A person support apparatus includes one or more motorized actuators that are braked in different manners depending upon whether or not electrical power is available to the control system. When electrical power is not available, a delay circuit delays closing a first switch that, when closed, short circuits the terminals of one of the motors. When power is available, other switches are opened and closed in a manner that short circuits the terminals of the motor while the first switch remains open. The other switches may be part of an H-bridge. The control system may also detect back emf (electromotive force) generated by the motor when electrical power is available and issue a notification to a technician or other user if an amplitude and/or duration of the detected back emf exceeds a threshold.

A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic aim. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic aim resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

A method for controlling a surgical tool includes associating a joint of a patient with a representation of the joint, collecting data indicating at least one of a position and an orientation of a first bone and a second bone of the joint as the joint is moved through a range of motion, and creating a surgical plan based at least in part on the data collected. The method further includes establishing a virtual cutting boundary on the representation of the joint based on the surgical plan, superimposing a representation of the surgical tool on the representation of the joint, wherein the surgical tool is to be operated by a user to execute the surgical plan during a surgical procedure, and controlling the surgical tool to prevent the surgical tool from cutting a portion of the joint outside a boundary that corresponds to the virtual cutting boundary.

Teleoperation systems and methods for use during a surgical procedure. The teleoperation system comprises a surgical tool and a master input device for being moved by a user. A slave device is coupled to the surgical tool and responsive to movement of the master input device. The slave device is configured to be operated in a first mode or a second mode. In the first mode, the surgical tool is placed in a desired pose with respect to a target region in response to a manual force applied to the slave device. In the second mode, the surgical tool is manipulated during the surgical procedure in response to movement of the master input device by the user. A visual indicator is coupled to the surgical tool or the slave device to emit light in the second mode to provide visual information to the user in the second mode.

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

System and method for performing a surgical procedure using a drill guide and a robotic device operable in multiple modes. The drill guide is mechanically coupled to the robotic device. A pre-defined virtual trajectory constrains movement of the drill guide. In a first mode, a user is able to manually manipulate the drill guide while movement of the drill guide is constrained by the pre-defined virtual trajectory. In a second mode, the robotic device operates autonomously, for instance, to perform service on the robotic device.