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: An interface for a robotic arm comprising: a body having a first axial face adapted to be connected to a distal face of a link of a robotic arm, a second axial face adapted to be connected to a proximal face of an end effector, the second axial face having a geometry differing from a geometry of the proximal face of the end effector so as to define a peripheral band in the second axial face, the peripheral band facing distally. A connection configuration is provided for the interface to be fixed to the link and for the end effector to be fixed to the interface. Circuitry is embedded in the body. At least one light source in the peripheral band, the at least one light source connected to the circuitry to produce light in a distal direction of the robotic arm.

Abstract: A system or method may be used to provide registration, calibration, or tracking of patient anatomy using a camera and a robotic surgical system. The camera may include a structured light camera. The camera may be used to acquire an image of patient anatomy or a reference object. A method may include determining a distance (e.g., from the camera) or a location of the patient anatomy or the reference object. The robotic surgical system may include a robotic arm that may be configured to move based on the distance or location of the patient anatomy or the reference object.

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: This invention concerns an automated registration method and device for a surgical robot enabling registration between a first three-dimensional location system comprising an optical distance sensor and a second three-dimensional location system comprising optical acquisition means. The method comprises: a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient and; a second step of intraoperative registration of two three-dimensional location systems. The second registration step is performed at the same time as the first registration step by detection, by the optical acquisition means, of at least one point of a point cloud acquired by the optical sensor during the first intraoperative registration.

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: This invention concerns an automated registration method and device for a surgical robot enabling registration between a first three-dimensional location system comprising an optical distance sensor and a second three-dimensional location system comprising optical acquisition means. The method comprises: a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient and; a second step of intraoperative registration of two three-dimensional location systems. The second registration step is performed at the same time as the first registration step by detection, by the optical acquisition means, of at least one point of a point cloud acquired by the optical sensor during the first intraoperative registration.

Abstract: This invention concerns an automated registration method and device for a surgical robot enabling registration between a first three-dimensional location system comprising an optical distance sensor and a second three-dimensional location system comprising optical acquisition means. The method comprises:—a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient and;—a second step of intraoperative registration of two three-dimensional location systems. The second registration step is performed at the same time as the first registration step by detection, by the optical acquisition means, of at least one point of a point cloud acquired by the optical sensor during the first intraoperative registration.

Abstract: A system or method may be used to provide registration, calibration, or tracking of patient anatomy using a camera and a robotic surgical system. The camera may include a structured light camera. The camera may be used to acquire an image of patient anatomy or a reference object. A method may include determining a distance (e.g., from the camera) or a location of the patient anatomy or the reference object. The robotic surgical system may include a robotic arm that may be configured to move based on the distance or location of the patient anatomy or the reference object.

Abstract: An assembly including a surgical instrument having a working end extending along an axis. A tracker device has an axisymmetric body or a quasi-axisymmetric body, the tracker device being mounted on the surgical instrument such that an axis of axisymmetry of the axisymmetric body or the quasi-axisymmetric body is collinear with the axis of the surgical instrument. A position of the surgical instrument is tracked as a function of a tracking of the axisymmetric body or quasi-axisymmetric body. A computer-assisted surgery system for tracking surgical instruments during surgery is provided.

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: The robotic device for positioning a surgical instrument relative to the body of a patient includes a first robotic arm with a device for rigidly connecting to at least one surgical instrument, a device for anatomical realignment of the first arm by realigning an image that is of an area of the anatomy of the patient, and a device for compensating the movements of the first arm on the basis of detected movements. One version of the device includes at least one second robotic arm having sensors for detecting inner movements of the anatomical area, and a device for controlling the positioning of the first arm relative to sensed inner movements and to the outer movements induced in the second arm.

Abstract: An imageless robotized device for guiding surgical tools to improve the performance of surgical tasks is provided. The method of using the robotized device may include the steps of: collecting anatomical landmarks with a robot arm; combining landmarks data with geometric planning parameters to generate a position data; and automatically positioning a guiding tool mounted to the robot arm. Particular embodiments for a limb fixation device are also described.

