Abstract: A method includes obtaining a surgical plan comprising a first planned position of an implant and a second planned position of an augment relative to a bone. The augment is planned to provide support between the bone and the implant. The method also includes preparing the bone to receive both the implant in the first planned position and the augment in the second planned position by controlling a robotic device based on the first planned position of the implant and the second planned position of the augment.

Abstract: A surgical system for assisting a user in performing a surgical procedure at a surgical site, comprising a tool having a checkpoint, a pointer having a tip, and a localizer to determine a position of the pointer within a field of view. A memory comprises identification data associated with a plurality of tools. A controller is configured to prompt the user to position the tip of at the checkpoint, to receive position data from the localizer associated with the pointer within the field of view, to compare position data associated with the pointer against the identification data of the memory to determine an identity of the tool, and to present the user with the identity of the tool.

Abstract: Surgical systems, methods and surgical planning programs to facilitate preparation of an anatomical cavity to receive a cup implant. The system includes a control system, a localizer and a robotic manipulator configured to move an energy applicator that is adapted to remove tissue. The control system obtains or generates a surgical plan that defines characteristics of cement holes to be formed within a wall of the anatomical cavity for receiving bone cement. The control system registers the surgical plan to the anatomical cavity with the localizer and controls the robotic manipulator to utilize the energy applicator to form the cement holes within the wall of the anatomical cavity according to the surgical plan.

Abstract: A surgical system includes a robotic device having a surgical tool, a tracking system, and a processing system communicably coupled to the robotic device. The processing system is configured to store a surgical plan comprising a first planned cut and one or more additional planned cuts, each additional cut defined by a relative angle and distance from the first planned cut, receive tracking data from the tracking system while the surgical tool makes a cut substantially corresponding to the first planned cut, and determine a recorded first cut plane based on the first tracking data. The processing system is further configured to determine an error between the recorded first cut plane and the planned first cut, the error comprising a deviation from the planned first cut, and update the surgical plan by modifying the one or more additional planned cuts based on the deviation.

Abstract: A method includes tracking one or more of a plurality of vertebrae of a patient, planning a planned alignment of the plurality of vertebrae, creating an implant placement plan based on the planned alignment, and robotically preparing the plurality of vertebrae to receive an implant in accordance with the implant placement plan.

Abstract: Systems and methods are disclosed wherein a tracker is detected within a field-of-view of a localizer. In one example, a virtual line-of-sight boundary is generated based on the 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 manipulator, a surgical tool coupled to the manipulator, or the tracker when coupled to manipulator and/or surgical tool. Controller(s) predictively determine whether a planned movement of the manipulator will cause a virtual collision 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 an outcome of predictively determining whether the planned movement will cause the virtual collision.

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Abstract: Disclosed herein are a surgical system for patella tracking and a method for selecting a properly-sized patellar implant utilizing the same. The surgical system may include first and second trackers and a patellar tracking system. The first tracker may be configured to contact an unresected or a resected patella, and the second tracker may be configured to contact a bone. The patellar tracking system may be configured to track the first and second trackers during patellar flexion and extension to generate patellar range of motion and patellar trial range of motion. A method for selecting a patellar implant may utilize the first and second trackers and the patellar tracking system.

Abstract: Systems and methods track objects within an operating room. A machine vision system includes a camera and a controller. A navigation system includes a camera unit including a sensor array. The sensor array includes a plurality of sensing elements. The controller system identifies a first subset of the plurality of sensing elements to be active based on the position of the object. The controller is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.

Abstract: Systems and methods for optimizing tracking an object in a surgical workspace. A tracker is disposed relative to the object that includes a predefined geometry of markers for tracking a pose of the tracker in the surgical workspace. A localizer camera cooperates with the tracker to generate image data indicating a blob for each of the markers generated from a light signal received from the marker. A characteristic of each blob is acquired, and the acquired characteristics are compared to an optimal characteristic. Based on the comparison, the operation of the trackers, the localizer, or both are adjusted to optimize the blobs generated from the markers.

