Abstract: A system and method may be used to evaluate soft tissue. A hip joint evaluation may use an adjustable spacer, such as varying sized physical spacers or an inflatable bladder, along with a sensor to measure force, pressure, gap distance, or the like, for example during a range of motion test. A method may include using a maximum pressure during the range of motion test to determine a maximum pressure during the range of motion test. The maximum pressure may be output for display on a user interface.

Abstract: A system for tracking at least one bone in robotized computer-assisted surgery, comprises 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 backscatter images of the at least one bone from a tracking device in a coordinate system; generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images, the three-dimensional geometry of the surface being in the coordinate system; determining a position and orientation of the at least one bone in the coordinate system by matching the three-dimensional geometry of the surface of the at least one bone to a three-dimensional model of the bone; controlling an automated robotized variation of at least one of a position and orientation of the tracking device as a function of a processing of the backscatter images; and continuously outputting the position and orientation of

Abstract: A system for tracking at least one object in computer-assisted surgery 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 orientation data from at least one inertial sensor unit on at least one object; concurrently obtaining position and orientation data for a robot arm relative to a frame of reference; registering the at least one object with the robot arm to determine a position of the at least one object in the frame of reference; and continuously tracking and outputting the position and orientation of the at least one object in the frame of reference, using the orientation data from the at least one inertial sensor unit on the at least one object and the position and orientation data for the robot arm.

Abstract: A system for controlling a tourniquet pressure 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. The system may obtain ultrasound readings indicative of a blood flow in a limb having a tourniquet applying pressure on the limb; determine characteristic(s) of the blood flow from the ultrasound readings; and adjust a tourniquet pressure as a function of the at least one characteristic of the blood flow. An integrated robotic surgery system is also provided.

Abstract: To address technical problems facing knee arthroplasty resection validation, the present subject matter provides a tracked knee arthroplasty instrument for objective measurement of resection depth. By performing a precise comparison between the location of the tracked knee arthroplasty instrument and a reference location, the knee arthroplasty instrument measures and validates each tibial and femoral resection. To address technical problems facing validation of joint laxity following knee arthroplasty, the tracked knee arthroplasty instrument is shaped to validate the flexion gap and extension gap. When the tracked knee arthroplasty instrument is inserted between the resected tibial plateau and femoral head, the instrument shape validates whether the desired flexion gap and extension gap have been achieved.

Abstract: A system for tracking at least one bone in robotized computer-assisted surgery, comprises 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 backscatter images of the at least one bone from a tracking device in a coordinate system; generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images, the three-dimensional geometry of the surface being in the coordinate system; determining a position and orientation of the at least one bone in the coordinate system by matching the three-dimensional geometry of the surface of the at least one bone to a three-dimensional model of the bone; controlling an automated robotized variation of at least one of a position and orientation of the tracking device as a function of a processing of the backscatter images; and continuously outputting the position and orientation of

Abstract: Embodiments of a system and method for surgical tracking and control are generally described herein. A system may include a robotic arm configured to allow interactive movement and controlled autonomous movement of an end effector, a cut guide mounted to the end effector of the robotic arm, the cut guide configured to guide a surgical instrument within a plane, a tracking system to determine a position and an orientation of the cut guide, and a control system to permit or prevent interactive movement or autonomous movement of the end effector.

Abstract: A system and method for pre-operative or intra-operative surgical procedure feedback provide a recommendation to a surgeon. A system may include a robotic surgical device to perform a portion of a surgical procedure on a patient, and a processor to determine a recommendation, based on past surgical information, for the portion of the surgical procedure performed by the robotic surgical device or for a next action to be taken, but the robotic surgical device or a surgeon. The system may include outputting the recommendation by intra-operatively providing the recommendation to a surgeon operating the robotic surgical device.

Abstract: A system for creating at least one model of a bone and implanted implant comprises 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 at least one image of at least part of a bone and of an implanted implant on the bone, the at least one image being patient specific, obtaining a virtual model of the implanted implant using an identity of the implanted implant, overlaying the virtual model of the implanted implant on the at least one image to determine a relative orientation of the implanted implant relative to the bone in the at least one image, and generating and outputting a current bone and implant model using the at least one image, the virtual model of the implanted implant and the overlaying.

Abstract: A bistable electromagnetic actuator is described. The actuator includes a mobile assembly and a fixed assembly. The mobile assembly includes at least one pair of ferromagnetic plunger-cores, a frame integrally connecting the plunger-cores, and a guiding element. The fixed assembly includes a ferromagnetic core having cavities defined on each of its two sides configured to receive a corresponding one of the plunger-cores, at least one magnet positioned between the cavities in the core and being able to create a first magnetic flux, at least one coil operable via an excitation current to create a second magnetic flux, and a guiding element adapted to cooperate with the guiding element of the mobile assembly to allow the mobile assembly to move between a first and a second stable position. Methods for actuating the bistable electromagnetic actuator are also described.

