Gregory Garcia

US Patent:

20220233251, Jul 28, 2022

Filed:

Mar 23, 2022

Appl. No.:

17/701989

Inventors:

- Weston FL, US
Richard Thomas DeLuca - Kalamazoo MI, US
Michael Dale Dozeman - Portage MI, US
Patrick Roessler - Merzhausen, DE
Michael Ferko - Warwick NY, US
Gregory Garcia - Parkland FL, US
Rishabh Khurana - Fort Lauderdale FL, US

Assignee:

MAKO Surgical Corp. - Weston FL

International Classification:

A61B 34/20
A61B 34/00
A61B 34/35

Abstract:

Systems and methods are provided for guiding movement of a tool. The system includes a tool and a manipulator. A guide handler obtains a target state for the tool and generates virtual constraints based on the target state and a current state of the tool. A constraint solver calculates a constraint force adapted to attract the tool toward the target state or repel the tool away from the target state based on the virtual constraints. A virtual simulator simulates dynamics of the tool in a virtual simulation based on the constraint force and input from one or more sensors, to output a commanded pose. The control system commands the manipulator to move the tool based on the commanded pose to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.

US Patent:

20230114040, Apr 13, 2023

Filed:

Dec 13, 2022

Appl. No.:

18/080160

Inventors:

- Weston FL, US
Michael Dale Dozeman - Portage MI, US
Michael Ferko - Warwick NY, US
Gregory Garcia - Parkland FL, US
Vladimir Gershuni - Brooklyn NY, US
José Luis Moctezuma de la Barrera - Freiburg, DE
Mark Ellsworth Nadzadi - Batavia OH, US
Patrick Roessler - Merzhausen, DE

Assignee:

MAKO Surgical Corp - Weston FL

International Classification:

A61B 34/20
A61B 34/10
A61B 34/30
A61B 34/00
A61B 17/16

Abstract:

Surgical systems, computer-implemented methods, and software programs for generating a milling path for a bone. The implementations involve obtaining a virtual model of the bone, a resection volume defined relative to the virtual model of the bone, and a reference guide defined with respect to the resection volume. Section planes are successively arranged along the reference guide, and each section plane intersects the reference guide and intersects the resection volume. A section path is generated within each section plane and is defined relative to the resection volume. Transition segments are generated to connect section paths of section planes. The milling path is then generated by combining the section paths and the transition segments.

US Patent:

20210298846, Sep 30, 2021

Filed:

Mar 25, 2021

Appl. No.:

17/212568

Inventors:

- Weston FL, US
Patrick Roessler - Merzhausen, DE
Gregory Garcia - Parkland FL, US
Rishabh Khurana - Fort Lauderdale FL, US
Jeremy L. Dunn - Portage MI, US
David Gene Bowling - Los Ranchos De Albuquerque NM, US

Assignee:

MAKO Surgical Corp. - Weston FL

International Classification:

A61B 34/00
A61B 34/32
A61B 34/20

Abstract:

Systems and methods are provided for controlling robotic movement of a tool based on one or more virtual boundaries. The system comprises a tool and a manipulator to support the tool. A control system controls operation of the manipulator and movement of the tool based on a relationship between the tool and the one or more virtual boundaries associated with a target site. The control system includes a boundary handler to determine whether the tool is in compliance with the one or more virtual boundaries or is in violation of the one or more virtual boundaries.

US Patent:

20190380788, Dec 19, 2019

Filed:

Jun 14, 2019

Appl. No.:

16/441513

Inventors:

- Ft. Lauderdale FL, US
Michael Dale Dozeman - Portage MI, US
Michael Ferko - Warwick NY, US
Gregory Garcia - Parkland FL, US
Vladimir Gershuni - Brooklyn NY, US
Jose-Luis Moctezuma De La Barrera - Freiburg, DE
Mark Ellsworth Nadzadi - Batavia OH, US
Patrick Roessler - Merzhausen, DE

International Classification:

A61B 34/20
A61B 34/30
A61B 17/16
A61B 34/00
A61B 34/10

Abstract:

Systems, methods, software and techniques for generating a milling path for a tool of a surgical system are provided. The milling path is designed to remove a resection volume associated with an anatomical volume. A reference guide is defined with respect to the resection volume. Sections are defined along the reference guide in succession. Each section intersects the reference guide at a different intersection point and is at a specified orientation relative to the reference guide at the intersection point. Each section further intersects the resection volume. A section path is generated to be bounded within each section and defined relative to the resection volume. A plurality of transition segments are generated and each transition segment connects section paths of successive sections along the reference guide.