WO2025111435A1 - Patient-specific tensioning forces - Google Patents

Abstract

Systems and methods of tensioning a joint are disclosed herein. Trackers are affixed to the anatomy of the joint and the joint is adjusted into a fixed pose. In the fixed pose, a force is applied to the joint using a joint tensioner. The force is measured by the joint tensioner while a tracking system simultaneous captures the displacement of the joint generated by the force. A force-displacement relationship is generated based on the measured force and the captured displacement. The force-displacement relationship is used to determine a patient-specific tensioning force and to perform surgical planning.

Description

Attorney Docket No. PT-6056-WO-PCT/D031102 PATIENT-SPECIFIC TENSIONING FORCES CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of priority to U.S. Provisional Application No. 63/601,327 titled “PATIENT-SPECIFIC TENSIONING FORCES” filed November 21, 2023, which is incorporated herein by reference in its entirety. TECHNICAL FIELD [0002] The present disclosure relates generally to methods, systems, and apparatuses related to a computer-assisted surgical system that includes various hardware and software components that work together to enhance surgical workflows. The disclosed techniques may be applied to, for example, shoulder, hip, and knee arthroplasties, as well as other surgical interventions such as arthroscopic procedures, spinal procedures, maxillofacial procedures, rotator cuff procedures, ligament repair and replacement procedures. More particularly, the present disclosure relates to methods and systems for joint tensioning ligament balancing in a total or partial joint replacement surgical procedure. BACKGROUND [0003] In joint arthroplasty procedures (e.g., a total knee arthroplasty), a force can be applied to a portion of the joint (e.g., the knee) in order to pre- and/or post-operatively assess the soft tissue properties and balance of the joint. Conventionally, quantifying ligament laxity in such a procedure is challenging because the amount of varus/valgus force applied to the knee is not standardized. The amount of force, whether applied by hand or by a tool, is applied subjectively, which can lead to inconsistent patient outcomes as a result of improperly characterizing the behavior of soft tissue in response to the applied force. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0004] Tensioner tools have been designed to address these needs by quantifying the applied force, thereby enabling a more consistent force application across multiple measurements on a single patient and/or multiple patients. [0005] The force applied using the tensioner should be a force that causes the joint to reach a “maximum distraction point’ (i.e., where the anatomy is distracted a maximum distance and the ligaments of the joint are stretched as much as possible). Typically, applying a greater force beyond this maximum distraction point will not result in additional distraction of the joint. However, due to natural variations from patient to patient and/or abnormalities in patient anatomies, a standard force or forces may not result in maximum distraction in a given patient and/or may be beyond the force necessary for maximum distraction, thereby resulting in less useful data being collected and even injury to the joint or surrounding soft tissue. [0006] Furthermore, the ideal force may be a force slightly less than the force that causes maximum distraction. For example, it would not be desirable for the post-operative joint to experience maximum distraction at rest. Rather, the joint should be sufficiently tensioned to reach near-maximum distraction (hereinafter referred to as a “stability point”) to create a stable joint. [0007] It would be advantageous to have a system and method for identifying a patient-specific tensioning force that approximates the stability point in order to enable collection of accurate tensioning data. Furthermore, it would be advantageous to apply the patient-specific tensioning force to improve patient outcomes through surgical planning. SUMMARY [0008] In some embodiments, a method for tensioning a joint includes affixing a first tracking element to a first rigid anatomical structure in the joint; affixing a second tracking element to a second rigid anatomical structure in the joint; adjusting the joint into a fixed pose; 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 applying a force to the joint, in the fixed pose, using a joint tensioner comprising a sensor; measuring, using the sensor, the force, over an application period of the force; detecting, using a tracking system, a first location of the first tracking element and a second location of the second tracking element over the application period of the force; determining a displacement, over the application period of the force of the first rigid anatomical structure and the second rigid anatomical structure; generating a force-displacement relationship based on the force and displacement; and determining a patient-specific tensioning force based on the force- displacement relationship. [0009] In some embodiments, the method further includes tensioning the joint using the patient-specific tensioning force. [0010] In some embodiments, determining the patient-specific tensioning force further comprises determining a point of inflection in the force-displacement relationship. [0011] In some embodiments, determining the patient-specific tensioning force further includes determining a maximum distraction point based on the force-displacement relationship; and setting the patient-specific tensioning force at a predetermined threshold from the maximum distraction point. [0012] In some embodiments, the displacement includes a distance between a first feature of the first rigid anatomical structure and a second feature of the second rigid anatomical structure. [0013] In some embodiments, the first and second features include an enthesis of a ligament. [0014] In some embodiments, determining the displacement includes determining a plurality of displacements associated with a plurality of ligaments. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0015] In some embodiments, determining the patient-specific tensioning force includes determining the patient-specific tensioning forces for each of the plurality of ligaments. [0016] In some embodiments, the method further includes calculating a weighted average of the patient-specific tensioning forces for each of the plurality of ligaments. [0017] In some embodiments, the method further includes adjusting the joint into a plurality of fixed poses; and determining a patient-specific tensioning force associated with each of the plurality of fixed poses. [0018] In some embodiments, a system for planning a surgical procedure associated with a joint includes a tracking system, a first tracking element configured to affix to a first rigid anatomical structure of the joint, a second tracking element configured to affix to a second rigid anatomical structure of the joint, a processor, a joint tensioner in communication with the processor, the joint tensioner comprising a sensor, and a non-transitory, processor-readable storage medium. The non-transitory, processor-readable storage medium includes one or more programming instructions that, when executed, cause the processor to measure, using the sensor, a force applied to the joint by the joint tensioner, over an application period of the force; detect, using the tracking system, a first location of the first tracking element and a second location of the second tracking element over the application period of the force; determine a displacement, over the application period of the force of the first rigid anatomical structure and the second rigid anatomical structure; generate a force-displacement relationship based on the force and displacement; and determine a patient-specific tensioning force based on the force- displacement relationship. [0019] In some embodiments, the programming instructions further cause the processor to select an implant type based on the force-displacement relationship. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0020] In some embodiments, the programming instructions that cause the processor to determine the patient-specific tensioning force further include programming instructions that cause the processor to determine a point of inflection in the force-displacement relationship. [0021] In some embodiments, the programming instructions that cause the processor to determine the patient-specific tensioning force further include programming instructions that cause the processor to determine a maximum distraction point based on the force-displacement relationship; and set the patient-specific tensioning force at a predetermined threshold from the maximum distraction point. [0022] In some embodiments, the displacement includes a distance between a first feature of the first rigid anatomical structure and a second feature of the second rigid anatomical structure. [0023] In some embodiments, the first and second features include an enthesis of a ligament. [0024] In some embodiments, the programming instructions that cause the processor to determine the displacement include programming instructions that cause the processor to determine a plurality of displacements associated with a plurality of ligaments. [0025] In some embodiments, the programming instructions that cause the processor to determine the patient-specific tensioning force include programming instructions that cause the processor to determine the patient-specific tensioning forces for each of the plurality of ligaments. [0026] In some embodiments, the programming instructions further cause the processor to calculate a weighted average of the patient-specific tensioning forces for each of the plurality of ligaments. [0027] In some embodiments, the programming instructions further cause the processor to measure, using the sensor, a plurality of forces applied to the joint by the joint 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 tensioner, for a plurality of fixed poses and determine a patient-specific tensioning force associated with each of the plurality of fixed poses. BRIEF DESCRIPTION OF THE DRAWINGS [0028] The accompanying drawings, which are incorporated in and form a part of the specification, illustrate the embodiments of the invention and together with the written description serve to explain the principles, characteristics, and features of the invention. In the drawings: [0029] FIG.1 depicts an operating theatre including an illustrative computer-assisted surgical system (CASS) in accordance with an embodiment. [0030] FIG. 2A depicts illustrative control instructions that a surgical computer provides to other components of a CASS in accordance with an embodiment. [0031] FIG. 2B depicts illustrative control instructions that components of a CASS provide to a surgical computer in accordance with an embodiment. [0032] FIG. 2C depicts an illustrative implementation in which a surgical computer is connected to a surgical data server via a network in accordance with an embodiment. [0033] FIGS.3A-3E depict several detailed views of an illustrative tensioner tool in accordance with an embodiment. [0034] FIG.4A-4B depict detailed views of an illustrative tensioner tool in accordance with another embodiment. [0035] FIG.5 depicts an illustrative view of a tensioner tool inserted within a knee joint in accordance with an embodiment. [0036] FIG.6 illustrates a block diagram of an illustrative system for tensioning a joint during a surgical procedure in accordance with an embodiment. