Abstract: A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.

Abstract: A method of operating a robotic surgical system includes monitoring a force applied at a surgical instrument attached to a robotic arm, comparing the force to a force threshold for a surgical procedure, providing a signal in response to the force being outside the force threshold, monitoring, using a reference array attached to a patient, a bone movement caused while the surgical instrument interacts with the patient, and adjusting control of the robotic arm based on the bone movement.

Abstract: A method of generating resection data for use in planning an arthroplasty procedure on a patient bone covered at least partially in cartilage includes receiving a three-dimensional patient bone model comprising a bone model surface, and correlated with a position and orientation of the patient bone via a navigation system. The method further includes identifying a target region on the bone model surface of the model for intra-operative registration, and receiving location data for a first plurality of points based on the intra-operative registration of the cartilage on the patient bone in locations corresponding to points within the target region on the bone model surface. The method further includes determining resection depth based at least in part on the location data for the first plurality of points; and generating resection data using the resection depth, the resection data configured to be utilized by the navigation system during the arthroplasty procedure.

Abstract: A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

Abstract: A method includes generating an anatomical model corresponding to an anatomical feature of a patient, proposing a component for coupling to the anatomical feature of the patient, positioning a virtual model corresponding to the component in a proposed location relative to the anatomical model, generating a planned resection geometry based on a virtual relationship between the virtual model and the anatomical model, tracking movement of a surgical instrument relative to the anatomical feature, and simultaneously displaying the planned resection geometry, the anatomical model, and a graphic corresponding to the surgical instrument on a display based in part on the tracked movement of the surgical instrument relative to the anatomical feature.

Abstract: A surgical system includes a robotic device configured to facilitate performance of a procedure and a computer system communicable with the robotic device. The computer system is programmed to associate a virtual object with an anatomical feature, adjust the virtual object associated with the anatomical feature in response to movement of the anatomical feature during the procedure by monitoring detected movement of the anatomical feature and adjusting the virtual object in response to the detected movement, and control the robotic device based on a relationship between at least one point associated with the robotic device and the virtual object during the procedure.

Abstract: A surgical system includes a surgical tool, a tracking system configured to obtain tracking data indicative of positions of the surgical tool relative to an anatomical feature, an acoustic device, and a computer system programmed to control the acoustic device to provide acoustic feedback to a user based on the tracking data.

Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.

Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.

Abstract: A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. One or more sensors in the docking interface sense a magnetic field generated by the trocar. One or more processors are configured to determine a position and orientation of the trocar based on the sensed magnetic field, and then drive the actuators to orient the docking interface to the determined orientation of the trocar, or otherwise guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

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 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 device, an instrument coupled to the surgical device and defining an instrument axis, and a processor operatively coupled to the surgical device. The processor is configured to determine a current orientation angle of an instrument axis based on an orientation of a target axis, establish a virtual boundary, control the surgical device to apply a force to constrain the instrument axis within the virtual boundary, and collapse the virtual boundary as the instrument axis is brought into alignment with the target axis.

Abstract: A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.

Abstract: A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.

Abstract: A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.

Abstract: A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.

Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.

Abstract: A surgical system includes a surgical device, a surgical tool coupled to the surgical device, a user interface, and a control system. The control system is configured to identify a target point or target region of an anatomy of a patient, generate a virtual object based on the target point or target region, the virtual object comprising a funnel-shaped boundary having a central axis substantially aligned with the target point or target region, and control the surgical device to constrain the surgical tool from penetrating the funnel-shaped boundary.

Abstract: A method for joint replacement is provided. A representation of a first bone is created, and a representation of a second bone is created. Bone preparation for implanting a first implant on the first bone is planned. The first bone to receive the first implant is prepared by manipulating a surgical tool to sculpt the first bone. Bone preparation for implanting a second implant on the second bone after preparing the first bone is planned. The second bone to receive the second implant is prepared by manipulating the surgical tool to sculpt the second bone.