A method includes providing a standard control boundary defining a portion of a bone to be resected, registering a position of a soft tissue at the bone, obtaining a customized control boundary by moving a vertex of the standard control boundary based on the position of the soft tissue, and controlling a robotic device to constrain operation of a cutting tool to an area defined by the customized control boundary.

A blade mounting assembly for coupling a saw blade to a surgical saw. The blade mounting assembly including a blade clamp guard and a blade clamp moveably coupled to a drive hub of the surgical saw. The blade clamp guard defining a recess and a blade clamp at least partially disposed within the recess. The blade clamp further comprising a safety indicator. The blade clamp may be configured to move relative to the blade camp guard, the blade clamp moving between a first position where the safety indicator is exposed and a second position where the safety indicator is concealed by the blade clamp guard. The blade mounting assembly may also comprise a biasing mechanism disposed between the blade clamp guard and the blade clamp. The biasing mechanism configured to urge the blade clamp guard away from the blade clamp.

A medical device includes a shaft, a beam, a hard stop structure, and a link. A proximal end portion of the beam is coupled to the distal end portion of the shaft and a distal end portion of the beam is coupled to the link. A strain sensor is on the beam. A hard stop structure includes a proximal end portion, a distal end portion, and first opposing stop surfaces. The proximal end portion of the hard stop structure is coupled to a distal end portion of the shaft, and the distal end portion of the hard stop structure is coupled to the link. The first opposing stop surfaces are positioned to limit a lateral range of motion of the distal end of the beam with reference to the proximal end of the beam in a first direction by the first stop surfaces contacting one another.

Systems and methods for robotically distracting a disc space are provided for implantation of an intervertebral prosthetic disc. The system includes a 3D modeling system for creating a 3D model of first and second vertebra adjacent the disc space and identifying positions of the first and second vertebrae. A robotic distractor precisely opens the disc space just large enough to receive a selected intervertebral disc. A computing system stores and processes the 3D model and the positions of the first and second vertebrae before and after distraction. A surgeon interface on the computing system allows the surgeon to select an intervertebral disc prosthesis to be implanted and a desired distraction distance or force to be achieved.

A retraction system and method are provided for retracting tissues surrounding a surgical site. In one aspect, a method including engaging slide connections between a guide dilator and a plurality of tissue engaging members and sequentially enlarging an incision using the guide dilator and the plurality of tissue engaging members. In another aspect, a method of inserting a plurality of tissue engaging members into an incision including fixing tip portions of the plurality of tissue engaging members in an insertion configuration, advancing the tip portions into an incision, and restricting movement of the tip portions away from the insertion configuration. A guide dilator system comprising an elongate body, a plurality of tissue engaging members, and slide connections between the elongate body and the tissue engaging members is also provided.

A surgical instrument includes a body having a proximal end and a distal end and defining a lumen extending from the proximal end to the distal end along an axis, the distal end configured to abut an implant, and an anchor rod disposable within the lumen of the body for contacting the implant to secure the implant at the distal end of the body. When the anchor rod is disposed within the lumen of the body in a working configuration, the anchor rod is connected to the body at the proximal end of the body and at the distal end of the body to substantially fix the anchor rod from moving along the axis of the lumen. The body includes a handle, a shaft extending distally from the handle, and a torque limiting mechanism.

A surgical apparatus comprises a body, an ultrasonic transducer, a shaft, and an end effector. The ultrasonic transducer is operable to convert electrical power into ultrasonic vibrations. The body comprises a pivotal trigger. The shaft couples the end effector and the body together. The end effector comprises a clamp arm and an ultrasonic blade in acoustic communication with the ultrasonic transducer. The ultrasonic blade is operable to deliver ultrasonic vibrations to tissue. Pivotal movement of the trigger causes movement of the clamp arm. The trigger includes a compliant feature configured to limit the amount of force delivered to tissue by the clamp arm. The flexible feature may comprise a flexible band, living hinge, a series of living hinges, or a flexible tab.

A method of operating a surgical tool includes sending a command signal from a computer system to a motor to drive rotation of a drive shaft mounted within a drive housing of the surgical tool, monitoring one or more operational parameters of the motor with one or more monitoring devices in communication with the computer system, and measuring an unexpected change in the operational parameters of the motor with the monitoring devices. The unexpected change includes a measured operational parameter that is inconsistent with the command signal. The unexpected change is reported to the computer system as a bailout signal, and the surgical tool is disabled once the bailout signal is received at the computer system.

An interface joint for interconnecting an electrosurgical generator and an electrosurgical instrument, the interface joint comprising: a housing having: an inlet for receiving electromagnetic energy from the electrosurgical generator, and an outlet; a slidable trigger on the housing, the slidable trigger being attached to a push rod that extends out of the housing through the outlet; and a single cable assembly for connecting the outlet to the electrosurgical instrument, the single cable assembly comprising a flexible sleeve that conveys the push rod and a coaxial cable that is connected to the inlet. The interface joint may include a reinforcement element coupled to a first portion of the push rod so as to reinforce the first portion. Additionally or alternatively, the interface joint may include a slide limiting mechanism coupled to the push rod and configured to limit a maximum slide distance of an internal tube over the push rod.

A fluid management system includes a pump connectable to a fluid source. An inflow line removably connects to a cannula for delivering a fluid flow from the pump into a surgical site, such as a joint cavity. A flow pressure sensor is coupled to measure flow pressure in the inflow line and produce a measured pressure value, A controller is connected to the pump and the flow pressure sensor, and the controller maintains a pressure set point by controlling a pump speed based on a backpressure-adjusted pressure value calculated by subtracting a backpressure value selected from a backpressure table from the measured pressure value. The BAPV is monitored to determine whether the BAPV deviates outside an initial BAPV range, and corrective measure are taken should such deviations occur.