Abstract: Systems and methods for planning and assisting orthopaedic surgical procedures include a computer system and a robotic surgical device. The computer system receives multiple surgeon preferences, including target values and boundary values for surgical parameters of the orthopaedic surgical procedure. A surgeon uses the computer system to perform bony registration and leg-alignment registration for anatomy of a patient. The computer system determines a surgical plan for the orthopaedic surgical procedure based on the surgeon preferences, the bony registration, and the leg-alignment registration. The surgical plan includes planned values associated with the surgical parameters that are within the boundary values of the surgeon preferences. Determining the surgical plan may include automatically adjusting tibial coronal alignment, femoral coronal alignment, femoral flexion, femoral rotation, distal femoral resection height, proximal tibial resection height, and/or distal femoral resection height.

Abstract: A femur-first orthopaedic surgical procedure may include using a surgical navigation system to perform one or more initial measurements on a femur of a patient, a tibia of the patient, or both and to develop a surgical plan for the orthopaedic surgical procedure based on the one or more initial measurements, performing a first resection of the femur, using the surgical navigation system to perform one or more later measurements of the tibia that were inaccessible prior to the first resection of the femur and to confirm the surgical plan based on the one or more later measurements of the tibia, performing a tibial resection of the tibia based on a planned tibial resection plane of the surgical plan after confirming the surgical plan, and performing additional resections of the femur based on planned femoral resection planes of the surgical plan after confirming the surgical plan.

Abstract: The disclosure relates to a robotic system for removing bony material from an anatomical structure of a patient, comprising:—a base (4), —an end effector (2) configured to hold a surgical tool (1), —an actuation unit (3) configured to translate the end effector relative to the base at least along one feed axis (A), —a control unit coupled to the actuation unit (3) and configured to turn off the tool (1) and command the actuation unit (3) to translate the end effector (2) along the feed axis (A) while the tool is turned off, the control unit comprising a feedback unit configured to measure a force exerted by the surgical tool (1) onto the anatomical structure during said translation of the end effector (2) and, based on the measured force, detect a contact of the tool with bony material of the anatomical structure.

Abstract: The present disclosure relates to a system for guiding a surgical tool (1) comprising an operative axis with respect to an anatomical structure according to a planned trajectory defined by a target axis (T), comprising: —a robotic device (100) comprising: o an end effector (10) comprising the surgical tool or configured to be coupled to the surgical tool; o an actuation unit (11) comprising at least three motorized degrees of freedom; o a planar articulation (12) coupling the end effector (10) to the actuation unit (11), the planar articulation being configured to constrain movement of the operative axis (R) of the surgical tool inside a single plane; —a localization device (200) configured to determine in real time a position and orientation of the operative axis (R) with respect to a coordinate system of the anatomical structure; —a user interface (300); —a control unit (400) coupled to the localization device (200), the actuation unit (11) and the user interface (300); wherein the control unit (400) is con

Abstract: Systems and methods for bone surface geometry generation include a computing device. The computing device projects first geometry data indicative of a first bone-contacting surface of a first bone of a patient to a coordinate space of a second bone of the patient to generate projected geometry. The second bone includes a second bone-contacting surface that interfaces with the first bone-contacting surface. The computing device also maps the projected geometry to a plurality of poses in a range of motion of the first bone relative to the second bone using position data indicative of relative positions of the first bone and the second bone at the plurality of poses in the range of motion. The computing device further selects intersecting geometry from the mapped, projected geometry to generate second geometry data indicative of the second bone-contacting surface.

Abstract: Described are methods and systems for a viewing system, comprising an augmented reality (AR) system having a first camera with a first point of view, the AR system having an AR display configured to display augmented reality information overlaid over a real world scene, the first point of view of the first camera having a same point of view as the AR display, and the scene containing a first physical object in a field of view of the first camera; a second camera having a second point of view different from the first point of view, wherein the first physical object is in the field of view of the second camera; and a controller configured to: receive an input that the first physical object in the real world scene has become obscured by a second physical object from the first point of view of the first camera; determine a position of the second object that has obscured the first object; determine a perimeter of the second object; display augmented reality information representing the determined perimeter of the

Abstract: Methods and systems for guiding position and orientation of a robotic device holding a surgical tool are disclosed herein. For example, a method for guiding a robotic device holding a surgical tool configured for working a planned region of an anatomical structure can include detecting a presence of a distal tip of the tool in a target region on the anatomical structure, changing a visual aspect of a virtual representation of the target region when the tool tip is detected in said target region, computing a virtual goal defining a spatial range of position and orientation of the robotic device in which the tool is capable of working at least a determined part of the planned region, displaying the virtual goal and a representation of a tool base axis, and changing a visual aspect of the virtual goal when the representation of the base axis is inside the virtual goal.

Abstract: Described are surgical systems comprising a robotic device comprising a cutting tool, an actuation unit having at least two motorized rotational degrees of freedom about respective rotational axes that are substantially orthogonal to each other, and configured for adjusting a position and orientation of the cutting tool relative to each target plane, a planar mechanism connecting the last segment of the actuation unit to the cutting tool, a passive articulated lockable holding arm supporting the actuation unit, a tracking unit configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, a control unit configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit to bring the cutting plane into alignment with the target plane.

Abstract: Systems and methods are disclosed comprising receiving positional information comprising a plurality of acquired data points associated with a surface of an anatomical feature of a patient, determining a point cloud based on the plurality of data points, extracting a point from the plurality of data points as indicating a landmark on the anatomical feature, determining a boundary associated with the plurality of data points, comparing a distance between the boundary and the landmark point to a predetermined threshold, wherein if the distance between the boundary and the landmark point is not within the predetermined threshold, generating an indication requiring confirmation of the landmark point or a suggestion to acquire additional data points.

