A spinal surgery retractor and method of use. The retractor includes a slotted keyway for integrating a keyed spinal distractor. The retractor and distractor combination slide together to displace a portion of the intervertebral disk space to restore or maintain intervertebral spacing and facilitate retraction of surrounding soft tissues while disk space surgery is performed. The distractor head and mating portion of the retractors have matching profiles that enable the retractor to maintain distraction of the vertebra after removal of the distractor portion of the tool, permitting access to increase at the operating site.

A spinal surgery retractor and method of use. The retractor includes a slotted keyway for integrating a keyed spinal distractor. The retractor and distractor combination slide together to displace a portion of the intervertebral disk space to restore or maintain intervertebral spacing and facilitate retraction of surrounding soft tissues while disk space surgery is performed. The distractor head and mating portion of the retractors have matching profiles that enable the retractor to maintain distraction of the vertebra after removal of the distractor portion of the tool, permitting access to increase at the operating site.

Gas-tight seal assemblies for us during minimally invasive surgery include various aspects. A wiper seal includes a sealing portion and a surrounding flex portion. Upper and lower faces of the sealing portions are angled with reference to an inserted instrument, the upper face's angle being more acute with reference to the instrument's shaft than the lower face's angle. The flex portion is corrugated, support ribs are in one or more corrugation grooves, and the support ribs allow the groove to easily collapse but resist the groove widening. The support ribs also prevent the sealing portion from inverting. An instrument insertion guide is positioned over the sealing portion and moves laterally with the sealing portion. A latch piece removably secures the seal assembly to a cannula. An anti-inversion piece prevents the wiper seal from inverting when an instrument is withdrawn. An assembly may include various combinations of the seal assembly, a cannula, a surgical instrument, an obturator, an endoscope, and a teleoperated medical device. The seal assembly may rotate within a cannula. The seal assembly may be used during manual or teleoperated surgery.

A multi-stage dilator and cannula assembly for use in surgical procedures, including minimally invasive surgical procedures, to provide tissue dilation and opening of a portal to enable the surgeon to access and provide treatment to anatomical feature of interest.

An orthopedic system to monitor a parameter related to the muscular-skeletal system is disclosed. The orthopedic system includes electronic circuitry, at least one sensor, and a computer to receive measurement data in real-time. The orthopedic system comprises a first plurality of shims of a first type, a second plurality of a second type, a measurement module, and the computer. The measurement module houses the electronic circuitry and at least one sensor. The measurement module is adapted to be used with the first plurality of shims and the second plurality of shims. The measurement module has a medial surface that differs from a lateral surface by shape, size, or contour.

A retractor apparatus for a surgical robotic system includes a frame defining a central open region, a connecting member that connects the frame to a robotic arm, a plurality of coupling mechanisms for attaching a set of retractor blades within the central open region of the frame such that blades define a working channel interior of the blades, and a plurality of actuators extending between the frame and each of the coupling mechanisms and configured to move the blades with respect to the frame to vary a dimension of the working channel. Further embodiments include a surgical robotic system that includes a robotic arm and a retractor apparatus attached to the robotic arm, and methods for performing a robot-assisted surgical procedure using a retractor apparatus attached to a robotic arm.

A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

Systems are provided that allow improved instrumentation and access during a surgical procedure including for instance a lateral approach minimally invasive spinal fusion.

In an example, a surgical retractor includes an elongated shaft extending from a first end to a second end, and a retractor blade extending from the second end of the elongated shaft. The elongated shaft defines an internal chamber. The elongated shaft includes a handle portion at the first end of the elongated shaft, a suction conduit in a first lateral portion of the internal chamber, and a light conduit in a second lateral portion of the internal chamber. The suction conduit extends from a suction port at the first end to a suction aperture at the second end. The light conduit extends from a light-input port at the first end to a light aperture at the second end. The suction conduit and the light conduit are substantially coplanar. The surgical retractor also includes an optical waveguide in the light conduit of the elongated shaft.

In an example, a surgical retractor includes an elongated shaft extending from a first end to a second end, and a retractor blade extending from the second end of the elongated shaft. The elongated shaft defines an internal chamber. The elongated shaft includes a handle portion at the first end of the elongated shaft, a suction conduit in a first lateral portion of the internal chamber, and a light conduit in a second lateral portion of the internal chamber. The suction conduit extends from a suction port at the first end to a suction aperture at the second end. The light conduit extends from a light-input port at the first end to a light aperture at the second end. The suction conduit and the light conduit are substantially coplanar. The surgical retractor also includes an optical waveguide in the light conduit of the elongated shaft.