Abstract: A computing system having at least one sensor, at least one processor, and at least one memory including a plurality of instructions stored thereon that, in response to execution by the at least one processor, causes the computing system to receive one or more surgical parameters associated with a ligament balancing of a patient's joint, receive real-time sensor data generated by the at least one sensor and indicative of at least one characteristic of the patient's joint, and apply machine learning to determine a next ligament balancing step of the ligament balancing of the patient's joint based on the one or more surgical parameters and the real-time sensor data, wherein the next ligament balancing step is a step of one or more steps intended to result in a target state of the patient's joint identified by the machine learning.

Abstract: A surgery system that includes a multiple-degree freedom slave arm, which is able to be mounted with a surgical instrument and includes a plurality of joints and a plurality of motors corresponding the respective joints of the plurality of joints; a first input device configured to operate the multiple-degree freedom slave arm; a second input device configured to operate the multiple-degree freedom slave arm and different from the first input device; and a controller configured to control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by one of the first input device and the second input device.

Abstract: Various example embodiments described herein are directed to articulating surgical instruments for treating tissue comprising an end effector and a shaft extending proximally from the end effector along a longitudinal axis. In certain embodiments, the shaft comprises a plurality of transverse spacer members as well as first and second rotatable members extending through at least a portion of the plurality of transverse spacer members. The first and second rotatable members may both be biased away from the longitudinal axis such that their respective directions of bias vary with rotation of the first rotatable member. When the respective directions of bias of the first and second rotatable members oppose one another, the shaft may be substantially straight. When the respective directions of bias of the first and second rotatable members are aligned with one another, the shaft may articulate away from the longitudinal axis in the direction of the alignment.

Abstract: A gearbox assembly and surgical instrument including the same. The gearbox assembly includes a drive gear including a round gear and a lead screw such that a rotational input to the round gear rotates the lead screw. A first hub is threadingly engaged about the lead screw such that rotation of the lead screw translates the first hub. A second hub is spaced-apart from the first hub and engaged with a drive rod. A compression spring is disposed between the hubs. When a force acting against the drive rod is below a threshold, the rotational input translates the first hub, compression spring, second hub, and drive rod. When the force is equal to or above the threshold, the rotational input translates the first hub and compresses the compression spring against the second hub to maintain the second hub and drive rod in position.

Abstract: A system is suggested comprising an optical sensing means and a processing unit. The optical sensing means may include an optical guide with a distal end, wherein the optical guide may be configured to be arranged in a device to be inserted into tissue in a region of interest. The processing unit may be configured to receive information of a region of interest including different tissue types as well as of a path through the tissues, to determine a sequence of tissue types along the path, to determine a tissue type at the distal end of the optical guide based on information received from the optical sensing means, to compare the determined tissue type with the tissue types on the path, to determine possible positions of the distal end of the optical guide on the path based on the comparison of tissue types, and to generate a signal indicative for the possible positions.

Abstract: Provided is an end tool including: a first jaw configured to rotate independently; a J11 pulley coupled with the first jaw and configured to rotate around a first axis formed at an end tool hub; a J16 pulley formed at one side of the J11 pulley and configured to rotate around a second axis formed at one side of the first axis; a J12 pulley and a J14 pulley formed at one side of the J16 pulley, and configured to rotate around a third axis formed at a predetermined angle with the first axis. The end tool may further include: a first jaw wire configured to at least partially contact the J12 pulley, the J11 pulley, the J16 pulley, and the J14 pulley; a J16 pulley formed between the J11 pulley and a J12 pulley/a J14 pulley; and the first jaw wire is located on an internal tangent of the J11 pulley and the J16 pulley.

