A surgical system includes a robotic arm, a constraint mechanism coupled to the robotic arm, and a computer system configured to control the robotic arm to constrain manual movement of the constraint mechanism to a plane. The computer system is also configured to control the robotic arm to lock the constraint mechanism in a desired pose when the constraint mechanism is moved to the desired pose via manual movement in the plane.

The present invention discloses a patella forming device and a using method thereof, the patella forming device comprising a connecting member, a base, a milling member and a central shaft pin, wherein the connecting member is disposed on the top of the base, and one end of the central shaft pin is disposed on the connecting member, The other end extends vertically downwardly and extends into the hollow structure of the base, the milling member is disposed on the surface of the base, and the base is rotatable around the central shaft to remove unwanted bone tissue through the milling member; The invention rapidly rotate on the surface of the patella which needs to be formed, and removes the skeletal hypertrophy bone and the bone tissue which is not matched with the femoral side prosthesis by cutting, honing, etc., forming a smooth and regular in a short time.

The invention generally pertains to a combination of a surgical with a computer-assisted surgery system. The surgical tool may be used as an input device, allowing information to pass from the user to the computer-assisted surgery system, and providing functionality similar to common user interface devices, such as a mouse or any other input device. When used as an input device, it may be used for defining anatomical reference geometry, manipulating the position and/or orientation of virtual implants, manipulating the position and/or orientation of surgical approach trajectories, manipulating the positions and/or orientation of bone resections, and the selection or placement of any other anatomical or surgical feature.

Various embodiments of devices, systems, and methods for surgical procedures, including spring-fit guides for improved guidance of surgical instruments, are disclosed.

Disclosed herein are systems and methods of patella preparation. A method of patella preparation includes creating a patellar coordinate system utilizing key honey landmarks of a patella on a virtual model of an unresected patella. The method can further include defining a resection plane at a predetermined implant thickness and aligning the resection plane with the patellar coordinate system. Implant selection can be finalized on the resection plane to meet predetermined tolerances. A navigated patella clamp with a tracker and stylus can then be used to intraoperatively resect the patella and locate the implant.

A plastic patellar prosthesis having a plurality of orienting pins, each pin having one or more projections that define a maximum diameter greater than the diameter of the patellar hole into which the orienting pin is inserted. The diametrical interference causes the projections to deform and thereby mechanically secure the patellar prosthesis to the resurfaced patella as the cement cures without the need for a patellar clamp to hold the prosthesis in place.

A method of attaching prosthetic implants to bone, applicable to tibia, patella, acetabulum, glenoid, or femur, includes trimming an articular surface of the bone, leaving a trimmed surface. Holes are punched or drilled into the surface in a predetermined array before polymethyl methacrylate bone cement is used to attach the surface to the implant. In an embodiment, the holes are punched by placing a punch-plate with sharpened punch spikes on the surface, and striking the punch plate to drive punches into the trimmed surface. In another embodiment, holes are drilled using a drilling template with predrilled guidance holes placed on the surface of the bone. In another embodiment, holes are drilled by positioning a robotic drill over the trimmed surface; adjusting a drilling pattern of the robotic drill according to the trimmed surface; and using the robotic drill to drill holes of predetermined depth according to the drilling pattern.

An accessory is provided for use in the conduct of patella reconstruction surgery. The accessory comprises an elongate datum limb for abutment in use with the superior pole of a patella preferably through the skin. An elongate guide limb for abutment by a side edge of a patella extends transversely relative to the datum limb has guide holes passing through it or an insert carried by it at positions selected to direct a drill or other surgical tool at an edge of the patella to enable holes or tunnels to be formed in the patella at required positions for the attachment or reception of reconstructive ligaments to the patella. Attachment limbs enable the accessory to be secured in an operative position relative to a patella. There may be slots formed by anchor bars integral with the guide limb and attachment limb to strap the accessory to a patient's knee.

A patella drill guide includes a head having a convexly curved outer surface. Cylindrical channels extend through the head. The drill guide also includes collar having an inner surface that defines a concavity corresponding in shape to the convexly curved outer surface. The inner surface of the collar is fitted to the outer surface of the head to define an articular joint.

Disclosed herein are a surgical system for patella tracking and a method for selecting a properly-sized patellar implant utilizing the same. The surgical system may include first and second trackers and a patellar tracking system. The first tracker may be configured to contact an unresected or a resected patella, and the second tracker may be configured to contact a bone. The patellar tracking system may be configured to track the first and second trackers during patellar flexion and extension to generate patellar range of motion and patellar trial range of motion. A method for selecting a patellar implant may utilize the first and second trackers and the patellar tracking system.