Abstract: An ancillary system for surgery is provided. The ancillary system includes a trocar, a scalpel device and an exhaust device. The scalpel device includes a blade portion and a connecting arm. The exhaust device encapsulates at least a portion of the connecting arm of the scalpel device. The exhaust device is detachable from the scalpel device, and is configured to remove smoke, body fluids or biological tissues generated during a surgery to effectively improve the surgical process.

Abstract: A surgical instrument including one or both of a shield on a distal end portion of a shaft and a counterweight in a handle for enhanced functionality, efficiency and/or efficacy. The shield covers portions of a linkage that extend beyond outer dimensions of the shaft during operation of the instrument. The counterweight is proximal to a hand grip and configured to locate a center of gravity of the instrument within the hand grip. The instrument may be configured as a video-assisted thoracoscopic (VATS) and/or minimally invasive cardiac surgery (MICS) device.

Abstract: In a tissue binding method, a ring-shaped part (15) of a snare wire (10b) is disposed at a position surrounding a binding target site, the tissue at the binding target site is pulled while the ring-shaped part (15) is pressed against the tissue around the binding target site at a plurality of pressing points that are located away from each other in the circumferential direction of the ring-shaped part (15), and, in a state in which the tissue at the binding target site is pulled, the diameter of the ring-shaped part (15) is reduced to bind the tissue, while adjusting the position in the pressing direction at one or more of the pressing points.

Abstract: An ultrasonic surgical device includes a power source configured to generate power, an ultrasonic transducer electrically coupled to the power source and generating ultrasonic motion in response to the generated power, a sensor sensing current of the generated power supplied to the ultrasonic transducer, an ultrasonic probe mechanically couplable to the ultrasonic transducer, and a controller that receive a sensed current from the sensor, performs a frequency response analysis based on the sensed current, calculates a first resonant frequency and a first anti-resonant frequency of the transducer prior to coupling the ultrasonic probe based on the frequency response analysis, calculates a second resonant and second anti-resonant frequencies of the transducer based on the frequency response analysis prior to determining coupling to the ultrasonic transducer, and determines whether the ultrasonic probe is mechanically coupled to the ultrasonic transducer based on the first and second resonant and anti-resonant f

Abstract: A surgical system includes a surgical instrument and a cooling module. The cooling module includes a fluid reservoir retaining a conductive cooling fluid, a pump configured to pump the conductive cooling fluid along a flowpath, first and second electrodes disposed at first and second positions along the flowpath and configured to sense an electrical property of the conductive cooling fluid at the first and second positions, and a controller configured to determine an impedance of the conductive cooling fluid between the first and second positions based upon the sensed electrical properties of the first and second electrodes. A method for cooling a surgical instrument includes detecting an electrical property of a conductive cooling fluid at first and second positions along a flowpath and determining an impedance of the conductive cooling fluid between the first and second positions based upon the detected electrical properties at the first and second positions.

Abstract: An atherectomy system includes a handle having a handle housing, with a drive member extending through the handle housing and operably coupled to an atherectomy burr. A drive mechanism is disposed within the handle housing and is adapted to rotatably engage the drive member. The drive mechanism may include an electric drive motor, a drive gear that is rotatably engaged with the electric drive motor and a driven gear that is coupled with the drive member and is engaged with the drive gear such that rotation of the driven gear causes rotation of the drive member. The drive mechanism may be configured to enable a rotation speed of the atherectomy burr of up to at least about 200,000 revolutions per minute (rpm).

Abstract: The present invention provides a surgical access apparatus for minimally invasive surgery comprising a surgical access device having a port body with one or more passages there through for passing surgical instruments through the surgical access device; and a carrying structure having a first arm extending from the surgical access device to locate the surgical access device.

Abstract: Device for applying compression force around the uterine cervix in different conditions in obstetrics and gynaecology, for example, as a tourniquet to stop a haemorrhage, consisting of a long hollow component (102) that has a proximal end (106) and a distal end (108), and a flexible component (110) that has a length greater than the length of the hollow component (102) and that is inserted by its ends (112, 114) in the hollow of the hollow component (102) forming a loop (120) of a variable diameter that emerges through the distal end (108), apt for wrapping around the uterine cervix and applying compression on it when at least one of the ends (114) of the flexible component (110) is pulled from the proximal end (106) of the hollow component (102).

