Abstract: A system and process is provided for dynamically positioning or repositioning a robot in a surgical context based on workspace and task requirements, manipulator requirements, or user preferences to execute a surgical plan. The system and method accurately determines and indicates an optimal position for a robot with respect to a patient's anatomy before or during a surgical procedure. Optimal positions for a robot are intuitively indicated to a user. surgical procedures can illustratively include surgery to the knee joint, hip joint, spine, shoulder joint, elbow joint, ankle joint, jaw, a tumor site, joints of the hand or foot, and other appropriate surgical sites.

Abstract: A system and process for performing orthopedic surgery is provided that uses a tibial trial system in total knee arthroplasty for assessing optimal internal-external rotation and posterior tibial slope, and for measuring the rotation of a tibial trial throughout flexion-extension to determine and mark the best position for the final tibial component. The tibial trial system determines the internal-external location on a patient specific basis with improved component placement well within the present manual methods. One particular advantage to the tibial trial system is to assess the natural internal-external rotation that the tibial component will experience relative to the femoral component during flexion-extension as opposed to simply recording and balancing forces on a static tibial trial. The invention disclosed herein may also be adapted to be used with a computer assisted surgical device. Such surgical devices include active, semi-active, and haptic devices as well as articulating drill and saw systems.

Abstract: A system for determining an orientation of a tool axis with respect to a coordinate frame of a robot is described herein. The robot includes a tool holder and a plurality of fiducial markers for defining a first coordinate frame of the robot. A calibration device is provided having a second fiducial marker for a tracking system to track positions and configured to couple to the tool holder; and rotate relative to the tool holder when coupled to the tool holder. A computer having a processor is configured to fit a circle or arc to recorded positions of the calibration device. The recorded positions of the calibration device are recorded when coupled to the tool holder, is rotated relative to the tool holder. A vector normal to the fitted circle or arc is calculated to determine an orientation of the tool axis. A method of use is also provided.

Abstract: A calibration device is provided having a body with an exterior surface configured for placement about a tool such that the body rotates about a tool axis. One or more fiducial marker is positioned on the exterior surface and in communication with a tracking system. A fixed fiducial marker array is provided that is also in communication with the tracking system. A calibration tool defines the tool axis relative to the fiducial marker array. A surgical system is also provided with a tracking module that calculates a center point of the rotation or a normal vector to the circular path to define a tool axis orientation. A method of using the surgical system and defining a tool axis relative to a fiducial marker array is provided. A system for defining a robot link orientation or tracking a tool a medical procedure and a fiducial marker array are provided.

Abstract: A method and system are provided to assist in positioning the field-of-view (FOV) of an optical tracking system during a computer-assisted surgical procedure. The method includes displaying a view from a visible light detector on a display, and generating an outline as an overlay on the display of a FOV of two or more optical tracking detectors on the displayed view from the visible light detector. A user then positions at least one of: a) the two or more optical tracking detectors, or b) a tracked object based on the displayed view from the visible light detector and the generated outline.

Abstract: A device for checking post cut plane accuracy and alignment following bone removal in a bone of a patient during a computer-assisted surgical procedure to create a bone surface is provided. The device includes a body having an axis and adapted to contact the bone surface. One or more alignment features are associated with the body and are accessible when the body is in contact with the bone surface. Each of the one or more alignment features has a known orientation and position relative to the axis. A method for checking post cut plane accuracy and alignment following removal of bone from a patient to create a bone surface during a computer-assisted surgical procedure is also provided. A computer-assisted surgical system is provided that includes a tracking system, a tracked digitizer probe, the aforementioned device, a tracked surgical device, and one or more computers with software for determining the orientation.

Abstract: A system and process is provided for dynamically positioning or repositioning a robot in a surgical context based on workspace and task requirements, manipulator requirements, or user preferences to execute a surgical plan. The system and method accurately determines and indicates an optimal position for a robot with respect to a patient's anatomy before or during a surgical procedure. Optimal positions for a robot are intuitively indicated to a user. surgical procedures can illustratively include surgery to the knee joint, hip joint, spine, shoulder joint, elbow joint, ankle joint, jaw, a tumor site, joints of the hand or foot, and other appropriate surgical sites.

