Abstract: A method of evaluating a human joint which includes two or more bones and ligaments, wherein the ligaments are under anatomical tension to connect the bones together, creating a load-bearing articulating joint. The method includes: defining locations of one or more sockets, each socket representing a ligament attachment point to bone; interconnecting the one or more sockets with mathematical relationships that describe the kinematic physics of the one or more sockets relative to one another; providing spatial information to describe the movement of the sockets relative to one another; defining an initial kinematic state of the joint; defining a final kinematic state of the joint; using computer-based system to compute a difference between the initial and final kinematic states; and using a computer-based system to compute modifications to the mathematical relationships of the sockets to achieve a final kinematic state.

Abstract: An apparatus for securing and positioning a jig on a human joint includes: a mounting bracket; a first tracking marker coupled to the mounting bracket, configured to generate a first signal representative of the position and orientation in space of the mounting bracket; a mounting head coupled to a distal end of the mounting bracket by an adjustment mechanism configured to permit six degree of freedom of movement of the mounting head relative to the mounting bracket; position feedback means configured to generate a second signal representative of the position and orientation of the mounting head relative to the mounting bracket; a mounting element coupled to the mounting bracket; an electronic receiving device configured to receive the first and second signals; and a display configured to display the position and orientation of the mounting head relative to the mounting bracket.

Abstract: An anchor for anchoring tensile members to bone includes: a housing extending along a central axis, with a hollow interior; a collet in the hollow interior having a central bore for accepting tensile members and an exterior surface, the collet being configured to swage around and against tensile members; a sleeve having a peripheral wall defining interior and exterior surfaces, the sleeve disposed in the housing's hollow interior axially adjacent to the collet, and movable parallel to the central axis between first and second positions; and wherein at least one of the collet exterior surface and the sleeve interior surface is tapered and the sleeve and the collet are arranged so movement of the sleeve from the first position to the second position causes the sleeve interior surface to bear against the collet exterior surface, causing the collet to swage radially inwards around and against one or more tensile members.

Abstract: A method of evaluating a human knee joint including a femur bone, a tibia bone, and ligaments. The method includes: inserting into the joint a tensioner-balancer that includes at least one force sensor; providing an electronic receiving device; moving the knee joint through at least a portion of its range of motion; using the electronic receiving device to collect data from the at least one force sensor; processing the collected force data to produce a digital geometric model of the knee joint, wherein the data includes: a medial spline representing a locus of points of contact of a medial condyle of the femur F with the tensioner-balancer, over a range of knee flexion angles; and a lateral spline representing the locus of points of contact of the femur F with the tensioner-balancer, over a range of knee flexion angles; and storing the digital geometric model for further use.

Abstract: A knee gap tensioning apparatus includes: a tensioner-balancer, including: a baseplate; a top plate; and a linkage operable to move the top plate relative to the bottom plate between retracted and extended positions in response to application of an actuating force, the linkage including: a first toggle linkage, including: a lower link having a first end pivotally connected to the baseplate; an upper link having a first end pivotally connected to the top plate, wherein second ends of the first and second links are pivotally connected to each other; a second toggle linkage, including: a lower link having a first end pivotally connected to the baseplate; an upper link having a first end pivotally connected to the top plate, wherein second ends of the first and second links are pivotally connected to each other; and a connector linkage interconnecting the first and second toggle linkages.

Abstract: A method of evaluating soft tissue of a human joint which includes two or more bones and ligaments, wherein the ligaments are under anatomical tension to connect the bones together, creating a load-bearing articulating joint, the method includes: inserting into the joint a tensioner-balancer that includes a means of controlling a distraction force; providing an electronic receiving device; moving the joint through at least a portion of its range of motion; while moving the joint, controlling the distraction force, and collecting displacement and distraction load data of the bones; processing the collected data to produce a digital geometric model of the joint, wherein the model includes: ligament displacement data along a range of flexion angles and ligament load data along a range of flexion angles; and storing the digital geometric model for further use.

