Abstract: A calibration device is provided having a body with an exterior surface configured for placement about a tool such that the body rotates about a tool axis. One or more fiducial marker is positioned on the exterior surface and in communication with a tracking system. A fixed fiducial marker array is provided that is also in communication with the tracking system. A calibration tool defines the tool axis relative to the fiducial marker array. A surgical system is also provided with a tracking module that calculates a center point of the rotation or a normal vector to the circular path to define a tool axis orientation. A method of using the surgical system and defining a tool axis relative to a fiducial marker array is provided. A system for defining a robot link orientation or tracking a tool a medical procedure and a fiducial marker array are provided.

Abstract: A method for verifying the calibration of a digitizer during a computer-assisted medical procedure is provided utilizing a tracked digitizer and a secondary tracking array (e.g., a bone tracking array). A medical system for performing the computerized method for verifying the calibration of a digitizer during a computer-assisted medical procedure is provided. A method for verifying the calibration of a tracking array relative to a feature with the system includes a first calibration definition and a second calibration definition transmitted to the tracking system. A first feature and a second feature together are assembled. The calibration is verified by computing the deviations between the tracked position of the first feature and the tracked position of the second feature using: a recorded position and orientation of the first and second tracking array, and the uploaded first calibration definition and the uploaded second calibration definition.

Abstract: A method and system to align a pin or drill a tunnel along a single line in space with a two degree of freedom (2-DOF) surgical device in a patient is provided. A plane is defined relative to a desired location for an implant or tunnel on a bone, where the implant or tunnel has an axis. An end-effector of the 2-DOF surgical device is aligned coincident with the plane, and the 2-DOF surgical device is moved side-to until a first indicator signals when the end-effector aligns with an entry point for the desired location for the implant or tunnel on the bone. A tip of the end-effector is anchored into the bone at the entry point; and the 2-DOF surgical device is rotated about the anchored tip until a second indicator signals when the end-effector aligns with the axis of the implant or tunnel at the desired location.

Abstract: A computer-implemented method to improve the point collection process during registration of a bone for a computer-assisted surgical procedure is provided. Based on bone digitization data, a simulation is performed to confirm the accuracy of the registration for different digitization regions. Results are tested to identify which digitization regions meet a predefined accuracy requirement. The resulting information is used to perform a computer-assisted surgical procedure. A computerized simulation method for registration of a bone for a computer-assisted surgical procedure is also provided based on processor executing random stroking an expected exposed surface of a bone model with multiple of stroke curves to cover most of the bone model surface with uniform noise and a random sample consensus is applied to remove outlying point to yield the best registration results, to find the top subset as to overlap. A method to perform computer-assisted surgery is also provided.

Abstract: A method to guide in preparation of a bone relies on an instrument having a shaft with a working end and a stop member. The shaft is free to translate along an axis. Surgical planning data is registered to the bone to determine intra-operative coordinates of the desired axis and depth. The instrument holder is positioned by the bone so the stop member contacts the instrument holder to prevent translating beyond the desired depth. Alternatively, an arm is manipulated to align the instrument with the desired axis. The working end rests on the bone to define a linear separation to the desired depth. By proximally translating the instrument holder to contact the stop member and distally translating the instrument holder along the shaft, the stop member physically stops translating beyond the desired depth. A surgical system for performing the methods is provided; a reamer or impactor are also disclosed.

Abstract: A computer-implemented method to improve the point collection process during registration of a bone for a computer-assisted surgical procedure is provided. Based on bone digitization data, a simulation is performed to confirm the accuracy of the registration for different digitization regions. Results are tested to identify which digitization regions meet a predefined accuracy requirement. The resulting information is used to perform a computer-assisted surgical procedure. A computerized simulation method for registration of a bone for a computer-assisted surgical procedure is also provided based on processor executing random stroking an expected exposed surface of a bone model with multiple of stroke curves to cover most of the bone model surface with uniform noise and a random sample consensus is applied to remove outlying point to yield the best registration results, to find the top subset as to overlap. A method to perform computer-assisted surgery is also provided.

