Abstract: A robot system includes a tracking arm in communication with a reference location about a site. A robot arm has a procedure tool/end effector engaged therewith, and a proximal end disposed in a known relation to a proximal end of the tracking arm. A controller determines an actual spatial relation between the procedure tool and the reference location in a three-dimensional space via the robot and tracking arms, and directs the procedure tool to a staging position adjacent to the site by regulating movement of the robot arm according to an operational plan and based on the actual spatial relation. An actuator is spaced-apart from the procedure tool and in communication with the controller. The actuator actuates the controller to direct the robot arm to autonomously move the procedure tool from the staging position, according to the operational plan, to interact with the site and perform the procedure.

Abstract: A splint device (100) co-operable with a guidance system of a robot is provided. In some aspects, a splint body (200) is fixedly coupled to a first object (102) disposed within a pliable housing (104) defining an opening. The splint body includes a laterally-extending medial portion (202) having opposed lateral sides (204, 206), and first and second stabilizing portions (208, 210) extending therefrom and extending about and affixed to the first object. In some aspects, the splint body includes a retractor (300) having a first portion (302) coupled to the splint body, and a second portion (304) extending away from the splint body and engaging the pliable housing about the opening to retract and maintain the pliable housing away from the first object, such that the first object is accessible through the opening, and/or a spacer (400) engaged with the splint body and cooperating with the splint body to separate a second object (106) from the first object within the pliable housing.

Abstract: A splint device for guided robotic surgery, includes an arcuate splint body having first and second ends and opposing concave and convex surfaces. The splint body defines a plurality of holes spaced apart between the first and second ends, with each hole extending between the concave and convex surfaces. A tracking portion is engaged with the convex surface of the splint body between the first and second ends such that at least one of the holes is disposed between the tracking portion and each of the first and second ends. The tracking portion extends outwardly from the convex surface and has a kinematic mount engaged therewith.

Abstract: Methods of conducting guided oral or maxillofacial procedures involve forming a secure, physical interaction between a fiducial marker and a site having an associated object. A virtual plan is formed, detailing the procedure on the object or the site, in registration with the fiducial marker. Movement of a procedure-conducting device is physically regulated with a robot arm responsive to a controller device and with respect to the fiducial marker. The procedure-conducting device interchangeably receives procedural devices and a calibration element. The controller device cooperates with the robot arm to physically regulates movement of the procedure-conducting device, according to the virtual plan and corresponding with physical manipulation of the procedure-conducting device by the user, for the procedural device to conduct the procedure.

Abstract: A method for a computer-assisted surgical system includes tracking a movement of a robot, determining a current pose of an implant cup based on the movement of the robot, and guiding cup impaction by virtually overlaying a representation of the implant cup on a displayed bone in accordance with the current pose of the implant cup.

Abstract: A system includes a medical imaging device configured to collect an image of a bone and a computer programmed to present the image of the bone, enable locating of a plurality of landmarks of the bone via the image, and determine a version and inclination of an acetabular cup based on the plurality of landmarks of the bone.

Abstract: A robotically-assisted implant impaction system includes a robot arm, a release member coupled to the robot arm, and an impactor coupled to the robot arm via the release member. The release member includes a spring, a slide member biased by the spring to a position retaining the impactor on the robot arm, and a knob manipulable by a user to compress the spring to allow release of the impactor from the robot arm.

Abstract: A method for registering a virtual model of a bone to the bone includes displaying, on the virtual model of the bone, a plurality of registration points indicating locations on the bone to be touched with a tracked probe, tracking positions of the tracked probe as the tracked probe is moved to the locations on the bone, and registering the virtual model of the bone to the bone based on tracked positions of the tracked probe corresponding to the plurality of registration points.

Abstract: A method includes obtaining a model of a bone of a patient, identifying a plurality of landmarks of the model of the bone, defining a plane of the patient, determining an axis based on the plurality of landmarks and the plane, and planning a planned pose of an implant relative to the bone based on a relationship between a model of the implant, the axis, and the plane.

Abstract: A surgical system includes a robot arm, a shaft held by the robot arm at a mount between a first end of the shaft and a second end of the shaft, a power tool operable to provide a force at the first end of the shaft, and a control system programmed to control the robot arm to maintain the second end at an intended pose in an acetabulum of a patient.

Abstract: A method of relating an object to a coordinate system, the object being supported by a support element, and the object and the support element being housed within a housing, includes engaging a registration element with the object or the support element, conducting an optical surface scan of the object and the registration element, using an optical scanner, to form a three-dimensional surface image of the object, the three-dimensional surface image having the coordinate system associated therewith, with the registration element being associated with the coordinate system, and correlating the object with the registration element in the three-dimensional surface image so as to register the object with the coordinate system. Associated methods and systems are also provided.

