Abstract: An end effector is disclosed for use with a surgical robotic manipulator and a cutting accessory. The end effector comprises a nose tube for receiving the cutting accessory and an actuator for driving the cutting accessory. The end effector may also comprise a mounting fixture for coupling the end effector to the surgical robotic manipulator and a handle for gripping by the user. The end effector may also comprise a guard releasably coupled to the cutting accessory for covering a portion of the cutting accessory. A first circuit may be mounted to one of the cutting accessory or the removable guard and a second circuit mounted to the nose tube such that the first circuit and the second circuit configured to communicate with each other when the cutting accessory is coupled to the end effector.

Abstract: An end effector is disclosed for use with a surgical robotic manipulator and a cutting accessory. The end effector comprises a nose tube for receiving the cutting accessory and an actuator for driving the cutting accessory. The end effector may also comprise a mounting fixture for coupling the end effector to the surgical robotic manipulator and a handle for gripping by the user. The handle may be coupled to the nose tube and configured to rotate about the axis of the nose tube. The end effector may also comprise a lever coupled to the handle and moveable between depressed and released positions. The end effector may further comprise an activator coupled to the lever and configured to interact with a sensor for sensing the position of the lever.

Abstract: A mounting system includes a first mounting portion associated with an arm of a surgical robot and a second mounting portion associated with an end effector for the surgical robot. The first mounting portion includes a body, a cover plate fixed to the body, and receptacles defined in the cover plate and each receptacle defining a contact surface. The second mounting portion is releasably coupled to the first mounting portion and supports an interface with kinematic couplers to engage the contact surfaces of the receptacles of the first mounting portion and to provide a kinematic coupling between the first and second mounting portions to constrain six degrees of freedom between the arm and the end effector. The mounting system includes a preloading mechanism with a tensioner rotatable between a tensioned position and an untensioned position to clamp the first and second mounting portions together.

Abstract: A sterile barrier assembly, mounting system, and method for kinematically coupling first and second surgical components together through the sterile barrier assembly so that positioning is repeatable and deterministic.

Abstract: Surgical systems and methods to interact with a limb of a patient held by a limb holder. An instrument is configured to apply a force externally to the limb held by the limb holder, One or more controllers measure an extent to which the limb moves relative to the limb holder in response to the force applied externally to the limb by the instrument. The one or more controllers generate, based on the measured extent, a notification relating to physical adjustment of one or both of the limb and the limb holder.

Abstract: System and methods of controlling a robotic system are disclosed. The robotic system interacts with an anatomy that is held by a support. The robotic system comprises a force-applying device that applies a force externally to the anatomy while the anatomy is held by the support. A controller measures the extent to which the anatomy is held by the support and controls the robotic system based on the measured extent.

Abstract: A robotic surgical system and method of operating the same. A manipulator supports a tool that has a TCP and manipulates a target bone. A navigation system has a localizer to monitor states of the manipulator and the target bone. Controller(s) determine commanded states of the TCP to move the tool along a cutting path relative to the target bone to remove material from the target bone. The controller(s) determine actual states of the TCP responsive to commanded movement of the tool along the cutting path, wherein each one of the commanded states of the TCP has a corresponding one of the actual states of the TCP for a given time step. The controller(s) compare the corresponding commanded and actual states of the TCP for one or more given time steps to determine a deviation and modify operation of the tool to account for the deviation.

Abstract: A method for mounting a tool to a surgical device using a packaging body. A proximal section of the packaging body is articulated about a second boundary relative to a first distal section of the packaging body for removing a proximal end of the tool from a proximal cavity for exposing the proximal end. The proximal end is mounted to the surgical device while a distal end of the tool remains securely retained by first and second distal sections of the packaging body within a distal cavity. After mounting, the distal end is released from the distal cavity by articulating one distal section relative to the other distal section for exposing a first portion of the distal end that was retained by the one distal section. Thereafter, the other distal section is removed for exposing a remaining portion of the distal end that was retained by the other distal section.

Abstract: A packaging system for an elongate tool to be coupled to a surgical device. A segmented packaging body comprises a first distal section, a second distal section, and a proximal section. The first and second distal sections provide a clamshell casing to the distal end of the tool, and the proximal section is pivotally coupled to the first distal section and configured to receive the proximal end of the tool. The packaging body may comprise a living hinge and perforations to facilitate mounting the tool on the surgical device without the user touching the tool, thereby minimizing risk of contamination and/or injury. The proximal section may be detached from the clamshell casing at the perforations after the tool is mounted on the surgical device. Secondary packaging may be provided to receive the packaging body. Methods for mounting the tool disposed within the packaging system are also disclosed.

