# US 12,178,667 B2 · Clamp assembly for fixing a navigation tracker to a portion of bone > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,178,667 B2 - Document ID: US12178667B2 - Status: Granted - Kind: B2 - Application number: 17/673,055 - Filed: 2022-02-16 - Published: 2022-08-18 - Granted: 2024-12-31 - Earliest claimed: 2021-02-16 - Assignees: MAKO Surgical Corp. - Applicants: MAKO Surgical Corp. - Inventors: Matthew Joseph Guthart; Mark Ellsworth Nadzadi; Andrew Jacob Nelson - Web page: https://patentgrep.com/patent/US12178667B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 17/58: for osteosynthesis, e.g. bone plates, screws or setting implements (A61B17/14, A61B17/16 take precedence) - A61B 17/66: {Alignment}, compression or distraction mechanisms - A61B 17/7047: {Clamps comprising opposed elements which grasp one vertebra between them} - A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers} - A61B 2034/2048: {using an accelerometer or inertia sensor} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2059: {Mechanical position encoders} - A61B 2034/2063: {Acoustic tracking systems, e.g. using ultrasound} - A61B 2034/2068: {using pointers, e.g. pointers having reference marks for determining coordinates of body points} - A61B 2090/3916: {Bone tissue} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61B 2090/3991: {having specific anchoring means to fixate the marker to the tissue, e.g. hooks} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A clamp assembly fixes a navigation tracker to a bone. The assembly includes first and second clamp jaws. The second clamp jaw is pivotal about a first fixed pivot. A linear driver includes a shaft. A first linkage is pivotal at one end about a second fixed pivot and coupled at an opposing end to the shaft at a first moving pivot. A second linkage is coupled at one end to the shaft at the first moving pivot and coupled at the other end to the second clamp jaw at a second moving pivot. The linear driver linearly translates the shaft to apply force to the first moving pivot in a first direction to pivot the second clamp jaw towards the first clamp jaw and in a second direction opposite to the first direction to pivot the second clamp jaw away from the first clamp jaw. ## Claims ### Claim 1 A clamp assembly for use with a surgical attachment system for fixing a navigation tracker to a portion of bone, the clamp assembly comprising: a first clamp jaw comprising a first engagement surface; a second clamp jaw comprising a second engagement surface, wherein the second clamp jaw faces the first clamp jaw and is pivotal about a first fixed pivot that is fixed relative to the first clamp jaw; a linear driver comprising a shaft that is configured to linearly translate; a first linkage pivotal at one end about a second fixed pivot that is fixed relative to the first clamp jaw, and coupled at an opposing end to the shaft at a first moving pivot; a second linkage coupled at one end to the shaft at the first moving pivot, and coupled at an opposing end to the second clamp jaw at a second moving pivot; and wherein the linear driver is configured to linearly translate the shaft to apply force to the first moving pivot in a first direction to pivot the second clamp jaw towards the first clamp jaw, and to apply force to the first moving pivot in a second direction opposite to the first direction to pivot the second clamp jaw away from the first clamp jaw. ### Claim 2 (depends on 1) The clamp assembly as set forth in claim 1, wherein the second clamp jaw is coupled to the first clamp jaw at the first fixed pivot. ### Claim 3 (depends on 1) The clamp assembly as set forth in claim 1, wherein the first linkage is coupled to the first clamp jaw at the second fixed pivot. ### Claim 4 (depends on 1) The clamp assembly as set forth in claim 1, wherein the first clamp jaw comprises an engagement portion that presents the first engagement surface. ### Claim 5 (depends on 4) The clamp assembly as set forth in claim 4, wherein the first clamp jaw comprises a frame portion that extends along a first axis between first and second frame ends, and the first frame end of the frame portion is disposed proximate to an extension arm, and the engagement portion extends from the second frame end of the frame portion substantially perpendicular to the first axis. ### Claim 6 (depends on 5) The clamp assembly as set forth in claim 5, wherein the second clamp jaw is coupled to the frame portion of the first clamp jaw at the first fixed pivot. ### Claim 7 (depends on 6) The clamp assembly as set forth in claim 6, wherein the first linkage is coupled to the frame portion of the first clamp jaw at the second fixed pivot, and the second fixed pivot is disposed between the first fixed pivot and the first frame end of the frame portion. ### Claim 8 (depends on 5) The clamp assembly as set forth in claim 5, wherein the shaft is disposed along a second axis that is transverse to the first axis. ### Claim 9 (depends on 8) The clamp assembly as set forth in claim 8, wherein, in response to linearly translation of the shaft by the linear driver, the second axis of the shaft is configured to tilt relative to the first axis of the frame portion. ### Claim 10 (depends on 8) The clamp assembly as set forth in claim 8, wherein the shaft of the linear driver is threaded in a screw configuration and the linear driver further comprises a sleeve that is correspondingly threaded to receive the shaft, wherein actuation of