Abstract: A method of evaluating a human joint including bones and ligaments under anatomical tension to connect the bones. The method includes: defining a primary datum oriented and fixed in six degrees of freedom; defining at least one secondary datum having fixed origins relative to one of the bones of the joint and relative to a tracking device affixed to the bone; providing an electronic receiving device; associating continuous position and orientation of the at least one secondary datums with respect to the primary datum; while moving the joint, using the electronic receiving device to collect data from the at least one tracking device, wherein the data includes information describing the position and movement in six degrees of freedom of the at least one secondary datum to produce a digital geometric model of at least a portion of the joint; and storing the digital geometric model for further use.

Abstract: A method of evaluating a human knee joint which includes a femur bone, a tibia bone, a patella bone, a patellar tendon, and ligaments, wherein the ligaments and patellar tendon are under anatomical tension to connect the femur and tibia together, creating a load-bearing articulating joint, the method including: inserting into the knee joint a gap balancer that includes a tibial interface surface, an opposed femoral interface surface, and at least one force sensor, the method including: providing an electronic receiving device; moving the knee joint through at least a portion of its range of motion; while moving the knee joint, using the electronic receiving device to collect data from the at least one force sensor; processing the collected data to produce a digital geometric model of at least a portion of the knee joint; and storing the digital geometric model for further use.

Abstract: A method of evaluating a human knee joint, includes: cutting away a proximal portion of the tibia; inserting the gap tensioner between the tibia and the femur; extending the gap tensioner urging the tibia and the femur apart and applying tension to the medial and lateral collateral ligaments; associating at least two tracking markers with the knee joint; providing an electronic receiving device operable to determine a position and orientation of each of the tracking markers relative to the electronic receiving device; moving the knee joint through at least a portion of its range of motion; while moving the knee joint, using the electronic receiving device to collect position data from the tracking markers; processing the collected position data to produce a geometric model of at least a portion of the knee joint; and computing one or more tool paths passing through the knee joint.

Abstract: A clamp for anchoring tensile members includes: a collet having a peripheral wall defining a central bore for accepting tensile members therethrough and an exterior surface, wherein the collet is configured to be swaged around the tensile members, and includes an array of longitudinal grooves defining webs configured to collapse inward in response to external compressive force; a sleeve having a peripheral wall defining interior and exterior surfaces, the sleeve positioned axially adjacent to the collet, so as to be movable parallel to a mutual central axis of the sleeve and the collet, between first and second positions; and wherein the sleeve and the collet are arranged such that movement of the sleeve from the first position to the second position will cause the interior surface of the sleeve to bear against the exterior surface of the collet, causing the collet to swage radially inwards around the tensile members.

Abstract: A knee gap tensioning apparatus includes: a gap tensioner including: a baseplate; a top plate; a linkage interconnecting the baseplate and the top plate and operable to move the gap tensioner between retracted and extended positions; and wherein the top plate is pivotally connected to the linkage so as to be able to freely pivot about a pivot axis.

Abstract: An anchor for tensile member(s) includes: a housing having a hollow interior; a collet in the hollow interior of the housing, the collet having a peripheral wall defining a central bore and an exterior surface. The collet is configured to be swaged around the tensile member(s). The collet includes longitudinal grooves in an outer surface of the peripheral wall, each defining a web configured to collapse inward in response to external compressive force. A sleeve has a peripheral wall defining interior and exterior surfaces and is disposed in the housing axially adjacent to the collet. At least one of the collet and the sleeve is tapered and the sleeve and the collet are arranged such that sleeve movement from a first position to a second position will cause the sleeve to bear against the collet, swaging the collet radially inwards around and against the tensile member(s).

Abstract: A method for imparting tension across a human knee joint which includes a femur bone, a tibia bone, a patella bone, a patellar tendon, and ligaments, wherein the ligaments and patellar tendon are under anatomical tension to connect the femur and tibia together, creating a load-bearing articulating joint. The method includes: providing a tensioning device, including: a baseplate; a top plate; and a linkage interconnecting the baseplate and the top plate and operable to move the tensioning device between retracted and extended positions, wherein the top plate is pivotally connected to the linkage so as to be able to freely pivot about a pivot axis; positioning the tensioning device between the femur and the tibia; applying an actuating force to the linkage to move the tensioning device towards the extended position, so as to impart a controlled separating force driving the femur and tibia apart to extend the ligaments.

