A robotic surgical system for treating a patient comprises a first robotic arm configured to remotely control a surgical instrument that is positionable within a cavity of the patient; a second robotic arm configured to remotely control a device that is passable through an orifice of the patient; and a control circuit communicatively couplable to the first and second robotic arm. The first and second robotic are each attached to a surgical platform. The control circuit is configured to determine a position of the arms; cause each of the first and second robotic arm to change their respective position and orientation based on an adjustment of a platform position of the surgical platform; and control the first robotic arm and the second robotic arm to cooperatively interact to perform a surgical operation.

A method for analyzing a real dental situation of a patient. The method includes steps, as follows, in succession. At an updated instant, acquisition of an updated image representing a real dental scene as observed by an operator. Determination of a virtual dental scene as a function of the representation of the real dental scene on the updated image. Presentation of the virtual dental scene in transparent mode and overlaid on the real dental scene, or display of the updated image on a screen and presentation of the virtual dental scene overlaid with the representation of the real dental scene on the updated image displayed on the screen, in transparent mode or not on the representation.

A system and method for improved medical device navigation is disclosed. An example system can include a processor configured to determine an emplacement of a 2D medical image in a 3D virtual space, determine an emplacement of a virtual medical device in the 3D space, determine an intersection based on the emplacement of the 2D medical image and the emplacement of the virtual medical device, and/or determine a dynamic point-of-projection location for the virtual medical device based at least in part on the determined intersection. The processor can cause a display to display a rendering of the 2D medical image and a projection of the virtual medical device onto the 2D medical image from a perspective of the dynamic point-of-projection location. The display can be communicatively coupled to an imaging medical device. The viewing area can be parallel to a 2D region associated with the 2D medical image.

A knee gap tensioning apparatus includes: a tensioner-balancer, including: a baseplate; a top plate; and a linkage operable to move the top plate relative to the bottom plate between retracted and extended positions in response to application of an actuating force, the linkage including: a first toggle linkage, including: a lower link having a first end pivotally connected to the baseplate; an upper link having a first end pivotally connected to the top plate, wherein second ends of the first and second links are pivotally connected to each other; a second toggle linkage, including: a lower link having a first end pivotally connected to the baseplate; an upper link having a first end pivotally connected to the top plate, wherein second ends of the first and second links are pivotally connected to each other; and a connector linkage interconnecting the first and second toggle linkages.

A method of evaluating soft tissue of a human joint which includes two or more bones and ligaments, wherein the ligaments are under anatomical tension to connect the bones together, creating a load-bearing articulating joint, the method includes: inserting into the joint a tensioner-balancer that includes a means of controlling a distraction force; providing an electronic receiving device; moving the joint through at least a portion of its range of motion; while moving the joint, controlling the distraction force, and collecting displacement and distraction load data of the bones; processing the collected data to produce a digital geometric model of the joint, wherein the model includes: ligament displacement data along a range of flexion angles and ligament load data along a range of flexion angles; and storing the digital geometric model for further use.

A head-mounted visualization unit is proposed having an at least partially light-transmissive optical system, wherein the optical system has a first optical channel, which is assigned to a first eye of a user of the head-mounted visualization unit, and a second optical channel, which is assigned to a second eye of the user, wherein the first optical channel is substantially transmissive to optical radiation of a first polarization and substantially opaque to optical radiation of a second polarization, with the first polarization substantially being orthogonal to the second polarization, wherein the second optical channel is substantially transmissive to optical radiation of the second polarization and substantially opaque to optical radiation of the first polarization, wherein at least in the first optical channel a polarizer and a light attenuator are arranged, and wherein the light attenuator is arranged downstream of the polarizer in a direction toward the first eye of the user.

A facilitation system for facilitating remote presentation of a physical world includes a first object and an operating environment of the first object. The facilitation system includes a processing system configured to obtain an image frame depicting the physical world, identify a depiction of the first object in the image frame, and obtain a first spatial registration registering an object model with the first object in the physical world. The object model is of the first object. The processing system is further configured to obtain an updated object model corresponding to the object model updated with a current state of the first object, and generate a hybrid frame using the image frame, the first spatial registration, and the updated object model. The hybrid frame includes the image frame with the depiction of the first object replaced by a depiction of the updated object model.

A surgical system includes an XR headset and an XR headset controller. The XR headset is configured to be worn by a user during a surgical procedure and includes a see-through display screen configured to display an XR image for viewing by the user. The XR headset controller is configured to receive a plurality of two-dimensional (“2D”) image data associated with an anatomical structure of a patient. The XR headset controller is further configured to generate a first 2D image from the plurality of 2D image data based on a pose of the XR headset. The XR headset controller is further configured to generate a second 2D image from the plurality of 2D image data based on the pose of the XR headset. The XR headset controller is further configured to generate the XR image by displaying the first 2D image in a field of view of a first eye of the user and displaying the second 2D image in a field of view of a second eye of the user.

A rotary tool includes a tool body and a powered rotary cutting tooltip that is oriented and positioned relative to the tool body by a plurality of processor-controlled actuators that provide degrees of freedom. The processor uses a surgical tracking system to identify the pose of the tool body and the tooltip relative to a patient's anatomy and controls the actuators to maintain the tooltip within a predetermined cutting plan to compensate for deviation of a surgeon's hand or a robotic arm controlling the tool body during a cutting operation.

The present invention relates to a device for navigating a medical instrument relative to a patient anatomy, a method for navigating a medical instrument relative to a patient anatomy, and a program element which, when executed by a computer, executes this method. The device comprises a position determination unit, a computing unit and a navigation display. The position determination unit comprises a sensor module configured to acquire current 3D data of the patient anatomy. The position determination unit further comprises a position sensor which is configured to acquire current movement data of the medical instrument. The computing unit is configured to match the current 3D data of the patient anatomy and the current movement data of the medical instrument with preoperative image data of the patient anatomy and, on this basis, to calculate navigation information for the medical instrument. The navigation display is configured to show the calculated navigation information.