Abstract: Robotic surgical systems and methods involve a robotic manipulator, a surgical tool configured to engage and rotate a screw, and a haptic device having an actuator and a manually rotatable interface. Controller(s) receive a control input generated by manual rotation of the rotational interface, the input defining a rotational rate and/or advancement rate of the screw. The controller(s) operate the surgical tool and robotic manipulator to rotate and advance the screw according to the control input. The controller(s) obtain information indicative of an interaction between the screw and the target site, and adjust a force or torque required to rotate the rotational interface based on the information. The adjusted force or torque provides haptic feedback to the operator that emulates the interaction between the screw and the target site.

Abstract: A surgical sagittal saw cartridge that includes a guide bar formed from an inner plate and opposed outer plates. The cartridge has a blade that extends distally from the guide bar, the blade comprising a blade head including a plurality of teeth. The plurality of teeth may include a combination of pilot teeth and base teeth, the pilot teeth configured to extend distally beyond the base teeth. The inner plate may comprise an inner tine and/or two opposed outer tines. The inner tine may be formed to define the head against which the blade is configured to pivot about. The inner plate may be configured to have opposed edges that extend beyond the opposed edges of the outer plates to define a mounting feature. The inner plate may also define a reference feature configured to register and/or verify the pose of the cartridge with a navigation system.

Abstract: Disclosed herein are techniques including a robotic manipulator including a surgical tool to interface with and rotate the screw about a rotational axis. A haptic device includes an actuator and a rotational interface coupled to the actuator and the rotational interface is manually manipulatable by a hand of an operator. One or more controllers control movement of the robotic manipulator to maintain the rotational axis of the surgical tool along a planned trajectory; autonomously control the surgical tool to rotate the screw at a rotational rate about the rotational axis and to linearly advance the screw at an advancement rate according to a known thread geometry of the screw; obtain a measurement indicative of a present interaction between the screw and the target site; and control the actuator of the haptic device to enable the rotational interface to emulate the present interaction between the screw and the target site.

Abstract: A surgical saw blade cartridge that includes a guide bar formed from three plates. The cartridge has a blade that extends distally from the guide bar, the blade comprising a blade head including a plurality of teeth. The guide bar may be configured to have opposed edges that define a mounting feature for orienting the guide bar within the mount the surgical saw. One of the plates may be configured to define a reference feature configured to register and/or verify the pose of the cartridge with a navigation system. A method of registering the cartridge within a known coordinate system is disclosed. The method may comprise determining the deviation between an expected position of the cartridge and an actual position of the cartridge based on the reference feature and defining a hybrid position of the cartridge within the known coordinate system based on the deviation.

Abstract: Surgical systems and methods involve a robotic manipulator with a force sensor and a surgical tool that holds a screw. The screw has a known thread geometry. A navigation system tracks a pose of a target anatomy. Controller(s) store the known thread geometry and control the robotic manipulator to maintain the rotational axis on a planned trajectory with respect to the target anatomy based on the tracked pose of the target anatomy. The controller(s) detect, with the force sensor, a force applied by a user. The controller(s) control a rotational rate of the surgical tool to rotate the screw about a rotational axis and an advancement rate of the surgical tool to linearly advance the screw along the planned trajectory. The rotational rate and the advancement rate are based on the force applied by the user and are proportional to the known thread geometry.

Abstract: A surgical sagittal saw cartridge that includes a guide bar formed from an inner plate and opposed outer plates. The cartridge has a blade that extends distally from the guide bar, the blade comprising a blade head including a plurality of teeth. The plurality of teeth may include a combination of pilot teeth and base teeth, the pilot teeth configured to extend distally beyond the base teeth. The inner plate may comprise an inner tine and/or two opposed outer tines. The inner tine may be formed to define the head against which the blade is configured to pivot about. The inner plate may be configured to have opposed edges that extend beyond the opposed edges of the outer plates to define a mounting feature. The inner plate may also define a reference feature configured to register and/or verify the pose of the cartridge with a navigation system.

Abstract: Surgical systems and methods involve a robotic manipulator with a force sensor and a surgical tool that holds a screw. The screw has a known thread geometry. A navigation system tracks a pose of a target anatomy. Controller(s) store the known thread geometry and control the robotic manipulator to maintain the rotational axis on a planned trajectory with respect to the target anatomy based on the tracked pose of the target anatomy. The controller(s) detect, with the force sensor, a force applied by a user. The controller(s) control a rotational rate of the surgical tool to rotate the screw about a rotational axis and an advancement rate of the surgical tool to linearly advance the screw along the planned trajectory. The rotational rate and the advancement rate are based on the force applied by the user and are proportional to the known thread geometry.

Abstract: A robotic system and methods for performing spine surgery are disclosed. The system comprises a robotic manipulator with a tool to hold a screw and to rotate the screw about a rotational axis. The screw is self-tapping and has a known thread geometry that is stored by one or more controllers. A navigation system tracks a position of a target anatomy. Movement of the robotic manipulator is controlled to maintain the rotational axis of the surgical tool along a planned trajectory with respect to the target anatomy based on the tracked position of the target anatomy. In autonomous or manual modes of operation, the rotational rate of the screw about the rotational axis and/or an advancement rate of the screw linearly along the planned trajectory is controlled to be proportional to the known thread geometry stored in the memory.

