Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members and may be registered to selected coordinate systems.

Alignment precision technology, in which a system accesses image data of a bone to which a reference marker array is fixed. The system generates a three-dimensional representation of the bone and the reference markers, defines a coordinate system for the three-dimensional representation, and determines locations of the reference markers relative to the coordinate system. The system accesses intra-operative image data that includes the bone and a mobile marker array that is attached to an instrument used in a surgical procedure. The system co-registers the intra-operative image data with the three-dimensional representation by matching the reference markers included in the intra-operative image data to the locations of the reference markers. The system determines locations of the mobile markers in the co-registered image and determines a three-dimensional spatial position and orientation of the instrument relative to the bone.

Systems and methods are disclosed that utilize a robotic device supporting and moving a cutting tool in at least three degrees of freedom. A control system commands the robotic device to control or constrain movement of the cutting tool. A first tracker is coupled to the robotic device and a second tracker is coupled to an anatomy. The second tracker includes three markers that generate optical signals and a non-optical sensor that generates non-optical signals. A navigation system with an optical sensor is in communication with the control system. The navigation system receives, with the optical sensor, the optical signals from one or more of the three markers and receives the non-optical signals from the non-optical sensor. The navigation system communicates position data indicative of a position of the anatomy to the control system to control cutting of the anatomy based on the received optical and non-optical signals.

Disclosed is an implantable medical device such as a port assembly including a catheter lock and one or more unique device identifiers (UDIs) of the catheter lock. The catheter lock is configured to fit over an end portion of a catheter over an outlet stem extending from a portion of the implantable medical device such as housing of a port. The one or more UDIs embedded in the catheter lock include machine-readable identification data for the implantable medical device. Also disclosed is a system including the implantable medical device and instructions stored in a memory of a computing device for execution by one or more processors. Methods related to the foregoing are additionally disclosed.

An end effector is disclosed comprising a cartridge channel, a staple cartridge positionable in the cartridge channel, and a firing assembly configured to lock itself if the staple cartridge is not positioned in the cartridge channel. Moreover, the firing assembly is configured to lock itself if the staple cartridge has been at least partially spent.

A shaft assembly is disclosed which comprises an end effector configurable in an open configuration and a closed configuration, a closure system configured to transition the end effector toward the closed configuration during a closure stroke, a firing member movable through a firing stroke, and a frame. In various instances, the shaft assembly comprises a first bailout configured to shift the frame in order to open the end effector and a second, independent, bailout configured to retract the firing member during and/or after the firing stroke. In certain instances, the closure system is expandable to perform the closure stroke. In at least one such instance, the closure system comprises a proximal portion mounted to the frame and a distal portion movable relative to the proximal portion. In at least one instance, the firing member engages the closure member to expand the closure system.

Apparatus and methods are described including tracking a tool portion and a patient marker from a first line of sight, using a first tracking device disposed upon a first head-mounted device that includes a display. The tool portion and the patient marker are tracked from a second line of sight, using a second tracking device. When a portion of the patient marker and the tool portion are both within the first line of sight, an augmented reality image is generated upon the first display based upon data received from the first tracking device and without using data from the second tracking device. When at least the patient marker portion and the tool portion are not both within the first line of sight, a virtual image of the tool and anatomy of the patient is generated using data received from the second tracking device. Other applications are also described.

The present disclosure is directed to a robotic surgical system that includes a robotic surgical device having a robotic arm and an end effector with a pair of jaw members. A handpiece includes a pinch interface to control the arm or end effector, optical marker(s), an accelerometer, and a transmitter to transmit data from the pinch interface or accelerometer to the robotic surgical device. The system further includes a tracking system, to track the marker and provide a position or orientation of the handpiece. A processor receives: (i) the position or orientation of the handpiece from the tracking system; and (ii) the measured acceleration of the handpiece from the accelerometer. The processor integrates the measured acceleration to establish a second position beyond that of the tracking system. The processor controls movement of the robotic arm and end effector based on the received data from the camera or the accelerometer.

An end effector is disclosed comprising a cartridge channel, a staple cartridge positionable in the cartridge channel, and a firing assembly configured to lock itself if the staple cartridge is not positioned in the cartridge channel. Moreover, the firing assembly is configured to lock itself if the staple cartridge has been at least partially spent.

An end-effector for a surgical robot system may include an end-effector body and an optical sub-assembly. The optical sub-assembly may include a housing coupled to the end-effector body, the housing including a threaded portion. The optical sub-assembly may further include a window that is transparent to a predetermined range of light radiation wavelengths. The optical sub-assembly may further include a gasket disposed between the housing and the window. The optical sub-assembly may further include a threaded ring disposed over the window and threadedly engaging the threaded portion of the housing, the threaded ring compressing the gasket between the window and the housing to form a seal between the window and the housing. The optical sub-assembly may further include a light emitter configured to emit light in the predetermined range of light radiation wavelengths through the window.