A surgical system includes a tool, a robot configured to move the tool, and a controller. The controller is programed to generate a plan for the robot to move, in a planned amount of time, the tool from a starting pose to a target pose, control the robot to provide automated movement of the tool based on the plan such that the robot moves the tool toward the target pose without requiring user assistance, and stop the automated movement if the target pose is not reached after the automated movement for the planned amount of time.
G05B 15/02 - Systems controlled by a computer electric
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
First and second tracker assemblies each having a single optical marker are secured to a bone, with the first tracker assembly also including a motion sensor. A localizer optically tracks the optical marker positions, and a pose of a tracker coordinate system (TCS) associated with the tracker assemblies according to three positional DOF and two rotational DOF is determined from the tracked marker positions. Measurements from the motion sensor are utilized to determine an angle of inclination with respect to gravity, and an orientation of the TCS according to a further rotational DOF defined about a virtual line extending between the optical markers is determined from the angle of inclination. A pose of the bone according to six DOF is then determined from the determined pose of the TCS according to three positional and two rotational DOF and the orientation of the TCS according to the further rotational DOF.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
3.
TRACKER FOR MAGNETICALLY COUPLING TO ROBOTIC GUIDE TUBE
A surgical system is provided. The surgical system includes a robotic manipulator supporting a guide tube and an instrument configured to be temporarily fixed to the guide tube through magnetic coupling. The instrument supports a tracker.
First and second tracker assemblies each having a single optical marker are secured to a bone, with the first tracker assembly also including a motion sensor. A localizer optically tracks the optical marker positions, and a pose of a tracker coordinate system (TCS) associated with the tracker assemblies according to three positional DOF and two rotational DOF is determined from the tracked marker positions. Measurements from the motion sensor are utilized to determine an angle of inclination with respect to gravity, and an orientation of the TCS according to a further rotational DOF defined about a virtual line extending between the optical markers is determined from the angle of inclination. A pose of the bone according to six DOF is then determined from the determined pose of the TCS according to three positional and two rotational DOF and the orientation of the TCS according to the further rotational DOF.
A61B 17/70 - Spinal positioners or stabilisers, e.g. stabilisers comprising fluid filler in an implant
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
5.
Tracker For Magnetically Coupling To Robotic Guide Tube
A surgical system is provided. The surgical system includes a robotic manipulator supporting a guide tube and an instrument configured to be temporarily fixed to the guide tube through magnetic coupling. The instrument supports a tracker.
An end effector configured to be coupled to an arm of a robotic manipulator, the end effector including a blade mounting assembly for receiving a saw blade. The blade mounting assembly including a drive hub and a blade clamp. The drive hub having a support surface configured to support the saw blade, and a plurality of bosses protruding from the support surface. The blade clamp being disposed above the drive hub and moveable between first and second positions relative to the drive hub. The blade clamp configured such that in the first position the blade clamp is spaced a first distance from the drive hub and configured to enable coupling or removal of the saw blade from the drive hub, and in the second position the blade clamp is spaced a second distance from the drive hub and configured to secure the saw blade to the drive hub.
A61B 17/00 - Surgical instruments, devices or methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A hand-held robotic system for use with a saw blade, the system including an instrument, a localizer, and a controller. The instrument including a hand-held portion, a blade support coupled to the hand-held portion, and an actuator assembly including a plurality of actuators to move the blade support in three degrees of freedom relative to the hand-held portion to place the blade on a desired plane. The controller capable of determining a pose of the saw blade relative to the desired plane based on a position of each of the plurality of actuators. The controller being further configured to be operable between a first mode allowing the instrument to operate and to control each of the plurality of actuators to maintain the saw blade on the desired plane; and a second mode disabling the instrument based on the pose of the saw blade relative to the desire plane.
Robotic system and methods for robotic arthroplasty are provided. The robotic system includes a machining system and a guidance system. The guidance station tracks movement of one or more of various objects in the operating room, such as a surgical tool, a tibia of a patient, a talus of the patient, or a component of an implant. The guidance system tracks these objects for purposes of displaying their relative positions and orientations to the surgeon and, in some cases, for purposes of controlling movement of the surgical tool of the machining system relative to virtual cutting boundaries or other virtual objects associated with the tibia and talus to facilitate preparation of bone to receive an ankle implant system.
A camera unit for use with a surgical navigation system. The camera unit includes an outer casing and a rigid support structure enclosed within the outer casing. Two first optical sensors are coupled to the outer casing, and each including sensing elements adapted to sense light in a near-infrared spectrum. The two first optical sensors are commonly fixed to the rigid support structure and are separated by a predefined distance on the rigid support structure so as to be stereoscopically arranged. A second optical sensor is coupled to the outer casing and is adapted to sense light in a visible light spectrum. A camera controller is disposed within the outer casing and is configured to control the two first optical sensors and the second optical sensor for tracking an object within an operating room.
H04N 25/44 - Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled by partially reading an SSIS array
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
H04N 13/243 - Image signal generators using stereoscopic image cameras using three or more 2D image sensors
H04N 23/61 - Control of cameras or camera modules based on recognised objects
H04N 23/695 - Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
H04N 25/40 - Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
H04N 25/42 - Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled by switching between different modes of operation using different resolutions or aspect ratios, e.g. switching between interlaced and non-interlaced mode
H04N 25/443 - Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled by partially reading an SSIS array by reading pixels from selected 2D regions of the array, e.g. for windowing or digital zooming
11.
Techniques For Patient-Specific Milling Path Generation
Generating a milling path to enable a tool to remove material from bone. An allowed volume is intersected with a virtual bone model. An offset boundary is spaced inward from the allowed volume. Intersection between the allowed volume and the virtual bone model defines a resection volume. An outer portion of the resection volume is defined between the allowed volume and offset boundary. An inner portion of the resection volume is defined within the offset boundary. Section planes are defined to successively intersect the resection volume. Section paths are bounded within each section plane and are defined relative to the resection volume. One or more sections plane includes a section path with a path segment enabling the tool to remove only the outer portion of the resection volume. Transition segments connect section paths of successive section planes. The section paths and transition segments are combined to generate the milling path.
A robotically-assisted implant impaction system includes a robot arm, a release member coupled to the robot arm, and an impactor coupled to the robot arm via the release member. The release member includes a spring, a slide member biased by the spring to a position retaining the impactor on the robot arm, and a knob manipulable by a user to compress the spring to allow release of the impactor from the robot arm.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Surgical systems and methods for positioning a workpiece involve a first tool assembly including one of a coupler or a receiver, and a second tool assembly with an interface adapted to attach to the workpiece and including the other one of the coupler or the receiver. A tool guide is configured to mount to a surgical robot. The tool guide defines an aperture through which the first tool assembly is configured to extend. The tool guide is configured to support the first tool assembly and enable the first tool assembly to pivot relative to the tool guide to facilitate engagement between the coupler and receiver to align the first and second tool assemblies.
