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.

A method for correcting an error of a nonvolatile memory of an embedded component for an end effector used in a robotic surgical system is provided. The robotic surgical system includes a host controller in communication with the embedded component. The embedded component of the end effector performs a test process to test the nonvolatile memory. The host controller of the robotic surgical system requests a result of the test process from the embedded component of the end effector. The host controller determines that the error of the nonvolatile memory has occurred after requesting the result of the test process from the embedded component of the end effector. The host controller modifies the nonvolatile memory of the embedded component of the end effector to correct the error.

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.

Robotic system and methods for preparing a bone of a joint to receive an implant. Virtual object(s) are used to define a volume of material to be removed from the bone for receipt of the implant. A robotic manipulator controls a cutting tool based on the virtual object(s) to form a first cavity and a second cavity in the bone. The second cavity is formed beneath the first cavity and is rotated relative to the first cavity to define an undercut in the bone. The first and second cavities receive a body and a locking member of the implant in an unlocked position. The locking member is rotated within the second cavity to a locked position whereby the undercut engages the locking member to limit withdrawal of the implant from the bone.

A surgical system and method of operating the same include a manipulator with a base, a robotic arm coupled to the base, and a saw tool coupled to the robotic arm to perform a cut of a bone. A control system is coupled the manipulator and obtains data defining a cutting plane for the bone and a pre-determined depth of the bone to be cut by the saw tool along the cutting plane. The control system associates a virtual planar boundary with the bone along the cutting plane and controls the manipulator to autonomously align the saw tool to the cutting plane. The control system controls the manipulator to activate and autonomously move the saw tool along the cutting plane to perform the cut. Autonomous movement of the saw tool is constrained to remain within the virtual planar boundary and not exceed the pre-determined depth.

According to an aspect, a preoperative planning method for a high-tibial knee osteotomy procedure is provided. The method includes: a) constructing a 3D model of a patient's bones; b) analyzing the 3D model to select a desired correction angle to apply to the patient's tibia bone to adjust a mechanical axis thereof; c) determining surgical steps required to apply the desired correction angle to the patient's tibia bone; d) designing a patient-specific guide to guide generic surgical tools in performing the surgical steps, the patient-specific guide being designed to conform to the anatomy of the patient's bones based on the 3D model; and e) manufacturing the patient-specific guide designed in step d). A corresponding kit, system and computer readable medium for performing the method are also provided.

Methods and systems of augmenting an implant intraoperatively and preparing a cone for revision surgical procedure are disclosed. A system includes a cutting device, a tracking and navigation system and a cutting system in operable communication with the cutting device and the tracking and navigation system. The cutting device includes a communication system, a cutting element, and a plurality of optical trackers. The tracking and navigation system is configured to detect a location of optical trackers. The control system is configured to cause the tracking and navigation system to detect the location of the cutting device, determine a revised shape for an implant cavity, cause the cutting device to cut the implant cavity to the revised shape, select a shape for a cone to be placed in the revised implant cavity, and machine the cone to the selected shape.

Surgical systems and methods involve a surgical cutting that includes a housing, a saw blade configured to attach to the housing, and a motor located in the housing to operate the saw blade for cutting a bone. A blade guide is coupled to the housing and includes at least one wall configured to slidably contact the saw blade to prevent flexion of the saw blade. The blade guide includes a biasing device configured to passively bias the blade guide towards an extended position. In response to contact between the blade guide and the bone, the blade guide is configured to passively retract away from the extended position and against the bias of the biasing device.