The present disclosure provides a system for enabling autonomous or semi-autonomous surgical operations. The system comprises: one or more processors that are individually or collectively configured to: process an image data stream comprising one or more images of a surgical site; fit a parametric model to a tissue surface identified in the one or more images; determine a direction for aligning a tool based in part on the parametric model; determine an optimal path for automatically moving the tool to perform a surgical procedure at the surgical site; and generate one or more control signals for controlling i) a movement of the tool based on the optimal path and ii) a tension force applied to the tissue by the tool during the surgical procedure.

A number of improvements are provided relating to computer aided surgery. The improvement relates to both the methods used during computer aided surgery and the devices used during such procedures. Some of the improvement relate to controlling the selection of which data to display during a procedure and/or how the data is displayed to aid the surgeon. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled automatically to improve the efficiency of the procedure. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure.

A number of improvements are provided relating to computer aided surgery. The improvement relates to both the methods used during computer aided surgery and the devices used during such procedures. Some of the improvement relate to controlling the selection of which data to display during a procedure and/or how the data is displayed to aid the surgeon. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled automatically to improve the efficiency of the procedure. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure.

A needle electrode deployment shaft includes a central member and a plurality of needle electrodes. The central member has a plurality of needle advancement channels formed therein. The needle electrodes are disposed within the advancement channels and each advancement channel terminates in a ramp portion which deflects the needles radially outwardly as they are axially advanced. The ramps may be spirally or acutely configured in order to increase the distance through which the needles may be bent as they are axially advanced. Additionally, the central member may have a radially reduced distal tip in order to decrease tissue insertion forces.

A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

A robotic surgery method for cutting a bone of a patient includes characterizing the geometry and positioning of the bone and manually moving a handheld manipulator, the handheld manipulator operatively coupled to a bone cutting tool having an end effector portion, to cut a portion of the bone with the end effector portion. The handheld manipulator further comprises a manipulator housing and an actuator assembly movably coupled between the manipulator housing and the bone cutting tool. The method further includes causing the actuator assembly to automatically move relative to the manipulator housing to maintain the end effector portion of the tool within a desired bone cutting envelope in response to movement of the manipulator housing relative to the bone.

Systems and methods are disclosed wherein a tracker is detected within a field-of-view of a localizer. In one example, a virtual line-of-sight boundary is generated based on the line-of-sight relationship between the tracker and localizer. Additionally or alternatively, a virtual field-of-view boundary is generated based on the field-of-view of the localizer. A virtual object is associated with a manipulator, a surgical tool coupled to the manipulator, or the tracker when coupled to manipulator and/or surgical tool. Controller(s) predictively determine whether a planned movement of the manipulator will cause a virtual collision between the virtual object and the virtual line-of-sight boundary and/or virtual field-of-view boundary. The controller(s) enable a response based on an outcome of predictively determining whether the planned movement will cause the virtual collision.

Systems and methods are disclosed wherein a tracker is detected within a field-of-view of a localizer. In one example, a virtual line-of-sight boundary is generated based on the line-of-sight relationship between the tracker and localizer. Additionally or alternatively, a virtual field-of-view boundary is generated based on the field-of-view of the localizer. A virtual object is associated with a manipulator, a surgical tool coupled to the manipulator, or the tracker when coupled to manipulator and/or surgical tool. Controller(s) predictively determine whether a planned movement of the manipulator will cause a virtual collision between the virtual object and the virtual line-of-sight boundary and/or virtual field-of-view boundary. The controller(s) enable a response based on an outcome of predictively determining whether the planned movement will cause the virtual collision.

A system for aiding surgery on a patient is described including a display device and a storage device that stores an image of at least a portion of the anatomy of the patient, including one or more surgical navigation markers positioned on the patient, for display on the display device. An analyser is adapted to receive positional data of a probe based on positioning of the probe relative to the one or more markers on the patient. Based on the positional data, the analyser outputs correctional data to adjust an alignment of the image on the display device to match locations of said one or more markers.

A system for aiding surgery on a patient is described including a display device and a storage device that stores an image of at least a portion of the anatomy of the patient, including one or more surgical navigation markers positioned on the patient, for display on the display device. An analyser is adapted to receive positional data of a probe based on positioning of the probe relative to the one or more markers on the patient. Based on the positional data, the analyser outputs correctional data to adjust an alignment of the image on the display device to match locations of said one or more markers.