The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) configured to determine the pose of the end effector with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.

Methods of cutting bone using a robotic cutting system are provided. The robotic cutting system includes one or more controllers, a robotic manipulator, and one or more cutting tools, such as those including a bur or a saw blade, that can be coupled to the robotic manipulator. An initial cut, such as a notch, is made into the bone with the bur or the saw blade. This notch is then used to constrain the saw blade for limiting skiving of the saw blade during cutting along a cutting plane.

Medical devices and related methods for transforming bone, other tissue, or other material are disclosed herein. According to an aspect, a cutting device includes a static casing that defines a sheathing slot and an opening. The sheathing slot extends to the opening and has a first height at an end of the opening. Further, the bone cutting device includes a horn including a first end and a second end. The first end is configured to operatively connect to a source of movement. Further, the second end includes a cutting component having a second height. The first height is greater than the second height.

A system is provided comprising a robotic instrument for use with a surgical tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the surgical tool. A plurality of actuators operatively interconnect the tool support and the hand-held portion to move the tool support in three degrees of freedom relative to the hand-held portion. An optional constraint assembly may operatively interconnect the tool support and the hand-held portion to constrain movement of the tool support relative to the hand-held portion in three degrees of freedom. A visual indicator assists users in positioning hand-held portion of the instrument to maximize the useability of the system.

Systems and methods for performing an osteotomy with robotic assistance are disclosed. The disclosed systems and methods includes receiving a three-dimensional model of a patient bone, receiving a surgical plan, determining, based on the three-dimensional model and the surgical plan, one or more corrective cuts to be made to the patient bone, and performing, using a tracked end effector interfaced to a robotic arm, the one or more corrective cuts. A surgeon may utilize software, tracking, robotics, and the like to plan and execute bone resection in complex and/or intricate shapes not previously possible.

A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.

Systems and methods are disclosed for harvesting tissue from a donor site. Exemplary embodiments include a first and second conduit through which a flexible saw component is guided. Certain embodiments include a mechanism which facilitates insertion of the flexible cutting member component parallel to the transverse plane and slicing the graft parallel to the coronal plane to extract the graft.

An insert assembly, insertable in a handpiece of a medical device, has an insert having an insert metal tang, a ferromagnetic layer in contact with the insert metal tang, a dielectric layer in contact with the ferromagnetic layer, an insert antenna in contact with the dielectric layer, having an insert antenna metal element and configured to receive and transmit electromagnetic fields, and an identification chip operatively connected to the insert antenna and configured to transmit information about the insert assembly. The ferromagnetic layer reduces or cancels attenuation and/or distortion phenomena of an electromagnetic field caused by parasitic effects due to interaction of a transmitted or received electromagnetic field with metal parts of the insert metal tang, liquids present in the insert, and the insert antenna metal element. The ferromagnetic layer dielectric layer and insert antenna form a transceiver device putting the identification chip in communication with a handpiece antenna.

An example method includes obtaining, a virtual model of a portion of an anatomy of a patient obtained from a virtual surgical plan for an orthopedic joint repair surgical procedure to attach a prosthetic to the anatomy; identifying, based on data obtained by one or more sensors, positions of one or more physical markers positioned relative to the anatomy of the patient; and registering, based on the identified positions, the virtual model of the portion of the anatomy with a corresponding observed portion of the anatomy.

An assembly may include a retractor pivotally coupled to a guide rod. The retractor may include a generally arcuate projection having a convex retractor surface, a concave cutting shield surface, and a retractor coupling feature. The guide rod may include an elongate member and a rod coupling feature that may be configured to engage the retractor coupling feature to pivotably couple the guide rod to the retractor. The assembly may be placed on a lateral side of a medial collateral ligament of a knee joint to retract the medial collateral ligament away from a tibial plateau of the knee joint and protect the medial collateral ligament during a tibial plateau resection procedure.