A system includes a medical imaging device configured to collect an image of a bone and a computer programmed to present the image of the bone, enable locating of a plurality of landmarks of the bone via the image, and determine a version and inclination of an acetabular cup based on the plurality of landmarks of the bone.
A method includes positioning an imaging element relative to a patient tissue structure, establishing, by moving a robotic arm, registration between the imaging element and a surgical instrument held by the robotic arm, and conducting, using the surgical instrument, an intervention on the patient tissue structure while calculating an orientation of the surgical instrument relative to the patient tissue structure using the registration.
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
16.
SYSTEMS AND METHODS FOR CONSTRAINED SURGICAL INSTRUMENT ALIGNMENT
A method for surgical navigation includes providing a graphical user interface showing a virtual boundary around a target axis, tracking a movement of a tool toward the target axis, and updating the graphical user interface by collapsing the virtual boundary towards the target axis based on 5 the movement of the tool.
A computer-implemented method is provided. The computer-implemented method generates a milling path for a tool of a surgical system, the milling path designed to enable the tool to resect material from a bone, the method including obtaining a model of the bone, intersecting an allowed volume with the model for defining a resection volume intended to be removed from the bone, and generating a plurality of sections. The method also includes, for a section, identifying a sub-volume of the resection volume corresponding to the section; generating milling path segments designed to enable the tool to remove the sub-volume of the resection volume; identifying, for the sub-volume of the resection volume, a region to be avoided by the tool; generating transition path segments designed to avoid the region; and generating the milling path by combining the milling path segments and the transition path segments.
A method for a computer-assisted surgical system includes tracking a movement of a robot, determining a current pose of an implant cup based on the movement of the robot, and guiding cup impaction by virtually overlaying a representation of the implant cup on a displayed bone in accordance with the current pose of the implant cup.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A sterile drape assembly for use with a robotic arm. The robotic arm includes a plurality of links and a plurality of motorized joints for moving the plurality of links. The robotic arm supports an end effector on a distal end of the robotic arm. A plurality of light emitting diode (LED) units are located on a surface of at least one of the links of the robotic arm. Each of the LED units projects from the surface and includes an attachment interface. The sterile drape assembly includes a flexible and substantially transparent surgical drape to be disposed over the robotic arm and the LED units. Drape attachment elements couple to the attachment interfaces of the LED units to secure portions of the surgical drape to the LED units such that the secured portions of the surgical drape cover the LED units.
A61B 46/23 - Surgical drapes specially adapted for patients with means to retain or hold surgical implements
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Surgical systems and methods for manipulating an anatomy involve a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate first and second virtual boundaries associated with the anatomy. The second virtual boundary is spaced apart from the first virtual boundary. The controller(s) control movement of the surgical tool in a first mode wherein the first boundary is activated. In the first mode, the controller(s) produce a first alert to inform that constraint of the surgical tool is occurring in relation to the first boundary. The controller(s) control movement of the surgical tool in a second mode wherein the first boundary is deactivated, and the surgical tool is constrained in relation to the second boundary. In the second mode, the controller(s) produce a second alert to inform that constraint of the surgical tool is occurring in relation to the second boundary.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
21.
SYSTEM AND METHOD FOR GENERATING A PATIENT-SPECIFIC MILLING PATH
A computer-implemented method is provided. The computer-implemented method generates a milling path for a tool of a surgical system, the milling path designed to enable the tool to resect material from a bone, the method including obtaining a model of the bone, intersecting an allowed volume with the model for defining a resection volume intended to be removed from the bone, and generating a plurality of sections. The method also includes, for a section, identifying a sub-volume of the resection volume corresponding to the section; generating milling path segments designed to enable the tool to remove the sub-volume of the resection volume; identifying, for the sub-volume of the resection volume, a region to be avoided by the tool; generating transition path segments designed to avoid the region; and generating the milling path by combining the milling path segments and the transition path segments.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/16 - Instruments for performing osteoclasisDrills or chisels for bonesTrepans
22.
DEVICES, SYSTEMS, AND METHODS FOR JOINT PARAMETER VISUALIZATION
Systems and methods are disclosed for receiving imaging data of a joint, determining gap parameter information based on the imaging data, generating a graphical user interface (GUI) configured to display a three-dimensional element comprising a plurality of sub-elements, determining which of the plurality of sub-elements correspond to the determined gap parameter information, and generating a display of the GUI, wherein at least one sub-element is associated with the determined gap parameter information.
Surgical systems involve a robotic manipulator that moves a surgical tool to remove material from a workpiece and a navigation system to track a pose of the surgical tool relative to the workpiece. A control system determines a non-homogenous density distribution of the workpiece. The control system generates a tool path based on the density distribution. The control system controls the robotic manipulator to move the surgical tool along the tool path to remove the material from the workpiece while accounting for the density distribution. As the surgical tool moves along the tool path, the control system adjusts one or more operating parameters of the surgical tool to account for the density distribution, such as by adjusting the feed rate of the surgical tool, the cutting speed of the surgical tool, and/or the cutting depth of the surgical tool.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
B25J 11/00 - Manipulators not otherwise provided for
G05B 19/4093 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
24.
SYSTEMS AND METHODS FOR ROBOTIC INFECTION TREATMENT OF A PROSTHESIS
A system for debriding an infected implant area includes an ultrasonic tool, a navigation system for tracking movement of the ultrasonic tool, and a processing circuit programmed to determine an area to debride and control the ultrasonic tool to automatically adjust a parameter of the ultrasonic tool to provide a first vibrational characteristic when debridement is of a surface of the implant and a second vibrational characteristic when the debridement is of patient tissue.
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
A61B 18/18 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A method of operating a joint positioner includes securing a first holder of the joint positioner to a first portion of a limb and a second holder of the joint positioner to a second portion of the limb, manually articulating a mechanical arm extending between the first holder and the second holder to a position causing tension in soft tissue of the limb, and switching between a first mode in which arm segments of the mechanical arm are manually repositionable and a second mode in which the mechanical arm is fixed in the position.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61G 13/12 - Rests specially adapted thereforArrangements of patient-supporting surfaces
26.
SURGICAL SYSTEM FOR POSITIONING PROSTHETIC COMPONENT AND/OR FOR CONSTRAINING MOVEMENT OF SURGICAL TOOL
A method for registering a virtual model of a bone to the bone includes displaying, on the virtual model of the bone, a plurality of registration points indicating locations on the bone to be touched with a tracked probe, tracking positions of the tracked probe as the tracked probe is moved to the locations on the bone, and registering the virtual model of the bone to the bone based on tracked positions of the tracked probe corresponding to the plurality of registration points.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Systems and methods are disclosed for receiving imaging data of a joint, determining gap parameter information based on the imaging data, generating a graphical user interface (GUI) configured to display a three-dimensional element comprising a plurality of sub-elements, determining which of the plurality of sub-elements correspond to the determined gap parameter information, and generating a display of the GUI, wherein at least one sub-element is associated with the determined gap parameter information.