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0037] FIG.7 illustrates a method for determining a patient-specific tensioning force in accordance with an embodiment. [0038] FIG.8 depicts an example graph of force-displacement curves in accordance with an embodiment. [0039] FIG.9 depicts an example graph of a stress-strain curve for a ligament during tensioning in accordance with an embodiment. [0040] FIG.10 illustrates a block diagram of an exemplary data processing system in which embodiments are implemented. DETAILED DESCRIPTION [0041] This disclosure is not limited to the particular systems, devices and methods described, as these may vary. The terminology used in the description is for the purpose of describing the particular versions or embodiments only and is not intended to limit the scope. [0042] As used in this document, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. Unless defined otherwise, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art. Nothing in this disclosure is to be construed as an admission that the embodiments described in this disclosure are not entitled to antedate such disclosure by virtue of prior invention. As used in this document, the term “comprising” means “including, but not limited to.” Definitions [0043] For the purposes of this disclosure, the term “implant” is used to refer to a prosthetic device or structure manufactured to replace or enhance a biological structure. For example, in a total hip replacement procedure a prosthetic acetabular cup (implant) is used to replace or enhance a patients worn or damaged acetabulum. While the term “implant” is generally considered to denote a man-made structure (as contrasted with a transplant), for the 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 purposes of this specification an implant can include a biological tissue or material transplanted to replace or enhance a biological structure. [0044] For the purposes of this disclosure, the term “real-time” is used to refer to calculations or operations performed on-the-fly as events occur or input is received by the operable system. However, the use of the term “real-time” is not intended to preclude operations that cause some latency between input and response, so long as the latency is an unintended consequence induced by the performance characteristics of the machine. [0045] For the purposes of this disclosure, the terms “distract,” “distracting,” or “distraction” are used to refer to displacement of a first point with respect to a second point. For example, the first point and the second point may correspond to surfaces of a joint. In some embodiments herein, a joint may be distracted, i.e., portions of the joint may be separated and/or moved with respect to one another to place the joint under tension. In some embodiments, a first portion of the joint be a surface of a scapula and a second portion of the joint may be a surface of a humerus such that separation occurs between the bones of the joint. In additional embodiments, a first portion of the joint may be a first portion of a humeral implant component or a humeral trial implant and a second portion of the joint may be a second portion of the humeral implant component or the humeral trial implant that is movable with respect to the first portion (e.g., a humeral component and a spacer). Accordingly, separation may occur between the portions of the humeral implant component or the humeral trial implant (i.e., intra-implant separation). Throughout the disclosure herein, the described embodiments may be collectively referred to as distraction of the joint. [0046] Although much of this disclosure refers to surgeons or other medical professionals by specific job title or role, nothing in this disclosure is intended to be limited to a specific job title or function. Surgeons or medical professionals can include any doctor, nurse, medical professional, or technician. Any of these terms or job titles can be used interchangeably 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 with the user of the systems disclosed herein unless otherwise explicitly demarcated. For example, a reference to a surgeon also could apply, in some embodiments to a technician or nurse. [0047] The systems, methods, and devices disclosed herein are particularly well adapted for surgical procedures that utilize surgical navigation systems, such as the CORI® surgical navigation system. CORI is a registered trademark of SMITH & NEPHEW, INC. of Memphis, TN. CASS Ecosystem Overview [0048] FIG. 1 provides an illustration of an example computer-assisted surgical system (CASS) 100, according to some embodiments. As described in further detail in the sections that follow, the CASS uses computers, robotics, and imaging technology to aid surgeons in performing orthopedic surgery procedures such as total knee arthroplasty (TKA) or THA. For example, surgical navigation systems can aid surgeons in locating patient anatomical structures, guiding surgical instruments, and implanting medical devices with a high degree of accuracy. Surgical navigation systems such as the CASS 100 often employ various forms of computing technology to perform a wide variety of standard and minimally invasive surgical procedures and techniques. Moreover, these systems allow surgeons to more accurately plan, track and navigate the placement of instruments and implants relative to the body of a patient, as well as conduct pre-operative and intra-operative body imaging. [0049] An Effector Platform 105 positions surgical tools relative to a patient during surgery. The exact components of the Effector Platform 105 will vary, depending on the embodiment employed. For example, for a knee surgery, the Effector Platform 105 may include an End Effector 105B that holds surgical tools or instruments during their use. The End Effector 105B may be a handheld device or instrument used by the surgeon (e.g., a CORI® hand piece or a cutting guide or jig) or, alternatively, the End Effector 105B can include a device or 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 instrument held or positioned by a robotic arm 105A. While one robotic arm 105A is illustrated in FIG.1, in some embodiments there may be multiple devices. As examples, there may be one robotic arm 105A on each side of an operating table T or two devices on one side of the table T. The robotic arm 105A may be mounted directly to the table T, be located next to the table T on a floor platform (not shown), mounted on a floor-to-ceiling pole, or mounted on a wall or ceiling of an operating room. The floor platform may be fixed or moveable. In one particular embodiment, the robotic arm 105A is mounted on a floor-to-ceiling pole located between the patient's legs or feet. In some embodiments, the End Effector 105B may include a suture holder or a stapler to assist in closing wounds. Further, in the case of two robotic arms 105A, the surgical computer 150 can drive the robotic arms 105A to work together to suture the wound at closure. Alternatively, the surgical computer 150 can drive one or more robotic arms 105A to staple the wound at closure. [0050] The Effector Platform 105 can include a Limb Positioner 105C for positioning the patient's limbs during surgery. One example of a Limb Positioner 105C is the SMITH AND NEPHEW SPIDER2 system. The Limb Positioner 105C may be operated manually by the surgeon or alternatively change limb positions based on instructions received from the Surgical Computer 150 (described below). While one Limb Positioner 105C is illustrated in FIG.1, in some embodiments there may be multiple devices. As examples, there may be one Limb Positioner 105C on each side of the operating table T or two devices on one side of the table T. The Limb Positioner 105C may be mounted directly to the table T, be located next to the table T on a floor platform (not shown), mounted on a pole, or mounted on a wall or ceiling of an operating room. In some embodiments, the Limb Positioner 105C can be used in non- conventional ways, such as a retractor or specific bone holder. The Limb Positioner 105C may include, as examples, an ankle boot, a soft tissue clamp, a bone clamp, or a soft-tissue retractor 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 spoon, such as a hooked, curved, or angled blade. In some embodiments, the Limb Positioner 105C may include a suture holder to assist in closing wounds. [0051] The Effector Platform 105 may include tools, such as a screwdriver, light or laser, to indicate an axis or plane, bubble level, pin driver, pin puller, plane checker, pointer, finger, or some combination thereof. [0052] Resection Equipment 110 (not shown in FIG. 1) performs bone or tissue resection using, for example, mechanical, ultrasonic, or laser techniques. Examples of Resection Equipment 110 include drilling devices, burring devices, oscillatory sawing devices, vibratory impaction devices, reamers, ultrasonic bone cutting devices, radio frequency ablation devices, reciprocating devices (such as a rasp or broach), and laser ablation systems. In some embodiments, the Resection Equipment 110 is held and operated by the surgeon during surgery. In other embodiments, the Effector Platform 105 may be used to hold the Resection Equipment 110 during use. [0053] The Effector Platform 105 also can include a cutting guide or jig 105D that is used to guide saws or drills used to resect tissue during surgery. Such cutting guides 105D can be formed integrally as part of the Effector Platform 105 or robotic arm 105A or cutting guides can be separate structures that can be matingly and/or removably attached to the Effector Platform 105 or robotic arm 105A. The Effector Platform 105 or robotic arm 105A can be controlled by the CASS 100 to position a cutting guide or jig 105D adjacent to the patient's anatomy in accordance with a pre-operatively or intraoperatively developed surgical plan such that the cutting guide or jig will produce a precise bone cut in accordance with the surgical plan. [0054] The Tracking System 115 uses one or more sensors to collect real-time position data that locates the patient's anatomy and surgical instruments. For example, for TKA procedures, the Tracking System may provide a location and orientation of the End Effector 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 105B during the procedure. In addition to positional data, data from the Tracking System 115 also can be used to infer velocity/acceleration of anatomy/instrumentation, which can be used for tool control. In some embodiments, the Tracking System 115 may use a tracker array attached to the End Effector 105B to determine the location and orientation of the End Effector 105B. The position of the End Effector 105B may be inferred based on the position and orientation of the Tracking System 115 and a known relationship in three-dimensional space between the Tracking System 115 and the End