Systems and methods related to use of a measurement system in conjunction with a powered instrument for determination of the placement of a tool portion relative to the anatomy of a patient utilizing the powered instrument. The measurement system may include a displacement sensor that indicates the relative displacement of the tool portion relative to the anatomy. The system may also include a sensor for monitoring a tool drive signal representative of a tool drive parameter that is characteristic of the tool portion acting on the anatomy. The tool drive signal may be analyzed relative to a given amount of axial displacement as measured by the displacement sensor to avoid false indications of placement based on noise and or other artifacts in the tool drive signal that may result from characteristics of the anatomy and/or operational behaviors of the surgeon utilizing the instrument.

A method includes grasping a user input device in communication with a surgical tool of a robotic surgical system, the surgical tool including an end effector with opposing jaws, squeezing the user input device and thereby actuating a motor that closes the jaws and clamps down on tissue at a surgical site, and calculating with a computer system in communication with the surgical tool work completed by the motor to close the jaws and clamp down on the tissue. The computer system generates one or more effort indicators when the work completed by the motor meets or exceeds one or more predetermined work increments corresponding to operation of the motor, and communicates the one or more effort indicators to an operator.

Systems, methods and apparatus register a bone for milling during a procedure. A surgeon mills the bone without first performing an explicit registration of a tool relative to the bone. Tool location measurements in combination with a 3-dimensional (3D) model of the patient's bone, such as a segmented CT scan, are used to automatically construct a registration. The 3D model identifies a border where cancellous bone within the bone ends and the cortical bone begins at an inner cortical bone surface. Responsive to movement of the tool within the bone along an initial trajectory, and, using a localizing system to identify the location of tool when in contact with the inner cortical bone surface, a shape/map of the cortical bone is generated and fit to the 3D model automatically to obtain a registration. An updated trajectory may be output such as from 3D implant plan information to guide further milling.

A surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue-penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators.

Described within are systems, methods and apparatus for a bone mounted robotic-assisted orthopedic surgery system for precise implant position, soft tissue balancing and guidance of tools during a surgical procedure, particularly partial or total knee replacement procedure. The system features a bone mounted robotic arm with end-effector for precise positioning of surgical tool, positioning of implants and balancing of soft tissues. The reconfigurable robotic system requires minimal training by surgeons, is intuitive to use similar to conventional instrumented surgery and has a small footprint. The system works with existing, conventional instruments, patient specific instruments, sensor-assisted systems and computer-assisted systems and does not require increased surgical time and safely provides the enhanced precision achievable by robotic-assisted systems and computer-assisted technologies.

There is described a system for tracking at least one tool relative to a bone in computer-assisted surgery. The system generally has a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: continuously emitting an electromagnetic field in a surgical volume incorporating at least one electromagnetic sensor on a bone and/or tool; continuously receiving a signal indicative of a position and/or orientation of the electromagnetic sensor relative to the emitting of electromagnetic field; processing the signal to determine the position and/or orientation of the at least one electromagnetic sensor; obtaining geometrical data relating the at least one electromagnetic sensor to the bone and/or tool; and continuously tracking and outputting a first position and/or orientation of the bone and/or tool using the geometrical data and the position and/or orientation of the at least one electromagnetic sensor.

A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.

A surgical robot, a control method, a system and a readable storage medium are disclosed. The surgical robot includes a manipulation terminal. The control method of the surgical robot includes: defining a safe zone and a warning boundary outside the safe zone, based on edge information of the surgical object; and based on a distance function between a current position of the manipulation terminal and the warning boundary, as well as on first feedback information from the manipulation terminal and second feedback information produced from an external environmental force, compensating drive information applied by the surgical robot to the manipulation terminal so that, when the manipulation terminal moves out of the safe zone, an impact of the external environmental force on driving of the manipulation terminal is reduced, eliminated or restricted.

A surgical system is disclosed including an end effector and a drive system configured to effect at least one function of the end effector. The end effector includes a first jaw, a second jaw rotatable relative to said first jaw between an open configuration and a closed configuration, and a staple cartridge comprising staples removably stored therein. The drive system includes a motor and an impact mechanism including a rotary input drivable by the motor and a rotary output drivable by the rotary input. Rotation of the rotary output is configured to effect the at least one function of the end effector. The impact mechanism is configurable between a coupled state, wherein rotation of the rotary input causes corresponding rotation of the rotary output, and a slipped state, wherein the rotary input rotates relative to the rotary output.