Abstract: Disclosed are systems and methods for assisting with procedures involving a subject's joint, such as a joint. Robotic devices move and position the subject to manipulate the joint and sensing devices sense the joint gap. The robotic devices are controlled based on the joint gap. Novel techniques are disclosed for joint gap segmentation, approximating an uncertainty in determination of the varying dimension of the joint gap, and real-time motion analysis of the joint gap size. In some examples, a kinematic model of the patient's anatomy is utilized to provide robotically assisted manipulation of the same using the techniques described herein.

Abstract: Systems, computer-implemented methods, and computer program products for planning of a cutting boundary for removal of a diseased region of an anatomy, such as a bone tumor. A cutting surface is placed relative to the diseased region in a virtual model. An optimization algorithm specifies an optimization criterion that minimizes an amount of healthy region to be removed by the cutting surface and initializes candidate solutions to influence characteristics of the cutting surface. The optimization algorithm identifies a candidate solution that satisfies the optimization criterion and modifies characteristics of the cutting surface based on the identified candidate solution. The cutting boundary is defined relative to diseased region in the virtual model based on the modified cutting surface. The cutting boundary can be registered to the anatomy for constraining operation of a surgical tool in response to interaction of the surgical tool with the registered cutting boundary.

Abstract: Systems, computer-implemented methods, and computer program products are provided for automated planning of a cutting boundary for removal of a diseased region of an anatomy, such as a bone tumor. A model is provided for the diseased region of the anatomy, and optionally, a healthy region of the anatomy. One or more cutting geometries are defined relative the diseased region. Algorithms are provided which enable automated optimization of characteristics (e.g., shape, size, position, orientation) of the cutting geometries relative to the diseased region in order to plan for complete removal of the diseased region, en bloc, while minimizing an amount of healthy region to be removed.

Abstract: Systems, computer-implemented methods, and computer program products are provided for automated planning of a cutting boundary for removal of a diseased region of an anatomy, such as a bone tumor. A model is provided for the diseased region of the anatomy, and optionally, a healthy region of the anatomy. One or more cutting geometries are defined relative the diseased region. Algorithms are provided which enable automated optimization of characteristics (e.g., shape, size, position, orientation) of the cutting geometries relative to the diseased region in order to plan for complete removal of the diseased region, en bloc, while minimizing an amount of healthy region to be removed.