Abstract: An electrode array and a delivery assembly are disclosed. The array is wrapped around a flexible core part of the delivery assembly. A sheath, also part of the delivery assembly, is disposed over the array and core. Steering cables extend through the core. Once the delivery assembly-encased array is inserted in the body, the combination is advanced to the tissue over which the array is to be deployed. By pulling on the steering cables the array and assembly are steered into position. Once the array is in position, the sheath is retracted, the array deploys over the target tissue.

Abstract: System and methods of controlling a robotic system are disclosed. The robotic system interacts with an anatomy that is held by a support. The robotic system comprises a force-applying device that applies a force externally to the anatomy while the anatomy is held by the support. A controller measures the extent to which the anatomy is held by the support and controls the robotic system based on the measured extent.

Abstract: An assembly for both targeting a location in a living being at which an implantable medical device is to be inserted and defining a percutaneous path to the target location. The assembly includes a guidewire with electrodes that is inserted percutaneously into the living being. Electrodes on the guidewire source and sink current to facilitate the identification of the target location. A dilator encased in a reinforced sleeve is disposed over the guidewire. Steering wires in the sleeve facilitate the advancement of the sleeve and the guidewire. Once the dilator and sleeve are advanced to the target location, the dilator is removed from the sleeve. The lumen in sleeve functions as the lumen in the living being through which the implantable device is delivered to the target location.

Abstract: A sterile barrier assembly, mounting system, and method for kinematically coupling first and second surgical components together through the sterile barrier assembly so that positioning is repeatable and deterministic.

Abstract: System and methods of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure include applying a force to the anatomy to generate a response by the anatomy. The response of the anatomy is measured and a characteristic of the anatomy is calculated based on the response. An instrument is autonomously controlled in relation to the anatomy based on the calculated characteristic.

Abstract: A sterile barrier assembly, mounting system, and method for kinematically coupling first and second surgical components together through the sterile barrier assembly so that positioning is repeatable and deterministic.

Abstract: An electrode array and a delivery assembly. The array is wrapped around a flexible core part of the delivery assembly. A sheath, also part of the delivery assembly, is disposed over the array and core. Steering cables extend through the core. Once the delivery assembly-encased array is inserted in the body, the combination is advanced to the tissue over which the array is to be deployed. By pulling on the steering cables the array and assembly are steered into position. Once the array is in position, the sheath is retracted, the array deploys over the target tissue.

Abstract: A packaging system for an elongate tool to be coupled to a surgical device. A segmented packaging body comprises a first distal section, a second distal section, and a proximal section. The first and second distal sections provide a clamshell casing to the distal end of the tool, and the proximal section is pivotally coupled to the first distal section and configured to receive the proximal end of the tool. The packaging body may comprise a living hinge and perforations to facilitate mounting the tool on the surgical device without the user touching the tool, thereby minimizing risk of contamination and/or injury. The proximal section may be detached from the clamshell casing at the perforations after the tool is mounted on the surgical device. Secondary packaging may be provided to receive the packaging body. Methods for mounting the tool disposed within the packaging system are also disclosed.

Abstract: An electrode array and a delivery assembly. The array is wrapped around a flexible core part of the delivery assembly. A sheath, also part of the delivery assembly, is disposed over the array and core. Steering cables extend through the core. Once the delivery assembly-encased array is inserted in the body, the combination is advanced to the tissue over which the array is to be deployed. By pulling on the steering cables the array and assembly are steered into position. Once the array is in position, the sheath is retracted, the array deploys over the target tissue.

Abstract: An electrode array and deployment assembly includes an access cannula comprising an outer structural member formed from material insertable in living tissue and defining a lumen opening at a distal end. An electrode assembly has a frame and at least one electrode disposed on the frame. A deployment cannula has a lumen and a distal end opening. The deployment cannula is disposed in the lumen of the outer structural member and configured to be discharged from the lumen opening and rotated during discharge. The electrode assembly is disposed in the lumen of the deployment cannula for discharge from the distal end opening of the deployment cannula lumen. The electrode assembly is seated in the deployment cannula lumen in a select orientation and is configured to rotate with the deployment cannula so that the rotation of the deployment cannula results in a rotation of the electrode assembly.

Abstract: An electrode array assembly with a frame that is foldable or bendable on which electrodes are disposed. The frame includes laterally spaced apart bridges. Tabs extend laterally outwardly from the bridges Electrodes are disposed on the tabs. Beams, also part of the frame, extend between the laterally adjacent bridges. The frame can be folded around the beams so as to cause the laterally spaced bridges to at least partially overlap. When the beams are so bent, the electrode array can be disposed in an access cannula that has a diameter less than the width of the unfolded array.