Methods and systems for preparing a bone for a cementless joint implant are described. A first bone removal operation is performed using a burring device that has a first plurality of settings. The settings for the burring device are adjusted to a second plurality of settings, and a second bone removal operation is performed using the burring device. The adjustment to the settings may allow a surgeon to perform bulk bone removal in the first instance and fine bone removal in the second instance. The process of adjusting and performing subsequent bone removal operations may be performed any number of times during the bone preparation process. The adjustments to the settings may be received automatically from a computer-assisted surgical system, manually entered by a medical professional, or a combination of the two.

Systems and methods for performing an osteotomy with robotic assistance are disclosed. The disclosed systems and methods includes receiving a three-dimensional model of a patient bone, receiving a surgical plan, determining, based on the three-dimensional model and the surgical plan, one or more corrective cuts to be made to the patient bone, and performing, using a tracked end effector interfaced to a robotic arm, the one or more corrective cuts. A surgeon may utilize software, tracking, robotics, and the like to plan and execute bone resection in complex and/or intricate shapes not previously possible.

A surgical system is provided for robotically resecting tissue. The system includes a surgical robot with an end-effector configured to remove tissue along a path up to a planned boundary. A computing system interfaces with the surgical robot and includes one or more processors, non-transient storage memory, and software executable instructions. The computing system records deviations between the end-effector and the planned boundary while the end-effector removes tissue along the path during a first pass. The system then determines if the end-effector should perform a subsequent pass along at least a portion of the path based on the recorded deviations. A method for robotically resecting tissue along a path up to a planned boundary is also provided that determined on the recorded deviations, if the end-effector should perform a subsequent pass along at least a portion of the path.

A surgical system is provided for robotically resecting tissue. The system includes a surgical robot with an end-effector configured to remove tissue along a path up to a planned boundary. A computing system interfaces with the surgical robot and includes one or more processors, non-transient storage memory, and software executable instructions. The computing system records deviations between the end-effector and the planned boundary while the end-effector removes tissue along the path during a first pass. The system then determines if the end-effector should perform a subsequent pass along at least a portion of the path based on the recorded deviations. A method for robotically resecting tissue along a path up to a planned boundary is also provided that determined on the recorded deviations, if the end-effector should perform a subsequent pass along at least a portion of the path.

A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.

Navigational and/or robotic tracking systems include one or more wireless tracking device attached to an object or to a bone of a patient. The wireless tracking device may include a camera, a pair of cameras, and/or a probe, and a wireless transmitter. Surgical methods may include wirelessly obtaining reference data, the reference data based on the camera of the wireless tracking device operably attached to the bone of the patient, the reference data is associated with a plurality of markers and using the reference data in a surgical navigation system. Surgical methods may also include wirelessly obtaining positional and orientation data, and/or surface or structural data, and using the positional and orientation data, and/or surface or structural data in the surgical navigation system.

Systems and methods for adjusting bone cut positioning are disclosed that can aid in optimizing implant size selection and positioning relative to bone during, e.g., orthopedic surgical procedures such as knee arthroplasty, hip arthroplasty, etc. In one embodiment, such a surgical method can include performing a first bone cut of a first bone using an at least partially robot-assisted surgical instrument, detecting one or more parameters related to bone hardness, selecting a bone hardness index based on the one or more detected parameters, and adjusting a position of a second bone cut of the first bone based on the selected bone hardness index to optimize implant fit relative to bone. Detecting the one or more parameters related to bone hardness can be performed in a number of manners, including by monitoring energy required to perform the first bone cut.

Systems and methods are disclosed for harvesting tissue from a donor site. Exemplary embodiments include a first and second conduit through which a flexible saw component is guided. Certain embodiments include a mechanism which facilitates insertion of the flexible cutting member component parallel to the transverse plane and slicing the graft parallel to the coronal plane to extract the graft.

Systems and methods are disclosed for harvesting tissue from a donor site. Exemplary embodiments include a first and second conduit through which a flexible saw component is guided. Certain embodiments include a mechanism which facilitates insertion of the flexible cutting member component parallel to the transverse plane and slicing the graft parallel to the coronal plane to extract the graft.

Robotic systems and methods employ a virtual simulation wherein a tool is represented as a virtual volume adapted to interact relative to a virtual boundary defined by a mesh of polygonal elements. A reactive force is computed in response to penetration of one of the polygonal elements by the virtual volume in the virtual simulation. The reactive force is computed as a function of a volume of a penetrating portion of the virtual volume that is penetrating a plane of the polygonal element. The reactive force is applied to the virtual volume in the virtual simulation for reducing penetration of the polygonal element by the virtual volume.