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1. 发明申请

WO2009076297A2 A PROSTHETIC DEVICE AND SYSTEM FOR PREPARING A BONE TO RECEIVE A PROSTHETIC DEVICE 审中-公开
标题翻译：用于制备骨骼以接收前置装置的前置装置和系统
公开(公告)号：WO2009076297A2
公开(公告)日：2009-06-18
申请号：PCT/US2008085898
申请日：2008-12-08
申请人： MAKO SURGICAL CORP , QUAID ARTHUR E
发明人： QUAID ARTHUR E
IPC分类号： A61F2/36
CPC分类号： A61F2/3603 , A61B17/1668 , A61B17/175 , A61B34/30 , A61F2/30942 , A61F2002/30125 , A61F2002/30769 , A61F2002/308 , A61F2002/30817 , A61F2002/30878 , A61F2002/30891 , A61F2002/3619 , A61F2002/4631 , A61F2230/0008 , A61F2310/00011 , A61F2310/00179 , A61F2310/00796
摘要： A substantially cup-shaped prosthetic device for a joint is provided. The prosthetic device includes an outer surface configured to operatively engage at least one of a first bone of the joint and a component and an inner surface configured to connect to a second bone of the joint. The inner surface is rotationally asymmetric to minimize intrusion on a vascular region of the second bone.
摘要翻译：提供了一种用于关节的基本上杯形的假体装置。假体装置包括外表面，该外表面构造成可操作地接合关节的第一骨中的至少一个，以及构造成连接到关节的第二骨的部件和内表面。内表面是旋转不对称的，以最小化在第二骨的血管区域上的侵入。

2. 发明申请

WO2005009215A3 GUIDANCE SYSTEM AND METHOD FOR SURGICAL PROCEDURE 审中-公开
标题翻译：外科手术指导系统及方法
公开(公告)号：WO2005009215A3
公开(公告)日：2007-03-29
申请号：PCT/US2004022978
申请日：2004-07-16
申请人： Z KAT INC , QUAID ARTHUR E , ABOVITZ RONY A
发明人： QUAID ARTHUR E , ABOVITZ RONY A
IPC分类号： A61B5/05 , A61B20060101 , A61B17/00 , A61B17/34 , A61B19/00
CPC分类号： A61B34/20 , A61B17/3403 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/03 , A61B90/10 , A61B2017/00115 , A61B2017/00119 , A61B2017/3405 , A61B2034/107 , A61B2034/2055 , A61B2034/2059 , A61B2034/2072 , A61B2034/252 , A61B2090/031 , A61B2090/061 , A61B2090/064 , A61B2090/0818 , A61B2090/365 , A61B2090/372
摘要： It is often desirable to define objects with respect to images of an anatomy displayed using an image guided surgery system. For non-trivial objects, or those with complicated two or three dimensional forms, it may be difficult to present information in a manner that is simple for a user to understand. The local distance to a surface of interest, such as the surface of the defined object, or to a desired position, the local penetration distance of the surface of interest, or haptic repulsion force, often provides the most useful information for augmenting the interaction of the user with the image guided surgery system. The scalar value of the local distance may be conveyed to the user by visual, audio, tactile, haptic, or other means.
摘要翻译：通常期望相对于使用图像引导手术系统显示的解剖结构的图像来定义对象。对于不平凡的对象或具有复杂的二维或三维形式的对象，可能难以以简单的方式呈现信息以供用户理解。到目标表面的局部距离，例如限定物体的表面，或所需位置，感兴趣的表面的局部穿透距离或触觉排斥力，通常提供最有用的信息，以增强相互作用用户使用图像引导手术系统。本地距离的标量值可以通过视觉，音频，触觉，触觉或其他方式传达给用户。

