Abstract: A surgical system, method, and non-transitory computer readable medium involving a robotic manipulator configured to move a surgical instrument relative to virtual boundaries. A navigation system tracks each of a first object, a second object, and the surgical instrument. The first object is moveable relative to the second object. One or more controllers associate a first virtual boundary with the first object and associate a second virtual boundary with the second object. The first virtual boundary is moveable in relation to the second virtual boundary. The controller(s) control the robotic manipulator in relation to the first virtual boundary to facilitate interaction of the surgical instrument with the first object. The controller(s) control the robotic manipulator in relation to the second virtual boundary to avoid interaction of the surgical instrument with the second object.

Abstract: A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the second portion of the anatomy.

Abstract: Surgical systems and methods for generating a tool path. A manipulator is configured to support and move a surgical instrument. Controller(s) obtain data that defines a volume of tissue to be removed from a surgical site. The controller(s) operate the manipulator to move the surgical instrument to remove first portions of the volume and acquire data defining the first portions removed from the volume. The controller(s) identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal. The controller(s) generate a tool path that passes through the additional portions and operate the manipulator to move the surgical instrument along the tool path to remove the additional portions.

Abstract: A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the second portion of the anatomy.

Abstract: A tool path generator utilizes a solid body model of a volume to generate a tool path for a manipulator to remove material of the volume with an energy applicator in a semi-autonomous mode. A material logger monitors movement of the energy applicator according to a cutting path taken by a practitioner in the manual mode, identifies material of the volume to which the energy applicator has been applied in the manual mode, and updates the solid body model based on the identified material. The tool path generator modifies the tool path based on the updated solid body model such that, for the semi-autonomous mode, the modified tool path accounts for the identified material of the volume to which the energy applicator has been applied in the manual mode.

Abstract: A robotic system and methods are disclosed. A common axis is defined for an instrument and an energy applicator extending from the instrument. A manipulator has a plurality of links and actuators configured to move the links to position the instrument and energy applicator. A force/torque sensor coupled to the manipulator generates an output in response to forces/torques applied to the instrument. Controller(s) defines a centering point that intersects the common axis. Controller(s) model the instrument and the energy applicator as a virtual rigid body and determine forces/torques to apply to the virtual rigid body, which are determined, in part, based on the output of the force/torque sensor. Controller(s) control the manipulator to advance the energy applicator based on the determined forces/torques applied to the virtual rigid body and reorient the instrument such that the common axis pivots about the centering point during advancement of the energy applicator.

Abstract: A user control device for a surgical system. The surgical system includes a robotic manipulator to support and move a surgical instrument that has an energy applicator. One or more controllers operate the robotic manipulator in a semi-autonomous mode and calculate an instrument feed rate, which is the velocity at which the energy applicator advances along a tool path in the semi-autonomous mode. The user control device includes a housing configured as a pendant configured to be held in one hand of a user. A first control member is mounted to the housing and can be depressed to initiate operation of the robotic manipulator in the semi-autonomous mode. A second control member is mounted to the housing and can be depressed to modify the instrument feed rate in the semi-autonomous mode.

Abstract: A surgical system, method, and non-transitory computer readable medium involving a robotic manipulator configured to move a surgical instrument relative to virtual boundaries. A navigation system tracks each of a first object, a second object, and the surgical instrument. The first object is moveable relative to the second object. One or more controllers associate a first virtual boundary with the first object and associate a second virtual boundary with the second object. The first virtual boundary is moveable in relation to the second virtual boundary. The controller(s) control the robotic manipulator in relation to the first virtual boundary to facilitate interaction of the surgical instrument with the first object. The controller(s) control the robotic manipulator in relation to the second virtual boundary to avoid interaction of the surgical instrument with the second object.

Abstract: Systems and methods are disclosed involving an instrument, an instrument tracking device for tracking movement of the instrument, a first boundary tracking device for tracking movement of a first virtual boundary associated with an anatomy of a patient to be treated by the instrument, and a second boundary tracking device for tracking movement of a second virtual boundary associated with a periphery of an opening in the patient to be avoided by the instrument. One or more controllers receive information associated with the tracking devices including positions of the instrument relative to the first and second virtual boundaries, detect movement of the first and second virtual boundaries relative to one another, and generate a response upon detecting movement of the first and second virtual boundaries relative to one another.