Effector 105B. Various types of tracking systems may be used in various embodiments of the present invention including, without limitation, Infrared (IR) tracking systems, electromagnetic (EM) tracking systems, video or image based tracking systems, and ultrasound registration and tracking systems. Using the data provided by the tracking system 115, the surgical computer 150 can detect objects and prevent collision. For example, the surgical computer 150 can prevent the robotic arm 105A and/or the End Effector 105B from colliding with soft tissue. [0055] Any suitable tracking system can be used for tracking surgical objects and patient anatomy in the surgical theatre. For example, a combination of IR and visible light cameras can be used in an array. Various illumination sources, such as an IR LED light source, can illuminate the scene allowing three-dimensional imaging to occur. In some embodiments, this can include stereoscopic, tri-scopic, quad-scopic, etc. imaging. In addition to the camera array, which in some embodiments is affixed to a cart, additional cameras can be placed throughout the surgical theatre. For example, handheld tools or headsets worn by operators/surgeons can include imaging capability that communicates images back to a central processor to correlate those images with images captured by the camera array. This can give a more robust image of the environment for modeling using multiple perspectives. Furthermore, some imaging devices may be of suitable resolution or have a suitable perspective on the scene to pick up information stored in quick response (QR) codes or barcodes. This can be helpful in 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 identifying specific objects not manually registered with the system. In some embodiments, the camera may be mounted on the robotic arm 105A. [0056] In some embodiments, specific objects can be manually registered by a surgeon with the system preoperatively or intraoperatively. For example, by interacting with a user interface, a surgeon may identify the starting location for a tool or a bone structure. By tracking fiducial marks associated with that tool or bone structure, or by using other conventional image tracking modalities, a processor may track that tool or bone as it moves through the environment in a three-dimensional model. [0057] In some embodiments, certain markers, such as fiducial marks that identify individuals, important tools, or bones in the theater may include passive or active identifiers that can be picked up by a camera or camera array associated with the tracking system. For example, an IR LED can flash a pattern that conveys a unique identifier to the source of that pattern, providing a dynamic identification mark. Similarly, one- or two-dimensional optical codes (barcode, QR code, etc.) can be affixed to objects in the theater to provide passive identification that can occur based on image analysis. If these codes are placed asymmetrically on an object, they also can be used to determine an orientation of an object by comparing the location of the identifier with the extents of an object in an image. For example, a QR code may be placed in a corner of a tool tray, allowing the orientation and identity of that tray to be tracked. Other tracking modalities are explained throughout. For example, in some embodiments, augmented reality (AR) headsets can be worn by surgeons and other staff to provide additional camera angles and tracking capabilities. In this case, the infrared/time of flight sensor data, which is predominantly used for hand/gesture detection, can build correspondence between the AR headset and the tracking system of the robotic system using sensor fusion techniques. This can be used to calculate a calibration matrix that relates the optical camera coordinate frame to the fixed holographic world frame. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0058] In addition to optical tracking, certain features of objects can be tracked by registering physical properties of the object and associating them with objects that can be tracked, such as fiducial marks fixed to a tool or bone. For example, a surgeon may perform a manual registration process whereby a tracked tool and a tracked bone can be manipulated relative to one another. By impinging the tip of the tool against the surface of the bone, a three- dimensional surface can be mapped for that bone that is associated with a position and orientation relative to the frame of reference of that fiducial mark. By optically tracking the position and orientation (pose) of the fiducial mark associated with that bone, a model of that surface can be tracked with an environment through extrapolation. [0059] The registration process that registers the CASS 100 to the relevant anatomy of the patient also can involve the use of anatomical landmarks, such as landmarks on a bone or cartilage. For example, the CASS 100 can include a 3D model of the relevant bone or joint and the surgeon can intraoperatively collect data regarding the location of bony landmarks on the patient's actual bone using a probe that is connected to the CASS. Bony landmarks can include, for example, the medial malleolus and lateral malleolus, the ends of the proximal femur and distal tibia, and the center of the hip joint. The CASS 100 can compare and register the location data of bony landmarks collected by the surgeon with the probe with the location data of the same landmarks in the 3D model. Alternatively, the CASS 100 can construct a 3D model of the bone or joint without pre-operative image data by using location data of bony landmarks and the bone surface that are collected by the surgeon using a CASS probe or other means. The registration process also can include determining various axes of a joint. For example, for a TKA the surgeon can use the CASS 100 to determine the anatomical and mechanical axes of the femur and tibia. The surgeon and the CASS 100 can identify the center of the hip joint by moving the patient's leg in a spiral direction (i.e., circumduction) so the CASS can determine where the center of the hip joint is located. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0060] A Tissue Navigation System 120 (not shown in FIG.1) provides the surgeon with intraoperative, real-time visualization for the patient's bone, cartilage, muscle, nervous, and/or vascular tissues surrounding the surgical area. Examples of systems that may be employed for tissue navigation include fluorescent imaging systems and ultrasound systems. [0061] The Display 125 provides graphical user interfaces (GUIs) that display images collected by the Tissue Navigation System 120 as well other information relevant to the surgery. For example, in one embodiment, the Display 125 overlays image information collected from various modalities (e.g., CT, MRI, X-ray, fluorescent, ultrasound, etc.) collected pre-operatively or intra-operatively to give the surgeon various views of the patient's anatomy as well as real-time conditions. The Display 125 may include, for example, one or more computer monitors. As an alternative or supplement to the Display 125, one or more members of the surgical staff may wear an Augmented Reality (AR) Head Mounted Device (HMD). For example, in FIG.1 the Surgeon 111 is wearing an AR HMD 155 that may, for example, overlay pre-operative image data on the patient or provide surgical planning suggestions. In one embodiment, a tracker array-mounted surgical tool could be detected by both the IR camera and an AR headset (HMD) using sensor fusion techniques without the need for any "intermediate" calibration rigs. This near-depth, time-of-flight sensing camera located in the HMD could be used for hand/gesture detection. The headset's sensor API can be used to expose IR and depth image data and carryout image processing using, for example, C++ with OpenCV. This approach allows the relationship between the CASS and the virtual coordinate frame to be determined and the headset sensor data (i.e., IR in combination with depth images) to isolate the CASS tracker arrays. The image processing system on the HMD can locate the surgical tool in a fixed holographic world frame and the CASS IR camera can locate the surgical tool relative to its camera coordinate frame. This relationship can be used to calculate a calibration matrix that relates the CASS IR camera coordinate frame to the fixed holographic world frame. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 This means that if a calibration matrix has previously been calculated, the surgical tool no longer needs to be visible to the AR headset. However, a recalculation may be necessary if the CASS camera is accidentally moved in the workflow. Various example uses of the AR HMD 155 in surgical procedures are detailed in the sections that follow. [0062] Surgical Computer 150 provides control instructions to various components of the CASS 100, collects data from those components, and provides general processing for various data needed during surgery. In some embodiments, the Surgical Computer 150 is a general-purpose computer. In other embodiments, the Surgical Computer 150 may be a parallel computing platform that uses multiple central processing units (CPUs) or graphics processing units (GPU) to perform processing. In some embodiments, the Surgical Computer 150 is connected to a remote server over one or more computer networks (e.g., the Internet). The remote server can be used, for example, for storage of data or execution of computationally intensive processing tasks. [0063] Various techniques generally known in the art can be used for connecting the Surgical Computer 150 to the other components of the CASS 100. Moreover, the computers can connect to the Surgical Computer 150 using a mix of technologies. For example, the End Effector 105B may connect to the Surgical Computer 150 over a wired (i.e., serial) connection. The Tracking System 115, Tissue Navigation System 120, and Display 125 can similarly be connected to the Surgical Computer 150 using wired connections. Alternatively, the Tracking System 115, Tissue Navigation System 120, and Display 125 may connect to the Surgical Computer 150 using wireless technologies such as, without limitation, Wi-Fi, Bluetooth, Near Field Communication (NFC), or ZigBee. Robotic Arm [0064] In some embodiments, the CASS 100 includes a robotic arm 105A that serves as an interface to stabilize and hold a variety of instruments used during the surgical procedure. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 For example, in the context of a hip surgery, these instruments may include, without limitation, retractors, a sagittal or reciprocating saw, the reamer handle, the cup impactor, the broach handle, and the stem inserter. The robotic arm 105A may have multiple degrees of freedom (like a Spider device) and have the ability to be locked in place (e.g., by a press of a button, voice activation, a surgeon removing a hand from the robotic arm, or other method). [0065] In some embodiments, movement of the robotic arm 105A may be effectuated by use of a control panel built into the robotic arm system. For example, a display screen may include one or more input sources, such as physical buttons or a user interface having one or more icons, that direct movement of the robotic arm 105A. The surgeon or other healthcare professional may engage with the one or more input sources to position the robotic arm 105A when performing a surgical procedure. [0066] A tool or an end effector 105B attached or integrated into a robotic arm 105A may include, without limitation, a burring device, a scalpel, a cutting device, a retractor, a joint tensioning device, or the like. In embodiments in which an end effector 105B is used, the end effector may be positioned at the end of the robotic arm 105A such that any motor control operations are performed within the robotic arm system. In embodiments in which a tool is used, the tool may be secured at a distal end of the robotic arm 105A, but motor control operation may reside within the tool itself. [0067] The robotic arm 105A may be motorized internally to both stabilize the robotic arm, thereby preventing it from falling and hitting the patient, surgical table, surgical staff, etc., and to allow the surgeon to move the robotic arm without having to fully support its weight. While the surgeon is moving the robotic arm 105A, the robotic arm may provide some resistance to prevent the robotic arm from moving too fast or having too many degrees of freedom active at once. The position and the lock status of the robotic arm 105A may be tracked, for example, by a controller or the Surgical Computer 150. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0068] In some embodiments, the robotic arm 105A can be moved by hand (e.g., by the surgeon) or with internal motors into its ideal position and orientation for the task being performed. In some embodiments, the robotic arm 105A may be enabled to operate in a "free" mode that allows the surgeon to position the arm into a desired position without being restricted. While in the free mode, the position and orientation of the robotic arm 105A may still be tracked as described above. In one embodiment, certain degrees of freedom can be selectively released upon input from user (e.g., surgeon) during specified portions of the surgical plan tracked by the Surgical Computer 150. Designs in which a robotic arm 105A is internally powered through hydraulics or motors or provides resistance to external manual motion through similar means can be described as powered robotic arms, while arms that are manually manipulated without power feedback, but which may be manually or automatically locked in place, may be described as passive robotic arms. [0069] A robotic arm 105A or end effector 105B can include a trigger or other means to control the power of a saw or drill. Engagement of the trigger or other means by the surgeon can cause the robotic arm 105A or end effector 105B to transition from a motorized alignment mode to a mode where the saw or drill is engaged and powered on. Additionally, the CASS 100 can include a foot pedal (not shown) that causes the system to perform certain functions when activated. For example, the surgeon can activate the foot pedal to instruct the CASS 100 to place the robotic arm 105A or end effector 105B in an automatic mode that brings the robotic arm or end effector into the proper position with respect to the patient's anatomy in order to perform the necessary resections. The CASS 100 also can place the robotic arm 105A or end effector 105B in a collaborative mode that allows the surgeon to manually manipulate and position the robotic arm or end effector into a particular location. The collaborative mode can be configured to allow the surgeon to move the robotic arm 105A or end effector 105B medially or laterally, while restricting movement in other directions. As discussed, the robotic arm 105A 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 or end effector 105B can include a cutting device (saw, drill, and burr) or a cutting guide or jig 105D that will guide a cutting device. In other embodiments, movement of the robotic arm 105A or robotically controlled end effector 105B can be controlled entirely by the CASS 100 without any, or with only minimal, assistance or input from a surgeon or other medical professional. In still other embodiments, the movement of the robotic arm 105A or robotically controlled end effector 105B can be controlled remotely by a surgeon or other medical professional using a control mechanism separate from the robotic arm or robotically controlled end effector device, for example using a joystick or interactive monitor or display control device. [0070] A robotic arm 105A may be used for holding the retractor. For example, in one embodiment, the robotic arm 105A may be moved into the desired position by the surgeon. At that point, the robotic arm 105A may lock into place. In some embodiments, the robotic arm 105A is provided with data regarding the patient's position, such that if the patient moves, the robotic arm can adjust the retractor position accordingly. In some embodiments, multiple robotic arms may be used, thereby allowing multiple retractors to be held or for more than one activity to be performed simultaneously (e.g., retractor holding & reaming). [0071] The robotic arm 105A may also be used to help stabilize the surgeon's hand while making a femoral neck cut. In this application, control of the robotic arm 105A may impose certain restrictions to prevent soft tissue damage from occurring. For example, in one embodiment, the Surgical Computer 150 tracks the position of the robotic arm 105A as it operates. If the tracked location approaches an area where tissue damage is predicted, a command may be sent to the robotic arm 105A causing it to stop. Alternatively, where the robotic arm 105A is automatically controlled by the Surgical Computer 150, the Surgical Computer may ensure that the robotic arm is not provided with any instructions that cause it to enter areas where soft tissue damage is likely to occur. The Surgical Computer 150 may impose 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 certain restrictions on the surgeon to prevent the surgeon from reaming too far into the medial wall of the acetabulum or reaming at an incorrect angle or orientation. [0072] In some embodiments, the robotic arm 105A may be used to hold a cup impactor at a desired angle or orientation during cup impaction. When the final position has been achieved, the robotic arm 105A may prevent any further seating to prevent damage to the pelvis. [0073] The surgeon may use the robotic arm 105A to position the broach handle at the desired position and allow the surgeon to impact the broach into the femoral canal at the desired orientation. In some embodiments, once the Surgical Computer 150 receives feedback that the broach is fully seated, the robotic arm 105A may restrict the handle to prevent further advancement of the broach. [0074] The robotic arm 105A may also be used for resurfacing applications. For example, the robotic arm 105A may stabilize the surgeon while using traditional instrumentation and provide certain restrictions or limitations to allow for proper placement of implant components (e.g., guide wire placement, chamfer cutter, sleeve cutter, plan cutter, etc.). Where only a burr is employed, the robotic arm 105A may stabilize the surgeon's handpiece and may impose restrictions on the handpiece to prevent the surgeon from removing unintended bone in contravention of the surgical plan. [0075] The robotic arm 105A may be a passive arm. As an example, the robotic arm 105A may be a CIRQ robot arm available from Brainlab AG. CIRQ is a registered trademark of Brainlab AG, Olof-Palme-Str. 9 81829, München, FED REP of GERMANY. In one particular embodiment, the robotic arm 105A is an intelligent holding arm as disclosed in U.S. Patent Application No.15/525,585 to Krinninger et al., U.S. Patent Application No.15/561,042 to Nowatschin et al., U.S. Patent Application No. 15/561,048 to Nowatschin et al., and U.S. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 Patent No. 10,342,636 to Nowatschin et al., the entire contents of each of which is herein incorporated by reference. Surgical Procedure Data Generation and Collection [0076] The various services that are provided by medical professionals to treat a clinical condition are collectively referred to as an "episode of care." For a particular surgical intervention, the episode of care can include three phases: pre-operative, intra-operative, and post-operative. During each phase, data is collected or generated that can be used to analyze the episode of care in order to understand various features of the procedure and identify patterns that may be used, for example, in training models to make decisions with minimal human intervention. The data collected over the episode of care may be stored at the Surgical Computer 150 or the Surgical Data Server 180 as a complete dataset. Thus, for each episode of care, a dataset exists that comprises all of the data collectively pre-operatively about the patient, all of the data collected or stored by the CASS 100 intra-operatively, and any post- operative data provided by the patient or by a healthcare professional monitoring the patient. [0077] As explained in further detail, the data collected during the episode of care may be used to enhance performance of the surgical procedure or to provide a holistic understanding of the surgical procedure and the patient outcomes. For example, in some embodiments, the data collected over the episode of care may be used to generate a surgical plan. In one embodiment, a high-level, pre-operative plan is refined intra-operatively as data is collected during surgery. In this way, the surgical plan can be viewed as dynamically changing in real-time or near real-time as new data is collected by the components of the CASS 100. In other embodiments, pre-operative images or other input data may be used to develop a robust plan preoperatively that is simply executed during surgery. In this case, the data collected by the CASS 100 during surgery may be used to make recommendations that ensure that the surgeon stays within the pre-operative surgical plan. For example, if the surgeon is unsure how 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 to achieve a certain prescribed cut or implant alignment, the Surgical Computer 150 can be queried for a recommendation. In still other embodiments, the pre-operative and intra-operative planning approaches can be combined such that a robust pre-operative plan can be dynamically modified, as necessary or desired, during the surgical procedure. In some embodiments, a biomechanics-based model of patient anatomy contributes simulation data to be considered by the CASS 100 in developing preoperative, intraoperative, and post-operative/rehabilitation procedures to optimize implant performance outcomes for the patient. [0078] Aside from changing the surgical procedure itself, the data gathered during the episode of care may be used as an input to other procedures ancillary to the surgery. For example, in some embodiments, implants can be designed using episode of care data. Example data-driven techniques for designing, sizing, and fitting implants are described in U.S. Patent No. 10,064,686, filed August 15, 2011, and entitled "Systems and Methods for Optimizing Parameters for Orthopaedic Procedures"; U.S. Patent No. 10,102,309, filed July 20, 2012 and entitled "Systems and Methods for Optimizing Fit of an Implant to Anatomy"; and U.S. Patent No. 8,078,440, filed September 19, 2008 and entitled "Operatively Tuning Implants for Increased Performance," the entire contents of each of which are hereby incorporated by reference into this patent application. [0079] Furthermore, the data can be used for educational, training, or research purposes. For example, using the network-based approach described below in FIG. 2C, other doctors or students can remotely view surgeries in interfaces that allow them to selectively view data as it is collected from the various components of the CASS 100. After the surgical procedure, similar interfaces may be used to "playback" a surgery for training or other educational purposes, or to identify the source of any issues or complications with the procedure. