Granted Patent B2

US 12,616,523 · App. 17/514,705 · Granted May 5, 2026

Inventors: Lizeth Joann Caldera (Miami, FL); Jason Otto (Sioux Falls, SD); Morgan Fitzgerald (Plantation, FL); Milan Ikits (Weston, FL); Ajeet Singh Yadav (Lucknow, IN); Arun Shreedhar (Bengaluru, IN); Kevin Froster (Marlboro, NJ); Christine Perrone (Warwick, NY); Ta-Cheng Chang (Weston, FL)

Assignee: MAKO SURGICAL CORP.

A61B34/20A61B34/10A61B34/25A61B34/30A61B90/06A61B90/39A61B2017/0268A61B2034/102A61B2034/104A61B2034/105A61B2034/2068A61B2034/252A61B34/35A61B2090/064A61B2090/067A61B2090/3916A61F2/46

Abstract

Claims (61)

1 . A method for controlling a robotic system to facilitate a joint arthroplasty procedure, comprising:

planning the joint arthroplasty procedure by:

providing a graphical user interface comprising a visualization of a bone model and a planned pose for an implant relative to the bone model;

in response to determining that a value descriptive of the planned pose for the implant relative to the bone model is outside a range for the value set via a surgeon preferences page of the graphical user interface, providing a marking on the graphical user interface;

removing the marking in response to an update to the planned pose for the implant relative to the bone model, wherein the update moves the value to within the range;

providing the joint arthroplasty procedure by:

facilitating the joint arthroplasty procedure by controlling the robotic system based on the planned pose; and

physically installing, during the joint arthroplasty procedure, the implant on a bone in the planned pose.

2 . The method of claim 1 , wherein the value descriptive of the planned pose describes a rotation of the planned pose, and wherein the range indicates acceptable amounts of rotation.

3 . The method of claim 1 , further comprising providing the graphical user interface with an additional marking in response to an additional value descriptive of the planned pose being outside an additional range for the additional value.

4 . The method of claim 3 , wherein the graphical user interface comprises an indication of the value, and wherein the marking is a box around the value.

5 . The method of claim 4 , further comprising providing, on the graphical user interface, text describing violation of the range by the value.

6 . The method of claim 1 , wherein the visualization of the planned pose comprises a graphical representation of an implant positioned relative to a bone, and receiving the update to the planned pose comprises:

automatically identifying a first rotation point based on a first landmark positioned on the graphical representation of the implant;

providing a first hotkey indicator at the first rotation point, the first hotkey indicator showing a first key to be pressed to select the first rotation point;

receiving a signal indicative of a press of the first key by the user; and

allowing the user to rotate the graphical representation of the implant about the first rotation point.

7 . The method of claim 6 , further comprising:

automatically identifying a second rotation point based on a second landmark positioned on the graphical representation of the implant;

providing a second hotkey indicator at the second rotation point, the second hotkey indicator showing a second key to be pressed to select the second rotation point;

wherein the first hotkey indicator and the second hotkey indicator are different, and wherein the first hotkey indicator is always in the same position relative to the second hotkey indicator.

8 . The method of claim 1 , wherein further comprising causing the graphical user interface to provide the surgeon preferences page, the surgeon preferences page configured to allow a user to set the range and a plurality of additional ranges.

9 . The method of claim 8 , wherein the surgeon preferences page comprises buttons selectable to adjust numerical values defining the range and the plurality of additional ranges.

10 . A system for facilitating a joint arthroplasty procedure, comprising:

a robotic device configured to perform the joint arthroplasty procedure;

a computer system in communication with the robotic device, the computer system comprising a processor and a memory device, the memory device containing instructions that, when executed by the processor, cause the processor to:

generate a graphical user interface comprising a visualization of a bone model and an implant in a planned pose relative to the bone model;

identify at least a first warning by comparing the planned pose to a plurality of criteria associated with a plurality of types of warnings;

identify a particular symbol associated with the first warning from a plurality of symbols associated with the plurality of types of warnings;

provide the particular symbol on the graphical user interface such that the particular symbol overlays the visualization of the implant at a position associated with violation of a first criteria of the plurality of criteria associated with the first warning;

receive, from the graphical user interface, an update to the planned pose, wherein the update resolves the first warning; and

control the robotic device based on the update to the planned pose such that the robotic device assists completion of the joint arthroplasty procedure consistent with the update to the implant plan.

11 . The system of claim 10 , wherein the processor is further caused to remove the particular symbol from the graphical user interface upon determining that the update to the planned pose resolved the first warning.

12 . The system of claim 10 , wherein the plurality of types of warnings comprise a notching warning, an airball warning, and an overhang warning.

13 . The system of claim 10 , wherein the plurality of types of warnings comprise a checkpoint warning, wherein the processor is further caused to compare the planned pose to a checkpoint criterion associated with the checkpoint warning by determining a distance between a cut plane associated with the planned pose and a position of a checkpoint on the bone model.

14 . The system of claim 10 , wherein the instructions further cause the processor, upon selection of first text associated with the first warning via the graphical user interface, to cause the first symbol to be emphasized on the graphical user interface.

15 . The system of claim 10 , wherein the processor is further caused to:

automatically identify a first rotation point at a first landmark of the implant or the bone model;

provide a first hotkey indicator at the first rotation point, the first hotkey indicator showing a first key to be pressed to select the first rotation point;

receive a signal indicative of a press of the first key by the user; and

allow the user to rotate the visualization of the implant about the first rotation point.

16 . The system of claim 15 , wherein the processor is further caused to:

automatically identify a second rotation point based on a second landmark of the implant or the bone model;

provide a second hotkey indicator at the second rotation point, the second hotkey indicator showing a second key to be pressed to select the second rotation point;

wherein the first hotkey indicator and the second hotkey indicator are different, and wherein the first hotkey indicator is always in a same position relative to the second hotkey indicator.

17 . A navigation system, comprising:

a surgical instrument;

a tracking system configured to track a position of the surgical instrument; and

a controller programmed to:

generate a graphical user interface comprising a visualization of an implant plan comprising a graphical representation of an implant positioned relative to a bone;

receive, from the graphical user interface, an update to the implant plan, wherein the update to the implant plan by:

automatically identifying a first rotation point based on a first landmark positioned on the graphical representation of the implant;

providing a first hotkey indicator at the first rotation point, the first hotkey indicator showing a first key to be pressed to select the first rotation point;

receiving a signal indicative of a press of the first key by the user; and

allowing, in response to the signal, the user to rotate the graphical representation of the implant about the first rotation point; and

facilitate a joint arthroplasty procedure by providing feedback guiding the surgical instrument to a location associated with the update to the implant plan based on the position of the surgical instrument as tracked by the tracking system.

18 . The system of claim 17 , wherein the implant plan comprises a planned pose for the implant, and wherein the controller is further programmed to:

provide a marking on the graphical user interface in response to determining that a value descriptive of the planned pose is outside a user-defined range for the value set via a surgeon preferences page of the graphical user interface; and

remove the marking in response to the update to the planned pose moving the value to within the user-defined range.

19 . The system of claim 18 , wherein the value descriptive of the planned pose describes a resection depth associated with the planned pose, and wherein the range indicates maximum and minimum resection depths.

20 . The system of claim 18 , wherein a first the marking is associated with a box around the value as displayed on the graphical user interface.

Assignments (1)

Continuity (4)

References Cited (382)