A method for controlling a user interface of a modular energy system. The modular energy system comprises a header module and a display screen on which the user interface is displayed. The modular energy system can detect attachment of a first module thereto, control the user interface to display one or more first user interface elements corresponding to the first module, detect attachment of a second module to the modular energy system, control the user interface to resize the one or more first user interface elements to accommodate display of one or more second user interface elements corresponding to the second module, and control the user interface to display the one or more second user interface elements. The various UI elements can correspond to the particular module type that is being connected to the modular energy system.

An eye tracking system may comprise an image display configured to display an image of a surgical field to a user. The eye tracking system may also comprise a right eye tracker configured to measure data about a first gaze point of a right eye of the user. The right eye tracker may include a right stereo imaging device. The eye tracking system may also comprise a left eye tracker configured to measure data about a second gaze point of a left eye of the user. The left eye tracker may include a left stereo imaging device. The eye tracking system may also comprise at least one processor configured to process the data about the first gaze point and the second gaze point to determine a viewing location in the displayed image at which a three-dimensional gaze point of the user is directed.

A method comprising capturing a pose of a surgical tool at a surgical site of a patient. The method includes determining a range of movement of the surgical tool at the surgical site, in response to the captured pose. The method includes displaying a representation of the determined range of movement onto an image associated with the surgical site. The method includes providing one or more instructions to limit a movement of a robotic device according to the determined range of movement.

A method to guide in preparation of a bone relies on an instrument having a shaft with a working end and a stop member. The shaft is free to translate along an axis. Surgical planning data is registered to the bone to determine intra-operative coordinates of the desired axis and depth. The instrument holder is positioned by the bone so the stop member contacts the instrument holder to prevent translating beyond the desired depth. Alternatively, an arm is manipulated to align the instrument with the desired axis. The working end rests on the bone to define a linear separation to the desired depth. By proximally translating the instrument holder to contact the stop member and distally translating the instrument holder along the shaft, the stop member physically stops translating beyond the desired depth. A surgical system for performing the methods is provided; a reamer or impactor are also disclosed.

A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool. The hand controller apparatus includes a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever includes a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region is outwardly curved.

A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element.

A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element.

Various cartridge assemblies for surgical instruments are provided. Cartridge assemblies can include active sensors for applying stimuli to a tissue clamped by an end effector of the surgical instrument and a circuit configured to determine a tissue type of the tissue according to a change in the tissue parameter detected by the sensor resulting from a stimulus from the active element. Cartridge assemblies can also include physical features and/or stored data that identify the cartridge. Surgical instruments further can be configured to resolve conflicts when the physical features and/or stored data are not consistent with each other in their identification of the cartridge type.

A method comprising capturing a pose of a surgical tool at a surgical site of a patient. The method includes determining a range of movement of the surgical tool at the surgical site, in response to the captured pose. The method includes displaying a representation of the determined range of movement onto an image associated with the surgical site. The method includes providing one or more instructions to limit a movement of a robotic device according to the determined range of movement.

A system and method are described herein for creating planar bone cuts on a bone to receive a total knee arthroplasty (TKA) femoral implant. The system includes a robotic surgical device, a computing system, and one or more contingent manual instruments. A surgical plan is generated having instructions for the robotic surgical device to create six or more planar bone cuts on the bone. The robotic surgical device executes the instructions, and in the event the robotic procedure is aborted before completing the six or more planar cuts, the one or more contingent manual instruments are used to create any remaining planar bone cuts. The one or more contingent manual instruments may include a plurality of uniquely arranged guide slots to assist a user in creating one or more remaining planar bone cuts.