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0080] Data acquired during the pre-operative phase generally includes all information collected or generated prior to the surgery. Thus, for example, information about the patient may be acquired from a patient intake form or electronic medical record (EMR). Examples of patient information that may be collected include, without limitation, patient demographics, diagnoses, medical histories, progress notes, vital signs, medical history information, allergies, and lab results. The pre-operative data may also include images related to the anatomical area of interest. These images may be captured, for example, using Magnetic Resonance Imaging (MRI), Computed Tomography (CT), X-ray, ultrasound, or any other modality known in the art. The pre-operative data may also comprise quality of life data captured from the patient. For example, in one embodiment, pre-surgery patients use a mobile application ("app") to answer questionnaires regarding their current quality of life. In some embodiments, preoperative data used by the CASS 100 includes demographic, anthropometric, cultural, or other specific traits about a patient that can coincide with activity levels and specific patient activities to customize the surgical plan to the patient. For example, certain cultures or demographics may be more likely to use a toilet that requires squatting on a daily basis. [0081] FIGS. 2A and 2B provide examples of data that may be acquired during the intra-operative phase of an episode of care. These examples are based on the various components of the CASS 100 described above with reference to FIG.1; however, it should be understood that other types of data may be used based on the types of equipment used during surgery and their use. [0082] FIG.2A shows examples of some of the control instructions that the Surgical Computer 150 provides to other components of the CASS 100, according to some embodiments. Note that the example of FIG.2A assumes that the components of the Effector Platform 105 are each controlled directly by the Surgical Computer 150. In embodiments where 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 a component is manually controlled by the Surgeon 111, instructions may be provided on the Display 125 or AR HMD 155 instructing the Surgeon 111 how to move the component. [0083] The various components included in the Effector Platform 105 are controlled by the Surgical Computer 150 providing position commands that instruct the component where to move within a coordinate system. In some embodiments, the Surgical Computer 150 provides the Effector Platform 105 with instructions defining how to react when a component of the Effector Platform 105 deviates from a surgical plan. These commands are referenced in FIG. 2A as "haptic" commands. For example, the End Effector 105B may provide a force to resist movement outside of an area where resection is planned. Other commands that may be used by the Effector Platform 105 include vibration and audio cues. [0084] In some embodiments, the end effectors 105B of the robotic arm 105A are operatively coupled with cutting guide 105D. In response to an anatomical model of the surgical scene, the robotic arm 105A can move the end effectors 105B and the cutting guide 105D into position to match the location of the femoral or tibial cut to be performed in accordance with the surgical plan. This can reduce the likelihood of error, allowing the vision system and a processor utilizing that vision system to implement the surgical plan to place a cutting guide 105D at the precise location and orientation relative to the tibia or femur to align a cutting slot of the cutting guide with the cut to be performed according to the surgical plan. Then, a surgeon can use any suitable tool, such as an oscillating or rotating saw or drill to perform the cut (or drill a hole) with perfect placement and orientation because the tool is mechanically limited by the features of the cutting guide 105D. In some embodiments, the cutting guide 105D may include one or more pin holes that are used by a surgeon to drill and screw or pin the cutting guide into place before performing a resection of the patient tissue using the cutting guide. This can free the robotic arm 105A or ensure that the cutting guide 105D is fully affixed without moving relative to the bone to be resected. For example, this 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 procedure can be used to make the first distal cut of the femur during a total knee arthroplasty. In some embodiments, where the arthroplasty is a hip arthroplasty, cutting guide 105D can be fixed to the femoral head or the acetabulum for the respective hip arthroplasty resection. It should be understood that any arthroplasty that utilizes precise cuts can use the robotic arm 105A and/or cutting guide 105D in this manner. [0085] The Resection Equipment 110 is provided with a variety of commands to perform bone or tissue operations. As with the Effector Platform 105, position information may be provided to the Resection Equipment 110 to specify where it should be located when performing resection. Other commands provided to the Resection Equipment 110 may be dependent on the type of resection equipment. For example, for a mechanical or ultrasonic resection tool, the commands may specify the speed and frequency of the tool. For Radiofrequency Ablation (RFA) and other laser ablation tools, the commands may specify intensity and pulse duration. [0086] Some components of the CASS 100 do not need to be directly controlled by the Surgical Computer 150; rather, the Surgical Computer 150 only needs to activate the component, which then executes software locally specifying the manner in which to collect data and provide it to the Surgical Computer 150. In the example of FIG. 2A, there are two components that are operated in this manner: the Tracking System 115 and the Tissue Navigation System 120. [0087] The Surgical Computer 150 provides the Display 125 with any visualization that is needed by the Surgeon 111 during surgery. For monitors, the Surgical Computer 150 may provide instructions for displaying images, GUIs, etc. using techniques known in the art. The display 125 can include various portions of the workflow of a surgical plan. During the registration process, for example, the display 125 can show a preoperatively constructed 3D bone model and depict the locations of the probe as the surgeon uses the probe to collect 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 locations of anatomical landmarks on the patient. The display 125 can include information about the surgical target area. For example, in connection with a TKA, the display 125 can depict the mechanical and anatomical axes of the femur and tibia. The display 125 can depict varus and valgus angles for the knee joint based on a surgical plan, and the CASS 100 can depict how such angles will be affected if contemplated revisions to the surgical plan are made. Accordingly, the display 125 is an interactive interface that can dynamically update and display how changes to the surgical plan would impact the procedure and the final position and orientation of implants installed on bone. [0088] As the workflow progresses to preparation of bone cuts or resections, the display 125 can depict the planned or recommended bone cuts before any cuts are performed. The surgeon 111 can manipulate the image display to provide different anatomical perspectives of the target area and can have the option to alter or revise the planned bone cuts based on intraoperative evaluation of the patient. The display 125 can depict how the chosen implants would be installed on the bone if the planned bone cuts are performed. If the surgeon 111 choses to change the previously planned bone cuts, the display 125 can depict how the revised bone cuts would change the position and orientation of the implant when installed on the bone. [0089] The display 125 can provide the surgeon 111 with a variety of data and information about the patient, the planned surgical intervention, and the implants. Various patient-specific information can be displayed, including real-time data concerning the patient's health such as heart rate, blood pressure, etc. The display 125 also can include information about the anatomy of the surgical target region including the location of landmarks, the current state of the anatomy (e.g., whether any resections have been made, the depth and angles of planned and executed bone cuts), and future states of the anatomy as the surgical plan progresses. The display 125 also can provide or depict additional information about the surgical target region. For a TKA, the display 125 can provide information about the gaps (e.g., gap 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 balancing) between the femur and tibia and how such gaps will change if the planned surgical plan is carried out. For a TKA, the display 125 can provide additional relevant information about the knee joint such as data about the joint's tension (e.g., ligament laxity) and information concerning rotation and alignment of the joint. The display 125 can depict how the planned implants' locations and positions will affect the patient as the knee joint is flexed. The display 125 can depict how the use of different implants or the use of different sizes of the same implant will affect the surgical plan and preview how such implants will be positioned on the bone. The CASS 100 can provide such information for each of the planned bone resections in a TKA or THA. In a TKA, the CASS 100 can provide robotic control for one or more of the planned bone resections. For example, the CASS 100 can provide robotic control only for the initial distal femur cut, and the surgeon 111 can manually perform other resections (anterior, posterior and chamfer cuts) using conventional means, such as a 4-in-1 cutting guide or jig 105D. [0090] The display 125 can employ different colors to inform the surgeon of the status of the surgical plan. For example, un-resected bone can be displayed in a first color, resected bone can be displayed in a second color, and planned resections can be displayed in a third color. Implants can be superimposed onto the bone in the display 125, and implant colors can change or correspond to different types or sizes of implants. [0091] The information and options depicted on the display 