Abstract: Methods, apparatuses, and systems for determining a surgical plan for an arthroplasty procedure using constraint modeling are disclosed. For example, a method for determining a surgical plan may include determining a constraint model associated with an anatomical model the constraint model configured to indicate at least one valid configuration of an implant model in association with the anatomical model, receiving placement input indicating placement of the implant in association with the anatomical model, and performing, based on the placement input, a violation process based on a violation event responsive to the placement input violating the constraint model, or a placement process positioning the implant according to the placement input. Other embodiments are described.

Abstract: A system and method for tracking position and orientation of a surgical tool during a surgical procedure and providing feedback to a user are described. For example the system includes a surgical tool configured to perform at least a portion of the surgical procedure, a tracking system configured to monitor and record position information related to the surgical tool, a processing system, and a display. The processing system can be configured to receive the position information, determine optimal position information for the surgical tool during the surgical procedure, compare the received position information against the optimal position information to determine a conformance level for the user, and generate a user performance record. The display can be configured to receive and display the user performance record.

Abstract: Various embodiments disclosed herein relate to improved systems and methods for performing computer-aided surgical navigation using augmented reality. A tracking device having one or more optically detectable points is mounted to a patient via surgical hardware. The detectable points are identified by a sensor. One or more augmented reality marker assemblies that each have an augmented reality fiducial marker or symbol are also attached to the tracking device. A computer system generates augmented reality information and transmits it to a display screen, such as a near-eye augmented reality device, for display thereon. The near-eye augmented reality device also has an image capture device capable of capturing the augmented reality symbols, and thereby determining a three-dimensional orientation associated with the tracking device, augmented reality markers, and a user wearing the near-eye reality device.

Abstract: Systems and methods for generating a surgical plan for altering an abnormal bone using a generic normal bone model are discussed. For example, a system for planning a surgery on an abnormal bone can include a model receiver module configured to receive a generic normal bone model. The generic normal bone model, such as a parametric model derived from statistical shape data, can include a data set representing a normal bone having an anatomical origin comparable to the abnormal bone. An input interface can be configured to receive an abnormal bone representation including a data set representing the abnormal bone. A surgical planning module can include a registration module configured to register the generic normal bone model to the abnormal bone representation by creating a registered generic model. A surgical plan formation module can be configured to identify one or more abnormal regions of the abnormal bone using the registered generic model.

Abstract: A system and device (110) for determining bone laxity. For example, the system includes a tracked probe (300) comprising at least one probe marker (310) and a computer assisted surgical (CAS) system (100). The CAS system includes a navigation system (130) and a processing device (110) operably connected to the navigation system and a computer readable medium configured to store one or more instructions that, when executed, cause the processing device to receive location information from the navigation system, generate (820) a surgical plan comprising a post-operative laxity assumption (720), collect (850) first motion information related to movement of the joint through a first range of motion, collect (860) second motion information related to movement of the joint through a second range of motion, determine (870) a post-operative laxity (710), and compare the post-operative laxity and the post-operative laxity assumption to determine laxity results.

Abstract: Methods, non-transitory computer readable media, and ultrasound imaging apparatuses and systems that facilitate improved ultrasound imaging that emphasizes structures of interest are disclosed. With this technology, position data for a transducer assembly is continuously obtained along with ultrasound scan data captured via the transducer assembly. Image processing techniques are applied to ultrasound images generated from the ultrasound scan data to identify structure(s) of interest included therein and highlight the identified structures on a composite representation generated from the ultrasound images. The intensity of portions of the resulting composite representation is then adjusted to reflect the time in which the associated ultrasound scan data was captured. The composite representation is then output to an augmented reality headset or superimposed over an image of the patient to facilitate improved visibility and relation of the structures of interest.

Abstract: Methods and systems of placing a medical fastener at a predetermined depth in a bone are described. A surgical tool can include an attachment assembly configured to interchangeably engage a medical fastener and a cutting element or bone removal tool and a drive assembly coupled to the attachment assembly. The attachment assembly can be configured to automatically release the medical fastener in response to the drive assembly reaching its end or distal-most position to place the medical fastener at a predetermined depth within the bone.

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: Examples of an orthopedic surgical device for use in operating on a target bone and methods for operating a system for use in orthopedic surgery on a bone are generally described herein. An orthopedic surgical device can include an primary positioning block, and a secondary positioning component removably coupled to the primary positioning block. The secondary positioning component can be configured to: engage a prepared engagement feature machined into the target bone, and guide the primary positioning block to a predetermined position on a target bone. The orthopedic surgical device can include a first cutting block configured to: removably couple to the primary positioning block, and guide a cutting tool to cut the target bone.

Abstract: Examples of an orthopedic surgical device for use in operating on a target bone and methods for operating a system for use in orthopedic surgery on a bone are generally described herein. An orthopedic surgical device can include an primary positioning block, and a secondary positioning component removably coupled to the primary positioning block. The secondary positioning component can be configured to: engage a prepared engagement feature machined into the target bone, and guide the primary positioning block to a predetermined position on a target bone. The orthopedic surgical device can include a first cutting block configured to: removably couple to the primary positioning block, and guide a cutting tool to cut the target bone.