G06T 15/00 - 3D [Three Dimensional] image rendering
G06T 19/00 - Manipulating 3D models or images for computer graphics
A61F 2/00 - Filters implantable into blood vesselsProstheses, i.e. artificial substitutes or replacements for parts of the bodyAppliances for connecting them with the bodyDevices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
A surgical driving system includes a driver and a cutting accessory. The driver includes a body driven by a motor. First and second arms project from the body, each arm having its own alignment tip. The arms define a channel between each other. The alignment tips are offset. Each tip includes two alignment surfaces facing away from each other. The cutting accessory includes a distal portion having a cutting tip and being coupled to a tool shaft. A proximal portion of the cutting accessory is coupled to the tool shaft and received within the channel. The proximal portion has a drive section with a flat to engage the arms of the driver. The proximal portion also has an alignment section separate from and proximal to the drive section to engage the alignment tips of the driver to orient the drive section relative to the arms.
A method of operation of a robotically-assisted surgical system includes capturing a first pose of a surgical tool during the operation of the robotically-assisted surgical system, intraoperatively defining a target orientation for the surgical tool using the first pose of the surgical tool, and controlling a robotic device to automatically move the surgical tool to the target orientation.
G05B 15/02 - Systems controlled by a computer electric
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
30.
SYSTEMS AND METHODS FOR ADAPTIVE PLANNING AND CONTROL OF A SURGICAL TOOL
A method of assisting a joint arthroplasty procedure for a joint comprising a bone includes determining, by tracking a cutting tool during a first stage of modifying the bone with the cutting tool, a surface corresponding to a bone modification created by the cutting tool during the first stage of modifying the bone, generating, based on the surface and an implant geometry, a planned bone resection to be completed during a second stage of modifying the bone, and assisting, by a robot controlled using the planned bone resection, execution of the second stage of modifying the bone.
A clamp assembly for use with a surgical attachment system for fixing a navigation tracker to a portion of bone. The clamp assembly includes a first clamp jaw with a first engagement surface and a second clamp jaw with a second engagement surface. The clamp assembly includes a linear driver with a shaft. The second clamp jaw is coupled to the first clamp jaw at a fixed pivot and coupled to the shaft at a moving pivot. The linear driver translates the shaft in a first direction to pivot the second engagement surface towards the first engagement surface. The linear driver translates the shaft in a second direction opposite to the first direction to pivot the second engagement surface away from the first engagement surface.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
The present teachings provide for a hand-held robotic instrument for use with a surgical tool. In one configuration, the instrument comprises a housing configured to be held by a user, the housing defining a remote axis of motion. Control systems for controlling the hand-held robotic instrument are also contemplated, which are capable of switching control modes based on fixation, boundaries, and/or frames.
A surgical system includes a robot arm, a shaft held by the robot arm at a mount between a first end of the shaft and a second end of the shaft, a power tool operable to provide a force at the first end of the shaft, and a control system programmed to control the robot arm to maintain the second end at an intended pose in an acetabulum of a patient.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A method includes generating a surgical plan for aligning a structure with a first bone segment and a second bone segment, and controlling a controllable guide structure to guide a cutting tool to sculpt the first bone segment, the second bone segment, and the structure based on the surgical plan. The method can include providing the first bone segment with a first bone mating surface by sculpting the first bone segment, providing the second bone segment with a second bone mating surface by sculpting the second bone segment, and providing, by sculpting the structure, the structure with at least one structure mating surface that is complementary to at least one of the first bone mating surface or the second bone mating surface.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A surgical robotics system includes a robot, a tool coupled to the robot, and control circuitry programmed to determine a movement of the tool to within a threshold distance relative to a planned path and control, in response to the movement, the robot to automatically move the tool to a target point on the planned path.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
36.
JOINT GAP BALANCING LEVER AND METHODS OF USE THEREOF
A method includes receiving a measurement of a force applied to a first bone of a joint via a distraction tool and determining a first gap distance between the first bone of the joint and a second bone of the joint and correlating the first gap distance with the measurement of the force. The method also includes causing, using the first gap distance and the measurement of the force, a modified force to be applied to the first bone, determining a second gap distance between the first bone of the joint and the second bone of the joint while the modified force is applied to the first bone, and creating an implant placement plan using the second gap distance and a measurement of the modified force.
A61B 17/02 - Surgical instruments, devices or methods for holding wounds open, e.g. retractorsTractors
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
37.
Tool Assembly, Systems, And Methods For Manipulating Tissue
Tool assemblies, system, and methods for manipulating tissue and methods for performing a surgical procedure on a vertebral body adjacent soft tissue. A dilator probe is configured to be attached to a robotic manipulator. A sleeve is disposed coaxially around the dilator probe and releasably engaged with the dilator probe. A navigation system tracks the vertebral body and defines an insertion trajectory with respect to the vertebral body. Controller(s) control the robotic manipulator to align the dilator probe and the sleeve to the insertion trajectory and advance the dilator probe and the sleeve along the insertion trajectory to penetrate the soft tissue. After penetration of the soft tissue, the sleeve remains embedded in the soft tissue and the dilator probe is robotically or manually retracted to disengage from the sleeve to enable the sleeve to create a working channel through the soft tissue.
Surgical systems and methods involve a first and second trackers with trackable elements and which are independently secured to a bone and separated by a distance. A localizer tracks the trackable elements. Controller(s) define a tracking arrangement based on a combination of the trackable elements from the trackers. The controller(s) register a geometry of the tracking arrangement relative to the bone and track the bone by detection of the registered geometry. The controller(s) detect a condition wherein at least one trackable element has been displaced relative to the registered geometry. The controller(s) register a position of an anatomical landmark of the bone and use the landmark to identify the at least one trackable element that has been displaced.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
39.
Systems And Methods For Controlling Movement Of A Surgical Tool Along A Predefined Path
Robotic surgical systems and methods for controlling movement of a surgical tool involve a manipulator, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a virtual boundary for the tool that is a three-dimensional and elongated virtual tube to predefine a tool path for the tool. The control system defines virtual constraints to constrain movement of the surgical tool to be along the tool path defined by the virtual tube. An input is received from the force/torque sensor in response to user forces and torques manually applied to the tool by a user. The control system simulates dynamics of the tool in a virtual simulation based on the virtual constraints and the input from the force/torque sensor and commands the manipulator to advance the tool along the tool path based on the virtual simulation.
Surgical systems and methods involving a reamer tool and a surgical robotic arm. The reamer tool has a shaft, a tool engagement surface coupled to the shaft, and a reamer head attached to the shaft. The surgical robotic arm supports a guide that can receive the reamer tool. The guide has a pair of arms, each arm extending to an arm end and the arm ends being spaced apart from one another to provide an opening between the arm ends. A channel is formed between the arms. The guide enables a portion of the shaft to move through the opening between the arm ends such that the shaft portion can enter and exit the channel. The arms define a guide engagement surface that is arc-shaped and that enables contact with the tool engagement surface to facilitate alignment of the reamer tool and the guide.
