# US 10,864,047 B2 · Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,047 B2 - Document ID: US10864047B2 - Status: Granted - Kind: B2 - Application number: 16/277,814 - Filed: 2019-02-15 - Published: 2019-06-13 - Granted: 2020-12-15 - Earliest claimed: 2009-10-01 - Assignees: MAKO Surgical Corp. - Applicants: MAKO Surgical Corp. - Inventors: Benny Hagag; Hyosig Kang; Alon Mozes; Daniel Odermatt; Brian D. Schmitz - Web page: https://patentgrep.com/patent/US10864047B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 17/162: {Chucks or tool parts which are to be held in a chuck} - A61B 17/1631: {Special drive shafts, e.g. flexible shafts (A61B17/1642, A61B17/164 take precedence)} - A61B 17/1655: {for tapping} - A61B 17/1659: {Surgical rasps, files, planes, or scrapers} - A61B 17/1664: {for the hip} - A61B 17/1666: {for the acetabulum} - A61B 17/1684: {for the shoulder} - A61B 34/30: Surgical robots - A61B 34/74: {Manipulators with manual electric input means} - A61B 90/03: {Automatic limiting or abutting means, e.g. for safety} - A61F 2/34: Acetabular cups - A61F 2/36: Femoral heads {; Femoral endoprostheses} - A61F 2/4607: {of hip femoral endoprostheses} - A61F 2/4609: {of acetabular cups} - A61B 17/1617: {with mobile or detachable parts} - A61B 34/25: {User interfaces for surgical systems} - A61B 2017/00199: {with a console, e.g. a control panel with a display} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2090/062: {penetration depth} - A61B 2090/08021: {of the patient or his organs} - Y10T 74/20305: Robotic arm - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A method for computer-assisted orthopedic feedback of at least one surgical tool relative a pre-operative plan, wherein the surgical tool is moveable relative to an anatomy of a patient during surgery, including providing the pre-operative plan including a planned position and orientation of an implant relative to a virtual model of the anatomy. Further including obtaining a position of the patient structure and at least one surgical tool using a navigation system, and registering the anatomy to the model of the anatomy. Further including tracking a current position and orientation of the at least one surgical tool and the anatomy of the patient using the navigation system, and providing feedback of the current position and orientation of the at least one surgical tool relative to the planned position and orientation of the implant based on the tracked current position and orientation of the at least one surgical tool. ## Claims ### Claim 1 A method for computer assisted orthopedic feedback of at least one surgical tool relative a pre-operative plan, wherein the surgical tool is moveable relative to an anatomy of a patient during surgery, comprising: providing the pre-operative plan including a planned position and orientation of an implant relative to a virtual model of the anatomy; obtaining a position of the anatomy of the patient using a navigation system; obtaining a position of at least one surgical tool using the navigation system; registering the anatomy of the patient to the virtual model of the anatomy; tracking a current position and orientation of the at least one surgical tool and the anatomy of the patient using the navigation system; and providing feedback of the current position and orientation of the at least one surgical tool relative to the planned position and orientation of the implant based on the tracked current position and orientation of the at least one surgical tool. ### Claim 2 (depends on 1) The method according to claim 1, wherein obtaining the position of the at least one surgical tool comprises calibrating at least one position of the surgical tool relative a tool calibrator within the navigation system. ### Claim 3 (depends on 2) The method according to claim 2, further comprising calibrating an end-effector of the surgical tool relative the tool calibrator. ### Claim 4 (depends on 2) The method according to claim 2, wherein calibrating the at least one position of the surgical tool comprises calibrating a position of a tool tracker at the surgical tool relative to a surface of the tool calibrator, said surface having a predetermined position at the tool calibrator. ### Claim 5 (depends on 4) The method according to claim 4, wherein calibrating the position of the tool tracker at the surgical tool comprises: determining a position of a plurality of position indicating elements on the surface of the tool calibrator, the plurality of position indicating elements having a fixed positional relationship relative the surface having the predetermined position. ### Claim 6 (depends on 1) The method according to claim 1, wherein providing the feedback comprises providing at least one of: visual feedback of a current position and orientation of the surgical tool relative to the planned orientation and position of the implant on a display in response to the tracked current position and orientation of the surgical tool; and visual indication of a deviation of a current position and orientation of the surgical tool relative the planned position and orientation of the implant on a display in response to the tracked current position and orientation of the surgical implant. ### Claim 7 (depends on 1) The method according to claim 1, wherein tracking the current position and orientation of the anatomy comprises tracking a position of a tracking array, which is attached to the anatomy, using the navigation system. ### Claim 8 (depends on 1) The method according to claim 1, further comprising obtaining a position of at least one implant for implantation into the anatomy. ### Claim 9 (depends on 1) The method according to claim 1, wherein obtaining the position of the anatomy comprises obtaining a position and orientation of a bony anatomy of the patient. ### Claim 10 (depends on 1) The method according to claim 1, wherein providing the pre-operative plan comprises: accessing volumetric scan data, wherein the scan data comprises scan data of the anatomy; converting the scan data of the anatomy into the virtual model of the anatomy, which comprises a three dimensional representation of the anatomy; planning at least one position and orientation of the implant relative to the virtual model; and including at least one of the scan data and the three dimensional representation of the anatomy together with the planned position and orientation of the implant in the pre-operative plan. ### Claim 11 (depends on 1) The method according to claim 1, further comprising: attaching a tool tracker, which is detachable and attachable, to the surgical tool; and calibrating at least one position of the surgical tool relative a tool calibrator within the navigation system. ### Claim 12 (depends on 11) The method according to claim 11, further comprising attaching a plurality of position indicating elements to the tool calibrator prior to calibrating said at least one position of the surgical tool relative the tool calibrator. ### Claim 13 (depends on 12) The method according to claim 12, further comprising calibrating at least one position of the tool calibrator within the navigation system after attaching the plurality of position indicating elements to said tool calibrator. ### Claim 14 (depends on 11) The method according to claim 11, wherein attaching said tool tracker to said surgical tool comprises mating a connection interface, which has at least one projection or recess, with a connection interface at the surgical tool, said connection interface at said surgical tool having a shape that is complementary to a shape of the connection interface of the tool tracker. ### Claim 15 (depends on 14) The method according to claim 14, wherein attaching said tool tracker comprises mating the connection interface, which has multiple projections or recesses, with the connection interface at the surgical tool.