Patents by Inventor Joel N. Beer

Joel N. Beer 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: 20250143814
    Abstract: Surgical systems involve a robotic manipulator that moves a surgical tool to remove material from a workpiece and a navigation system to track a pose of the surgical tool relative to the workpiece. A control system determines a non-homogenous density distribution of the workpiece. The control system generates a tool path based on the density distribution. The control system controls the robotic manipulator to move the surgical tool along the tool path to remove the material from the workpiece while accounting for the density distribution. As the surgical tool moves along the tool path, the control system adjusts one or more operating parameters of the surgical tool to account for the density distribution, such as by adjusting the feed rate of the surgical tool, the cutting speed of the surgical tool, and/or the cutting depth of the surgical tool.
    Type: Application
    Filed: January 8, 2025
    Publication date: May 8, 2025
    Applicant: MAKO Surgical Corp.
    Inventors: José Luis Moctezuma de la Barrera, David Gene Bowling, Donald W. Malackowski, Patrick Roessler, Joel N. Beer
  • Patent number: 12274520
    Abstract: Surgical systems and methods for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate a virtual boundaries delineating a portions of the anatomy allowed to be removed by the surgical tool. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a first virtual boundary and according to a first feed rate or first frequency of path oscillations to remove a first portion. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a second virtual boundary that is spaced from the first virtual boundary, and according to a different feed rate or different frequency of path oscillations, to remove a second portion.
    Type: Grant
    Filed: May 9, 2024
    Date of Patent: April 15, 2025
    Assignee: MAKO Surgical Corp.
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Patent number: 12220192
    Abstract: A surgical system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. A navigation system includes a localizer, a first tracker coupled to the robotic manipulator or the tool, and a second tracker coupled to a workpiece. Controller(s) determine, from the navigation system, a pose of the tool relative to the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a first portion from the workpiece with the tool and sense interaction between the tool and the workpiece during removal of the first portion to detect a density of the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a second portion from the workpiece with the tool, wherein a cutting depth for the second portion is based, at least in part, on the detected density.
    Type: Grant
    Filed: November 1, 2023
    Date of Patent: February 11, 2025
    Assignee: MAKO Surgical Corp.
    Inventors: José Luis Moctezuma de la Barrera, David Gene Bowling, Donald W. Malackowski, Patrick Roessler, Joel N. Beer
  • Publication number: 20240366328
    Abstract: Surgical systems and methods involve a surgical manipulator with a plurality of links and joints that is configured to support and move a surgical instrument for manipulation of an anatomy. A controller is coupled to the surgical manipulator and is configured to measure an actual torque for at least one active joint and calculate an expected torque for the at least one active joint. The controller compares the actual torque and the expected torque to estimate an external force. The controller determines, based on the external force, that the surgical manipulator and/or the surgical instrument has collided with an object.
    Type: Application
    Filed: July 16, 2024
    Publication date: November 7, 2024
    Applicant: Stryker Corporation
    Inventors: David G. Bowling, John M. Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Publication number: 20240293197
    Abstract: A surgical navigation system and method of operating the same involve a pointer tool and a localizer configured to track the pointer tool. Controller(s) is/are coupled to the localizer and are configured to generate a virtual boundary relative to a bone at a surgical site. The virtual boundary has a shape that delineates a region of the bone to be removed from a region to be avoided. The controller(s) identify, with the localizer, a position of one or more landmarks at the surgical site in response to the pointer tool touching the one or more landmarks at the surgical site. The controller(s) revise the shape of the virtual boundary based on the position of the one or more landmarks.
    Type: Application
    Filed: April 24, 2024
    Publication date: September 5, 2024
    Applicant: Stryker Corporation
    Inventors: David G. Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Publication number: 20240285359
    Abstract: Surgical systems and methods for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate a virtual boundaries delineating a portions of the anatomy allowed to be removed by the surgical tool. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a first virtual boundary and according to a first feed rate or first frequency of path oscillations to remove a first portion. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a second virtual boundary that is spaced from the first virtual boundary, and according to a different feed rate or different frequency of path oscillations, to remove a second portion.
    Type: Application
    Filed: May 9, 2024
    Publication date: August 29, 2024
    Applicant: MAKO Surgical Corp.
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Patent number: 12070288
    Abstract: Surgical systems and methods for generating a tool path. A manipulator is configured to support and move a surgical instrument. Controller(s) obtain data that defines a volume of tissue to be removed from a surgical site. The controller(s) operate the manipulator to move the surgical instrument to remove first portions of the volume and acquire data defining the first portions removed from the volume. The controller(s) identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal. The controller(s) generate a tool path that passes through the additional portions and operate the manipulator to move the surgical instrument along the tool path to remove the additional portions.