Abstract: An anchor assembly can be couplable to a bone and can include an anchor and a housing. The anchor can include a shank securable to bone and a head coupled to a proximal portion of the shank.

Abstract: A spine fixation assembly has a polyaxial spine screw rod holder for a first spine rod and a second rod holder for a second spine rod, the second rod holder is linked to the polyaxial spine screw rod holder via a connector, the connector extending radially outward from the polyaxial spine screw rod holder such that the second rod holder is spatially separated from and offset relative to the polyaxial spine screw rod holder. The polyaxial spine screw rod holder defines a first rod seat that holds the first spine rod. The first spine rod has a first longitudinal axis. The second rod holder defines a second rod seat that holds a second spine rod. The second rod has a second longitudinal axis. The second rod holder is oriented relative to the polyaxial spine screw rod holder by the connector at an offset (angle).

Abstract: An instrument for holding and inserting a bone anchor into a bone is provided, where the bone anchor includes a shank for anchoring in the bone and a head. The instrument includes a holding member for holding the head of the bone anchor and has a plurality of arms configured to at least partially encompass the head, where the arms include an inner surface forming a seat for the head. The instrument also includes a drive shaft for engaging the head of the bone anchor and defining a longitudinal axis of the instrument. The instrument further includes a displacement member configured to act on the holding member. The holding member can assume a first configuration in which it is configured to permit the head to enter the seat and a second configuration in which it is configured to hold the head in the seat.

Abstract: A rotational correction system includes an implant having first and second sections, the implant having a rotatable permanent magnet disposed in a housing of the first section, the rotatable permanent magnet mechanically connected to a nut operatively coupled to the second section. A keyed portion is interposed between the nut and one or more non-linear grooves disposed on an inner surface of the housing. An external adjustment device having at least one rotatable magnet configured to rotate the rotatable permanent magnet of the implant is part of the system. Rotation of the rotatable permanent magnet of the implant in a first direction effectuates a clockwise change in the rotational orientation of the first section relative to the second section and rotation of the rotatable permanent magnet of the implant in a second direction effectuates a counter-clockwise change in the rotational orientation of the first section relative to the second section.

Abstract: The disclosure relates to medical devices and methods of manufacturing medical devices. An intramedullary rod includes a head member, a shaft member partially disposed within a distal recess of the head member, and an outer body member disposed circumferentially around the shaft member and a portion of the head member. Medical device systems and methods of manufacturing medical devices are also described.

Abstract: A pin made of cortical bone may be inserted into adjoining bones of a toe to align and secure the bones. The pin may have barbs to prevent migration of the pin. The pin may include a shoulder to further prevent migration of the pin from the bones, to increase the strength of the pin, and to increase the surface area between the bone pin and the host bone. The pin may further include flattened portions on its circumference to aide in rotating the pin during insertion. The pin may be treated to reduce brittleness.

Abstract: A tightening screw for osteosynthesis, including a screw thread that is arranged along a main axis, and including, at its distal end, a recess that has regular shapes about the main axis which are distributed angularly and are suitable for receiving complementary shapes of a screwdriver engaging therewith; the rear face of the screw is inclined in relation to a transverse plane of the screw, the screw being characterized in that the recess in the screw includes at least one specific shape that is different from the other, regular shapes.

Abstract: A length adjustable modular screw includes a head portion that includes an expander assembly comprising a collet. The expander assembly has proximal and distal ends and includes first and second components that are slidably engagable by insertion of the first component in a through channel of the second component along a common axis. The length adjustable modular screw also includes a threaded portion suitable for insertion and retention within bone, the threaded portion including at a socket adapted to coaxially receive at least a portion of the distal end of the expander assembly. The length adjustable modular screw has a length that is selected by splaying at least a portion of the distal end of the engaged first and second elongate components of the expander assembly within the socket of the threaded component.

Abstract: Devices used to pressurize, depressurize, or otherwise displace fluid are disclosed. The devices may be configured as a syringe. The syringe may be configured to generate high-pressure within the syringe to inflate or deflate a medical device, such as a balloon, or to inject a substance, such as bone cement, into a bone, such as a vertebra. The syringe may include a pressure reduction mechanism used to depressurize the syringe.

