Abstract: A method for operating a surgical robot includes providing a plurality of virtual haptic geometries associated with different steps of a surgical procedure, evaluating a plurality of criteria associated with a first virtual haptic geometry of the plurality of virtual haptic geometries, activating the first virtual haptic geometry of the plurality of virtual haptic geometries without activating a second virtual haptic geometry of the plurality of virtual haptic geometries in response to satisfaction of the plurality of criteria, and controlling the surgical robot to constrain movement of an end effector of the surgical robot to the first virtual haptic geometry in response to activating the first virtual haptic geometry.

Abstract: A surgical system includes a tracking system configured to intraoperatively track relative positions of bones of a joint, a user interface configured to obtain a user input indicating a post-operative value for the joint, and a computer programmed to generate, based on the relative positions of the bones and the post-operative value, a planned orientation for an implant to be implanted in the joint, and to generate a surgical plan based on the planned orientation for the implant.

Abstract: A method of operating a surgical system includes controlling a robotic arm in a first control mode in which the robotic arm constrains movement of a surgical tool coupled to the robotic arm to a virtual geometry correlated with an anatomical feature, switching, responsive to the surgical tool crossing an exit boundary, from the first control mode to a second control mode, and controlling the robotic arm in the second control mode in which movement of the surgical tool is unconstrained by the virtual geometry.

Abstract: A surgical apparatus includes a surgical device and a surgical controller. The surgical device is configured to be manipulated by a user to perform a soft tissue cutting procedure on a patient. The surgical controller is programmed to create a virtual object representing an anatomy of the patient based upon data acquired during a pre-operative scan and associate the virtual object with the anatomy of the patient. The surgical controller is also programmed to identify a plurality of soft tissue attachment points on the virtual object which correspond to a plurality of soft tissue attachment points on the anatomy of the patient. The surgical controller is also programmed to determine the location of the surgical device in relation to the anatomy of the patient and provide real-time visualization on the virtual object of the location of the surgical device in relation to the anatomy of the patient.

Abstract: A surgical guidance system for use with a robotic device configured to support and move a surgical tool includes a tracking system configured to track the surgical tool and at least one bone, a display device, and a control system coupled to the tracking system and the display device. The control system is configured to register a plurality of target trajectories to the at least one bone, determine a distance between the surgical tool and each target trajectory, automatically identify which one of the target trajectories is closest to and within a threshold distance of the surgical tool, and display, on the display device, the identified target trajectory relative to the at least one bone and a tracked pose of the surgical tool relative to the identified target trajectory.

Abstract: A method includes obtaining a planned position of a first prosthetic component for implantation in a joint, obtaining positional data indicative of relative positions of bones of the joint, calculating, based on the positional data and the planned position of the first prosthetic component, a planned separation distance for the joint, facilitating adjustment of the planned position based on a desired separation distance by updating the planned separation distance in response to an adjusted planned position of the first prosthetic component, and guiding installation of the first prosthetic component in the joint in the adjusted planned position.

Abstract: A surgical system includes a robotic arm, an end effector held by the robotic arm, a tracking system configured to detect a patient position and an end effector position, and a processor and non-transitory memory storing instructions that, when executed by the processor, cause the processor to define a planned trajectory relative to the patient position, obtain the patient position and the end effector position from the tracking system during manual movement of the end effector by a user, determine whether the end effector position is within a threshold of the planned trajectory based on the patient position and the end effector position obtained during the manual movement of the end effector, and upon determination that the end effector position is within the threshold of the planned trajectory, take over and control the robotic arm to automatically align the end effector with the planned trajectory.

Abstract: A system includes a surgical tool, a robot holding the surgical tool, and non-transitory computer-readable memory storing instructions that, when executed, cause the robot to perform operations including automatically moving the surgical tool to a virtual geometry correlated with an anatomical structure and forcing, following arrival of the surgical tool at the virtual geometry, the surgical tool to stay at the virtual geometry while allowing manual repositioning of the surgical tool along the virtual geometry.

Abstract: A surgical guidance system for use with a robotic device configured to support and move a surgical tool includes a tracking system configured to track the surgical tool and at least one bone, a display device, and a control system coupled to the tracking system and the display device. The control system is configured to register a plurality of target trajectories to the at least one bone, determine a distance between the surgical tool and each target trajectory, automatically identify which one of the target trajectories is closest to and within a threshold distance of the surgical tool, and display, on the display device, the identified target trajectory relative to the at least one bone and a tracked pose of the surgical tool relative to the identified target trajectory.