    Type: Grant
    Filed: April 24, 2023
    Date of Patent: August 27, 2024
    Assignee: Stryker Corporation
    Inventors: David G. Bowling, John M. Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N Beer
  • Patent number: 12035986
    Abstract: A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the second portion of the anatomy.
    Type: Grant
    Filed: June 23, 2023
    Date of Patent: July 16, 2024
    Assignee: MAKO Surgical Corp.
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Patent number: 12004836
    Abstract: A surgical manipulator and method of operating the same. The surgical manipulator includes an arm with a plurality of links and joints, wherein an angle between adjacent links forms a joint angle. The arm includes a distal end configured to support a surgical instrument with an energy applicator. At least one controller is coupled to the arm and models the surgical instrument and the energy applicator as a virtual rigid body. The controller(s) determine a commanded pose for the surgical instrument and the energy applicator based on a summation of a plurality of forces and/or torques, wherein the plurality of forces and/or torques are selectively applied to the virtual rigid body to emulate orientation and movement of the surgical instrument and the energy applicator. The controller(s) determine commanded joint angles for the arm that place the surgical instrument and the energy applicator according to the commanded pose.
    Type: Grant
    Filed: March 15, 2023
    Date of Patent: June 11, 2024
    Assignee: Stryker Corporation
    Inventors: David G. Bowling, John Michael Stuart, Joel N. Beer
  • Publication number: 20240156542
    Abstract: Surgical systems and methods of operating the same involve controlling a robotic manipulator to move a cutting instrument to cut away material from a bone at a surgical site. A machine vision system uses a vision camera to detect an object at, or in proximity to, the surgical site. A control system associates a virtual boundary with the detected object and controls the robotic manipulator to move the cutting instrument based on the virtual boundary such that the cutting instrument avoids the detected object. In one example, the control system modifies a tool path of the cutting instrument based on the virtual boundary to avoid the detected object. Additionally, or alternatively, the control system can automatically adjust an orientation of the cutting instrument based on the virtual boundary to avoid the detected object.
    Type: Application
    Filed: January 23, 2024
    Publication date: May 16, 2024
    Applicant: Stryker Corporation
    Inventors: David G. Bowling, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Jerry A. Culp, John M. Stuart, Joel N. Beer
  • Patent number: 11918305
    Abstract: A surgical system, method, and non-transitory computer readable medium involving a robotic manipulator configured to move a surgical instrument relative to virtual boundaries. A navigation system tracks each of a first object, a second object, and the surgical instrument. The first object is moveable relative to the second object. One or more controllers associate a first virtual boundary with the first object and associate a second virtual boundary with the second object. The first virtual boundary is moveable in relation to the second virtual boundary. The controller(s) control the robotic manipulator in relation to the first virtual boundary to facilitate interaction of the surgical instrument with the first object. The controller(s) control the robotic manipulator in relation to the second virtual boundary to avoid interaction of the surgical instrument with the second object.
    Type: Grant
    Filed: August 19, 2022
    Date of Patent: March 5, 2024
    Assignee: Stryker Corporation
    Inventors: David Gene Bowling, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Jerry A. Culp, John Michael Stuart, Joel N. Beer
  • Publication number: 20240058084
    Abstract: A surgical system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. A navigation system includes a localizer, a first tracker coupled to the robotic manipulator or the tool, and a second tracker coupled to a workpiece. Controller(s) determine, from the navigation system, a pose of the tool relative to the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a first portion from the workpiece with the tool and sense interaction between the tool and the workpiece during removal of the first portion to detect a density of the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a second portion from the workpiece with the tool, wherein a cutting depth for the second portion is based, at least in part, on the detected density.
    Type: Application
    Filed: November 1, 2023
    Publication date: February 22, 2024
    Applicant: MAKO Surgical Corp.
    Inventors: José Luis Moctezuma de la Barrera, David Gene Bowling, Donald W. Malackowski, Patrick Roessler, Joel N. Beer
  • Patent number: 11864852
    Abstract: A surgical robotic system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. Controller(s) generate a first tool path to remove a first portion of material from the bone and control the manipulator to position the tool for movement along the first tool path to remove the first portion. The controller(s) sense interaction between the tool and the bone during movement of the tool along the first tool path and generate a second tool path to remove a second portion of material from the bone. Generation of the second tool path is based, at least in part, on the sensed interaction between the tool and the bone during movement along the first tool path. The controller(s) control the manipulator to position the tool for movement along the second tool path to remove the second portion.
    Type: Grant
    Filed: March 3, 2022
    Date of Patent: January 9, 2024
    Assignee: MAKO Surgical Corp.
    Inventors: José Luis Moctezuma de la Barrera, David Gene Bowling, Donald W. Malackowski, Patrick Roessler, Joel N. Beer
  • Publication number: 20230329811
    Abstract: A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the second portion of the anatomy.
