Abstract: Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.

Abstract: A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the second portion of the anatomy.

Abstract: A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.

Abstract: Surgical systems and methods for use with a hand-guided tool. The surgical system includes a robotic manipulator that holds a tool guide. The tool guide receives and guides the surgical tool to enable the tool to manipulate a bone. The robotic manipulator autonomously aligns the tool guide to a target orientation relative to the bone. The tool guide is moved to an initial location adjacent to the bone while remaining aligned with the target orientation. The initial location is suitable for the tool to perform an initial manipulation of the bone. The robotic manipulator facilitates withdrawal of the tool guide away from the initial location to a spaced location after the initial manipulation of the bone while maintaining alignment of the tool guide with the target orientation at the spaced guide location. The spaced guide location is suitable for the tool to perform a further manipulation of the bone.

Abstract: A joint distraction lever, comprising a lever body comprising a handle portion and a working portion, a distal tip coupled to the working portion, and a fulcrum extending from a bottom surface of the working portion and spaced apart from the distal tip such that the fulcrum is positioned between the distal tip and the handle portion, where the joint distraction lever is configured to determine a distraction force based on deformation of the joint distraction lever.

Abstract: A joint distraction lever includes a lever body, a projection coupled to the lever body such that the projection is movable relative to the lever body, and a force sensor positioned between the lever body and the projection and configured to measure a force of the projection on the lever body.

Abstract: A method for debriding an infected implant area using a robotic-assisted surgery system. The method includes determining, by a processing circuit associated with a computer, an area to be debrided, the debridement area including at least a surface of an implant or patient tissue, and generating, by the processing circuit, a plan for debriding the debridement area. The method further includes controlling a debridement tool, by the robotic-assisted surgery system, while the debridement tool is used to carry out the debridement plan, and monitoring the debridement by the processing circuit.

Abstract: A mounting system for mounting two components together includes a first mounting portion having a first body. A lip and a push pin that is spaced from the lip extend from the first body. The mounting system includes a second mounting portion for coupling to the first mounting portion. The second mounting portion has a second body defining a bore. Retainers are moveable within openings of the second body. A loading assembly is disposed in the bore of the second body. The loading assembly is moveable to a first state. In the first state, the loading assembly moves the retainers to a coupling position where each retainer extends through one opening beyond an outer surface of the second body. In the coupling position, each retainer abuts the lip of the first mounting portion to secure the mounting portions together.

Abstract: A method for segmenting an image includes receiving one or more object seeds associated with one or more first object portions represented by a first image and receiving one or more background seeds associated with one or more first background portions represented by the first image. A second image representing one or more second object portions and one or more second background portions is received, wherein the first image comprises a plurality of subportions and the second image is a subportion of the plurality of subportions of the first image. The second image is processed based on the one or more object seeds and the one or more background seeds to determine the one or more second object portions and the one or more second background portions.

Abstract: A surgical system includes an arm extending from the base and having a distal end configured to be coupled to a tool, a first marker coupled in fixed relation to the base, and a tracking system. The tracking system is configured to collect first data indicative of a position of the first marker and collect second data indicative of a position an anatomical feature of a patient. The surgical system also includes a processor configured to calculate a position of the tool relative to the anatomical feature based on the first data and the second data.

Abstract: Disclosed are systems, methods, and techniques for registering a HMD coordinate system of a head-mounted display (HMD) and a localizer coordinate system of a surgical navigation localizer. A camera of the HMD captures at least one image of a registration device having a registration coordinate system and a plurality of registration markers. The registration markers are analyzed in the at least one image to determine a pose of the HMD coordinate system relative to the registration coordinate system. One or more position sensors comprised in the localizer detect a plurality of tracking markers comprised in the registration device to determine a pose of the registration coordinate system relative to the localizer coordinate system. The HMD coordinate system and the localizer coordinate system are registered using the registration device, wherein positions of the registration markers are known with respect to positions of the tracking markers in the registration coordinate system.

