IP Library › Granted Patent US 12,280,506
Granted Patent B2
US 12,280,506 · App. 17/513,334 · Granted Apr 22, 2025

Robotic surgical system with slingshot prevention

Inventors: Andrei Danilchenko (Miami, FL); Abdullah Abbasi (San Diego, CA)
Assignee: MAKO Surgical Corp.
B25J9/1664A61B17/142A61B34/20A61B34/25A61B34/30A61B34/32B25J9/1689B25J9/1692G05B15/02G16H20/40G16H40/67A61B2034/2055A61B2034/2059A61B2034/252
View Patent ↗
Loading inventors, assignments & file history…
Monitor This Case
Get email alerts when status or documents change.
Order Certified Copies
Most orders are placed with the USPTO same day — all within 24 business hours.
Order via The Patent Place →
Pre-filled with this patent's details
Quick Facts
Patent No.
US 12,280,506
App. No.
17/513,334
Filed
Oct 28, 2021
Granted
Apr 22, 2025
Kind
B2
Art Unit
3657
USPC
700/254
Abstract

A surgical system includes a controller and a robotic arm configured to hold a surgical tool at a distal end of the robotic arm. The controller is configured to define, based on a surgical plan, a target pose relative to a tracked position of an anatomical feature, generate a planned path for moving the surgical tool held by the robotic arm from a first pose to the target pose, output control signals configured to cause automated motion of the robotic arm based on the planned path, detect a deviation of the surgical tool from the planned path, and in response to detecting the deviation of the distal end from the planned path, update the control signals to stop the automated motion of the robotic arm.

Claims (49)

1. A surgical system comprising:

a robotic arm comprising joints and configured to hold a surgical tool at a distal end of the robotic arm;

a controller configured to:

define a target pose spaced apart from a patient;

generate a planned path for moving the surgical tool held by the robotic arm from a first pose spaced away from the patient to the target pose;

cause automated motion of the robotic arm toward the patient from the first pose based on the planned path such that the surgical tool moves toward the patient without requiring user assistance;

determine, during the automated motion, a current position of the surgical tool using data from the joints of the robotic arm;

detect, during the automated motion, a deviation of the current position of the surgical tool from the planned path; and

in response to detecting the deviation of the distal end from the planned path, stop the automated motion of the robotic arm.

2. The surgical system of claim 1 , wherein the controller is configured to detect the deviation by comparing the current position to the planned path to determine a distance between the current position and the planned path.

3. The surgical system of claim 2 , wherein the controller is configured to detect the deviation by further:

determining whether the distance is greater than a threshold distance; and

identifying that the deviation has occurred, and thus stopping the automated motion of the robotic arm, in response to a determination that the distance is greater than the threshold distance.

4. The surgical system of claim 3 , wherein the controller is configured to:

continue causing the automated motion of the robotic arm in response to a determination that the distance is less than the threshold distance from the planned path by causing the robotic arm to provide a spring-like force driving the surgical tool back toward the planned path as a function of the distance; and

stop the spring-like force in response to the determination that the distance is greater than the threshold distance.

5. The surgical system of claim 1 , wherein the controller is configured to detect the deviation by performing a spatial comparison of the current position to a threshold error boundary delineating a volume around the planned path.

6. The surgical system of claim 1 , wherein the controller is further configured to switch control of the robotic arm to a manual mode in response to detecting the deviation from the planned path.

7. The surgical system of claim 1 , wherein the surgical system is configured to generate the planned path subject to a constraint requiring that the automated motion of the surgical tool from the initial pose to the target pose is expected to take a preset duration.

8. The surgical system of claim 1 , wherein the controller is configured to:

store a surgical plan for modification of an anatomical structure of the patient; and

define the target pose using the surgical plan and relative to the anatomical structure of the patient, the target pose providing a starting point from which the surgical tool is positioned to start resecting a portion of the anatomical feature.

9. A method of controlling a robotic arm, comprising:

generating a planned path for moving a surgical tool held by the robotic arm from a first pose spaced away from the patient to a target pose spaced away from a patient;

automatically moving, by forces generated by the robotic arm and without requiring user assistance, the surgical tool toward the target pose from the first pose based on the planned path, while monitoring a position of the surgical tool using data from joints of the robotic arm;

detecting a deviation of the position of the surgical tool from the planned path, wherein an external force can cause the deviation of the surgical tool from the planned path; and

in response to detecting the deviation of the surgical tool from the planned path, stopping the robotic arm from applying the forces associated with automatically moving the surgical tool toward the target pose.

10. The method of claim 9 , wherein stopping the automatically moving by the robotic arm comprises stopping any forces generated by the robotic arm associated with forcing the surgical tool to or along the planned path.