Abstract: This invention relates to a surgical device for the detection of the pedicle screws trajectories of a patient undergoing to scoliosis or spondylosis correction. The device is a patient specific and has information about screw size and position. The increased use of pedicle screws in scoliosis creates a challenge for accurate and safe placement of screw within the pedicle during the scoliosis surgery. Patient-specific templates (PST), is an alternative method to guide the surgeons for detecting the positions and trajectories of pedicle screws in scoliosis and spondylosis fixation surgery. This 3D model constructed during PST process can be also 3D printed as a physical model, which can help surgeons to develop an accurate and safe position of pedicle screws and its trajectories. This device has the ability to customize the placement and the size of each pedicle screw based on the unique morphology and landmarks of the vertebrae.

Abstract: A surgical tool assembly having a striking assembly is disclosed. The surgical tool assembly includes a handle for attachment to a tool, and a striking assembly for attachment to the handle. The striking assembly includes a frame, an impact plate extending from the frame, and a guard attached to the frame and movable between a first position adjacent the frame and a second position. The second position may be distal to the frame, e.g., adjacent the handle.

Abstract: A device for forcefully inserting a surgical implant in a recipient bone by impaction, comprising an impactor (10) that exerts an impaction force on the implant and is associated with at least one sensor (12). The sensor (12) measures a value from among the exerted impaction force and the deformation of the impactor (10) and provides a measurement signal representing the temporal variation of said value during an impact. The sensor (12) is connected to a processing unit (30) that is configured to compute, on the basis of the temporal variation of said value during the impact, an indicator representing the level of contact between the implant and the recipient bone. The indicator corresponds to the duration separating the instant corresponding to the first maximum amplitude peak of the measurement signal from the instant corresponding to the second maximum amplitude peak of the measurement signal. The implant can be a femoral rod (2).

Abstract: Ablation devices, more specifically needle injectors configured to deliver flowable thermal treatment media into an interface with tissue and that can provide a single dose of ablative energy.

Abstract: An electrosurgical generator includes: a power supply configured to output a DC waveform; a power converter coupled to the power supply and configured to generate a radio frequency waveform based on the DC waveform; an active terminal coupled to the power converter and configured to couple to a first electrosurgical instrument and a second electrosurgical instrument; at least one sensor coupled to the power converter and configured to sense at least one property of the radio frequency waveform; and a controller coupled to the power converter. The controller is configured to: determine a first impedance associated with a first electrosurgical instrument and a second impedance associated with a second electrosurgical instrument based on the at least one property of the radio frequency waveform; and adjust at least one parameter of the radio frequency waveform based on the first impedance and the second impedance.

Abstract: An electrosurgical device having an electrode with a first portion whose exterior is electrically uninsulated, a second portion whose exterior is electrically insulated, and a third portion. An elongated hollow body has an internal cavity, a front end, a rear end, an external surface. An electrical circuit is arranged within the body. The second portion of the electrode is not surrounded by the hollow body. A first button is arranged on the external surface of the body for controlling a current flow at a first level. A vacuum tube is slidably engaged by the body. A vacuum outlet port is arranged near the rear end, and the outlet port, internal cavity, and vacuum inlet are in fluid communication with each other.

Abstract: In accordance with one embodiment of the present invention, a method for improving location accuracy of a radiofrequency ablation procedure performed on a patient is contemplated. The method includes identifying a target nerve to be ablated, wherein the nerve is suspected of being a source of pain; delivering a pharmacological agent to the nerve to temporarily block nerve signal transmission along the nerve; verifying the nerve is the source of pain if the temporary block reduces a level of pain experienced by the patient; placing a fiducial marker adjacent the nerve if it is verified that the temporary block reduces the level of pain experienced by the patient; locating the fiducial marker; and delivering radiofrequency energy to an area of tissue adjacent the fiducial marker via a probe. The area of tissue corresponds with the nerve, and the radiofrequency energy is applied at a level sufficient to ablate the nerve.