3. 发明申请

WO2007136739A2 A METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 审中-公开
标题翻译：一种用于控制乐器的方法和装置
公开(公告)号：WO2007136739A2
公开(公告)日：2007-11-29
申请号：PCT/US2007/011891
申请日：2007-05-18
申请人： MAKO SURGICAL CORPORATION , QUAID, Arthur, E. , KANG, Hyosig , MOSES, Dennis
发明人： QUAID, Arthur, E. , KANG, Hyosig , MOSES, Dennis
CPC分类号： B25J9/1638 , B25J13/025 , G06F3/016
摘要： A method and apparatus for controlling a haptic device. In one embodiment, the haptic device includes an actuator; an actuator sensor, producing an actuator signal indicative of the actuator velocity; a load; a load output sensor producing a load output signal indicative of the load position; and a controller in electrical communication with the load output sensor, actuator sensor and actuator. The controller controls the actuator in response to the actuator signal and the load output signal to provide a haptic response to a user. In one embodiment, the method for controlling an actuator of a haptic device includes the steps of producing an actuator signal indicative of the velocity of an actuator; producing a position signal indicative of the position of a load; and controlling the actuator in response to the actuator signal and the load output position signal to produce a haptic response to a user.
摘要翻译：一种用于控制触觉装置的方法和装置。在一个实施例中，触觉装置包括致动器; 致动器传感器，产生指示致动器速度的致动器信号; 负载; 产生表示负载位置的负载输出信号的负载输出传感器; 以及与负载输出传感器，致动器传感器和致动器电连通的控制器。控制器响应于致动器信号和负载输出信号来控制致动器以向用户提供触觉响应。在一个实施例中，用于控制触觉装置的致动器的方法包括以下步骤：产生指示致动器速度的致动器信号; 产生指示负载位置的位置信号; 以及响应于致动器信号和负载输出位置信号来控制致动器，以产生对用户的触觉响应。

4. 发明申请

WO2009076297A4 A PROSTHETIC DEVICE AND SYSTEM FOR PREPARING A BONE TO RECEIVE A PROSTHETIC DEVICE 审中-公开
公开(公告)号：WO2009076297A4
公开(公告)日：2009-06-18
申请号：PCT/US2008/085898
申请日：2008-12-08
申请人： MAKO SURGICAL CORP. , QUAID, Arthur, E.
发明人： QUAID, Arthur, E.
IPC分类号： A61F2/36
摘要： A substantially cup-shaped prosthetic device for a joint is provided. The prosthetic device includes an outer surface configured to operatively engage at least one of a first bone of the joint and a component and an inner surface configured to connect to a second bone of the joint. The inner surface is rotationally asymmetric to minimize intrusion on a vascular region of the second bone.

5. 发明申请

WO2007117297A2 APPARATUS AND METHOD FOR HAPTIC RENDERING 审中-公开
标题翻译：用于快乐渲染的装置和方法
公开(公告)号：WO2007117297A2
公开(公告)日：2007-10-18
申请号：PCT/US2006/049216
申请日：2006-12-27
申请人： MAKO SURGICAL CORP. , KANG, Hyosig , QUAID, Arthur, E. , MOSES, Dennis
发明人： KANG, Hyosig , QUAID, Arthur, E. , MOSES, Dennis
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.
摘要翻译：一方面，本发明涉及一种用于产生触觉惩罚力的方法，包括在一个实施例中的步骤：定义主代理位置; 定义副代理职位; 定义HIP位置; 响应于主代理位置和HIP位置产生第一力，并且响应于辅助代理位置和HIP位置产生第二力。

6. 发明申请

WO2009076297A3 A PROSTHETIC DEVICE AND SYSTEM FOR PREPARING A BONE TO RECEIVE A PROSTHETIC DEVICE 审中-公开
公开(公告)号：WO2009076297A3
公开(公告)日：2009-07-30
申请号：PCT/US2008085898
申请日：2008-12-08
申请人： MAKO SURGICAL CORP , QUAID ARTHUR E
发明人： QUAID ARTHUR E
IPC分类号： A61F2/36
CPC分类号： A61F2/3603 , A61B17/1668 , A61B17/175 , A61B34/30 , A61F2/30942 , A61F2002/30125 , A61F2002/30769 , A61F2002/308 , A61F2002/30817 , A61F2002/30878 , A61F2002/30891 , A61F2002/3619 , A61F2002/4631 , A61F2230/0008 , A61F2310/00011 , A61F2310/00179 , A61F2310/00796
摘要： A substantially cup-shaped prosthetic device for a joint is provided. The prosthetic device includes an outer surface configured to operatively engage at least one of a first bone of the joint and a component and an inner surface configured to connect to a second bone of the joint. The inner surface is rotationally asymmetric to minimize intrusion on a vascular region of the second bone.