Abstract: A method for removing an implant attached to a bone during revision joint replacement surgery includes a library of implant models. A series of surface points are collected on the implant with a digitizer. A best match is computed between the collected surface points and an implant model in the library of implant models to register the position of the implant model to the implant. A location is computed of a material-implant interface based on the geometry of the implant model and the registered position of the implant model. Material is removed at the material-implant interface to separate the implant from the bone. A computer-assisted surgical system is provided for performing the method.

Abstract: A method for removing an implant attached to a bone during revision joint replacement surgery includes a library of implant models. A series of surface points are collected on the implant with a digitizer. A best match is computed between the collected surface points and an implant model in the library of implant models to register the position of the implant model to the implant. A location is computed of a material-implant interface based on the geometry of the implant model and the registered position of the implant model. Material is removed at the material-implant interface to separate the implant from the bone. A computer-assisted surgical system is provided for performing the method.

Abstract: A method for implantation of non-spherical or asymmetric implants is provided that includes devising a pre-surgical plan with pre-operative planning software operating on a computer to define at least one shape, orientation, type, size, geometry, or placement of an implant having at least a head component or a cup component in, on, or relative to an operative bone of a subject, the head component or the cup having at least two cross-sectional radii of different dimensions in, on, or relative to an operative bone of a subject. A computer-assisted surgical device is used to place the implant. The implant is positioned in, on, or relative to the bone by the computer-assisted surgical device in accordance with the pre-surgical plan. A system for devising a pre-surgical plan for the implant, and positioning the implant in, on, or relative to a bone in accordance with the pre-surgical plan is also provided.

Abstract: A method and system for controlling and executing a workflow during a computer-assisted surgical procedure include providing an optical tracking system having a field of view and being in communication with the workflow, introducing a first tracked device into the field of view, identifying the first tracked device with the tracking system based on a first reference member associated with the first tracked device, determining a first step in the workflow based on the identification of the first tracked device, and displaying the first step to a user on a graphical user interface. The optical tracking system having a processor with software executable instructions for identifying the presence or absence of either the tracked implements in the field of view of the tracking system, determining a workflow step based on identification of the tracked implement, and commanding the workflow to display the determined step on the graphical user interface.

Abstract: A system and process is provided for dynamically positioning or repositioning a robot in a surgical context based on workspace and task requirements, manipulator requirements, or user preferences to execute a surgical plan. The system and method accurately determines and indicates an optimal position for a robot with respect to a patient's anatomy before or during a surgical procedure. Optimal positions for a robot are intuitively indicated to a user, surgical procedures can illustratively include surgery to the knee joint, hip joint, spine, shoulder joint, elbow joint, ankle joint, jaw, a tumor site, joints of the hand or foot, and other appropriate surgical sites.

Abstract: A calibration device is provided having a body with an exterior surface configured for placement about a tool such that the body rotates about a tool axis. One or more fiducial marker is positioned on the exterior surface and in communication with a tracking system. A fixed fiducial marker array is provided that is also in communication with the tracking system. A calibration tool defines the tool axis relative to the fiducial marker array. A surgical system is also provided with a tracking module that calculates a center point of the rotation or a normal vector to the circular path to define a tool axis orientation. A method of using the surgical system and defining a tool axis relative to a fiducial marker array is provided. A system for defining a robot link orientation or tracking a tool a medical procedure and a fiducial marker array are provided.

