Abstract: Systems and methods for performing computer-aided surgical navigation using augmented reality are disclosed. An augmented reality marker assembly including a tracking marker configured for use with an augmented reality system is configured to be attached to a tracking device at a fixed orientation. The tracking marker includes a contrasting three-dimensional surface. The system can sense and determine a three-dimensional orientation of the augmented reality marker and the tracking device in their respective reference frames.

Abstract: A modular surgical instrument assembly is disclosed. The surgical instrument assembly includes a surgical instrument body configured to interchangeably receive one of a plurality of modular inserts, wherein each of the plurality of inserts is configured to engage with a different component associated with the surgical instrument assembly, wherein the plurality of modular inserts comprises different diameters corresponding to the respective component. The surgical instrument assembly can be used to perform a variety of different surgical tasks by swapping the modular insert and the corresponding component connectable thereto.

Abstract: A method of intraoperatively tracking a patella of a knee of a patient. The method can include percutaneously attaching a tracking assembly to the patella, tracking the tracking assembly as the knee is moved through a range of motion; making an incision to open a joint capsule of the knee, everting the patella, reconfiguring the tracking assembly to reorient the tracking elements relative to the patella, and intraoperatively collecting data associated with the patella. The tracking assembly can be configured to use electromagnetic or optical tracking modalities.

Abstract: A device for assessing laxity of a joint is disclosed. The device comprises a trial component comprising a base plate configured to couple to a tibia of the joint and a superior spacer coupled to the base plate. The base plate and the superior spacer define a cavity therebetween that may receive a portion of a tensioner tool. When force is applied via the tensioner tool, the superior spacer is configured to be selectively moved from a first position in contact with a superior surface of the base plate to a second position separated from the superior surface. A system for assessing laxity of a joint including a first bone and a second bone is also disclosed. The system comprises the trial component, the tensioner tool, and a processor configured to determine a gap distance associated with the first bone and the second bone during tensioning.

Abstract: Surgical methods and devices that facilitate anatomical resection are disclosed. In some examples, a surgical resection device is disclosed that includes a static housing and a resection tool coupled to the housing via a flexible gasket that allows relative motion between the static housing and resection tool. A motor is also coupled to the static housing and is configured to rotate the resection tool about a first axis. The surgical resection device also includes two linear actuators disposed within a handle and coupled to the static housing via respective pinned linkages. The actuators are independently drivable to translate the resection tool within a second axis and rotate the resection tool about a third axis. A surgical computing device can track the surgical resection device, drive the motor and actuators to align the resection tool with a resection plane determined preoperatively, and control a position and speed of the resection tool.

Abstract: Methods and systems for identifying and determining the size and orientation of a reamed portion of a patient's bone are disclosed. A tracking array and/or point probe may be inserted into an adapter device. The adapter device comprising a plurality of openings, having various connection means therein, such that when the tracking array is inserted into the adapter, a secure and robust connection is created. A reamer, stem, or similar tool may then be inserted into the opposing side of the adapter, during which, a secure and robust connection is created between the adapter and the tool. Thus, through the use of Computer Assisted Surgery Systems, a more accurate representation of the patient's anatomy can be obtained.

Abstract: Methods and systems of placing a medical fastener at a predetermined depth in a bone are described. A surgical tool can include an attachment assembly configured to interchangeably engage a medical fastener and a cutting element or bone removal tool and a drive assembly coupled to the attachment assembly. The attachment assembly can be configured to automatically release the medical fastener in response to the drive assembly reaching its end or distal-most position to place the medical fastener at a predetermined depth within the bone.

Abstract: Described herein are robotic arm assemblies that are configured to assist in making planar cuts in an orthopedic surgical procedure. The robotic arm assemblies have less than three motorized joints, but possess the functionality of conventional robotic arm assemblies that have greater numbers of motorized joints. The robotic arm assemblies further include one to four non-motorized joints. The non-motorized joints can include braking or locking mechanisms that are configured to selectively slow or lock the movement of the joints and the associated arm sections of the robotic arm assembly.

Abstract: A tensioner tool for assessing joint laxity is disclosed. The tensioner tool comprises a pair of pivotally coupled arms, each arm comprising a proximal handle portion, a distal portion, and an insertion tip selectively coupled to the distal portion. The pair of arms pivot between a compressed configuration for insertion within the joint and an expanded configuration for distraction of the joint by applying a force to the handles, thus spreading the insertion tips. The tensioner tool also comprises a force sensor configured to measure the force applied to the handle portion and a positional sensor configured to measure a separation distance between the pair of arms. The tensioner tool also comprises a processor configured to calculate a distraction force at the insertion tips based on the measured force and to calculate a tip distance between the insertion tips based on the measured separation distance.

Abstract: Methods and systems for identifying and determining the size and orientation of a reamed portion of a patient's bone are disclosed. A tracking array and/or point probe may be inserted into an adapter device. The adapter device comprising a plurality of openings, having various connection means therein, such that when the tracking array is inserted into the adapter, a secure and robust connection is created. A reamer, stem, or similar tool may then be inserted into the opposing side of the adapter, during which, a secure and robust connection is created between the adapter and the tool. Thus, through the use of Computer Assisted Surgery Systems, a more accurate representation of the patient's anatomy can be obtained.