linear driver is facilitated by rotation of the shaft about the second axis. ### Claim 11 (depends on 1) The clamp assembly as set forth in claim 1, wherein the shaft further comprises a drive head configured to be rotated by a driver bit for actuating the linear driver. ### Claim 12 (depends on 1) The clamp assembly as set forth in claim 1, wherein the first and second clamp jaws and the first and second linkages are arranged to form a four-bar linkage. ### Claim 13 (depends on 1) The clamp assembly as set forth in claim 1, wherein the first engagement surface and the second engagement surface are each configured as teeth for piercing into and gripping the portion of bone. ### Claim 14 A surgical attachment system for fixing a navigation tracker to a portion of bone, the surgical attachment system comprising: an extension arm with a first end and a second end, an arm axis being defined between the first and second ends; an attachment interface at the first end of the extension arm and being configured to detachably couple to the navigation tracker; and a clamp assembly disposed at the second end of the extension arm and comprising: a first clamp jaw comprising a first engagement surface; a second clamp jaw comprising a second engagement surface, wherein the second clamp jaw faces the first clamp jaw and is pivotal about a first fixed pivot that is fixed relative to the first clamp jaw; a linear driver comprising a shaft that is configured to linearly translate; a first linkage pivotal at one end about a second fixed pivot that is fixed relative to the first clamp jaw, and coupled at an opposing end to the shaft at a first moving pivot; a second linkage coupled at one end to the shaft at the first moving pivot, and coupled at an opposing end to the second clamp jaw at a second moving pivot; and wherein the linear driver is configured to linearly translate the shaft to apply force to the first moving pivot in a first direction to pivot the second clamp jaw towards the first clamp jaw, and to apply force to the first moving pivot in a second direction opposite to the first direction to pivot the second clamp jaw away from the first clamp jaw. ### Claim 15 (depends on 14) The surgical attachment system as set forth in claim 14, wherein the first clamp jaw comprises a frame portion that extends along a first axis that is transverse to the arm axis, and that extends between first and second frame ends, and the first frame end of the frame portion is disposed proximate the second end of the extension arm. ### Claim 16 (depends on 15) The surgical attachment system as set forth in claim 15, wherein the first clamp jaw comprises an engagement portion that presents the first engagement surface, and the engagement portion extends from the second frame end of the frame portion and extends substantially perpendicular to the first axis. ### Claim 17 (depends on 14) The surgical attachment system as set forth in claim 14, wherein the clamp assembly comprises a frame fixed to the second end of the extension arm, and each of the first clamp jaw and the linear driver are coupled to the frame of the clamp assembly. ### Claim 18 (depends on 14) The surgical attachment system as set forth in claim 14, wherein the attachment interface comprises a connector for coupling to the navigation tracker and first and second rotational adjusters disposed between the extension arm and the connector, with the first rotational adjuster configured to selectively rotate the connector about the arm axis, and the second rotational adjuster is configured to selectively rotate the connector about an interface axis, perpendicular to the arm axis. ### Claim 19 (depends on 18) The surgical attachment system as set forth in claim 18, wherein the first and second rotational adjusters each comprise a pair of opposing lock teeth, with the pair of opposing lock teeth configured to rotate relative to one another when spaced apart and rotatably lock when in engagement with one another. ### Claim 20 An assembly comprising: a navigation tracker; and a surgical attachment system for fixing the navigation tracker to a portion of bone, the surgical attachment system comprising: an extension arm with a first end and a second end, an arm axis being defined between the first and second ends; an attachment interface at the first end of the extension arm and coupled to the navigation tracker; and a clamp assembly disposed at the second end of the extension arm and comprising: a first clamp jaw comprising a first engagement surface; a second clamp jaw comprising a second engagement surface, wherein the second clamp jaw faces the first clamp jaw and is pivotal about a first fixed pivot that is fixed relative to the first clamp jaw; a linear driver comprising a shaft that is configured to linearly translate; a first linkage pivotal at one end about a second fixed pivot that is fixed relative to the first clamp jaw, and coupled at an opposing end to the shaft at a first moving pivot; a second linkage coupled at one end to the shaft at the first moving pivot, and coupled at an opposing end to the second clamp jaw at a second moving pivot; and wherein the linear driver is configured to linearly translate the shaft to apply force to the first moving pivot in a first direction to pivot the second clamp jaw towards the first clamp jaw, and to apply force to the first moving pivot in a second direction opposite to the first direction to pivot the second clamp jaw away from the first clamp jaw.