Abstract: A system and process for performing orthopedic surgery is provided that uses a tibial trial system in total knee arthroplasty for assessing optimal internal-external rotation and posterior tibial slope, and for measuring the rotation of a tibial trial throughout flexion-extension to determine and mark the best position for the final tibial component. The tibial trial system determines the internal-external location on a patient specific basis with improved component placement well within the present manual methods. One particular advantage to the tibial trial system is to assess the natural internal-external rotation that the tibial component will experience relative to the femoral component during flexion-extension as opposed to simply recording and balancing forces on a static tibial trial. The invention disclosed herein may also be adapted to be used with a computer assisted surgical device. Such surgical devices include active, semi-active, and haptic devices as well as articulating drill and saw systems.

Abstract: A system and process for performing orthopedic surgery is provided that uses a patient's existing implant as a registration tool in an orthopedic surgical procedure. The systems and processes may be used with computer assisted systems or navigation systems to aid in the removal of bone, bone cement, or a bone prosthesis, typically a bone prosthesis used in hip replacement surgery, knee replacement surgery, and the like. The removal of the prosthesis may be done by conventional methods, with navigation systems, robotic assistance or articulating hand held systems. The removal of bone and/or bone cement may be performed with navigated systems, robotic systems, articulating hand-held systems and combinations thereof.

Abstract: A calibration device is provided having a body with an exterior surface configured for placement about a tool such that the body rotates about a tool axis. One or more fiducial marker is positioned on the exterior surface and in communication with a tracking system. A fixed fiducial marker array is provided that is also in communication with the tracking system. A calibration tool defines the tool axis relative to the fiducial marker array. A surgical system is also provided with a tracking module that calculates a center point of the rotation or a normal vector to the circular path to define a tool axis orientation. A method of using the surgical system and defining a tool axis relative to a fiducial marker array is provided. A system for defining a robot link orientation or tracking a tool a medical procedure and a fiducial marker array are provided.

Abstract: A system and process for performing orthopedic surgery is provided that uses a tibial trial system in total knee arthroplasty for assessing optimal internal-external rotation and posterior tibial slope, and for measuring the rotation of a tibial trial throughout flexion-extension to determine and mark the best position for the final tibial component. The tibial trial system determines the internal-external location on a patient specific basis with improved component placement well within the present manual methods. One particular advantage to the tibial trial system is to assess the natural internal-external rotation that the tibial component will experience relative to the femoral component during flexion-extension as opposed to simply recording and balancing forces on a static tibial trial. The invention disclosed herein may also be adapted to be used with a computer assisted surgical device. Such surgical devices include active, semi-active, and haptic devices as well as articulating drill and saw systems.

Abstract: A modular wrist guide is provided that aids a user in operating a hand-held surgical instrument to accurately perform surgical procedures including but not limited to joint arthroplasty. The modular wrist guide acts to constrain the orientation of a hand-held surgical instrument, or a user's wrist relative to the user's forearm to perform a procedure according to a surgical plan. A forearm embracing member is designed to secure the user's forearm to the modular wrist guide.

Abstract: Systems and processes are provided that utilize the accuracy and adaptability of an optical tracking system to track an object by maintaining a line of sight (LOS) between the optical signals from the tracked object and the optical receivers regardless of the position and orientation of the object being tracked. LOS is maintained without having to manually adjust a tracked device or the optical receivers, or be limited to a specified working volume. Instead, whenever the tracked device moves, an active controller device calculates new values for the degrees of freedom of a series of joints holding a tracking array to the tracked object to position and orient the tracking array to maintain visibility to the optical receivers. A computer-assisted or robotic device that decreases operating times, and improves surgical accuracy, without additional user requirements or adjustments to maintain the LOS of the optical tracking system is provided.

Abstract: A system and process for performing orthopedic surgery is provided that uses a patient's existing implant as a registration tool in an orthopedic surgical procedure. The systems and processes may be used with computer assisted systems or navigation systems to aid in the removal of bone, bone cement, or a bone prosthesis, typically a bone prosthesis used in hip replacement surgery, knee replacement surgery, and the like. The removal of the prosthesis may be done by conventional methods, with navigation systems, robotic assistance or articulating hand held systems. The removal of bone and/or bone cement may be performed with navigated systems, robotic systems, articulating hand-held systems and combinations thereof.