Patents Assigned to Mako Surgical Corp.
  • Bone Plate For Attaching To An Anatomic Structure
    Publication number: 20230190347
    Abstract: A plate for attaching to an anatomic structure with fasteners. The plate has a body with a top surface and a bottom surface opposite the top surface. The body defines one or more openings to receive a respective one of the one or more fasteners. The bottom surface is concave to define a space to accommodate a portion of the anatomic structure. A bone pad surface extends from the bottom surface. A spike extends away from the bone pad surface. An extension arm can be coupled to the plate and the extension arm can support a tracking head to implement a surgical tracking assembly.
    Type: Application
    Filed: February 15, 2023
    Publication date: June 22, 2023
    Applicant: MAKO Surgical Corp.
    Inventors: José Luis Moctezuma de la Barrera, Timothy Wade Perez, Donald W. Malackowski, John R. Fossez
  • SURGICAL SYSTEM WITH FREE MODE REGISTRATION
    Publication number: 20230181264
    Abstract: A method includes controlling a robotic arm extending from a base in a free mode during a registration procedure and optically tracking the base and a marker mounted on the robotic arm during movement of the robotic arm in the free mode. The movement of the robotic arm causes movement of the marker without affecting a position of the base. The method also includes defining a coordinate transformation based on a position of the base and a plurality of tracked positions of the marker achieved during the movement of the robotic arm in the free mode and controlling the robotic arm using the coordinate transformation.
    Type: Application
    Filed: February 6, 2023
    Publication date: June 15, 2023
    Applicant: MAKO Surgical Corp.
    Inventors: Hyosig Kang, Dennis Moses, Arthur Quaid
  • Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
    Patent number: 11672610
    Abstract: An end effector for a computer-assisted surgical system includes a mount configured to be coupled to an arm and a housing coupled to the mount and configured to interchangeably support a first operating member and a second operating member. When the housing supports the first operating member, the housing is configured to prevent translation of the first operating member relative to the mount. When the housing supports the second operating member, the housing is configured to allow translation of the second operating member relative to the mount along a first axis.
    Type: Grant
    Filed: November 12, 2020
    Date of Patent: June 13, 2023
    Assignee: MAKO Surgical Corp.
    Inventors: Benny Hagag, Hyosig Kang, Alon Mozes, Daniel Odermatt, Brian D. Schmitz
  • SURGICAL SYSTEM WITH OCCLUSION DETECTION
    Publication number: 20230172671
    Abstract: A method includes controlling a robotic system using a virtual boundary and based on optical tracking of a tracker, detecting a condition in which an optical detection device is occluded from detecting the tracker, and maintaining the virtual boundary if the condition persists for shorter than a predetermined period of time.
    Type: Application
    Filed: February 6, 2023
    Publication date: June 8, 2023
    Applicant: MAKO Surgical Corp.
    Inventors: Hyosig Kang, Dennis Moses, Arthur Quaid
  • Distraction device with disposable force sensor pod
    Patent number: 11666318
    Abstract: 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.
    Type: Grant
    Filed: August 27, 2020
    Date of Patent: June 6, 2023
    Assignees: MAKO Surgical Corp., OrthoSensor, Inc.
    Inventors: Jason Otto, Radu Iorgulescu, Kevin Bechtold, Jonathan Trousdale, Joseph Decerce
  • SURGICAL SYSTEM WITH BASE AND ARM TRACKING
    Publication number: 20230165641
    Abstract: A surgical system includes a base, a robotic arm extending from the base and comprising a plurality of segments, a first tracker secured to the base, a second tracker secured to a segment of the plurality of segments of the robotic arm, and a detection device configured to determine an arrangement of the first tracker and the second tracker.
    Type: Application
    Filed: January 25, 2023
    Publication date: June 1, 2023
    Applicant: MAKO Surgical Corp.
    Inventors: Hyosig Kang, Dennis Moses, Arthur Quaid
  • Techniques For Detecting Errors Or Loss Of Accuracy In A Surgical Robotic System
    Publication number: 20230165647
    Abstract: Systems and methods for detecting an error in a surgical system. The surgical system includes a manipulator with a base and a plurality of links and the manipulator supports a surgical tool. The system includes a navigation system with a tracker and a localizer to monitor a state of the tracker. Controller(s) determine values of a first transform between a state of the base of the manipulator and a state of one or both of the localizer and the tracker of the navigation system. The controller(s) determine values of a second transform between the state of the localizer and the state of the tracker. The controller(s) combine values of the first transform and the second transform to determine whether an error has occurred relating to one or both of the manipulator and the localizer.