11. The method of claim 9 , wherein detecting the deviation further comprises:

determining whether the position is greater than a threshold distance from the planned path; and

identifying that the deviation has occurred, and thus stopping the robotic arm from applying the forces, in response to a determination that the tracked position is greater than the threshold distance from the planned path.

12. The method of claim 11 , further comprising continuing the automated motion of the robotic arm in response to a determination that the position is less than the threshold distance from the planned path by applying, by the robotic arm, a spring-like force driving the tracked position back to the planned path, wherein the spring-like force is a function of a distance between the position and the planned path, and wherein stopping the forces comprises stopping the spring-like force.

13. The method of claim 9 , wherein detecting the deviation comprises spatially comparing the position to a threshold error boundary defined in space around the planned path.

14. The method of claim 9 , further comprising switching control of the robotic arm to a manual mode in response to detecting the deviation of the surgical tool from the planned path.

15. The method of claim 9 , wherein generating the planned path is performed subject to a criterion requiring an expected duration of the automated motion from the initial pose to the target pose to be a preset duration.

16. The method of claim 9 , wherein generating the planned path is performed based on the target pose and the first pose and such that the planned path does not intersect the patient.

17. One or more non-transitory computer-readable media storing program instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

defining, based on a patient-specific surgical plan received by the one or more processors, a target pose relative to a tracked position of an anatomical feature, wherein the target pose is external to the anatomical feature;

generating a planned path for moving a surgical tool coupled to a robotic device from a first pose spaced away from the anatomical feature to the target pose;

causing automated motion of the robotic device toward the anatomical feature and the target pose from the first pose based on the planned path;

detecting, during the automated motion of the robotic device, a current position of the surgical tool based on internal data of the robotic device;

detecting a deviation of the current position of the surgical tool from the planned path by comparing the current position of the surgical tool based on the internal data of the robotic device to the planned path; and

in response to detecting the deviation of the surgical tool from the planned path, stopping the automated motion of the robotic device.

18. The non-transitory computer-readable media of claim 17 , wherein detecting the deviation comprises:

determining a distance between the current position of the surgical tool based on the internal data of the robotic device and the planned path;

determining whether the distance is greater than a threshold distance; and

identifying that the deviation has occurred, and thus stopping the automated motion of the robotic device, in response to a determination that the distance is greater than the threshold distance.

19. The non-transitory computer-readable media of claim 18 , wherein generating the planned path is performed subject to a criterion requiring an expected duration of the automated motion from the initial pose to the target pose to be a preset duration.

