Granted Patent B2

US 12,408,990 · App. 18/195,046 · Granted Sep 9, 2025

Inventors: Roberto Montane (Lake Worth, FL); Brandt Williams (Plantation, FL); Seamus Gilhooley (Athenry, IE); Jonathan Mark Morgan (Biscayne Park, FL); Mark Palm (Davie, FL); Michael Vu (Sunrise, FL)

Assignee: MAKO Surgical Corp.

A61B34/20A61B34/10A61B34/30A61B34/70A61B2034/104A61B2034/107A61B2034/2057A61B2034/2065

Abstract

Claims (56)

1. A navigation system comprising:

a trackable protective packaging configured to retain a tool, the trackable protective packaging comprising at least one trackable feature configured to have a predetermined state defined relative to an actual state of the tool when the tool is retained by the trackable protective packaging;

a localizer configured to detect an actual state of the at least one trackable feature; and

one or more controllers coupled to the localizer and configured to:

obtain the predetermined state of the at least one trackable feature;

obtain an expected state of the tool based on an expected condition in which the tool is properly mounted to a surgical device;

determine the actual state of the tool based on the actual state of the at least one trackable feature detected by the localizer and the predetermined state of the at least one trackable feature defined relative to the actual state of the tool;

compare the actual state and the expected state of the tool; and

evaluate whether the tool is properly mounted to the surgical device based on comparison of the actual state and expected state of the tool,

wherein the one or more controllers are further configured to generate at least one of a haptic, audible, and visual alert in response to evaluation of whether the tool is properly mounted to the surgical device.

2. The navigation system of claim 1 , wherein:

the at least one trackable feature comprises at least one passive optical tracking element or at least one active optical tracking element; and

the localizer comprises an optical sensor.

3. The navigation system of claim 1 , wherein:

the at least one trackable feature comprises one or more of a predetermined pattern, a shape and a color; and

the localizer is a machine vision system.

4. The navigation system of claim 1 , wherein the at least one trackable feature is at least one radio-frequency tracking element or at least one electromagnetic tracking element.

5. The navigation system of claim 1 , wherein the trackable protective packaging is configured to retain and substantially enclose a working end of the tool to prevent exposure of the working end, and wherein the trackable protective packaging is configured to be grasped by a user to mount the tool to the surgical device.

6. The navigation system of claim 1 , wherein the trackable protective packaging comprises a distal section configured to retain a working portion of the tool in a fixed position relative the distal section, and wherein the distal section includes the at least one trackable feature.

7. The navigation system of claim 6 , wherein the trackable protective packaging further comprises a proximal section coupled to the distal section, and the proximal section configured to receive an attachment portion of the tool, and wherein the proximal section is detachable from the distal section by a perforation.

8. The navigation system of claim 6 , wherein the at least one trackable feature is provided exclusively on the distal section.

9. The navigation system of claim 1 , wherein:

the localizer is further configured to track a state of the surgical device; and

the one or more controllers obtain the expected state of the tool by further being configured to combine the tracked state of the surgical device and known relationship data between the expected state of the tool and a predetermined reference point on the surgical device.

10. A method of operating a navigation system, the navigation system comprising a localizer, one or more controllers, and a trackable protective packaging configured to retain a tool and the trackable protective packaging comprising at least one trackable feature, the method comprising:

obtaining, with the one or more controllers, a predetermined state of the at least one trackable feature, the predetermined state defined relative to an actual state of the tool when the tool is retained by the trackable protective packaging;

obtaining, with the one or more controllers, an expected state of the tool based on an expected condition in which the tool is properly mounted to a surgical device;

detecting, with the localizer, an actual state of the at least one trackable feature;

determining, with the one or more controllers, the actual state of the tool based on the actual state of the at least one trackable feature detected by the localizer and the predetermined state of the at least one trackable feature defined relative to the actual state of the tool;

comparing, with the one or more controllers, the actual state and the expected state of the tool;

evaluating, with the one or more controllers, whether the tool is properly mounted to the surgical device based on comparing the actual state and expected state of the tool; and

generating, with the one or more controllers, at least one of a haptic, audible, and visual alert in response to evaluating whether the tool is properly mounted to the surgical device.

11. The method of claim 10 , wherein the localizer comprises an optical sensor and the at least one trackable feature comprises at least one optical tracking element, and wherein detecting the actual state of the trackable feature is further defined as:

detecting, with the optical sensor, the actual state of the at least one optical tracking element.

12. The method of claim 10 , wherein the localizer is a machine vision system and the at least one trackable feature comprises one or more of a predetermined pattern, a shape and a color, and wherein detecting the actual state of the trackable feature is further defined as:

detecting, with the machine vision system, the actual state of the one or more of the predetermined pattern, shape and color.

13. The method of claim 11 , further comprising:

tracking, with the localizer, a state of the surgical device; and

obtaining the expected state of the tool by the one or more controllers combining the tracked state of the surgical device and known relationship data between the expected state of the tool and a predetermined reference point on the surgical device.

14. A non-transitory computer-readable medium comprising instructions,

which when executed by one or more processors, are configured to:

obtain a predetermined state of at least one trackable feature of a trackable protective packaging that is configured to retain a tool, the predetermined state defined relative to an actual state of the tool when the tool is retained by the trackable protective packaging;

obtain an expected state of the tool based on an expected condition in which the tool is properly mounted to a surgical device;

acquire an actual state of the at least one trackable feature detected by a localizer;

determine the actual state of the tool based on the actual state of the at least one trackable feature and the predetermined state of the at least one trackable feature defined relative to the actual state of the tool;

compare the actual state and the expected state of the tool; and

evaluate whether the tool is properly mounted to the surgical device based on comparison of the actual state and expected state of the tool,

wherein the instructions, which when executed by the one or more processors, are configured to generate at least one of a haptic, audible, and visual alert in response to evaluation of whether the tool is properly mounted to the surgical device.

15. The non-transitory computer-readable medium of claim 14 , wherein the instructions, which when executed by the one or more processors, acquire the actual state of the at least one trackable feature by further being configured to:

acquire the actual state of at least one optical tracking element detected by an optical sensor.

16. The non-transitory computer-readable medium of claim 14 , wherein the instructions, which when executed by the one or more processors, acquire the actual state of the at least one trackable feature by further being configured to:

acquire the actual state of one or more of a predetermined pattern, shape and color detected by a machine vision system.

17. The non-transitory computer-readable medium of claim 14 , wherein the instructions, which when executed by the one or more processors, are configured to:

acquire a tracked state of the surgical device from the localizer;

obtain known relationship data between the expected state of the tool and a predetermined reference point on the surgical device; and

obtain the expected state of the tool by further being configured to combine the tracked state of the surgical device and known relationship data.

Assignments (3)

Continuity (3)

References Cited (202)