Abstract: A sterile drape assembly for a surgical robot including a robotic arm with a plurality of links and a plurality of joints. The sterile drape assembly includes a surgical drape adapted to be disposed over the robotic arm and a drape belt configured to be secured to the surgical drape. The drape belt has at least one optical tracking element that moves with the drape belt as the drape belt is secured to the surgical drape.

Abstract: A method for intraoperatively augmenting a revision implant includes removing a primary implant from a bone, intraoperatively determining a size of a defect of the bone, intraoperatively cutting a bone filler material to the size of the defect, installing the bone filler material at the defect, and installing the revision implant on the bone.

Abstract: Systems and methods for defining a relationship between a surgical object and a tracker coupled to the surgical object. A first optical sensor senses light in an infrared spectrum or a near-infrared spectrum. A second optical sensor senses light in a visible light spectrum. Controller(s) acquire one or more first images of the tracker from the first optical sensor and acquire one or more second images of the surgical object from the second optical sensor. The controller(s) recognize a pose of the tracker based on the one or more first image and recognize a geometry of the surgical object based on the one or more second images. The controller(s) correlate the recognized pose of the tracker and the recognized geometry of the surgical object to define a relationship between the tracker and the surgical object.

Abstract: A method of calculating leg length discrepancy of a patient including: receiving patient bone data associated with a lower body of the patient; identifying anatomical landmarks in the patient bone data; orienting a first proximal landmark and a second proximal landmark relative to each other and an origin in a coordinate system; aligning a first axis associated with a first femur and a second axis associated with a second femur with a longitudinal axis extending in a distal-proximal direction, wherein the first and second distal landmarks are adjusted according to the alignment of the first and second axes; calculating a distance between the first and second distal landmarks in the distal-proximal direction along the longitudinal axis; and displaying at least one of the distance or a portion of the patient bone data on a display screen.

Abstract: A robotic surgical system includes a robotic arm comprising a plurality of links and joints, an end effector, and a mounting assembly for coupling the end effector and the robotic arm. The mounting assembly includes a robot mount associated with the robotic arm and an end effector mount associated with the end effector. The mounting assembly also includes a sterile barrier assembly including a coupling and kinematic couplers. A first lock assembly releasably secures the coupling to the robot mount and a second lock assembly releasably secures the end effector mount to the coupling. A tensioner associated with either mount is movable between a first position and a second position such that the kinematic couplers engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.

Abstract: Systems, methods and software are provided for aiding in positioning of objects in a surgical environment. A tracker is rigidly affixed to a surgical object. A camera has a field of view and senses positions of the tracker in the field of view. Controller(s) provide a zone positioned within the field of view at a location that is static relative to the field of view such that the zone is located independent of the sensed positions of the tracker. The zone defines a range of acceptable positions for the tracker relative to a position of the camera. Controller(s) acquire positions of the tracker as the surgical object is moved throughout a range of motion and enable evaluation of the positions of the tracker throughout the range of motion relative to the zone to aid in positioning of one or more of: the camera, the tracker, or the surgical object.

Abstract: A method includes obtaining a planned position of a first prosthetic component for implantation in a joint, obtaining positional data indicative of relative positions of bones of the joint, calculating, based on the positional data and the planned position of the first prosthetic component, a planned separation distance for the joint, facilitating adjustment of the planned position based on a desired separation distance by updating the planned separation distance in response to an adjusted planned position of the first prosthetic component, and guiding installation of the first prosthetic component in the joint in the adjusted planned position.

Abstract: A surgical robotic system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. Controller(s) generate a first tool path to remove a first portion of material from the bone and control the manipulator to position the tool for movement along the first tool path to remove the first portion. The controller(s) sense interaction between the tool and the bone during movement of the tool along the first tool path and generate a second tool path to remove a second portion of material from the bone. Generation of the second tool path is based, at least in part, on the sensed interaction between the tool and the bone during movement along the first tool path. The controller(s) control the manipulator to position the tool for movement along the second tool path to remove the second portion.

Abstract: A surgical system includes a robotic arm, an end effector held by the robotic arm, a tracking system configured to detect a patient position and an end effector position, and a processor and non-transitory memory storing instructions that, when executed by the processor, cause the processor to define a planned trajectory relative to the patient position, obtain the patient position and the end effector position from the tracking system during manual movement of the end effector by a user, determine whether the end effector position is within a threshold of the planned trajectory based on the patient position and the end effector position obtained during the manual movement of the end effector, and upon determination that the end effector position is within the threshold of the planned trajectory, take over and control the robotic arm to automatically align the end effector with the planned trajectory.

Abstract: A method of performing a procedure includes preparing a subject, gaining access to a portion of the subject with a first instrument, removing a first portion of the portion of the subject with the first instrument, gaining access to the portion of the subject with a tracked instrument, moving the tracked instrument to a surface revealed by removal of at least the first portion from the portion of the subject, tracking the tracked instrument while moving at least the tracked instrument to the surface, and determining a representation of the surface based on the tracking the tracked instrument.