Abstract: A surgical port includes a first end, a second end opposite the first end, and a longitudinal axis extending through the first end and the second end. An outer sidewall extends between the first end and the second end. First and second channels extend through the port from the first end to the second end. A first electrically conductive portion extends from the first channel to the outer sidewall, and a second electrically conductive portion extends from the second channel to the outer sidewall. The first electrically conductive portion provides a first electrically conductive path between the first channel and the outer sidewall and the second electrically conductive portion provides a second electrically conductive path the second channel and the outer sidewall. The second electrically conductive path is separate from the first electrically conductive path. Devices and methods relate to surgical ports.

Abstract: A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.

Abstract: The present disclosure provides a positioning method for head and neck assessment comprising positioning a probe to the head and neck structures of a subject according to reference planes defined by light beams.

Abstract: A system for validating bone alterations during computer-assisted surgery, comprises a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: registering a surface of a bone in a coordinate system using a geometry of a patient specific tracker device on the surface of the bone; tracking a tool relative to the bone in the coordinate system as a function of implant geometry and of a planned implant position and orientation on the bone; and validating at least one alteration to the bone using a mating geometry of a validation tracker device applied to an altered surface of the bone.

Abstract: A surgical robotic system comprising: a surgical robot; a user interface console coupled to the surgical robot whereby a user can control motion of the surgical robot; a data logger for logging data from a surgical procedure performed by means of the robot; and a portable user terminal; the system further comprising: a display controllable by one of the data logger and the user terminal, that one of the data logger and the user terminal being configured for displaying a machine-readable code whereby the data logger or a user of the user terminal can be identified; and a camera coupled to the other of the data logger and the user terminal; the said other of the data logger and the user terminal being configured to, on receiving from the camera an image of a machine-readable code, decode that code to identify the data logger or a user of the user terminal and to cause the identified entity to be logged in association with a procedure performed by means of the robot.

Abstract: Disclosed herein are methods to detect a free-falling or other non-surgical motions of the user interface device (UID) of a surgical robotic system so that the surgical robotic system may pause the robotic arm controlled by the UID to prevent the robotic arm from mimicking the unintentional movement of the UID. Contact sensors embedded in the UID may be used to detect conditions indicating that a user does not possess full control of the UID. After determining that the user does not have full control of the UID, the UID may detect if the UID is experiencing non-surgical motions using motion sensors such as inertial sensors. By conditioning analysis of the data from the motion sensors by the initial determination that the UID is not being held based on the contact sensors, the method increases the robustness of the detection of non-surgical motions and reduces the probability of false positives.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.

Abstract: Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

Abstract: A continuum robot having at least two independently manipulateable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates control algorithms that enable the continuum robot to operate and advance into the passage, as well as the systems and procedures associated with the continuum robot and said functionality.

Abstract: A surgical assembly comprising a distal connector portion, a stapling assembly, and a sensor is disclosed. The stapling assembly comprises an end effector and a proximal connector portion configured to releasably connect to the distal connector portion. The end effector comprises an anvil and an elongate channel adapted to receive a staple cartridge. At least one of the anvil and the elongate channel is movable to a clamped configuration. The proximal connector portion comprises first bayonet-mount lugs and second bayonet-mount lugs. The sensor is configured to detect connections by the proximal connector portion. The surgical assembly further comprises an end-of-life indicator for the stapling assembly based on connections by the proximal connector portion.

Abstract: Systems and methods for joint replacement are provided. The systems and methods include a surgical orientation device and at least one orthopedic fixture. The surgical orientation device and orthopedic fixtures can be used to locate the orientation of an axis in the body, to adjust an orientation of a cutting plane or planes along a bony surface, to distract a joint, or to otherwise assist in an orthopedic procedure or procedures.

Abstract: A surgical tool comprising a drive housing having a first end and a second end, a spline extending between the first and second ends, a carriage provided in the drive housing and movable between the first and second ends, and a mechanism for manually actuating the spline. The mechanism may be arranged at the first or second end of the drive housing. The mechanism may further include a frame, a spline coupling rotatably mounted to the frame to receive an end of the spline, and a ring gear rotatable about the frame and operatively coupled to a pinion gear attached to the spline coupling such that rotation of the ring gear about the frame correspondingly actuates the spline.

Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.

Abstract: A system for visualizing and guiding a surgical device having a first imaging device of a first type and has a first image output. The first imaging device is positioned to image an area being subject to surgery. A second imaging device of a second type has a second image output. The second imaging device is positioned to image an area being subject to surgery. A computer is coupled to receive the first and second image outputs and a computer software program, resident in the computer receives and displays information received from the surgical device and/or for guiding the operation of the surgical device and for generating a graphic user interface including selectable menu and submenu items. The surgical device is coupled to the computer.

Abstract: An injection training device for association with a skin of a user and simulating an injection event is provided herein. In a non-limiting embodiment, the injection training device comprises a housing having an opening for receiving a container, the housing comprising at least one sensor for detecting a condition of use of the device, wherein the housing is configured to be positioned at the skin of a user during an injection event.

Abstract: A robotic surgical system includes a slide rail, a surgical instrument, and a robotic surgical assembly. The robotic surgical assembly is coupled to the slide rail and translatable along the slide rail between a first position and a second position. The robotic surgical assembly is coupled to the surgical instrument. The robotic surgical assembly, or a portion thereof, is configured to automatically rotate to a predetermined orientation relative to the slide rail when the robotic surgical assembly is disposed at the first position to enable the surgical instrument to be selectively uncoupled from the robotic surgical assembly.

Abstract: A medical navigation system is provided for controlling medical equipment during a medical procedure. The medical navigation system includes a passive radio frequency identification (RFID) tag, an RFID sensor for detecting the passive RFID tag, a controller coupled to the RFID sensor, and a robotic arm having an end effector and controlled by the controller. The RFID sensor provides a signal to the controller indicating presence of an activated passive RFID tag. The passive RFID tag has an antenna, an RFID circuit, and a switching device coupled to the RFID circuit for activating the passive RFID tag. The passive RFID tag is used to control a payload attached to the end effector.

Abstract: This application is directed to a medical instrument with a hollow shaft, an actuating unit at the proximal end and an instrument tip with an instrument at the distal end, wherein the instrument can be actuated via an actuating element in the shaft, the element being in an connection with the actuating unit and the instrument tip being pivotable via a joint mechanism, the joint mechanism having pivoting members connected with a proximal-side drive via steering wires running in the direction of the shaft in such a way that movement of the proximal-side drive causes a corresponding movement of the distal-side pivoting members and a pivoting of the instrument tip and wherein the proximal-side drive includes a spatially adjustable disk on which the steering wires are mounted. In order that the steering wires may be controlled precisely and reproducibly, the drive for the spatially adjustable disk is a motorized drive.

Abstract: A method to guide in preparation of a bone relies on an instrument having a shaft with a working end and a stop member. The shaft is free to translate along an axis. Surgical planning data is registered to the bone to determine intra-operative coordinates of the desired axis and depth. The instrument holder is positioned by the bone so the stop member contacts the instrument holder to prevent translating beyond the desired depth. Alternatively, an arm is manipulated to align the instrument with the desired axis. The working end rests on the bone to define a linear separation to the desired depth. By proximally translating the instrument holder to contact the stop member and distally translating the instrument holder along the shaft, the stop member physically stops translating beyond the desired depth. A surgical system for performing the methods is provided; a reamer or impactor are also disclosed.

Abstract: A remote control apparatus to remotely control a patient-side system including medical equipment and an endoscope to capture an image of a surgery site according to an embodiment includes: an operation handle with which an operator controls the medical equipment; and an operation pedal section. The operation pedal section includes: plural pedals configured to be pressed down to execute functions concerning the medial equipment; and a base on which the plural pedals are arranged, the plural pedals being arranged at locations not overlapping each other in a planar view. The plural pedals include first height pedals with upper ends thereof located at a first height position and second height pedals with upper ends thereof located at a second height position, which is different from the first height position. The first height pedals are arranged alternately with the second height pedals.

