Abstract: A system and method are provided for improving the positioning of a target anatomy relative to a robot to perform a medical procedure. The system and method is especially advantageous for complex procedures that require a large operational workspace and/or several manipulator orientation changes to execute a surgical plan in its entirety such as total knee arthroplasty (TKA), as well as any of a wide variety of other surgical procedures, orthopedic or otherwise, including hip arthroplasty, ligament reconstruction, and shoulder arthroplasty. Dynamic and controlled repositioning of the target anatomy promotes robotic surgical system access in a way that any static positioning of the target anatomy cannot thereby speeding a surgical process and extending the spatial range of operation of the robot and tools carried thereon.

Abstract: A method for improved robotic cutting, the method comprising: determining at least one of cutting force data and bone motion data during robotic cutting; determining when at least one of the cutting force data and bone motion data exceeds a predetermined parameter; and when it is determined that at least one of the cutting force data and the bone motion data exceeds the predetermined parameter, providing the user with an indication of the same and pausing the robotic cutting so as to enable the user to mitigate the cause of at least one of the cutting force data and the bone motion data exceeding the predetermined parameter.

Abstract: A method to guide in preparation of a bone relies on an instrument having a shaft with a working end and a stop member. The shaft is free to translate along an axis. Surgical planning data is registered to the bone to determine intra-operative coordinates of the desired axis and depth. The instrument holder is positioned by the bone so the stop member contacts the instrument holder to prevent translating beyond the desired depth. Alternatively, an arm is manipulated to align the instrument with the desired axis. The working end rests on the bone to define a linear separation to the desired depth. By proximally translating the instrument holder to contact the stop member and distally translating the instrument holder along the shaft, the stop member physically stops translating beyond the desired depth. A surgical system for performing the methods is provided; a reamer or impactor are also disclosed.

Abstract: A process is provided to recover a bone-to-image, image-to-system, and/or bone-to-system registration, when bone movement occurs during a computer-assisted surgical procedure. The process may be implemented with a computer-assisted surgical system. Examples of surgical systems that can exploit the recovery process illustratively include a 1-6 degree of freedom hand-held surgical system, a navigated surgical system, a serial-chain manipulator system, a parallel robotic system, or a master-slave robotic system.

Abstract: A process and system for computer assisted orthopedic procedure is provided with a plurality of options to plan, execute, and monitor the creation of a cavity to receive a prosthetic based on clinical needs and pre-operative imaging data. A phantom made of materials of known densities is used to normalize CT image intensity values to estimate bone density. The process and system controls the speed, cutter engagement, orientation, and shape of the cavity so produced based on the normalized bone density values.

Abstract: A method for planning a bone grafting procedure includes the collection of imaging scan data of the target region and of a harvest region as a source for a bone graft complementary to the target region. Virtual bone model and harvest regions are generated. A computer processor determines at least one parameter for a bone graft model complementary to the target region. A location at the harvest region for the bone graft is identified based on the bone graft model. The location of the harvest region is registered to a first computer-assist device and the bone graft is harvested. The target region is registered to the first computer-assist device or another device. The cutting characteristics for the target region are communicated to the first computer-assist device or the other device to receive the bone graft. A surgical system for performing the computerized method is also provided.

Abstract: A method and system are provided that assesses the quality of implant placement intraoperatively, determines the accuracy of a prepared implant cavity, and alerts a user of an impending bone fracture during computer-assisted orthopedic surgery. The method and system improve the quality of implant placement in a bone compared to conventional techniques by utilizing force feedback acquired while robotically inserting the implant in the bone.

Abstract: A method and system are provided to intraoperatively adjust the dimensions of a pre-operatively planned implant cavity to improve implant fit in a bone. The method includes obtaining a preoperative image data set of the bone. A surgical plan is generated using the image data set and/or a three-dimensional (3-D) bone model of the patient's bone generated from the image data set. Intraoperatively, the patient's bone is exposed and registered to the surgical plan and a computer assisted surgical system. The computer assisted surgical system having a cutting tip and a force sensor for sensing actual forces exerted on the cutting tip as an initial cut is created on the bone at a first bone region. Based on the difference between the actual cutting force and the expected cutting force in the plan, the dimensions of the cavity are adjusted accordingly.

Abstract: A method of analyzing the quality of bone at one or more bone regions during an orthopedic surgical procedure includes an initial audio sample being recorded with an acoustic sensor, while a cutting instrument cuts a first region of a bone. The first audio sample is stored as a reference sample that represents a good degree of bone quality. A second audio sample is recorded with the acoustic sensor, while the cutting instrument cuts a second region of the bone. The second audio sample is compared to the reference sample to analyze the bone quality at the second region of the bone. A system for performing the method is also provided.