Abstract: A system includes a surgical tool, a robot holding the surgical tool, and non-transitory computer-readable memory storing instructions that, when executed, cause the robot to perform operations including automatically moving the surgical tool to a virtual geometry correlated with an anatomical structure and forcing, following arrival of the surgical tool at the virtual geometry, the surgical tool to stay at the virtual geometry while allowing manual repositioning of the surgical tool along the virtual geometry.

Abstract: Methods and systems for selectively smoothing an input surface mesh based on identified staircase artifacts are disclosed. Staircase artifacts may be generated along any one of a surface mesh's coordinate vectors. Vertices in the surface mesh associated with the staircase artifact are identified by comparing normalized angles between normal vectors of a plurality of faces adjacent to a vertex and a reference vector. Multiple reference vectors are used to identify additional artifact vertices. Weighted values may be generated for each vertex of the surface mesh based on the vertex's proximity to an identified artifact vertex. Vertices of a surface mesh may be subjected to a modified smoothing algorithm using the weighted values. The modified smoothing algorithm removes staircase artifacts while better preserving model volume and small model features.

Abstract: A system for determining accuracy of a surgical procedure to implant an implant on a patient bone. The system including at least one computing device configured to perform the following steps. Receive preoperative patient data including preoperative images of the patient bone and planned implant position and orientation data. Receive postoperative patient data including postoperative images of the patient bone and an implant implanted on the patient bone. Segment the patient bone and the implant from the postoperative images of the patient bone and the implant. Register separately the patient bone and the implant from the postoperative images to the patient bone from the preoperative images. And compare an implanted position and orientation of the implant from the postoperative images relative to the patient bone from the preoperative images to the planned implant position and orientation data relative to the patient bone from the preoperative images.

Abstract: A surgical workflow system for assisting a surgical procedure comprises a workflow controller. The workflow controller is configured to access a pre-scripted workflow having a plurality of workflow steps associated with the surgical procedure, obtain camera video data of the surgical procedure, monitor the surgical procedure from the camera video data, predict occurrence of an anticipated deviation from one or more of the workflow steps of the pre-scripted workflow, generate event information to address the predicted occurrence of the anticipated deviation, and automatically respond to the predicted occurrence of the anticipated deviation by being configured to transmit the event information to a participant of the surgical procedure through an information conveyor device.

Abstract: A robotic surgical system and method of operating the same. A manipulator supports a tool that has a TCP and manipulates a target bone. A navigation system has a localizer to monitor states of the manipulator and the target bone. Controller(s) determine commanded states of the TCP to move the tool along a cutting path relative to the target bone to remove material from the target bone. The controller(s) determine actual states of the TCP responsive to commanded movement of the tool along the cutting path, wherein each one of the commanded states of the TCP has a corresponding one of the actual states of the TCP for a given time step. The controller(s) compare the corresponding commanded and actual states of the TCP for one or more given time steps to determine a deviation and modify operation of the tool to account for the deviation.

Abstract: Systems and methods for detecting an error in a surgical system. The surgical system includes a manipulator with a base and a plurality of links and the manipulator supports a surgical tool. The system includes a navigation system with a tracker and a localizer to monitor a state of the tracker. Controller(s) determine values of a first transform between a state of the base of the manipulator and a state of one or both of the localizer and the tracker of the navigation system. The controller(s) determine values of a second transform between the state of the localizer and the state of the tracker. The controller(s) combine values of the first transform and the second transform to determine whether an error has occurred relating to one or both of the manipulator and the localizer.

Abstract: A surgical system includes a robotic arm, an end effector coupled to the robotic arm, a divot at the end effector, a probe configured to be inserted into the divot, a tracking system configured to obtain data indicative of a position of the probe while the probe is in the divot, and circuitry configured to verify a proper physical configuration of the surgical system based on the data indicative of the position of the probe while the probe is in the divot.

Abstract: A surgical system includes a sensor configured to detect a usage of a surgical object. The surgical system also includes a controller configured to assign a pre-defined order of planned steps of a surgical workflow, automatically distinguish between executed steps of the surgical workflow based on the usage of the object, based on distinguishing the executed steps of the surgical workflow, record a comparison of an actual order of executed steps of the surgical workflow with the pre-defined order of the planned steps, and generate feedback based on the comparison.

Abstract: A robotic surgical system has a base and a robotic arm coupled to the base. The robotic arm has a plurality of links and joints. A tracker support assembly has an arm to support a tracker assembly for the base. An arm positioner is coupled between the base and the arm to enable movement of the arm relative to the base. The arm positioner is configured to rigidly secure the arm in response to movement of the arm to a predetermined position.

Abstract: A system for surgical registration. The system may include at least one computing device in communication with a surgical navigation system and the surgical device. The at least one computing device: a) receiving external bone registration data corresponding to locations on the exterior surface of the femur; b) calculating a first registration transform based on the external bone registration data; c) transforming a first bone removal plan of a surgical plan to the operative coordinate system based on the first registration transform; d) receiving internal bone canal registration data corresponding to at least one of location or orientation data from the inner canal of the femur; e) calculating a second registration transform based on both of the external and internal bone canal bone registration data; and f) transforming a second bone removal plan of the surgical plan to the operative coordinate system based on the second registration transform.