Teleoperative, partially automated, and fully automated robotic surgery systems and methods are described herein. These systems and methods relate to at least improvement of robotic movements, three dimensional tracking and pose correction for robots interacting with deformable objections, controlling and optimizing the redundant axis of a seven degree of freedom robotic arm, virtual robotic surgery and simulation, and task coordination and optimization for multi-robot surgery.

An inertial sensor based surgical navigation system for knee replacement surgery is disclosed. Inertial sensors composed of six-degree-of-freedom inertial chips, whose measurements are processed through a series of integration, quaternion, and kalman filter algorithms, are used to track the position and orientation of bones and surgical instruments. The system registers anatomically significant geometry, calculates joint centers and the mechanical axis of the knee, develops a visualization of the lower extremity that moves in real time, assists in the intra-operative planning of surgical cuts, determines the optimal cutting planes for cut guides and the optimal prosthesis position and orientation, and finally navigates the cut guides and the prosthesis to their optimal positions and orientations using a graphical user interface.

Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to Field Visualization Engine. The Field Visualization Engine tracks one or more collimator poses relative to one or more Augmented Reality (AR) headset device poses. Each respective collimator pose and each respective headset device pose corresponds to a three-dimensional (3D) unified coordinate space (“3D space”). The Field Visualization Engine generates an AR representation of a beam emanating from the collimator based at least on a current collimator pose and a current headset device pose. The Field Visualization Engine further generates an AR visualization of emanation of the beam throughout an AR display of medical data.

The invention relates to a surgical instrument with an instrument handle, an instrument shank connected to the instrument handle, an instrument tip with a work point, which instrument tip is connected to the instrument shank, and a first locator arranged on the instrument handle or the instrument shank. During a use of the surgical instrument, the instrument shank can be deflected, e.g. on account of transverse forces, at least between the first locator and the work point. A second locator is arranged at a distance from the first locator and, by comparison with the latter, closer to the work point, wherein the second locator is designed to detect five degrees of freedom.

A method of sequential monoscopic tracking is described. The method includes generating a plurality of projections of an internal target region within a body of a patient, the plurality of projections comprising projection data about a position of an internal target region of the patient. The method further includes generating external positional data about external motion of the body of the patient using one or more external sensors. The method further includes generating, by a processing device, a correlation model between the projection data and the external positional data by fitting the plurality of projections of the internal target region to the external positional data. The method further includes estimating the position of the internal target region at a later time using the correlation model.

A surgical system includes a camera tracking system that determines a first pose transform between a first object coordinate system and the first tracking camera coordinate system based on first object tracking information from the first tracking camera which indicates pose of the first object. The camera tracking system determines a second pose transform between the first object coordinate system and the second tracking camera coordinate system based on first object tracking information from the second tracking camera indicating pose of the first object, and determines a third pose transform between a second object coordinate system and the second tracking camera coordinate system based on second object tracking information from the second tracking camera indicating pose of the second object. The camera tracking system determines a fourth pose transform between the second object coordinate system and the first tracking camera coordinate system based on combining the first, second, and third pose transforms.

A system and method may be used to position or orient a camera within a surgical field. A method may include generating a graphical user interface including a first set of instructions to reposition the camera, and determining whether the camera is within a target volume location. The method may include automatically outputting an indication when the camera is within the target volume location. The method may include outputting a second set of instructions for display on the graphical user interface to align a laser, coupled to or integrated into the camera, to the tracker by changing an angle of the camera.

Devices, systems, and methods for aiding insertion of a surgical implant by providing a threaded guide tube configured to engage a threaded surgical instrument such that an end-effector of a robot may provide force to drive the surgical implant into a patient. In addition, devices, systems, and methods relating to a dilator system for use with a robotic system that allows independent and separate control of tools within the dilator system.

A method and system to align a pin or drill a tunnel along a single line in space with a two degree of freedom (2-DOF) surgical device in a patient is provided. A plane is defined relative to a desired location for an implant or tunnel on a bone, where the implant or tunnel has an axis. An end-effector of the 2-DOF surgical device is aligned coincident with the plane, and the 2-DOF surgical device is moved side-to until a first indicator signals when the end-effector aligns with an entry point for the desired location for the implant or tunnel on the bone. A tip of the end-effector is anchored into the bone at the entry point; and the 2-DOF surgical device is rotated about the anchored tip until a second indicator signals when the end-effector aligns with the axis of the implant or tunnel at the desired location.

A surgical robot system includes a surgical robot, a robot arm connected to such surgical robot, and an end-effector connected to the robot arm. A registration fixture is used in conjunction with various registration systems in the surgical robot system. Such registration systems likewise include a detachable base in the form of a detachable dynamic reference base, along with an associated mount, the dynamic reference base and mount having certain features which permit the dynamic reference base to be selectively attached, detached, and reattached at different phases of an operation, whether pre-operative or intra-operative, and such successive attachments are done without the dynamic reference base, and tracking markers associated therewith, losing registration. Related methods allow for the more efficient and effective performance of operations by virtue of the dynamic reference base maintaining its registration during attachments and reattachments.