Systems and methods for ligament balancing during robotic surgery. One or more transducers are positioned within a knee joint to detect forces indicative of tension in ligaments and to provide output based on the detected forces. A distraction device is used to provide a distraction force to cause movement of a distal end portion of a femur relative to a proximal end portion of a tibia to increase tension in the ligaments. Information associated with output from the transducers is displayed for viewing.

An apparatus and technique for supporting and securing a human upper extremity suitable for diagnostic and surgical procedures with the apparatus comprising a base plate coupled to moveable proximal and distal platforms. The distal platform supports the hand and wrist while pivoting about a ball and socket (universal) joint. The proximal platform is attached to a moveable support that variably elevates the upper extremity between the shoulder and the wrist (ie the distal platform) whilst travelling longitudinally along the base plate. These upper platforms attach to a common lower platform (ie the base plate) and function independently yet complimentarily to variably elevate and position the entire upper extremity above the base plate thereby achieving reproducible medical (or user) access to any discrete site from the shoulder to the digits. The proximal and distal platforms may also function as a bridge for a third upper platform converting an apparatus with two relatively short supportive surfaces to an apparatus having one relatively long supportive surface.

Methods for preparing a bone in surgery using an imaging system, a navigation system having a locating device, and a robotic system having a cutting tool. A cannula is guided into an incision to expand the incision and provide access to the bone so that the cutting tool is insertable through the cannula to remove material from the bone. An implant is insertable through the cannula to be placed in the bone.