Abstract: A robotic surgery system includes a control unit assembly that supports and operates one or more robotic tools and a mechanical arm assembly that movably supports the control unit assembly in space. The mechanical arm assembly includes a boom assembly with one or more boom arms rotatably coupled to each other via one or more joints and having one or more actuators. An elevating linkage assembly is coupled to the boom assembly and has an actuator operable to allow vertical movement of the control unit assembly in a substantially weightless manner. Yaw and pitch control assemblies are interposed between the elevating linkage assembly and the control unit assembly and have actuators operable to allow movement of the control unit assembly in yaw and pitch. The one or more actuators are actuatable to allow movement of the control unit assembly in space upon actuation of one or more user interfaces of the control unit assembly.

Abstract: A surgical instrument for use with a robotic surgical system includes a knife blade configured to cut tissue and a knife tube coupled to the knife blade and configured to translate to move the knife blade for cutting tissue. The surgical instrument also includes a gearbox assembly coupleable to a robotic surgical system and configured to translate the knife tube to move the knife blade for cutting tissue and a knife blade lock operably coupled to the gearbox assembly. The knife blade lock is movable from a locked position wherein the knife blade lock prevents translation of the knife tube to an unlocked position in response to coupling of the gearbox assembly to the robotic surgical system wherein the knife tube is permitted to translate to move the knife blade for cutting tissue.

Abstract: A medical holding device includes: an arm configured by coupling a plurality of links to each other by joints, the arm having at least seven or more degrees of freedom by rotational operations on rotation axes, and being configured to support a medical instrument; and an arm controller configured to control an operation of the arm. The arm has six degrees of freedom realized by rotational operations of six passive rotation axes that passively rotate and one or more degrees of freedom realized by rotational operations of one or more active rotation axes that actively rotate, and the arm controller is configured to rotate the active rotation axis so as to avoid a predetermined state of a posture of the arm.

Abstract: A surgical system for use with a surgical instrument in a surgical procedure performed on an anatomical organ is disclosed. The surgical system comprises at least one imaging device and a control circuit configured to identify anatomical structures relevant to the surgical procedure from visualization data from the at least one imaging device, propose a surgical resection path for removing a portion of the anatomical organ by the surgical instrument, and present parameters of the surgical instrument in accordance with the surgical resection path. The surgical resection path is determined based on the anatomical structures.

Abstract: An ultrasound probe is guided to an optimal position on a patient's body by illuminating the patient's body with a laser, by displaying icons of the probe position and the optimal position on a 3-D model of the patient's body, or by playing an audio signal that varies according to distance of the probe position from the optimal position. In certain embodiments, the probe is guided to a series of optimal positions for conducting a vascular exam, responsive to a database of human anatomy and vasculature and responsive to a database of vascular exam procedures.

Abstract: An electronic apparatus for a database construction and control of a robotic manipulator is provided. The electronic apparatus stores information associated with a task of a robotic manipulator. The electronic apparatus further receives a first plurality of signals from a first plurality of sensors associated with a wearable device. The electronic apparatus further applies a predefined model on a first set of signals of the first plurality of signals. The electronic apparatus further determines arrow direction information based on the application of the predefined model on the first set of signals. The electronic apparatus further aggregates the determined arrow direction information with information about the first set of signals to generate output information. The electronic apparatus further stores the generated output information for each of a first plurality of poses performed for the task using the wearable device.

Abstract: A surgical manipulator device for positioning a surgical instrument has a frame, a first mount, a second mount, a first suspension arm arrangement supported on the frame and connecting the frame to the first mount in an articulated manner, and a second suspension arm arrangement supported on the frame and connecting the frame to the second mount in an articulated manner. The first and the second suspension arm arrangements are each displaceable relative to the frame in first and second motion planes parallel to each other and spaced apart, so that the first mount is displaceable in the first motion plane and the second mount is displaceable in the second motion plane.