20. The non-transitory computer-readable media of claim 18 , wherein the operations further comprise switching control of the robotic device to a manual mode in response to detecting the deviation of the surgical tool from the planned path.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Mar 30, 2022
From: DANILCHENKO, ANDREI; ABBASI, ABDULLAH
To: MAKO SURGICAL CORP.
Reel/Frame 059438/0127 →
Continuity (5)
Provisional Application 63189508 · May 17, 2021
Provisional Application 63131654 · Dec 29, 2020
Provisional Application 63125481 · Dec 15, 2020
Provisional Application 63107781 · Oct 30, 2020
Related Publication 20220134558A1 · May 5, 2022
References Cited (400)
US 4559936A · Hill · 1985 [cited by applicant]
US 5078140A · Kwoh · 1992 [cited by applicant]
US 5413573A · Koivukangas · 1995 [cited by applicant]
US 5540696A · Booth et al. · 1996 [cited by applicant]
US 5630431A · Taylor · 1997 [cited by applicant]
US 5682886A · Delp et al. · 1997 [cited by applicant]
US 5800438A · Tuke et al. · 1998 [cited by applicant]
US 5824085A · Sahay et al. · 1998 [cited by applicant]
US 6328752B1 · Sjostrom et al. · 2001 [cited by applicant]
US 6595997B2 · Axelson et al. · 2003 [cited by applicant]
US 6685711B2 · Axelson et al. · 2004 [cited by applicant]
US 6758850B2 · Smith et al. · 2004 [cited by applicant]
US 6827723B2 · Carson · 2004 [cited by applicant]
US 6859661B2 · Tuke · 2005 [cited by applicant]
US 7008362B2 · Fitzgibbon · 2006 [cited by applicant]
US 7412897B2 · Crottet et al. · 2008 [cited by applicant]
US 7510557B1 · Bonutti · 2009 [cited by applicant]
US 7547307B2 · Carson et al. · 2009 [cited by applicant]
US 7591821B2 · Kelman · 2009 [cited by applicant]
US 7607440B2 · Coste-Maniere et al. · 2009 [cited by applicant]
US 7618421B2 · Axelson et al. · 2009 [cited by applicant]
US 7634306B2 · Sarin et al. · 2009 [cited by applicant]
US 7670345B2 · Plassky et al. · 2010 [cited by applicant]
US 7696899B2 · Immerz et al. · 2010 [cited by applicant]
US 7794467B2 · McGinley et al. · 2010 [cited by applicant]
US 7809421B1 · Govari · 2010 [cited by applicant]
US 7831295B2 · Friedrich et al. · 2010 [cited by applicant]
US 7927336B2 · Rasmussen · 2011 [cited by applicant]
US 7931655B2 · Axelson et al. · 2011 [cited by applicant]
US 7945310B2 · Gattani et al. · 2011 [cited by applicant]
US 7963913B2 · Devengenzo et al. · 2011 [cited by applicant]
US 8007448B2 · Moctezuma De La Barrera · 2011 [cited by applicant]
US 8010180B2 · Quaid et al. · 2011 [cited by applicant]
US 8038683B2 · Couture et al. · 2011 [cited by applicant]
US 8075317B2 · Youngblood · 2011 [cited by applicant]
US 8078440B2 · Otto et al. · 2011 [cited by applicant]
US 8096997B2 · Plaskos et al. · 2012 [cited by applicant]
US 8109942B2 · Carson · 2012 [cited by applicant]
US 8116847B2 · Gattani et al. · 2012 [cited by applicant]
US 8126533B2 · Lavallee · 2012 [cited by applicant]
US 8160345B2 · Pavlovskaia et al. · 2012 [cited by applicant]
US 8170888B2 · Silverman · 2012 [cited by applicant]
US 8172775B2 · Warkentine et al. · 2012 [cited by applicant]
US 8197549B2 · Amirouche et al. · 2012 [cited by applicant]
US 8257360B2 · Richard et al. · 2012 [cited by applicant]
US 8265790B2 · Amiot et al. · 2012 [cited by applicant]
US 8265949B2 · Haddad · 2012 [cited by applicant]
US 8277455B2 · Couture et al. · 2012 [cited by applicant]
US 8337508B2 · Lavallee et al. · 2012 [cited by applicant]
US 8357111B2 · Caillouette et al. · 2013 [cited by applicant]
US 8377129B2 · Fitz et al. · 2013 [cited by applicant]
US 8382765B2 · Axelson et al. · 2013 [cited by applicant]
US 8386077B2 · Birkenbach et al. · 2013 [cited by applicant]
US 8480679B2 · Park et al. · 2013 [cited by applicant]
US 8483469B2 · Pavlovskaia et al. · 2013 [cited by applicant]
US 8521252B2 · Diez · 2013 [cited by applicant]
US 8545509B2 · Park et al. · 2013 [cited by applicant]
