Abstract: A method for modeling patient anatomy includes, generating and segmenting a point cloud of the patient anatomy to identify visible bone surface and soft tissue surface regions of the patient anatomy, registering a reference bone model to the identified visible bone surface regions to provide an initial patient anatomy model having an estimation of a pose of bone portions of the patient anatomy, augmenting the initial patient anatomy model with soft tissue bodies based on the estimation of the pose of the bone portions, where the augmenting provides a full patient anatomy model having (i) the soft tissue bodies representing soft tissue portions of the patient anatomy and (ii) elements representing the bone portions of the patient anatomy, and registering the full patient anatomy model to the segmented point cloud such that the full patient anatomy model accurately reflects a current position and pose of the patient anatomy.

Abstract: Autonomous surgical robotic systems and methods with advantages component layout. The system includes a patient support, an active cutting system positioned adjacent to the patient support on a first lateral side of the patient support, an electronic controller positioned adjacent to the patient support on a second lateral side of the patient support that opposes the first lateral side of the patient support. The system further includes at least one fixed patient tracking array configured to couple to a patient on the patient support at a fixed positional relationship to a surgical site of the patient, and a navigation system with at least one positional tracking camera system positioned on the first lateral side of the patient support.

Abstract: Surgical robotic systems and methods that are configured to form and maintain a sterile field. The robotic systems include an articulated arm comprising a plurality of arm segments and adjustable joints, including a proximal base arm segment, a distal terminal arm segment and at least one intermediate arm segment extending therebetween. The robotic systems also include a sterility adapter comprising a first side removably coupled with the distal terminal arm segment, a second side and a surgical drape attachment interface portion. The robotic systems further include a surgical drape coupled to the surgical attachment interface portion and extending therefrom such that the surgical drape and the sterility adapter define a sterile field beneath the surgical drape and the second side of the sterility adapter. The robotic systems also include a robotic end effector removably coupled with the second side of the sterility adapter positioned within the sterile field.