Abstract: A joint distraction lever includes a lever body, a foot coupled to the lever body via a hinge such that the foot is rotatable relative to the lever body, and a force sensor positioned between a bottom surface of the lever body and the foot and configured to measure a force of the foot on the bottom surface of the lever body during a joint distraction procedure in which a torque is applied to the lever body.

Abstract: A surgery system includes a mechanical hub, an anatomy support structure coupled to the mechanical hub, a first moveable support structure, and an imaging system comprising a source element and a detector element. The imaging system is coupled to the mechanical hub via the first moveable support structure such that the source element and the detector element are repositionable relative to the anatomy support structure. The surgical system also includes a second moveable support structure coupled to the mechanical hub and a surgical instrument coupled to the mechanical hub via the second moveable support structure.

Abstract: A method for intraoperatively planning and facilitating a revision arthroplasty procedure. The method includes capturing positions of a tracked probe as the tracked probe contacts an interface area between a bone and a primary implant component implanted on the bone, intraoperatively generating a virtual boundary corresponding to a portion of the interface area to be removed to detach the primary implant component from the bone using the positions of the tracked probe and without use of pre-operative medical imaging, facilitating removal of the primary implant component from the bone by providing a constraint on operation of a cutting tool while the cutting tool removes the portion of the interface area, the constraint based on a relationship between the cutting tool and the virtual boundary.

Abstract: A fiber optic tracking sensor includes at least three optical fibers, each optical fiber having a plurality of fiber optic sensors along a length of a sensing portion of the sensor. A shape-memory member is coupled to the three optical fibers and provides support to the sensor. The at least three optical fibers are arranged in a spaced apart relationship, each offset from a central longitudinal axis of the sensor.

Abstract: A system for facilitating arthroplasty procedures includes a robotic device, a reaming tool configured to interface with the robotic device, and a processing circuit communicable with the robotic device. The processing circuit is configured to obtain a surgical plan comprising a first planned position of an implant cup and a second planned position of an implant augment relative to a bone of a patient, determine a planned bone modification configured to prepare the bone to receive the implant cup in the first planned position and the implant augment in the second planned position, generate one or more virtual objects based on the planned bone modification, control the robotic device to constrain the cutting tool with the one or more virtual objects while the cutting tool interfaces with the robotic device and is operated to modify the bone in accordance with the planned bone modification.

Abstract: Methods and systems are provided for robotic assisted surgery. A robotic system includes a localizer, at least one controller, and a surgical robotic manipulator which separately and detachably receives an energy applicator and an implant insertion tool that detachably receives an implant specifically for knee, hip or shoulder replacement surgery. The at least one controller determines a location within a portion of a patient's anatomy in which to form a cavity for the implant. The surgical robotic manipulator is controlled to form the cavity with the energy applicator. The surgical robotic manipulator is then controlled to insert the implant into the cavity with the implant insertion tool.

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.

Abstract: Tool assemblies and methods are disclosed, such as for robotic-assisted surgery with a robot. The tool assembly includes a working tool (44) sized to be coaxially movable within the dilator (60). A locking mechanism (70) releasably couples the working tool (44) and the dilator (60) to one another such that, in a locked configuration, the robot supports the tool assembly. An actuator (86) is configured to receive an input to move the locking mechanism to an unlocked configuration and permit axial movement of the working tool within the dilator. The dilator (60) may include at least one spike (104) disposed within the grooves (128) to penetrate bone. The dilator (60) may include an inner sleeve and outer sleeve coaxially movable relative to one another to move the tool assembly from an initial configuration to a deployed configuration in which the spikes are exposed beyond the sleeve(s). Methods of preparing a pedicle of the spine with the tool assembly with robotic assistance are also disclosed.

Abstract: A cutting system includes a material removal tool having a fluid nozzle with an adjustable diameter, a workpiece including a target shape for removal, and a controller operable to adjust the diameter of the nozzle to vary fluid flow and control an amount of material removed by the material removal tool. The controller is adapted to adjust the nozzle to vary the fluid flow based on a position of the nozzle and workpiece data preoperatively obtained from the workpiece via a continuous feedback loop. A method of cutting a bone is also provided.