Abstract: Techniques for securing an instrument to a surgical robot are provided. In an example, an apparatus can include a first portion, a second portion and a collar. The first portion can attach to an end of an arm of the surgical robot and can include a first rod extending away from the arm. The second portion can hold the surgical instrument and can include a second rod extending away from the surgical instrument. The collar can slidably adjust along an aligned axis of the first and second portions secure interfaces of the portions and to allow engagement and dis-engagement of the interfaces with each other.

Abstract: Patient-specific guide systems and methods for performing bone resections for ankle arthroplasties comprises a bone guide body and a bone resection block. The bone guide body comprises a patient-specific surface for engaging a surface of a talus or a tibia, and a first pin hole and a first socket in the bone guide body. The bone resection block is removably insertable into the first socket, receives a first pin that can be inserted in the first pin hole, and includes a resection guide surface. The system further comprises a floating bone trial that attaches to the bone resection block via a floating bone guide. The floating bone trail receives a chamfer spacer and guide for further resecting the bone. The system further comprises a stylus for engagement with the resection guide surface to confirm resection depth. The bone guide body includes alignment pin and resection block snap lock features.

Abstract: A reamer attachment system for attaching a reamer to a robotic arm comprises a reaming guide comprising a guide shaft and a collar attached to the guide shaft, a reamer shaft extending through the collar to articulate against the collar, and a reamer lock couplable to the reamer shaft to engage the collar and prevent axial displacement of the reamer shaft relative to the collar while permitting the reamer shaft to articulate against the collar. A method for collaborative reaming of a bone between a surgical robot and a surgeon comprises positioning a reamer guide at a location in a coordinate system for the surgical robot system using a robotic arm of the surgical robot, coupling a reamer to the reamer guide such that a reamer axis passes through the location, constraining movement of the reamer along the reamer axis, and pivoting the reamer at the location to remove bone.

Abstract: Techniques for securing an instrument to a surgical robot are provided. In an example, an apparatus can include a first portion, a second portion and a collar. The first portion can attach to an end of an arm of the surgical robot and can include a first rod extending away from the arm. The second portion can hold the surgical instrument and can include a second rod extending away from the surgical instrument. The collar can slidably adjust along an aligned axis of the first and second portions secure interfaces of the portions and to allow engagement and dis-engagement of the interfaces with each other.

Abstract: Instrument systems for performing total ankle arthroplasties comprise an instrument adapter, a talus reaming guide and a talar trial system. The instrument adapter comprises a coupler for attaching to a robotic surgical arm, an extension arm extending from the coupler, a talus resection block attached to the extension arm, including a talus cutting guide surface, and an interface for receiving another instrument. The talus reaming guide comprises a second attachment member for coupling to the interface, and a reaming hoop for confining movement of a reamer. The talar trial system comprises a talar adapter for connecting to the interface, and a talar trial couplable to the talar adapter, the talar trial including a talar bearing surface. The talus resection block can serve as a universal instrument adapter for mounting the talus reaming guide, the talar trial system and a tibia resection block for performing a total ankle arthroplasty.

Abstract: A gap balancing assembly includes an alignment plateau adapted to abut against an articular surface of a first bone, and at least one gap spacer portion adapted to space the articular surface from a second bone, the at least one gap spacer portion having a thickness profile. A spacer member has a first contact surface for being abutted against said tibial alignment plateau, and a second contact surface oriented and spaced relative to the first contact surface to correspond to the thickness profile of the at least one gap spacer portion, the second contact surface adapted to contact a cut guide to align same with the articular surface of the first bone.

Abstract: Instrument systems for performing total ankle arthroplasties comprise an instrument adapter, a talus reaming guide and a talar trial system. The instrument adapter comprises a coupler for attaching to a robotic surgical arm, an extension arm extending from the coupler, a talus resection block attached to the extension arm, including a talus cutting guide surface, and an interface for receiving another instrument. The talus reaming guide comprises a second attachment member for coupling to the interface, and a reaming hoop for confining movement of a reamer. The talar trial system comprises a talar adapter for connecting to the interface, and a talar trial couplable to the talar adapter, the talar trial including a talar bearing surface. The talus resection block can serve as a universal instrument adapter for mounting the talus reaming guide, the talar trial system and a tibia resection block for performing a total ankle arthroplasty.

