Integrated Surgical Systems, Inc.

Steven M Cohan

Brent D Mittelstadt

Steve Schreiner

A method of tracking and compensating for bone motion when operating on bone (,) with surgical robotic arm (,), comprising: determining a spatial relationship between surgical robotic arm (,) and bone (,); tracking translational and rotational movements of bone (,) with a bone motion detector, which preferably comprises a passive mechanical arm (,); and updating the spatial relationship as bone (,) moves.

Bone motion tracking system

A method for transforming a bone image data set representing at least a partial image of a long bone to a robotic coordinate system, comprising: generating the bone image data set from a bone image; registering a bone digitizer arm to the robotic coordinate system; generating a digitized bone data set by taking bone surface position measurements with the digitizer arm; and transforming the bone image data set into the robotic coordinate system by performing a best-fit calculation between coordinates of the bone image data set and corresponding coordinates of the digitized bone data set.

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Woodland, CA, United States of America

Steven M Cohan