Granted Patent B2

US 12,370,061 · App. 17/939,519 · Granted Jul 29, 2025

Inventors: Matthew Thompson (Durham, NC); Varun Chandra (Weston, FL); Mark Nadzadi (Batavia, OH); Christine Perrone (Weston, FL); Garrett Joyal (Weston, FL)

Assignee: MAKO Surgical Corp.

A61F2/4609A61B34/37A61F2/34A61F2/4684A61B17/1746A61B2034/105A61B2034/107A61B2034/2072A61F2002/30736A61F2002/4633

Abstract

Claims (32)

1. A method, comprising:

obtaining a surgical plan comprising a first planned position of an implant and a second planned position of an augment relative to a bone, wherein the augment is planned to provide support between the bone and the implant;

preparing the bone to receive both the implant in the first planned position and the augment in the second planned position by controlling a robotic device based on the first planned position of the implant and the second planned position of the augment;

determining whether the augment is in the second planned position by tracking a probe as the probe is touched to the augment; and

fixing the augment to the bone in response to determining that the augment is in the second planned position.

2. The method of claim 1 , wherein controlling the robotic device comprises causing the robotic device to move in accordance with a virtual control object comprising a unified surface corresponding to both the implant and the augment.

3. The method of claim 1 , wherein controlling the robotic device comprises causing the robotic device to separately move in accordance with (i) a first virtual control object corresponding to the implant and (ii) a second virtual control object corresponding to the augment.

4. The method of claim 3 , wherein preparing the bone by controlling the robotic device comprises using the first virtual control object before using the second virtual control object.

5. The method of claim 1 , wherein the augment is a cone.

6. The method of claim 1 , wherein the augment is a stem.

7. The method of claim 1 , wherein the augment is a spacer.

8. The method of claim 1 , further comprising holding, by the robotic device, the augment at the bone in the second planned position to facilitate fixation of the augment to the bone.

9. The method of claim 1 , further comprising preparing the bone to receive an additional augment planned to provide additional support for the implant.

10. One or more non-transitory computer-readable media storing instructions that, when executed by a processor, cause the processor to perform operations comprising:

obtaining a surgical plan comprising a first planned position of an implant and a second planned position of an augment relative to a bone, wherein the augment is positionable independent of the implant and is planned to provide support between the bone and the implant, wherein obtaining the surgical plan comprises allowing adjustment of the second planned position relative to the first planned position; and

assisting preparation of the bone to receive both the implant in the first planned position and the augment in the second planned position by controlling a robotic device based on the first planned position of the implant and the second planned position of the augment.

11. The one or more non-transitory computer-readable media of claim 10 , wherein controlling the robotic device is based on a control object comprising a unified surface corresponding both the implant and the augment.

12. The one or more non-transitory computer-readable media of claim 10 , wherein controlling the robotic device is based on a first control object corresponding to the implant and a second control object corresponding to the augment.

13. The one or more non-transitory computer-readable media of claim 12 , wherein the operations comprise using the second control object in controlling the robotic device before using the first control object in controlling the robotic device.

14. The one or more non-transitory computer-readable media of claim 10 , wherein the augment is a cone, a stem, or a spacer.

15. The one or more non-transitory computer-readable media of claim 10 , wherein the operations further comprise controlling the robotic device to hold the augment at the bone in the second planned position.

16. The one or more non-transitory computer-readable media of claim 10 , wherein the operations further comprise determining whether the augment is in the second planned position based on tracking data indicative of positions of a probe relative to the bone.

17. A system comprising:

a robotic device; and

circuitry programmed to:

obtain a surgical plan comprising a first planned position of an implant and a second planned position of an augment relative to a bone, wherein the augment is planned to at least partially fill a space between the bone and the implant, and wherein the second planned position is adjustable relative to the first planned position; and

assist preparation of the bone to receive both the implant in the first planned position and the augment in the second planned position by controlling the robotic device based on the first planned position of the implant and the second planned position of the augment.

18. The system of claim 17 , further comprising the augment, wherein the augment is a cone.

19. The system of claim 17 , further comprising the augment, wherein the augment is a stem.

20. The system of claim 17 , further comprising the augment, wherein the augment is a spacer.

21. The system of claim 17 , wherein the circuitry is further programmed to control the robotic device to hold the augment at the bone in the second planned position to assist fixation of the augment to the bone.

22. The system of claim 17 , further comprising a probe and a tracking system configured to track the probe, wherein the circuitry is further programed to determine whether the augment is in the second planned position based on tracking of the probe by the tracking system as the probe is touched to the augment.

Assignments (1)

Continuity (3)

References Cited (295)