Abstract: A system includes a medical device and a charging device. A sterile barrier may be interposed between the medical device and the charging device. The medical device includes an integral power source and an active element. The charging device is configured to charge the integral power source. The charging device may charge the integral power source through direct contact between features of the charging device and features the medical device. The charging device may alternatively charge the integral power source wirelessly, such as through inductive coupling. The medical device may include conductive prongs that are retained by the charging device. The charging device may physically couple with the medical device via magnets. The medical device and the charging device may be provided together in a sterile package as a kit. The kit may also include a reclamation bag to facilitate reclamation of electrical components.

Abstract: A surgical system includes an end effector assembly, a motor assembly, an energy source, and a controller. The controller activates the motor assembly, once it is determined that tissue is present between jaw members of the end effector assembly, to move the jaw members from a spaced-apart position to an approximated position to grasp tissue. The controller further activates the energy source, once tissue is grasped between the jaw members, to supply energy to the jaw members to seal tissue grasped between the jaw members. The controller further activates the motor assembly, once it is determined that tissue sealing is complete, to move the jaw members from the approximated position to the spaced-apart position to release sealed tissue. The system may further be configured to cut tissue once it is determined that tissue sealing is complete but before moving the jaw members to the spaced-apart position.

Abstract: Intrauterine devices and methods for facilitating deployment thereof using a bumper are disclosed. In one embodiment, an intrauterine device comprises a structure including a first central support member and a deployment mechanism coupled to the first central support member. The intrauterine device further comprises a bumper positioned at a distal end of a second central support member and at a more distal position relative to a distal end of the structure so as to prevent the distal end of the structure from contacting the fundus of the uterus of a patient during deployment of the deployment mechanism. In another embodiment, the intrauterine device comprises a bumper coupled to the deployment mechanism and configured to move from a more distal to a more proximal position relative to a distal end of the structure.

Abstract: An ablation catheter having a deformable tip is disclosed herein. In some implementations, the ablation catheter includes a catheter body and a deformable tip secured to the catheter body. In these and other implementations, the catheter body can include a fluid delivery lumen. In these and other implementations, the deformable tip includes one or more valves that are configured to open in response to deformation of the deformable tip. In these and still other implementations, the ablation catheter is configured to permit liquid communication between an interior of the deformable tip and an exterior of the deformable tip. In some implementations, RF energy is transmitted from the interior of the deformable tip to the exterior of the deformable tip via liquid exiting the deformable tip.

Abstract: Various aspects of the invention relate to methods and devices for treating diseases and conditions including atherosclerosis and endocarditis using low-temperature, non-equilibrium plasmas. A device may be, for example, a catheter that carries electrodes and a dielectric material for generating a localized, non-equilibrium plasma in a bodily fluid such as blood.

Abstract: Devices, systems, and methods for therapeutically treating tissue. The devices and methods are suitable for minimally invasive surgery or open surgical procedures. More particularly, methods and devices described herein permit accessing and/or treating areas of tissue with a therapeutic device having a hood member with a plurality of channels located therein for applying a vacuum and cooling the areas of tissue as energy is delivered through electrodes located adjacent to or in the hood member.

Abstract: Methods and techniques for using an augmented reality device for determining an orientation of an instrument for inserting a medical device are provided. One such method includes simulating an insertion point and an orientation of a simulated surgical hardware installation on a diagnostic representation of a bone, and using an augmented reality based electronic device to align an instrument for inserting a surgical hardware installation at a desired orientation through an insertion point of the bone by displaying visual indicia indicating the insertion point and the orientation of the simulated surgical hardware installation. Disclosed herein is also a system and method having a concentric shape alignment system for medical device placement in the body, such as in a bone.

Abstract: Systems and methods for intraocular lens (IOL) selection using emmetropia zone prediction include determining pre-operative measurements of an eye, estimating a post-operative anterior chamber depth (ACD) of an intraocular lens based on the pre-operative measurements, estimating a post-operative manifest refraction in spherical equivalent (MRSE) of the eye with the IOL implanted based on the pre-operative measurements and the estimated post-operative ACD, determining whether the eye with the IOL implanted is likely to be in an emmetropia zone based on the estimated post-operative MRSE, re-estimating the post-operative MRSE of the eye with the IOL implanted using an emmetropia zone prediction model or a non-emmetropia zone prediction model based on the emmetropia zone determining, and providing the re-estimated post-operative MRSE to a user to aid in selection of an IOL for implantation in the eye.