125 can vary depending on the type of surgical procedure being performed. Further, the surgeon 111 can request or select a particular surgical workflow display that matches or is consistent with his or her surgical plan preferences. For example, for a surgeon 111 who typically performs the tibial cuts before the femoral cuts in a TKA, the display 125 and associated workflow can be adapted to take this preference into account. The surgeon 111 also can preselect that certain steps be included or deleted from the standard surgical workflow display. For example, if a surgeon 111 uses resection measurements to finalize an implant plan but does not analyze ligament gap 27 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 balancing when finalizing the implant plan, the surgical workflow display can be organized into modules, and the surgeon can select which modules to display and the order in which the modules are provided based on the surgeon's preferences or the circumstances of a particular surgery. Modules directed to ligament and gap balancing, for example, can include pre- and post-resection ligament/gap balancing, and the surgeon 111 can select which modules to include in their default surgical plan workflow depending on whether they perform such ligament and gap balancing before or after (or both) bone resections are performed. [0092] For more specialized display equipment, such as AR HMDs, the Surgical Computer 150 may provide images, text, etc. using the data format supported by the equipment. For example, if the Display 125 is a holography device such as the Microsoft HoloLens™ or Magic Leap One™, the Surgical Computer 150 may use the HoloLens Application Program Interface (API) to send commands specifying the position and content of holograms displayed in the field of view of the Surgeon 111. [0093] In some embodiments, one or more surgical planning models may be incorporated into the CASS 100 and used in the development of the surgical plans provided to the surgeon 111. The term "surgical planning model" refers to software that simulates the biomechanics performance of anatomy under various scenarios to determine the optimal way to perform cutting and other surgical activities. For example, for knee replacement surgeries, the surgical planning model can measure parameters for functional activities, such as deep knee bends, gait, etc., and select cut locations on the knee to optimize implant placement. One example of a surgical planning model is the LIFEMOD™ simulation software from SMITH AND NEPHEW, INC. In some embodiments, the Surgical Computer 150 includes computing architecture that allows full execution of the surgical planning model during surgery (e.g., a GPU-based parallel processing environment). In other embodiments, the Surgical Computer 150 may be connected over a network to a remote computer that allows such execution, such 28 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 as a Surgical Data Server 180 (see FIG.2C). As an alternative to full execution of the surgical planning model, in some embodiments, a set of transfer functions are derived that simplify the mathematical operations captured by the model into one or more predictor equations. Then, rather than execute the full simulation during surgery, the predictor equations are used. Further details on the use of transfer functions are described in WIPO Publication No. 2020/037308, filed August 19, 2019, entitled "Patient Specific Surgical Method and System," the entirety of which is incorporated herein by reference. [0094] FIG.2B shows examples of some of the types of data that can be provided to the Surgical Computer 150 from the various components of the CASS 100. In some embodiments, the components may stream data to the Surgical Computer 150 in real-time or near real-time during surgery. In other embodiments, the components may queue data and send it to the Surgical Computer 150 at set intervals (e.g., every second). Data may be communicated using any format known in the art. Thus, in some embodiments, the components all transmit data to the Surgical Computer 150 in a common format. In other embodiments, each component may use a different data format, and the Surgical Computer 150 is configured with one or more software applications that enable translation of the data. [0095] In general, the Surgical Computer 150 may serve as the central point where CASS data is collected. The exact content of the data will vary depending on the source. For example, each component of the Effector Platform 105 provides a measured position to the Surgical Computer 150. Thus, by comparing the measured position to a position originally specified by the Surgical Computer 150 (see FIG. 2B), the Surgical Computer can identify deviations that take place during surgery. [0096] The Resection Equipment 110 can send various types of data to the Surgical Computer 150 depending on the type of equipment used. Example data types that may be sent include the measured torque, audio signatures, and measured displacement values. Similarly, 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 the Tracking Technology 115 can provide different types of data depending on the tracking methodology employed. Example tracking data types include position values for tracked items (e.g., anatomy, tools, etc.), ultrasound images, and surface or landmark collection points or axes. The Tissue Navigation System 120 provides the Surgical Computer 150 with anatomic locations, shapes, etc. as the system operates. [0097] Although the Display 125 generally is used for outputting data for presentation to the user, it may also provide data to the Surgical Computer 150. For example, for embodiments where a monitor is used as part of the Display 125, the Surgeon 111 may interact with a GUI to provide inputs which are sent to the Surgical Computer 150 for further processing. For AR applications, the measured position and displacement of the HMD may be sent to the Surgical Computer 150 so that it can update the presented view as needed. [0098] During the post-operative phase of the episode of care, various types of data can be collected to quantify the overall improvement or deterioration in the patient's condition as a result of the surgery. The data can take the form of, for example, self-reported information reported by patients via questionnaires. For example, in the context of a knee replacement surgery, functional status can be measured with an Oxford Knee Score questionnaire, and the post-operative quality of life can be measured with a EQ5D-5L questionnaire. Other examples in the context of a hip replacement surgery may include the Oxford Hip Score, Harris Hip Score, and WOMAC (Western Ontario and McMaster Universities Osteoarthritis index). Such questionnaires can be administered, for example, by a healthcare professional directly in a clinical setting or using a mobile app that allows the patient to respond to questions directly. In some embodiments, the patient may be outfitted with one or more wearable devices that collect data relevant to the surgery. For example, following a knee surgery, the patient may be outfitted with a knee brace that includes sensors that monitor knee positioning, flexibility, etc. This information can be collected and transferred to the patient's mobile device for review by the 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 surgeon to evaluate the outcome of the surgery and address any issues. In some embodiments, one or more cameras can capture and record the motion of a patient's body segments during specified activities postoperatively. This motion capture can be compared to a biomechanics model to better understand the functionality of the patient's joints and better predict progress in recovery and identify any possible revisions that may be needed. [0099] The post-operative stage of the episode of care can continue over the entire life of a patient. For example, in some embodiments, the Surgical Computer 150 or other components comprising the CASS 100 can continue to receive and collect data relevant to a surgical procedure after the procedure has been performed. This data may include, for example, images, answers to questions, "normal" patient data (e.g., blood type, blood pressure, conditions, medications, etc.), biometric data (e.g., gait, etc.), and objective and subjective data about specific issues (e.g., knee or hip joint pain). This data may be explicitly provided to the Surgical Computer 150 or other CASS component by the patient or the patient's physician(s). Alternatively, or additionally, the Surgical Computer 150 or other CASS component can monitor the patient's EMR and retrieve relevant information as it becomes available. This longitudinal view of the patient's recovery allows the Surgical Computer 150 or other CASS component to provide a more objective analysis of the patient's outcome to measure and track success or lack of success for a given procedure. For example, a condition experienced by a patient long after the surgical procedure can be linked back to the surgery through a regression analysis of various data items collected during the episode of care. This analysis can be further enhanced by performing the analysis on groups of patients that had similar procedures and/or have similar anatomies. [0100] In some embodiments, data is collected at a central location to provide for easier analysis and use. Data can be manually collected from various CASS components in some instances. For example, a portable storage device (e.g., USB stick) can be attached to the 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 Surgical Computer 150 into order to retrieve data collected during surgery. The data can then be transferred, for example, via a desktop computer to the centralized storage. Alternatively, in some embodiments, the Surgical Computer 150 is connected directly to the centralized storage via a Network 175 as shown in FIG.2C. [0101] FIG. 2C illustrates a "cloud-based" implementation in which the Surgical Computer 150 is connected to a Surgical Data Server 180 via a Network 175. This Network 175 may be, for example, a private intranet or the Internet. In addition to the data from the Surgical Computer 150, other sources can transfer relevant data to the Surgical Data Server 180. The example of FIG.2C shows three additional data sources: the Patient 160, Healthcare Professional(s) 165, and an EMR Database 170. Thus, the Patient 160 can send pre-operative and post-operative data to the Surgical Data Server 180, for example, using a mobile app. The Healthcare Professional(s) 165 includes the surgeon and his or her staff as well as any other professionals working with Patient 160 (e.g., a personal physician, a rehabilitation specialist, etc.). It should also be noted that the EMR Database 170 may be used for both pre-operative and post-operative data. For example, assuming that the Patient 160 has given adequate permissions, the Surgical Data Server 180 may collect the EMR of the Patient pre-surgery. Then, the Surgical Data Server 180 may continue to monitor the EMR for any updates post- surgery. [0102] At the Surgical Data Server 180, an Episode of Care Database 185 is used to store the various data collected over a patient's episode of care. The Episode