Abstract: A method includes: obtaining a desired value for a parameter relevant to the automatic delivery of breathable gas; saving, by the system, the desired parameter value; finding, by the system, an actual value of the parameter; querying, by the system, whether the actual parameter value agrees with the desired parameter value; determining, by the system, that the actual parameter value does not agree with the desired parameter value; adjusting, by the system, a system setting so as to attain the desired parameter value; querying, by the system, whether the actual revised parameter value agrees with the desired parameter value; and repeating, by the system, the steps of determining, adjusting, and querying whether the actual revised parameter value agrees with the desired parameter value until the actual revised parameter value agrees with the desired parameter value.

Abstract: A robotic arm system can include a robot including a robot flange, a mask coupled to the robot flange, a ventilator coupled to the mask, and one or more controllers operable to change a pose of the robot flange. The controllers are further operable to deliver gas from the ventilator to the mask. The robot can include the ventilator. The robotic arm system can include a gas tube coupled to the mask and the ventilator, wherein the gas tube is configured to carry gas between the ventilator and the mask. The robotic arm system can include a computer vision system, one or more biometric sensor systems, and/or a sensing system. The ventilator can be a positive airway pressure ventilator. The mask can be a nasal mask, a mouth mask, or a face mask.

Abstract: A robotic surgery system for cutting a bone of a patient includes a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone. The handheld manipulator includes a cutting tool, a handle, and an actuator coupled between the handle and the cutting tool such that the actuator is configured to move the cutting tool relative to the handle. The system also includes a controller programmed to control the actuator to compensate for both operator tremor and patient movement.

Abstract: A method includes providing a handheld manipulator, a surgical tool coupled to the handheld manipulator, and a mechanical arm, affecting, with the handheld manipulator connected to the mechanical arm, motion of the surgical tool by operating a motor of the handheld manipulator, and affecting, with the handheld manipulator disconnected from the mechanical arm, the motion of the surgical tool by operating the motor of the handheld manipulator.

Abstract: A method includes providing a handheld manipulator, a surgical tool coupled to the handheld manipulator, and a mechanical arm, affecting, with the handheld manipulator connected to the mechanical arm, motion of the surgical tool by operating a motor of the handheld manipulator, and affecting, with the handheld manipulator disconnected from the mechanical arm, the motion of the surgical tool by operating the motor of the handheld manipulator.

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Abstract: A system includes: a robot comprising an arm, the arm comprising a flange, the flange coupled to an end of the arm, the arm configured to move the flange along a degree of freedom; a mask coupled to the flange, the mask configured to deliver gas to a user, wherein the arm further comprises a kinematic mount, the kinematic mount usable to do one or more of orient and locate the mask with respect to the flange; a ventilator coupled to the mask, the ventilator configured to deliver the gas to the mask; a gas tube coupled to both the mask and the ventilator, the gas tube configured to carry gas between the ventilator and the mask; and a tracking system, the tracking system configured to capture image data of one or more of the mask and a face of the user.

Abstract: A method includes: obtaining a desired value for a parameter relevant to the automatic delivery of breathable gas; saving, by the system, the desired parameter value; finding, by the system, an actual value of the parameter; querying, by the system, whether the actual parameter value agrees with the desired parameter value; determining, by the system, that the actual parameter value does not agree with the desired parameter value; adjusting, by the system, a system setting so as to attain the desired parameter value; querying, by the system, whether the actual revised parameter value agrees with the desired parameter value; and repeating, by the system, the steps of determining, adjusting, and querying whether the actual revised parameter value agrees with the desired parameter value until the actual revised parameter value agrees with the desired parameter value.

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Abstract: A robotic surgery method includes tracking a position of a surgical tool as it is manually manipulated to perform a procedure. The tool is coupled to a handheld manipulator assembly, and the handheld manipulator assembly includes a handheld portion configured to be manually supported and moved by a user and a tool drive assembly supported by the handheld portion. The manipulator assembly further includes a plurality of elongate structural members coupled between the tool drive assembly and the handheld portion, at least one pivotal link arranged between the tool drive assembly and the plurality of elongate structural members, a plurality of lead screws and actuators supported by the handheld portion, and a controller in communication with the plurality of actuators. The method further includes selectively operating the actuators to move the tool drive assembly relative to the handheld portion based on the tracked position of the tool.

Abstract: A system for implanting a prosthetic device includes a first component of the prosthetic device configured to be disposed in an actual joint and including a first feature. The system further includes a processing circuit configured to determine, based in part on a second component of the prosthetic device that is disposed on an actual bone of the actual joint, a placement of the first component on the same actual bone to obtain a desired relationship between the first component and the second component. The processing circuit is further configured to determine a relationship between the first component and the second component. The second component includes a second feature, and the determined relationship is based at least in part on the first feature and the second feature, and at least one of the first feature and the second feature includes a characteristic that is represented as a virtual feature.

Abstract: A prosthetic device includes one or more components configured to be disposed in a joint. The component includes at least one feature configured to provide information about the component. The information can be used to determine or create the relationship between the component and the joint and/or other components. This relationship may be used to evaluate and/or modify the expected performance of the prosthetic device and assist in determining the optimal relationship between one or more components and a patient's anatomy.

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Abstract: A robotic surgery method includes tracking a position of a surgical tool as it is manually manipulated to perform a procedure. The tool is coupled to a handheld manipulator assembly, and the handheld manipulator assembly includes a handheld portion configured to be manually supported and moved by a user and a tool drive assembly supported by the handheld portion. The manipulator assembly further includes a plurality of elongate structural members coupled between the tool drive assembly and the handheld portion, at least one pivotal link arranged between the tool drive assembly and the plurality of elongate structural members, a plurality of lead screws and actuators supported by the handheld portion, and a controller in communication with the plurality of actuators. The method further includes selectively operating the actuators to move the tool drive assembly relative to the handheld portion based on the tracked position of the tool.

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Abstract: A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Abstract: In one embodiment, a robotic surgery system comprises a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone, the handheld manipulator comprising a bone cutting tool comprising an end effector portion, a frame assembly, and a motion compensation assembly movably coupled to the frame assembly and bone cutting tool. A controller may be operatively coupled to the manipulator and configured to operate one or more actuators within the frame assembly to cause the motion compensation assembly to automatically move relative to the frame assembly to defeat aberrant movement of the bone cutting tool that would place the end effector portion of the tool out of a desired bone cutting envelope that is based at least in part upon one or more images of the bone, while allowing the bone cutting tool to continue cutting one or more portions of the bone.