Abstract: A surgical system includes a robotic arm extending from a base, a tracking system configured to track at least one of a first marker attached to a distal end of the robotic arm and a second marker attached to the base, and a controller. The controller is configured to obtain an indication that the base is in position for performing a surgical operation, determine a starting pose for a registration routine for the robotic arm, control the robotic arm to automatically move to the starting pose for the registration or calibration routine, and in response to successful automatic movement to the starting pose for the registration or calibration routine, perform the registration or calibration routine for the robotic arm.

Abstract: A method includes storing a cloud of points reached by a cutting tool during a first stage of modifying a bone with the cutting tool, generating a surface based on the cloud of points, generating a plan for a second stage of modifying the bone with the cutting tool based on a location or rotation of the surface, and using the plan to assist the cutting tool in executing the second stage of modifying the bone.

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 surgical system includes a controller and a robotic arm configured to hold a surgical tool at a distal end of the robotic arm. The controller is configured to define, based on a surgical plan, a target pose relative to a tracked position of an anatomical feature, generate a planned path for moving the surgical tool held by the robotic arm from a first pose to the target pose, output control signals configured to cause automated motion of the robotic arm based on the planned path, detect a deviation of the surgical tool from the planned path, and in response to detecting the deviation of the distal end from the planned path, update the control signals to stop the automated motion of the robotic arm.

Abstract: A method of controlling a surgical system includes obtaining a surgical plan containing a plurality of planned cuts, receiving a first cutting tool from a plurality of cutting tools at a surgical device, collecting a first checkpoint by tracking a probe as the probe contacts a first predefined point on the first cutting tool, collecting a second checkpoint by tracking the probe as the probe contacts a second predefined point at a first bone of a patient, automatically selecting a first planned cut from the plurality of planned cuts based on the first checkpoint and the second checkpoint, and, in response to automatically selecting the first planned cut, guiding execution of the first planned cut using the first cutting tool.

Abstract: A surgical system includes a robotic arm extending from a base, a tracking system configured to track at least one of a first marker attached to a distal end of the robotic arm and a second marker attached to the base, and a controller. The controller is configured to obtain an indication that the base is in position for performing a surgical operation, determine a starting pose for a registration routine for the robotic arm, control the robotic arm to automatically move to the starting pose for the registration or calibration routine, and in response to successful automatic movement to the starting pose for the registration or calibration routine, perform the registration or calibration routine for the robotic arm.

Abstract: A method of operation of a robotically-assisted surgical system includes defining a virtual geometry associated with a planned resection, determining a first pose of a surgical tool, defining a target orientation for the surgical tool based on the first pose, controlling a robotic device to automatically move the surgical tool to both the virtual geometry and the target orientation

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.