Abstract: Surgical robot for tracking and compensating bone movement, the robot comprising: a robot arm (3) and a tool guide (5) at the arm's end-effector, a tracker (1) attached to the robot arm at the same plane as the tool guide, the tracker comprising an assembly of articulated segments (1a-1d) and encoders (2) associated to the segments such that movement of the tracker is allowed and monitored in at least six degrees of freedom. The tracker base and the tool guide share the same frame, that is, are on the same plane, so that the system is able to determine directly the exact positioning of the tool guide with respect to the tracked bone without any intermediate device. This way, an optical tracker and the associated cameras can be dispensed with.

Abstract: A position detection system with fiber Bragg grating based optical sensors in surgical fields that enables real-time detection of the exact coordinates of the location to be operated in the human body in surgical fields. The position detection method with fiber Bragg grating based optical sensors in surgical fields, includes the steps of; obtaining data by Computerized Tomography (CT), Magnetic Resonance Imaging (MRI) and/or any other imaging method, mapping the data with the data received from a fiber Bragg grating based optical sensor device, detecting a position and/or an orientation of any point in an operated region in real-time by mapping the data, transferring the data mapped by defining a plurality of target points during an application and a target point defined by MRI, CT and/or any other imaging method continuously and in real-time to a monitor and/or a plurality of goggles in two and/or three-dimensions.

Abstract: A tracker, a surgical tool system, a surgical navigation system, and a method for operating a surgical navigation system are provided. The tracker is configured to be associated with a patient or a surgical tool that is to be tracked by the surgical navigation system. The tracker comprises an optical fibre having a longitudinal extension and configured to be optically coupled to a light source such that the optical fibre transmits light emitted by the light source. The optical fibre has a lateral surface along its longitudinal extension and is configured to emit light via at least a portion of the lateral surface.

Abstract: An optical tracking device, a surgical navigation system and a surgical navigation method are disclosed. The optical tracking device comprises a body having at least two optically distinguishable lines, wherein at least one of the lines is an edge of the body. The lines are configured to be detected by an optical detection system simultaneously. They have a fixed spatial relationship between each other. The method comprises providing the optical tracking device, acquiring data describing the fixed spatial relationship, detecting the lines and determining the spatial position and/or orientation of the optical tracking device based on the detected lines and the fixed spatial relationship.

Abstract: Methods and devices for diagnosing, monitoring, and/or treating tissue through an opening or port through an airway wall are provided herein.

Abstract: A method for providing positional relationship data, which represent the position of a marker device relative to a bone which it is affixed to, to a medical navigation system, including receiving bone registration data which represent locations of points on the surface of the bone, calculating, from the bone registration data, the current relative position between the bone and a medical instrument which bears the marker device, determining an offset between the current relative position and a desired relative position; outputting indication information which is based on the calculated offset, receiving bone re-registration data which represent locations of points on the surface of the bone, and calculating the positional relationship data from the bone re-registration data.

Abstract: Surgical navigation system: 3D display system with see-through visor; a tracking system for real-time tracking of: surgeon's head, see-through visor, patient anatomy and surgical instrument to provide current position and orientation data; a source of an operative plan, a patient anatomy data and a virtual surgical instrument model; a surgical navigation image generator to generate a surgical navigation image with a three-dimensional image representing simultaneously a virtual image of the surgical instrument corresponding to the current position and orientation of the surgical instrument and a virtual image of the surgical instrument, the see-through visor, the patient anatomy and the surgical instrument; the 3D display system configured to show the surgical navigation image at the see-through visor, such that an augmented reality image collocated with the patient anatomy in the surgical field underneath the see-through visor is visible to a viewer looking from above the see-through visor towards the surgica

Abstract: A method comprising acquiring an image of a surgical site of a patient. The method includes capturing motion data of an instrument based on a user defined path to the surgical site. The method includes determining a motion path based on the captured motion data. The motion path corresponds to an actuation of one or more components of a robotic device. The method includes displaying a portion of the motion path onto the image. The method includes determining one or more instructions for actuating the one or more components along the determined motion path. The method includes providing the one or more instructions to the robotic device.

