Abstract: A cutting tool and an attachment mechanism configured to removably securely couple the cutting tool and a cutting instrument together. The cutting tool comprises a tang end portion, a tip end portion, and a cutting edge on the tip end portion. The attachment mechanism comprises a first and second clamping members with first and second engagement surfaces, respectively. The second clamping member further comprises a pair of axially-spaced projections extending and a pair of laterally-spaced projections extending past the second engagement surface. The attachment mechanism further comprises an adjustment mechanism configured to selectively adjust the distance between the first and second engagement surfaces. The tang end portion comprises an axially extending coupling slot and a pair of elastically-deformable securement members at lateral sides that extend laterally outward as they extend axially from the tang end portion toward the tip end portion.

Abstract: Active robotic systems and methods for proximal tibia and/or a distal femur resections via a sagittal cutting blade to facilitate implantation of a total knee arthroplasty prosthesis. The systems include an articulated arm, a sagittal cutting blade defining a cutting edge that is configured to cut while being oscillated, and an end effector coupled to an end arm segment of the articulated arm including a powered drive portion that oscillates the sagittal cutting blade. The system is configured to autonomously adjust the relative orientation of the arm segments of the articulated arm while the sagittal cutting blade oscillates along the cutting pathway to autonomously spatially translate the cutting edge of the sagittal cutting blade along a plurality of optimized programmed cut paths to perform resections of portions of the proximal tibia and/or a distal femur of a patient.

Abstract: A data optimization method for a dynamic cut boundary includes obtaining a three-dimensional (3D) model, of a patient anatomy, that comprises a collection of points defining a periphery thereof; based on clipping the 3D model to form clipped surface(s) intersecting the periphery of the 3D model, obtaining a set of points that are on/adjacent intersection(s) of the clipped surface(s) and the periphery of the 3D model, the set of points forming a path along the periphery of the 3D model and corresponding to points on the patient anatomy; determining an ordering, of the set of points, that specifies a sequence of the points from a first point to a last point in a continuous path along the periphery of the 3D model, such that each next point in the sequence is a next-encountered point traveling along the continuous path; and performing processing based on the determining.

Abstract: Fast, dynamic registration with augmented reality includes registering a model point cloud to a point cloud of an object, including obtaining selection of an origin point for the model point cloud as a sampled surface point on the object in an established collection of sample points of the object, the collection forming the point cloud of the object; obtaining other sampled surface point(s) on the object and including those in the collection; determining an initial pose of the model point cloud based on the collection of sample points; obtaining an additional sampled surface point and updating the collection to include such; determining a fit of the model point cloud to the point cloud of the object based on the updated collection; determining a registration accuracy of the fit of the model point cloud to the point cloud of the object; and performing processing based on the determined registration accuracy.

Abstract: Surgical robotic systems and methods that are configured to mitigate and withstand vibration forces. The robotic systems include an articulated arm comprising a plurality of arm segments, and adjustable joints coupled between adjacent arm segments. The robotic systems include an end effector rotatably coupled to an end arm segment comprising a powered drive portion. The end effector comprises a cutting tool attachment mechanism that is configured to couple with a cutting tool such that the cutting tool extends axially therefrom, and the powered drive portion translates the cutting tool along a cutting pathway along which the cutting tool is configured to effectuate cutting that is angled with respect to a longitudinal axis of the cutting tool. The end effector is oriented such that the longitudinal axis of the cutting tool, and that of the end effector itself, are angled with respect to the longitudinal axis of the end arm segment.

Abstract: A cart stabilization system and rolling cart elements for robotic surgery and other medical instrumentation are disclosed. The cart stabilization system includes a base and lifting caster systems coupled to a bottom portion of the base. Each lifting caster system includes a rolling element, a swivel foot assembly moveably coupled to the rolling element; and a hydraulic mounting base coupled to a portion of the swivel foot assembly. Methods of assembling a lifting caster system and for using a cart stabilization system are also disclosed.

Abstract: A cutting tool and an attachment mechanism configured to removably securely couple the cutting tool and a cutting instrument together. The cutting tool comprises a tang end portion, a tip end portion, and a cutting edge on the tip end portion. The attachment mechanism comprises a first and second clamping members with first and second engagement surfaces, respectively. The second clamping member further comprises a pair of axially-spaced projections extending and a pair of laterally-spaced projections extending past the second engagement surface. The attachment mechanism further comprises an adjustment mechanism configured to selectively adjust the distance between the first and second engagement surfaces. The tang end portion comprises an axially extending coupling slot and a pair of elastically-deformable securement members at lateral sides that extend laterally outward as they extend axially from the tang end portion toward the tip end portion.