7. 发明申请

WO2007136739A3 A METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 审中-公开
标题翻译：一种用于控制乐器的方法和装置
公开(公告)号：WO2007136739A3
公开(公告)日：2008-07-24
申请号：PCT/US2007011891
申请日：2007-05-18
申请人： MAKO SURGICAL CORP , QUAID ARTHUR E , KANG HYOSIG , MOSES DENNIS
发明人： QUAID ARTHUR E , KANG HYOSIG , MOSES DENNIS
IPC分类号： G06F3/01 , B25J9/16
CPC分类号： B25J9/1638 , B25J13/025 , G06F3/016
摘要： A method and apparatus for controlling a haptic device. In one embodiment, the haptic device includes an actuator; an actuator sensor, producing an actuator signal indicative of the actuator velocity; a load; a load output sensor producing a load output signal indicative of the load position; and a controller in electrical communication with the load output sensor, actuator sensor and actuator. The controller controls the actuator in response to the actuator signal and the load output signal to provide a haptic response to a user. In one embodiment, the method for controlling an actuator of a haptic device includes the steps of producing an actuator signal indicative of the velocity of an actuator; producing a position signal indicative of the position of a load; and controlling the actuator in response to the actuator signal and the load output position signal to produce a haptic response to a user.
摘要翻译：一种用于控制触觉装置的方法和装置。在一个实施例中，触觉装置包括致动器; 致动器传感器，产生指示致动器速度的致动器信号; 负载; 产生表示负载位置的负载输出信号的负载输出传感器; 以及与负载输出传感器，致动器传感器和致动器电连通的控制器。控制器响应于致动器信号和负载输出信号来控制致动器以向用户提供触觉响应。在一个实施例中，用于控制触觉装置的致动器的方法包括以下步骤：产生指示致动器速度的致动器信号; 产生指示负载位置的位置信号; 以及响应于致动器信号和负载输出位置信号来控制致动器，以产生对用户的触觉响应。

8. 发明申请

WO2007117297A3 APPARATUS AND METHOD FOR HAPTIC RENDERING 审中-公开
标题翻译：用于快乐渲染的装置和方法
公开(公告)号：WO2007117297A3
公开(公告)日：2008-06-26
申请号：PCT/US2006049216
申请日：2006-12-27
申请人： MAKO SURGICAL CORP , KANG HYOSIG , QUAID ARTHUR E , MOSES DENNIS
发明人： KANG HYOSIG , QUAID ARTHUR E , MOSES DENNIS
IPC分类号： A61B19/00 , A61B17/17 , B25J9/16 , G06F3/01
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016
摘要： In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.
摘要翻译：一方面，本发明涉及一种用于产生触觉惩罚力的方法，包括在一个实施例中的步骤：定义主代理位置; 定义副代理职位; 定义HIP位置; 响应于主代理位置和HIP位置产生第一力，并且响应于辅助代理位置和HIP位置产生第二力。