Abstract: A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool. The hand controller apparatus includes a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever includes a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region is outwardly curved.

Abstract: A method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument includes applying a first tension to a first tensioning element, applying a second tension to a second tensioning element, and maintaining the first and second tensions in the first and second tensioning elements while a first rotatable cylinder is locked to a second rotatable cylinder. The first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.

Abstract: A robotic surgical system includes a robotic arm and a force detection system coupled to the robotic arm. The force detection system includes a sensor configured to detect a force being applied on a patient as the robotic arm is translated to a position relative to a patient.

Abstract: A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising a first joint permitting the end effector to adopt a range of configurations relative to the longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the securement of a first chassis portion to a second chassis portion, wherein the first pair of driving elements are secured relative to the chassis, the chassis portions being configured to be secured together by sliding the chassis portions relative to each other in a longitudinal direction parallel to the longitudinal axis of the shaft.

Abstract: Devices, systems, and methods for a robot-assisted surgery. Navigable instrumentation, which are capable of being navigated by a surgeon using the surgical robot system, and navigation software allow for the navigated placement of interbody fusion devices or other surgical devices. The interbody implant navigation may involve navigation of access instruments (e.g., dilators, retractors, ports), disc preparation instruments, trials, and inserters.

Abstract: The navigation systems and methods facilitate aligning a tool in relation to a trajectory in real-time to receive input data from a pre-operative plan image, at least one multi-modal image, and at least one real-time multi-modal image; interactively track at least one neural fiber, whereby interactively tracked fiber data is obtainable; automatically generate output data by way of data transformation using the input data and the interactively tracked neural fiber data; and transmit the output data to at least one of: at least one display device for rendering at least one real-time interactive navigation display for facilitating neural navigation, and at least one drive device for positioning at least one tracking device in relation to the tool in real-time, whereby real-time alignment data is achievable, and whereby at least one neurological structure is preservable.

Abstract: Systems and methods for endoscopic operations are described. For example, the disclosure provides mechanisms for sensing and controlling a field of view of an endoscope by determining a pose of the field of view using a first location and a second location, and controlling the pose of the field of view by moving at least one of: the first portion and the second portion. The first location is of a first portion of the endoscope and the second location is of a second portion of the endoscope. The endoscope comprises a flexible portion disposed between the first portion and the second portion. The first and second locations are defined by a configuration, relative to the endoscope, of an endoscope support and a cannula. The endoscope support configured to support the endoscope. A shaft of the endoscope is configured to extend through the cannula.

Abstract: Disclosed are systems, devices and methods for providing proximity awareness to an anatomical feature while navigating inside a patient's chest, an exemplary method including receiving image data of the patient's chest, generating a three-dimensional (3D) model of the patient's chest based on the received image data, determining a location of the anatomical feature based on the received image data and the generated 3D model, tracking a position of an electromagnetic sensor included in a tool, iteratively determining a position of the tool inside the patient's chest based on the tracked position of the electromagnetic sensor, and indicating a proximity of the tool relative to the anatomical feature, based on the determined position of the tool inside the patient's chest.

Abstract: Disclosed is a rescue robot for searching trapped persons for firefighting, including a mobile base. Mobile rollers with self-locking mechanisms are mounted at a bottom of the mobile base, a machine mounting seat is fixed to the mobile base, a rotating column is arranged at the top of the machine mounting seat, a driving motor is mounted at a bottom of an inner cavity of the machine mounting seat, a right output end of the driving motor is sleeved with a driving bevel gear, a bottom of the rotating column penetrates through a top of the machine mounting seat and is sleeved with a driven bevel gear, the driving bevel gear and the driven bevel gear are mutually meshed, a portion of an outer wall of the rotating column is fixedly sleeved with a fixed seat, left and right sides of the fixed seat are symmetrical bridge cranes.