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61F 2/46 - Special tools for implanting artificial joints
41.
Packaging Systems And Methods For Mounting A Tool On A Surgical Device
A packaging body for use with an elongated tool that includes a distal cutting bur, a first shaft portion proximal to the distal cutting bur, and a second shaft portion extending from the first shaft portion. The packaging body has a distal casing with first and second distal sections. The distal sections each have a distal cavity being shaped to conform to the distal cutting bur and the first shaft portion. The distal sections are configured to couple to one another to collectively encase the distal cutting bur and the first shaft portion within the distal cavities. The packaging body includes a proximal section with a proximal cavity that is elongated and sized to receive the second shaft portion. A packaged tool assembly can include the packaging body that houses the elongated tool or a sealed pouch that includes the packaging body and the elongated tool disposed therein.
A61B 50/30 - Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/3215 - Packages or dispensers, e.g. for scalpel blades
A61B 50/00 - Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
A61B 50/20 - Holders specially adapted for surgical or diagnostic appliances or instruments
B65D 17/28 - Rigid or semi-rigid containers specially constructed to be opened by cutting or piercing, or by tearing of frangible members or portions at lines or points of weakness
B65D 75/36 - Articles or materials enclosed between two opposed sheets or blanks having their margins united, e.g. by pressure-sensitive adhesive, crimping, heat-sealing, or welding one or both sheets or blanks being recessed to accommodate contents one sheet or blank being recessed and the other formed of relatively stiff flat sheet material, e.g. blister packages
42.
SURGICAL ROBOTICS SYSTEM WITH TOOL AXIS REGISTRATION
A surgical robotics method includes capturing points along a surface of a cutting tool by tracking a probe, deriving a tool axis from relative locations of the points, and controlling, using the tool axis, a robot that interfaces with the cutting tool.
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
G06F 3/0338 - Pointing devices displaced or positioned by the userAccessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
G06F 3/0482 - Interaction with lists of selectable items, e.g. menus
G06F 3/04847 - Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
A method for treating a bone includes cutting away a portion of the bone, including cutting non-planar features into the bone for engagement by implant components. The method further includes fitting the multiple implant components to the bone, with at least some of the multiple implant components engaging the non-planar features cut into the bone. The implant components interlock such that later added implant components secure earlier added implant components in place on the bone.
A surgical system and method involve a robotic system with a base and a localizer that monitors a tracker supported by the robotic system. Controller(s) determine a relationship between the base and the localizer. The controller(s) monitor the relationship to detect an error related to one or both of the robotic system and the localizer. In response to detection of the error, the controller(s) modify operation of the robotic system.
Surgical systems and methods involve a robotic arm with a first mounting portion that releasably receives a sterile barrier assembly and a second mounting portion associated with a surgical component. An illumination device is coupled to the robotic arm. Controller(s) detect, using one or more sensors, a condition associated with installation of one or more of the sterile barrier assembly and the second mounting portion to the first mounting portion. The controller(s) control the illumination device to indicate the condition to a user.
A surgical method includes operating, by a surgical robot, in a first mode, detecting a crossing of an object from a first side of a boundary to a second side of the boundary, switching, in response to the crossing of the object from the first side of the boundary to the second side of the boundary, the surgical robot from the first mode to a second mode, and operating, by the surgical robot, in the second mode.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
47.
SYSTEMS AND METHODS FOR PREOPERATIVE PLANNING AND POSTOPERATIVE ANALYSIS OF SURGICAL PROCEDURES
A system for determining accuracy of a surgical procedure to implant an implant on a patient bone. The system including at least one computing device configured to perform the following steps. Receive preoperative patient data including preoperative images of the patient bone and planned implant position and orientation data. Receive postoperative patient data including postoperative images of the patient bone and an implant implanted on the patient bone. Segment the patient bone and the implant from the postoperative images of the patient bone and the implant. Register separately the patient bone and the implant from the postoperative images to the patient bone from the preoperative images. And compare an implanted position and orientation of the implant from the postoperative images relative to the patient bone from the preoperative images to the planned implant position and orientation data relative to the patient bone from the preoperative images.
A method of operating a robotic device includes tracking movement of a tool coupled to the robotic device, determining a direction of movement of the tool, determining whether the direction of movement points towards a virtual control object, and, in response to a determination that the direction of movement points towards the virtual control object, controlling the robotic device to guide the tool to the virtual control object.
A surgical tracker assembly includes a tracker body including a first connector. The surgical tracker assembly also includes a mount assembly couplable to the tracker body. The mount assembly includes a second connector engageable with the first connector in at least a first position and a second position different from the first position. One of the first connector and the second connector includes a multipositional receptacle extending between a first receptacle end and a second receptacle end. The first receptacle end defines a first opening, and the second receptacle end defines a second opening. The other of the first connector and the second connector includes a projection disposable in the first opening to couple the tracker body to the mount assembly in the first position and disposable in the second opening to couple to the tracker body to the mount assembly in the second position.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 17/00 - Surgical instruments, devices or methods
50.
Surgical Tracker Assemblies With Optimized Size, Weight, And Accuracy
A surgical tracker assembly includes a tracker body including a first connector. The surgical tracker assembly also includes a mount assembly couplable to the tracker body. The mount assembly includes a second connector engageable with the first connector in at least a first position and a second position different from the first position. One of the first connector and the second connector includes a multipositional receptacle extending between a first receptacle end and a second receptacle end. The first receptacle end defines a first opening, and the second receptacle end defines a second opening. The other of the first connector and the second connector includes a projection disposable in the first opening to couple the tracker body to the mount assembly in the first position and disposable in the second opening to couple to the tracker body to the mount assembly in the second position.
A method includes tracking three or more bones of a patient, planning a planned alignment between the three or more bones, and creating an implant placement plan based on the planned alignment. The implant placement plan includes a placement of a plate across the three or more bones. The method also includes robotically assisting preparation of the three or more bones to receive the plate in accordance with the implant placement plan.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61F 2/44 - Joints for the spine, e.g. vertebrae, spinal discs
Surgical systems and methods involve a head-mounted device (HMD) and navigation system that includes a localizer to track a pose of a surgical object. The HMD includes a display positionable in front of the eyes of a user and an input device to sense a command of the user. The HMD enables the surgical object to be observed on, or through, the display. The HMD presents a virtual model of the surgical object on the display. The HMD senses, with the input device, the command of the user to manipulate the virtual model into alignment with the surgical object. Controller(s) coupled to one or both of the navigation system and the HMD co-register the virtual model and the surgical object in response to detection of alignment between the virtual model and the surgical object.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61F 2/46 - Special tools for implanting artificial joints
53.