9. 发明申请

WO2006091494A1 HAPTIC GUIDANCE SYSTEM AND METHOD 审中-公开
标题翻译：习惯指导系统和方法
公开(公告)号：WO2006091494A1
公开(公告)日：2006-08-31
申请号：PCT/US2006/005700
申请日：2006-02-21
申请人： MAKO SURGICAL CORPORATION , QUAID, Arthur, E. , MOSES, Dennis , KANG, Hyosig , ABOVITZ, Rony, A. , FERRE, Maurice , HAJAJ, Binyamin , ROCHE, Martin , ILLSLEY, Scott , ARATA, Louis, K. , MEARS, Dana, C. , BLACKWELL, Timothy , MOZES, Alon , ALY, Sherif , DUGAL, Amardeep, Singh , HAND, Randal , GLAUSER, Sandi , SALCEDO, Juan , EBBITT, Peter , TAPIA, William
发明人： QUAID, Arthur, E. , MOSES, Dennis , KANG, Hyosig , ABOVITZ, Rony, A. , FERRE, Maurice , HAJAJ, Binyamin , ROCHE, Martin , ILLSLEY, Scott , ARATA, Louis, K. , MEARS, Dana, C. , BLACKWELL, Timothy , MOZES, Alon , ALY, Sherif , DUGAL, Amardeep, Singh , HAND, Randal , GLAUSER, Sandi , SALCEDO, Juan , EBBITT, Peter , TAPIA, William
IPC分类号： A61B19/00 , A61G13/12 , G01S3/786 , A61B17/00 , A61B17/16
CPC分类号： A61B90/36 , A61B5/1127 , A61B5/745 , A61B6/032 , A61B6/037 , A61B6/4423 , A61B6/463 , A61B6/5247 , A61B8/463 , A61B17/1677 , A61B17/1739 , A61B17/1764 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B90/14 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3983 , A61F2/38 , G05B2219/36432 , G06F19/00
摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.
摘要翻译：手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。计算机系统被编程为实现用于控制外科手术装置的控制参数，以基于患者的解剖结构与至少一个之间的关系来提供对使用者的触觉指导和对手术装置的用户操纵的限制中的至少一个手术装置的一部分的位置，方向，速度和加速度，以及响应于手术期间解剖结构的移动来调整控制参数。

10. 发明申请

WO2005009215A2 GUIDANCE SYSTEM AND METHOD FOR SURGICAL PROCEDURES WITH IMPROVED FEEDBACK 审中-公开
标题翻译：具有改进反馈的外科手术指导系统和方法
公开(公告)号：WO2005009215A2
公开(公告)日：2005-02-03
申请号：PCT/US2004/022978
申请日：2004-07-16
申请人： Z-KAT, INC. , QUAID, Arthur, E. , ABOVITZ, Rony, A.
发明人： QUAID, Arthur, E. , ABOVITZ, Rony, A.
IPC分类号： A61B
CPC分类号： A61B34/20 , A61B17/3403 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/03 , A61B90/10 , A61B2017/00115 , A61B2017/00119 , A61B2017/3405 , A61B2034/107 , A61B2034/2055 , A61B2034/2059 , A61B2034/2072 , A61B2034/252 , A61B2090/031 , A61B2090/061 , A61B2090/064 , A61B2090/0818 , A61B2090/365 , A61B2090/372 , G06F3/033 , G06F3/0346 , G06F19/00
摘要： It is often desirable to define objects with respect to images of an anatomy displayed using an image guided surgery system. For non-trivial objects, or those with complicated two or three dimensional forms, it may be difficult to present information in a manner that is simple for a user to understand. The local distance to a surface of interest, such as the surface of the defined object, or to a desired position, the local penetration distance of the surface of interest, or haptic repulsion force, often provides the most useful information for augmenting the interaction of the user with the image guided surgery system. The scalar value of the local distance may be conveyed to the user by visual, audio, tactile, haptic, or other means.
摘要翻译：通常期望相对于使用图像引导手术系统显示的解剖结构的图像来定义对象。对于不平凡的对象或具有复杂的二维或三维形式的对象，可能难以以简单的方式呈现信息以供用户理解。到目标表面的局部距离，例如限定物体的表面，或所需位置，感兴趣的表面的局部穿透距离或触觉排斥力，通常提供最有用的信息，以增强相互作用用户使用图像引导手术系统。本地距离的标量值可以通过视觉，音频，触觉，触觉或其他方式传达给用户。

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