Mako Surgical Corporation

Howmedica Osteonics Corporation

Orthosensor Inc.

Radu Iorgulescu

Jason Karl Otto

Carinne Cecile Granchi

Jason Robert Wojcik

Dennis Moses

Brian D Schmitz

Kevin Bechtold

Chris Lightcap

Hyosig Kang

Mark Ellsworth Nadzadi

Jonathan Trousdale

Joseph Decerce

Richard Bradley Jones

Daniel Odermatt

Mark W Pagnano

Lawrence Dorr

Matt Thompson

Danielle S Landeck

Renen Bassik

Amar S Ranawat

Amar Ranawat

Danielle Landeck

Reneh Bassik

A method includes providing a distraction device, and providing, separate from the distraction device, a disposable force sensor pod configured to be removably coupled to the distraction device. The method also includes communicating, by the disposable force sensor pod, information relating to distraction of a joint by the distraction device to a computing system.

Distraction device with disposable force sensor pod

A method of operating a surgical system includes controlling a robotic arm in a first control mode in which the robotic arm constrains movement of a surgical tool coupled to the robotic arm to a virtual geometry correlated with an anatomical feature, switching, responsive to the surgical tool crossing an exit boundary, from the first control mode to a second control mode, and controlling the robotic arm in the second control mode in which movement of the surgical tool is unconstrained by the virtual geometry.

Surgical guidance with exit boundary

A method for operating a surgical robot includes providing a plurality of virtual haptic geometries associated with different steps of a surgical procedure, evaluating a plurality of criteria associated with a first virtual haptic geometry of the plurality of virtual haptic geometries, activating the first virtual haptic geometry of the plurality of virtual haptic geometries without activating a second virtual haptic geometry of the plurality of virtual haptic geometries in response to satisfaction of the plurality of criteria, and controlling the surgical robot to constrain movement of an end effector of the surgical robot to the first virtual haptic geometry in response to activating the first virtual haptic geometry.

Systems and methods for selectively activating virtual guide geometries

A joint distraction lever, comprising a lever body comprising a handle portion and a working portion, a distal tip coupled to the working portion, and a fulcrum extending from a bottom surface of the working portion and spaced apart from the distal tip such that the fulcrum is positioned between the distal tip and the handle portion, where the joint distraction lever is configured to determine a distraction force based on deformation of the joint distraction lever.

Force measuring joint distraction lever

A joint distraction lever includes a lever body having a handle portion coupled to a working portion, a fulcrum extending from a bottom surface of the working portion of the lever body, a distal tip, which is raised above a top surface of the working portion of the lever body, a force measurement device used to measure a distraction force applied at the distal tip during a distraction procedure for a joint during which a torque is applied at the handle portion of the lever body, and a force value output used to indicate the distraction force applied at the distal tip.

A surgical guidance system for use with a robotic device configured to support and move a surgical tool includes a tracking system configured to track the surgical tool and at least one bone, a display device, and a control system coupled to the tracking system and the display device. The control system is configured to register a plurality of target trajectories to the at least one bone, determine a distance between the surgical tool and each target trajectory, automatically identify which one of the target trajectories is closest to and within a threshold distance of the surgical tool, and display, on the display device, the identified target trajectory relative to the at least one bone and a tracked pose of the surgical tool relative to the identified target trajectory.

A surgical system includes a robotic arm, an end effector held by the robotic arm, a tracking system configured to detect a patient position and an end effector position, and a processor and non-transitory memory storing instructions that, when executed by the processor, cause the processor to define a planned trajectory relative to the patient position, obtain the patient position and the end effector position from the tracking system during manual movement of the end effector by a user, determine whether the end effector position is within a threshold of the planned trajectory based on the patient position and the end effector position obtained during the manual movement of the end effector, and upon determination that the end effector position is within the threshold of the planned trajectory, take over and control the robotic arm to automatically align the end effector with the planned trajectory.

Automated alignment of a surgical tool

A system includes a surgical tool, a robot holding the surgical tool, and non-transitory computer-readable memory storing instructions that, when executed, cause the robot to perform operations including automatically moving the surgical tool to a virtual geometry correlated with an anatomical structure and forcing, following arrival of the surgical tool at the virtual geometry, the surgical tool to stay at the virtual geometry while allowing manual repositioning of the surgical tool along the virtual geometry.

Surgical system with automated alignment

A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.

A surgical system includes a disposable force sensor pod that includes a load cell and a mounting feature. The surgical system also includes a computing system configured to be placed in electronic communication with the disposable force sensor pod and receive a force measurement from the disposable force sensor pod. The disposable force sensor pod is configured to be removeably coupled to a distraction device using the mounting feature.

A method for assessing a joint includes inserting a joint distraction lever into a space between a first bone and a second bone of the joint, distracting the joint with the joint distraction lever, determining, using a measurement device of the joint distraction lever, a distraction force applied by the joint distraction lever as the joint distraction lever is used to distract the joint, determining whether the distraction force matches a predetermined amount of the distraction force, and in response to determining that the distraction force matches the predetermined amount of the distraction force, capturing first poses of the first bone and the second bone.

A system includes a surgical device, an instrument coupled to the surgical device and defining an instrument axis, and a processor operatively coupled to the surgical device. The processor is configured to determine a current orientation angle of an instrument axis based on an orientation of a target axis, establish a virtual boundary, control the surgical device to apply a force to constrain the instrument axis within the virtual boundary, and collapse the virtual boundary as the instrument axis is brought into alignment with the target axis.

Systems and methods for guiding an instrument using haptic object with collapsing geometry

A surgical system includes a surgical tool and a processing circuit. The processing circuit is configured to provide a plurality of virtual haptic interaction points where each virtual haptic interaction point is associated with a portion of the surgical tool such that movement of the surgical tool corresponds to movement of the plurality of virtual haptic interaction points, establish a haptic object that defines a working boundary for the surgical tool, and constrain at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object.

Systems and methods for haptic control of a surgical tool

A surgical system includes a surgical tool associated with a virtual haptic interaction point such that movement of the virtual haptic interaction point corresponds to movement of the surgical tool. The surgical system further includes a processing circuit to establish a virtual entry boundary and activate a haptic object, which constrains the surgical tool after the haptic interaction point crosses the virtual entry boundary.

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Boca Raton, FL, United States of America

Radu Iorgulescu