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).

  • 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
  • Publication number: 20220387117
    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: Application
    Filed: August 19, 2022
    Publication date: December 8, 2022
    Applicant: 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
  • Patent number: 11471232
    Abstract: A surgical system for applying an energy applicator to a target tissue and methods operating the same are disclosed. The energy applicator extends from a surgical instrument. The surgical system comprises a sensor to measure external forces and torques placed on the surgical instrument. A surgical manipulator is configured to move the energy applicator in a manual mode in response to the external forces and torques. At least one controller is configured to: model the surgical instrument and the energy applicator as a virtual rigid body having a virtual mass; calculate, using impulse modeling, constraining forces and torques to be applied to the virtual rigid body; determine total forces and torques based on the external forces and torques and the constraining forces and torques; and advance the energy applicator in the manual mode based on the total forces and torques.
    Type: Grant
    Filed: September 26, 2019
    Date of Patent: October 18, 2022
    Assignee: Stryker Corporation
    Inventors: David Gene Bowling, Joel N. Beer
  • Patent number: 11464579
    Abstract: Systems and methods are disclosed involving an instrument, an instrument tracking device for tracking movement of the instrument, a first boundary tracking device for tracking movement of a first virtual boundary associated with an anatomy of a patient to be treated by the instrument, and a second boundary tracking device for tracking movement of a second virtual boundary associated with a periphery of an opening in the patient to be avoided by the instrument. One or more controllers receive information associated with the tracking devices including positions of the instrument relative to the first and second virtual boundaries, detect movement of the first and second virtual boundaries relative to one another, and generate a response upon detecting movement of the first and second virtual boundaries relative to one another.
    Type: Grant
    Filed: November 15, 2019
    Date of Patent: October 11, 2022
    Assignee: Stryker Corporation
    Inventors: David Gene Bowling, Donald W. Malackowski, Jose Luis Moctezuma de la Barrera, Patrick Roessler, Jerry A. Culp, John Michael Stuart, Joel N. Beer
  • Publication number: 20220183777
    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: Application
    Filed: March 3, 2022
    Publication date: June 16, 2022
    Applicant: MAKO Aurgical Corp.
    Inventors: Jose' Luis Moctezuma de la Barrera, David Gene Bowling, Donald W. Malackowski, Patrick Roessler, Joel N. Beer
  • Patent number: 11291511
    Abstract: A method of operating a robotic system to efficiently remove material from a workpiece based on a density distribution of the material of the workpiece. The density distribution of the material of the workpiece is determined from a three-dimensional representation and evaluated by classifying the plurality of points or voxels into a first density classification and a second density classification. A navigation computer generates a first tool path and a second tool path for the tool based on the evaluated density distribution. The first tool path is associated with the first density classification, and the second tool path is associated with the second density classification. The position of the tool relative to the workpiece is tracked with a navigation computer and controlled with a manipulator controller based on the generated tool path to remove material along the first tool path, and remove material along the second tool path.
    Type: Grant
    Filed: September 24, 2018
    Date of Patent: April 5, 2022
    Assignee: MAKO Surgical Corp.
    Inventors: José Luis Moctezuma de la Barrera, David Gene Bowling, Donald W. Malackowski, Patrick Roessler, Joel N. Beer
  • Publication number: 20220047346
    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: Application
    Filed: October 27, 2021
    Publication date: February 17, 2022
    Applicant: 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: 20210322114
    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: Application
    Filed: July 1, 2021
    Publication date: October 21, 2021
    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: 20210308872
    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: Application
    Filed: June 15, 2021
    Publication date: October 7, 2021
    Applicant: 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: 11083531
    Abstract: A system includes a robotic manipulator and an end effector coupled to the robotic manipulator and being moveable for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a virtual boundary relative to the target site, prevent the end effector from penetrating the virtual boundary in the autonomous mode, and allow the end effector to penetrate the virtual boundary in the manual mode.
    Type: Grant
    Filed: June 16, 2020
    Date of Patent: August 10, 2021
    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: 11045958
    Abstract: A system and method of operating the same are disclosed. The system includes a surgical instrument including an energy applicator and a manipulator including a plurality of links and a plurality of actuators operatively coupled to the plurality of links for moving the energy applicator in one or more degrees of freedom. At least one controller is configured to establish an initial position of the energy applicator. The at least one controller evaluates a plurality of possible final positions for the energy applicator with respect to one or more boundaries within which the energy applicator is allowed to move and beyond which the energy applicator is restricted from moving. Based on the evaluation of the plurality of possible final positions for the energy applicator, a commanded position to which the energy applicator is able to be moved by the manipulator without crossing the one or more boundaries is established.
    Type: Grant
    Filed: May 10, 2019
    Date of Patent: June 29, 2021
    Assignee: Stryker Corporation
    Inventors: David Gene Bowling, Joel N. Beer