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 surgical system, method and CAD program are provided for facilitating surgical planning. A digitization device has a pointer tip and one or more control inputs. A navigation system tracks the digitization device. The CAD program generates a virtual reference frame and receives the tracked state of the digitization device from the navigation system. The CAD program renders, within the virtual reference frame, a virtual representation of the pointer tip of the digitization device having a pose of the pointer tip derived from its tracked state. In response to actuation of the control input(s) of the digitization device, the CAD program registers local virtual reference(s) within the virtual reference frame at a location relative to the pose of the virtual representation of the pointer tip and enables arrangement of geometrical design object(s) within the virtual reference frame relative to the registered local virtual reference(s) to facilitate surgical planning.

Abstract: A surgical workflow system for performing a surgical procedure. The surgical workflow system comprises one or more locators arrangeable to determine locations of a plurality of surgical objects. Information conveyor devices are coupled to the one or more locators and are assigned to different participants in the surgical procedure. A workflow controller accesses a pre-scripted workflow having a plurality of workflow steps associated with the surgical procedure, identifies a change event that indicates a deviation from the pre-scripted workflow, determines event information tailored to the different participants based on the change event, and transmits the event information to the participants through the plurality of information conveyor devices so that different event information can be conveyed to the different participants, wherein the event information is provided in the context of the surgical objects.

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 camera and drape assembly for use with tracking elements of a surgical system includes a camera unit and a drape covering the camera unit. The camera unit includes a casing presenting a face for facing the tracking elements. Optical sensors are supported by the casing and are exposed through the casing for detecting the tracking elements. The drape covers the camera unit such that light signals from the tracking elements can be received by the optical sensors.

Abstract: A surgical system and method for facilitating ad-hoc intraoperative planning of a surgical step to be performed at a target site, the system comprising a digitization device, a navigation system, and a computing device. The digitization device intraoperatively facilitates establishment of one or more local virtual references relative to the target site. The navigation system tracks states of the digitization device. The computing device is coupled to the navigation system and comprises one or more processors and a non-transitory storage medium having stored thereon a computer-aided design (CAD) program. When executed by the one or more processors, the CAD program is configured to generate a virtual reference frame, register the one or more local virtual references within the virtual reference frame, and enable arrangement of different geometrical design objects within the virtual reference frame relative to one or more registered local virtual references to intraoperatively plan the surgical step.

Abstract: A plate for attaching to an anatomic structure with fasteners. A body defines openings for receiving the fasteners, and includes a bottom surface that is concave. The plate includes bone pad surface, and a spike extends away from the bone pad surface. The bone pad surface is oriented at an angle relative to the bottom surface to prevent further penetration of the spike into the anatomic structure beyond a predetermined depth. The bone pad surface may be oriented at an obtuse angle relative to the bottom surface. The bone pad surfaces may be planar or concave, or contoured to a corresponding profile of the anatomic structure. The spikes may be pyramidal or conical. At least one side of the spike may be integral and continuous with the bottom surface. The side may have a radius of curvature equal to that of the bottom surface.

Abstract: A tracking device for a surgical navigational system. A tracking head includes tracking elements configured to communicate tracking information to the surgical navigation system. An extension arm is configured to be coupled to the tracking head, and a bone plate is configured to be coupled to the extension arm. The bone plate is further configured to be coupled to anatomic structure and includes openings each configured to receive a fastener. A central opening may be provided to receive an additional fastener for coupling the extension arm to the bone plate. A recess within the top surface may receive the base plate of the extension arm. Spikes of the bone plate are configured to penetrate the anatomic structure and, in conjunction with the fasteners, prevent movement of the tracking device. The bottom surface is concave between the spikes to define a space configured to accommodate portions of the anatomic structure.

