Abstract: A threaded medical implant comprising a biocomposite, said biocomposite comprising a polymer and a plurality of reinforcement fibers, wherein a weight percentage of a mineral composition within the biocomposite medical implant is in the range of 30-60%, wherein an average diameter of said fibers is in a range of 1-100 microns, said medical implant being threaded with a plurality of threads; wherein said fibers comprise a plurality of helical fibers and a plurality of longitudinal fibers; wherein a weight to weight percent ratio of said helical to said longitudinal fibers is from 90:10 to 10:90.

Abstract: An osteosynthesis device for the treatment of the spine is disclosed having a fork head which is U-shaped in a side view, and which fork head, in the proximal direction, has two fork legs with an internal thread and in which a connecting rod can be received, and a grub screw is passed through the internal thread, and the fork head is detachably connected to a bone anchor. The bone anchor is pivotably mounted in the ball seat of the fork head, wherein the fork head in the ball seat area has slots open towards the distal side and thereby at least one deflectable leg is formed, characterized in that the fork head with at least one deflectable leg, which can be applied to the outer surface of the bone anchor head, wherein the at least one leg has an outer wall and an inner wall, which are interconnected at at least one point in such a way that upon tightening the grub screw.

Abstract: Embodiments of the present invention relate to systems, methods, and apparatus for immobilizing and/or securing bone portions. Particularly, at least one embodiment involves a compact anti-rotation device that can secure adjacent bones and/or bone portions in a manner that prevents or limits relative rotational movement thereof.

Abstract: A surgical fastener applying device for releasable connection to an end effector is provided. The surgical fastener applying device includes an elongated body portion having an outer tube and an inner shaft assembly. The inner shaft assembly defines a non-circular bore in a distal end thereof. The inner shaft assembly is longitudinally movable through the outer tube. The outer tube and the inner shaft assembly define corresponding openings extending radially therethrough. The surgical fastener applying device includes a detent movable within the openings of the elongated body portion. The detent floats between the end effector and the elongated body portion to enable selective connection between the end effector and the elongated body portion.

Abstract: The invention relates to a system and method for driving orthopedic bone screws. In one aspect the driver includes a powered driving rod that is configured to releasably couple with a recess in a bone screw via a threaded system for coupling and uncoupling the screw from the driving rod.

Abstract: A cryosurgery system, comprising two or more cryoprobes is provided. Each cryoprobe includes a probe shaft having a distal section insertable in a patient and a proximal coupler. A connector interface with connection ports permits connections to a corresponding cryoprobe. Each connection port can have an isolating sleeve between the proximal coupler and the connection port when the proximal coupler of the respective cryoprobe is inserted in the connection port. The isolating sleeve can include an electrically insulating material so as to electrically isolate each cryoprobe connected to its corresponding connection port from other cryoprobes connected to their corresponding connection ports. An electrical measurement system can be connected to each connection port to detect electrical signals associated with the probe shaft. A control system can detect, based on the electrical signals detected by the electrical measurement system whether the probe shaft is electrically connected to the electrical heater.

Abstract: Systems, devices, and methods involve ablation of tissue to treat rhinitis and/or other nasal conditions. Implementations allow treatment of tissue in the confined space of the nasal cavity. Additionally, implementations allow targeted treatment tissue to be ablated, while protecting other non-treatment tissue from unintentional collateral effects that might be produced by the ablation. According to an example implementation, an approach for treating a nasal condition includes advancing a probe into a nasal cavity, the probe including a shaft and a cryotherapy element coupled to the shaft. The approach also includes cryogenically cooling a target treatment site with the cryotherapy element to treat at least one nasal nerve. Additionally, the approach includes transmitting a focused ultrasound beam to a target heating site to increase a temperature tissue at the target heating site.

Abstract: A method of creating a shunt between a right atrium and a left atrium of a mammalian heart including puncturing an atrial septum between the right atrium and the left atrium to create a shunt. An ablation device having balloon is advanced at least partially through the shunt. The balloon is inflated and configured to thermally isolate the atrial septum from blood within the left atrium and the right atrium. Ablation energy is delivered to ablate the atrial septum.

