Abstract: A method includes obtaining an implant plan, defining a range of motion for a surgical tool based on the implant plan, adjusting, by an actuator and based on the range of motion, a passive joint coupled between the actuator and the surgical tool, and allowing manual movement of the surgical tool through the range of motion via rotation at the passive joint.

Abstract: A method of operating a surgical device having a surgical tool includes allowing manual movement of the surgical tool along at least one direction, controlling the surgical device to align the surgical tool with a target using a control object having a planned geometric relationship with an anatomic feature, tracking movement of the anatomic feature during a surgical procedure, moving the control object to compensate for the movement of the anatomic feature during the surgical procedure, and controlling the surgical device to realign the surgical tool with the target using the moved control object.

Abstract: A method for intraoperative planning and facilitating a revision arthroplasty procedure includes displaying a virtual model of a bone, capturing positions of a tracked probe as the tracked probe contacts points at a perimeter of a primary implant component coupled to the bone, generating a virtual representation of an interface between the primary implant component and the virtual model of the bone using the positions of the tracked probe, planning a bone resection using the virtual representation of the interface, and guiding execution of the bone resection.

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 surgical system includes a first tracker configured to be affixed to a first object, a detection device configured to determine a change in position of the first tracker, and circuitry communicable with the detection device. The circuitry is configured to compare the change in the position of the first tracker to a condition and generate a fault signal in response to a determination that the change in the position of the first tracker violates the condition.

Abstract: Robotic surgical systems and methods for resection of an anatomy. The system includes a cutting tool, a manipulator configured to move the cutting tool, and a control system. The control system associates a target plane with the anatomy, the target plane delineating a portion of the anatomy to be resected from a portion of the anatomy to remain unresected. The control system controls the manipulator to align the cutting tool to the target plane. The control system controls the manipulator in an automated mode to perform at least one of the following actions: automatically resect along the target plane with the cutting tool, automatically retract the cutting tool along the target plane, and automatically change a pose of the cutting tool on the target plane. The user or control system can pre-assign whether to perform any of the actions in the manual or automated mode.

Abstract: A method includes providing a boundary defining a portion of a bone to be resected, determining a position of a tracked probe, obtaining a customized boundary by changing a shape of the boundary based on the position of the tracked probe, and guiding operation of a cutting tool in an area defined by the customized boundary.

Abstract: An ultrasound scanning system adapted for scanning a joint of a limb. The scanning system includes a reservoir with one or more walls that define a reservoir interior to hold a fluid and receive the limb therein. A transducer is disposed within the reservoir interior and has ultrasound emitters and receivers. The transducer surrounds the joint within the reservoir interior. A transducer positioning system is disposed outside of the reservoir and includes an actuator to move a transducer carriage along a guide. The transducer carriage couples to the transducer across the wall of the reservoir using non-contact coupling. The transducer positioning system moves the transducer carriage along the guide to move the transducer within the reservoir interior. In some implementations, the reservoir includes a distal closure which the limb can extend beyond. The distal closure fits around the limb to create a seal between the limb and the distal closure.

Abstract: A method for intraoperatively augmenting a revision implant includes removing a primary implant from a bone, intraoperatively determining a size of a defect of the bone, intraoperatively cutting a bone filler material to the size of the defect, installing the bone filler material at the defect, and installing the revision implant on the bone.

Abstract: A method of performing a procedure includes preparing a subject, gaining access to a portion of the subject with a first instrument, removing a first portion of the portion of the subject with the first instrument, gaining access to the portion of the subject with a tracked instrument, moving the tracked instrument to a surface revealed by removal of at least the first portion from the portion of the subject, tracking the tracked instrument while moving at least the tracked instrument to the surface, and determining a representation of the surface based on the tracking the tracked instrument.

Abstract: Aspects disclosed herein may provide a method for determining a duration of a medical procedure. The method may include receiving imaging data including at least one image acquired of a patient's anatomy, determining at least one parameter of the patient's anatomy based on the imaging data, predicting a duration for the medical procedure based on the determined at least one parameter, and outputting the predicted duration on an electronic display. The at least one parameter may include at least one of a B-score, a joint-space width, an osteophyte position or volume, an alignment, or a deformity based on the imaging data.

