Abstract: A rod bender includes a first handle arm and a second handle arm coupled to a first pivot point. A body portion of the rod bender is coupled to the first handle arm at a second pivot point and the second handle arm is coupled to the body portion at a third pivot point. The body portion also includes first and second distal arms configured with first and second rolling elements and navigation arrays coupled to distal ends of the first and second distal arms. A barrel is provided on the body portion which is positioned on a center area of the body portion. The navigation arrays have optical markers that are tracked by camera. A three-dimensional reconstruction of a rod bent by the rod bender is created using tracked position of the optical markers during bending.

Abstract: A surgical tool that has a pair of transmissions coupled to one another to effect driving of a cutting tool in both bidirectional intermittent rotational manners and in opposite directions of continuous rotation. The transmissions are driven by a motor coupled to one of the transmissions which is coupled to the second transmission.

Abstract: An implantable device may include a barrel, the barrel having an upper portion and a lower portion. The implantable device may further include an actuator assembly disposed in the barrel, and a central screw that extends from a rear ramped actuator through a front ramped actuator. The implantable device may further include a first plate having multiple projections extending from one side of the first plate. The implantable device may further include a second plate having multiple projections extending from one side of the second plate, the second plate configured to be received on the central screw. The barrel may be configured to transition from a collapsed form having a first height to an expanded form having a second height and wherein the second height is greater than the first height.

Abstract: Intramedullary nails, systems, and methods. The intramedullary nail may include a generally elongate body extending from a first, distal end to a second, proximal end. The distal end may include one or more openings configured to receive one or more bone anchors that extend transversely through the distal end of the intramedullary nail, and thereby configured to secure the distal end of the nail. The proximal end may also include one or more openings configured to receive one or more bone anchors that extend transversely through the proximal end of the intramedullary nail, and thereby configured to secure the proximal end of the nail.

Abstract: Systems and methods for a guide assembly for introducing a bone anchor to an operative target site. The guide includes an outer sleeve and an inner sleeve. The outer sleeve has a distal anchor engaging end, a proximal end, and a central passage extending from the distal end to the proximal end. The inner sleeve may be situated in the central passage of the outer sleeve. The inner sleeve is movable being between a first position and a second position. The first position permits insertion of the bone anchor in the central passage. The second position releasably fixes the bone anchor to the guide assembly.

Abstract: An aiming guide system configured for connection to a bone plate including an aiming arm and a connection assembly. The aiming arm has a rigid body extending from a proximal end to a distal end with a plurality of aiming holes defined through the rigid body between the proximal end and the distal end thereof. The distal end defines an attachment slot through the body. The connection assembly is configured to engage an attachment screw hole of the bone plate and the attachment slot such that the aiming arm is fixed in position relative to the bone plate with each of the aiming holes aligned with a respective hole along the bone plate.

Abstract: The present invention relates to a method of inserting an implant comprising providing an expandable vertebral implant. The method further may comprise providing an angling inserter tool. The angling inserter tool comprises a handle portion, a base portion, and a tip assembly, the base portion being disposed between the handle portion and the tip assembly. The method further may comprise distally advancing a central shaft of the tip assembly with rotation into an opening in the expandable vertebral implant to secure the angling inserter tool to the expandable vertebral implant. The method further may comprise positioning the expandable vertebral implant in a patient's spine. The method further may comprise for causing the tip assembly to angulate with respect to a longitudinal axis of the angling inserter tool, wherein the internal shaft is coaxial with an outer cylinder of the base portion.

Abstract: A graft delivery device includes a graft delivery tube having a main passage for delivering graft material to a surgical implant inserted between adjacent vertebrae of a spine. The graft delivery tube includes an articulating portion proximate an output end of the graft delivery tube. The graft delivery device also includes a pusher device slidable along the main passage to drive graft material through the main passage toward the output end of the graft delivery tube, an actuation wire extending axially through at least the articulating portion of the graft delivery tube, and an actuation device connected to the actuation wire. The actuation device is actuatable to pull the actuation wire. Moreover, pulling the actuation wire bends the articulating portion of the graft delivery tube and positions the output end proximate the surgical implant.

Abstract: Orthopedic implants, systems, instruments, and methods. A bi-portal lumbar interbody fusion system may include an expandable interbody implant and minimally invasive pedicle-based intradiscal fixation implants. The interbody and intradiscal implants may be installed with intelligent instrumentation capable of repeatably providing precision placement of the implants. The bi-portal system may be robotically-enabled to guide the instruments and implants along desired access trajectories to the surgical area.

Abstract: A system of robotic surgery includes components capable of drilling a bore in the cranium of a patient in connection with craniotomy and other cranial surgeries. A perforator associated with such system is controlled by suitable computer-implemented instructions to maintain the perforator tip along a desired trajectory line while moving the perforator bit at locations proximal to such perforator tip in a circular motion, thereby imparting a conical oscillation to the perforator bit relative to the trajectory line. The angle at which the perforator bit is oscillated relative to such trajectory line results in the bore formed in the cranium having a diameter larger than the bit diameter, and the larger diameter and related conical oscillation is selected so as to reduce frictional force opposing withdrawal of the bit from the situs of the bore, thereby reducing the risk of jamming of the bit during its associated operations.

