Abstract: A computer-assisted surgery system for performing a surgical procedure on a patient's anatomy includes a robotic device, a guide coupled to the robotic device, and a computer in communication with the robotic device. The computer is configured to command the robotic device to selectively operate in one of a first mode in which the guide is manually moved by a user or a second mode in which the robotic device autonomously moves the guide. In the first mode, the robotic device is controlled by the computer to constrain motion of the guide to a predefined plane while allowing the guide to be manually moved along the pre-defined plane.

Abstract: A computer-assisted surgery system for performing a surgical procedure at a target area on a patient's anatomy. Said computer-assisted surgery system includes a robotic device having a plurality of joints and a plurality of actuators and a guide mechanically coupled to said robotic device. Said robotic device is configured to constrain said guide according to a pre-defined virtual geometry with said guide being movable along said pre-defined virtual geometry toward the target area on the patient's anatomy. The computer-assisted surgery system also includes a computer in communication with said robotic device and configured to command said robotic device to operate in one of a first mode in which said guide is manually manipulated by a user or a second mode in which said robotic device operates autonomously.

Abstract: A surgical system includes a robotic device, and a surgical tool coupled to the robotic device and comprising a distal end. The system further includes a neural monitor configured to generate an electrical signal and apply the electrical signal to the distal end of the surgical tool, wherein the electrical signal causes innervation of a first portion of a patient's anatomy which generates an electromyographic signal, and a sensor configured to measure the electromyographic signal. The neural monitor is configured to determine a distance between the distal end of the surgical tool and a portion of nervous tissue based on the electrical signal and the electromyographic signal, and cause feedback to be provided to a user based on the distance.

Abstract: A computer-assisted surgery system for performing a surgical procedure at a target area on a patient's anatomy. Said computer-assisted surgery system includes a robotic device having a plurality of joints and a plurality of actuators and a guide mechanically coupled to said robotic device. Said robotic device is configured to constrain said guide according to a pre-defined virtual geometry with said guide being movable along said pre-defined virtual geometry toward the target area on the patient's anatomy. The computer-assisted surgery system also includes a computer in communication with said robotic device and configured to command said robotic device to operate in one of a first mode in which said guide is manually manipulated by a user or a second mode in which said robotic device operates autonomously.

Abstract: A surgical system includes a robotic arm, a constraint mechanism coupled to the robotic arm, and a computer system configured to control the robotic arm to constrain manual movement of the constraint mechanism to a plane. The computer system is also configured to control the robotic arm to lock the constraint mechanism in a desired pose when the constraint mechanism is moved to the desired pose via manual movement in the plane.

Abstract: A computer-assisted surgery system for performing a surgical procedure on a patient's anatomy includes a robotic device, a guide coupled to the robotic device, and a computer in communication with the robotic device. The computer is configured to command the robotic device to selectively operate in one of a first mode in which the guide is manually moved by a user or a second mode in which the robotic device autonomously moves the guide. In the first mode, the robotic device is controlled by the computer to constrain motion of the guide to a predefined plane while allowing the guide to be manually moved along the pre-defined plane.

Abstract: The invention generally pertains to a combination of a surgical with a computer-assisted surgery system. The surgical tool may be used as an input device, allowing information to pass from the user to the computer-assisted surgery system, and providing functionality similar to common user interface devices, such as a mouse or any other input device. When used as an input device, it may be used for defining anatomical reference geometry, manipulating the position and/or orientation of virtual implants, manipulating the position and/or orientation of surgical approach trajectories, manipulating the positions and/or orientation of bone resections, and the selection or placement of any other anatomical or surgical feature.

Abstract: A surgical system includes a robotic device, and a surgical tool coupled to the robotic device and comprising a distal end. The system further includes a neural monitor configured to generate an electrical signal and apply the electrical signal to the distal end of the surgical tool, wherein the electrical signal causes innervation of a first portion of a patient's anatomy which generates an electromyographic signal, and a sensor configured to measure the electromyographic signal. The neural monitor is configured to determine a distance between the distal end of the surgical tool and a portion of nervous tissue based on the electrical signal and the electromyographic signal, and cause feedback to be provided to a user based on the distance.

Abstract: A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic aim. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic aim resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

Abstract: A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic aim. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic aim resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

Abstract: A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

Abstract: The invention generally pertains to a combination of a surgical with a computer-assisted surgery system. The surgical tool may be used as an input device, allowing information to pass from the user to the computer-assisted surgery system, and providing functionality similar to common user interface devices, such as a mouse or any other input device. When used as an input device, it may be used for defining anatomical reference geometry, manipulating the position and/or orientation of virtual implants, manipulating the position and/or orientation of surgical approach trajectories, manipulating the positions and/or orientation of bone resections, and the selection or placement of any other anatomical or surgical feature.

Abstract: A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

Abstract: A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.

Abstract: The invention generally pertains to a combination of a haptic device with a computer-assisted surgery system. The haptic device may be used as an input device, allowing information to pass from the user to the computer-assisted surgery system, and providing functionality similar to common user interface devices, such as a mouse or any other input device. When used as an input device, it may be used for defining anatomical reference geometry, manipulating the position and/or orientation of virtual implants, manipulating the position and/or orientation of surgical approach trajectories, manipulating the positions and/or orientation of bone resections, and the selection or placement of any other anatomical or surgical feature.

Abstract: The invention generally pertains to a combination of a haptic device with a computer-assisted surgery system. The haptic device may be used as an input device, allowing information to pass from the user to the computer-assisted surgery system, and providing functionality similar to common user interface devices, such as a mouse or any other input device. When used as an input device, it may be used for defining anatomical reference geometry, manipulating the position and/or orientation of virtual implants, manipulating the position and/or orientation of surgical approach trajectories, manipulating the positions and/or orientation of bone resections, and the selection or placement of any other anatomical or surgical feature.

Abstract: A system and method for providing computer assistance for performing a medical procedure provides a graphical user interface to guide and/or assist a user, for example a surgeon, performing the medical procedure, whether surgical or non-surgical. The computer-assisted system comprises a software application that may be used for a medical procedure.

Abstract: A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.

Abstract: A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.

Abstract: In accordance with an embodiment of the present invention, attractive haptic objects are associated with a target region for performing a medical procedure and repulsive haptic objects are associated with anatomical features to be avoided during the medical procedure. A surgeon may perform surgical planning by moving the haptic device around. The surgeon moves the haptic device until a pose is found where haptic cues from the attractive haptic objects are active indicating that a medical device if attached to the haptic device would reach the target region, and haptic cues from the repulsive haptic objects are inactive indicating that the medical device would not penetrate any of the anatomical features to be avoided. During the planning process a virtual tool may be displayed on a display device to indicate the position and/or movement of the medical device if the medical device had been coupled to the haptic device.