A method comprises obtaining rotational data and translational data for a joint. The rotational and translational data is indicative of rotational and translational movement of the joint during rotational and translational joint testing, respectively. The rotational and translational joint testing is implemented by a robotic testing apparatus. Respective zero torque points are determined for the rotational and translational movement based on the rotational data and the translational data. The respective zero torque points are combined for the rotational and translational movement to determine an equilibrium position for the joint. A biomechanical characteristic of the joint is ascertained based on an analysis of the equilibrium position.

An end effector system for use in spinal surgery may be described herein. The end effector comprises a sterile section and a non-sterile section. The sterile section comprises an instrument holder that has pins for piercing a plastic sleeve. The instrument holder holds an instrument for performing spinal surgery. The non-sterile section comprises an end effector. The end effector comprises a motor and a transducer. The motor applies a torsional and axial force to the instrument. The transducer provides feedback to the end effector system to adjust a force applied to the instrument.

Various torque-limiting screwdriver devices, systems, and methods are disclosed. The screwdriver can include a body, a motor that is configured to rotate a screw engaged with the screwdriver, and a processor configured to control operation of the screwdriver. The screwdriver can have torque-limiting functionality, such as by monitoring the amount of torque applied to the screw and reducing or stopping rotation of the screw when certain torque-limiting criteria are met. In some embodiments, the screwdriver can be switched between manual operation by a user, and automated operation by a motor within the screwdriver. In some embodiments, the screwdriver can be attached to a robotic arm.

A surgical robot comprising a surgical robot arm and a surgical robot arm controller. The surgical robot arm comprises a set of joints and a joint controller. The joint controller is configured to drive a joint of the set of joints. The surgical robot arm controller comprises a processor and watchdog circuitry. The processor is configured to send joint driving signals to the joint controller on a communication link. The watchdog circuitry is configured to: receive sequence values from the processor; determine whether each received sequence value matches a next expected value of a predetermined sequence; and if the received sequence value does not match the next expected value of the predetermined sequence, disable the communication link between the processor and the joint controller.

A surgical robotic arm includes an instrument having a coupler rotatable about a longitudinal axis, the coupler including: a drive screw; a drive nut threadably coupled to the drive screw, the drive nut movable along the longitudinal axis in response to rotation of the drive screw; and a drive member coupled to the drive nut and movable in response to movement of the drive nut. The surgical robotic arm also includes an instrument drive unit having: a motor configured to engage the coupler and rotate about the longitudinal axis to rotate the coupler and the drive screw; one or more sensors configured to measure one or more properties of the motor; and a controller coupled to the sensor(s) and the motor. The controller is configured to control the motor based on the property of the motor.

A cervical spine movement measuring device (100) having a main frame (102) having a plurality of arms (104) for maintaining the head of a person in position and a torsion system adjustably attached to the main frame (102) for positioning the torsion system, with an input shaft (110), relative to the main frame (102) The measuring device (100) can have a main frame (102) with a plurality of arms (104). Each of the plurality of arms (104) can have at least one pad (106). The at least one pad (106) is configured to hold a head of a patient. The input shaft (110) can connect to an isokinetic dynamometer (101) via an interphase connector (108). An isokinetic dynamometer (101) can be configured to measure range of motion and torque of the wearer during an assessment. The device (100) can have an input shaft (110) that is positionable about a plurality of pivot points. The input shaft (110) can be adjustably secured to the main frame. The measuring device (100) allows for assessment and evaluation of cervical spine flexion, extension, right lateral flexion, left lateral flexion, right rotation, and left rotation.

A tool path generator utilizes a solid body model of a volume to generate a tool path for a manipulator to remove material of the volume with an energy applicator in a semi-autonomous mode. A material logger monitors movement of the energy applicator according to a cutting path taken by a practitioner in the manual mode, identifies material of the volume to which the energy applicator has been applied in the manual mode, and updates the solid body model based on the identified material. The tool path generator modifies the tool path based on the updated solid body model such that, for the semi-autonomous mode, the modified tool path accounts for the identified material of the volume to which the energy applicator has been applied in the manual mode.

A control system for a movement reconstruction and/or restoration system for a patient, comprising a CNS-Stimulation Module, especially an EES-Module, configured and arranged to provide CNS-Stimulation to a patient, and/or a PNS-Stimulation Module, especially an FES-Module, configured and arranged to provide PNS-Stimulation to a patient, a controller configured and arranged to control the CNS-Stimulation Module and/or the PNS-Stimulation Module, and at least one sensor configured and arranged to measure at least one parameter indicative of the movement of at least one limb and/or part of a limb of a patient.

An approach is provided for image guided procedures. The approach includes acquiring image data of at least one object of a subject, in which the acquired image data is registered to one or more coordinate systems. The approach includes receiving the acquired image data. The approach includes displaying, on one or more smartglasses, one or more superimposed images over a portion of the subject. The one or more superimposed images may be related to the acquired image data. The approach includes aligning the one or more superimposed images to correspond with a position of the at least one object.

A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more torque sensors, each torque sensor configured to sense a torque at a joint of the series of joints, the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more torque sensors indicative of a sensed torque state of the surgical robot arm resulting from the externally applied force or torque; mapping the sensed torque state to a selected torque state of a set of candidate torque states; and sending a command signal to the surgical robot arm to drive the robot arm such that the configuration of the robot arm is altered so as to comply with the selected torque state.