MOTORIZED ORTHOPEDIC TENSOR AND METHODS OF USING THE SAME
Systems and methods related to an orthopedic tensor for a knee joint. The tensor is motorized and operates in a force control mode and a displacement control mode. A control system controls the tensor in the force control mode to apply forces to the knee joint until a predetermined force is reached. The control system captures a plurality of force-displacement data pairs from the tensor as a result of the forces applied by the tensor in the force control mode. Control of the tensor is switched from the force control mode to the displacement control mode to perform an extension test whereby a displacement of the tensor is progressively decreased according to displacements from the plurality of force-displacement data pairs until the knee joint can reach an acceptable full extension pose during, or after completion of, the extension test.
A61B 17/02 - Surgical instruments, devices or methods for holding wounds open, e.g. retractorsTractors
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61F 2/46 - Special tools for implanting artificial joints
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
54.
Motorized Orthopedic Tensor And Methods Of Using The Same
Systems and methods related to an orthopedic tensor for a knee joint. The tensor is motorized and operates in a force control mode and a displacement control mode. A control system controls the tensor in the force control mode to apply forces to the knee joint until a predetermined force is reached. The control system captures a plurality of force-displacement data pairs from the tensor as a result of the forces applied by the tensor in the force control mode. Control of the tensor is switched from the force control mode to the displacement control mode to perform an extension test whereby a displacement of the tensor is progressively decreased according to displacements from the plurality of force-displacement data pairs until the knee joint can reach an acceptable full extension pose during, or after completion of, the extension test.
A tracker mount includes a fastener assembly, a sleeve assembly to be disposed over the fastener assembly, and a tracker interface coupled to the sleeve assembly and configured to removably attach to a tracker. The fastener assembly includes a fastener adapted to be attached to a bone and a first keying feature. The sleeve assembly includes a sleeve, which includes a body defining a channel including a second keying feature to interface with the first keying feature to prevent rotation of the sleeve relative to the fastener assembly. The sleeve assembly includes an engagement feature at a distal part of the sleeve to engage a surface of the bone.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
56.
End Effectors And Methods For Driving Tools Guided By Surgical Robotic Systems
Surgical systems and methods involve a surgical robot and an end effector attached to the surgical robot. The end effector includes a drive assembly, a manual interface, a trigger assembly, and a tool attached to the drive assembly and being rotatable about a first axis. Controller(s) control the surgical robot to position the tool relative to a surgical site to align the first axis with a predetermined trajectory associated with the surgical site. The controller(s) detect input from the trigger assembly to rotate the tool about the first axis with the drive assembly and advance the tool along the predetermined trajectory at the surgical site to a first depth. The manual interface is configured to receive force to rotate the tool about the first axis and advance the tool along the predetermined trajectory to a second depth greater than the first depth.
A method of assessing ligament balance in a joint. The method comprising forcing, by motors of joints of an articulated arm of a robotic device, a ligament balancing device to apply a first force to a first bone of the joint in contact with the ligament balancing device, holding the first bone with the first force while allowing manual manipulation of a second bone of the joint and collecting a force measurement, and determining, by a processor in communication with the robotic device, a force applied to one or more ligaments of the joint based on the force measurement.
A surgical system includes a joint distractor configured to apply a distraction force to a first bone to distract a joint, a tracking system configured to track relative poses of the joint distractor and the first bone of the joint in contact with the joint distractor, and a computing system. The computing system is programmed to receive information indicating the relative poses of the joint distractor rand the first bone of the joint, determine, using the relative poses of the joint distractor and the first bone of the joint, a characteristic of the distraction force, and cause, using the characteristic of the distraction force, an adjustment of the distraction force.
A61B 17/02 - Surgical instruments, devices or methods for holding wounds open, e.g. retractorsTractors
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/16 - Instruments for performing osteoclasisDrills or chisels for bonesTrepans
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A method of determining a property of cartilage in a joint of interest of a patient. The method comprises receiving data indicating joint space width of the joint of interest, receiving data indicating a relationship between joint space width and a property of cartilage in the joint of interest, wherein the data indicating a relationship between joint space width and the property of cartilage in the joint of interest is based upon measured cartilage in a population of joints of interest, and determining the property of cartilage in the joint of interest based upon the data indicating joint space width of the joint of interest and the data indicating a relationship between joint space width and property of cartilage in the joint of interest.
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
G16H 30/00 - ICT specially adapted for the handling or processing of medical images
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A robotic surgery system for cutting a bone of a patient includes a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone. The handheld manipulator includes a cutting tool, a handle, and an actuator coupled between the handle and the cutting tool such that the actuator is configured to move the cutting tool relative to the handle. The system also includes a controller programmed to control the actuator to compensate for both operator tremor and patient movement.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
61.
SYSTEMS AND METHODS FOR SURGICAL PLANNING BASED ON BONE DENSITY
A method of operating a surgical robot includes identifying, automatically based on image data of a bone, a soft tissue attachment point on a virtual bone model, planning an implant pose relative to a virtual model of the bone by using the soft tissue attachment point and optimizing planned implant pose based on bone density information, and controlling the surgical robot based on the implant pose to facilitate preparation of the bone to receive an implant in the implant pose.
A computer-implemented method for generating and presenting an electronic display of guidance for performing a robotic medical procedure may include receiving a plurality of prior procedure data sets; receiving or identifying objective data defining one or more of a duration or a patient outcome of the robotic medical procedure; executing an algorithm to identify a pattern across the plurality of prior procedure data sets; receiving information about an instance of the robotic medical procedure to be performed in the future for a patient outside the population; automatically generating guidance for performing the robotic medical procedure; and generating and presenting an electronic display of the guidance for performing the robotic medical procedure.
G09B 5/02 - Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
G16H 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
63.
SYSTEMS AND METHODS FOR PROVIDING GUIDANCE FOR A ROBOTIC MEDICAL PROCEDURE
A computer-implemented method for generating and presenting an electronic display of guidance for performing a robotic medical procedure may include receiving a plurality of prior procedure data sets; receiving or identifying objective data defining one or more of a duration or a patient outcome of the robotic medical procedure; executing an algorithm to identify a pattern across the plurality of prior procedure data sets; receiving information about an instance of the robotic medical procedure to be performed in the future for a patient outside the population; automatically generating guidance for performing the robotic medical procedure; and generating and presenting an electronic display of the guidance for performing the robotic medical procedure.
G09B 5/02 - Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
G16H 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
Robotic systems and methods for preparing a humerus to receive a shoulder implant involve a robotic manipulator and first and second cutting tools configured to be interchangeably coupled to the robotic manipulator. A controller controls the robotic manipulator and the first cutting tool to resect a head of the humerus along a resection plane to define a resection surface for supporting the shoulder implant. The controller controls the robotic manipulator and the second cutting tool to form at least one bore below the resection surface to receive at least one attachment feature of the shoulder implant.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A method of assessing a joint may include identifying a first osteophyte in an image of the joint, identifying a cross-sectional area of the first osteophyte, executing an algorithm to determine one or more adjustment parameters based on the identified cross-sectional area of the first osteophyte, and outputting the one or more determined adjustment parameters to a display. The first osteophyte may be positioned under a soft tissue. The algorithm may apply an equation that receives, the identified cross-sectional area, and outputs the one or more adjustment parameters. The one or more adjustment parameters may include a predicted change in soft tissue laxity after the identified first osteophyte is removed, an adjustment to a planned bone resection depth of the one or more bone cuts, an adjustment to a planned bone resection angle of the one or more bone cuts, and/or an adjustment to a planned thickness of the implant.