Abstract: Patient-specific guide systems and methods for performing bone resections for ankle arthroplasties comprises a bone guide body and a bone resection block. The bone guide body comprises a patient-specific surface for engaging a surface of a talus or a tibia, and a first pin hole and a first socket in the bone guide body. The bone resection block is removably insertable into the first socket, receives a first pin that can be inserted in the first pin hole, and includes a resection guide surface. The system further comprises a floating bone trial that attaches to the bone resection block via a floating bone guide. The floating bone trail receives a chamfer spacer and guide for further resecting the bone. The system further comprises a stylus for engagement with the resection guide surface to confirm resection depth. The bone guide body includes alignment pin and resection block snap lock features.

Abstract: A reamer attachment system for attaching a reamer to a robotic arm comprises a reaming guide comprising a guide shaft and a collar attached to the guide shaft, a reamer shaft extending through the collar to articulate against the collar, and a reamer lock couplable to the reamer shaft to engage the collar and prevent axial displacement of the reamer shaft relative to the collar while permitting the reamer shaft to articulate against the collar. A method for collaborative reaming of a bone between a surgical robot and a surgeon comprises positioning a reamer guide at a location in a coordinate system for the surgical robot system using a robotic arm of the surgical robot, coupling a reamer to the reamer guide such that a reamer axis passes through the location, constraining movement of the reamer along the reamer axis, and pivoting the reamer at the location to remove bone.

Abstract: A gap balancing assembly includes an alignment plateau adapted to abut against an articular surface of a first bone, and at least one gap spacer portion adapted to space the articular surface from a second bone, the at least one gap spacer portion having a thickness profile. A spacer member has a first contact surface for being abutted against said tibial alignment plateau, and a second contact surface oriented and spaced relative to the first contact surface to correspond to the thickness profile of the at least one gap spacer portion, the second contact surface adapted to contact a cut guide to align same with the articular surface of the first bone.

Abstract: Patient-specific guide systems and methods for performing bone resections for ankle arthroplasties comprises a bone guide body and a bone resection block. The bone guide body comprises a patient-specific surface for engaging a surface of a talus or a tibia, and a first pin hole and a first socket in the bone guide body. The bone resection block is removably insertable into the first socket, receives a first pin that can be inserted in the first pin hole, and includes a resection guide surface. The system further comprises a floating bone trial that attaches to the bone resection block via a floating bone guide. The floating bone trail receives a chamfer spacer and guide for further resecting the bone. The system further comprises a stylus for engagement with the resection guide surface to confirm resection depth. The bone guide body includes alignment pin and resection block snap lock features.

Abstract: A reamer attachment system for attaching a reamer to a robotic arm comprises a reaming guide comprising a guide shaft and a collar attached to the guide shaft, a reamer shaft extending through the collar to articulate against the collar, and a reamer lock couplable to the reamer shaft to engage the collar and prevent axial displacement of the reamer shaft relative to the collar while permitting the reamer shaft to articulate against the collar. A method for collaborative reaming of a bone between a surgical robot and a surgeon comprises positioning a reamer guide at a location in a coordinate system for the surgical robot system using a robotic arm of the surgical robot, coupling a reamer to the reamer guide such that a reamer axis passes through the location, constraining movement of the reamer along the reamer axis, and pivoting the reamer at the location to remove bone.

Abstract: An impaction adaptor connectable to a surgical drill and a surgical impactor can include a body comprising a proximal portion defining a body bore and including a first plurality of projections; and a distal portion connected to the proximal portion and insertable into the surgical impactor; a shaft located at least partially within the body bore and engageable with the surgical drill to be driven to rotate within the body bore; and a driving body located at least partially within the body bore and secured to the shaft, the driving body including a plurality of second projections rotatably engageable with the first projections to cause translation of the driving body relative to the body to deliver an impaction force to the surgical impactor in response to rotation of the shaft.