Abstract: A joint tensioning device and methods of use thereof are disclosed. The joint tensioning device includes a flexing arm and a loading arm having a tensioning tip and a loading tip, respectively, configured for insertion into a joint. The flexing arm is coupled to the loading arm such that, during use, the loading arm may be adjusted to separate the tensioning tip and the loading tip to apply a distraction force to the joint. A strain gauge measures strain applied to the flexing arm based on the applied distraction force. The measured strain is used to determine the amount of force applied to the joint. The force data is employed in surgical planning to determine the amount of joint laxity when a particular load is applied to the joint.

Abstract: Methods and systems for preparing a bone for a cementless joint implant are described. A first bone removal operation is performed using a burring device that has a first plurality of settings. The settings for the burring device are adjusted to a second plurality of settings, and a second bone removal operation is performed using the burring device. The adjustment to the settings may allow a surgeon to perform bulk bone removal in the first instance and fine bone removal in the second instance. The process of adjusting and performing subsequent bone removal operations may be performed any number of times during the bone preparation process. The adjustments to the settings may be received automatically from a computer-assisted surgical system, manually entered by a medical professional, or a combination of the two.

Abstract: Methods, non-transitory computer readable media, interface adapter devices, and surgical computing devices and systems that detect and analyze connectivity of an end effector to a robotic arm are disclosed. With this technology, an interface adapter device of a robotic arm includes a connectivity sensor that determines when an end effector is disconnected from the robotic arm to be used as a handpiece by a surgeon to carry out particular surgical task(s) associated with a surgical procedure. The interface adapter device can instruct the robotic arm to automatically enter an inactive state defined in a surgical plan for the surgical procedure upon detection of the disconnection. Upon reconnection of the handpiece, or installation of a different handpiece, the interface adapter device automatically facilitates readjustment of the robotic arm based on an active state (e.g., automated resumption of the surgical procedure) defined in a surgical plan for the surgical procedure.

Abstract: Methods and systems of placing a medical fastener at a predetermined depth in a bone are described. A surgical tool can include an attachment assembly configured to interchangeably engage a medical fastener and a cutting element or bone removal tool and a drive assembly coupled to the attachment assembly. The attachment assembly can be configured to automatically release the medical fastener in response to the drive assembly reaching its end or distal-most position to place the medical fastener at a predetermined depth within the bone.

Abstract: Methods of measuring a force using a tracking system are disclosed. A first vector is determined between a first tracking array and a second tracking array on a tool. The tool has a flexible portion that has a known modulus of elasticity and moment of inertia. A force is applied to the tool, and a second vector is determined between the first tracking array and the second tracking array. An amount of deflection is determined for the tool, and the magnitude and direction of the applied force are determined based on at least the amount of deflection, the modulus of elasticity and the moment of inertia. Information pertaining to the magnitude and direction of the applied force is provided to a user.

Abstract: Devices, systems, and methods for measuring a force applied to a joint during a surgical procedure are disclosed. The device includes an insertion tool, a handle, and one or more force indicators. The insertion tool includes an insertion end and a base end. The one or more force indicators may be attached to the insertion tool and the handle. The insertion end of the device may be inserted into a joint during a surgical procedure and used to apply a force to the joint and/or measure the force using the one or more force indicators when the force is applied.

Abstract: Methods and systems of placing a medical fastener at a predetermined depth in a bone are described. A surgical tool can include an attachment assembly configured to interchangeably engage a medical fastener and a cutting element or bone removal tool and a drive assembly coupled to the attachment assembly. The attachment assembly can be configured to automatically release the medical fastener in response to the drive assembly reaching its end or distal-most position to place the medical fastener at a predetermined depth within the bone.

Abstract: Devices, systems, and methods for measuring a force applied to a joint during a surgical procedure are disclosed. The device includes an insertion tool, a handle, and one or more force indicators. The insertion tool includes an insertion end and a base end. The one or more force indicators may be attached to the insertion tool and the handle. The insertion end of the device may be inserted into a joint during a surgical procedure and used to apply a force to the joint and/or measure the force using the one or more force indicators when the force is applied.

Abstract: Methods and systems for identifying and determining the size and orientation of a reamed portion of a patient's bone are disclosed. A tracking array and/or point probe may be inserted into an adapter device. The adapter device comprising a plurality of openings, having various connection means therein, such that when the tracking array is inserted into the adapter, a secure and robust connection is created. A reamer, stem, or similar tool may then be inserted into the opposing side of the adapter, during which, a secure and robust connection is created between the adapter and the tool. Thus, through the use of Computer Assisted Surgery Systems, a more accurate representation of the patient's anatomy can be obtained.

Abstract: Devices, systems, and methods for measuring a force applied to a joint during a surgical procedure are disclosed. The device includes an insertion tool, a handle, and one or more force indicators. The insertion tool includes an insertion end and a base end. The one or more force indicators may be attached to the insertion tool and the handle. The insertion end of the device may be inserted into a joint during a surgical procedure and used to apply a force to the joint and/or measure the force using the one or more force indicators when the force is applied.