Abstract: Surgical systems involve a robotic manipulator that moves a surgical tool to remove material from a workpiece and a navigation system to track a pose of the surgical tool relative to the workpiece. A control system determines a non-homogenous density distribution of the workpiece. The control system generates a tool path based on the density distribution. The control system controls the robotic manipulator to move the surgical tool along the tool path to remove the material from the workpiece while accounting for the density distribution. As the surgical tool moves along the tool path, the control system adjusts one or more operating parameters of the surgical tool to account for the density distribution, such as by adjusting the feed rate of the surgical tool, the cutting speed of the surgical tool, and/or the cutting depth of the surgical tool.

Abstract: A tracking device for a navigation system that includes a localizer. The tracking device has a tracking body. At least one tracking element is supported by the tracking body and configured to transmit a tracking signal for the localizer. A visual indicator is supported by the tracking body and has an emitter configured to generate a visible light. A tracker controller supported by the tracking body is configured to receive a signal from the navigation system indicative of the tracking signal being received by the localizer, and in response, control the visual indicator to activate the emitter to generate the visible light to produce a color to indicate to a user that the tracking signal is being received by the localizer.

Abstract: Surgical systems and methods for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate a virtual boundaries delineating a portions of the anatomy allowed to be removed by the surgical tool. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a first virtual boundary and according to a first feed rate or first frequency of path oscillations to remove a first portion. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a second virtual boundary that is spaced from the first virtual boundary, and according to a different feed rate or different frequency of path oscillations, to remove a second portion.

Abstract: A sterile drape assembly for a surgical robot including a robotic arm with a plurality of links and a plurality of joints. The sterile drape assembly includes a surgical drape adapted to be disposed over the robotic arm and a drape belt configured to be secured to the surgical drape. The drape belt has at least one optical tracking element that moves with the drape belt as the drape belt is secured to the surgical drape.

Abstract: A surgical system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. A navigation system includes a localizer, a first tracker coupled to the robotic manipulator or the tool, and a second tracker coupled to a workpiece. Controller(s) determine, from the navigation system, a pose of the tool relative to the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a first portion from the workpiece with the tool and sense interaction between the tool and the workpiece during removal of the first portion to detect a density of the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a second portion from the workpiece with the tool, wherein a cutting depth for the second portion is based, at least in part, on the detected density.

Abstract: A surgical tracker and method of operating the same involve the surgical tracking including one or more tracking markers, a radio frequency (RF) transmitter, an infrared (IR) receiver, and a tracker controller coupled to the RF transmitter and the IR receiver. The tracker controller obtains sensor data and operates the IR receiver to wirelessly receive a command to manage an operating parameter of the surgical tracker with respect to RF communication. The tracker controller operates the RF transmitter to wirelessly transmit the sensor data using RF communication managed in accordance with the operating parameter.

Abstract: Surgical systems and methods involve a surgical manipulator with a plurality of links and joints that is configured to support and move a surgical instrument for manipulation of an anatomy. A controller is coupled to the surgical manipulator and is configured to measure an actual torque for at least one active joint and calculate an expected torque for the at least one active joint. The controller compares the actual torque and the expected torque to estimate an external force. The controller determines, based on the external force, that the surgical manipulator and/or the surgical instrument has collided with an object.

Abstract: Disclosed is a navigation system configured to track an object. The navigation system comprises a tracker configured to couple to the object and a localization device configured to track the tracker. The tracker and the localization device are configured to wirelessly communicate using a first communication method operable on a first spectrum and to wirelessly communicate using a second communication method operable on a second spectrum different from the first spectrum. The localization device utilizes the first communication method to track the tracker and utilizes the first communication method to manage an operating parameter of the tracker with respect to the second communication method.

Abstract: A plate for attaching to an anatomic structure with fasteners. The plate has a body with a top surface and a bottom surface opposite the top surface. The body defines one or more openings to receive a respective one of the one or more fasteners. The bottom surface is concave to define a space to accommodate a portion of the anatomic structure. A bone pad surface extends from the bottom surface. A spike extends away from the bone pad surface. An extension arm can be coupled to the plate and the extension arm can support a tracking head to implement a surgical tracking assembly.

Abstract: A surgical navigation system and method of operating the same involve a pointer tool and a localizer configured to track the pointer tool. Controller(s) is/are coupled to the localizer and are configured to generate a virtual boundary relative to a bone at a surgical site. The virtual boundary has a shape that delineates a region of the bone to be removed from a region to be avoided. The controller(s) identify, with the localizer, a position of one or more landmarks at the surgical site in response to the pointer tool touching the one or more landmarks at the surgical site. The controller(s) revise the shape of the virtual boundary based on the position of the one or more landmarks.

