Abstract: Systems and methods for assisting users with accurate tool identification. A tool includes a tool feature, and a navigation system includes a localizer to detect a position of the tool feature. A memory stores identification data associated with a plurality of tools. Controller(s) is/are coupled to the navigation system, the memory and the display. The controller(s) receive, from the localizer, the detected position of the tool feature and compare the detected position of the tool feature with the identification data stored in the memory to determine an identity of the tool. The controller(s) present, on a display, the identity of the tool and an identity of at least one other tool.

Abstract: Systems and methods for operating a robotic surgical system are provided. The system includes a surgical tool, a manipulator comprising links for controlling the tool, a navigation system includes a tracker and a localizer to monitor a state of the tracker. Controller(s) determine a relationship between one or more components of the manipulator and one or more components of the navigation system by utilizing kinematic measurement data from the manipulator and navigation data from the navigation system. The controller(s) utilize the relationship to determine whether an error has occurred relating to at least one of the manipulator and the navigation system. The error is at least one of undesired movement of the manipulator, undesired movement of the localizer, failure of any one or more components of the manipulator or the localizer, and/or improper calibration data.

Abstract: A method for robotically-assisted surgery includes robotically providing a constraint on movement of an instrument and removing the constraint in response to the instrument moving into alignment with a target axis.

Abstract: A system is provided comprising a robotic instrument for use with a surgical tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the surgical tool. A plurality of actuators operatively interconnect the tool support and the hand-held portion to move the tool support in three degrees of freedom relative to the hand-held portion. An optional constraint assembly may operatively interconnect the tool support and the hand-held portion to constrain movement of the tool support relative to the hand-held portion in three degrees of freedom. A visual indicator assists users in positioning hand-held portion of the instrument to maximize the useability of the system.

Abstract: Systems and methods are disclosed involving a navigation system including a localizer and a tracker detected within a field-of-view of the localizer. In one example, a virtual line-of-sight boundary is generated based on a line-of-sight relationship between the tracker and localizer. Additionally, or alternatively, a virtual field-of-view boundary is generated based on the field-of-view of the localizer. A virtual object is associated with a physical object and/or the tracker. Controller(s) detect whether a virtual collision occurs between the virtual object and the virtual line-of-sight boundary and/or virtual field-of-view boundary. The controller(s) enable a response based on detecting the virtual collision.

Abstract: A method includes tracking one or more of a plurality of bones of a patient, adjusting a relationship between the plurality of bones to a desired rotation between the plurality of bones, and creating an implant placement plan based on the relationship. The implant placement plan includes a placement of a plate across the plurality of bones. The method also includes robotically assisting preparation of the plurality of bones to receive the plate in accordance with the implant placement plan.

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 system includes a surgical device, an instrument coupled to the surgical device and defining an instrument axis, and a processor operatively coupled to the surgical device. The processor is configured to determine a current orientation angle of an instrument axis based on an orientation of a target axis, establish a virtual boundary, control the surgical device to apply a force to constrain the instrument axis within the virtual boundary, and collapse the virtual boundary as the instrument axis is brought into alignment with the target axis.

Abstract: A method includes providing a handheld manipulator, a surgical tool coupled to the handheld manipulator, and a mechanical arm, affecting, with the handheld manipulator connected to the mechanical arm, motion of the surgical tool by operating a motor of the handheld manipulator, and affecting, with the handheld manipulator disconnected from the mechanical arm, the motion of the surgical tool by operating the motor of the handheld manipulator.

Abstract: A robotic surgical system comprises a surgical tool, a manipulator configured to support the surgical tool, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a three-dimensional milling path for the surgical tool. The control system also receives one or more signals from the force/torque sensor in response to a user manually applying user forces and torques to the surgical tool. The control system determines a commanded pose to which to command the manipulator to advance the surgical tool along the milling path based on a tangential component of the user forces and torques, based on a virtual simulation using virtual constraints, and/or based on other suitable factors to promote guided, manual movement of the surgical tool along the milling path.

Abstract: A surgical system includes a robotic device, a surgical tool mounted on the robotic device, and a processing circuit. The processing circuit is configured to receive image data of an anatomy, generate a virtual bone model based on the image data, identify a soft tissue attachment point on the virtual bone model, plan placement of an implant based on the soft tissue attachment point, generate a control object based on the placement of the implant, and control the robotic device to confine the surgical tool within the control object.

