Fort Lauderdale, FL, United States
Fort Lauderdale, FL, United States

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Patent
MAKO Surgical | Date: 2017-04-05

A joint distraction lever for measuring a distraction force is disclosed. The joint distraction lever includes a lever body having a handle portion and a working portion. The lever body has a fulcrum extending from a bottom surface of the working portion of the lever body and a distal tip, wherein the distal tip is raised above a top surface of the working portion of the lever body. The joint distraction lever is configured to measure a distraction force applied at the distal tip during a distraction procedure when a torque is applied by an external force applied on the handle portion of the lever body. The joint distraction lever further includes an indicator configured to provide feedback related to the distraction force applied at the distal tip, as measured by the joint distraction lever.


System and method for performing a surgical procedure using a drill guide and a robotic device operable in multiple modes. The drill guide is mechanically coupled to the robotic device. A pre-defined virtual trajectory constrains movement of the drill guide. In a first mode, a user is able to manually manipulate the drill guide while movement of the drill guide is constrained by the pre-defined virtual trajectory. In a second mode, the robotic device operates autonomously, for instance, to perform service on the robotic device.


A method for customizing an interactive control boundary includes identifying a reference feature associated with a virtual implant model, wherein the reference feature is one of a point, a line, a plane, and a surface associated with a virtual implant model. The method further includes determining an intersection between the identified reference feature and a virtual model associated with an anatomy of the patient. The method further includes generating a virtual control boundary based on the determined intersection between the identified reference feature associated with the virtual implant model and the virtual model associated with the anatomy of the patient


Patent
MAKO Surgical | Date: 2016-09-06

A method for generating a virtual radiograph for display on a display device, including providing an image generation system having a processing circuit including a processor and a memory device, the image generation system coupled to the display device. The method further including retrieving three-dimensional image data of an anatomy stored in the memory and retrieving a three-dimensional bone model corresponding to a portion of the anatomy stored in the memory. The method further including associating the three-dimensional bone model with the three-dimensional image data such that the three-dimensional bone model defines first boundary containing a first bounded volume within the three-dimensional image data corresponding to the portion of the anatomy, and performing a volume ray casting process on the three-dimensional image data.


Robotic systems and methods for controlling a tool to remove material from a workpiece. Workpieces such as bones are often non-homogenous and have varying density distributions throughout their volumes. In some embodiments, the systems and methods control the feed rate of the tool, the tool path of the tool, and the rotational speed of the tool based on the density distribution in order to provide a desired outcome for a surgical procedure.


Patent
MAKO Surgical | Date: 2016-10-07

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.


Patent
MAKO Surgical | Date: 2016-01-13

A robotic surgery system includes a robotic arm fixed relative to an operating room. The robotic arm comprises a mounting fixture configured to be coupled to a first element of a fluoroscopic imaging system, wherein the first element is one of a source element and a detector element. The system further includes a second element of the imaging system, wherein the second element is the other of the source element and the detector element. The second element is configured to be repositionable relative to the first element and relative to a patient tissue structure. The system further includes a controller operatively coupled to the robotic arm, configured to receive signals from a sensing system. The sensing system detects motion of one or more sensor elements coupled to each of the first and second elements and determine a relative spatial positioning between the elements of the fluoroscopic imaging system.


Patent
MAKO Surgical | Date: 2016-01-04

Described are computer-based methods and apparatuses, including computer program products, for inertially tracked objects with a kinematic coupling. A tracked pose of a first inertial measurement unit (IMU) is determined, wherein the first IMU is mounted to a first object. The tracked pose of the first IMU is reset while the first object is in a first reproducible reference pose with a second object.


Surgical systems and methods of demonstrating planned autonomous manipulation of an anatomy by a tool of a robotic surgical system include generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the tool in a first mode and generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy. The demonstrative parameters are less invasive to the anatomy than the manipulation parameters. The tool is moved in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.


Patent
MAKO Surgical | Date: 2016-05-18

Surgical systems and methods for manipulating an anatomy with a tool include defining a first virtual boundary associated with the anatomy and a second virtual boundary associated with the anatomy. The first virtual boundary is activated in a first mode. Movement of the tool is constrained in relation to the first virtual boundary in the first mode. The first virtual boundary is deactivated in a second mode. Movement of the tool is constrained in relation to the second virtual boundary in the second mode.

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