Abstract: A memory device stores instructions, which, when executed by a controller, cause the controller to perform tasks. The tasks include obtaining a three-dimensional (3D) model of a patient's pelvis, identifying two landmarks of the 3D model of the patient's pelvis, defining a coronal radiographic plane of the patient, and determining a mediolateral axis of the 3D axis based on the two landmarks. The tasks also include planning the surgical placement of the acetabular cup into the acetabulum by positioning a virtual model of the acetabular cup relative to the 3D model and determining a planned version and a planned inclination based on the virtual model of the acetabular cup, the mediolateral axis and the coronal radiographic plane.

Abstract: A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.

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 surgical robot with an end effector that supports a drive assembly, a manual interface, and a trigger assembly. A cutting tool is attached to the drive assembly and rotatable about a cutting axis. A method includes positioning, with the surgical robot, the cutting tool relative to a surgical site to align the cutting axis with a predetermined trajectory. A user engages the trigger assembly for rotating the cutting tool about the cutting axis with the drive assembly and advancing the cutting tool along the predetermined trajectory at the surgical site to a first depth. A user applies force to the manual interface for rotating the cutting tool about the cutting axis and advancing the cutting tool along the predetermined trajectory to a second depth greater than the first depth.

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 surgical system includes a robotic device, and a surgical tool coupled to the robotic device and comprising a distal end. The system further includes a neural monitor configured to generate an electrical signal and apply the electrical signal to the distal end of the surgical tool, wherein the electrical signal causes innervation of a first portion of a patient's anatomy which generates an electromyographic signal, and a sensor configured to measure the electromyographic signal. The neural monitor is configured to determine a distance between the distal end of the surgical tool and a portion of nervous tissue based on the electrical signal and the electromyographic signal, and cause feedback to be provided to a user based on the distance.

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 surgical system includes an arm extending from the base and having a distal end configured to be coupled to a tool, a first marker coupled in fixed relation to the base, and a tracking system. The tracking system is configured to collect first data indicative of a position of the first marker and collect second data indicative of a position an anatomical feature of a patient. The surgical system also includes a processor configured to calculate a position of the tool relative to the anatomical feature based on the first data and the second data.

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 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: End effectors for driving tools at surgical sites along trajectories maintained by surgical robots. A tool has interface and working ends. An end effector has a mount to attach to the surgical robot, and an actuator configured to generate torque. A drive assembly with a geartrain translates rotation from the actuator into rotation of a drive conduit supported about an axis. A rotational lock operatively attached to the drive conduit releasably secures the tool for concurrent rotation about the axis, and an axial lock releasably secures the tool for concurrent translation with the drive conduit along the trajectory maintained by the surgical robot. The axial lock is operable between a release configuration where relative movement between the drive assembly and the tool is permitted along the axis, and a lock configuration where relative movement between the drive assembly and the tool is restricted along the axis.

Abstract: A method for customizing an interactive control boundary based on a patient-specific anatomy includes obtaining a standard control boundary and determining an intersection between a reference feature associated with the standard control boundary and a virtual representation of an anatomy of the patient. The method further includes identifying an anatomic perimeter at the intersection between the identified reference feature and the virtual representation of the anatomy. An anatomic feature on the virtual representation of the anatomy is determined from the intersection of the reference feature and the virtual representation of the anatomy. The standard control boundary is modified based on at least one anatomic feature to generate a customized control boundary.

Abstract: Robotic systems and methods include a robotic manipulator and a skin incision tool to be coupled to the robotic manipulator and being configured to create an incision in skin of a patient. A skin tracker is attached to the skin of the patient to track the skin of the patient. A robotic controller controls the robotic manipulator to move the skin incision tool relative to a determined location on the skin of the patient. The robotic controller controls the robotic manipulator to constrain movement of the skin incision tool with a haptic object defined relative to the determined location to guide the skin incision tool to the determined location for making the incision in the skin.

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: 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 surgical system includes a motor, a first link movable by operation of the motor, a plurality of non-driven, revolute joints coupled to the first link such that the first link separates the plurality of revolute joints from the motor, and an end effector coupled to the first link via the plurality of non-driven, revolute joints.

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 surgery system includes a mobile base, a robotic device mounted on the mobile base, a surgical tool positioned at a distal end of the robotic device, an optical tracking emitter/detector mounted on the mobile base and configured to track an anatomical feature, and circuitry configured to characterize a pose of the surgical tool relative to the anatomical feature based on data from the optical tracking emitter/detector.

Abstract: A system for conducting a medical procedure includes a first camera-based 3-D motion sensor configured to generate signals related to the position of a procedure object in the operating room and a controller coupled to the camera-based 3-D motion sensor. The controller is configured to define a predetermined operational plan including positions of a procedure object over time, assign a desired time milestone for each position of the object in the predetermined operational plan, and automatically monitor progress of the procedure based at least in part upon one or more positions of the procedure object over time. The controller is further configured to compare the one or more positions with the desired time milestone, record data relating to an actual time for each position of the object compared with the desired time milestone, and use the data to provide a recommendation for a change to a future predetermined operational plan.

Abstract: A robotic surgery system including an imaging system having a source element and a detector element, and a coupling member coupling the source element to the detector element. The system further includes an instrument support structure extending from the coupling member, and a surgical instrument coupled to the moveable support structure.