US 8548559B2 · Hodgson et al. · 2013 [cited by applicant]
US 8551023B2 · Sherman et al. · 2013 [cited by applicant]
US 8551099B2 · Lang et al. · 2013 [cited by applicant]
US 8626267B2 · Lavallee · 2014 [cited by applicant]
US 8641726B2 · Bonutti · 2014 [cited by applicant]
US 8682052B2 · Fitz et al. · 2014 [cited by applicant]
US 8707963B2 · Davis et al. · 2014 [cited by applicant]
US 8715291B2 · Park et al. · 2014 [cited by applicant]
US 8721568B2 · Rock et al. · 2014 [cited by applicant]
US 8777875B2 · Park · 2014 [cited by applicant]
US 8801719B2 · Park et al. · 2014 [cited by applicant]
US 8801720B2 · Park et al. · 2014 [cited by applicant]
US 8832019B2 · Gao · 2014 [cited by applicant]
US 8834490B2 · Bonutti · 2014 [cited by applicant]
US 8845645B2 · Wilkinson et al. · 2014 [cited by applicant]
US 8861818B2 · Ito et al. · 2014 [cited by applicant]
US 8880152B2 · Lavallee · 2014 [cited by applicant]
US 8885904B2 · Darrow et al. · 2014 [cited by applicant]
US 8938282B2 · Daon et al. · 2015 [cited by applicant]
US 8951260B2 · Lang et al. · 2015 [cited by applicant]
US 8956355B2 · Edwards et al. · 2015 [cited by applicant]
US 8965483B2 · Couture et al. · 2015 [cited by applicant]
US 8974468B2 · Borja · 2015 [cited by applicant]
US 8979859B2 · Leparmentier et al. · 2015 [cited by applicant]
US 9002426B2 · Quaid et al. · 2015 [cited by applicant]
US 9101394B2 · Arata et al. · 2015 [cited by applicant]
US 9119722B1 · Kusuma · 2015 [cited by applicant]
US 9125669B2 · Ranawat et al. · 2015 [cited by applicant]
US 9167989B2 · Odermatt et al. · 2015 [cited by applicant]
US 9168153B2 · Bettenga · 2015 [cited by applicant]
US 9173716B2 · Kasodekar et al. · 2015 [cited by applicant]
US 9186292B2 · Besendorfer · 2015 [cited by applicant]
US 9220510B2 · Cheal et al. · 2015 [cited by applicant]
US 9237951B1 · Hakki · 2016 [cited by applicant]
US 9241801B1 · Parry et al. · 2016 [cited by applicant]
US 9247998B2 · Hladio et al. · 2016 [cited by applicant]
US 9248001B2 · Colombet et al. · 2016 [cited by applicant]
US 9259290B2 · Jenkins et al. · 2016 [cited by applicant]
US 9262802B2 · Aghazadeh · 2016 [cited by applicant]
US 9265447B2 · Stein et al. · 2016 [cited by applicant]
US 9271756B2 · Van Der Walt et al. · 2016 [cited by applicant]
US 9277968B2 · Min et al. · 2016 [cited by applicant]
US 9286355B2 · De Guise et al. · 2016 [cited by applicant]
US 9289264B2 · Iorgulescu et al. · 2016 [cited by applicant]
US 9301812B2 · Kehres et al. · 2016 [cited by applicant]
US 9332987B2 · Leimbach et al. · 2016 [cited by applicant]
US 9406134B2 · Klingenbeck-Regn · 2016 [cited by applicant]
US 9433425B2 · Wilkinson · 2016 [cited by applicant]
US 9439656B2 · Chana et al. · 2016 [cited by applicant]
US 9517000B2 · Donhowe et al. · 2016 [cited by applicant]
US 9532788B2 · Jordan et al. · 2017 [cited by applicant]
US 9532838B2 · Coste-Maniere et al. · 2017 [cited by applicant]
US 9549742B2 · Berend et al. · 2017 [cited by applicant]
US 9549782B2 · Park et al. · 2017 [cited by applicant]
US 9554953B2 · Dirauf et al. · 2017 [cited by applicant]
US 9561082B2 · Yen et al. · 2017 [cited by applicant]
US 9572682B2 · Aghazadeh · 2017 [cited by applicant]
US 9585725B2 · Bonutti · 2017 [cited by applicant]
US 9585768B2 · Sherman et al. · 2017 [cited by applicant]
US 9592133B2 · Toler et al. · 2017 [cited by applicant]
US 9597096B2 · Aghazadeh · 2017 [cited by applicant]
US 9610086B2 · Park et al. · 2017 [cited by applicant]
US 9610134B2 · Kubiak et al. · 2017 [cited by applicant]
US 9639156B2 · Iorgulescu et al. · 2017 [cited by applicant]
US 9684768B2 · Lavallee et al. · 2017 [cited by applicant]
US 9700292B2 · Nawana et al. · 2017 [cited by applicant]
US 9724165B2 · Arata et al. · 2017 [cited by applicant]
US 9737311B2 · Lavallee et al. · 2017 [cited by applicant]
US 9737369B2 · Burger et al. · 2017 [cited by applicant]
US 9763683B2 · Bonutti · 2017 [cited by applicant]