Abstract: A device, method, and system are provided for measuring the fit and mechanical properties of an intended ligament or tendon graft during a surgical procedure. The device includes a sensor body, a set of temporary fixation securements that terminate a set of opposing sides of the sensor body, and electronic circuitry in communication with the sensor body, where the electronic circuitry generates electric signals in proportion to the mechanical properties experienced by the sensor body. The set of temporary fixation securements are adapted to attach to at least one of: (i) one or more patient bones, or (ii) permanent fixation hardware assembled to one or more patient bones.

Abstract: A method and system are provided to assist in positioning the field-of-view (FOV) of an optical tracking system during a computer-assisted surgical procedure. The method includes displaying a view from a visible light detector on a display, and generating an outline as an overlay on the display of a FOV of two or more optical tracking detectors on the displayed view from the visible light detector. A user then positions at least one of: a) the two or more optical tracking detectors, or b) a tracked object based on the displayed view from the visible light detector and the generated outline.

Abstract: A surgical device is provided includes a hand-held portion with a working portion movably coupled to the hand-held portion for driving a tool. Actuators are provided for moving the working portion with each of the actuators having a travel range. An indicator notices a user when at least one of actuators is: (i) within the travel range; (ii) approaching a travel limit of the travel range; or (iii) outside the travel range. A surgical system is also provided inclusive the surgical device and a computing system configured to activate the indicator.

Abstract: A surgical device is provided includes a hand-held portion with a working portion movably coupled to the hand-held portion for driving a tool. Actuators are provided for moving the working portion with each of the actuators having a travel range. An indicator notices a user when at least one of actuators is: (i) within the travel range; (ii) approaching a travel limit of the travel range; or (iii) outside the travel range. A surgical system is also provided inclusive the surgical device and a computing system configured to activate the indicator.

Abstract: A method to guide in preparation of a bone relies on an instrument having a shaft with a working end and a stop member. The shaft is free to translate along an axis. Surgical planning data is registered to the bone to determine intra-operative coordinates of the desired axis and depth. The instrument holder is positioned by the bone so the stop member contacts the instrument holder to prevent translating beyond the desired depth. Alternatively, an arm is manipulated to align the instrument with the desired axis. The working end rests on the bone to define a linear separation to the desired depth. By proximally translating the instrument holder to contact the stop member and distally translating the instrument holder along the shaft, the stop member physically stops translating beyond the desired depth. A surgical system for performing the methods is provided; a reamer or impactor are also disclosed.

Abstract: Systems and methods for creating planar cuts on a bone are provided utilizing one or more cutting guides assembled to a plurality of bone pins, where the bone pins are inserted on the bone coincident with one or more virtual pin planes defined relative to one or more of the planar cuts. Alignment guides are also disclosed herein that aid in the creation of pilot holes for receiving a cutting block in a desired position and orientation (POSE). An articulating surgical device actively positions the bone pins coincident with the virtual plane to ensure the cutting guides, when assembled to the pins, aligns one or more guide slots in the desired POSE to create the planar cuts.

Abstract: A system for improved surgical cutting in the presence of surgical debris, the system comprising: a surgical cutter comprising a distal end and a proximal end, the distal end of the surgical cutter being configured to cut bone; a debris detection system mounted to the surgical cutter, the debris detection system comprising: a light source for emitting light; a receiver for receiving light emitted from the light source; and a microprocessor for determining a change in a characteristic of the light emitted by the light source and received by the receiver, and for determining the presence and/or amount of surgical debris present at a surgical site using a change in a characteristic of the light emitted by the light source and received by the receiver; and a controller for varying, based on the presence and/or amount of surgical debris present at the surgical site, at least one of (i) an amount of irrigation supplied to the surgical site, (ii) the feed rate of the surgical cutter, (iii) the direction of the surgi

Abstract: Systems and methods for creating cuts on a bone are provided utilizing one or more cutting guides assembled to a plurality of bone pins, where the bone pins are inserted on the bone coincident with one or more virtual pin planes defined relative to one or more of the cuts. Alignment guides are also disclosed herein that aid in the creation of pilot holes for receiving a cutting block in a desired position and orientation (POSE). An articulating surgical device actively positions the bone pins coincident with the virtual plane to ensure the cutting guides, when assembled to the pins, aligns one or more guide slots in the desired POSE to create the cuts.