Abstract: A method of creating an augmented implant for a subject's bone or joint is provided. A virtual bone or joint model of the subject's bone or joint is obtained, the bone or joint model inclusive of bone property data for the subject's bone or joint including at least topology, density, and microarchitecture data. At least one of a size, a type, a geometry and a position for a virtual implant model is determined with respect to the bone or joint model to replace the region for removal using a processor. A stability region in the bone or joint surrounding the position of the implant model is located based on the bone or joint property data. The implant model is augmented with one or more stability features to interact with the stability region to improve implant stability using said processor or another processor. The augmented implant is so created.

Abstract: A process and system for computer assisted orthopedic procedure is provided with a plurality of options to plan, execute, and monitor the creation of a cavity to receive a prosthetic based on clinical needs and pre-operative imaging data. A phantom made of materials of known densities is used to normalize CT image intensity values to estimate bone density. The process and system controls the speed, cutter engagement, orientation, and shape of the cavity so produced based on the normalized bone density values.

Abstract: Systems and process are provided for a tool to create a registration matrix for a bone in three dimensional workspaces relative to a system using the absence of an ultrasonic reflection from an ultrasonic sensor attached to a tracking system to build the registration matrix model. The system has hardware and software that creates an absence of ultrasonic reflection, and utilizes the information to identify the location and orientation of a set of conic volumes in order to build an estimate of the position and orientation of the bone relative to the base system, and to use the position and orientation changes to update the registration and to detect bone motion. Embodiments of invention provide a process of registering part or all of a bone without directly touching the bone using ultrasound, and as a result support a non-invasive or less-invasive approach to bone registration and bone motion detection for a system.

Abstract: A bone fracture fixation system including a bone plate having a contour that substantially matches the contour of an underlying bone. The bone fracture fixation system can also include a jig that can be moved relative to non-parallel cannulas guided by the jig into operative position relative to a bone plate. In one embodiment, the jig includes grooves which do not completely surround the perimeter of the cannulas guided by the jig. The bone fracture fixation system can also include a jig including guides having a position and orientation which is adjustable relative to other ones of the guides. In one embodiment, the jig includes two portions that can articulate with respect to each other. The bone fracture fixation system can also include a wire bender that can bend a wire greater than 180 degrees so that both ends of the wire can be inserted into a fractured bone.

Abstract: A bone fracture fixation system comprising a metallic bone plate having a first composition comprising titanium or a titanium alloy and an opening for receiving a metallic fastener that has a second composition comprising titanium, a titanium alloy, or a stainless steel, and is sized to be received in the opening, and a cold-sprayed metallic coating either within the opening or on the metallic fastener is provided. The cold-sprayed metallic coating comprises a biocompatible metallic material having a third composition different than the first and second compositions. When the metallic fastener is inserted into the opening to stabilize a bone fracture, the cold-sprayed metallic coating may substantially prevent bonding or one or more types of corrosion between the metallic fastener and the metallic bone plate. In another embodiment, the cold-sprayed metallic coating comprises at least one of a cobalt-chrome alloy, gold, a gold alloy, silver or a silver alloy.

Abstract: The present invention relates to orthopedic bone plates, and, more particularly, to orthopedic bone plates having screw receiving apertures formed therein. In one embodiment, the bone plate includes an aperture defined by an interior wall having a threaded portion and a non-threaded portion. In one exemplary embodiment, the threaded portion and the non-threaded portion are configured to engage the head of a bone screw. In another exemplary embodiment, the non-threaded portion of the interior wall is cylindrical and the threaded portion of the interior wall is conical. In another exemplary embodiment, both the non-threaded portion and the threaded portion of the interior wall are conical. In each of these embodiments, a bone screw having a threaded head may be used. In one exemplary embodiment, the head of the bone screw is self-tapping. In another exemplary embodiment, the head of the bone screw is conical.

Abstract: A fixation device for use in bone, such as a bone screw, includes a first end and a second end. The first portion may be manufactured from a short-term resorbable material, and the second portion may be manufactured from a non-resorbable or long term resorbable material. The first portion may comprise a tip capable of self-tapping a bone. The second portion may include at least one thread formed on the outer surface thereof and a head portion formed to mate with a driver.

Abstract: A bone fracture fixation system including a bone plate having a contour that substantially matches the contour of an underlying bone. The bone fracture fixation system can also include a jig that can be moved relative to non-parallel cannulas guided by the jig into operative position relative to a bone plate. In one embodiment, the jig includes grooves which do not completely surround the perimeter of the cannulas guided by the jig. The bone fracture fixation system can also include a jig including guides having a position and orientation which is adjustable relative to other ones of the guides. In one embodiment, the jig includes two portions that can articulate with respect to each other. The bone fracture fixation system can also include a wire bender that can bend a wire greater than 180 degrees so that both ends of the wire can be inserted into a fractured bone.