Abstract: Surgical punch tools and methods of using the same are disclosed herein. A surgical punch tool may include a stationary base component having a planar bottom side. The planar bottom side may include one or more posts extending therefrom. Each post may include an associated sharp pin. A movable actuation portion may be configured to move each sharp pin from a non-actuated position within the corresponding post to an actuated position extending through the base component and from the corresponding post.

Abstract: A method for utilizing robotic surgical data for providing surgical training is disclosed. The method includes collecting, by a computing device, data related to a surgical procedure from one or more components of a computer-assisted surgical system. At least one of the one or more components is a robotically controlled surgical device. A graphical depiction representative of the surgical procedure is generated based on the collected data from the one or more components of the computer-assisted surgical system and one or more images providing a visual depiction of a patient's anatomy. A graphical user interface is output to a display device. The graphical user interface includes the graphical depiction of the surgical procedure and the collected data from the one or more components of the computer-assisted surgical system, to provide surgical training.

Abstract: A surgical robotic arm (520) for use with an external vision system (512) includes onboard control and at least four degrees of articulation. The robotic arm (520) can position various tools (534) in the surgical theatre responsive to positional feedback from the vision system (512). Exemplary tools (534) include a handpiece (519) that includes a motorized burr or saw, a cutting guide (542) for a handheld saw, and a laser to actively define a resection area for a surgeon. The tool (534) or a reference point on the arm (520) relative to the tool (534) includes fiducial marks to register the position of the tool (534) with the vision system (512). Exemplary tools (534) are especially suited for knee and hip arthroplasty and can be moved under processor or manual control.

Abstract: An augmented reality system and method for assisting surgical staff during an arthroplasty procedure includes a camera system configured to capture images of a surgical scene and a processor configured to determine from the images location and orientation information about one or more patient anatomical features and to maintain a three-dimensional model of these anatomical features within the surgical scene. The system models the field-of-view of augmented reality headsets worn by surgical staff, and maps this to the anatomical model, allowing the system to overlay relevant information to the user about particular anatomical features in the surgical plan.

Abstract: Methods, non-transitory computer readable media, and surgical computing devices are illustrated that improve robotic surgical systems. With this technology, one or more machine learning models are trained based on historical state data obtained for a computer-assisted surgical system (CASS) at each of a plurality of time periods during a plurality of historical knee arthroplasty surgical procedures. One or more of the machine learning models are applied to initial state data for a current knee arthroplasty surgical procedure to generate robotic commands required to achieve one or more future states of the CASS. The initial state data comprises a surgical plan. One or more surgical tools of the CASS are then manipulated based on the robotic commands to achieve the one or more future states of the CASS and thereby carry out at least a portion of the surgical plan.

Abstract: Devices, systems, and methods for measuring a force applied to a joint during a surgical procedure are disclosed. The device includes an insertion tool, a handle, and one or more force indicators. The insertion tool includes an insertion end and a base end. The one or more force indicators may be attached to the insertion tool and the handle. The insertion end of the device may be inserted into a joint during a surgical procedure and used to apply a force to the joint and/or measure the force using the one or more force indicators when the force is applied.

Abstract: Systems and methods for navigation and control of an implant positioning device are discussed. For example, a method can include operations for accessing an implant plan, establishing a 3-D coordinate system, receiving tracking information, generating control signals, and sending the control signals to the implant positioning device. The implant plan can include location and orientation data describing an ideal implant location and orientation in reference to an implant host. The 3-D coordinate system can provide spatial orientation for the implant positioning device and the implant host. The tracking information can identify current location and orientation data within the 3-D coordinate system for the implant positioning device and implant host during a procedure. The control signals can control operation of the implant positioning device to assist a surgeon in positioning the implant according to the implant plan.

Abstract: Disclosed herein are various systems and methods for an improved minimally invasive surgical tracking system. As disclosed herein, a computer assisted surgical system (CASS) may include an internal tracking device that obtains relative locational data of one or more surgical tools not trackable via a global tracking system. The internal tracking device having an external portion that is trackable global tracking system. Based on the known characteristics and location of the internal tracking device the CASS determines the location of the one or more surgical tools relative to the patient and other objects in the operating room.

Abstract: Surgical punch tools and methods of using the same are disclosed herein. A surgical punch tool may include a stationary base component having a planar bottom side. The planar bottom side may include one or more posts extending therefrom. Each post may include an associated sharp pin. A movable actuation portion may be configured to move each sharp pin from a non-actuated position within the corresponding post to an actuated position extending through the base component and from the corresponding post.

Abstract: A system, method, and device for drilling holes (420, 422) in a target bone (414) are described. For example, the system includes a cutting tool (330), a navigation system (310) configured to track a position of the cutting tool, and a computer-assisted surgical (CAS) system (340) operably connected to the cutting tool and the navigation system. The CAS system can be configured to determine an implant component (100) to be implanted on the target bone (414), determine a cutting block position for preparing the target bone to receive the implant component, determine a plurality of pin locations (420, 422) for securing the cutting block (416) based upon the determined cutting block position, and selectively provide instructions to the cutting tool to cut a hole when the cutting tool is in a position adjacent to at least one of the determined plurality of pin locations.

Abstract: Systems and methods for virtual implant placement to implement joint gap planning are discussed. For example, a method can include operations for receiving a first implant parameter set based on a surgical plan that was generated while moving the joint through a range of motion. The method can include generating a first set of candidate implant parameter sets that are the result of an incremental change, relative to the first implant parameter set, to at least one parameter of the first parameter set. The method can include calculating a result for at least one candidate implant parameter set and providing a graphical representation of the result according to at least one candidate implant parameter set. The result can be color-coded to correlate to a candidate implant parameter set. The display can include color-coded user interface controls to allow a user to execute incremental changes corresponding to candidate implant parameter sets.