Abstract: A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.

Abstract: A system includes a surgical tool, a robot holding the surgical tool, and non-transitory computer-readable memory storing instructions that, when executed, cause the robot to perform operations including automatically moving the surgical tool to a virtual geometry correlated with an anatomical structure and forcing, following arrival of the surgical tool at the virtual geometry, the surgical tool to stay at the virtual geometry while allowing manual repositioning of the surgical tool along the virtual geometry.

Abstract: A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.

Abstract: A surgical system includes a robotic arm, an end effector held by the robotic arm, a tracking system configured to detect a patient position and an end effector position, and a processor and non-transitory memory storing instructions that, when executed by the processor, cause the processor to define a planned trajectory relative to the patient position, obtain the patient position and the end effector position from the tracking system during manual movement of the end effector by a user, determine whether the end effector position is within a threshold of the planned trajectory based on the patient position and the end effector position obtained during the manual movement of the end effector, and upon determination that the end effector position is within the threshold of the planned trajectory, take over and control the robotic arm to automatically align the end effector with the planned trajectory.

Abstract: A surgical system includes a surgical tool and a processing circuit. The processing circuit is configured to provide a plurality of virtual haptic interaction points where each virtual haptic interaction point is associated with a portion of the surgical tool such that movement of the surgical tool corresponds to movement of the plurality of virtual haptic interaction points, establish a haptic object that defines a working boundary for the surgical tool, and constrain at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object.

Abstract: A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.

Abstract: A surgical system includes a surgical tool associated with a virtual haptic interaction point such that movement of the virtual haptic interaction point corresponds to movement of the surgical tool. The surgical system further includes a processing circuit to establish a virtual entry boundary and activate a haptic object, which constrains the surgical tool after the haptic interaction point crosses the virtual entry boundary.

Abstract: A surgical apparatus includes a surgical device and a surgical controller. The surgical device is configured to be manipulated by a user to perform a soft tissue cutting procedure on a patient. The surgical controller is programmed to create a virtual object representing an anatomy of the patient based upon data acquired during a pre-operative scan and associate the virtual object with the anatomy of the patient. The surgical controller is also programmed to identify a plurality of soft tissue attachment points on the virtual object which correspond to a plurality of soft tissue attachment points on the anatomy of the patient. The surgical controller is also programmed to determine the location of the surgical device in relation to the anatomy of the patient and provide real-time visualization on the virtual object of the location of the surgical device in relation to the anatomy of the patient.

Abstract: A method includes obtaining a planned position of a first prosthetic component for implantation in a joint, obtaining positional data indicative of relative positions of bones of the joint, calculating, based on the positional data and the planned position of the first prosthetic component, a planned separation distance for the joint, facilitating adjustment of the planned position based on a desired separation distance by updating the planned separation distance in response to an adjusted planned position of the first prosthetic component, and guiding installation of the first prosthetic component in the joint in the adjusted planned position.

Abstract: A surgical apparatus includes a surgical device and a surgical controller. The surgical device is configured to be manipulated by a user to perform a soft tissue cutting procedure on a patient. The surgical controller is programmed to create a virtual object representing an anatomy of the patient based upon data acquired during a pre-operative scan and associate the virtual object with the anatomy of the patient. The surgical controller is also programmed to identify a plurality of soft tissue attachment points on the virtual object which correspond to a plurality of soft tissue attachment points on the anatomy of the patient. The surgical controller is also programmed to determine the location of the surgical device in relation to the anatomy of the patient and provide real-time visualization on the virtual object of the location of the surgical device in relation to the anatomy of the patient.

Abstract: A method for guiding implantation of a first prosthetic component includes determining, using a virtual model of a joint including first and second bones, a planned orientation of the first prosthetic component in the joint, applying a valgus/varus moment to the joint at a plurality of flexion positions of the joint, and recording positional data indicative of relative positions of the first bone and the second bone at the plurality of flexion positions of the joint. The method also includes calculating estimated separation distances between the first prosthetic component and a second prosthetic component, adjusting the planned orientation of the first prosthetic component in the joint in response to an error between the estimated separation distances and one or more desired separation distances, and guiding implantation of the first prosthetic component on the first bone in accordance with the adjusted planned orientation of the first prosthetic component.