Patents by Inventor Dennis Moses

Dennis Moses 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).

  • Publication number: 20210186632
    Abstract: A surgical system includes a surgical tool, a tracking system configured to obtain tracking data indicative of positions of the surgical tool relative to an anatomical feature, an indicator light configured to emit light, and a computer system programmed to control the indicator light to change a color of the light based on the tracking data.
    Type: Application
    Filed: March 3, 2021
    Publication date: June 24, 2021
    Applicant: MAKO Surgical Corp.
    Inventors: Arthur Quaid, Hyosig Kang, Dennis Moses, Rony Abovitz, Scott Illsley
  • Patent number: 11007027
    Abstract: A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: May 18, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Bernhard A. Fuerst, Berk Gonenc, Dennis Moses, Pablo E. Garcia Kilroy
  • Publication number: 20210128253
    Abstract: A method of operating a robotic surgical system includes monitoring a force applied at a surgical instrument attached to a robotic arm, comparing the force to a force threshold for a surgical procedure, providing a signal in response to the force being outside the force threshold, monitoring, using a reference array attached to a patient, a bone movement caused while the surgical instrument interacts with the patient, and adjusting control of the robotic arm based on the bone movement.
    Type: Application
    Filed: January 15, 2021
    Publication date: May 6, 2021
    Applicant: MAKO Surgical Corp.
    Inventors: Hyosig Kang, Dennis Moses, Arthur Quaid
  • Publication number: 20210128260
    Abstract: A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.
    Type: Application
    Filed: October 31, 2019
    Publication date: May 6, 2021
    Inventors: Berk Gonenc, Xin Liu, Jose Luis Cordoba, Bernhard A. Fuerst, Dennis Moses, Pablo Garcia Kilroy
  • Publication number: 20210128258
    Abstract: A method of generating resection data for use in planning an arthroplasty procedure on a patient bone covered at least partially in cartilage includes receiving a three-dimensional patient bone model comprising a bone model surface, and correlated with a position and orientation of the patient bone via a navigation system. The method further includes identifying a target region on the bone model surface of the model for intra-operative registration, and receiving location data for a first plurality of points based on the intra-operative registration of the cartilage on the patient bone in locations corresponding to points within the target region on the bone model surface. The method further includes determining resection depth based at least in part on the location data for the first plurality of points; and generating resection data using the resection depth, the resection data configured to be utilized by the navigation system during the arthroplasty procedure.
    Type: Application
    Filed: January 14, 2021
    Publication date: May 6, 2021
    Applicant: MAKO Surgical Corp.
    Inventors: Arthur Quaid, Hyosig Kang, Dennis Moses, Rony Abovitz, Scott Illsley
  • Publication number: 20210093400
    Abstract: A method includes generating an anatomical model corresponding to an anatomical feature of a patient, proposing a component for coupling to the anatomical feature of the patient, positioning a virtual model corresponding to the component in a proposed location relative to the anatomical model, generating a planned resection geometry based on a virtual relationship between the virtual model and the anatomical model, tracking movement of a surgical instrument relative to the anatomical feature, and simultaneously displaying the planned resection geometry, the anatomical model, and a graphic corresponding to the surgical instrument on a display based in part on the tracked movement of the surgical instrument relative to the anatomical feature.
    Type: Application
    Filed: November 25, 2020
    Publication date: April 1, 2021
    Applicant: MAKO Surgical Corp.
    Inventors: Arthur Quaid, Hyosig Kang, Dennis Moses, Rony Abovitz, Scott Illsley
  • Publication number: 20210077205
    Abstract: A surgical system includes a robotic device configured to facilitate performance of a procedure and a computer system communicable with the robotic device. The computer system is programmed to associate a virtual object with an anatomical feature, adjust the virtual object associated with the anatomical feature in response to movement of the anatomical feature during the procedure by monitoring detected movement of the anatomical feature and adjusting the virtual object in response to the detected movement, and control the robotic device based on a relationship between at least one point associated with the robotic device and the virtual object during the procedure.
    Type: Application
    Filed: November 18, 2020
    Publication date: March 18, 2021
    Applicant: MAKO Surgical Corp.
    Inventors: Arthur Quaid, Hyosig Kang, Dennis Moses, Rony Abovitz, Scott Illsley
  • Publication number: 20210068905
    Abstract: A surgical system includes a surgical tool, a tracking system configured to obtain tracking data indicative of positions of the surgical tool relative to an anatomical feature, an acoustic device, and a computer system programmed to control the acoustic device to provide acoustic feedback to a user based on the tracking data.