    Type: Application
    Filed: January 11, 2023
    Publication date: June 1, 2023
    Applicant: MAKO Surgical Corp.
    Inventor: Michael Dale Dozeman
  • Force measuring joint distraction lever
    Patent number: 11660083
    Abstract: 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.
    Type: Grant
    Filed: December 23, 2020
    Date of Patent: May 30, 2023
    Assignee: MAKO Surgical Corp.
    Inventors: Kevin Bechtold, Jason Otto, Hyosig Kang, Radu Iorgulescu
  • Joint gap balancing lever and methods of use thereof
    Patent number: 11653907
    Abstract: 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.
    Type: Grant
    Filed: July 27, 2022
    Date of Patent: May 23, 2023
    Assignee: MAKO Surgical Corp.
    Inventor: Peter Ebbitt
  • SYSTEMS AND METHODS FOR SURGICAL PLANNING BASED ON BONE DENSITY
    Publication number: 20230149093
    Abstract: A system includes a robotic device and a processing circuit programmed to enable planning of a placement of an implant relative to a bone based on bone densities of a plurality of regions of the bone, generate a control object based on the placement of the implant, and control the robotic device using the control object.
    Type: Application
    Filed: January 11, 2023
    Publication date: May 18, 2023
    Applicant: MAKO Surgical Corp.
    Inventors: Emily Hampp, Sally LiArno, Gokce Yildirim, Mark Ellsworth Nadzadi, Gavin Clark
  • Robotic surgical system and method for producing reactive forces to implement virtual boundaries
    Patent number: 11648074
    Abstract: Robotic systems and methods employ a virtual simulation wherein a tool is represented as a virtual volume adapted to interact relative to a virtual boundary defined by a mesh of polygonal elements. A reactive force is computed in response to penetration of one of the polygonal elements by the virtual volume in the virtual simulation. The reactive force is computed as a function of a volume of a penetrating portion of the virtual volume that is penetrating a plane of the polygonal element. The reactive force is applied to the virtual volume in the virtual simulation for reducing penetration of the polygonal element by the virtual volume.
    Type: Grant
    Filed: January 11, 2022
    Date of Patent: May 16, 2023
    Assignee: MAKO Surgical Corp.
    Inventor: David Gene Bowling
  • Systems And Methods For Controlling Movement Of A Surgical Tool Along A Predefined Path
    Publication number: 20230142179
    Abstract: Robotic surgical systems and methods for controlling movement of a tool relative to a tool path. An input is received from a force/torque sensor in response to user forces/torques manually applied to the tool by a user. A component of force is calculated tangential to the path based on the input. An effective feed rate is calculated to advance the tool along the path based on the tangential component. Virtual constraints are defined on movement of the tool along the path with respect to three degrees of freedom and based on the effective feed rate to promote movement of the tool along the path. Dynamics of the tool are virtually simulated based on the virtual constraints and the input from the force/torque sensor. The manipulator is commanded to advance the tool along the path based on the virtual simulation.
    Type: Application
    Filed: January 5, 2023
    Publication date: May 11, 2023
    Applicant: MAKO Surgical Corp.
    Inventors: Helmut Rohs, Michael Dale Dozeman, Bharat Arora, Michael Ferko, Patrick Roessler, Richard Thomas DeLuca, David Gene Bowling
  • Steering assembly for surgical robot
    Patent number: 11638620
    Abstract: 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.
    Type: Grant
    Filed: February 8, 2022
    Date of Patent: May 2, 2023
    Assignee: MAKO Surgical Corp.
    Inventors: Alan Ross, Paul Shiels
  • Robotic cutting systems and methods for surgical saw blade cutting on hard tissue
    Patent number: 11633248
    Abstract: 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.
    Type: Grant
    Filed: October 6, 2021
    Date of Patent: April 25, 2023
    Assignee: MAKO Surgical Corp.
    Inventors: Seamus Gilhooley, David Gene Bowling, Paul Shiels
  • CONNECTOR ASSEMBLY AND METHOD FOR ATTACHING A TRACKER BODY TO A TRACKER SUPPORT ARM
    Publication number: 20230110909
    Abstract: A connector assembly for attaching a tracker body to a tracker support arm. The connector assembly includes a receiver coupled to the tracker body and defining a cavity. The connector assembly includes a key coupled to the tracker support arm and including a loading surface. The key is insertable into the cavity of the receiver. The connector assembly includes a preloading mechanism operably attached to the receiver and including a load member disposed in the receiver. The load member is arranged to contact the loading surface of the key to constrain the key to the receiver, and to thereby attach the tracker body to the tracker support arm.
    Type: Application
    Filed: December 7, 2022
    Publication date: April 13, 2023
    Applicant: MAKO Surgical Corp.
