Granted Patent B2

US 12,257,018 · App. 18/374,005 · Granted Mar 25, 2025

Inventors: Victor Soto (Coral Gables, FL); Oscar Williams (Foster City, CA); Donald W. Malackowski (Schoolcraft, MI); Kathryn Aubrey (Parkland, FL)

Assignee: MAKO Surgical Corp.

A61B46/10A61B34/20A61B34/30A61B46/23A61B90/39A61B2034/2055A61B2034/2072A61B2090/3983

Abstract

Claims (39)

1. A sterile drape assembly for a surgical robot that includes a robotic arm with a plurality of links and a plurality of joints, the sterile drape assembly comprising:

a surgical drape adapted to be disposed over the robotic arm; and

a drape belt configured to be secured to the surgical drape, wherein the drape belt has at least one optical tracking element.

2. The sterile drape assembly of claim 1 , wherein the at least one optical tracking element is integrated into the drape belt.

3. The sterile drape assembly of claim 1 , wherein the at least one optical tracking element of the drape belt is a light emitting diode (LED).

4. The sterile drape assembly of claim 1 , wherein the at least one optical tracking element of the drape belt is an optical reflector.

5. The sterile drape assembly of claim 1 , wherein the at least one optical tracking element of the drape belt is an optical pattern.

6. The sterile drape assembly of claim 1 , wherein the drape belt comprises a body that supports the at least one optical tracking element of the drape belt, and wherein the body is substantially planar.

7. The sterile drape assembly of claim 6 , wherein the body of the drape belt is elongated.

8. The sterile drape assembly of claim 1 , wherein the drape belt comprises a securing mechanism configured to secure the drape belt to the robotic arm.

9. The sterile drape assembly of claim 8 , wherein the securing mechanism comprises a magnet to secure the drape belt to the robotic arm.

10. The sterile drape assembly of claim 1 , wherein the drape belt is separable from the surgical drape.

11. The sterile drape assembly of claim 1 , wherein the drape belt is integrated with the surgical drape.

12. The sterile drape assembly of claim 1 , wherein the drape belt comprises an aperture configured to pivotably couple the drape belt to one or both of: a pivot on the surgical drape and a pivot on the surgical robot.

13. A drape belt for a surgical drape of a surgical robot, the surgical drape adapted to be disposed over a robotic arm of the surgical robot, and wherein the drape belt comprises:

a body configured to be secured to the surgical drape; and

at least one optical tracking element attached the body and configured to move with the body.

14. The drape belt of claim 13 , wherein the at least one optical tracking element is integrated into the body.

15. The drape belt of claim 13 , wherein the at least one optical tracking element is a light emitting diode (LED).

16. The drape belt of claim 13 , wherein the at least one optical tracking element is an optical reflector.

17. The drape belt of claim 13 , wherein the at least one optical tracking element is an optical pattern.

18. The drape belt of claim 13 , wherein the body is substantially planar.

19. The drape belt of claim 18 , wherein the body is elongated.

20. The drape belt of claim 13 , wherein the body comprises a securing mechanism configured to secure the body to the robotic arm.

21. The drape belt of claim 20 , wherein the securing mechanism comprises a magnet to secure the body to the robotic arm.

22. The drape belt of claim 13 , wherein the body is separable from the surgical drape.

23. The drape belt of claim 13 , wherein the body is integrated with the surgical drape.

24. The drape belt of claim 13 , wherein the body is rigid.

25. The drape belt of claim 13 , wherein the body is elastic or flexible.

26. A surgical robotic system comprising:

a surgical robot including a robotic arm with a plurality of links and a plurality of joints;

a surgical drape adapted to be disposed over the robotic arm; and

a drape belt configured to be secured to surgical drape, wherein the drape belt has at least one optical tracking element.

27. A surgical system comprising:

a surgical robot including a robotic arm with a plurality of links and a plurality of joints;

a localizer camera;

a surgical drape adapted to be disposed over the robotic arm; and

a drape belt configured to be secured to surgical drape, wherein the drape belt has at least one optical tracking element; and

wherein the localizer camera is configured to detect a position of the at least one optical tracking element of the drape belt to track the robotic arm.

Assignments (1)

Continuity (4)

References Cited (385)