    Type: Application
    Filed: June 23, 2023
    Publication date: October 19, 2023
    Applicant: MAKO Surgical Corp.
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Publication number: 20230255708
    Abstract: Surgical systems and methods for generating a tool path. A manipulator is configured to support and move a surgical instrument. Controller(s) obtain data that defines a volume of tissue to be removed from a surgical site. The controller(s) operate the manipulator to move the surgical instrument to remove first portions of the volume and acquire data defining the first portions removed from the volume. The controller(s) identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal. The controller(s) generate a tool path that passes through the additional portions and operate the manipulator to move the surgical instrument along the tool path to remove the additional portions.
    Type: Application
    Filed: April 24, 2023
    Publication date: August 17, 2023
    Applicant: Stryker Corporation
    Inventors: David G. Bowling, John M. Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Patent number: 11723732
    Abstract: A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the second portion of the anatomy.
    Type: Grant
    Filed: July 1, 2021
    Date of Patent: August 15, 2023
    Assignee: MAKO Surgical Corp.
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Publication number: 20230234239
    Abstract: A surgical manipulator and method of operating the same. The surgical manipulator includes an arm with a plurality of links and joints, wherein an angle between adjacent links forms a joint angle. The arm includes a distal end configured to support a surgical instrument with an energy applicator. At least one controller is coupled to the arm and models the surgical instrument and the energy applicator as a virtual rigid body. The controller(s) determine a commanded pose for the surgical instrument and the energy applicator based on a summation of a plurality of forces and/or torques, wherein the plurality of forces and/or torques are selectively applied to the virtual rigid body to emulate orientation and movement of the surgical instrument and the energy applicator. The controller(s) determine commanded joint angles for the arm that place the surgical instrument and the energy applicator according to the commanded pose.
    Type: Application
    Filed: March 15, 2023
    Publication date: July 27, 2023
    Applicant: Stryker Corporation
    Inventors: David G. Bowling, John Michael Stuart, Joel N. Beer
  • Patent number: 11672620
    Abstract: A tool path generator utilizes a solid body model of a volume to generate a tool path for a manipulator to remove material of the volume with an energy applicator in a semi-autonomous mode. A material logger monitors movement of the energy applicator according to a cutting path taken by a practitioner in the manual mode, identifies material of the volume to which the energy applicator has been applied in the manual mode, and updates the solid body model based on the identified material. The tool path generator modifies the tool path based on the updated solid body model such that, for the semi-autonomous mode, the modified tool path accounts for the identified material of the volume to which the energy applicator has been applied in the manual mode.
    Type: Grant
    Filed: October 27, 2021
    Date of Patent: June 13, 2023
    Assignee: Stryker Corporation
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Patent number: 11639001
    Abstract: A robotic system and methods are disclosed. A common axis is defined for an instrument and an energy applicator extending from the instrument. A manipulator has a plurality of links and actuators configured to move the links to position the instrument and energy applicator. A force/torque sensor coupled to the manipulator generates an output in response to forces/torques applied to the instrument. Controller(s) defines a centering point that intersects the common axis. Controller(s) model the instrument and the energy applicator as a virtual rigid body and determine forces/torques to apply to the virtual rigid body, which are determined, in part, based on the output of the force/torque sensor. Controller(s) control the manipulator to advance the energy applicator based on the determined forces/torques applied to the virtual rigid body and reorient the instrument such that the common axis pivots about the centering point during advancement of the energy applicator.
    Type: Grant
    Filed: June 15, 2021
    Date of Patent: May 2, 2023
    Assignee: Stryker Corporation
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, José Luis Moctezuma de la Barrera, Patrick Roessler, Joel N. Beer
  • Publication number: 20230076453
    Abstract: A user control device for a surgical system. The surgical system includes a robotic manipulator to support and move a surgical instrument that has an energy applicator. One or more controllers operate the robotic manipulator in a semi-autonomous mode and calculate an instrument feed rate, which is the velocity at which the energy applicator advances along a tool path in the semi-autonomous mode. The user control device includes a housing configured as a pendant configured to be held in one hand of a user. A first control member is mounted to the housing and can be depressed to initiate operation of the robotic manipulator in the semi-autonomous mode. A second control member is mounted to the housing and can be depressed to modify the instrument feed rate in the semi-autonomous mode.
    Type: Application
    Filed: September 1, 2022
    Publication date: March 9, 2023
    Applicant: Stryker Corporation
    Inventors: David Gene Bowling, John Michael Stuart, Jerry A. Culp, Donald W. Malackowski, Jose Luis Moctezuma de la Barrera, Patrick Roessier, Joel N. Beer