of Care Database 185 may be implemented using any technique known in the art. For example, in some embodiments, a SQL-based database may be used where all of the various data items are structured in a manner that allows them to be readily incorporated in two SQL's collection of rows and columns. However, in other embodiments a No-SQL database may be employed to allow for unstructured data, while providing the ability to rapidly process and respond to 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 queries. As is understood in the art, the term "No-SQL" is used to define a class of data stores that are non-relational in their design. Various types of No-SQL databases may generally be grouped according to their underlying data model. These groupings may include databases that use column-based data models (e.g., Cassandra), document-based data models (e.g., MongoDB), key-value based data models (e.g., Redis), and/or graph-based data models (e.g., Allego). Any type of No-SQL database may be used to implement the various embodiments described herein and, in some embodiments, the different types of databases may support the Episode of Care Database 185. [0103] Data can be transferred between the various data sources and the Surgical Data Server 180 using any data format and transfer technique known in the art. It should be noted that the architecture shown in FIG.2C allows transmission from the data source to the Surgical Data Server 180, as well as retrieval of data from the Surgical Data Server 180 by the data sources. For example, as explained in detail below, in some embodiments, the Surgical Computer 150 may use data from past surgeries, machine learning models, etc. to help guide the surgical procedure. [0104] In some embodiments, the Surgical Computer 150 or the Surgical Data Server 180 may execute a de-identification process to ensure that data stored in the Episode of Care Database 185 meets Health Insurance Portability and Accountability Act (HIPAA) standards or other requirements mandated by law. HIPAA provides a list of certain identifiers that must be removed from data during de-identification. The aforementioned de-identification process can scan for these identifiers in data that is transferred to the Episode of Care Database 185 for storage. For example, in one embodiment, the Surgical Computer 150 executes the de- identification process just prior to initiating transfer of a particular data item or set of data items to the Surgical Data Server 180. In some embodiments, a unique identifier is assigned to data from a particular episode of care to allow for re-identification of the data if necessary. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0105] Although FIGS.2A-C discuss data collection in the context of a single episode of care, it should be understood that the general concept can be extended to data collection from multiple episodes of care. For example, surgical data may be collected over an entire episode of care each time a surgery is performed with the CASS 100 and stored at the Surgical Computer 150 or at the Surgical Data Server 180. As explained in further detail below, a robust database of episode of care data allows the generation of optimized values, measurements, distances, or other parameters and other recommendations related to the surgical procedure. In some embodiments, the various datasets are indexed in the database or other storage medium in a manner that allows for rapid retrieval of relevant information during the surgical procedure. For example, in one embodiment, a patient-centric set of indices may be used so that data pertaining to a particular patient or a set of patients similar to a particular patient can be readily extracted. This concept can be similarly applied to surgeons, implant characteristics, CASS component versions, etc. [0106] Further details of the management of episode of care data are described in U.S. Patent No. 11,532,402, filed April 13, 2020, and entitled "METHODS AND SYSTEMS FOR PROVIDING AN EPISODE OF CARE," the entirety of which is incorporated herein by reference. Tensioner Tools [0107] As discussed herein, certain surgeries, such as joint reconstruction procedures, often utilize tensioner tools to apply a force to the surface of a bone of the joint in order to assess the joint tension/laxity. As generally described herein, application of a force to the surface of the bone of the joint results in a force applied to the joint, which may cause a distraction of the joint. A surgeon may prefer to perform the assessment at multiple points along the range of motion of the joint. Ideally, the distraction force and distraction distance 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 may be measured, and the assessment may be performed pre-operatively and/or intraoperatively. In some cases, data from the application of a plurality of discrete quantities of force and/or application of force at a plurality of locations may assist in providing a more complete assessment. [0108] Referring now to FIGS.3A-3E, several views of an example embodiment of a joint tensioner are illustrated. The joint tensioner 300 may further be incorporated as part of a CASS (e.g., CASS 100 shown in FIG.1 ). The joint tensioner 300 comprises a first arm 305A and a second arm 305B coupled by a pivot 320 located along the length of the arms 305. The first arm 305A comprises a handle portion 310A at the proximal end and an insertion tip 315A at the distal end. Similarly, the second arm 305B comprises a handle portion 310B at the proximal end and an insertion tip 315B at the distal end. As shown in FIG.3A, the pivot 320 that joins the arms 305A-B is located between the handle portion 310A-B and the insertion tip 315A-B on each respective arm. In order to form the pivot 320, each arm may include a hole extending orthogonal to the longitudinal axis of the arm. The holes are aligned, and a pivot pin is placed therethrough (most clearly shown in FIGS.3B and 3D), thus coupling the arms 305A-B while permitting pivotal movement about the pivot pin. [0109] The joint tensioner 300 may be moved between a closed configuration and an open configuration by pivotal movement of the arms 305A-B about the pivot 320. The pivot 320 is configured to allow manual separation of the insertion tips 315A-B by applying force to the handle portions 310A-B of the arms 305A-B. In the closed configuration, the insertion tips 315A-B are relatively proximate to another. For example, as depicted in FIGS. 3A-3B and 3E, the arms 305A-B are positioned such that the insertion tips 315A-B abut one another. In some embodiments, the insertion tips 315A-B may be spaced apart (i.e., separated by a non-zero distance) even in the closed configuration. In the open configuration, the insertion tips 315A-B are relatively spaced from one another (i.e., separated by a greater 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 distance than in the closed configuration). For example, as demonstrated in FIG.3C, the arms 305A-B may be pivoted about the pivot 320 to separate the insertion tips 315A-B. Applying a force to the handle portions 310A-B may result in the arms 305A-B pivoting to switch the joint tensioner 300 from the closed configuration to the open configuration. [0110] As shown in FIG.3B, in an embodiment the joint tensioner 300 comprises one or more force sensors 325 located upon the handle portion 310A of the first arm 305A to measure the force applied to the handle portion 310A. The one or more force sensors 325 are located proximally of the pivot 320. For example, as shown in FIG.3B, the force sensor 325 may be adjacent to the pivot 320. In some embodiments, the force sensor 325 may be further spaced from the pivot 320. In some embodiments, the force sensor 325 may be placed in additional or alternative locations upon one or more of the arms 305A-B, e.g., the handle portions 310A-B or on a portion of the arms 305A-B distal of the pivot 320. In some embodiments, the joint tensioner 300 includes an array of force sensors 325 to measure the applied force. In such embodiments, several measured forces may be averaged to provide a more accurate force value. Additional locations and arrangements of force sensors 325 will be apparent to one having an ordinary level of skill in the art. [0111] In some embodiments, the one or more force sensors 325 comprise one or more strain gauges. In some embodiments, the one or more strain gauges may have a Wheatstone bridge configuration. However, other types of force sensors 325 could alternatively or additionally be utilized. For example, the one or more force sensors 325 may include any type of pressure sensors, piezoresistive sensors, torque sensors, or load sensors. Other sensors capable of being used with the joint tensioner 300 will be apparent to one having an ordinary level of skill in the art. Additional locations and/or arrangements of force sensors 325 may also be provided. In some embodiments, an array of force sensors 325 may be utilized. In some embodiments, the force sensor 325 or array of force sensors may be 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 positioned on one or both of the insertion tips 315A-B. For example, one or more force sensors 325 may be integrally formed on the contact surface of an insertion tip 315 or provided on a thin, flexible, substantially planar substrate (e.g., a film) affixed to the contact surface by embedding, adhering, heat-sealing, or any other method known to one having ordinary skill in the art. The array of force sensors 325 may be configured to entirely or substantially cover the contact surface of the insertion tip 315, which will contact and apply force to a surface of one or more bones of the joint. In other words, the array of force sensors 325 may be shaped and sized based on the insertion tip 315A-B so as to cover a footprint of the insertion tip or a contacting portion of the footprint. [0112] In some embodiments, a force sensor 325 may be located upon one of the arms, such as 305A, and the arm may include one or more concentration features configured to concentrate stress forces at the location of the force sensor 325. For example, the one or more concentration features may include holes, grooves, notches, fillets, or other irregularities in the design of the arm that concentrates the stress forces resulting from a force applied at the handle portion 310A. [0113] Referring again to FIG.3B, the joint tensioner 300 may comprise one or more positional sensors 330 located upon at least one of the arms 305A with a known spatial relationship with respect to the insertion tips 315A-B. The one or more positional sensors 330 are configured to measure a separation between the arm 305A in order to facilitate calculation of a tip distance between the insertion tips 315A-B (i.e., a distraction distance during distraction of a joint). In some embodiments, force measurements from the force sensors may additionally be utilized in the distraction distance calculations (e.g., as a calibration factor). In some embodiments, where high loads are applied, the joint tensioner 300 may experience bending at various locations, thus affecting the geometry of the joint tensioner 300 in a manner that affects the relationship of the separation measured by the positional