In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.

An electronically assisted artificial vertebral disc having an upper disc plate and a lower disc plate is disclosed. An actuator imparts movement to at least one of the upper and lower disc plates. A control device controls the actuator and the amount of movement between the disc plates. The actuator includes a plurality of either linear actuators or rotary actuators that are driven by electric motors in response to the control device. The control device includes at least a first sensor for detecting the position of the actuator and at least a second sensor for detecting the spatial orientation of at least one of the upper and lower disc plates. The control device also preferably includes a microprocessor that calculates the desired positions of the upper and lower disc plates and provides a control signal to the actuator to drive the upper and lower disc plates to their desired positions.

An adjustable spinal fusion intervertebral implant is provided that can comprise upper and lower body portions that can each have proximal and distal wedge surf aces disposed at proximal and distal ends thereof. An actuator shaft disposed intermediate the upper and lower body portions can be actuated to cause proximal and distal protrusions to converge towards each other and contact the respective ones of the proximal and distal wedge surfaces. Such contact can thereby transfer the longitudinal movement of the proximal and distal protrusions against the proximal and distal wedge surfaces to cause the separation of the upper and lower body portions, thereby expanding the intervertebral implant. The upper and lower body portions can have side portions that help facilitate linear translational movement of the upper body portion relative to the lower body portion.

A surgical apparatus configured to be placed in the musculoskeletal system to precisely separate a first bone from a second bone. The surgical apparatus has one or more sensors to measure one or more parameters and supports one or more bone cuts for installing a prosthetic component. The surgical apparatus has at least one distraction mechanism configured to increase or decrease a height between a first support structure and a second support structure. A tilt mechanism comprises the at least one distraction mechanism. The tilt mechanism couples through a first pivot point and a second pivot point and adjusts a tilt of the second support structure relative to the first support structure. In one embodiment, loading applied to the second support structure is distributed between the first pivot point and the second pivot point during operation of the surgical apparatus.

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.

An adjustable spinal fusion intervertebral implant is provided that can comprise upper and lower body portions that can each have proximal and distal wedge surf aces disposed at proximal and distal ends thereof. An actuator shaft disposed intermediate the upper and lower body portions can be actuated to cause proximal and distal protrusions to converge towards each other and contact the respective ones of the proximal and distal wedge surfaces. Such contact can thereby transfer the longitudinal movement of the proximal and distal protrusions against the proximal and distal wedge surfaces to cause the separation of the upper and lower body portions, thereby expanding the intervertebral implant. The upper and lower body portions can have side portions that help facilitate linear translational movement of the upper body portion relative to the lower body portion.

An adjustable spinal fusion intervertebral implant is provided that can comprise upper and lower body portions that can each have proximal and distal wedge surfaces disposed at proximal and distal ends thereof. An actuator shaft disposed intermediate the upper and lower body portions can be actuated to cause proximal and distal protrusions to converge towards each other and contact the respective ones of the proximal and distal wedge surfaces. Such contact can thereby transfer the longitudinal movement of the proximal and distal protrusions against the proximal and distal wedge surfaces to cause the separation of the upper and lower body portions, thereby expanding the intervertebral implant. The upper and lower body portions can have side portions that help facilitate linear translational movement of the upper body portion relative to the lower body portion.

A system and method for improving installation of a prosthesis, particularly an acetabular cup. The system and method may include implementation of a constant velocity relative motion between a prosthesis and an installation site. For example, an installation system may be fixed relative to the installation site, with the prosthesis fixed into an initial position. The prosthesis is moved at constant speed (i.e., with minimal if any acceleration or applied impulses) relative to the installation site. That is, one or both of the prosthesis or the installation site may be in motion. Resistive forces to installation of a prosthesis may thus be reduced by maintaining the prosthesis constantly in motion relative to the installation site. Securing a processing/implanting tool directly to the installation site may offer advantages.

A surgical robot system includes a surgical robot having a robot base and a robot arm connected to the robot base. The surgical robot system further includes a joint manipulation arm configured to be attached to the robot arm and to be connected to an appendage of a patient and moved to apply force and/or torque to a joint connecting the appendage through movement of the robot arm. The surgical robot system further includes force and/or torque sensor apparatus configured to output a feedback signal providing an indication of an amount of force and/or torque that is being applied to the robot arm and/or the joint manipulation arm. At least one controller is configured to determine ligaments balancing at the joint based on a plurality of measurements of the feedback signal, and to output information characterizing the ligaments balancing.

A surgical robot system includes a surgical robot having a robot base and a robot arm connected to the robot base. The surgical robot system further includes a joint manipulation arm configured to be attached to the robot arm and to be connected to an appendage of a patient and moved to apply force and/or torque to a joint connecting the appendage through movement of the robot arm. The surgical robot system further includes force and/or torque sensor apparatus configured to output a feedback signal providing an indication of an amount of force and/or torque that is being applied to the robot arm and/or the joint manipulation arm. At least one controller is configured to determine ligaments balancing at the joint based on a plurality of measurements of the feedback signal, and to output information characterizing the ligaments balancing.