steering assembly includes wheels and is configured such that the wheels allow the cart to roll in a linear direction when a first mode is selected and the wheels allow the cart to roll in a rotational direction when a second mode is selected.

Steering assembly for surgical robot

A surgical system and method of operating the same include a manipulator with a base, a robotic arm coupled to the base, and a saw tool coupled to the robotic arm to perform a cut of a bone. A control system is coupled the manipulator and obtains data defining a cutting plane for the bone and a pre-determined depth of the bone to be cut by the saw tool along the cutting plane. The control system associates a virtual planar boundary with the bone along the cutting plane and controls the manipulator to autonomously align the saw tool to the cutting plane. The control system controls the manipulator to activate and autonomously move the saw tool along the cutting plane to perform the cut. Autonomous movement of the saw tool is constrained to remain within the virtual planar boundary and not exceed the pre-determined depth.

Robotic cutting systems and methods for surgical saw blade cutting on hard tissue

Surgical blade cartridge

Tools, assemblies, surgical systems enable impacting a prosthesis into a surgical site. The tool has an impactor head with a surface to receive an impact force that is manually imparted by a user. A tool shaft has a distal portion and a proximal portion fixed to the impactor head. The tool shaft can be supported by a robotically manipulated tool guide for alignment of the tool shaft relative to the surgical site. A compliance mechanism of the tool has a proximal body coupled to the distal portion of the tool shaft and a distal body supported by the proximal body. The distal body is adapted to releasably attach directly to the prosthesis. The distal body is moveable relative to the proximal body for providing compliant motion of the distal body and prosthesis relative to the tool shaft in response to the impact force that is manually imparted by the user.

Systems and tools for positioning workpieces with surgical robots

An assembly for a surgical arm includes a tool to position a prosthesis and an end effector. The tool has a tool shaft extending along a tool axis and a tool engagement surface. The end effector has a mount attachable to the surgical arm, a body portion extending from the mount, a distal end, and a guide portion is at the distal end of the body portion to receive the tool. The guide portion has a pair of arms, each arm extending to an arm end and the arm ends are spaced apart from one another to provide an opening between the arm ends. A channel is formed between the arms and extends along a guide axis. The arms define an arc-shaped guide engagement surface to enable contact with the tool engagement surface for facilitating alignment of the tool axis and the guide axis.

Systems, methods, and end effectors for guiding prostheses

A surgical robot includes a robotic arm, a cart supporting the robotic arm and including a steering assembly. The steering assembly comprises wheels and a handle. The handle is moveable to a first position, a second position, and a third position. The steering assembly is configured such that the wheels allow the cart to roll in a longitudinal direction when the handle is in the first position, the wheels allow the cart to be roll a rotational direction when the handle is in the second position, and the wheels allow the cart to roll in a lateral direction when the handle is in the third position.

Methods of cutting bone using a robotic cutting system are provided. The robotic cutting system includes one or more controllers, a robotic manipulator, and one or more cutting tools, such as those including a bur or a saw blade, that can be coupled to the robotic manipulator. An initial cut, such as a notch, is made into the bone with the bur or the saw blade. This notch is then used to constrain the saw blade for limiting skiving of the saw blade during cutting along a cutting plane.

A portable surgical robot includes a surgical device and a cart. The surgical device is coupled to the cart. The cart includes a chassis, a mount coupled to the chassis, a carriage pivotally coupled to the mount, and a set of wheels. The carriage includes a first bracket positioned at a first lateral end of the carriage and a second bracket positioned at a second lateral end of the carriage. A first wheel of the set of wheels is coupled to the first bracket and a second wheel of the set of wheels is coupled to the second bracket. The carriage is configured to pivot relative to the mount to prevent at least one of (i) rocking of the portable surgical robot, (ii) fluttering of the first wheel, (iii) fluttering of the second wheel, and (iv) tipping of the portable surgical robot.

Carriage for portable surgical robot

An end effector for impacting a prosthesis at a surgical site along a trajectory maintained by a surgical robot. The end effector comprises an impactor assembly and a guide. The impactor assembly has a head to receive impact force, an interface to releasably attach to the prosthesis, a shaft extending along an impactor axis between the head and the interface, and an impactor engagement surface disposed between the head and the interface. The guide is adapted to attach to the surgical robot and comprises a channel extending along a guide axis and defining an opening arranged to receive a portion of the shaft of the impactor assembly, a guide engagement surface shaped to abut the impactor engagement surface, and a limiter to maintain abutment of the impactor engagement surface with the guide engagement surface to facilitate coaxial alignment of the axes with the trajectory maintained by the surgical robot.

End effectors, systems, and methods for impacting prosthetics guided by surgical robots

A tool for positioning a workpiece with a surgical robot. The tool comprises a mount adapted to attach to the surgical robot. A first assembly is provided and extends along an axis. A pivot bearing is coupled to the mount and supports the first assembly for rotation and translation about the axis and for at least partial articulation relative to the mount. A second assembly is provided and comprises an interface adapted to attach to the workpiece. One of the first assembly and the second assembly comprises a coupler and the other of the first assembly and the second assembly comprises a receiver shaped to engage the coupler to align the second assembly and the first assembly along the axis.

A robotic cutting system including a robotic manipulator and a cutting tool coupled to the robotic manipulator. The cutting tool comprises a saw blade. A controller is also coupled to the robotic manipulator. The controller is configured to control operation of the robotic manipulator, the cutting tool, and/or another cutting tool, to cut the bone in an initial stage of cutting until a notch is created in the bone at a predetermined depth. A final stage of cutting is then completed by cutting along the cutting plane.

A surgical saw blade for being coupled to a drive hub of a surgical saw assembly. The blade includes an attachment portion configured to be removably coupled to the drive hub and a cutting portion opposite the attachment portion. The cutting portion includes a plurality of teeth. The blade also includes a pivot portion configured to engage a pivot structure of the surgical saw assembly. Additionally, the cutting portion has a follower which engages a blade support of the surgical saw assembly and is configured to limit deflection of the blade during use.

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Albuquerque, NM, United States of America

Paul Shiels