Abstract: An implant positioning device and a method of using the device are described. The positioning device includes an end effector configured to contact an implant component during a surgical procedure, the end effector connected to an actuator for imparting an impact force to the implant component during the surgical procedure, a motor mechanically connected to the actuator and configured to move the actuator to produce one or more impacts on the end effector, thereby imparting the impact force to the implant component, and a control circuit coupled to the motor. The control circuit is configured to generate at least one motor control signal, transfer the at least one motor control signal to the motor, and, as a result of the at least one motor control signal, cause the motor to move the actuator to produce one or more impacts on the end effector.

Abstract: A system, method, and device for drilling holes (420, 422) in a target bone (414) are described. For example, the system includes a cutting tool (330), a navigation system (310) configured to track a position of the cutting tool, and a computer-assisted surgical (CAS) system (340) operably connected to the cutting tool and the navigation system. The CAS system can be configured to determine an implant component (100) to be implanted on the target bone (414), determine a cutting block position for preparing the target bone to receive the implant component, determine a plurality of pin locations (420, 422) for securing the cutting block (416) based upon the determined cutting block position, and selectively provide instructions to the cutting tool to cut a hole when the cutting tool is in a position adjacent to at least one of the determined plurality of pin locations.

Abstract: A system for performing a computer-aided surgical procedure is disclosed. Using a computer program, optical sensors detect and record the location of one or more optical tracking devices. The computer program then generates navigational reference information regarding position and orientation information of one or more specific body parts of a patient. The tracking device is mounted to the patient using a tracking frame and a coupler base, wherein the coupler base has a plurality of surfaces to which the tracking frame is configured to be removably attached. Because the characteristics of the coupler base are known to the computer program, all potential locations of the tracking frame, when attached to the coupler base, are known. Thus, the tracking frame's axis and orientation may be altered to allow movement of the patient during the surgical procedure without compromising position and orientation information of the body parts.

Abstract: Systems and methods for virtual implant placement to implement joint gap planning are discussed. For example, a method can include operations for receiving a first implant parameter set based on a surgical plan that was generated while moving the joint through a range of motion. The method can include generating a first set of candidate implant parameter sets that are the result of an incremental change, relative to the first implant parameter set, to at least one parameter of the first parameter set. The method can include calculating a result for at least one candidate implant parameter set and providing a graphical representation of the result according to at least one candidate implant parameter set. The result can be color-coded to correlate to a candidate implant parameter set. The display can include color-coded user interface controls to allow a user to execute incremental changes corresponding to candidate implant parameter sets.

Abstract: Devices, systems, and methods for measuring a force applied to a joint during a surgical procedure are disclosed. The device includes an insertion tool, a handle, and one or more force indicators. The insertion tool includes an insertion end and a base end. The one or more force indicators may be attached to the insertion tool and the handle. The insertion end of the device may be inserted into a joint during a surgical procedure and used to apply a force to the joint and/or measure the force using the one or more force indicators when the force is applied.

Abstract: Methods and apparatus for performing joint laxity measurement are disclosed. A retractor includes a plurality of spacers, such as plates, that are capable of being moved from a central portion of the retractor by a carriage mechanism. In some cases, the carriage mechanism may press against ramps connected to internal sides of the plates, thereby causing the plates to be displaced outwardly. In other cases, the carriage mechanism may include blades that rotate and press against the internal sides of the plates, thereby causing the plates to be displaced outwardly. The retractor is mounted on a surgical device configured to actuate the carriage mechanism. When the retractor is placed in a joint and the carriage mechanism is actuated, a measurement of the joint laxity may be determined based upon characteristics of the retractor and/or the surgical device.

Abstract: A method of placing a ligament graft in a surgical procedure is described. A surgical system receives kinematic information related to a range of motion of a knee joint and registers one or more surfaces of a bony anatomy of the knee joint. The surgical system further generates a three-dimensional model of the knee joint. The surgical system determines a surgical plan including parameters of a graft tunnel based on the kinematic information and the three-dimensional model. A graft tunnel planning system is also described. A plurality of tracking markers are affixed to the patient's bones and a tracking unit captures their location through a range of motion of the patient's knee joint. A point probe captures the geometry of a bony surface of the patient. A computing module receives the location data and geometry data, and determines a surgical plan including parameters of a graft tunnel.

Abstract: Systems and methods for navigation and control of an implant positioning device are discussed. For example, a method can include operations for accessing an implant plan, establishing a 3-D coordinate system, receiving tracking information, generating control signals, and sending the control signals to the implant positioning device. The implant plan can include location and orientation data describing an ideal implant location and orientation in reference to an implant host. The 3-D coordinate system can provide spatial orientation for the implant positioning device and the implant host. The tracking information can identify current location and orientation data within the 3-D coordinate system for the implant positioning device and implant host during a procedure. The control signals can control operation of the implant positioning device to assist a surgeon in positioning the implant according to the implant plan.

Abstract: A computer-implemented method of improving a patello-femoral response is described. A computing system characterizes an anterior geometry of a patella and determines a position of a posterior apex of the patella in relation to one or more features of the anterior geometry of the patella. The computing system further receives location information related to the patella as a knee joint is moved through a range of motion. The computing system provides one or more recommendations to improve a patello-femoral response.