Patents by Inventor Paul Hoekstra
Paul Hoekstra has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240041544Abstract: A surgical system and method of operating the same. A manipulator supports and facilitates movement of a surgical tool along a tool path relative to a surgical site. A navigation system includes a localizer to monitor states of the manipulator and the surgical site. Controller(s) determine a commanded state of the surgical tool and an actual state of the surgical tool relative to the tool path for a given time step. The controller(s) detect a deviation between the commanded state and the actual state of the surgical tool for the given time step. The controller(s) respond to the deviation by modification of one or both of: a feed rate of the surgical tool; and the tool path. In some implementations, the controller(s) predict, based on the deviation, a future deviation between a future commanded state and a future actual state of the surgical tool for a given future time step.Type: ApplicationFiled: October 19, 2023Publication date: February 8, 2024Applicant: MAKO Surgical Corp.Inventors: Douglas Alan Staunton, Paul Hoekstra, Michael Dale Dozeman
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Patent number: 11850011Abstract: A robotic surgical system and method of operating the same. A manipulator supports a tool that has a TCP and manipulates a target bone. A navigation system has a localizer to monitor states of the manipulator and the target bone. Controller(s) determine commanded states of the TCP to move the tool along a cutting path relative to the target bone to remove material from the target bone. The controller(s) determine actual states of the TCP responsive to commanded movement of the tool along the cutting path, wherein each one of the commanded states of the TCP has a corresponding one of the actual states of the TCP for a given time step. The controller(s) compare the corresponding commanded and actual states of the TCP for one or more given time steps to determine a deviation and modify operation of the tool to account for the deviation.Type: GrantFiled: November 24, 2021Date of Patent: December 26, 2023Assignee: MAKO Surgical Corp.Inventors: Douglas Alan Staunton, Paul Hoekstra, Michael Dale Dozeman
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Publication number: 20230338093Abstract: A surgical tracker assembly for use with a navigation system. The tracker assembly includes a tracker body defining a chamber configured to receive a printed circuit board (PCB) including a plurality of markers that are actively energizable through the PCB. A plurality of openings formed in the tracker body and at least one channel formed in the tracker body extending between the chamber and one of the defined by the tracker body. Each of the markers are visible through one of the plurality of openings of the tracker body. The tracker body is configured to be sterilizable, with the PCB being located within the chamber of the tracker body, and the at least one channel is configured to enable sterilization fluid to enter into and drain from the chamber of the tracker body during sterilization. The PCB may also include a sterilization resistant protective coating.Type: ApplicationFiled: April 21, 2023Publication date: October 26, 2023Inventors: Jonathan Mark Morgan, Timothy Wade Perez, Fabian Riegelsberger, Jochen Breisacher, Michael Schweizer, Daniel Kühne, Felix Jung, Kana Nishimura, Paul Hoekstra
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Publication number: 20230329803Abstract: Systems and methods to track an object within an operating room with a camera unit. The camera unit includes a first optical sensor with sensing elements to sense light in a near-infrared spectrum and a second optical sensor to sense light in a visible light spectrum. A controller is in communication with the first and second optical sensors. The controller obtains, from the second optical sensor, data related to the object within the operating room. The controller modifies control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor.Type: ApplicationFiled: June 23, 2023Publication date: October 19, 2023Applicant: MAKO Surgical Corp.Inventors: Jochen Breisacher, David Hofmann, Emeric Umbdenstock, Jonathan Morgan, Paul Hoekstra
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Patent number: 11723726Abstract: Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.Type: GrantFiled: October 25, 2022Date of Patent: August 15, 2023Assignee: MAKO Surgical Corp.Inventors: Jochen Breisacher, David Hofmann, Emeric Umbdenstock, Jonathan Morgan, Paul Hoekstra
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Publication number: 20230175957Abstract: A system for infrared analysis of a target surface region of a subject includes a reservoir containing a medium at a predetermined temperature and a conduit defining a channel for transmitting the medium from the reservoir to the target surface region. The conduit may have a first end that is attached to an outlet of the reservoir and a second end that is flexibly conformable to a shape corresponding to a perimeter of the target surface region. The system may further include an infrared camera(s) operable to capture infrared image data of the target surface region and one or more processors operable to produce a representation of the captured infrared image data at a plurality of timings relative to the transmission of the medium from the reservoir to the target surface region. Adjunctive reflective surfaces may ensure that IR signals from target geometric surfaces can be captured for analysis.Type: ApplicationFiled: December 2, 2022Publication date: June 8, 2023Inventors: Darius S. Francescatti, Cristian J. Wedekind, Scott Tremberth, Philip Paul Hoekstra, III
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Publication number: 20230045799Abstract: Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.Type: ApplicationFiled: October 25, 2022Publication date: February 16, 2023Applicant: MAKO Surgical Corp.Inventors: Jochen Breisacher, David Hofmann, Emeric Umbdenstock, Jonathan Morgan, Paul Hoekstra