Abstract: Surgical systems and methods for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate a virtual boundaries delineating a portions of the anatomy allowed to be removed by the surgical tool. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a first virtual boundary and according to a first feed rate or first frequency of path oscillations to remove a first portion. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a second virtual boundary that is spaced from the first virtual boundary, and according to a different feed rate or different frequency of path oscillations, to remove a second portion.

Abstract: Surgical systems and methods for generating a tool path. A manipulator is configured to support and move a surgical instrument. Controller(s) obtain data that defines a volume of tissue to be removed from a surgical site. The controller(s) operate the manipulator to move the surgical instrument to remove first portions of the volume and acquire data defining the first portions removed from the volume. The controller(s) identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal. The controller(s) generate a tool path that passes through the additional portions and operate the manipulator to move the surgical instrument along the tool path to remove the additional portions.

Abstract: A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the second portion of the anatomy.

Abstract: Surgical systems and methods of operating the same involve controlling a robotic manipulator to move a cutting instrument to cut away material from a bone at a surgical site. A machine vision system uses a vision camera to detect an object at, or in proximity to, the surgical site. A control system associates a virtual boundary with the detected object and controls the robotic manipulator to move the cutting instrument based on the virtual boundary such that the cutting instrument avoids the detected object. In one example, the control system modifies a tool path of the cutting instrument based on the virtual boundary to avoid the detected object. Additionally, or alternatively, the control system can automatically adjust an orientation of the cutting instrument based on the virtual boundary to avoid the detected object.

Abstract: A surgical system, method, and non-transitory computer readable medium involving a robotic manipulator configured to move a surgical instrument relative to virtual boundaries. A navigation system tracks each of a first object, a second object, and the surgical instrument. The first object is moveable relative to the second object. One or more controllers associate a first virtual boundary with the first object and associate a second virtual boundary with the second object. The first virtual boundary is moveable in relation to the second virtual boundary. The controller(s) control the robotic manipulator in relation to the first virtual boundary to facilitate interaction of the surgical instrument with the first object. The controller(s) control the robotic manipulator in relation to the second virtual boundary to avoid interaction of the surgical instrument with the second object.

Abstract: A surgical system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. A navigation system includes a localizer, a first tracker coupled to the robotic manipulator or the tool, and a second tracker coupled to a workpiece. Controller(s) determine, from the navigation system, a pose of the tool relative to the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a first portion from the workpiece with the tool and sense interaction between the tool and the workpiece during removal of the first portion to detect a density of the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a second portion from the workpiece with the tool, wherein a cutting depth for the second portion is based, at least in part, on the detected density.

Abstract: A sterile drape assembly for a surgical robot including a robotic arm with a plurality of links and a plurality of joints. The sterile drape assembly includes a surgical drape adapted to be disposed over the robotic arm and a drape belt configured to be secured to the surgical drape. The drape belt has at least one optical tracking element that moves with the drape belt as the drape belt is secured to the surgical drape.

Abstract: A surgical robotic system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. Controller(s) generate a first tool path to remove a first portion of material from the bone and control the manipulator to position the tool for movement along the first tool path to remove the first portion. The controller(s) sense interaction between the tool and the bone during movement of the tool along the first tool path and generate a second tool path to remove a second portion of material from the bone. Generation of the second tool path is based, at least in part, on the sensed interaction between the tool and the bone during movement along the first tool path. The controller(s) control the manipulator to position the tool for movement along the second tool path to remove the second portion.

Abstract: Surgical systems, methods and non-transitory computer readable medium for comparing localizer and image data to identify a region, such as an avoidance region or object. A localizer generates the localizer data associated with a surgical object. A vision device generates image data associated with the surgical object and an environment of the surgical object within a field-of-view of the vision device. Controller(s) associate a first virtual object with the surgical object and determine a pose of the first virtual object based on the localizer data. The controller(s) compare the image data and the localizer data to identify a region in the image data located outside of the first virtual object. The controller(s) associate a second virtual object with the identified region.

Abstract: A sterile drape assembly is disclosed for a surgical robot. The surgical robot has a robotic arm including a plurality of links and a plurality of motorized joints for moving the plurality of links. At least one optical tracking element is located on one or more the links of the robotic arm. The sterile drape assembly has a surgical drape with an arm drape portion adapted to be disposed over the robotic arm and the one or more the links of the robotic arm. A drape belt cooperates with the arm drape portion to cover the at least one optical tracking element located on the one or more the links of the robotic arm.