Motorized joint positioner
AssigneeMAKO Surgical Corp.
InventorHyosig Kang
Life of this patent
Estimating the term…
Abstract
A motorized joint positioner includes a first holder configured for a first portion of a patient's anatomy to rest thereon, and a second holder configured for a second portion of the patient's anatomy to rest thereon. The joint positioner further includes a first robotic arm coupled to the first holder, and a second robotic arm coupled to the second holder. At least one of the first and second robotic arms comprises at least two joints providing movement of the corresponding first or second holder in at least two degrees of freedom. At least one of the first and second robotic arms includes an actuator controllable to position the corresponding first or second holder.
Claims17
A motorized joint positioner, comprising:
- a base fixed to a table;
- a first holder configured for a first portion of a patient's anatomy to rest thereon, wherein the first holder is coupled to the base and wherein the base comprises two base joints providing movement of the first holder in two degrees of freedom relative to the base;
- a second holder configured for a second portion of the patient's anatomy to rest thereon;
- a local tracking system configured to track the first portion of the patient's anatomy and the second portion of the patient's anatomy relative to the motorized joint positioner, wherein the local tracking system comprises a first detection device coupled to the first holder and a second detection device coupled to the second holder, a first trackable element configured to be fixed to the first portion of the patient's anatomy, and a second trackable element configured to be fixed to the second portion of the patient's anatomy;
- and
- a robotic arm coupled between the base and the second holder;
- wherein the robotic arm comprises at least two joints providing movement of the second holder in at least two degrees of freedom, and wherein at least one of either of the base joints and the robotic arm includes an actuator controllable to position the corresponding first or second holder;
- and
- wherein the motorized joint positioner is configured to apply a first gravity compensating force to the first holder to counteract a weight of the first portion and a second gravity compensating force to the second holder to counteract a weight of the second portion.
A motorized joint positioner system, comprising:
- a motorized joint positioner having:
- a base fixed to a table,
- a first holder configured for a first portion of a patient's anatomy to rest thereon, wherein the first holder is coupled to the base and wherein the base comprises two base joints providing movement of the first holder in two degrees of freedom relative to the base;
- a robotic arm coupled between the base and a second holder configured for a second portion of the patient's anatomy to rest thereon, wherein at least one of either of the base joints and the robotic arm includes a series elastic actuator;
- a local tracking system configured to track the first portion of the patient's anatomy and the second portion of the patient's anatomy relative to the motorized joint positioner, wherein the local tracking system comprises a first detection device coupled to the first holder and a second detection device coupled to the second holder, first trackable element configured to be fixed to the first portion of the patient's anatomy a, and a second trackable element configured to be fixed to the second portion of the patient's anatomy;
- a processing circuit configured to position the motorized joint positioner by controlling the series elastic actuator;
- wherein the motorized joint positioner is backdrivable such that it can be manually repositioned by a user;
- and
- wherein the motorized joint positioner is configured to apply a first gravity compensating force to the first holder to counteract a weight of the first portion and a second gravity compensating force to the second holder to counteract a weight of the second portion.
Dependencies are inferred from the claim text.