Abstract: A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator further includes a switch and at least one controller configured to control operation of the surgical manipulator in a first operating mode or a second operating mode. The at least one controller is also configured to determine a commanded pose to which the energy applicator is advanced based on a summation of a plurality of input forces and torques and transition between the operating modes by adjusting the plurality of input forces and torques in response to actuation of the switch.

Abstract: A solid medical waste collection system for collecting solid medical waste. The system includes a mobile cart with a bag for storing the waste. A pre-detection apparatus detects metal-containing objects prior to placing them inside the bag to reduce costs to the facility in which the cart is employed. The system may also include a bag-tensioning mechanism for securing the bag to the cart.

Abstract: Systems and methods for establishing and tracking virtual boundaries. The virtual boundaries can delineate zones in which an instrument is not permitted during a surgical procedure. The virtual boundaries can also delineate zones in which the surgical instrument is permitted during the surgical procedure. The virtual boundaries can also identify objects or structures to be treated by the instrument or to be avoided by the instrument during the surgical procedure.

Abstract: A method is provided for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path. The method includes determining actual torques for each active joint of an actuated arm mechanism and calculating expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint. The method further determines estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path.

Abstract: A hand switch for removable attachment to a powered surgical tool. The switch includes a ring formed with a slot that is snap fit over the tool with which the switch is used. A manually actuatable lever is pivotally mounted to the ring. Internal to the lever is a magnet. The position of the magnet is monitored by a sensor internal to the tool. A tab extends inwardly from the ring. The tab seats in a notch integral with the tool. The seating of the tab in the notch aligned the switch with the sensor internal to the tool.

Abstract: A navigation system for use with a surgical manipulator operable in manual or semi-autonomous modes. The navigation system includes a tracker for attaching to the patient and a localizer to receive signals from the tracker or transmit signals to the tracker. The navigation system includes a navigation processor that runs a plurality of software modules.

Abstract: A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator further includes at least one controller configured to determine a commanded pose to which the energy applicator is advanced, wherein the commanded pose is determined based on a summation of a plurality of force and torque signals.

Abstract: A hand switch for removable attachment to a powered surgical tool. The switch includes a ring formed with a slot that is snap fit over the tool with which the switch is used. A manually actuatable lever is pivotally mounted to the ring. Internal to the lever is a magnet. The position of the magnet is monitored by a sensor internal to the tool. A tab extends inwardly from the ring. The tab seats in a notch integral with the tool. The seating of the tab in the notch aligned the switch with the sensor internal to the tool.

Abstract: A surgical tool system including a handpiece with a power generating unit and a control console for supplying energization signals to the power generating unit. Based on the data in a memory associated with the handpiece, the control console supplies energization signals to the handpiece power generating unit in either a motor drive mode or a direct drive mode. In the motor drive mode the signals are supplied to windings integral with the power generating unit based on the position of a rotor also part of the power generating unit. In the direct drive mode, energizaiton signals are supplied to the power generating unit independent of rotor position.

Abstract: A solid medical waste collection system for collecting solid medical waste. The system includes a mobile cart with a bag for storing the waste. A pre-detection apparatus detects metal-containing objects prior to placing them inside the bag to reduce costs to the facility in which the cart is employed. The system may also include a bag-tensioning mechanism for securing the bag to the cart.

Abstract: A surgery system comprising at least one smart instrument, a computer system, and a sensor system adapted to wirelessly sense the position of the at least one smart instrument and to transmit position information to the computer system, wherein the sensor system includes a sensor array and the sensor array includes at least three linear CCD cameras and at least one infrared transceiver.

Abstract: A system for selectively triggering an energy activated therapy agent. The system includes a member to which a device for emitting energy is attached. One or more navigation markers are also attached to the member. The position of the navigation markers is tracked to provide an indication of the position of the energy emitting device relative to the target tissue. When the energy emitting device is adjacent the target tissue, it is actuated.