Abstract: A tool path generator utilizes a solid body model of a volume to generate a tool path for a manipulator to remove material of the volume with an energy applicator in a semi-autonomous mode. A material logger monitors movement of the energy applicator according to a cutting path taken by a practitioner in the manual mode, identifies material of the volume to which the energy applicator has been applied in the manual mode, and updates the solid body model based on the identified material. The tool path generator modifies the tool path based on the updated solid body model such that, for the semi-autonomous mode, the modified tool path accounts for the identified material of the volume to which the energy applicator has been applied in the manual mode.

Abstract: A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the second portion of the anatomy.

Abstract: A robotic system and methods are disclosed. A common axis is defined for an instrument and an energy applicator extending from the instrument. A manipulator has a plurality of links and actuators configured to move the links to position the instrument and energy applicator. A force/torque sensor coupled to the manipulator generates an output in response to forces/torques applied to the instrument. Controller(s) defines a centering point that intersects the common axis. Controller(s) model the instrument and the energy applicator as a virtual rigid body and determine forces/torques to apply to the virtual rigid body, which are determined, in part, based on the output of the force/torque sensor. Controller(s) control the manipulator to advance the energy applicator based on the determined forces/torques applied to the virtual rigid body and reorient the instrument such that the common axis pivots about the centering point during advancement of the energy applicator.

Abstract: A system includes a robotic manipulator and an end effector coupled to the robotic manipulator and being moveable for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a virtual boundary relative to the target site, prevent the end effector from penetrating the virtual boundary in the autonomous mode, and allow the end effector to penetrate the virtual boundary in the manual mode.

Abstract: A system includes a robotic manipulator and an end effector coupled to the robotic manipulator and being moveable for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a virtual boundary relative to the target site, prevent the end effector from penetrating the virtual boundary in the autonomous mode, and allow the end effector to penetrate the virtual boundary in the manual mode.

Abstract: A system includes a robotic manipulator comprising an arm and an end effector coupled to the arm and being moveable by the arm for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a first virtual boundary relative to the target site, prevent the end effector from penetrating the first virtual boundary in the manual mode, and allow the end effector to penetrate the first virtual boundary in the autonomous mode.

Abstract: Systems and methods are disclosed involving an instrument, an instrument tracking device for tracking movement of the instrument, a first boundary tracking device for tracking movement of a first virtual boundary associated with an anatomy of a patient to be treated by the instrument, and a second boundary tracking device for tracking movement of a second virtual boundary associated with a periphery of an opening in the patient to be avoided by the instrument. One or more controllers receive information associated with the tracking devices including positions of the instrument relative to the first and second virtual boundaries, detect movement of the first and second virtual boundaries relative to one another, and generate a response upon detecting movement of the first and second virtual boundaries relative to one another.

Abstract: Systems and methods for establishing and tracking virtual boundaries. The virtual boundaries can delineate zones in which an instrument is not permitted during a surgical procedure. The virtual boundaries can also delineate zones in which the surgical instrument is permitted during the surgical procedure. The virtual boundaries can also identify objects or structures to be treated by the instrument or to be avoided by the instrument during the surgical procedure.

Abstract: A surgical robotic system and method for controlling an instrument feed rate. The surgical robotic system comprises a surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. At least one controller includes a feed rate calculator configured to calculate the instrument feed rate. A hand held pendant is operable by a user to adjust a defined feed rate of the surgical manipulator in the semi-autonomous mode.

Abstract: A system includes a robotic manipulator comprising an arm and an end effector coupled to the arm and being moveable by the arm for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a first virtual boundary relative to the target site, prevent the end effector from penetrating the first virtual boundary in the manual mode, and allow the end effector to penetrate the first virtual boundary in the autonomous mode.

Abstract: Surgical systems and methods for manipulating an anatomy with a tool include defining a first virtual boundary associated with the anatomy and a second virtual boundary associated with the anatomy. The first virtual boundary is activated in a first mode. Movement of the tool is constrained in relation to the first virtual boundary in the first mode. The first virtual boundary is deactivated in a second mode. Movement of the tool is constrained in relation to the second virtual boundary in the second mode.