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: —a cutting tool, —an actuation unit (4) comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base (40) and a platform (41) selectively orientable relative to the base (40) according to at least two of said motorized degrees of freedom, —a planar mechanism (24) connecting a terminal part of the actuation unit (4) to the cutting tool (2), ii) a passive articulated lockable holding arm (51) supporting the actuation unit, iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, iv) a control unit (300) configured to determine the pose of the cutting plane with respect to the target plane, to detect whether the cutting plane can be aligned with one target plane without changing the pose of the actuation unit, the control unit being further configured to, if the cutting plane cannot be aligned with the target plane, compute indication to a user to reposition the actuation unit with respect to the anatomical structure and, if the cutting plane can be aligned with the target plane, control the actuation unit (4) so as to bring the cutting plane into alignment with the target plane, v) a user interface coupled to the control unit, configured to indicate directions to a user to position the actuation unit with respect to the anatomical structure according to a pose allowing aligning the cutting plane with the target plane.

A system for holding and controlling medical instruments during procedures includes an end effector configured to hold a medical instrument and a rotational and translational (RT) mechanism configured to rotate and translate the medical instrument along an insertion axis. The system further includes a platform coupled to the RT mechanism and a pair of parallel five-bar planar linkages configured to translate, pitch, and yaw the platform with respect to a principal axis that is parallel to the insertion axis.

A cloud based security system for a medical data network comprises: at least one processor; at least one memory communicatively coupled to the processor; an input/output interface configured for accessing data from a plurality of medical hubs, each communicatively coupled to at least one surgical instrument; and a database residing in the at least one memory and configured to store the data. The at least one processor is programmed to: identify a first security threat by a first medical instrument communicatively coupled to a first medical hub located at a first medical facility; determine that a second security threat is present at a second medical hub located at a second medical facility, based on at least one common characteristic between the first medical instrument and a second medical instrument communicatively coupled to the second medical hub; and provide an alert to the second medical facility about the second security threat.

A surgical system for selective connection to a robotic arm includes an instrument drive unit, an instrument support platform coupled to the instrument drive unit, an instrument carriage coupled to the instrument support platform, and a surgical instrument releasably coupled to the instrument carriage. The surgical instrument includes an end effector controllable to perform surgery in response to telemanipulation of actuators in the instrument drive unit.

A system and method of maintaining a tool position and orientation for a computer-assisted device include a control unit and an articulated structure coupled to the control unit and including a plurality of joints. The articulated structure is configured to support an instrument. The control unit is configured to determine an error that is introduced to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument by movement of a first joint of the plurality of joints; and drive at least a second joint of the plurality of joints to reduce the error. v

A surgical implant planning computer for intra-operative CT workflow, pre-operative CT imaging workflow, and fluoroscopic imaging workflow. A network interface is connectable to a CT image scanner and a robot surgical platform having a robot base coupled to a robot arm that is movable by motors. A CT image of a bone is received from the CT image scanner and displayed. A user's selection is received of a surgical screw from among a set of defined surgical screws. A graphical screw representing the selected surgical screw is displayed as an overlay on the CT image of the bone. Angular orientation and location of the displayed graphical screw relative to the bone in the CT image is controlled responsive to receipt of user inputs. An indication of the selected surgical screw and an angular orientation and a location of the displayed graphical screw are stored in a surgical plan data structure.

Control systems and methods for operating a robot are disclosed. The control system includes a robot comprising a fixed end and a manipulator movable relative to the fixed end. The robot is configured to move an elongated tool attached to an end effector of the manipulator within a robot space for aligning the elongated tool with an occluded target, wherein the robot space comprises a 3-dimensional (3D) space with the fixed end as a center. The control system further includes a processor communicatively coupled with the robot and a 3D imaging device. The 3D imaging device is configured to capture 3D images within an imaging space, wherein the imaging space comprises a 3D space with a fixed reference point on the 3D imaging device as a center. The processor is configured to process a preliminary 3D image of the end effector captured by the 3D imaging device to calibrate the robot by integrating the robot space with the imaging space. The processor is further configured to, based on the calibration of the robot, process a 3D image of a body containing the target captured by the 3D imaging device to obtain location data of the target in the integrated space. The processor is further configured to, based on the location data of the target in the integrated space, automatically control the manipulator to align a longitudinal axis of the elongated tool with the target.

A system for holding and controlling medical instruments during procedures includes an end effector configured to hold a medical instrument and a rotational and translational (RT) mechanism configured to rotate and translate the medical instrument along an insertion axis. The system further includes a platform coupled to the RT mechanism and a pair of parallel five-bar planar linkages configured to translate, pitch, and yaw the platform with respect to a principal axis that is parallel to the insertion axis.

Various surgical hubs are disclosed. A surgical hub is for use with a surgical system in a surgical procedure performed in an operating room. The surgical hub comprises a control circuit configured to: pair the surgical hub with a first device of the surgical system; assign a first identifier to the first device; pair the surgical hub with a second device of the surgical system; assign a second identifier to the second device; and selectively pair the first device with the second device based on perioperative data.

A surgical device for retaining a tool, the surgical device comprises a multi-axis manipulator configured to generate relative movement between a moving end and a stationary end thereof; a housing fixed to the stationary end of the manipulator; a motor configured to rotate the tool by a rotating interface when the tool is retained to the rotating interface; an adaptor connected to the manipulator and in orientational fixation to the moving end of the manipulator, the adaptor being configured to move with the moving end, and the adaptor comprises a tool stopper disposed therein, wherein the tool stopper is configured to catch the tool if the tool is dropped from the rotating interface; a tool head latchless interface exposed to a channel of the adaptor and configured to provide attraction force within the channel for retaining the tool to the rotating interface.