    Type: Application
    Filed: November 9, 2020
    Publication date: March 11, 2021
    Applicant: MAKO Surgical Corp.
    Inventors: Arthur Quaid, Hyosig Kang, Dennis Moses, Rony Abovitz, Scott Illsley
  • Publication number: 20210007812
    Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
    Type: Application
    Filed: September 28, 2020
    Publication date: January 14, 2021
    Inventors: Renbin Zhou, Sina Nia Kosari, Dennis Moses
  • Patent number: 10786317
    Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
    Type: Grant
    Filed: December 11, 2017
    Date of Patent: September 29, 2020
    Assignee: VERB SURGICAL INC.
    Inventors: Renbin Zhou, Sina Nia Kosari, Dennis Moses
  • Publication number: 20200268453
    Abstract: A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. One or more sensors in the docking interface sense a magnetic field generated by the trocar. One or more processors are configured to determine a position and orientation of the trocar based on the sensed magnetic field, and then drive the actuators to orient the docking interface to the determined orientation of the trocar, or otherwise guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.
    Type: Application
    Filed: February 25, 2019
    Publication date: August 27, 2020
    Inventors: Bernhard A. Fuerst, Dennis Moses, Miguel Piedrahita, Michael Wong, Pablo Garcia Kilroy, Jose Luis Cordoba
  • Publication number: 20200170739
    Abstract: 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.
    Type: Application
    Filed: January 30, 2020
    Publication date: June 4, 2020
    Applicant: MAKO Surgical Corp.
    Inventors: Radu Iorgulescu, Carinne Cecile Granchi, Dennis Moses, Jason Robert Wojcik
  • Patent number: 10575913
    Abstract: 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.
    Type: Grant
    Filed: June 25, 2018
    Date of Patent: March 3, 2020
    Assignee: MAKO Surgical Corp.
    Inventors: Radu Iorgulescu, Carinne Cecile Granchi, Dennis Moses, Jason Robert Wojcik
  • Publication number: 20200030043
    Abstract: 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.
    Type: Application
    Filed: October 7, 2019
    Publication date: January 30, 2020
    Applicant: MAKO Surgical Corp.
    Inventors: Radu Iorgulescu, Dennis Moses
  • Publication number: 20200008886
    Abstract: A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.
    Type: Application
    Filed: July 12, 2019
    Publication date: January 9, 2020
    Applicant: MAKO SURGICAL CORP.
    Inventors: Hyosig Kang, Dennis Moses, Arthur Quaid
  • Patent number: 10441364
    Abstract: A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.
    Type: Grant
    Filed: March 18, 2016
    Date of Patent: October 15, 2019
    Assignee: MAKO Surgical Corp.
    Inventors: Radu Iorgulescu, Dennis Moses
  • Publication number: 20190274768
    Abstract: A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.
    Type: Application
    Filed: February 27, 2019
    Publication date: September 12, 2019
    Inventors: Bernhard A. Fuerst, Berk Gonenc, Dennis Moses, Pablo E. Garcia Kilroy
  • Patent number: 10350012
    Abstract: A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.
    Type: Grant
    Filed: October 7, 2016
    Date of Patent: July 16, 2019
    Assignee: MAKO Surgiccal Corp.
    Inventors: Hyosig Kang, Dennis Moses, Arthur Quaid
  • Publication number: 20190175286
    Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
    Type: Application
    Filed: December 11, 2017
    Publication date: June 13, 2019
    Inventors: Renbin ZHOU, Sina NIA KOSARI, Dennis MOSES
  • Publication number: 20190159848
    Abstract: A surgical system includes a surgical device, a surgical tool coupled to the surgical device, a user interface, and a control system. The control system is configured to identify a target point or target region of an anatomy of a patient, generate a virtual object based on the target point or target region, the virtual object comprising a funnel-shaped boundary having a central axis substantially aligned with the target point or target region, and control the surgical device to constrain the surgical tool from penetrating the funnel-shaped boundary.
    Type: Application
    Filed: January 31, 2019
    Publication date: May 30, 2019
    Applicant: MAKO Surgical Corp.
    Inventors: Arthur Quaid, Hyosig Kang, Dennis Moses, Rony Abovitz, Scott Illsley