Mako Surgical Corporation

Motorola Corporation

Peter L Ebbitt

Hyosig Kang

Snehal Kasodekar

Jienan Ding

Viktor Krebs

Min Wu

Ta-Cheng Chang

Jean Gonzalez

Matt Harrow

Rony Abovitz

Martin Roche

Dennis Moses

Brian D Schmitz

Alon Mozes

Arthur E Quaid

Dana C Mears

Juan Salcedo

Louis K Arata

Timothy Blackwell

Scott Illsley

William F Tapia

Binyamin Hajaj

Maurice Ferre

Sandi Glauser

Sherif Aly

Amardeep Singh Dugal

Shawn D Stad

Charles L Bush, Jr

Lori Dombrowski

Randall E Hand

Paul R Rochette

Victor Soto

Oscar Williams

Xiao Hui Gao

Ezra Johnson

Richard P Bennett

Nicole Renee Fallacaro

Kana Nishimura

Thomas John Pack

Joseph Suarez

Richard G Musco

Richard Bennett

James Polselli

Randal Hand

Jorge Carlos Gil

Brian Donald Schmitz

Rony A Abovitz

Richard Paul Bennett

Spinal surgery systems and methods include a manipulator with a robotic arm and an end effector. A navigation system with a localizer tracks a patient and the manipulator. A control system registers, with the navigation system, a desired trajectory for a vertebra of the patient and detects that the end effector is within a predetermined distance to the desired trajectory. In response to the end effector being within the predetermined distance and detection of a user input, the control system autonomously moves the robotic arm to align the end effector to the desired trajectory. The end effector is constrained to the desired trajectory with a line haptic object and can exit the line haptic object in response to being moved along the line haptic object until the end effector reaches an exit point defined relative to the line haptic object.

Robotic spine surgery system and methods

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 joint distraction lever includes a lever body, a projection coupled to the lever body such that the projection is movable relative to the lever body, and a force sensor positioned between the lever body and the projection and configured to measure a force of the projection on the lever body.

Joint gap balancing lever and methods of use thereof

Tool assemblies, system, and methods for manipulating tissue and methods for performing a surgical procedure on a vertebral body adjacent soft tissue. A manipulator moves an end effector, and a screw is coupled to the end effector. A sleeve is disposed coaxially around the screw, and the screw and the sleeve are releasably engaged to one another. A navigation system is configured to track the vertebral body, and one or more controllers control the end effector to advance the screw relative to the sleeve along an insertion trajectory defined with respect to a surgical plan. The screw disengages the sleeve during advancement, and the screw is secured to the vertebral body. A distal working portion of the screw may be freely slidable through a distal end of the sleeve when disengaged. The screw may be a tap marker removably couplable with a tracking device of the navigation system.

Tool assembly, systems, and methods for manipulating tissue

A surgical system includes a surgical robot with an end effector that supports a drive assembly, a manual interface, and a trigger assembly. A cutting tool is attached to the drive assembly and rotatable about a cutting axis. A method includes positioning, with the surgical robot, the cutting tool relative to a surgical site to align the cutting axis with a predetermined trajectory. A user engages the trigger assembly for rotating the cutting tool about the cutting axis with the drive assembly and advancing the cutting tool along the predetermined trajectory at the surgical site to a first depth. A user applies force to the manual interface for rotating the cutting tool about the cutting axis and advancing the cutting tool along the predetermined trajectory to a second depth greater than the first depth.

End effectors and methods for driving tools guided by surgical robotic systems

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 debriding an infected implant area using a robotic-assisted surgery system. The method includes determining, by a processing circuit associated with a computer, an area to be debrided, the debridement area including at least a surface of an implant or patient tissue, and generating, by the processing circuit, a plan for debriding the debridement area. The method further includes controlling a debridement tool, by the robotic-assisted surgery system, while the debridement tool is used to carry out the debridement plan, and monitoring the debridement by the processing circuit.

Systems and methods for robotic infection treatment of a prosthesis

A joint distraction lever includes a lever body, a foot coupled to the lever body via a hinge such that the foot is rotatable relative to the lever body, and a force sensor positioned between a bottom surface of the lever body and the foot and configured to measure a force of the foot on the bottom surface of the lever body during a joint distraction procedure in which a torque is applied to the lever body.

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 joint distraction device includes a lever body, a foot extending from a bottom surface of the lever body, wherein the foot is coupled to the lever body via a hinge such that the lever body is rotatable relative to the foot, a first plate and a second plate extending from a distal portion of the lever body, wherein the first plate and the second plate are separated by a gap and wherein each of the first plate and the second plate comprise a stopper extending upwards from a top surface of the first plate and the second plate, and a force measurement device coupled to the bottom surface of the lever body and configured to measure a distraction force applied by the lever body at the foot during a joint distraction procedure in which a torque is applied at a proximal portion of the lever body.

End effectors for driving tools at surgical sites along trajectories maintained by surgical robots. A tool has interface and working ends. An end effector has a mount to attach to the surgical robot, and an actuator configured to generate torque. A drive assembly with a geartrain translates rotation from the actuator into rotation of a drive conduit supported about an axis. A rotational lock operatively attached to the drive conduit releasably secures the tool for concurrent rotation about the axis, and an axial lock releasably secures the tool for concurrent translation with the drive conduit along the trajectory maintained by the surgical robot. The axial lock is operable between a release configuration where relative movement between the drive assembly and the tool is permitted along the axis, and a lock configuration where relative movement between the drive assembly and the tool is restricted along the axis.

A robotic system for performing spine surgery. The robotic system comprises a robotic manipulator and a navigation system to track a surgical tool relative to a patient's spine. The robotic system may be controlled manually and/or autonomously to place implants in the patient's spine.

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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Boca Raton, FL, United States of America

Peter L Ebbitt