US 9763746B2 · Deichmann et al. · 2017 [cited by applicant]
US 9782226B2 · Park et al. · 2017 [cited by applicant]
US 9782229B2 · Crawford et al. · 2017 [cited by applicant]
US 9808356B2 · Haight et al. · 2017 [cited by applicant]
US 9848896B2 · Emslie et al. · 2017 [cited by applicant]
US 9861446B2 · Lang · 2018 [cited by applicant]
US 9888931B2 · Bake · 2018 [cited by applicant]
US 9901404B2 · Park et al. · 2018 [cited by applicant]
US 9901463B2 · Mahfouz · 2018 [cited by applicant]
US 9911187B2 · Steinle et al. · 2018 [cited by applicant]
US 9913691B2 · Brooks · 2018 [cited by applicant]
US 9913692B2 · Arata et al. · 2018 [cited by applicant]
US 9916421B2 · Vorhis et al. · 2018 [cited by applicant]
US 9987092B2 · Hladio et al. · 2018 [cited by applicant]
US 10010377B2 · Iorgulescu et al. · 2018 [cited by applicant]
US 10052164B2 · Overmyer · 2018 [cited by applicant]
US 10070931B2 · Itkowitz et al. · 2018 [cited by applicant]
US 10070973B2 · Sherman et al. · 2018 [cited by applicant]
US 10071488B2 · Robinson et al. · 2018 [cited by applicant]
US 10076344B2 · Toler · 2018 [cited by applicant]
US 10080616B2 · Wilkinson et al. · 2018 [cited by applicant]
US 10092361B2 · Ferro et al. · 2018 [cited by applicant]
US 10102309B2 · McKinnon et al. · 2018 [cited by applicant]
US 10117658B2 · Talbot · 2018 [cited by applicant]
US 10130375B2 · Yager et al. · 2018 [cited by applicant]
US 10136950B2 · Schoenefeld · 2018 [cited by applicant]
US 10136952B2 · Couture et al. · 2018 [cited by applicant]
US 10172687B2 · Garbus et al. · 2019 [cited by applicant]
US 10194991B2 · Bonny et al. · 2019 [cited by applicant]
US 10201320B2 · Saget et al. · 2019 [cited by applicant]
US 10206714B2 · Van Der Walt et al. · 2019 [cited by applicant]
US 10206792B2 · Sherman et al. · 2019 [cited by applicant]
US 10226261B2 · Park et al. · 2019 [cited by applicant]
US 10226306B2 · Itkowitz et al. · 2019 [cited by applicant]
US 10231739B1 · Bonutti · 2019 [cited by applicant]
US 10231786B2 · Ferro et al. · 2019 [cited by applicant]
US 10238454B2 · Boettner et al. · 2019 [cited by applicant]
US 10271954B2 · Roach et al. · 2019 [cited by applicant]
US 10272569B2 · Swarup et al. · 2019 [cited by applicant]
US 10278777B1 · Lang · 2019 [cited by applicant]
US 10285683B2 · Plaskos et al. · 2019 [cited by applicant]
US 10307269B2 · Miller · 2019 [cited by applicant]
US 10368947B2 · Lang · 2019 [cited by applicant]
US 10416624B2 · Bly et al. · 2019 [cited by applicant]
US 10420611B2 · Jaramaz et al. · 2019 [cited by applicant]
US 10426556B2 · Miga et al. · 2019 [cited by applicant]
US 10441366B2 · Tabandeh et al. · 2019 [cited by applicant]
US 10441438B1 · Rahman et al. · 2019 [cited by applicant]
US 10452238B2 · Nikou et al. · 2019 [cited by applicant]
US 10456075B2 · Auchinleck et al. · 2019 [cited by applicant]
US 10456166B2 · Cooper et al. · 2019 [cited by applicant]
US 10463242B2 · Kesten et al. · 2019 [cited by applicant]
US 10470838B2 · Epstein et al. · 2019 [cited by applicant]
US 10492693B2 · Irisawa · 2019 [cited by applicant]
US 10492798B2 · Metzger · 2019 [cited by applicant]
US 10548667B2 · Flett et al. · 2020 [cited by applicant]
US 10555777B2 · Griffiths et al. · 2020 [cited by applicant]
US 10572733B2 · Wells et al. · 2020 [cited by applicant]
US 10575910B2 · Itkowitz et al. · 2020 [cited by applicant]
US 10595880B2 · Otto et al. · 2020 [cited by applicant]
US 10595887B2 · Shelton et al. · 2020 [cited by applicant]
US 10595952B2 · Forrest et al. · 2020 [cited by applicant]
US 10610310B2 · Todd et al. · 2020 [cited by applicant]
US 10610315B2 · Itkowitz et al. · 2020 [cited by applicant]
US 10610316B2 · Swarup et al. · 2020 [cited by applicant]
US 10617479B2 · Itkowitz et al. · 2020 [cited by applicant]
US 10624807B2 · Itkowitz et al. · 2020 [cited by applicant]
US 10638970B2 · Obma et al. · 2020 [cited by applicant]