Abstract: A surgery supporting apparatus is capable of controlling a posture of a first surgical instrument that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument to be inserted into the body cavity. The apparatus comprises a robot arm configured to control the posture of the first surgical instrument attached to the robot arm. Instructions stored in a memory cause the apparatus to function as a control unit configured to control the motion of the robot arm such that the posture of the first surgical instrument is controlled in accordance with the posture of the second surgical instrument, in a case of a first mode, and controls the motion of the robot arm in accordance with a manipulation including contact to the robot arm, in a case of a second mode.

Abstract: A navigation method for a medical operation and implemented by a robotic system is provided. The method includes the steps of: receiving, at a processor of the robotic system, at least one set of navigation data; receiving or generating at least one three-dimensional model of the virtual object in the navigation data; calculating the navigation data to generate a virtual environment and at least one navigation instruction; and presenting, at a user interface associated with the robotic system, the virtual environment and/or the navigation instruction to a user of the robotic system for the user to refer to during the medical operation.

Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.

Abstract: A system for controlling a robotic tool includes a memory that stores instructions and a processor that executes the instructions. When executed by the processor, the instructions cause the system to perform a process that includes monitoring sequential motion of tissue in a three-dimensional space. The process also includes projecting locations and corresponding times when the tissue will be at projected locations in the three-dimensional space. An identified location of the tissue in the three-dimensional space is identified based on the projected locations. A trajectory of the robotic tool is set to meet the tissue at the identified location at a projected time corresponding to the identified location.

Abstract: Systems and methods for adjusting bone cut positioning are disclosed that can aid in optimizing implant size selection and positioning relative to bone during, e.g., orthopedic surgical procedures such as knee arthroplasty, hip arthroplasty, etc. In one embodiment, such a surgical method can include performing a first bone cut of a first bone using an at least partially robot-assisted surgical instrument, detecting one or more parameters related to bone hardness, selecting a bone hardness index based on the one or more detected parameters, and adjusting a position of a second bone cut of the first bone based on the selected bone hardness index to optimize implant fit relative to bone. Detecting the one or more parameters related to bone hardness can be performed in a number of manners, including by monitoring energy required to perform the first bone cut.

Abstract: A platform device for material excision or removal from vascular structures for either handheld or stereotactic table or robotics platform use may comprise a work element or elements configured to selectively open and close at least one articulable beak or scoopula configured to penetrate and remove intra-vascular materials or obstructions, or follow a central lumen of another device or over a wire in a longitudinal direction. Flush and vacuum tissue transport mechanisms may be incorporated as well as single or multiple arrays of image guidance elements, directional elements, ablation elements and other interventional assistance elements. A single tube or an inner sheath and an outer sheath which may be co-axially disposed relative to a work element may be configured to actuate a beak or beaks or scoopulas and provisions for simultaneous or differential beak or scoopula closing under their differential rotation may be incorporated.

Abstract: Robotic surgery systems and methods of surgical robot operation are provided. A method of surgical robot operation includes moving a surgical instrument through a tissue using the surgical robot, where the surgical robot attempts to move the surgical instrument to a desired position. The method further includes measuring an actual position of the surgical instrument, and calculating a difference between the actual position and the desired position. The actual position of the surgical instrument is adjusted to the desired position using the surgical robot.

Abstract: This invention provides a system and method for finding multiple line features in an image. Two related steps are used to identify line features. First, the process computes x and y-components of the gradient field at each image location, projects the gradient field over a plurality subregions, and detects a plurality of gradient extrema, yielding a plurality of edge points with position and gradient. Next, the process iteratively chooses two edge points, fits a model line to them, and if edge point gradients are consistent with the model, computes the full set of inlier points whose position and gradient are consistent with that model. The candidate line with greatest inlier count is retained and the set of remaining outlier points is derived. The process then repeatedly applies the line fitting operation on this and subsequent outlier sets to find a plurality of line results. The process can be exhaustive RANSAC-based.