Abstract: An adapter for putting two incompatible medical systems in fluid communication with each other. The adapter may have a continuous outer diameter and may include two segments: a first segment composed of a rigid material and including a first portion and a second portion, the first portion having a continuous outer diameter and the second portion defining one or more flanges, the first segment defining a first passage therethrough; and a second segment composed of a flexible material and coupled to the first segment, including a first portion and a second portion. The first portion of the second segment may have an inner surface configured to surround the flanges of the second portion of the first segment, and the second portion of the second segment having a tapered inner surface, the second segment defining a second passage therethrough that is continuous with the first passage.

Abstract: Methods of using hardware (e.g., bone screws, anchors or other devices) previously inserted within the body to facilitate energy delivery are disclosed. The energy delivery (e.g., thermal energy) may be used for neuromodulation (such as stimulation or denervation), tissue heating and ablation, curing, and other applications in the spine and non-spine orthopedic locations.

Abstract: A controller for an electrosurgical generator includes an RF inverter, a signal processor, a software compensator, a hardware compensator, and an RF inverter controller. The RF inverter generates an electrosurgical waveform and the signal processor outputs a measured value of at least one of a voltage, a current, or power of the electrosurgical waveform. The software compensator generates a desired value for at least one of the voltage, the current, or the power of the electrosurgical waveform, and the hardware compensator generates a phase shift based on the measured value and the desired value. The RF inverter controller generates a pulse-width modulation (PWM) signal based on the phase shift to control the RF inverter.

Abstract: System for electrically ablating tissue of a patient through a plurality of electrodes includes a memory, a processor and a treatment control module stored in the memory and executable by the processor. The treatment control module generates an estimated treatment region based on the number of electrical pulses to be applied.

Abstract: An electrosurgical wand is disclosed for treating a plurality of tissues at a variety of tissue locations. The electrosurgical wand includes a handle on a proximal end and an elongate shaft with a combination active electrode at the distal end. The combination active electrode includes with a blade and screen portion; the blade portion extending along and laterally from the wand longitudinal axis, forming a dissecting tip. The screen portion extends from the blade portion at an obtuse angle and has at least one aspiration aperture through it. The wand also includes a second and third electrode, proximally spaced from the combination active electrode. The second electrode spans a portion of an outside surface of the wand adjacent the blade portion, while the third electrode spans a portion of the outside surface of the wand opposite the second electrode.

Abstract: An electrode unit configured to resect or coagulate tissue inside a subject by using a high-frequency current, including: an electrode supporting portion provided with a pair of distal end rigid portions surfaces of which are covered by an electrically insulating material, and an elastic region portion having lower bending rigidity than bending rigidity of each of the pair of distal end rigid portions, the elastic region portion being provided on a proximal end side of each of the pair of distal end rigid portions; and an electrode configured with electrode bodies respectively protruding downward from the pair of distal end rigid portions and an installation portion that installs respective lower ends of the electrode bodies.

Abstract: A surgical system and a computing device for a surgical system that is configured to calculate actual operating parameters of an electrosurgical instrument, including an actual angle between the jaw members of the electrosurgical instrument, and to display a user interface. The user interface includes an ideal angle range between the jaw members and the actual angle between the jaw members of the electrosurgical instrument relative to the ideal angle range. The computing device is further configured to determine if the actual angle between the jaw members of the electrosurgical instrument is outside the ideal angle range.

Abstract: A surgical instrument includes a housing, a shaft extending distally from the housing, an end effector disposed at a distal end of the shaft, an actuator operably coupled to the housing, an actuation assembly, and a sensor module. The actuation assembly extends through the housing and the shaft and includes a distal end operably coupled to the end effector or a component associated therewith, a proximal end operably coupled to the actuator, and a spring. Actuation of the actuator manipulates the end effector or deploys the component relative thereto. The sensor module is disposed within the housing and configured to sense a property of the spring indicative of an amount the spring has been compressed. The sensor module is further configured, based upon the sensed property, to determine a condition of the end effector or the relative position of the component.

Abstract: An electrosurgical system includes an electrosurgical instrument, an electrosurgical power generating source, and a controller. The electrosurgical instrument includes a shaft extending from a housing. The shaft includes a distal end configured to support an end-effector assembly. The end-effector assembly includes opposing jaw members movably mounted with respect to one another and moveable from a first position in spaced relation relative to one another to at least one subsequent position wherein the jaw members cooperate to grasp tissue therebetween. At least one of the jaw members includes a temperature-sensing electrically-conductive tissue-contacting plate defining a bottom surface. One or more temperature sensors are coupled to the bottom surface.