Abstract: A system and device (110) for determining bone laxity. For example, the system includes a tracked probe (300) comprising at least one probe marker (310) and a computer assisted surgical (CAS) system (100). The CAS system includes a navigation system (130) and a processing device (110) operably connected to the navigation system and a computer readable medium configured to store one or more instructions that, when executed, cause the processing device to receive location information from the navigation system, generate (820) a surgical plan comprising a post-operative laxity assumption (720), collect (850) first motion information related to movement of the joint through a first range of motion, collect (860) second motion information related to movement of the joint through a second range of motion, determine (870) a post-operative laxity (710), and compare the post-operative laxity and the post-operative laxity assumption to determine laxity results.

Abstract: The present disclosure provides a machine learning model to model a normal version of a bone from an abnormal version of the bone. The machine learning model can be trained with a training set including abnormal bone images and corresponding normalized, or post-operative, bone images. The abnormal bone image and the inferred normal bone image can be used to plan a surgery to correct the abnormal bone with a surgical navigation system.

Abstract: Systems and methods for generating a surgical plan for altering an abnormal bone using a generic normal bone model are discussed. For example, a system for planning a surgery on an abnormal bone can include a model receiver module configured to receive a generic normal bone model. The generic normal bone model, such as a parametric model derived from statistical shape data, can include a data set representing a normal bone having an anatomical origin comparable to the abnormal bone. An input interface can be configured to receive an abnormal bone representation including a data set representing the abnormal bone. A surgical planning module can include a registration module configured to register the generic normal bone model to the abnormal bone representation by creating a registered generic model. A surgical plan formation module can be configured to identify one or more abnormal regions of the abnormal bone using the registered generic model.

Abstract: A system for performing a surgical procedure on a bone of a patient is disclosed. The system comprises a robotic arm including a proximal mounting portion, a distal tool interface for securing a surgical tool, and a plurality of joints between the proximal mounting portion and the distal tool interface for moving the distal tool interface in six degrees of freedom with respect to the proximal mounting portion. The system further comprises a joystick configured to receive movement instructions for moving the distal tool interface in the six degrees of freedom and a processor configured to receive the movement instructions from the joystick; adjust the movement instructions based on one or more of a surgical plan and user input to generate adjusted movement instructions; and cause one or more of the plurality of joints to move the distal tool interface based on the adjusted movement instructions.

Abstract: Methods and systems of placing a medical fastener at a predetermined depth in a bone are described. A surgical tool can include an attachment assembly configured to interchangeably engage a medical fastener and a cutting element or bone removal tool and a drive assembly coupled to the attachment assembly. The attachment assembly can be configured to automatically release the medical fastener in response to the drive assembly reaching its end or distal-most position to place the medical fastener at a predetermined depth within the bone.

Abstract: A surgical system and method for markerless intraoperative navigation is provided. The system can includes a structured light system that can be utilized to intraoperatively sense three-dimensional surface geometry. The computer system is configured to segment a depth image to obtain surface geometry data of an anatomical structure embodied within the depth image, register the surface geometry data of the anatomical structure to a model, and update the surgical plan according to the registered surface geometry data. The surgical system is an endoscopic surgical system.

Abstract: Systems and methods for controlling the placement and movement of a robotic arm of a robotic surgical system are provided. A surgical computer system can be configured to determine a recommended position for the robotic arm based on the calculated workspace volume for the robotic arm and the location of the surgical site. A surgical computer system can also be configured to control the robotic arm according to whether it is located within a surgical workspace defined by the surgeon or with respect to the surgical site.

Abstract: A method for optimizing a knee arthroplasty surgical procedure includes receiving pre-operative data comprising (i) anatomical measurements of the patient, (ii) soft tissue measurements of the patient's anatomy, and (iii) implant parameters identifying an implant to be used in the knee arthroplasty surgical procedure. An equation set is selected from a plurality of pre-generated equation sets based on the pre-operative data. During the knee arthroplasty surgical procedure, patient-specific kinetic and kinematic response values are generated and displayed using an optimization process. The optimization process includes collecting intraoperative data from one or more surgical tools of a computer-assisted surgical system, and using the intraoperative data and the pre-operative data to solve the equation set, thereby yielding the patient-specific kinetic and kinematic response values. A visualization is then provided of the patient-specific kinetic and kinematic response values on the displays.

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: Optical tracking of objects in arthroscopic surgery. Examples comprise a resection instrument system including: a handpiece; a mechanical resection device comprising a stationary outer hub, an elongate outer tube coupled to and extending away from the stationary outer hub, and a cutter disposed at a distal end of the elongate shaft, the stationary outer hub coupled to the handpiece; a fiducial array; and a sleeve connector. The sleeve connector may include: a sleeve defining a distal end, a proximal end, and a through bore, the sleeve concentrically arranged with the elongate shaft; an array connector coupled to the proximal end of the sleeve, the array connector coupled to the fiducial array.