Abstract: A device for registering a bone for a robotic shoulder arthroplasty with a surgical robot. The device can include a first portion engageable with a first portion of a bone and can include a second portion engageable with a second portion of the bone, the second portion connected to the first portion and rotatable with respect to the first portion. The device can include a registration device connectable to the first portion and configured to interface with the surgical robot for registration of the device and the bone. The device can include an actuator engageable with the first portion and the second portion to move the second portion toward a closed position away from an open position.

Abstract: An reaming system can be connectable to a robotic surgical system including an end effector of a robotic arm. The reaming system can include a reaming guide and a reamer. The reaming guide can include a body releasably couplable to the end effector at a proximal portion of the body and a housing located at a distal portion of the body. The reamer can be operable to ream bone. The reamer can include a support releasably couplable to the housing to secure the reamer to the reaming guide and the end effector. The reamer can include a cutting head connected to the support, the cutting head rotatable with respect to the housing when the support is coupled to the housing.

Abstract: Techniques for securing an instrument to a surgical robot are provided. In an example, an apparatus can include a first portion, a second portion and a collar. The first portion can attach to an end of an arm of the surgical robot and can include a first rod extending away from the arm. The second portion can hold the surgical instrument and can include a second rod extending away from the surgical instrument. The collar can slidably adjust along an aligned axis of the first and second portions secure interfaces of the portions and to allow engagement and dis-engagement of the interfaces with each other.

Abstract: A gap balancing assembly includes an alignment plateau adapted to abut against an articular surface of a first bone, and at least one gap spacer portion adapted to space the articular surface from a second bone, the at least one gap spacer portion having a thickness profile. A spacer member has a first contact surface for being abutted against said tibial alignment plateau, and a second contact surface oriented and spaced relative to the first contact surface to correspond to the thickness profile of the at least one gap spacer portion, the second contact surface adapted to contact a cut guide to align same with the articular surface of the first bone.

Abstract: Instrument systems for performing total ankle arthroplasties comprise an instrument adapter, a talus reaming guide and a talar trial system. The instrument adapter comprises a coupler for attaching to a robotic surgical arm, an extension arm extending from the coupler, a talus resection block attached to the extension arm, including a talus cutting guide surface, and an interface for receiving another instrument. The talus reaming guide comprises a second attachment member for coupling to the interface, and a reaming hoop for confining movement of a reamer. The talar trial system comprises a talar adapter for connecting to the interface, and a talar trial couplable to the talar adapter, the talar trial including a talar bearing surface. The talus resection block can serve as a universal instrument adapter for mounting the talus reaming guide, the talar trial system and a tibia resection block for performing a total ankle arthroplasty.

Abstract: A reamer attachment system for attaching a reamer to a robotic arm comprises a reaming guide comprising a guide shaft and a collar attached to the guide shaft, a reamer shaft extending through the collar to articulate against the collar, and a reamer lock couplable to the reamer shaft to engage the collar and prevent axial displacement of the reamer shaft relative to the collar while permitting the reamer shaft to articulate against the collar. A method for collaborative reaming of a bone between a surgical robot and a surgeon comprises positioning a reamer guide at a location in a coordinate system for the surgical robot system using a robotic arm of the surgical robot, coupling a reamer to the reamer guide such that a reamer axis passes through the location, constraining movement of the reamer along the reamer axis, and pivoting the reamer at the location to remove bone.

Abstract: Patient-specific guide systems and methods for performing bone resections for ankle arthroplasties comprises a bone guide body and a bone resection block. The bone guide body comprises a patient-specific surface for engaging a surface of a talus or a tibia, and a first pin hole and a first socket in the bone guide body. The bone resection block is removably insertable into the first socket, receives a first pin that can be inserted in the first pin hole, and includes a resection guide surface. The system further comprises a floating bone trial that attaches to the bone resection block via a floating bone guide. The floating bone trail receives a chamfer spacer and guide for further resecting the bone. The system further comprises a stylus for engagement with the resection guide surface to confirm resection depth. The bone guide body includes alignment pin and resection block snap lock features.