A surgical system includes a tracking system configured to obtain data indicative of a pose of a first bone of a joint and a pose of a second bone of the joint, a display device configured to display a graphical user interface, and circuitry configured to determine an acceptable range of flexion angles of the joint for a gap capture step, determine a current flexion angle of the joint based on the data from the tracking system, determine the current flexion angle relative to the acceptable range of flexion angles for the gap capture step, and control the display device to provide, via the graphical user interface, a visualization of the current flexion angle relative to the acceptable range of flexion angles for a gap capture step.

Systems and methods may be used to perform robot-aided surgery. A system may include a robotic controller to monitor a position and orientation of an end effector coupled to an end of a robotic arm. The robotic controller may apply a force to a bone using the end effector, such as via a soft tissue balancing component. The robotic controller may determine soft tissue balance using information from a tracking system, such as a position of a first tracker affixed to the bone. The soft tissue balance may be output, such as to a display device.

Devices, systems, and methods for measuring a force applied to a joint during a surgical procedure are disclosed. The device includes an insertion tool, a handle, and one or more force indicators. The insertion tool includes an insertion end and a base end. The one or more force indicators may be attached to the insertion tool and the handle. The insertion end of the device may be inserted into a joint during a surgical procedure and used to apply a force to the joint and/or measure the force using the one or more force indicators when the force is applied.

Provided is a spacer device for assisting a surgeon during knee surgery on a patient, the spacer device having a housing, a support portion and an electronic force sensor. The housing includes a lateral member having an outer surface and an inner surface and a pair of side members that comprise respective, internal, opposed side walls. The support portion includes a first end portion disposed between the side walls of the housing and including a first pair of lateral projections and a second end portion. The support portion is further adapted for axial slidable movement relative to the housing so as to define a first space and a second space between a first pair of lateral projections and respective side members for receiving one or more spacer elements therein. A surgical system including the spacer device as well as methods of using same are also provided.

A surgical apparatus configured to be placed in the musculoskeletal system to precisely separate a first bone from a second bone. The surgical apparatus has one or more sensors to measure one or more parameters and supports one or more bone cuts for installing a prosthetic component. The surgical apparatus has three distraction mechanisms configured to increase or decrease a height between a first support structure and a second support structure. A tilt mechanism comprises at least one of the three distraction mechanisms. Each distraction mechanism is supported by at least two guide shafts such that movement of each distraction mechanism is aligned by the corresponding at least two guide shafts and loading is supported by the corresponding at least two guide shafts.

A method, apparatus, and system for balancing a patient's knee joint during an orthopaedic surgical procedure includes measuring a conductance of a medial collateral ligament and a lateral collateral ligament of the patient's knee joint and balancing the tension of the medial and lateral collateral ligaments based on the measured conductance. The tension of the medial and lateral collateral ligaments may be balanced by reducing a difference between the measured conductance.

An orthopaedic surgical instrument system includes a sensor adapter and multiple surgical instruments. The sensor adapter includes a housing with a force sensor positioned within the housing and a sensor contact configured to transfer force to the force sensor extending from the housing. Each surgical instrument includes a sensor connector configured to receive the sensor adapter at a predetermined location relative to the surgical instrument. Each sensor adapter further includes a registering feature to engage an anatomical feature of a patient or another surgical instrument. The surgical instruments may include a shim that may be attached to a gap assessment tool or a tibial insert trial. Methods associated with the surgical instrument system are also disclosed.

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 surgical apparatus comprising a first distraction mechanism, a second distraction mechanism, and a third distraction mechanism. The surgical apparatus is configured to be placed in a joint of the musculoskeletal system to precisely separate the first bone from the second bone to support one or more bone cuts for installing a prosthetic joint. The first distraction mechanism simultaneously changes a height of a first side and a second side of the joint. The change in height is equal on the first and second sides. The second distraction mechanism changes the height on the first side of the joint but not the second side. The third distraction mechanism changes the height of the second side of the joint but not the first side. The surgical apparatus further includes at least one module to measure loading applied by the joint to the surgical apparatus.

A method of evaluating a human knee joint including a femur bone, a tibia bone, and ligaments. The method includes: inserting into the joint a tensioner-balancer that includes at least one force sensor; providing an electronic receiving device; moving the knee joint through at least a portion of its range of motion; using the electronic receiving device to collect data from the at least one force sensor; processing the collected force data to produce a digital geometric model of the knee joint, wherein the data includes: a medial spline representing a locus of points of contact of a medial condyle of the femur F with the tensioner-balancer, over a range of knee flexion angles; and a lateral spline representing the locus of points of contact of the femur F with the tensioner-balancer, over a range of knee flexion angles; and storing the digital geometric model for further use.