Haptic guidance system and method

US9002426B2 · kind B2 · utility

Assignee

• MAKO Surgical Corp. · US

Inventors

• Arthur Quaid · Chimney Lakes, US
• Hyosig Kang · Weston, US
• Dennis Moses · Hollywood, US
• Rony Abovitz · Hollywood, US
• Maurice R. Ferre · North Andover, US
• Binyamin Hajaj · Sunrise, US
• Martin Roche · Fort Lauderdale, US
• Scott Illsley · Waterloo, CA
• Louis Arata · Mentor, US
• Dana Mears · Pittsburgh, US
• Timothy Blackwell · Winona Lake, US
• Alon Mozes · Miami Beach, US
• Sherif Aly · Bloomfield, US
• Amardeep Singh Dugal · Hollywood, US
• Randall E. Hand · Heron Bay South, US
• Sandi Glauser · Weston, US
• Juan Salcedo · Miami, US
• Peter Ebbitt · Boca Raton, US
• William Tapia · Weston, US

Key dates

• Filing date: Jun 23, 2008
• Grant date: Apr 7, 2015
• Expiry date: Dec 28, 2032

Classification

• Technology area (CPC G): Physics
• CPC primary: G16H40/63
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and to adjust the representation of the anatomy in response to movement of the anatomy during the procedure.