Abstract: A surgical tool system (30) with a powered surgical handpiece (32). A removable handswitch (39) is attached to the handpiece. The handswitch includes a slip ring (192) that removably holds the handswitch to the handpiece. A lever arm (212) is pivotally attached to the slip ring. A magnet (190) is fitted in the lever arm. The angle of the lever arm is set by the surgeon to indicate the on/off state and operating speed of the handpiece. Internal to the handpiece is a sensor (94) that generates a signal based on the relative proximity of the magnet. The sensor signal is thus employed as the control signal for regulating the operation of the handpiece. Thus a surgeon can selectively use the handpiece with or without the mounted control switch.

Abstract: A system and method for locating cutting accessories such as saw blades that, when actuated by the complementary driver, move relative to the driver. The saw blade is provided with one or more geometric features. The location of these features is identified by a pointer. The pointer is part of a surgical navigation system used to monitor the position of the driver to which the saw blade is attached. Based on the location of the geometric features, data regarding the head of the saw blade are generated. Thus, the surgical navigation has data indicating the position and orientation of the driver and the position of the head of the cutting accessory relative to the driver. Based on these data, the surgical navigation system generates data indicating the position and orientation of the head of the saw blade or like cutting accessory.

Abstract: A surgical tool system including a handpiece with a power generating unit and a control console for supplying energization signals to the power generating unit. Based on the data in a memory associated with the handpiece, the control console supplies energization signals to the handpiece power generating unit in either a motor drive mode or a direct drive mode. In the motor drive mode the signals are supplied to windings integral with the power generating unit based on the position of a rotor also part of the power generating unit. In the direct drive mode, energizaiton signals are supplied to the power generating unit independent of rotor position.

Abstract: A surgical tool system (30) with a powered surgical handpiece (32). A removable handswitch (39) is attached to the handpiece. The handswitch includes a slip ring (192) that removably holds the handswitch to the handpiece. A lever arm (212) is pivotally attached to the slip ring. A magnet (190) is fitted in the lever arm. The angle of the lever arm is set by the surgeon to indicate the on/off state and operating speed of the handpiece. Internal to the handpiece is a sensor (94) that generates a signal based on the relative proximity of the magnet. The sensor signal is thus employed as the control signal for regulating the operation of the handpiece. Thus a surgeon can selectively use the handpiece with or without the mounted control switch.

Abstract: A surgical tool system (30) with a powered surgical handpiece (32). A removable handswitch (39) is attached to the handpiece. The handswitch includes a slip ring (192) that removably holds the handswitch to the handpiece. A lever arm (212) is pivotally attached to the slip ring. A magnet (190) is fitted in the lever arm. The angle of the lever arm is set by the surgeon to indicate the on/off state and operating speed of the handpiece. Internal to the handpiece is a sensor (94) that generates a signal based on the relative proximity of the magnet. The sensor signal is thus employed as the control signal for regulating the operation of the handpiece. Thus a surgeon can selectively use the handpiece with or without the mounted control switch.

Abstract: A surgery system comprising at least one smart instrument, a computer system, and a sensor system. The sensor system is adapted to wirelessly sense the position of the at least one smart instrument and to transmit position information to the computer system.

Abstract: A surgical tool system (30) with a powered surgical handpiece (32). A removable handswitch (39) is attached to the handpiece. The handswitch includes a slip ring (192) that removably holds the handswitch to the handpiece. A lever arm (212) is pivotally attached to the slip ring. A magnet (190) is fitted in the lever arm. The angle of the lever arm is set by the surgeon to indicate the on/off state and operating speed of the handpiece. Internal to the handpiece is a sensor (94) that generates a signal based on the relative proximity of the magnet. The sensor signal is thus employed as the control signal for regulating the operation of the handpiece. Thus a surgeon can selectively use the handpiece with or without the mounted control switch.

Abstract: An integrated surgical tool system (30) for energizing different powered surgical handpieces (32, 33). Internal to each handpiece is a non-volatile memory (72) which stores data regarding the operating parameters of the handpiece. This data, includes information about the speeds at which any motor internal to the handpiece should be driven, the maximum current that should be drawn by the handpiece and the maximum internal temperature of the handpiece. The handpiece is plugged into a complementary control console (36). The control console reads the data in the internal memory. Based on the retrieved data and manual control signals, the control console supplies energization signals to the handpiece so as to cause the appropriate actuation of the handpiece.