Abstract: A surgical instrument includes a housing and an elongated shaft operably coupled to an actuating mechanism moveable between an actuated position and an unactuated position. An end effector includes a pair of opposing first and second jaw members and is adapted to connect to a source of electrosurgical energy. A switch is moveable between an activated position to initiate delivery of electrosurgical energy to the end effector and a deactivated position to terminate delivery of electrosurgical energy to the end effector. A switch activation member is configured to move the switch between an activated position and a deactivated position. A switch control member is configured to maintain the switch in the activated position during at least partial movement of the actuating mechanism from the actuated position to the unactuated position.

Abstract: A coupler apparatus for coupling electrical signals between an actuator and an end effector is disclosed. The end effector is disposed at a distal end of an elongate articulated positioner and used to position the end effector for performing surgical operations. The articulated positioner has a central lumen and the apparatus includes an elongate body sized to be slidingly received within the central lumen of the articulated positioner, at least a portion of the body being operable to flex during movement of the articulated positioner. The apparatus also includes a plurality of electrical conductors extending through the body, and a plurality of proximal electrical contacts disposed at a proximal end of the body for removably connecting each of the electrical conductors to respective electrical signal lines at the actuator.

Abstract: A medical device and associated methods are disclosed. In one example, the medical device includes an electrosurgical forceps. In selected examples, one or more structural components of the electrosurgical forceps includes a sintered ceramic microstructure. In selected examples other medical devices, including a debrider and a lithotripter, include a sintered ceramic microstructure.

Abstract: Methods and apparatus are provided for pulsed electric field neuromodulation via an intra-to-extravascular approach, e.g., to effectuate irreversible electroporation or electrofusion, necrosis and/or inducement of apoptosis, alteration of gene expression, changes in cytokine upregulation and other conditions in target neural fibers. In some embodiments, the ITEV PEF system comprises an intravascular catheter having one or more electrodes configured for intra-to-extravascular placement across a wall of patient's vessel into proximity with target neural fibers. With the electrode(s) passing from an intravascular position to an extravascular position prior to delivery of the PEF, a magnitude of applied voltage or energy delivered via the electrode(s) and necessary to achieve desired neuromodulation may be reduced relative to an intravascular PEF system having one or more electrodes positioned solely intravascularly.

Abstract: A method of treating a soft palate in a patient to treat sleep apnea, snoring or both may involve advancing a treatment element of a treatment device through the patient's mouth, contacting a tissue-contact surface of the treatment element with the soft palate, delivering energy to the soft palate via one or more energy delivery members on the tissue-contact surface, and removing the treatment element from the mouth.

Abstract: An electrosurgical device for puncturing tissue comprises an electrically conductive elongate member which is capable of force transmission from a distal portion of the electrosurgical device to a proximal portion of the electrosurgical device to thereby provide tactile feedback to a user. The proximal portion comprises a connector system for connecting a source of energy and a source of fluid to an electrosurgical device . The connector system includes a hub which includes an electrically conductive lengthwise member having a lengthwise member distal region and a lengthwise member proximal region. The lengthwise member defines a hub lumen therebetween and is configured to be operatively coupled to an electrosurgical device.

Abstract: A device for dividing a fibrous structure comprising an expandable member positioned near the distal end of a catheter and in fluid communication with the lumen of the catheter so that the expandable member can be biased between an inflated state and a deflated state to tension the fibrous structure, and electrosurgical elements situated on or proximate to an outer surface of the expandable member and configured to deliver electrical and thermal energy to the tensioned fibrous structure in a manner that results in division of the tensioned fibrous structure. A method for dividing a fibrous structure comprising positioning proximate the fibrous structure an expandable member having electrosurgical elements, expanding the expandable member outwards to tension the fibrous structure across the electrosurgical elements, and activating the electrosurgical elements to deliver energy to the tensioned fibrous structure to divide the tensioned fibrous structure.

Abstract: A method includes inserting an array of multiple electrodes, fitted at a distal end of a catheter, into a cavity in an organ of a patient. The array is brought into contact with an inner surface of the cavity. An input is received from a user, the input specifying one or more tissue segments to be ablated on the inner surface. In response to the input, using a processor, one or more pairs of the electrodes in the array are selected that, when driven with irreversible electroporation (IRE) signals, would ablate the specified tissue segments. The specified tissue segments are ablated by applying the IRE signals to the pairs of the electrodes.

