Methods and systems for planning a joint replacement surgical procedure are disclosed. A musculoskeletal model for a patients joint and patient biometric data are received. A joint distraction device is positioned in the patients joint during the joint replacement surgical procedure, and the position and orientation of the joint distraction device are tracked as the patient's joint is moved through a range of motion in order to determine a magnitude of a force applied to the joint distraction device. A surgical plan for performing the joint replacement surgical procedure is provided based on the magnitude of the force applied throughout the range of motion, the musculoskeletal model, and the patient biometric data. The surgical plan includes implant position information, bone resection information, and/or ligament balancing information.

A joint distraction device includes a lever body, a foot extending from a bottom surface of the lever body, wherein the foot is coupled to the lever body via a hinge such that the lever body is rotatable relative to the foot, a first plate and a second plate extending from a distal portion of the lever body, wherein the first plate and the second plate are separated by a gap and wherein each of the first plate and the second plate comprise a stopper extending upwards from a top surface of the first plate and the second plate, and a force measurement device coupled to the bottom surface of the lever body and configured to measure a distraction force applied by the lever body at the foot during a joint distraction procedure in which a torque is applied at a proximal portion of the lever body.

An orthopedic distraction device is provided. The orthopedic distraction device includes a first upper paddle for engaging a first bone of a joint, a lower paddle for engaging a second bone of the joint and a displacement mechanism. The displacement mechanism includes a drive assembly operable to move the upper paddle relative to the lower paddle. The lower paddle is releasably connected to the displacement mechanism.

An orthopedic distraction device is provided. The orthopedic distraction device includes a first upper paddle for engaging a first bone of a joint, a lower paddle for engaging a second bone of the joint and a displacement mechanism. The displacement mechanism includes a drive assembly operable to move the upper paddle relative to the lower paddle. The lower paddle is releasably connected to the displacement mechanism.

A surgical apparatus is configured to support at least one bone cut for installation of a prosthetic component. The installed prosthetic component will have reduced alignment error. The surgical apparatus is configured to distract a first compartment to a first predetermined load value while allowing a moving support structure to pivot freely. A distraction lock mechanism is then engaged to prevent movement of a distraction mechanism that raises or lowers the moving support structure relative to a fixed support structure. The moving support structure has M-L tilt angle that is measured. A M-L tilt mechanism is engaged to forcibly equalize the first and second compartments. Engaging the M-L tilt mechanism prevents the moving support structure from freely pivoting. The at least one bone cut relates to the first and second compartments equalized and the M-L tilt angle.

Systems and methods for robotic retraction or robotic distraction are disclosed such as for a surgical procedure. An example system is a localization system to automatically position a trackable surgical retractor or distraction with respect to a patient comprising a patient tracking element adapted to be coupled to a patient; a processing unit configured to: track the poses of the patient via the patient tracking element, and the trackable surgical retractor or distractor; and command a robotic manipulator to move a tip of the trackable surgical retractor or distractor coupled to the manipulator from a first position, in engagement with the patient, to a second position while remaining in engagement with the patient.

Methods, surgical instruments, and associated systems of performing orthopaedic surgical procedures on a patient's knee are disclosed.

An orthopedic distraction device is provided. The orthopedic distraction device includes a first upper paddle for engaging a first bone of a joint, a lower paddle for engaging a second bone of the joint and a displacement mechanism. The displacement mechanism includes a drive assembly operable to move the upper paddle relative to the lower paddle. The lower paddle is releasably connected to the displacement mechanism.

A method of evaluating a human knee joint which includes a femur bone, a tibia bone, a patella bone, a patellar tendon, and ligaments, wherein the ligaments and patellar tendon are under anatomical tension to connect the femur and tibia together, creating a load-bearing articulating joint, the method including: inserting into the knee joint a gap balancer that includes a tibial interface surface, an opposed femoral interface surface, and at least one force sensor, the method including: providing an electronic receiving device; moving the knee joint through at least a portion of its range of motion; while moving the knee joint, using the electronic receiving device to collect data from the at least one force sensor; processing the collected data to produce a digital geometric model of at least a portion of the knee joint; and storing the digital geometric model for further use.

A method for controlling a robotic system to facilitate a joint arthroplasty procedure includes generating a graphical user interface comprising a visualization of an implant plan and an indication of a user-defined value for an implant planning parameter, and comparing the user-defined value for the implant planning parameter to the range. The method includes providing a marking at the indication of the user-defined value on the graphical user interface and receiving an update to the implant plan, wherein the update to the implant plan causes a change in the user-defined value. The method further includes determining that the change in the user-defined value moved the user-defined value to within the selected preferred range.