Abstract: The disclosure relates to a medical engineering robot, a medical system, a method for operation thereof, a corresponding computer program, and a corresponding computer-readable storage medium. By controlling a pose of an instrument arm of the robot relative to a respective examination object to be treated or to be examined by the robot, the disclosure makes provision for automatically bringing the instrument arm into contact with the examination object and through this for setting a predetermined pose of the examination object.

Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit configured to, when coupled to the articulated arm and a table: determine a virtual coordinate frame before a first joint of the articulated arm is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine a movement of the table, and drive a second joint of the articulated arm based on the movement of the first joint and the movement of the table. In some embodiments, the virtual coordinate frame is based on a pose of an imaging device and/or is detached from the imaging device. In some embodiments, the control unit is further configured to maintain the virtual coordinate frame in fixed relationship to a top of the table based on motion data received from the table.

Abstract: An improved device for regenerating an infrared signal transmitted over the air for use in detecting a 3-dimensional position of an object. The regeneration device includes an infrared signal transmitter and detector that receives from the object a responsive infrared signal in response to the infrared signal transmitted by the transmitter. A low pass filter receives the responsive infrared signal from the detector and outputs a low-pass filtered signal. A comparator compares the output of the infrared signal detector and output of the low pass filter and generates an output representing a logic state based on the comparison.

Abstract: A surgical system according to one or more embodiments may include: a plurality of surgical instruments each including a flexible shaft and an end effector; an insertion tube to hold the plurality of flexible shafts and to be inserted into a body of a patient from one end of the insertion tube; and a support device for supporting the plurality of surgical instruments and the insertion tube. The support device includes a plurality of supports respectively supporting the plurality of surgical instruments, a support mechanism supporting the plurality of supports together, and an insertion tube holder holding the insertion tube. The plurality of supports independently and movably support the plurality of surgical instruments, respectively.

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.

Abstract: A medical glove includes a glove body and a biohazard indicator. The glove body, which is a disposable glove, has an outer surface and an inner surface, wherein the outer surface of the glove body is contaminated after it is used. The biohazard indicator is provided at the inner surface of the glove body, wherein when the glove body is donned, the biohazard indicator is hidden underneath the outer surface of the glove body. When the glove body is doffed to flip the glove body inside-out, the inner surface of the glove body wraps the outer surface thereof to expose the biohazard indicator for indicating the glove body being used and contaminated.

Abstract: Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.

Abstract: An instrument sterile adapter for coupling a surgical instrument and an instrument carriage includes an adapter control surface that extends control features of a control surface of the instrument carriage and receives an instrument control surface of the surgical instrument. A shaft receiving slot is positioned in the adapter control surface to receive an elongate tube of the surgical instrument when the adapter control surface receives the instrument control surface of the surgical instrument. The elongate tube may couple a proximal control mechanism of the surgical instrument to an end effector. The instrument sterile adapter may include a convex curved surface substantially perpendicular to and facing the adapter control surface to receive a corresponding concave curved surface on the instrument control surface. A bullet portion on the convex curved surface may engage a bullet receiving feature in the corresponding concave curved surface on the instrument control surface.

Abstract: An instrument cassette (100, 200, 300) for handling instruments comprises a body section (101, 201, 301) for holding the instruments and a radio frequency identifier (102, 202, 302) readable from a distance away from the instrument cassette (100, 200, 300). The radio frequency identifier (102, 202, 302) of the instrument cassette (100, 200, 300) facilitates tracing operations, such as for example disinfection, sterilization, reparation, and clinical use, directed to or carried out with a set of instruments handled with the aid of the instrument cassette (100, 200, 300). The instruments can be for example medical and/or dental hand instruments.

Abstract: Devices, systems, and methods for measuring the distance and/or depth to a target bone for surgery using a robotic surgical system. The surgical robot system may be configured to depict the distance from a guide tube of the robot to a target bone of a patient as a vector. The vector may represent a view of the guide tube when the guide tube's central axis is coincident with a line of intersection of two viewplanes of a 2D image of the target bone, for example, one viewplane being sagittal and one viewplane being axial.