Surgical systems, computer-implemented methods, and software programs for producing a patient-specific virtual boundary. Controller(s) obtain a virtual tibial model specific to a patient and identify an outer edge contour of the virtual tibial model. The controller(s) generate an offset contour being spaced apart from the outer edge contour by an offset distance that is based on a geometric feature of a surgical tool and generate a face extending perpendicularly from, and along, the offset contour. The controller(s) produce a patient-specific virtual boundary by merger of the virtual tibial model, the offset contour and the face and configure the patient-specific virtual boundary to provide a constraint on movement and/or operation of the surgical tool.
A method of assessing a joint may include identifying a first osteophyte in an image of the joint, identifying a cross-sectional area of the first osteophyte, executing an algorithm to determine one or more adjustment parameters based on the identified cross-sectional area of the first osteophyte, and outputting the one or more determined adjustment parameters to a display. The first osteophyte may be positioned under a soft tissue. The algorithm may apply an equation that receives, the identified cross-sectional area, and outputs the one or more adjustment parameters. The one or more adjustment parameters may include a predicted change in soft tissue laxity after the identified first osteophyte is removed, an adjustment to a planned bone resection depth of the one or more bone cuts, an adjustment to a planned bone resection angle of the one or more bone cuts, and/or an adjustment to a planned thickness of the implant.
The end effector of a surgical robotic manipulator includes a body member and a conductive element disposed circumferentially about a portion of the body member. The end effector includes a handle being rotatably mounted to the body member and being rotatable about the conductive element. The handle includes a tactile interface that is operatively coupled to a target and, for any rotational position of the handle, the conductive element is configured to sense the target in response to actuation of the tactile interface.
A surgical system to facilitate a spinal procedure on a vertebral body includes a robotic manipulator including an arm and a tool holder. The tool holder defines a tool holder channel extending along a tool holder axis. The tool holder channel has a tool holder diameter. The surgical system also includes a guide tube configured to slide into the tool holder channel. The guide tube includes a body extending along a body axis and defining a body channel. The body has a proximal portion defining the body channel and having an outer proximal portion diameter that is less than or equal to the tool holder. The body has a distal portion extending from the proximal portion along the body axis and further defining the body channel. The distal portion includes a side surface that is configured to engage a surface of the vertebral body to minimize skiving.
An isolation mechanism that is configured for a robotic manipulator is provided. The robotic manipulator includes an arm to be driven by a transmission, a force/torque sensor, and one or more sensing elements configured to sense forces and torques applied to the force/torque sensor, wherein the isolation mechanism includes a body for coupling to an output of the transmission and for coupling to the force/torque sensor, wherein the body deforms in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Spinal surgery systems and methods include a manipulator with a robotic arm and an end effector. A navigation system with a localizer tracks a patient and the manipulator. A control system registers, with the navigation system, a desired trajectory for a vertebra of the patient and detects that the end effector is within a predetermined distance to the desired trajectory. In response to the end effector being within the predetermined distance and detection of a user input, the control system autonomously moves the robotic arm to align the end effector to the desired trajectory. The end effector is constrained to the desired trajectory with a line haptic object and can exit the line haptic object in response to being moved along the line haptic object until the end effector reaches an exit point defined relative to the line haptic object.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/98 - Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
73.
VIEW ANGLE-INDEPENDENT VISUAL REPRESENTATION OF A CUT PROCEDURE
A method of computer visualization of removal of material from an object by a tool during a procedure includes tracking poses of the tool as the tool removes material from the object, performing a constructive solid geometry (CSG) operation using a model of the object, a plan for the removal of the material from the object, and an accumulation of the tracked poses of the tool, generating a two dimensional image of the object based on a result of the CSG operation, and handling movement of the tool by updating the two dimensional image via an update of only a changed sub-volume of the accumulation of the tracked poses.
G06T 17/10 - Volume description, e.g. cylinders, cubes or using CSG [Constructive Solid Geometry]
G06T 19/00 - Manipulating 3D models or images for computer graphics
G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
74.
Robotic Systems And Methods For Manipulating A Cutting Guide For A Surgical Instrument
Surgical systems and methods for use with a hand-guided tool. The surgical system includes a robotic manipulator that holds a tool guide. The tool guide receives and guides the surgical tool to enable the tool to manipulate a bone. The robotic manipulator autonomously aligns the tool guide to a target orientation relative to the bone. The tool guide is moved to an initial location adjacent to the bone while remaining aligned with the target orientation. The initial location is suitable for the tool to perform an initial manipulation of the bone. The robotic manipulator facilitates withdrawal of the tool guide away from the initial location to a spaced location after the initial manipulation of the bone while maintaining alignment of the tool guide with the target orientation at the spaced guide location. The spaced guide location is suitable for the tool to perform a further manipulation of the bone.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
Surgical systems and methods for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate a virtual boundaries delineating a portions of the anatomy allowed to be removed by the surgical tool. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a first virtual boundary and according to a first feed rate or first frequency of path oscillations to remove a first portion. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a second virtual boundary that is spaced from the first virtual boundary, and according to a different feed rate or different frequency of path oscillations, to remove a second portion.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
76.
SURGICAL PROCEDURE PLANNING SYSTEM WITH MULTIPLE FEEDBACK LOOPS
A surgical procedure planning system and method that uses multiple feedback loops to optimize creation or design of future surgical preoperative plans.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
Disclosed herein are a surgical system for patella tracking and a method for selecting a properly-sized patellar implant utilizing the same. The surgical system may include first and second trackers and a patellar tracking system. The first tracker may be configured to contact an unresected or a resected patella, and the second tracker may be configured to contact a bone. The patellar tracking system may be configured to track the first and second trackers during patellar flexion and extension to generate patellar range of motion and patellar trial range of motion. A method for selecting a patellar implant may utilize the first and second trackers and the patellar tracking system.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
78.
Virtual Reality Surgical Systems And Methods Including Virtual Navigation
Virtual reality surgical systems, methods, and software for simulating surgical navigation. A head-mounted device includes a display positionable in front of eyes of a user. The display of the head-mounted device presents a virtual environment including therein a virtual surgical object, a virtual display device, and a virtual navigation system including a virtual localizer unit. A spatial relationship between the virtual localizer unit and the virtual surgical object is determined and a virtual representation of the virtual surgical object is presented on the virtual display device. A pose of the virtual representation is based on the determined spatial relationship between the virtual localizer unit and the virtual surgical object.