US 10739963B2 · Nikou et al. · 2020 [cited by applicant]
US 10765384B2 · Wollowick et al. · 2020 [cited by applicant]
US 11039893B2 · Kostrzewski · 2021 [cited by examiner]
US 11553969B1 · Lang et al. · 2023 [cited by applicant]
US 20020055918A1 · Hlathein et al. · 2002 [cited by applicant]
US 20020082612A1 · Moll et al. · 2002 [cited by applicant]
US 20040260301A1 · Lionberger et al. · 2004 [cited by applicant]
US 20050020941A1 · Tarabichi · 2005 [cited by applicant]
US 20050113846A1 · Carson · 2005 [cited by applicant]
US 20050119661A1 · Hodgson et al. · 2005 [cited by applicant]
US 20050149040A1 · Haines et al. · 2005 [cited by applicant]
US 20050171545A1 · Walsh et al. · 2005 [cited by applicant]
US 20050234466A1 · Stallings · 2005 [cited by applicant]
US 20050251148A1 · Friedrich et al. · 2005 [cited by applicant]
US 20060015120A1 · Richard et al. · 2006 [cited by applicant]
US 20060064043A1 · Goeggelmann et al. · 2006 [cited by applicant]
US 20060200026A1 · Wallace et al. · 2006 [cited by applicant]
US 20060241405A1 · Leitner et al. · 2006 [cited by applicant]
US 20070073136A1 · Metzger · 2007 [cited by applicant]
US 20070123896A1 · Wyss et al. · 2007 [cited by applicant]
US 20070179626A1 · De La Barrera et al. · 2007 [cited by applicant]
US 20080004633A1 · Arata et al. · 2008 [cited by applicant]
US 20080208081A1 · Murphy et al. · 2008 [cited by applicant]
US 20080249394A1 · Giori et al. · 2008 [cited by applicant]
US 20080281301A1 · Deboer et al. · 2008 [cited by applicant]
US 20080281328A1 · Lang et al. · 2008 [cited by applicant]
US 20080281426A1 · Fitz et al. · 2008 [cited by applicant]
US 20100063508A1 · Borja et al. · 2010 [cited by applicant]
US 20100064216A1 · Borja et al. · 2010 [cited by applicant]
US 20100145344A1 · Jordan et al. · 2010 [cited by applicant]
US 20110029091A1 · Bojarski et al. · 2011 [cited by applicant]
US 20110071528A1 · Carson · 2011 [cited by applicant]
US 20110071530A1 · Carson · 2011 [cited by applicant]
US 20110304332A1 · Mahfouz · 2011 [cited by applicant]
US 20110306986A1 · Lee et al. · 2011 [cited by applicant]
US 20120143084A1 · Shoham · 2012 [cited by applicant]
US 20120226198A1 · Carson · 2012 [cited by applicant]
US 20120226481A1 · Carson · 2012 [cited by applicant]
US 20120283747A1 · Popovic · 2012 [cited by applicant]
US 20130072821A1 · Odermatt et al. · 2013 [cited by applicant]
US 20130085510A1 · Stefanchik et al. · 2013 [cited by applicant]
US 20130123983A1 · Brogaardh · 2013 [cited by applicant]
US 20130172905A1 · Iorgulescu et al. · 2013 [cited by applicant]
US 20130209953A1 · Arlinsky et al. · 2013 [cited by applicant]
US 20140039520A1 · Haider et al. · 2014 [cited by applicant]
US 20140073907A1 · Kumar et al. · 2014 [cited by applicant]
US 20140108983A1 · William R et al. · 2014 [cited by applicant]
US 20140128727A1 · Daon et al. · 2014 [cited by applicant]
US 20140135791A1 · Nikou et al. · 2014 [cited by applicant]
US 20140188240A1 · Lang et al. · 2014 [cited by applicant]
US 20140189508A1 · Granchi et al. · 2014 [cited by applicant]
US 20140296871A1 · Chen et al. · 2014 [cited by applicant]
US 20150094736A1 · Malackowski et al. · 2015 [cited by applicant]
US 20150105782A1 · D'Lima et al. · 2015 [cited by applicant]
US 20150106024A1 · Lightcap et al. · 2015 [cited by applicant]
US 20160007836A1 · Kikuchi · 2016 [cited by applicant]
US 20160022374A1 · Haider et al. · 2016 [cited by applicant]
US 20160220175A1 · Tam et al. · 2016 [cited by applicant]
US 20160278868A1 · Berend et al. · 2016 [cited by applicant]
US 20160338777A1 · Penenberg et al. · 2016 [cited by applicant]
US 20170014169A1 · Dean et al. · 2017 [cited by applicant]
US 20170042557A1 · Plaskos et al. · 2017 [cited by applicant]
US 20170061375A1 · Laster et al. · 2017 [cited by applicant]
US 20170196571A1 · Berend et al. · 2017 [cited by applicant]
US 20170252112A1 · Crawford et al. · 2017 [cited by applicant]