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Patent number: 11510740Abstract: Systems and methods track objects within an operating room. A machine vision system includes a camera and a controller. A navigation system includes a camera unit including a sensor array. The sensor array includes a plurality of sensing elements. The controller system identifies a first subset of the plurality of sensing elements to be active based on the position of the object. The controller is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.Type: GrantFiled: May 11, 2021Date of Patent: November 29, 2022Assignee: MAKO Surgical Corp.Inventors: Jochen Breisacher, David Hofmann, Emeric Umbdenstock, Jonathan Morgan, Paul Hoekstra
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Publication number: 20220370150Abstract: Systems and methods for optimizing tracking an object in a surgical workspace. A tracker is disposed relative to the object that includes a predefined geometry of markers for tracking a pose of the tracker in the surgical workspace. A localizer camera cooperates with the tracker to generate image data indicating a blob for each of the markers generated from a light signal received from the marker. A characteristic of each blob is acquired, and the acquired characteristics are compared to an optimal characteristic. Based on the comparison, the operation of the trackers, the localizer, or both are adjusted to optimize the blobs generated from the markers.Type: ApplicationFiled: May 20, 2022Publication date: November 24, 2022Applicant: MAKO Surgical Corp.Inventors: Emeric Umbdenstock, Paul Hoekstra, Trudbert Schwoerer, Fabian Riegelsberger, Helmut Rohs, Philip Robert Woods
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Publication number: 20220079692Abstract: A robotic surgical system and method of operating the same. A manipulator supports a tool that has a TCP and manipulates a target bone. A navigation system has a localizer to monitor states of the manipulator and the target bone. Controller(s) determine commanded states of the TCP to move the tool along a cutting path relative to the target bone to remove material from the target bone. The controller(s) determine actual states of the TCP responsive to commanded movement of the tool along the cutting path, wherein each one of the commanded states of the TCP has a corresponding one of the actual states of the TCP for a given time step. The controller(s) compare the corresponding commanded and actual states of the TCP for one or more given time steps to determine a deviation and modify operation of the tool to account for the deviation.Type: ApplicationFiled: November 24, 2021Publication date: March 17, 2022Applicant: MAKO Surgical Corp.Inventors: Douglas A. Staunton, Paul Hoekstra, Michael Dale Dozeman
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Patent number: 11202682Abstract: Systems and methods for operating a robotic surgical system are provided. The system comprises a surgical tool for interacting with a surgical target, a manipulator comprising a plurality of links and supporting the tool, a navigation system comprising a manipulator tracker coupled to the manipulator and a patient tracker coupled to the surgical target and a localizer for monitoring states of the trackers. A controller determines commanded states for moving the tool relative to the surgical target using data (filtered according to a first filter length) from the manipulator and/or navigation system. The controller determines actual states of the tool while commanding the tool relative to the surgical target using data (filtered according to a second filter length being shorter than the first filter length) from the manipulator and/or navigation system. The controller compares the commanded and actual states and modifies tool operation based on an outcome of the comparison.Type: GrantFiled: December 13, 2017Date of Patent: December 21, 2021Assignee: MAKO Surgical Corp.Inventors: Douglas Alan Staunton, Paul Hoekstra, Michael Dale Dozeman
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Publication number: 20210259787Abstract: Systems and methods track objects within an operating room. A machine vision system includes a camera and a controller. A navigation system includes a camera unit including a sensor array. The sensor array includes a plurality of sensing elements. The controller system identifies a first subset of the plurality of sensing elements to be active based on the position of the object. The controller is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.Type: ApplicationFiled: May 11, 2021Publication date: August 26, 2021Applicant: MAKO Surgical Corp.Inventors: Jochen Breisacher, David Hofmann, Emeric Umbdenstock, Jonathan Morgan, Paul Hoekstra
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Publication number: 20210169502Abstract: A powered surgical tool system capable of providing energization signals to plural powered surgical handpieces. The system includes a console to which at least one footswitch is attached. The footswitch can be mapped to control any one of the handpieces connected to the console. The console includes a display on which representations of the footswitch and handpieces connected to the console are presented. The representations of the handpieces are in different colors. When the footswitch is mapped to a specific handpiece, the representation of the footswitch is presented in the same color as the representation of the handpiece to which the footswitch is mapped. When plural footswitches are attached to the console, the representation of each footswitch is presented in a color corresponding to the color of the representation of the handpiece to which the footswitch is mapped.Type: ApplicationFiled: November 2, 2020Publication date: June 10, 2021Applicant: Stryker CorporationInventors: Michael R. Wildgen, Donald W. Malackowski, Michael Dale Dozeman, Paul Hoekstra
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Patent number: 11007018Abstract: Systems and methods track objects within an operating room. A machine vision system includes at least one camera and a machine vision controller. A navigation system includes a camera unit including a plurality of sensor arrays. The sensor arrays include a plurality of sensing elements. For each of the plurality of sensor arrays, the navigation system identifies a first subset of the plurality of sensing elements to be active based on the position of the object and a second subset of the plurality of sensing elements to be inactive based on the position of the object. The navigation processor is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.Type: GrantFiled: June 14, 2019Date of Patent: May 18, 2021Assignee: MAKO Surgical Corp.Inventors: Jochen Breisacher, David Hofmann, Emeric Umbdenstock, Jonathan Morgan, Paul Hoekstra