Abstract: Disclosed herein are techniques including a robotic manipulator including a surgical tool to interface with and rotate the screw about a rotational axis. A haptic device includes an actuator and a rotational interface coupled to the actuator and the rotational interface is manually manipulatable by a hand of an operator. One or more controllers control movement of the robotic manipulator to maintain the rotational axis of the surgical tool along a planned trajectory; autonomously control the surgical tool to rotate the screw at a rotational rate about the rotational axis and to linearly advance the screw at an advancement rate according to a known thread geometry of the screw; obtain a measurement indicative of a present interaction between the screw and the target site; and control the actuator of the haptic device to enable the rotational interface to emulate the present interaction between the screw and the target site.

Abstract: A robotic system and methods for performing spine surgery are disclosed. The system comprises a robotic manipulator with a tool to hold a screw and to rotate the screw about a rotational axis. The screw is self-tapping and has a known thread geometry that is stored by one or more controllers. A navigation system tracks a position of a target anatomy. Movement of the robotic manipulator is controlled to maintain the rotational axis of the surgical tool along a planned trajectory with respect to the target anatomy based on the tracked position of the target anatomy. In autonomous or manual modes of operation, the rotational rate of the screw about the rotational axis and/or an advancement rate of the screw linearly along the planned trajectory is controlled to be proportional to the known thread geometry stored in the memory.

Abstract: A robotic system and methods for performing spine surgery are disclosed. The system comprises a robotic manipulator with a tool to hold a screw and to rotate the screw about a rotational axis. The screw is self-tapping and has a known thread geometry that is stored by a controller. A navigation system tracks a position of a target site. Movement of the robotic manipulator is controlled to maintain the rotational axis of the surgical tool along a planned trajectory with respect to the target site based on the tracked position of the target site. In autonomous or manual modes of operation, the rotational rate of the screw about the rotational axis and/or an advancement rate of the screw linearly along the planned trajectory is controlled to be proportional to the known thread geometry stored in the memory.

Abstract: A robotic system and methods for performing spine surgery are disclosed. The system comprises a robotic manipulator with a tool to hold a screw and to rotate the screw about a rotational axis. The screw is self-tapping and has a known thread geometry that is stored by a controller. A navigation system tracks a position of a target site. Movement of the robotic manipulator is controlled to maintain the rotational axis of the surgical tool along a planned trajectory with respect to the target site based on the tracked position of the target site. In autonomous or manual modes of operation, the rotational rate of the screw about the rotational axis and/or an advancement rate of the screw linearly along the planned trajectory is controlled to be proportional to the known thread geometry stored in the memory.

Abstract: A biodegradable wellbore fluid with an oleaginous phase including a linear paraffin having 11-18 carbon atoms, a non-oleaginous phase, an emulsifying agent and optionally a weighting agent. Use of the fluid while drilling allows bio-remediation of drill cuttings using land spreading, bioreactors, conventional composting or vermiculture composting. The resulting product, especially when vermicomposed, is potentially useful as a soil amendment or plant fertilizer material.

Abstract: An applicator is provided with a volume for receiving one or more disposable or refillable container containing a hair treatment composition. The applicator is provided with opposed arms that are configured such that, when the arms are brought towards each other, the hair treatment composition is dispensed.

Abstract: An applicator is provided with a volume for receiving one or more disposable or refillable container containing a hair treatment composition. The applicator is provided with opposed arms that are configured such that, when the arms are brought towards each other, the hair treatment composition is dispensed.

Abstract: A biodegradable wellbore fluid with an oleaginous phase including a linear paraffin having 11-18 carbon atoms, a non-oleaginous phase, an emulsifying agent and optionally a weighting agent. Use of the fluid while drilling allows bio-remediation of drill cuttings using land spreading, bioreactors, conventional composting or vermiculture composting. The resulting product, especially when vermicomposed, is potentially useful as a soil amendment or plant fertilizer material.

Abstract: A biodegradable wellbore fluid with an oleaginous phase including a linear paraffin having 11-18 carbon atoms, a non-oleaginous phase, an emulsifying agent and optionally a weighting agent. Use of the fluid while drilling allows bio-remediation of drill cuttings using land spreading, bioreactors, conventional composting or vermiculture composting. The resulting product, especially when vermicomposed, is potentially useful as a soil amendment or plant fertilizer material.

Abstract: A biodegradable wellbore fluid with an oleaginous phase including a linear paraffin having 11-18 carbon atoms, a non-oleaginous phase, an emulsifying agent and optionally a weighting agent. Use of the fluid while drilling allows bio-remediation of drill cuttings using land spreading, bioreactors, conventional composting or vermiculture composting. The resulting product, especially when vermicomposed, is potentially useful as a soil amendment or plant fertilizer material.