G06T 19/00 - Manipulating 3D models or images for computer graphics
G09B 23/28 - Models for scientific, medical, or mathematical purposes, e.g. full-sized device for demonstration purposes for medicine
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
79.
Robotic Surgical Systems And Methods For Mitigating Skiving Between Rotary Cutting Tool and Cortical Bone
Surgical systems and methods involve manipulation of a bone. A robotic manipulator supports and moves a surgical tool that has a cutting bur rotatable about a cutting axis. Controller(s) control the manipulator to align the cutting axis to a target axis associated with the bone and advance the cutting bur along the target axis towards a cortical region of the bone. The controller(s) control the surgical tool to rotate the cutting bur about the cutting axis and contact the cortical region. The controller(s) detect, from sensor(s), forces applied to the cutting bur by the cortical region and compare the sensed forces to a threshold indicative of skiving of the cutting bur relative the cortical region. In response to the sensed forces exceeding the threshold, the controller(s) adjust control of the manipulator and/or surgical tool to reduce forces applied to the cutting bur by the cortical region.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
80.
ROBOTIC SURGICAL SYSTEM WITH MOTORIZED MOVEMENT TO A STARTING POSE FOR A REGISTRATION OR CALIBRATION ROUTINE
A surgical system includes a robotic arm and a controller programmed to determine an approach area for the robotic arm based on whether a surgery is to be performed on a right or left side of a patient, check whether the robotic arm is in the approach area, and, in response to the robotic arm being in the approach area, control movement of the robotic arm to a starting pose for a registration or calibration routine for the robotic arm.
G05B 15/02 - Systems controlled by a computer electric
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
81.
DEVICES, SYSTEMS, AND METHODS FOR PROVIDING CLINICAL AND OPERATIONAL DECISION INTELLIGENCE FOR MEDICAL PROCEDURES AND OUTCOMES
A method of assessment of a joint may include receiving image data related to one or more images of the joint; determining a B-score, osteophyte volume, and/or a joint-space width based on the image data; generating a first artificial model of the joint based on the determined score, osteophyte volume, and/or joint-space width; and displaying on an electronic display a graphical user interface (GUI). The GUI may include a display of the first artificial model of the joint.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
A method of assessment of a joint may include receiving image data related to one or more images of the joint; determining a B-score, osteophyte volume, and/or a joint-space width based on the image data; generating a first artificial model of the joint based on the determined score, osteophyte volume, and/or joint-space width; and displaying on an electronic display a graphical user interface (GUI). The GUI may include a display of the first artificial model of the joint.
Aspects of the disclosure may involve a method of generating resection plane data for use in planning an arthroplasty procedure on a patient bone. The method may include: obtaining patient data associated with at least a portion of the patient bone, the patient data captured using a medical imaging machine; generating a three-dimensional patient bone model from the patient data, the patient bone model including a polygonal surface mesh; identifying a location of a posterior point on the polygonal surface mesh; creating a three-dimensional shape centered at or near the location; identifying a most posterior vertex of all vertices of the polygonal surface mesh that may be enclosed by the three-dimensional shape; using the most posterior vertex as a factor for determining a posterior resection depth; and generating resection data using the posterior resection depth, the resection data configured to be utilized by a navigation system during the arthroplasty procedure.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 5/055 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
A61B 5/107 - Measuring physical dimensions, e.g. size of the entire body or parts thereof
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
Surgical navigation systems and methods for tracking an object within an operating room involve a camera unit that houses a first stereoscopic sensing system and a second stereoscopic sensing system each comprising sensing elements adapted to sense light. A controller utilizes the first stereoscopic sensing system to sense light from the object and track the object according to a first resolution. The controller utilizes the second stereoscopic sensing system to sense light from the object and track the object according to a second resolution that is lower than the first resolution. The controller obtains data related to the object from the second stereoscopic sensing system and modifies control of the sensing elements of the first stereoscopic sensing system based on the obtained data related to the object.
H04N 25/44 - Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled by partially reading an SSIS array
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
H04N 13/243 - Image signal generators using stereoscopic image cameras using three or more 2D image sensors
H04N 23/61 - Control of cameras or camera modules based on recognised objects
H04N 25/40 - Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
H04N 25/443 - Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled by partially reading an SSIS array by reading pixels from selected 2D regions of the array, e.g. for windowing or digital zooming
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
H04N 23/695 - Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
H04N 25/42 - Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled by switching between different modes of operation using different resolutions or aspect ratios, e.g. switching between interlaced and non-interlaced mode
85.
SURGICAL REGISTRATION TOOLS, SYSTEMS, AND METHODS OF USE IN COMPUTER-ASSISTED SURGERY
A surgical registration tool including a bone engagement structure comprising a distal condyle abutment structure, at least one posterior condyle abutment structure, a side condyle abutment structure, and an anterior shaft abutment structure. The distal condyle abutment structure includes a distal planar surface. The at least one posterior condyle abutment structure includes at least one planar surface extending distally from the distal planar surface and positioned perpendicular to the distal planar surface. The side condyle abutment structure includes a planar surface extending distally from the distal planar surface and positioned perpendicular to the distal planar surface and the at least one planar surface. The anterior shaft abutment structure extends distally from the distal planar surface and terminates at a distal tip. The registration tool also includes a handle coupled to the engagement structure and extending proximally therefrom, and a tracker array configured to couple to the handle.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
86.
SURGICAL CLAMP ASSEMBLY FOR FIXING A NAVIGATION TRACKER TO A PORTION OF BONE
A surgical clamp assembly for clamping tissue and supporting a navigation tracker. The assembly includes a clamp body. Clamp arms are coupled to the damp body to grip tissue. At least one of the clamp arms includes a distal portion having a clamp surface to grip tissue and a proximal portion that is pivotable relative to the clamp body about a first pivot. A linear displacement mechanism and a carrier are coupled to the clamp body. The carrier is moveable relative to the clamp body along a carrier axis in response to movement of the linear displacement mechanism. The carrier is coupled directly to the proximal portion of the clamp arm. The clamp arm is also pivotable relative to the carrier about a second pivot in response to movement of the carrier.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A surgical clamp assembly for clamping tissue and supporting a navigation tracker. The assembly includes a clamp body. Clamp arms are coupled to the clamp body to grip tissue. At least one of the clamp arms includes a distal portion having a clamp surface to grip tissue and a proximal portion that is pivotable relative to the clamp body about a first pivot. A linear displacement mechanism and a carrier are coupled to the clamp body. The carrier is moveable relative to the clamp body along a carrier axis in response to movement of the linear displacement mechanism. The carrier is coupled directly to the proximal portion of the clamp arm. The clamp arm is also pivotable relative to the carrier about a second pivot in response to movement of the carrier.
