Abstract: The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) configured to determine the pose of the end effector with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.

Abstract: The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: i) a robotic device (100) comprising: —a cutting tool, —an actuation unit (4) comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base (40) and a platform (41) selectively orientable relative to the base (40) according to at least two of said motorized degrees of freedom, —a planar mechanism (24) connecting a terminal part of the actuation unit (4) to the cutting tool (2), ii) a passive articulated lockable holding arm (51) supporting the actuation unit, iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, iv) a control unit (300) configured to determine the pose of the cutting plane with respec

Abstract: The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —a cutting tool, —an actuation unit (4) having a serial architecture comprising from three to five motorized degrees of freedom, at least two of said motorized degrees of freedom being rotational degrees of freedom about respective rotation axes that are substantially orthogonal to each other, configured for adjusting a position and orientation of the cutting tool relative to each target plane, —a planar mechanism connecting the last segment of the actuation unit to the cutting tool; (ii) a passive articulated lockable holding arm (5) supporting the actuation unit (4); (iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, (iv) a control unit (300) configured

Abstract: A robotic surgical system comprising a robotic surgical apparatus and a graphical user interface (GUI) system may be used to assist a user in performing a surgical procedure. The GUI system may comprise a spatial-data acquisition device, a data acquisition device having a pointer with a tip, a display, and an operating console including a non-transitory storage medium and a processor. The robotic surgical apparatus, the spatial-data acquisition device, the display, and the non-transitory storage medium may be connected to the processor. The processor may be configured to receive as inputs spatial data from the spatial-data acquisition device and provide as outputs to the display a set of indications for positioning the robotic surgical apparatus at the anatomical target. The processor may also be configured to provide as outputs to the display a set of indications for confirming the reference surface location of the anatomical structure.

Abstract: The disclosure relates to a robotic system for removing bony material from an anatomical structure of a patient, comprising:—a base (4), —an end effector (2) configured to hold a surgical tool (1), —an actuation unit (3) configured to translate the end effector relative to the base at least along one feed axis (A), —a control unit coupled to the actuation unit (3) and configured to turn off the tool (1) and command the actuation unit (3) to translate the end effector (2) along the feed axis (A) while the tool is turned off, the control unit comprising a feedback unit configured to measure a force exerted by the surgical tool (1) onto the anatomical structure during said translation of the end effector (2) and, based on the measured force, detect a contact of the tool with bony material of the anatomical structure.

Abstract: The present disclosure relates to a surgical system for treating an anatomical structure according to a plurality of target planes and/or axes, comprising: a robotic device (1) comprising: an end effector (2) defining a current plane or axis, an actuation unit (11) coupled to the end effector (2), a tracking unit (3) configured to determine a pose of the current plane or axis, a control unit coupled to the tracking unit and configured to control the actuation unit (11) to align the current plane or axis of the end effector (2) with each one of the plurality of target planes and/or axes to treat the anatomical structure, the robotic device being operable in at least the following modes: a working mode wherein a treatment is being performed with the end effector constrained to one target plane or axis by the actuation unit, and a waiting mode wherein no treatment is being performed and the actuation unit is operable to move the end effector in alignment with another target plane or axis, wherein the contr

Abstract: Surgical tools and robotic systems adaptable for treating a left side or a right side of a patient with minimal interference with the patient and surrounding operative site are disclosed. In some embodiments, a surgical tool can include a body, an end-effector, a first connector, a second connector, and a third connector. The end-effector can extend from a distal end of the body and be movable relative to the body about a pivot axis. The first connector can rigidly secure the body to a planar mechanism. The second and third connectors can rigidly secure a distal part and a proximal part of a tracker, respectively, to the body. The first and second connectors can be symmetrical to each other with respect to a plane including a longitudinal axis of the body and the pivot axis and can be suited for attachment of either the tracker or the planar mechanism.