Abstract: An apparatus for anchoring one or more tensile members to bone includes: an anchor, including: a housing having a hollow interior, and including a body portion and an extension portion interconnected by a breakaway structure configured to retain structural integrity under a first predetermined tensile load and to separate under a second predetermined tensile load which is greater than the first predetermined tensile load; a collet disposed in the hollow interior, the collet having a peripheral wall defining a central bore for accepting one or more tensile members therethrough; a sleeve having a peripheral wall and being disposed in the hollow interior of the housing, so as to be movable parallel to the central axis; and wherein the sleeve and the collet are arranged such that axial movement of the sleeve will cause the collet to swage radially inwards around and against the one or more tensile members.

Abstract: A method for anchoring one or more tensile members to bone includes: providing an anchor, including: a housing including a body portion and an extension portion interconnected by a breakaway structure which is configured to retain structural integrity under a first predetermined tensile load and to separate under a second predetermined tensile load which is greater than the first predetermined tensile load; a collet disposed in the hollow interior; and a sleeve movable parallel to the central axis between first and second positions; passing one or more tensile members through a central bore of the collet; seating the housing into a bore formed in the bone; and driving the sleeve from the first position towards the second position under the first predetermined tensile load, so as to swage the collet around the one or more tensile members.

Abstract: An apparatus for anchoring a tensile member to bone includes a housing with first and second ends and a hollow interior space. A collet is disposed in the interior space, the collet defining a central bore for accepting a tensile member therethrough, and an exterior surface. A sleeve has opposed interior and exterior surfaces and is disposed in the interior space axially adjacent to the collet, and is movable axially between first and second positions. At least one of the exterior surface of the collet and the interior surface of the sleeve is tapered and the sleeve and the collet are arranged such that movement of the sleeve from the first position to the second position will cause the interior surface of the sleeve to bear against the exterior surface of the collet, causing the collet to swage radially inwards around and against the tensile member, without moving axially.

Abstract: A method for anchoring a tensile member to a bone includes: providing an anchor, including: a housing having first and second ends, and a hollow interior; a collet in the hollow interior, and having a central bore and an exterior surface; a sleeve having interior and exterior surfaces, the sleeve disposed in the hollow interior axially adjacent the collet, and axially movable between first and second positions. At least one of the collet exterior surface and the sleeve interior surface is tapered such that sleeve movement from the first position towards the second position causes the sleeve to bear against the collet exterior surface, causing the collet to swage inwards around and against the tensile member without moving axially; passing the tensile member through the central bore; seating the housing into a bore formed in the bone; and driving the sleeve from the first position towards the second position.

Abstract: An apparatus for extracting a medical implant from bone includes: a housing; a coupler carried by the housing and configured to be mechanically connected to a medical implant; and a forcing mechanism carried by the housing and operable to apply a cyclic excitation force with a specified amplitude, frequency, and vector to the coupler. Methods are described for using the apparatus to remove and/or implant medical implants.

Abstract: A seal apparatus includes: (a) first and second machine elements defining a sealing interface between two zones subject to different fluid pressures, a boundary of which lies between the two elements; (b) a seal comprising rigid material carried by the first machine element and having an annular lip defining a first contact surface; (c) a second contact surface comprising rigid material, defined by the second machine element; (c) wherein both contact surfaces are wear resistant, and the first and second contact surfaces bear directly against each other, so as to seal against fluid leakage between the first and second zones, while allowing relative sliding motion between the first and second contact surfaces; and (d) wherein the seal is configured to allow the lip to deform elastically and permit the first contact surface to conform in a regular or irregular shape to the second contact surface.

Abstract: A seal apparatus includes: (a) first and second machine elements defining a sealing interface between two zones subject to different fluid pressures, a boundary of which lies between the two elements; (b) a seal comprising rigid material carried by the first machine element and having an annular lip defining a first contact surface; (c) a second contact surface comprising rigid material, defined by the second machine element; (c) wherein both contact surfaces are wear resistant, and the first and second contact surfaces bear directly against each other, so as to seal against fluid leakage between the first and second zones, while allowing relative sliding motion between the first and second contact surfaces; and (d) wherein the seal is configured to allow the lip to deform elastically and permit the first contact surface to conform in a regular or irregular shape to the second contact surface.