Abstract: The present disclosure can include a system including a surgical arm, a retractor connected to the surgical arm, a force sensor mounted on the surgical arm, the force sensor configured to receive sensor data indicating force on the retractor from the force sensor, and a magnetorheological fluid actuator for actuating the surgical arm, the actuator configured to actuate according to the received sensor data, and adjust the surgical arm according to the received sensor data so as to maintain a constant retraction force. The present disclosure can additionally include a method for retracting tissue including applying force to the tissue with a magnetorheological fluid actuator to induce a retraction force, sensing a change in force applied to the tissue using a force sensor, and maintaining the retraction force by adjusting the force applied to the tissue.

Abstract: A system for tracking a surgical tool relative to a bone in computer-assisted surgery, comprising: 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: tracking the surgical tool relative to the bone; merging virtual models of the surgical tool and the bone to the surgical tool and the bone in the tracking; calculating a location of a working end of the surgical tool relative to the bone using the tracking, in a concealed condition of the working end of the surgical tool relative to the bone; and outputting the location of the working end of the surgical tool relative to the bone.

Abstract: A system for creating at least one model of a bone and implanted implant comprises 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 at least one image of at least part of a bone and of an implanted implant on the bone, the at least one image being patient specific, obtaining a virtual model of the implanted implant using an identity of the implanted implant, overlaying the virtual model of the implanted implant on the at least one image to determine a relative orientation of the implanted implant relative to the bone in the at least one image, and generating and outputting a current bone and implant model using the at least one image, the virtual model of the implanted implant and the overlaying.

Abstract: A system and method may be used to evaluate soft tissue. A knee arthroplasty soft tissue evaluation may use an adjustable spacer, such as varying sized physical spacers or an inflatable bladder, along with a sensor to measure force, pressure, gap distance, or the like during a range of motion test. A method may include maintaining an equal pressure or gap distance for a medial component and a lateral component of an adjustable spacer during a range of motion test. Information, including, for example a maximum or minimum gap distance or pressure may be determined during the range of motion test. The determined information may be output for display or used to update a surgical plan.

Abstract: Systems and methods for determining position and orientation of a bone of an anatomical feature are described. These include the use of a wearable holder configured to be mounted about an outer-skin surface of the anatomical feature, such that the anatomical feature and the bone are positioned in fixed relation with respect to the wearable holder when the wearable holder is mounted about the anatomical feature. Reference marker arrays are fixedly mounted to the wearable holder, each being positioned on the wearable holder to identify a landmark of the bone within the wearable holder when the wearable holder is mounted to the anatomical feature. The position and orientation of the reference markers are trackable to determine position and orientation of the wearable holder in a reference coordinate system, thereby enabling position and orientation of the landmarks on the bone to be determined.

Abstract: A surgical assistance system includes 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 a video feed of a surgical procedure and monitoring the surgical procedure from the video feed; detecting, from an image processing of the video feed, a condition requiring a deviation from the surgical procedure, the deviation being defined as being outside of a standard surgical flow; and outputting a recommendation of deviation by intra-operatively providing the recommendation to an operator of the surgical procedure.

Abstract: A system and method for pre-operative or intra-operative surgical procedure feedback provide a recommendation to a surgeon. A system may include a robotic surgical device to perform a portion of a surgical procedure on a patient, and a processor to determine a recommendation, based on past surgical information, for the portion of the surgical procedure performed by the robotic surgical device or for a next action to be taken, but the robotic surgical device or a surgeon. The system may include outputting the recommendation by intra-operatively providing the recommendation to a surgeon operating the robotic surgical device.

Abstract: A system for tracking at least one bone in robotized computer-assisted surgery, comprises 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 backscatter images of the at least one bone from a tracking device in a coordinate system; generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images, the three-dimensional geometry of the surface being in the coordinate system; determining a position and orientation of the at least one bone in the coordinate system by matching the three-dimensional geometry of the surface of the at least one bone to a three-dimensional model of the bone; controlling an automated robotized variation of at least one of a position and orientation of the tracking device as a function of a processing of the backscatter images; and continuously outputting the position and orientation of

Abstract: A surgical assistance system includes 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 a video feed of a surgical procedure and monitoring the surgical procedure from the video feed; detecting, from an image processing of the video feed, a condition requiring a deviation from the surgical procedure, the deviation being defined as being outside of a standard surgical flow; and outputting a recommendation of deviation by intra-operatively providing the recommendation to an operator of the surgical procedure.

Abstract: A system and method may be used to evaluate soft tissue. A hip joint evaluation may use an adjustable spacer, such as varying sized physical spacers or an inflatable bladder, along with a sensor to measure force, pressure, gap distance, or the like, for example during a range of motion test. A method may include using a maximum pressure during the range of motion test to determine a maximum pressure during the range of motion test. The maximum pressure may be output for display on a user interface.