Abstract: An apparatus includes an end effector having loop members with electrodes thereon and is usable with catheter-based systems to measure or provide electrical signals. The end effector can include three loop members that are non-coplanar when expanded unconstrained that become contiguous to a planar surface when the loop members are deflected against the surface, a mechanical linkage that joins the loop members at a distal vertex of the end effector, electrodes having surface treatment to enhance surface roughness of the electrodes, twisted pair electrode wires, a bonded spine cover, and/or any combination thereof.

Abstract: A medical device including a catheter having a proximal portion and a distal portion. A plurality of electrodes is disposed along the distal portion, the plurality of electrodes including a first electrode pair having a first fixed polarity and a second electrode pair having a second fixed polarity different than the first fixed polarity. A first lumen extends through the distal portion, the first lumen includes a first conductor configured to connect to a first electrode of the first electrode pair and a second conductor configured to connect to a second electrode of the first electrode pair. A second lumen extends through the distal portion and separated from the first lumen, the second lumen includes a third conductor configured to connect to a first electrode of the second electrode pair and a fourth conductor configured to connect to a second electrode of the second electrode pair.

Abstract: A system for ablation by electroporation including a catheter having electrodes, a display, and a controller. The controller is to generate, based on models of electric fields, graphical representations of the electric fields that can be produced using the electrodes, and overlay, on the display, the graphical representations of the electric fields and an anatomical map of a patient to aid in planning the ablation by electroporation, prior to delivering energy.

Abstract: An elongate medical device shaft may comprise an elongate body and an annular electrode disposed on the elongate body. The annular electrode may define a longitudinal axis and have an outer diameter. The outer diameter may be greater at an axial center of the electrode than at an axial end of the electrode. Additionally or alternatively, the elongate body may comprise three longitudinal sections having three wall thicknesses. The middle wall thickness may be less than the proximal and distal wall thicknesses and the distal wall thickness may be less than the proximal wall thickness. Additionally or alternatively, the shaft may comprise an inner cylindrical structure and an outer tube. The outer tube may comprise a first radial layer and a second radial layer that is radially-outward of the first radial layer, the first radial layer, second radial layer, and inner structure having different stiffnesses.

Abstract: Described here are devices, systems and methods for forming a fistula between two blood vessels. Generally, the systems may comprise a first catheter which may comprise a fistula-forming element. The fistula-forming element may comprise one or more electrodes, mechanical cutting elements, laser sources, or combinations thereof, and may be used to assist in fistula formation. In some instances, a system may comprise a second catheter, which may comprise a fistula-forming element. One or more of the catheters may comprise one or more markers, magnetic alignment elements, and/or one shape-changing elements.

Abstract: Described here are devices, systems and methods for forming a fistula between two blood vessels. Generally, the systems may comprise a first catheter which may comprise a fistula-forming element. The fistula-forming element may comprise one or more electrodes, mechanical cutting elements, laser sources, or combinations thereof, and may be used to assist in fistula formation. In some instances, a system may comprise a second catheter, which may comprise a fistula-forming element. One or more of the catheters may comprise one or more markers, magnetic alignment elements, and/or one shape-changing elements.

Abstract: An auxiliary return system for use with a bipolar electrosurgical device includes a tissue guard defining an open proximal end, an open distal end, and a lumen extending therethrough between the open proximal end and the open distal end. A ground plate is disposed along an inner peripheral surface of the lumen and is operably coupled to a first end of a ground wire extending from the tissue guard. A coupling is included having a bore defined therein for receiving a cable from an electrosurgical device therethrough, the cable including active and ground leads. The coupling has a flange extending therefrom defining a receptacle therein configured to operably receive a plug connected to a second end of the ground wire. The receptacle is configured to provide electrical continuity between the ground lead disposed within the cable and the plug coupled to the ground wire which, in turn, provides electrical continuity to the ground plate.

Abstract: A method for controlled ablation of target tissue includes activating laser ablation of hyperkeratotic tissue upon detecting a trigger input signal, detecting a photo-acoustical signature due to the laser ablation of the hyperkeratotic tissue, detecting a change in the photo-acoustical signature due to the laser ablation of a material different than the hyperkeratotic tissue, and ceasing the laser ablation upon detecting, by a signal processor, the change in the photo-acoustical signature.