Abstract: Systems, methods, software and techniques for generating a milling path for a tool of a surgical system are provided. The milling path is designed to remove a resection volume associated with an anatomical volume. A reference guide is defined with respect to the resection volume. Sections are defined along the reference guide in succession. Each section intersects the reference guide at a different intersection point and is at a specified orientation relative to the reference guide at the intersection point. Each section further intersects the resection volume. A section path is generated to be bounded within each section and defined relative to the resection volume. A plurality of transition segments are generated and each transition segment connects section paths of successive sections along the reference guide.

Abstract: A method includes storing a cloud of points reached by a cutting tool during a first stage of modifying a bone with the cutting tool, generating a surface based on the cloud of points, generating a plan for a second stage of modifying the bone with the cutting tool based on a location or rotation of the surface, and using the plan to assist the cutting tool in executing the second stage of modifying the bone.

Abstract: A surgical assembly for kinematically coupling two surgical components is provided. The surgical assembly includes a first surgical component having a receiver, which defines a cavity and has a plurality of constraint surfaces accessible in the cavity. The surgical assembly further includes second surgical component having a key, which has a triplicity of kinematic elements to repeatably position the key in the receiver. The surgical assembly further includes a preloading mechanism having a load member arranged to secure the key in the receiver such that the kinematic elements contact the receiver at the plurality of constraint surfaces such that the key is kinematically constrained to the receiver by being constrained by six points of contact with the receiver.

Abstract: A guard for a tool. The tool is actuatable by a surgical device and has an elongated member and an energy applicator disposed at a distal end of the elongated member. The guard may have a monolithic body including a proximal end and a distal end opposite the proximal end. The proximal end connects to the surgical device. The body further has an interior surface defining a bore extending between the proximal and distal end and the bore adapted to receive the elongated member therethrough and an exterior surface extending between the proximal and distal end and encompassing the interior surface between the proximal and distal end. The body has at least one thermal mitigation channel located between the interior and exterior surfaces and opening through at least one port in the exterior surface.

Abstract: A surgical saw assembly that is adapted for cutting an anatomy. The surgical saw assembly includes a blade guard that supports a saw blade prevent deflection or skiving of the saw blade. The blade guard is rotatably moveable and has a front edge profile that interacts with a surface of the anatomy. The front edge profile has a geometry that is at least partially curved and/or follows a non-linear path of movement to provide a smooth interaction between the blade guard and the surface of the anatomy during rotational cuts that are not directly normal to the anatomical surface.

Abstract: A sensor system includes a first member that extends along a rotational axis and has a surface disposed circumferentially about the rotational axis. A conductive element is disposed on the surface of the first member and disposed about the rotational axis. A second member extends along the rotational axis. A rotational position between the first member and the second member is adjustable. A target is mounted to and rotatable with the second member and is movable relative to the second member between first and second positions. The target is spaced apart from the conductive element in both the first and second positions and is spaced further from the conductive element in the second position compared to the first position. The conductive element detects a change in movement of the target from the first position to the second position for any rotational position between the first member and the second member.

Abstract: Systems, methods, software and techniques are disclosed for morphing a generic virtual boundary into a patient-specific virtual boundary for an anatomical model. The generic virtual boundary comprises one or more morphable faces. An intersection of the generic virtual boundary and the anatomical model is computed to define a cross-sectional contour of the anatomical model. One or more faces of the generic virtual boundary are morphed to conform to the cross-sectional contour of the anatomical model to produce the patient-specific virtual boundary. In some cases, the morphed faces are spaced apart from the cross-sectional contour by an offset distance that accounts for a geometric feature of a surgical tool.

Abstract: A fiber optic tracking sensor includes an outer tube, a plurality of optical fibers within the outer tube and including a central optical fiber and a plurality of additional optical fibers, and one or more structural members within the outer tube and configured to provide a spacing between the plurality of optical fibers such that the central optical fiber is positioned along a central longitudinal axis of the outer tube and the plurality of additional optical fibers are spaced apart from one another and from the central optical fiber.

Abstract: Tool assemblies, system, and methods for manipulating tissue and methods for performing a surgical procedure on a vertebral body adjacent soft tissue. A manipulator moves an end effector, and a screw is coupled to the end effector. A sleeve is disposed coaxially around the screw, and the screw and the sleeve are releasably engaged to one another. A navigation system is configured to track the vertebral body, and one or more controllers control the end effector to advance the screw relative to the sleeve along an insertion trajectory defined with respect to a surgical plan. The screw disengages the sleeve during advancement, and the screw is secured to the vertebral body. A distal working portion of the screw may be freely slidable through a distal end of the sleeve when disengaged. The screw may be a tap marker removably couplable with a tracking device of the navigation system.