Surgical systems and methods involve a manipulator that supports a tool and a control system to control operation of the manipulator and movement of the tool based on a relationship between the tool and a first virtual boundary. The control system operates to maintain compliance of the tool with the first virtual boundary. While maintaining compliance of the tool with the first virtual boundary, the control system enables a user to select a second virtual boundary. In response to user selection of the second virtual boundary, the control system determines whether the tool is in compliance with the second virtual boundary.
A physical model configured to be physically altered by a surgical instrument for providing feedback related to a surgical plan specific to an anatomy of a patient. The physical model has a body including a physical volume representative of the anatomy of the patient and a geometrical feature embedded within the physical volume wherein the geometrical feature is visually distinct from a remainder of the physical volume and wherein the geometrical feature has parameters that are based on the surgical plan. The physical volume is configured to be at least partially removed by the surgical instrument such that the geometrical feature is configured to be exposed for providing visual feedback about an accuracy of the surgical plan and/or an accuracy of the surgical instrument in carrying out the surgical plan.
A method of preparing a bone to receive an implant component includes planning one or more surgical cuts configured to provide the bone with a curved intersection between two surfaces, applying a mechanical restraint to an arm holding a cutting tool based on the one or more surgical cuts, and performing, subject to the mechanical restraint and by articulating the arm, the one or more surgical cuts using the cutting tool.
Surgical systems and methods involve a robotic manipulator with a force sensor and a surgical tool that holds a screw. The screw has a known thread geometry. A navigation system tracks a pose of a target anatomy. Controller(s) store the known thread geometry and control the robotic manipulator to maintain the rotational axis on a planned trajectory with respect to the target anatomy based on the tracked pose of the target anatomy. The controller(s) detect, with the force sensor, a force applied by a user. The controller(s) control a rotational rate of the surgical tool to rotate the screw about a rotational axis and an advancement rate of the surgical tool to linearly advance the screw along the planned trajectory. The rotational rate and the advancement rate are based on the force applied by the user and are proportional to the known thread geometry.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/98 - Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
92.
Display screen or portion thereof with graphical user interface
A tool for use with a surgical robotic manipulator that comprises an energy applicator, a tool assembly, and a protective sheath. The energy applicator including a shaft extending along an axis between a proximal end and a distal end. The tool assembly comprises a support structure to support the energy applicator, a connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state, and a drive system coupled to the support structure to rotatably drive the shaft of the energy applicator about the axis. The protective sheath releasably couples to the tool assembly, such that the protective sheath is arranged concentrically about the shaft of the energy applicator between the distal end of the shaft and the connector assembly. The connector assembly has a connector member to facilitate releasable coupling of the protective sheath to the tool assembly.
A61B 90/98 - Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
F16D 1/08 - Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hubCouplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with hub and longitudinal key
A61B 17/00 - Surgical instruments, devices or methods
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 18/08 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by means of electrically-heated probes
A61B 18/18 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
94.
Systems And Methods For Identifying And Tracking Physical Objects During A Robotic Surgical Procedure
Surgical systems and methods for preventing collision of a cutting instrument with a retractor. A robotic device includes a robotic arm to support and move the cutting instrument. A vision device is attached to the robotic device or the cutting instrument such that the vision device is movable by the robotic device. A control system controls the robotic device to move the cutting instrument along a tool path to remove material from a bone. The control system acquires vision data sets from the vision device in response to movement of the cutting instrument along the tool path and detects the retractor from the vision data sets. The control system generates an output to prevent collision of the cutting instrument with the retractor, such as, for example, defining a “no-fly” zone for the retractor and controlling the robotic device to avoid the cutting instrument from contacting the “no-fly” zone.
A method of providing soft tissue release during a joint arthroplasty procedure includes identifying, on a virtual model of target anatomy, a plurality of soft tissue attachment points, generating a soft tissue release pathway relative to the virtual model based on the plurality of soft tissue attachment points such that following the soft tissue release pathway with a cutting device results in release of soft tissue, and operating the cutting device based on the soft tissue release pathway.
Surgical systems and methods for robotically-assisted insertion of a stem implant into a cavity of a bone. A manipulator includes a robotic arm that supports an end effector which detachably receives the stem implant. A navigation system includes a localizer to track poses of the bone and the end effector. Controller(s) coupled to the manipulator and the navigation system obtain a surgical plan defining a planned relationship between the stem implant and the bone. Based on the tracked poses and the surgical plan, the controller(s) control the manipulator to enable movement of the end effector and the stem implant to facilitate insertion of the stem implant into the cavity.
A support arm includes a first component, a second component, and a joint coupled to the first component and positionally supporting the second component. The joint includes a first one-way clutch, a second one-way clutch, and a locking mechanism. The locking mechanism is moveable between a first position wherein the first one-way clutch permits rotation of the second component in a first rotational direction and the second one-way clutch permits rotation of the second component in a second rotational direction to allow movement of the second component relative to the first component, and a second position wherein the first one-way clutch prevents rotation of the second component in the first rotational direction and the second one-way clutch prevents rotation of the second component in the second rotational direction to positionally lock the second component relative to the first component.
F16M 13/02 - Other supports for positioning apparatus or articlesMeans for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
98.
Systems and methods for selectively activating virtual guide geometries
A method for operating a surgical robot includes providing a plurality of virtual haptic geometries associated with different steps of a surgical procedure, evaluating a plurality of criteria associated with a first virtual haptic geometry of the plurality of virtual haptic geometries, activating the first virtual haptic geometry of the plurality of virtual haptic geometries without activating a second virtual haptic geometry of the plurality of virtual haptic geometries in response to satisfaction of the plurality of criteria, and controlling the surgical robot to constrain movement of an end effector of the surgical robot to the first virtual haptic geometry in response to activating the first virtual haptic geometry.
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
G06F 3/0482 - Interaction with lists of selectable items, e.g. menus
G06F 3/04847 - Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
G06F 3/0338 - Pointing devices displaced or positioned by the userAccessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
A blade mounting assembly for coupling a saw blade to a surgical saw. The blade mounting assembly including a blade clamp guard and a blade clamp moveably coupled to a drive hub of the surgical saw. The blade clamp guard defining a recess and a blade clamp at least partially disposed within the recess. The blade clamp further comprising a safety indicator. The blade clamp may be configured to move relative to the blade camp guard, the blade clamp moving between a first position where the safety indicator is exposed and a second position where the safety indicator is concealed by the blade clamp guard. The blade mounting assembly may also comprise a biasing mechanism disposed between the blade clamp guard and the blade clamp. The biasing mechanism configured to urge the blade clamp guard away from the blade clamp.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods
A method includes generating a surgical plan for installation of a structure at a bone and controlling a controllable guide structure to guide a cutting tool to sculpt the bone and the structure based on the surgical plan. Sculpting the bone provides the bone with a bone mating surface and sculpting the structure provides the structure with a structure mating surface. The method also includes installing the structure on the bone by engaging the structure mating surface of the structure with the bone mating surface of the bone.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