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Publication number: 20200129245Abstract: Disclosed is a navigation system configured to track an object. The navigation system comprises a tracker configured to couple to the object and a localization device configured to track the tracker. The tracker and the localization device are configured to wirelessly communicate using a first communication method operable on a first spectrum and to wirelessly communicate using a second communication method operable on a second spectrum different from the first spectrum. The localization device utilizes the first communication method to track the tracker and utilizes the first communication method to manage an operating parameter of the tracker with respect to the second communication method.Type: ApplicationFiled: December 30, 2019Publication date: April 30, 2020Applicant: Stryker CorporationInventors: Donald W. Malackowski, Paul Hoekstra, Matt Shinew, Chunwu Wu
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Patent number: 10555781Abstract: High bandwidth, low latency hybrid communication techniques are disclosed for a navigation system. The navigation system comprises a tracker configured to couple to the object and a localization device configured to track the tracker. In one embodiment, the localization device is configured to utilize communication on a first spectrum to track the tracker and to manage an operating parameter of the tracker with respect to communication on a second spectrum. In another embodiment, the localization device is configured to utilize communication with a first modulation method to track the tracker and to manage an operating parameter of the tracker and to utilize communication with a second modulation method for receiving sensor data from the tracker.Type: GrantFiled: November 13, 2018Date of Patent: February 11, 2020Assignee: Stryker CorporationInventors: Donald W. Malackowski, Paul Hoekstra, Matt Shinew, Chunwu Wu
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Publication number: 20190387149Abstract: Systems and methods track objects within an operating room. A machine vision system includes at least one camera and a machine vision controller. A navigation system includes a camera unit including a plurality of sensor arrays. The sensor arrays include a plurality of sensing elements. For each of the plurality of sensor arrays, the navigation system identifies a first subset of the plurality of sensing elements to be active based on the position of the object and a second subset of the plurality of sensing elements to be inactive based on the position of the object. The navigation processor is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.Type: ApplicationFiled: June 14, 2019Publication date: December 19, 2019Inventors: Jochen Breisacher, David Hofmann, Emeric Umbdenstock, Jonathan Morgan, Paul Hoekstra
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Publication number: 20190142525Abstract: High bandwidth, low latency hybrid communication techniques are disclosed for a navigation system. The navigation system comprises a tracker configured to couple to the object and a localization device configured to track the tracker. In one embodiment, the localization device is configured to utilize communication on a first spectrum to track the tracker and to manage an operating parameter of the tracker with respect to communication on a second spectrum. In another embodiment, the localization device is configured to utilize communication with a first modulation method to track the tracker and to manage an operating parameter of the tracker and to utilize communication with a second modulation method for receiving sensor data from the tracker.Type: ApplicationFiled: November 13, 2018Publication date: May 16, 2019Applicant: Stryker CorporationInventors: Donald W. Malackowski, Paul Hoekstra, Matt Shinew, Chunwu Wu
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Publication number: 20180168750Abstract: Systems and methods for operating a robotic surgical system are provided. The system comprises a surgical tool for interacting with a surgical target, a manipulator comprising a plurality of links and supporting the tool, a navigation system comprising a manipulator tracker coupled to the manipulator and a patient tracker coupled to the surgical target and a localizer for monitoring states of the trackers. A controller determines commanded states for moving the tool relative to the surgical target using data (filtered according to a first filter length) from the manipulator and/or navigation system. The controller determines actual states of the tool while commanding the tool relative to the surgical target using data (filtered according to a second filter length being shorter than the first filter length) from the manipulator and/or navigation system. The controller compares the commanded and actual states and modifies tool operation based on an outcome of the comparison.Type: ApplicationFiled: December 13, 2017Publication date: June 21, 2018Applicant: MAKO Surgical Corp.Inventors: Douglas Alan Staunton, Paul Hoekstra, Michael Dale Dozeman
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Publication number: 20070250098Abstract: A surgical tool system including a handpiece with a motor for driving a cutting accessory. The system includes a control unit for applying energization signals to the windings internal to the handpiece motor. At start-up and low speeds, the rotational position of the rotor relative to the static windings is determined based on inductances of the windings. At high speeds, the rotational position of the winding is determined based on the back electromotive forces developed across the windings.Type: ApplicationFiled: March 27, 2007Publication date: October 25, 2007Inventors: Don Malackowski, Michael Dozeman, Paul Hoekstra, Michael Wildgen