Abstract: Systems and methods for planning and assisting orthopaedic surgical procedures include a computing device and a robotic surgical device. The computing device defines a surgical coordinate system relative to a bone of a patient and captures a plurality of point positions in the surgical coordinate system. The plurality of point positions includes a first point position representing a location on a soft tissue surface covering a portion of the patient's bone. The computing device identifies an estimated soft tissue thickness value for each of the plurality of point positions and registers a three-dimensional model of the patient's bone in the surgical coordinate system based on the plurality of point positions and the estimated soft tissue thickness values. The computer system may control the robotic surgical device according to the registered bone model.

Abstract: Systems and methods for planning and assisting orthopaedic surgical procedures include a computer system and a robotic surgical device. The computer system receives multiple surgeon preferences, including target values and boundary values for surgical parameters of the orthopaedic surgical procedure. A surgeon uses the computer system to perform bony registration and leg-alignment registration for anatomy of a patient. The computer system determines a surgical plan for the orthopaedic surgical procedure based on the surgeon preferences, the bony registration, and the leg-alignment registration. The surgical plan includes planned values associated with the surgical parameters that are within the boundary values of the surgeon preferences. Determining the surgical plan may include automatically adjusting tibial coronal alignment, femoral coronal alignment, femoral flexion, femoral rotation, distal femoral resection height, proximal tibial resection height, and/or distal femoral resection height.

Abstract: A tracking array tracking system, including: at least one processor; and at least one memory storing instructions, that when executed by the at least one processor, cause the tracking array system at least to: determine that one marker of a plurality of markers on a tracking array is obstructed to a camera system; identify marker lines on the tracking array; determine a location of the marker lines of the tracking array; and determine a location and orientation of the tracking array based upon the location of the marker lines

Abstract: The invention relates to a system for guiding a surgical tool (200) held by a user relative to at least one target axis (T) defined in a coordinate system of a patient's spine, comprising: (i) a robotic device (300) comprising: —a base (301), —a guiding device (303) configured for constraining the tool to a guiding axis (G), —a compact motorized actuation unit (304) movable relative to the base (301), coupled to the guiding device (303) for adjusting a position and orientation of said guiding device relative to the target axis, —a support unit (305) connected to the base (301), comprising at least one element designed to make contact with the spine or a region of the patient's body adjacent to the spine so as to provide a partial mechanical link between the guiding device and the spine, (ii) a passive articulated lockable holding arm (400) supporting the base (301) of the robotic device, (iii) a tracking unit (500) configured to determine in real time the pose of the guiding axis with respect to the coordinat

Abstract: Described are surgical systems comprising a robotic device comprising a cutting tool, an actuation unit having at least two motorized rotational degrees of freedom about respective rotational axes that are substantially orthogonal to each other, and configured for adjusting a position and orientation of the cutting tool relative to each target plane, a planar mechanism connecting the last segment of the actuation unit to the cutting tool, a passive articulated lockable holding arm supporting the actuation unit, a tracking unit configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, a control unit configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit to bring the cutting plane into alignment with the target plane.

Abstract: The disclosure relates to a robotic surgical system for treating an anatomical structure (B1), comprising: —a base (10) configured to be handheld by a user, —an end effector (13) holding a surgical tool (2), —an actuation unit (12) coupled to the end effector, configured to move the end effector relative to the base, —a tracking unit (3) configured to determine in real time a position of the surgical tool with respect to a coordinate system of the anatomical structure, —a control unit (6) coupled to the tracking unit and to the actuation unit, the control unit being configured to: # compute a path of the tool (2) to remove a planned volume of the anatomical structure, and # control the actuation unit to move the surgical tool according to the computed path to burr the planned volume, wherein the control unit is configured to determine an external surface (S) of the anatomical structure (B1) to be treated and to compute the tool path such that the surgical tool remains under said external surface (S) during tr

Abstract: Surgical navigation trackers with guards are described that can aid in protecting tracking elements from accumulating liquids thereon, which can negatively impact surgical navigation performance. The surgical navigation trackers described herein can be utilized with a variety of systems and procedures. For example, in one embodiment a system is described that includes a surgical device having an end effector configured for manipulating tissue and a surgical navigation tracker configured to be coupled to any of a surgical instrument and an anatomical structure. The surgical navigation tracker can include a tracking element and a guard configured to be positioned between the tracking element and the cutting tool, as well as a tracking unit configured to determine a position of the surgical navigation tracker.

Abstract: The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) configured to determine the pose of the end effector with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.

Abstract: The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: i) a robotic device (100) comprising: —a cutting tool, —an actuation unit (4) comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base (40) and a platform (41) selectively orientable relative to the base (40) according to at least two of said motorized degrees of freedom, —a planar mechanism (24) connecting a terminal part of the actuation unit (4) to the cutting tool (2), ii) a passive articulated lockable holding arm (51) supporting the actuation unit, iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, iv) a control unit (300) configured to determine the pose of the cutting plane with respec

Abstract: The present disclosure relates to a surgical system for treating an anatomical structure according to a plurality of target planes and/or axes, comprising: a robotic device (1) comprising: an end effector (2) defining a current plane or axis, an actuation unit (11) coupled to the end effector (2), a tracking unit (3) configured to determine a pose of the current plane or axis, a control unit coupled to the tracking unit and configured to control the actuation unit (11) to align the current plane or axis of the end effector (2) with each one of the plurality of target planes and/or axes to treat the anatomical structure, the robotic device being operable in at least the following modes: a working mode wherein a treatment is being performed with the end effector constrained to one target plane or axis by the actuation unit, and a waiting mode wherein no treatment is being performed and the actuation unit is operable to move the end effector in alignment with another target plane or axis, wherein the contr

Abstract: The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) configured to determine the pose of the end effector with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.