Abstract: A surgical system and method of operating the same include a manipulator with a base, a robotic arm coupled to the base, and a saw tool coupled to the robotic arm to perform a cut of a bone. A control system is coupled the manipulator and obtains data defining a cutting plane for the bone and a pre-determined depth of the bone to be cut by the saw tool along the cutting plane. The control system associates a virtual planar boundary with the bone along the cutting plane and controls the manipulator to autonomously align the saw tool to the cutting plane. The control system controls the manipulator to activate and autonomously move the saw tool along the cutting plane to perform the cut. Autonomous movement of the saw tool is constrained to remain within the virtual planar boundary and not exceed the pre-determined depth.

Abstract: Robotic systems and methods include a robotic manipulator and a skin incision tool to be coupled to the robotic manipulator and being configured to create an incision in skin of a patient. A skin tracker is attached to the skin of the patient to track the skin of the patient. A robotic controller controls the robotic manipulator to move the skin incision tool relative to a determined location on the skin of the patient. The robotic controller controls the robotic manipulator to constrain movement of the skin incision tool with a haptic object defined relative to the determined location to guide the skin incision tool to the determined location for making the incision in the skin.

Abstract: A workflow is disclosed to accurately register ultrasound imaging to co-modality imaging. The ultrasound imaging is segmented with a convolutional neural network to detect a surface of the object. The ultrasound imaging is calibrated to reflect a variation in propagation speed of the ultrasound waves through the object by minimizing a cost function that sums the differences between the first and second steered frames, and compares the first and second steered frames of the ultrasound imaging with a third frame of the ultrasound imaging that is angled between the first and second steered frames. The ultrasound imaging is temporarily calibrated with respect to a tracking coordinate system by creating a point cloud of the surface and calculating a set of projection values of the point cloud to a vector. The ultrasound imaging, segmented and calibrated, is automatically registered to the co-modality imagine.

Abstract: A surgical robot a robotic device and a cart. The cart is coupled to the robotic device and includes a steering assembly. The steering assembly includes wheels and is configured such that the wheels allow the cart to roll in a linear direction when a first mode is selected and the wheels allow the cart to roll in a rotational direction when a second mode is selected.

Abstract: Protective packaging, surgical kits, systems, and methods are described herein for assisting in determining whether a tool is properly installed on a surgical device. The protective packaging retains the tool and has trackable features defined relative to a tool center point of the tool. The trackable features have a predetermined state defined relative to the tool center point and the trackable features are configured to be detectable by a localizer to locate the tool center point. One or more controllers can compare the actual state of the tool center point with an expected state of the tool center point, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device.

Abstract: Robotic system and methods for robotic arthroplasty are provided. The robotic system includes a machining system and a guidance system. The guidance station tracks movement of one or more of various objects in the operating room, such as a surgical tool, a tibia of a patient, a talus of the patient, or a component of an implant. The guidance system tracks these objects for purposes of displaying their relative positions and orientations to the surgeon and, in some cases, for purposes of controlling movement of the surgical tool of the machining system relative to virtual cutting boundaries or other virtual objects associated with the tibia and talus to facilitate preparation of bone to receive an ankle implant system.

Abstract: A robotic surgery system includes a robotic manipulator and a cutting guide to be coupled to the robotic manipulator. The cutting guide is configured to guide a cutting tool so that the cutting tool cuts tissue of the patient. A control system is coupled to the robotic manipulator to control a location of the cutting guide and/or the cutting tool relative to the tissue.

Abstract: A computer-implemented surgical planning method is provided. The method includes obtaining anatomical data of an anatomical volume and path data including a tool path along which a tool will move. The method also includes obtaining tool data; merging the path data and the anatomical data; and for a point of the tool path, identifying a location of the point, loading a geometry of the tool at the location, identifying an intersection between the tool and the anatomical volume at the location, determining density values of the anatomical data within the intersection, computing a tool contact factor related to the intersection, setting a planned feed rate factor for the tool based on the density values and the tool contact factor, associating the planned feed rate factor with the point; and outputting cut plan data including the planned feed rate factor associated with the point of the tool path.

Abstract: A method for providing surgical navigation includes tracking poses of a surgical tool as the surgical tool modifies a bone and performing a constructive solid geometry (CSG) operation using a model of the bone and an accumulation of the tracked poses of the surgical tool. An intersection of the accumulation of the tracked poses with the model of the bone corresponds to a modification of the bone by the surgical tool. The method also includes displaying an image based on a result of the CSG operation.