Abstract: A robotized computer-assisted surgery system may include a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for obtaining readings from some capacitive sensors representative of at least one object within range; generating a surface model of the at least one object from the readings; and continuously tracking and outputting the position and orientation of the at least one object relative to the robot arm, using the readings and the surface model.

Abstract: Systems and methods may be used for registering a force input on a portion of a surgical robot, for example using a force sensor of the surgical robot. The force input may correspond to a control command. The control command may generate a change in a control mode of the surgical robot, validate a step of a workflow in planning or navigation software, or the like. A visual indication may be provided, for example using a light of the surgical robot. The visual indication may indicate that the control command has been identified or executed.

Abstract: A system for tracking an end effector of a robot in computer-assisted surgery, may have: a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining referential tracking data for a first part of a robot using optical tracking relative to a frame of reference, and concurrently obtaining tool tracking data for an end effector of the robot arm in the frame of reference; and continuously tracking and outputting the position and orientation of the end effector in the frame of reference, using the tool tracking data, and concurrently adjusting the position and orientation of the end effector in the frame of reference when the referential tracking data indicates a movement of the first part of the robot and/of the optical tracking, in the frame of reference.

Abstract: Systems and methods may be used for registering a force input on a portion of a surgical robot, for example using a force sensor of the surgical robot. The force input may correspond to a control command. The control command may generate a change in a control mode of the surgical robot, validate a step of a workflow in planning or navigation software, or the like. A visual indication may be provided, for example using a light of the surgical robot. The visual indication may indicate that the control command has been identified or executed.