Abstract: A surgical method includes, for example, positioning a patient relative to a robot, moving an end effector of the robot relative to a surgical site of a patient, defining a go-zone and a no-go-zone associated with the surgical site based on the moving the end effector of the robot relative to the patient, and effecting a surgical procedure at the surgical site of the patient with a tool attached to the end effector of the robot based on the defined go-zone and the defined no-go-zone, and wherein the effecting the surgical procedure maintains the tool in the defined go-zone and avoids contact with the defined no-go-zone.

Abstract: A surgical method includes, for example, positioning a patient relative to a robot, moving an end effector of the robot relative to a surgical site of a patient, defining a go-zone and a no-go-zone associated with the surgical site based on the moving the end effector of the robot relative to the patient, and effecting a surgical procedure at the surgical site of the patient with a tool attached to the end effector of the robot based on the defined go-zone and the defined no-go-zone, and wherein the effecting the surgical procedure maintains the tool in the defined go-zone and avoids contact with the defined no-go-zone.

Abstract: Navigational and/or robotic tracking systems include one or more wireless tracking device attached to an object or to a bone of a patient. The wireless tracking device may include a camera, a pair of cameras, and/or a probe, and a wireless transmitter. Surgical methods may include wirelessly obtaining reference data, the reference data based on the camera of the wireless tracking device operably attached to the bone of the patient, the reference data is associated with a plurality of markers and using the reference data in a surgical navigation system. Surgical methods may also include wirelessly obtaining positional and orientation data, and/or surface or structural data, and using the positional and orientation data, and/or surface or structural data in the surgical navigation system.

Abstract: A tibial tray system for a resurfaced proximal portion of a tibia for a knee replacement for a patient includes a tibial tray and at least one screw. The tibial tray includes a body having a superior portion, and an inferior tibia-engaging portion having a peripheral inferiorly-extending portion receivable in the at least one cavity formed in the periphery of the resected cancellous bone surface of the tibia of the patient. In some embodiments in the total knee replacement, a greater portion of a shearing force acting transversely on the tibial tray and the resected portion of the proximal portion of the tibia of the patient is resisted by the at least one inferiorly-extending wall compared to a portion of the shearing force being resisted along the center inferior surface of the tibial tray and the resected cancellous bone surface. The screw inhibits lift-off.

Abstract: A method includes obtaining, via one or more processors, three-dimensional data representing a patient's bone, obtaining, via the one or more processors, three-dimensional data representing at least portions of a patient specific bone jig, the patient specific bone jig having an inner surface portion matched to an outer surface portion of the patient's bone, obtaining, via the one or more processors, image data representing the at least portions of the patient specific bone jig registered to the patient's bone, and generating, via the one or more processors, data representing a location and an orientation of the patient's bone based on the obtained image data, the obtained three-dimensional data representing the patient specific bone jig, and the obtained three-dimensional data representing the patient's bone. In another embodiment, a patient specific bone jig with predetermined spatial indicia registered to a portion of the patient's bone may be employed with point sampling.

Abstract: A surgical method includes, for example, tracking, via at least one camera attached to a robotic arm of a surgical robot, a surgical site of a patient, the robotic arm having a plurality of joints and a plurality of body parts, controlling the robotic arm to perform a surgical procedure at the surgical site of the patient based on the camera tracked surgical site of the patient, and wherein the tracking comprises controlling the movement of the plurality of joints and body parts of the robotic arm to maintain a line of sight of the at least one camera directed towards the surgical site of the patient.

Abstract: A surgical method includes, for example, positioning a patient relative to a robot, moving an end effector of the robot relative to a surgical site of a patient, defining a go-zone and a no-go-zone associated with the surgical site based on the moving the end effector of the robot relative to the patient, and effecting a surgical procedure at the surgical site of the patient with a tool attached to the end effector of the robot based on the defined go-zone and the defined no-go-zone, and wherein the effecting the surgical procedure maintains the tool in the defined go-zone and avoids contact with the defined no-go-zone.

Abstract: A tibial tray for a resurfaced proximal portion of a tibia for a knee replacement for a patient includes, for example, a body having a superior portion, and an inferior tibia-engaging portion having a peripheral inferiorly-extending portion contactable with an underlying cortical bone and/or spaced apart from the underlying inner surface of the cortical of the tibia of the patient. In some embodiments in the total knee replacement, a greater portion of a shearing force acting transversely on the tibial tray and the resected portion of the proximal portion of the tibia of the patient is resisted by the at least one inferiorly-extending wall and the periphery of the resected proximal portion of the tibia compared to a portion of the shearing force being resisted along the center inferior surface of the tibial tray and the resected cancellous bone surface. Methods, robotic systems, and cutting guides are also disclosed.