A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.

A method of operating a robotic surgical system includes monitoring a force applied at a surgical instrument attached to a robotic arm, comparing the force to a force threshold for a surgical procedure, providing a signal in response to the force being outside the force threshold, monitoring, using a reference array attached to a patient, a bone movement caused while the surgical instrument interacts with the patient, and adjusting control of the robotic arm based on the bone movement.

A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.

A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.

A system for verifying a tool for use in a surgical procedure includes a mechanical interface configured to be affixed to a portion of a patient's anatomy, wherein the mechanical interface comprises at least a first portion having a first diameter and a second portion having a second diameter. The system further includes a probe configured to be inserted into the mechanical interface to establish a checkpoint location, and a computing system configured to determine a location of a portion of the probe when the probe is inserted a maximum distance into the mechanical interface, wherein the location of the portion of the probe establishes the checkpoint location. The computing system is further configured to verify a surgical tool by comparing the checkpoint location to a location of a portion of the surgical tool when the surgical tool is inserted a maximum distance into the mechanical interface.

A gastrectomy device includes an elongated member defining a centerline that extends through proximal and distal ends thereof. A shape modification member coupled to the elongated member is movable relative to the centerline of the elongated member. The shape modification member is movable between a first state, adjacent to the elongated member, and a second state, spaced from the elongated member. The shape modification member conforms to a portion of a patient's stomach in the second state.

The invention relates to a surgical system and, more particularly, to a surgical system and method for verifying calibration of a surgical device. The surgical system or method can be configured to perform the steps of: identifying an interface on an anatomy of a patient, determining a position of a checkpoint of the interface in a coordinate frame of reference, contacting the interface with a portion of a surgical tool of the surgical device, determining a position of the portion of the surgical tool in the coordinate frame of reference, and determining whether the position of the portion of the surgical tool has an expected correspondence to the position of the checkpoint. The interface may comprise a painted portion of a bone of the patient, a divot made in the bone, or a mechanical interface that includes a portion configured to be affixed to the bone and an interface portion that is configured to be contacted by the portion of the surgical tool.

A surgical instrument includes a housing, an outer shaft, an inner shaft, a trial sizer, a rod, and a head. The outer shaft is operatively coupled with the housing such that rotation of the housing causes axial displacement of the outer shaft. The outer shaft includes a keel cutter configured to form a channel in a vertebral body. The inner shaft disposed within the outer shaft. The trial sizer is configured to be received in intervertebral space. The trial sizer includes a pair of wings transitionable between a retracted position and an extended position in which the pair of wings extends transversely outward. The head is connected to the rod, wherein the head is operatively coupled with the pair of wings such that axial displacement of the rod causes transition of the pair of wings between the retracted and extended positions.

A gastrectomy device includes an elongated member defining a centerline that extends through proximal and distal ends thereof. A shape modification member coupled to the elongated member is movable relative to the centerline of the elongated member. The shape modification member is movable between a first state, adjacent to the elongated member, and a second state, spaced from the elongated member. The shape modification member conforms to a portion of a patient's stomach in the second state.

A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.