Abstract: The disclosure relates to a method for guiding position and orientation of a robotic device holding a surgical tool configured for working a planned region of an anatomical structure, the robotic device comprising a base and an actuation unit coupled to the base and configured to move the surgical tool relative to the base, the method comprising: providing a user interface displaying a virtual representation (1) of the anatomical structure and a virtual representation (2) of a target region on the anatomical structure; detecting a presence of a distal tip (3) of the tool in the target region; changing a visual aspect of the virtual representation (2) of the target region when the tool tip (3) is detected in said target region; based on the position of the target region, computing a virtual goal (4) defining a spatial range of position and orientation of the robotic device in which the tool is capable of working at least a determined part of the planned region of the anatomical structure; displaying the vir

Abstract: The disclosure relates to a method for disassembling a marker array (10) comprising at least three optical markers (100) arranged according a determined array geometry configured to be tracked by a localization camera from an array fixation (11) to which the marker array (10) is connected, the method comprising, prior to or during disconnecting the marker array (10) from the array fixation (11), actuating a mechanism configured to selectively modify the array geometry so as to unable tracking of the marker array by the localization camera.

Abstract: A patient-specific surgical guide including at least one guiding element for guiding a surgical instrument to treat a subcutaneous anatomical structure of the patient. A first patient-specific contact element with a first patient-specific contact surface to fit a portion of the subcutaneous anatomical structure is rigidly connected to the at least one guiding element. The patient-specific surgical guide includes at least one second patient-specific contact element having at least one support element for supporting a percutaneous pin or needle whose tip is intended to contact a point of the subcutaneous anatomical structure or an anatomical structure rigidly connected thereto. An elongated junction member rigidly couples the at least one guiding element to the at least one second contact element.

Abstract: Surgical navigation trackers with guards are described that can aid in protecting tracking elements from accumulating liquids thereon, which can negatively impact surgical navigation performance. The surgical navigation trackers described herein can be utilized with a variety of systems and procedures. For example, in one embodiment a system is described that includes a surgical device having an end effector configured for manipulating tissue and a surgical navigation tracker configured to be coupled to any of a surgical instrument and an anatomical structure. The surgical navigation tracker can include a tracking element and a guard configured to be positioned between the tracking element and the cutting tool, as well as a tracking unit configured to determine a position of the surgical navigation tracker.

Abstract: The invention relates to a system for guiding a surgical tool (200) held by a user relative to at least one target axis (T) defined in a coordinate system of a patient's spine, comprising: (i) a robotic device (300) comprising: —a base (301), —a guiding device (303) configured for constraining the tool to a guiding axis (G), —a compact motorized actuation unit (304) movable relative to the base (301), coupled to the guiding device (303) for adjusting a position and orientation of said guiding device relative to the target axis, —a support unit (305) connected to the base (301), comprising at least one element designed to make contact with the spine or a region of the patient's body adjacent to the spine so as to provide a partial mechanical link between the guiding device and the spine, (ii) a passive articulated lockable holding arm (400) supporting the base (301) of the robotic device, (iii) a tracking unit (500) configured to determine in real time the pose of the guiding axis with respect to the coordinat

Abstract: The invention relates to a patient-specific surgical guide (200) comprising: at least one guiding element (202a, 202b) for guiding a surgical instrument to treat a subcutaneous anatomical structure (100, 101) of the patient, and a first patient-specific contact element (201) comprising a first patient-specific contact surface (2010) intended to fit a portion of said subcutaneous anatomical structure (100, 101), said at least one patient-specific contact surface (2010) being rigidly connected to the at least one guiding element (202a, 202b), said patient-specific surgical guide being characterized in that it further comprises; at least one second patient-specific contact element (203) distant from the first patient-specific contact element (201), comprising at least one support element (203b) suitable for supporting a percutaneous pin or needle (205) whose tip is intended to contact a point (103) of said subcutaneous anatomical structure or of an anatomical structure rigidly connected to said subcutaneous anat