Abstract: A system and method for detecting relative location of a surgical laser fiber tip relative to a surgical laser target during a surgical laser procedure utilizes a spectrophotometer to detect radiation indicative of the relative location. For example, the detected radiation may indicate contact between the fiber tip and a stone being subjected to laser lithotripsy, so as to prompt the surgeon to withdraw the fiber tip from the stone and/or take other action to limit contact-induced erosion of the fiber tip, and to avoid saturation of the endoscope camera resulting from the flash that occurs following contact. In addition, the absence of any detected radiation by the spectrophotometer may be used to indicate that the stone is no longer present, or that the fiber tip is no longer aimed at the stone, prompting the operator to reposition the fiber and/or temporarily cease firing of the laser.

Abstract: A catheter system for treating a vascular lesion within or adjacent to a vessel wall within a body of a patient includes a single light source that generates light energy, a first light guide and a second light guide, and a multiplexer. The first light guide and the second light guide are each configured to selectively receive light energy from the light source. The multiplexer receives the light energy from the light source in the form of a source beam and selectively directs the light energy from the light source in the form of individual guide beams to each of the first light guide and the second light guide. The multiplexer includes a system of optical valves arranged in a linear sequence within the multiplexer. The system of optical valves includes an individual valve that receives the light energy from the light source.

Abstract: A number of improvements are provided relating to computer aided surgery. The improvement relates to both the methods used during computer aided surgery and the devices used during such procedures. Some of the improvement relate to controlling the selection of which data to display during a procedure and/or how the data is displayed to aid the surgeon. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled automatically to improve the efficiency of the procedure. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure.

Abstract: The invention relates to a position determining device for determining a position of an elongate object within a tubular structure, said position determining device comprising a first providing unit for providing a first distribution of curvature values at a plurality of first points along a path within the tubular structure. The position determining device further comprises a second providing unit for providing a second distribution of strain values or of curvature values at a plurality of points along the object, and a position determining unit for determining the position of the object relative to the path on the basis of the first and second distributions.

Abstract: [Problem] To prevent sight of an observation target from being lost from a visual field of a monitor. [Solution] A surgical arm system includes: an articulated arm in which a plurality of joints is rotatably connected by a plurality of links and which is capable of supporting an oblique-viewing endoscope at a tip; and a control system which controls the articulated arm to change a position and a posture of the oblique-viewing endoscope. The control system controls at least one of a rotation speed and a movement speed of the oblique-viewing endoscope in a visual field imaged through the oblique-viewing endoscope based on a position of the observation target in the visual field.

Abstract: An ultrasonic wave imaging apparatus is disclosed, including: an ultrasonic probe for irradiating a subject with an ultrasonic wave and receive a reflected wave of the ultrasonic wave and receiving an ultrasonic wave from a beacon inserted into the subject; a probe position-acquiring unit for acquiring a 3D position and an orientation of the ultrasonic probe; a beacon location-acquiring unit for determining a 3D location of the beacon from relative location and speed of the beacon relative to the ultrasonic probe as calculated from an ultrasonic wave image received at the ultrasonic probe and the 3D position and the orientation of the ultrasonic probe as acquired by the probe position-acquiring unit; and a display image formation section for using the ultrasonic wave image of the ultrasonic waves from the ultrasonic probe to form a display image. A corresponding method is also disclosed.

Abstract: A system for performing a computer-aided surgical procedure is disclosed. Using a computer program, optical sensors detect and record the location of one or more optical tracking devices. The computer program then generates navigational reference information regarding position and orientation information of one or more specific body parts of a patient. The tracking device is mounted to the patient using a tracking frame and a coupler base, wherein the coupler base has a plurality of surfaces to which the tracking frame is configured to be removably attached. Because the characteristics of the coupler base are known to the computer program, all potential locations of the tracking frame, when attached to the coupler base, are known. Thus, the tracking frame's axis and orientation may be altered to allow movement of the patient during the surgical procedure without compromising position and orientation information of the body parts.

Abstract: A surgical robotic system for augmenting a representation of at least a portion of a surgical site for aiding in orienting the representation, the system comprising: a processor configured to: receive an imaging device signal indicative of the location and orientation of an imaging device relative to a surgical site, augment a representation of at least a portion of the surgical site in dependence on the received imaging device signal, the augmentation indicating an orientation of the representation of the surgical site, receive a further imaging device signal indicative of an updated location and/or orientation of the imaging device, determine a change in at least one of the location and orientation of the imaging device in dependence on the imaging device signal and the further imaging device signal, and update the augmented representation in dependence on the determined change; and a display configured to display at least part of the augmented representation.

