1
Christopher J Bernard, Hyosig Kang, Barton L Sachs, Sunil K Singh, John T Wen: Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery. Advanced Realtime Control Systems, Heslin Rothenberg Farley & Mesiti P C, December 4, 2001: US06325808 (151 worldwide citation)

A robotic system for minimally invasive surgery includes a surgical tool and a docking station for restraining movement of the surgical tool to four degrees of freedom about an incision point in a patient. The docking station includes a plurality of actuators for moving the surgical tool relative to ...


2
Dennis Moses, Arthur Quaid, Hyosig Kang: Method and apparatus for controlling a haptic device. Mako Surgical, Foley & Lardner, October 16, 2012: US08287522 (120 worldwide citation)

A method for controlling a surgical device is provided. The method includes manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and a position, an orientation, a velocity, and/or an acceleration of a surgical tool ...


3
Arthur Quaid, Hyosig Kang, Dennis Moses, Rony Abovitz, Scott Illsley: Haptic guidance system and method. MAKO Surgical, Foley & Lardner, August 30, 2011: US08010180 (63 worldwide citation)

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 ...


4
Arthur E Quaid, Hyosig Kang, Dennis Moses: Method and apparatus for controlling a haptic device. Mako Surgical, Foley & Lardner, March 23, 2010: US07683565 (21 worldwide citation)

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 ...


5
Benny Hagag, Hyosig Kang, Alon Mozes, Daniel Odermatt, Brian D Schmitz: Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool. MAKO Surgical, Foley & Lardner, March 31, 2015: US08992542 (15 worldwide citation)

A surgical system for positioning a prosthetic component on an anatomy of a patient includes a surgical tool configured to engage the prosthetic component, a force system configured to provide at least some force to the surgical tool, and a controller programmed to compare a target pose of the prost ...


6
Joseph Suarez, Brian D Schmitz, Hyosig Kang, Peter L Ebbitt: Tool, kit-of-parts for multi-functional tool, and robotic system for same. Mako Surgical, Foley & Lardner, June 17, 2014: US08753346 (11 worldwide citation)

A tool includes a housing including a receiving portion configured to receive at least a portion of an operating member so as to permit rotation of the operating member relative to the housing while constraining movement of the operating member in a radial direction of the operating member. The tool ...


7
Chris Lightcap, Hyosig Kang: Inertially tracked objects. MAKO Surgical, Foley & Lardner, January 5, 2016: US09226799 (9 worldwide citation)

Described are computer-based methods and apparatuses, including computer program products, for inertially tracked objects with a kinematic coupling. A tracked pose of a first inertial measurement unit (IMU) is determined, wherein the first IMU is mounted to a first object. The tracked pose of the fi ...


8
Hyosig Kang, Arthur E Quaid, Dennis Moses: Apparatus and method for haptic rendering. MAKO Surgical, Foley & Lardner, October 29, 2013: US08571628 (8 worldwide citation)

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 t ...


9
Hyosig Kang, Jason Otto: Systems and methods for customizing interactive haptic boundaries. MAKO Surgical, Foley & Lardner, March 10, 2015: US08977021 (8 worldwide citation)

A method for customizing an interactive haptic boundary based on a patient-specific feature comprises identifying a reference feature associated with a virtual implant model. The method also comprises determining an intersection between the identified reference feature and a virtual model associated ...


10
Hyosig Kang, Scott Nortman: System and method for robotic surgery. MAKO Surgical, Foley & Lardner, June 23, 2015: US09060794 (7 worldwide citation)

In one embodiment, a robotic surgery system comprises a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone, the handheld manipulator comprising a bone cutting tool comprising an end effector portion, a frame assembly, and a motion compensation ass ...