    Inventor: Timothy Wade Perez
  • Techniques For Patient-Specific Milling Path Generation
    Publication number: 20230114040
    Abstract: Surgical systems, computer-implemented methods, and software programs for generating a milling path for a bone. The implementations involve obtaining a virtual model of the bone, a resection volume defined relative to the virtual model of the bone, and a reference guide defined with respect to the resection volume. Section planes are successively arranged along the reference guide, and each section plane intersects the reference guide and intersects the resection volume. A section path is generated within each section plane and is defined relative to the resection volume. Transition segments are generated to connect section paths of section planes. The milling path is then generated by combining the section paths and the transition segments.
    Type: Application
    Filed: December 13, 2022
    Publication date: April 13, 2023
    Applicant: MAKO Surgical Corp
    Inventors: Hans-Ulrich Becker, Michael Dale Dozeman, Michael Ferko, Gregory Garcia, Vladimir Gershuni, José Luis Moctezuma de la Barrera, Mark Ellsworth Nadzadi, Patrick Roessler
  • View angle-independent visual representation of a cut procedure
    Patent number: 11622810
    Abstract: A system for surgical navigation includes a surgical tool, a tracking device configured to track poses of the surgical tool relative to an anatomical object, and a computer. The computer is programmed to perform a constructive sold geometry (CSG) operation using a model of the anatomical object and an accumulation of the tracked poses of the surgical tool relative to the anatomical object and generate a 2D image based on a result of the CSG operation and a viewpoint of a virtual camera by shading fragments of the 2D image based on the result of the CSG operation and the viewpoint of the virtual camera. The CSG operation is independent of the viewpoint of the virtual camera.
    Type: Grant
    Filed: October 9, 2020
    Date of Patent: April 11, 2023
    Assignee: MAKO Surgical Corp.
    Inventors: Kristóf Ralovich, Oliver Kutter, Milán Ikits
  • Bone plate for attaching to an anatomic structure
    Patent number: 11622800
    Abstract: A plate for attaching to an anatomic structure with fasteners. A body defines openings for receiving the fasteners, and includes a bottom surface that is concave. The plate includes bone pad surface, and a spike extends away from the bone pad surface. The bone pad surface is oriented at an angle relative to the bottom surface to prevent further penetration of the spike into the anatomic structure beyond a predetermined depth. The bone pad surface may be oriented at an obtuse angle relative to the bottom surface. The bone pad surfaces may be planar or concave, or contoured to a corresponding profile of the anatomic structure. The spikes may be pyramidal or conical. At least one side of the spike may be integral and continuous with the bottom surface. The side may have a radius of curvature equal to that of the bottom surface.
    Type: Grant
    Filed: February 2, 2021
    Date of Patent: April 11, 2023
    Assignee: MAKO Surgical Corp.
    Inventors: José Luis Moctezuma de la Barrera, Timothy Wade Perez, Donald W. Malackowski, John R. Fossez
  • Techniques For Patient-Specific Morphing Of Virtual Boundaries
    Publication number: 20230105049
    Abstract: Surgical systems, computer-implemented methods, and software programs for producing a patient-specific virtual boundary configured to constrain movement and/or operation of a surgical tool in response to the surgical tool interacting with the patient-specific virtual boundary. The implementations include obtaining a generic virtual boundary including a generic surface with a generic edge, and positioning the generic virtual boundary relative to a virtual anatomical model such that the generic surface intersects the virtual anatomical model. The implementations include computing an intersection of the generic surface and the virtual anatomical model to define a cross-sectional contour of the virtual anatomical model, and morphing the generic edge to the cross-sectional contour to produce a customized surface with a patient-specific edge.
    Type: Application
    Filed: December 2, 2022
    Publication date: April 6, 2023
    Applicant: MAKO Surgical Corp.
    Inventors: Hans-Ulrich Becker, Patrick Roessler, José Luis Moctezuma de la Barrera
  • Image processing method
    Patent number: 11621084
    Abstract: A computer-implemented method for generating anatomical data associated with a musculoskeletal joint, the method comprising: receiving as input variation data representing change with time of a musculoskeletal joint of interest caused by a condition; receiving as input patient data representing the musculoskeletal joint of interest of a patient at a current time; and processing the variation data and the patient data to generate said anatomical data, wherein said anatomical data comprises data indicating the musculoskeletal joint of interest of the patient at a predetermined time different to the current time.
    Type: Grant
    Filed: November 16, 2016
    Date of Patent: April 4, 2023
    Assignee: Mako Surgical Corp.
    Inventors: Graham Richard Vincent, Michael Antony Bowes, Kevin De Souza