Abstract: A surgical system includes a robotic arm, an end effector coupled to the robotic arm, a divot at the end effector, a probe configured to be inserted into the divot, a tracking system configured to obtain data indicative of a position of the probe while the probe is in the divot, and circuitry configured to verify a proper physical configuration of the surgical system based on the data indicative of the position of the probe while the probe is in the divot.

Abstract: A surgical system includes a sensor configured to detect a usage of a surgical object. The surgical system also includes a controller configured to assign a pre-defined order of planned steps of a surgical workflow, automatically distinguish between executed steps of the surgical workflow based on the usage of the object, based on distinguishing the executed steps of the surgical workflow, record a comparison of an actual order of executed steps of the surgical workflow with the pre-defined order of the planned steps, and generate feedback based on the comparison.

Abstract: A method includes providing a standard control boundary defining a portion of a bone to be resected, registering a position of a soft tissue at the bone, obtaining a customized control boundary by moving a vertex of the standard control boundary based on the position of the soft tissue, and controlling a robotic device to constrain operation of a cutting tool to an area defined by the customized control boundary.

Abstract: A system for irrigating an infected implant area, the system comprising an irrigation tool, and a navigation system for tracking movement of the irrigation tool. The system also includes a processing circuit programmed to determine an area to be irrigated, the irrigation area including at least a surface of an implant and patient tissue, and control the irrigation tool to automatically adjust a speed of a spray of irrigation fluid from the irrigation tool to provide a first speed when debridement is of the surface of the implant and a second speed when the debridement is of the patient tissue.

Abstract: A surgical system includes a sensor positionable in an operating room and configured to detect a position of an object in the operating room. The surgical system also includes a controller configured to assign a desired time milestone for each step of a surgical workflow, automatically distinguish the steps of the surgical workflow based on a change in the position of the object, based on distinguishing the steps of the surgical workflow, record a comparison of an actual timing of each step of the surgical workflow with the desired time milestone for each step of the surgical workflow, and generate feedback relating to usage of the operating room based on the comparison.

Abstract: A surgical system includes a base, a robotic arm extending from the base and comprising a plurality of segments, a first tracker secured to the base, a second tracker secured to a segment of the plurality of segments of the robotic arm, and a detection device configured to determine an arrangement of the first tracker and the second tracker.

Abstract: Robotic spinal surgery systems and methods include a robotic manipulator with a tool guide and a skin incision tool to be inserted into the tool guide. A navigation system includes a localizer for tracking the patient and a base tracker of the robotic manipulator. A control system registers, with the navigation system, a line haptic object to a vertebra of the patient, the line haptic object being associated with a desired trajectory for the vertebra. In response to a user input, the control system autonomously moves the robotic manipulator to align the tool guide to the desired trajectory. The tool guide is constrained to the desired trajectory with the line haptic object to enable insertion of the skin incision tool within the tool guide to facilitate creation of the incision in the skin at the desired trajectory.

Abstract: A surgical system includes a robotic arm, a straight end effector configured to be coupled to the robotic arm, an offset end effector configured to be coupled to the robotic arm, and a controller configured to control the robotic arm using first control logic when the straight end effector is coupled to the robotic arm and second control logic when the offset end effector is coupled to the robotic arm.

Abstract: Surgical systems and methods for use with a hand-guided tool. The surgical system includes a robotic manipulator that holds a tool guide. The tool guide receives and guides the surgical tool to enable the tool to manipulate a bone. The robotic manipulator autonomously aligns the tool guide to a target orientation relative to the bone. The tool guide is moved to an initial location adjacent to the bone while remaining aligned with the target orientation. The initial location is suitable for the tool to perform an initial manipulation of the bone. The robotic manipulator facilitates withdrawal of the tool guide away from the initial location to a spaced location after the initial manipulation of the bone while maintaining alignment of the tool guide with the target orientation at the spaced guide location. The spaced guide location is suitable for the tool to perform a further manipulation of the bone.