Abstract: A robot system includes a tracking arm in communication with a reference location about a site. A robot arm has a procedure tool/end effector engaged therewith, and a proximal end disposed in a known relation to a proximal end of the tracking arm. A controller determines an actual spatial relation between the procedure tool and the reference location in a three-dimensional space via the robot and tracking arms, and directs the procedure tool to a staging position adjacent to the site by regulating movement of the robot arm according to an operational plan and based on the actual spatial relation. An actuator is spaced-apart from the procedure tool and in communication with the controller. The actuator actuates the controller to direct the robot arm to autonomously move the procedure tool from the staging position, according to the operational plan, to interact with the site and perform the procedure.

Abstract: A method of forming a procedure plan includes arranging a tracking arm distal end in communication with a reference location (RL) about a site or an object received thereat (S/O), the RL disposed in relation to the tracking arm in a 3D space. Physical points about the S/O are each contacted with an end effector of a procedure tool engaged with a robot arm disposed in known relation to the tracking arm, and locations thereof concurrently determined in the 3D space. A reference frame (RF) is formed in the 3D space, relative to the RL, from the locations of the physical points, and includes a location of the S/O within the RF. A plan is formed for an end effector procedure on the S/O, within the RF and relative to the RL, including a route traversed by the end effector to and from the S/O and during the procedure.

Abstract: A surgical system includes a robotic arm, a straight end effector configured to be coupled to the robotic arm, an offset end effector configured to be coupled to the robotic arm, and a controller configured to control the robotic arm using first control logic when the straight end effector is coupled to the robotic arm and second control logic when the offset end effector is coupled to the robotic arm.

Abstract: A dental imaging system includes a dental tool having an end effector adapted to interact with an object. An optical imaging device is engaged with the dental tool or the end effector, and arranged such that a field-of-view thereof includes the interaction between the end effector and the object. A display is in communication with the optical imaging device and is arranged to display a real-time image of the interaction between the end effector and the object received from the optical imaging device. Associated dental robotic systems implementing the dental imaging system are also provided.

Abstract: A dental prosthetic device includes at least an anchor portion and in some instances a prosthetic portion arranged to engage the anchor portion. A sensor device is arranged to be engaged with the anchor portion. When the dental prosthetic device includes a prosthetic portion, the sensor device is arranged to be engaged with the anchor portion, with the prosthetic portion, or between the anchor portion and the prosthetic portion. A method of forming a dental prosthetic device is also provided.

Abstract: A robotic system and method involve a fiducial marker engaged with a maxillofacial anatomy, and an end effector at a distal end of an articulating arm member. The end effector receives a dental element comprising a prosthetic device, a surgical guide, or an orthognathic element, in a predetermined spatial relationship therewith. A controller device directly communicates with the fiducial marker, the articulating arm member, and the end effector, to determine an end effector disposition relative to the fiducial marker during end effector movement according to a virtual procedure plan for placing the dental element in aligned relation to the maxillofacial anatomy, and directs the articulating arm member to physically control allowable movement of the end effector, directly relative to the disposition of the end effector with respect to the fiducial marker and according to the virtual procedure plan, to place the dental element for securement to the maxillofacial anatomy.

Abstract: A surgical system includes a robotic arm, a straight end effector configured to be coupled to the robotic arm, an offset end effector configured to be coupled to the robotic arm, and a controller configured to control the robotic arm using first control logic when the straight end effector is coupled to the robotic arm and second control logic when the offset end effector is coupled to the robotic arm.

Abstract: An end effector for a computer-assisted surgical system includes a mount configured to be coupled to an arm and a housing coupled to the mount and configured to interchangeably support a first operating member and a second operating member. When the housing supports the first operating member, the housing is configured to prevent translation of the first operating member relative to the mount. When the housing supports the second operating member, the housing is configured to allow translation of the second operating member relative to the mount along a first axis.

Abstract: A splint device for guided robotic surgery, includes an arcuate splint body having first and second ends and opposing concave and convex surfaces. The splint body defines a plurality of holes spaced apart between the first and second ends, with each hole extending between the concave and convex surfaces. A tracking portion is engaged with the convex surface of the splint body between the first and second ends such that at least one of the holes is disposed between the tracking portion and each of the first and second ends. The tracking portion extends outwardly from the convex surface and has a kinematic mount engaged therewith.