US 20170258532A1 · Shalayev et al. · 2017 [cited by applicant]
US 20170312099A1 · Paszicsnyek · 2017 [cited by applicant]
US 20170325973A1 · Bonny et al. · 2017 [cited by applicant]
US 20170340389A1 · Otto et al. · 2017 [cited by applicant]
US 20170347922A1 · Bhandari · 2017 [cited by applicant]
US 20170348008A1 · Lavallee et al. · 2017 [cited by applicant]
US 20180064496A1 · Hladio et al. · 2018 [cited by applicant]
US 20180071049A1 · Nowatschin et al. · 2018 [cited by applicant]
US 20180085135A1 · Singh et al. · 2018 [cited by applicant]
US 20180085172A1 · Bell et al. · 2018 [cited by applicant]
US 20180116739A1 · Gogarty · 2018 [cited by examiner]
US 20180116805A1 · Johannaber et al. · 2018 [cited by applicant]
US 20180116823A1 · Johannaber et al. · 2018 [cited by applicant]
US 20180132949A1 · Merette et al. · 2018 [cited by applicant]
US 20180168750A1 · Staunton et al. · 2018 [cited by applicant]
US 20180168762A1 · Scheib et al. · 2018 [cited by applicant]
US 20180177512A1 · Hogan et al. · 2018 [cited by applicant]
US 20180185100A1 · Weinstein et al. · 2018 [cited by applicant]
US 20180199995A1 · Odermatt et al. · 2018 [cited by applicant]
US 20180214180A1 · Theodore et al. · 2018 [cited by applicant]
US 20180221098A1 · Forsyth · 2018 [cited by examiner]
US 20180250078A1 · Shochat et al. · 2018 [cited by applicant]
US 20180256256A1 · May et al. · 2018 [cited by applicant]
US 20180271607A1 · Kralicky et al. · 2018 [cited by applicant]
US 20180317898A1 · Plaskos et al. · 2018 [cited by applicant]
US 20180338796A1 · Yao et al. · 2018 [cited by applicant]
US 20180344409A1 · Bonny et al. · 2018 [cited by applicant]
US 20180368930A1 · Esterberg et al. · 2018 [cited by applicant]
US 20190000631A1 · Blankevoort et al. · 2019 [cited by applicant]
US 20190008599A1 · Lynch · 2019 [cited by examiner]
US 20190046278A1 · Steinle et al. · 2019 [cited by applicant]
US 20190066832A1 · Kang et al. · 2019 [cited by applicant]
US 20190069962A1 · Tabandeh et al. · 2019 [cited by applicant]
US 20190069963A1 · Azizian et al. · 2019 [cited by applicant]
US 20190083191A1 · Gilhooley et al. · 2019 [cited by applicant]
US 20190090952A1 · Bonny et al. · 2019 [cited by applicant]
US 20190090962A1 · Boettner · 2019 [cited by applicant]
US 20190099228A1 · Keller et al. · 2019 [cited by applicant]
US 20190117156A1 · Howard et al. · 2019 [cited by applicant]
US 20190117407A1 · Yang · 2019 [cited by applicant]
US 20190122330A1 · Saget et al. · 2019 [cited by applicant]
US 20190133695A1 · Hladio et al. · 2019 [cited by applicant]
US 20190147128A1 · O'Connor · 2019 [cited by applicant]
US 20190175062A1 · Rafii-Tari et al. · 2019 [cited by applicant]
US 20190175283A1 · Bonny et al. · 2019 [cited by applicant]
US 20190176334A1 · Zhou · 2019 [cited by examiner]
US 20190200900A1 · Thelen et al. · 2019 [cited by applicant]
US 20190201101A1 · Hafez · 2019 [cited by applicant]
US 20190201214A1 · Miller et al. · 2019 [cited by applicant]
US 20190209079A1 · Delport · 2019 [cited by applicant]
US 20190216520A1 · Babak et al. · 2019 [cited by applicant]
US 20190223962A1 · Roldan et al. · 2019 [cited by applicant]
US 20190224016A1 · Walker et al. · 2019 [cited by applicant]
US 20190240045A1 · Couture · 2019 [cited by applicant]
US 20190240046A1 · Couture · 2019 [cited by applicant]
US 20190254756A1 · Zhang et al. · 2019 [cited by applicant]
US 20190269476A1 · Bowling et al. · 2019 [cited by applicant]
US 20190272917A1 · Couture et al. · 2019 [cited by applicant]
US 20190274662A1 · Rockman et al. · 2019 [cited by applicant]
US 20190274762A1 · Kim et al. · 2019 [cited by applicant]
US 20190290198A1 · Belson et al. · 2019 [cited by applicant]
US 20190311542A1 · Douglas et al. · 2019 [cited by applicant]
US 20190325386A1 · Laster et al. · 2019 [cited by applicant]
US 20190336220A1 · Hladio et al. · 2019 [cited by applicant]
US 20190365481A1 · Otto et al. · 2019 [cited by applicant]