Abstract: Systems and methods for creating cuts on a bone are provided utilizing one or more cutting guides assembled to a plurality of bone pins, where the bone pins are inserted on the bone coincident with one or more virtual pin planes defined relative to one or more of the cuts. Alignment guides are also disclosed herein that aid in the creation of pilot holes for receiving a cutting block in a desired position and orientation (POSE). An articulating surgical device actively positions the bone pins coincident with the virtual plane to ensure the cutting guides, when assembled to the pins, aligns one or more guide slots in the desired POSE to create the cuts.

Abstract: Systems and methods for creating cuts on a bone are provided utilizing one or more cutting guides assembled to a plurality of bone pins, where the bone pins are inserted on the bone coincident with one or more virtual pin planes defined relative to one or more of the cuts. Alignment guides are also disclosed herein that aid in the creation of pilot holes for receiving a cutting block in a desired position and orientation (POSE). An articulating surgical device actively positions the bone pins coincident with the virtual plane to ensure the cutting guides, when assembled to the pins, aligns one or more guide slots in the desired POSE to create the cuts.

Abstract: A coupling device is described herein for coupling two objects. The coupling device includes a body having a receiving member, a bore, and a locking pin situated inside the bore. The locking pin is translatable beyond the bore to intercept a portion of an attachment region of an object to removably couple the object to the coupling device. A lever connected to the locking pin allows a user to rotate the locking pin. Upon rotation of the lever, components in the body cause the locking pin to rotate and translate towards the object to intercept the portion of the attachment region of the object.

Abstract: A system and method are described herein for creating planar bone cuts on a bone to receive a total knee arthroplasty (TKA) femoral implant. The system includes a robotic surgical device, a computing system, and one or more contingent manual instruments. A surgical plan is generated having instructions for the robotic surgical device to create six or more planar bone cuts on the bone. The robotic surgical device executes the instructions, and in the event the robotic procedure is aborted before completing the six or more planar cuts, the one or more contingent manual instruments are used to create any remaining planar bone cuts. The one or more contingent manual instruments may include a plurality of uniquely arranged guide slots to assist a user in creating one or more remaining planar bone cuts.

Abstract: A system and method are described herein for designating a precise location for a bone tunnel to receive a ligament or tendon graft and guiding a robotic drill for creating the bone tunnel. The system includes a tracking system, a digitizer, a computing system, and a robotic drill. The digitizer designates a start point for the tunnel entry site and an end point where the tunnel terminates. The start point and end point are recorded in the computing system and a vector is calculated between the start point and the end point. The vector is supplied to a robotic drill to drill the tunnel in the bone. A ligament or tendon graft may be placed in the tunnel and secured to the bone to complete the procedure.

Abstract: A device for checking post cut plane accuracy and alignment following bone removal in a bone of a patient during a computer-assisted surgical procedure to create a bone surface is provided. The device includes a body having an axis and adapted to contact the bone surface. One or more alignment features are associated with the body and are accessible when the body is in contact with the bone surface. Each of the one or more alignment features has a known orientation and position relative to the axis. A method for checking post cut plane accuracy and alignment following removal of bone from a patient to create a bone surface during a computer-assisted surgical procedure is also provided. A computer-assisted surgical system is provided that includes a tracking system, a tracked digitizer probe, the aforementioned device, a tracked surgical device, and one or more computers with software for determining the orientation.