Abstract: An endoscope imaging system comprises a robotic controlled steerable catheter and an imaging device removably arranged in a tool channel of the catheter. One or more sensors or markers are configured to map a positional relation of the catheter with respect to an orientation of the imaging device. A controller drives the steerable catheter to manipulate the distal end thereof, while the imaging device acquires an image of a subject or sample. While the imaging device acquires the image, a processor calculates a change in positional relation of the catheter with respect to the orientation of the imaging device based on information provided by the one or more sensors or markers. An output unit provides an indication for remapping the orientation of the steerable catheter with respect to the orientation of the imaging device.

Abstract: A method is disclosed for determining a position of a laser focus of a laser beam of an eye surgical laser of a treatment apparatus by means of a control device of the treatment apparatus, in which the laser beam of the treatment apparatus is emitted into or onto a human or animal eye and in which at least two Purkinje images of the laser beam on the eye are captured by means of an optical capturing device of the treatment apparatus, and in which the position of the laser focus in or on the eye is determined by means of the control device considering the captured Purkinje images and considering an opening angle of the laser beam. Further disclosed are a treatment apparatus, a computer program and a computer-readable medium for carrying out the afore-mentioned method.

Abstract: A computer-implemented method for generating and displaying a graphical user interface (GUI) is disclosed. The method includes displaying, via the GUI, a real-time video received from a camera disposed within an ablation catheter. The method further includes displaying, via the GUI, a graphical representation of a plurality of electrodes of the ablation catheter.

Abstract: A joint locking mechanism of a passive robotic arm includes: an output assembly, including a joint output shaft, and a friction disk fixed to the joint output shaft; a braking assembly, including a threaded shaft arranged coaxially with the joint output shaft, a threaded sleeve threaded to the threaded shaft, a rotary disk connected fixedly to the threaded shaft, an end cap rotatable relative to the rotary disk, and a scroll spring generating a rotational force on the threaded shaft. The scroll spring has one end connected fixedly to the end cap and the other end connected to the rotary disk or the threaded shaft. The threaded sleeve is abutted tightly against the friction disk.

Abstract: A steerable instrument (100) controllable by a robotic arm (200), having a proximal end (20) and a distal (40) end comprising: a cylindrical shaft (130), a cylindrical bendable proximal part (120) and a cylindrical bendable distal part (140), a connector (110) configured for dismountable attachment to the robotic arm (200), attached in fixed rotational relation to the bendable proximal part (120), an end effector (150) attached in fixed rotational relation to the bendable distal part (140), the steerable instrument (100) configured such that: the bendable distal part (140) bends responsive to bending of the bendable proximal part (120), and the end effector (150) is rotatable when the bendable distal part (140) is in a bent position by a complementary rotation of the connector (110), the shaft (130) is pivotable around a fulcrum zone (134) on the shaft (130) and changes direction responsive to a complementary movement of the connector (110), thereby providing control of the shaft (130) direction, bending of t

Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of: conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, starless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).

Abstract: A method for performing a surgical procedure includes planning a resection of a bone of a patient. A volume of the bone is removed according to the planned resection using a surgical tool. As the bone is removed, data corresponding to a shape and volume of the removed bone is tracked with a computer system operatively coupled to the surgical tool. A prosthesis is implanted onto the bone of the patient based on the tracked data corresponding to the shape of the removed bone.

Abstract: A robotic surgical instrument comprising a shaft, an articulated section and a drive mechanism. The articulated section extends from the shaft and terminates at its distal end in a tip. The tip has an attachment for an end effector. The drive mechanism drives the articulated section via flexible driving elements thereby altering the angular orientation of the tip relative to the shaft. The drive mechanism is controlled so as to always fully compress the articulated section along at least one extent by which the articulated section connects the tip and the shaft whilst driving the articulated section from any one configuration to any other configuration. The drive mechanism constrains movement of the articulated section so as to permit the tip to move with two degrees of rotational freedom and no degrees of translational freedom relative to the shaft.

Abstract: Provided is a surgical imaging apparatus that includes a multi-link, multi-joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi-joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.