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 method of robotically evaluating soft tissue characteristics of a joint includes measuring, by a robotic device, information about a joint during a controlled range of motion manipulation of the joint; determining a motion limit of the joint, using the information about the joint measured during the controlled range of motion manipulation of the joint, wherein the motion limit is at least one of a displacement limit or a force limit of the joint; and replicating, using a joint positioner controlled by the robotic device, the controlled range of motion manipulation of the joint while introducing perturbations to the joint, wherein the replicated range of motion manipulation is controlled, at least in part, based on the motion limit. The method further includes using data obtained by the computer-assisted surgery system during the range of motion manipulation with perturbations to characterize the constraints of a soft tissue envelope of the joint.

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 wherein a tracker is detected within a field-of-view of a localizer. In one example, a virtual line-of-sight boundary is generated based on the line-of-sight relationship between the tracker and localizer. Additionally or alternatively, a virtual field-of-view boundary is generated based on the field-of-view of the localizer. A virtual object is associated with a manipulator, a surgical tool coupled to the manipulator, or the tracker when coupled to manipulator and/or surgical tool. Controller(s) predictively determine whether a planned movement of the manipulator will cause a virtual collision between the virtual object and the virtual line-of-sight boundary and/or virtual field-of-view boundary. The controller(s) enable a response based on an outcome of predictively determining whether the planned movement will cause the virtual collision.

Abstract: Systems, methods, software and techniques are disclosed for morphing a generic virtual boundary into a patient-specific virtual boundary for an anatomical model. The generic virtual boundary comprises one or more morphable faces. An intersection of the generic virtual boundary and the anatomical model is computed to define a cross-sectional contour of the anatomical model. One or more faces of the generic virtual boundary are morphed to conform to the cross-sectional contour of the anatomical model to produce the patient-specific virtual boundary. In some cases, the morphed faces are spaced apart from the cross-sectional contour by an offset distance that accounts for a geometric feature of a surgical tool.

Abstract: Navigation systems and methods for reducing tracking interruptions during a surgical procedure. A virtual boundary generator generates virtual boundaries associated with tracking devices and a localizer. A collision detector evaluates movement of virtual objects relative to the virtual boundaries to detect collisions between the virtual objects and the virtual boundaries. A feedback generator responds to the collision detection to reduce tracking interruptions between the tracking devices and the localizer.

Abstract: Navigation systems and methods used to track objects moving in space. One navigation system and method employs trackers each having a light emitting diode that emits a colored light when obstruction of line-of-sight between tracking elements on the trackers and sensors or other errors are absent. When obstruction of line-of-sight between tracking elements on the trackers and sensors or other errors are generated, the light emitting diode is deactivated. Another navigation system and method employs trackers each having a light emitting diode that emits a colored light when obstruction of line-of-sight between tracking elements on the trackers and sensors or other errors are generated. When obstruction of line-of-sight between tracking elements on the trackers and sensors or other errors are absent, the light emitting diode is deactivated.

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: Disclosed are systems, methods, and techniques for registering a HMD coordinate system of a head-mounted display (HMD) and a localizer coordinate system of a surgical navigation localizer. A camera of the HMD captures at least one image of a registration device having a registration coordinate system and a plurality of registration markers. The registration markers are analyzed in the at least one image to determine a pose of the HMD coordinate system relative to the registration coordinate system. One or more position sensors comprised in the localizer detect a plurality of tracking markers comprised in the registration device to determine a pose of the registration coordinate system relative to the localizer coordinate system. The HMD coordinate system and the localizer coordinate system are registered using the registration device, wherein positions of the registration markers are known with respect to positions of the tracking markers in the registration coordinate system.

Abstract: A method for managing inventory of components used during a surgical procedure involving a surgical device and a control unit coupled to the surgical device. Each component includes a circuit for storing identification data by the surgical device or control unit when the component is coupled to the surgical device. During a surgical procedure, the identification data are inductively read from the components Then, the inventor is managed based on the received identification data.

Abstract: Navigation systems and methods used to track objects moving in space. One navigation system and method employs trackers having light emitters for indicating when line-of-sight between tracking elements on the trackers and sensors is obstructed or for other errors. Another navigation system and method instructs users on how to place a tracker with respect to an object to reduce line-of-sight issues during a surgical procedure.

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.