Abstract: Intramedullary nails, systems, and methods. The intramedullary nail may include a generally elongate body extending from a first, distal end to a second, proximal end. The distal end may include one or more openings configured to receive one or more bone anchors that extend transversely through the distal end intramedullary nail, and thereby configured to secure the distal end of the nail. The proximal end may also include one or more openings configured to receive one or more bone anchors that extend transversely through the proximal end of the intramedullary nail, and thereby configured to secure the proximal end of the nail.

Abstract: A method includes receiving a three-dimensional image dataset of a surgical site of a patient. The method also includes segmenting one or more anatomical features of the surgical site based on the three-dimensional image dataset. The method also includes receiving a two-dimensional image of the surgical site of the patient and registering the two-dimensional image to an image from the three-dimensional image dataset. The method also includes displaying a two-dimensional representation of the segmented one or more anatomical features based on the registered two-dimensional image and the image from the three-dimensional image dataset.

Abstract: An implant for therapeutically separating bones of a joint has two endplates each having an opening through the endplate, and at least one ramped surface on a side opposite a bone engaging side. A frame is slideably connected to the endplates to enable the endplates to move relative to each other at an angle with respect to the longitudinal axis of the implant, in sliding connection with the frame. An actuator screw is rotatably connected to the frame. A carriage forms an open area aligned with the openings in the endplates. The openings in the endplates pass through the carriage to form an unimpeded passage from bone to bone of the joint. The carriage has ramps which mate with the ramped surfaces of the endplates, wherein when the carriage is moved by rotation of the actuator screw, the endplates move closer or farther apart.

Abstract: A position is determined for each fiducial marker of a plurality of fiducial markers in an image volume. Based on the determined positions, a position and orientation of the registration fixture with respect to the anatomical feature is determined. A position is determined for each tracked marker of a first plurality of tracked markers on the registration fixture and a second plurality of tracked markers on the robot arm in a tracking data frame. Based on the determined positions of tracked markers, a position and orientation of the registration fixture and the robot arm of a surgical robot with respect to the tracking space are determined.

Abstract: A bone joint spacer has two endplates which have a bone engaging surface on one side, and ramps extending from an opposite side. A shaft has a threaded end, and another end which has ramp followers which mate with the endplate ramps of both endplates. A collar slides over the threaded end of the shaft, and also has ramp followers which mate with the endplate ramps of both endplates. A nut threads onto the end of the shaft and pushes the collar towards the ramp followers of the shaft. This movement causes the ramp followers to slide the ramp followers of the collar and the shaft against the endplate ramps, pushing the endplates apart. Two of these spacers can be combined by a link plate so that the spacers can be aligned or curved into a U-shape to be inserted into the body and positioned between bony surfaces, respectively.

Abstract: Expandable hip stem implants, systems, and methods of implanting a hip stem during a hip arthroplasty are provided. The implant may include a proximal body having a neck terminating at a free end, a distal stem having a proximal portion coupled to the proximal body and a distal portion, and a plurality of expandable bodies aligned around the distal stem. The plurality of expandable bodies have a collapsed configuration and an expanded configuration such that the plurality of expandable bodies expand radially outward away from one another.

Abstract: Surgical robot systems, anatomical structure tracker apparatuses, and US transducer apparatuses are disclosed. A surgical robot system includes a robot, a US transducer, and at least one processor. The robot includes a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector is configured to guide movement of a surgical instrument. The US transducer is coupled to the end-effector and operative to output US imaging data of anatomical structure proximately located to the end-effector. The least one processor is operative to obtain an image volume for the patient and to track pose of the end-effector relative to anatomical structure captured in the image volume based on the US imaging data.

Abstract: Devices, Systems, and Methods for changing the trajectory of a surgical implant from an initial trajectory when first penetrating the skin of a patient to a final trajectory when the surgical implant is to be inserted into a bone of the patient. A surgical robotic system may be used to determine the initial and final trajectories and to move the surgical instrument from the initial trajectory to the final trajectory.

Abstract: Embodiments of the disclosure provide systems and methods of removing a core from an intervertebral prosthetic disc. The method may include: securing a multipart prosthetic disc to a distal end of a removal instrument by grasping at least a portion of the multipart prosthetic disc between a pair of core removal arms on the placement instrument; inserting the pair of core removal arms between two prosthetic disc plates of the intervertebral prosthetic disc to distract the plates away from one another; and removing the core from the intervertebral prosthetic disc with the removal instrument. The removal instrument may include: an inner shaft connected to the pair of core removal arms; and an outer shaft movable with respect to the inner shaft and including an activation mechanism for causing the arms to grasp the core for removal.

Abstract: Orthopedic fixation devices including a pre-assembled double headed tulip assembly, having two tulip elements to receive rods, wherein the assembly may receive a bone fastener in at least one of the tulip elements. At least one of the tulip elements may include a saddle and a ring to attach the double headed tulip to a bone fastener.