US 20190374130A1 · Bydlon et al. · 2019 [cited by applicant]
US 20190380792A1 · Poltaretskyi et al. · 2019 [cited by applicant]
US 20190388153A1 · Running et al. · 2019 [cited by applicant]
US 20190388157A1 · Shameli et al. · 2019 [cited by applicant]
US 20200000400A1 · McKinnon et al. · 2020 [cited by applicant]
US 20200015598A1 · Hondori et al. · 2020 [cited by applicant]
US 20200030036A1 · Forstein · 2020 [cited by applicant]
US 20200060772A1 · Konh et al. · 2020 [cited by applicant]
US 20200060773A1 · Barral et al. · 2020 [cited by applicant]
US 20200100848A1 · Zuhars et al. · 2020 [cited by applicant]
US 20200113583A1 · Philipp et al. · 2020 [cited by applicant]
US 20200129311A1 · Singh et al. · 2020 [cited by applicant]
US 20200268453A1 · Fuerst · 2020 [cited by examiner]
US 20200305978A1 · Tan et al. · 2020 [cited by applicant]
US 20200305979A1 · Crawford et al. · 2020 [cited by applicant]
US 20200323540A1 · Kang et al. · 2020 [cited by applicant]
US 20200352529A1 · Wollowick et al. · 2020 [cited by applicant]
US 20210068845A1 · Schers · 2021 [cited by examiner]
US 20210282859A1 · Abbaschian et al. · 2021 [cited by applicant]
US 20210361298A1 · Patel et al. · 2021 [cited by applicant]
US 20220031398A1 · Zheng et al. · 2022 [cited by applicant]
US 20220071720A1 · Sexson et al. · 2022 [cited by applicant]
US 20220148739A1 · Farley et al. · 2022 [cited by applicant]
US 20220361972A1 · Armand · 2022 [cited by examiner]
US 20220395340A1 · Dumpe · 2022 [cited by applicant]
US 20230146679A1 · Lavallée · 2023 [cited by examiner]
EP 1518501A2 · 2005 [cited by applicant]
EP 1690503A1 · 2006 [cited by applicant]
EP 1226788B1 · 2006 [cited by applicant]
EP 1755466B1 · 2007 [cited by applicant]
EP 2007291A2 · 2008 [cited by applicant]
EP 2156794A1 · 2010 [cited by applicant]
EP 2384714A1 · 2011 [cited by applicant]
EP 1919390B1 · 2012 [cited by applicant]
EP 1841372B1 · 2017 [cited by applicant]
EP 3510927A1 · 2019 [cited by applicant]
EP 3334383B1 · 2020 [cited by applicant]
WO WO9531148A1 · 1995 [cited by applicant]
WO WO2004070580A2 · 2004 [cited by applicant]
WO WO2006078236A1 · 2006 [cited by applicant]
WO WO2007092841A1 · 2007 [cited by applicant]
WO WO2012082164A1 · 2012 [cited by applicant]
WO WO2012101286A1 · 2012 [cited by applicant]
WO WO2015057814A1 · 2015 [cited by applicant]
WO WO2016146768A1 · 2016 [cited by applicant]
WO WO2016198844A1 · 2016 [cited by applicant]
WO WO2017076886A1 · 2017 [cited by applicant]
WO WO2017108776A1 · 2017 [cited by applicant]
WO WO2017115235A1 · 2017 [cited by applicant]
WO WO2017124043A1 · 2017 [cited by applicant]
WO WO2017147596A1 · 2017 [cited by applicant]
WO WO2017179075A1 · 2017 [cited by applicant]
WO WO2018085694A1 · 2018 [cited by applicant]
WO WO2018085900A1 · 2018 [cited by applicant]
WO WO2018095499A1 · 2018 [cited by applicant]
WO WO2018104704A1 · 2018 [cited by applicant]
WO WO2018161120A1 · 2018 [cited by applicant]
WO WO2019006370A1 · 2019 [cited by applicant]
WO WO2019032828A2 · 2019 [cited by applicant]
WO WO2019068194A1 · 2019 [cited by applicant]
WO WO2019079634A1 · 2019 [cited by applicant]
WO WO2019081915A1 · 2019 [cited by applicant]
WO WO2019135805A1 · 2019 [cited by applicant]
WO WO2019148154A1 · 2019 [cited by applicant]
WO WO2019191722A1 · 2019 [cited by applicant]
WO WO2019224745A1 · 2019 [cited by applicant]
WO WO2019241516A1 · 2019 [cited by applicant]
WO WO2019245849A1 · 2019 [cited by applicant]
WO WO2019245851A1 · 2019 [cited by applicant]
WO WO2020033568A2 · 2020 [cited by applicant]
WO WO2020056443A1 · 2020 [cited by applicant]
WO WO2020065209A1 · 2020 [cited by applicant]
WO WO2020227832A1 · 2020 [cited by applicant]
US 9,445,923-B2, 9/20/2016, (withdrawn) [cited by applicant]
International Search Report and Written Opinion for International Application No. PCT/US2021/057045, mailed Feb. 14, 2022, 17 pages. [cited by applicant]