Abstract: Disclosed are systems and methods for assisting with procedures involving a subject's joint, such as a joint. Robotic devices move and position the subject to manipulate the joint and sensing devices sense the joint gap. The robotic devices are controlled based on the joint gap. Novel techniques are disclosed for joint gap segmentation, approximating an uncertainty in determination of the varying dimension of the joint gap, and real-time motion analysis of the joint gap size. In some examples, a kinematic model of the patient's anatomy is utilized to provide robotically assisted manipulation of the same using the techniques described herein.

Abstract: Methods and systems are provided for robotic assisted surgery. A robotic system includes a localizer, at least one controller, and a surgical robotic manipulator which separately and detachably receives an energy applicator and an implant insertion tool that detachably receives an implant specifically for knee, hip or shoulder replacement surgery. The at least one controller determines a location within a portion of a patient's anatomy in which to form a cavity for the implant. The surgical robotic manipulator is controlled to form the cavity with the energy applicator. The surgical robotic manipulator is then controlled to insert the implant into the cavity with the implant insertion tool.

Abstract: Methods and systems are provided for robotic assisted surgery. A robotic system includes a localizer, at least one controller, and a surgical robotic manipulator which separately and detachably receives an energy applicator and an implant insertion tool that detachably receives an implant specifically for knee, hip or shoulder replacement surgery. The at least one controller determines a location within a portion of a patient's anatomy in which to form a cavity for the implant. The surgical robotic manipulator is controlled to form the cavity with the energy applicator. The surgical robotic manipulator is then controlled to insert the implant into the cavity with the implant insertion tool.

Abstract: Disclosed are systems and methods for assisting with procedures involving a subject's joint, such as a joint. Robotic devices move and position the subject to manipulate the joint and sensing devices sense the joint gap. The robotic devices are controlled based on the joint gap. Novel techniques are disclosed for joint gap segmentation, approximating an uncertainty in determination of the varying dimension of the joint gap, and real-time motion analysis of the joint gap size. In some examples, a kinematic model of the patient's anatomy is utilized to provide robotically assisted manipulation of the same using the techniques described herein.