Abstract: The robotic device for positioning a surgical instrument relative to the body of a patient includes a first robotic arm with a device for rigidly connecting to at least one surgical instrument, a device for anatomical realignment of the first arm by realigning an image that is of an area of the anatomy of the patient, and a device for compensating the movements of the first arm on the basis of detected movements. One version of the device includes at least one second robotic arm having sensors for detecting inner movements of the anatomical area, and a device for controlling the positioning of the first arm relative to sensed inner movements and to the outer movements induced in the second arm.

Abstract: This invention concerns an automated registration method and device for a surgical robot enabling registration between a first three-dimensional location system comprising an optical distance sensor and a second three-dimensional location system comprising optical acquisition means. The method comprises: a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient and; a second step of intraoperative registration of two three-dimensional location systems. The second registration step is performed at the same time as the first registration step by detection, by the optical acquisition means, of at least one point of a point cloud acquired by the optical sensor during the first intraoperative registration.

Abstract: The robotic device for positioning a surgical instrument relative to the body of a patient includes a first robotic arm with a device for rigidly connecting to at least one surgical instrument, a device for anatomical realignment of the first arm by realigning an image that is of an area of the anatomy of the patient, and a device for compensating the movements of the first arm on the basis of detected movements. One version of the device includes at least one second robotic arm having sensors for detecting inner movements of the anatomical area, and a device for controlling the positioning of the first arm relative to sensed inner movements and to the outer movements induced in the second arm.

Abstract: The method for the automated and assisted acquisition of anatomical surfaces includes a first acquisition of the surfaces undertaken in order to create a first numerical model and a perioperative second acquisition undertaken by scanning the surfaces in order to create a second numerical model for identifying the coordinates of the surfaces. The surfaces are supported by a robotic arm; and then the models are brought into correspondence by resetting. The scanning in the second acquisition includes making a preliminary identification of the coordinates of noteworthy points on the surfaces manually, assisted by the robotic arm, and the identifying parts a the points, in order to construct a reference frame and to determine a scanning region; creating an intermediate model from the reference frame and at least one of the points; preliminary resetting the first model with the second model; and automatically scanning the determined zone.

Abstract: The method for the automated and assisted acquisition of anatomical surfaces includes a first acquisition of the surfaces undertaken in order to create a first numerical model and a perioperative second acquisition undertaken by scanning the surfaces in order to create a second numerical model for identifying the coordinates of the surfaces. The surfaces are supported by a robotic arm; and then the models are brought into correspondence by resetting, The scanning in the second acquisition includes making a preliminary identification of the coordinates of noteworthy points on the surfaces manually, assisted by the robotic arm, and the identifying parts a the points, in order to construct a reference frame and to determine a scanning region; creating an intermediate model from the reference frame and at least one of the points; preliminary resetting the first model with the second model; and automatically scanning the determined zone.

Abstract: The method for the automated and assisted acquisition of anatomical surfaces includes a first acquisition of the surfaces undertaken in order to create a first numerical model and a perioperative second acquisition undertaken by scanning the surfaces in order to create a second numerical model for identifying the coordinates of the surfaces. The surfaces are supported by a robotic arm; and then the models are brought into correspondence by resetting. The scanning in the second acquisition includes making a preliminary identification of the coordinates of noteworthy points on the surfaces manually, assisted by the robotic arm, and the identifying parts a the points, in order to construct a reference frame and to determine a scanning region; creating an intermediate model from the reference frame and at least one of the points; preliminary resetting the first model with the second model; and automatically scanning the determined zone.

Abstract: The robotic device for positioning a surgical instrument relative to the body of a patient includes a first robotic arm with a device for rigidly connecting to at least one surgical instrument, a device for anatomical realignment of the first arm by realigning an image that is of an area of the anatomy of the patient, and a device for compensating the movements of the first arm on the basis of detected movements. One version of the device includes at least one second robotic arm having sensors for detecting inner movements of the anatomical area, and a device for controlling the positioning of the first arm relative to sensed inner movements and to the outer movements induced in the second arm.