Mako Surgical Corporation

Victor Soto

Oscar Williams

Donald W Malackowski

Ezra Johnson

Kathryn Aubrey

Hyosig Kang

David Gene Bowling

Peter L Ebbitt

James E Flatt

Larry D O'Cull

Xiao Hui Gao

Robert Dodde

Jonathan Boyer

Kana Nishimura

Paul Shiels

Jochen Breisacher

Jonathan Mark Morgan

Alan Ross

Dave A Sinclair

David DiPietro

Paul David Ekegren

David Robert Whisler

Nicholas Joseph LaBarbera

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 sterile drape assembly for a surgical robot including a robotic arm with a plurality of links and a plurality of joints. The sterile drape assembly includes a surgical drape adapted to be disposed over the robotic arm and a drape belt configured to be secured to the surgical drape. The drape belt has at least one optical tracking element that moves with the drape belt as the drape belt is secured to the surgical drape.

Sterile drape assembly for surgical robot

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 robotic surgical system includes a robotic arm comprising a plurality of links and joints, an end effector, and a mounting assembly for coupling the end effector and the robotic arm. The mounting assembly includes a robot mount associated with the robotic arm and an end effector mount associated with the end effector. The mounting assembly also includes a sterile barrier assembly including a coupling and kinematic couplers. A first lock assembly releasably secures the coupling to the robot mount and a second lock assembly releasably secures the end effector mount to the coupling. A tensioner associated with either mount is movable between a first position and a second position such that the kinematic couplers engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.

Robotic surgical system with a mounting assembly for attaching an end effector to a robotic arm

A robotic manipulator includes an arm including at least one joint driven by a transmission comprising an output, an isolation mechanism coupled to the output of the transmission, and a force/torque sensor coupled to the isolation mechanism. The force/torque sensor includes a body, which includes a stationary part and a movable part coupled to and being movable relative to the stationary part. The force/torque sensor also includes one or more sensing elements configured to sense forces and torques applied to the movable part. The isolation mechanism is configured to deform in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.

Robotic manipulator comprising isolation mechanism for force/torque sensor

A sterile drape assembly is disclosed for a surgical robot. The surgical robot has a robotic arm including a plurality of links and a plurality of motorized joints for moving the plurality of links. At least one optical tracking element is located on one or more the links of the robotic arm. The sterile drape assembly has a surgical drape with an arm drape portion adapted to be disposed over the robotic arm and the one or more the links of the robotic arm. A drape belt cooperates with the arm drape portion to cover the at least one optical tracking element located on the one or more the links of the robotic arm.

A mounting system for coupling first and second surgical components. The mounting system comprises a first mounting portion associated with the first surgical component, a second mounting portion associated with the second surgical component and comprising a tensioner movable between a first position and a second position, and a sterile barrier assembly. The sterile barrier assembly comprises a coupling configured to releasably secure to the first mounting portion and to releasably receive the second mounting portion when the tensioner of the second mounting portion is in the first position, and a plurality of kinematic couplers configured to engage the mounting portions and arranged to provide a kinematic coupling between the mounting portions through the sterile barrier assembly to constrain six degrees of freedom of movement between the surgical components when the tensioner of the second mounting portion is in the second position.

Mounting system with sterile barrier assembly for use in coupling surgical components

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 sterile drape assembly for a surgical robot having a robotic arm, a cart coupled to the robotic arm, and optical tracking elements coupled to the robotic arm. The sterile drape assembly includes a surgical drape having an arm drape portion adapted to be disposed over the robotic arm. The sterile drape assembly also includes a drape holder cooperating with the surgical drape to cover the optical tracking elements located on the robotic arm.

Growing community of inventors

Doral, FL, United States of America

Victor Soto