sensors 330 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 to distraction distance. As such, the force measurements may be utilized to estimate any deformation of the joint tensioner 300 and account for the deformation in the distraction distance calculations. Additionally, the one or more positional sensors 330 may be located anywhere along the arms 305A-B. As shown in FIG.3B, in some embodiments a positional sensor 330 may be adjacent to the pivot 320. In some embodiments, a positional sensor 330 may be spaced further from the pivot 320. In some embodiments, one or more positional sensors 330 may be placed in additional or alternative locations upon the arms 305A-B, e.g., the handle portions 310A-B or on a portion of the arms distal from the pivot 320. In some embodiments, the one or more positional sensors 330 may be embedded in or otherwise coupled to the insertion tips 315A-B. In some embodiments, the joint tensioner 300 includes an array of positional sensors 330 to measure a separation between the arms 305A-B at multiple locations with known spatial relationships with the insertion tips 315A-B. In such embodiments, several measured separation distances may be utilized to calculate the distraction distance more accurately. Additional locations and arrangements of positional sensors 330 will be apparent to one having an ordinary level of skill in the art. [0114] In some embodiments, the one or more positional sensors 330 comprise one or more Hall effect sensors. The Hall effect sensors may be positioned on an inner face of one of the arms 305A-B in order to measure a separation of the arms. As shown in FIG.3B, a magnet 335 may be attached or embedded to the arm 305B opposing the Hall effect sensor 330 such that the magnitude of an emitted magnetic field as measured by the Hall effect sensor 330 correlates to a separation distance of the arms 305. In some embodiments, the magnet 335 may be positioned on the second arm 305B at a position along the longitudinal axis of the second arm matching a position of the Hall effect sensor 330 on the first arm 305A such that the magnet 335 directly opposes the Hall effect sensor. In some embodiments, the magnet 335 may be offset from a position along the longitudinal axis of the second arm 305B 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 that matches the position of the Hall effect sensor 330 on the first arm 305A. In some embodiments, the Hall effect sensor 330 is located on the second arm 305B, and the magnet 335 is located on the first arm 305A. In some embodiments, the position of the magnet 335 with respect to the Hall effect sensor 330 is fixed such that the positional relationship is known (i.e., in the closed configuration, the magnet 335 is positioned at a known distance from the Hall effect sensor 330). In some embodiments, the magnet 335 is removable and/or adjustable in position. In such cases, the positional relationship of the magnet 335 to the Hall effect sensor 330 is determined by a computing device or provided thereto by input, calibration, sensing, or other methods known to one having an ordinary level of skill in the art. Other types of positional sensors 330 could alternatively or additionally be utilized. In some embodiments, the one or more positional sensors 330 may include a potentiometer, an encoder, and/or a proximity sensor located along the length of one of the arms 305A-B. In some embodiments, the one or more positional sensors 330 may be positioned on an inner face of one of the arms 305A-B in order to face the opposing arm 305A-B to measure a separation therebetween. However, additional configurations of positional sensors 330 may be utilized as would be known to one having an ordinary level of skill in the art. In some embodiments, the one or more position sensors 330 may include other types of sensors with appropriate arrangements and modifications as would be apparent based on the teachings herein. [0115] Referring once again to FIG.3B, the joint tensioner 300 may comprise sensing electronics 340, which include additional electronic components needed to capture the force data and separation data from the one or more force sensors 325 and the one or more positional sensors 330. In some embodiments, the sensing electronics 340 include a processor. The processor may receive force data including applied force measurements from the one or more force sensors 325 and separation data including separation distance 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 measurements from the one or more positional sensors 330. In some embodiments, the processor utilizes the force data and the separation data to perform calculations. In some embodiments, the sensing electronics 340 can include a highly integrated microcontroller device with a variety of on-board hardware functions, such as signal amplifiers, analog to digital converters, digital to analog converters, serial buses, general purpose I/O pins, RAM, and ROM, or configurable hardware logic configured to process the force data and separation data. As shown in FIG.3B, some or all of the sensing electronics may be housed on a printed circuit board (PCB). In this example, the sensing electronics 340 may be coupled to a display interface located on one of the handles, such as 310A, or elsewhere on the joint tensioner 300 to display information derived from the force data and the separation data (e.g., distraction force and distraction distance), such that the joint tensioner 300 can act as a standalone device. Examples of the calculations that may be performed by the processor and information that may be displayed on the display interface of the joint tensioner are described in greater detail with respect to the system of FIG.6. [0116] In some embodiments, the joint tensioner 300 may additionally or alternatively include communication electronics (not shown) configured to transmit the signals to an external computing device (e.g., the surgical computer 150 of the CASS 100) to perform calculations as described herein. For example, the joint tensioner 300 may comprise a communication interface such as a port or adapter that may be mated with a complementary interfacing component of the external computing device. In some embodiments, the communication interface is a USB port configured to provide wired connection to the surgical computer 150, although other communication protocols using other types and/or numbers of communication interfaces can be employed. In additional embodiments, the communication interface may comprise a wireless transmission system such that the electronic communication with the external computing device is wireless. The 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 communication interface may comprise one or more standard wireless communication protocols, including but not limited to Bluetooth, WiFi, Zigbee, or broadband cellular network communication. The communication interface is coupled to the sensing electronics 340 by a bus or other communication link to receive the data from the one or more sensors 325/330. In this example, the communication interface operatively couples and communicates between the sensing electronics 340 of the joint tensioner and other computing devices. The force data and the separation data may be sent via the communication interface for remote processing. [0117] In some embodiments, the joint tensioner 300 comprises a power source. For example, an on-board power source such as a battery may be included in communication with the sensing electronics 340. In some embodiments, the joint tensioner 300 comprises a power interface such as a port or adapter that may be mated with a complementary interfacing component of an external power source in order to provide power to the joint tensioner 300. In some embodiments, the power interface is a USB port configured to provide wired connection to a power source, although other types and/or numbers of power interfaces can be employed. In some embodiments, a single interface may be utilized as a communication interface and a power interface. For example, a USB port may provide wired connection to an external computing device, which provides power to and receives signals from the joint tensioner 300. [0118] In some embodiments, the joint tensioner 300 may include one or more buttons or other means of controlling the function of the processor, display, and sensing electronics. In some embodiments, the joint tensioner 300 comprises a power button for turning the electronic components of the tool on and off. In some embodiments, the joint tensioner 300 comprises a display button to alter the display readout. For example, the display button may be pressed one or more times to cycle through different display options. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 In some embodiments, the display button may cycle through different output units in which the calculated measurements are displayed. In some embodiments, the display button may cycle through different parameters or measurements to be displayed. In some embodiments, the joint tensioner 300 comprises a calibration button such as a “zero out” or “tare” button in order to reset the measurements to zero to account for and cancel out any existing force and/or separation sensed by the joint tensioner 300. In some embodiments, this feature may be utilized to account for any “noise” being sensed by the sensors. In some embodiments, this feature may be utilized to display a differential reading between two measurements. [0119] Referring now to FIG.3D, the insertion tips 315A-B are described in greater detail. In some embodiments, the insertion tips 315A-B extend from the distal ends of the arms 305A-B in a direction parallel to the rotational axis of the pivot 320 so as to be “side- facing” tips as shown. The distal portions of the insertion tips 315A-B form a contact surface for interfacing with the bones of the patient. As shown in FIG.3D, the insertion tips 315A-B may taper distally, forming a slim profile and a minimal thickness at the free end. In some embodiments, the insertion tips 315A-B may be distinct from one another in their shape and design. For example, insertion tip 315A may have a two-pronged design adapted to engage and lift the femur during distraction, while insertion tip 315B may have a one-pronged design. The two-pronged design for engaging the femur may allow the insertion tip 315A to cradle a condyle of the femur and self-center upon the condyle by sliding along the surface of the condyle as the insertion tip is placed and/or retracted. Accordingly, tensioning across a plurality of measurements may be performed with at more consistent location. Further, the insertion tips 315A-B may be configured to nest together to further minimize the effective thickness of the joint tensioner 300 at the point of insertion. As most clearly shown in FIGS. 3B and 3D, the underside of insertion tip 315A may be configured to mate and nest with insertion tip 315B to align the free ends. Insertion tip 315A may also have a curved shape 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 such that the free ends are substantially aligned in the same plane in the closed configuration as shown in FIG.3B, thereby minimizing the effective thickness at the free end. The slim, tapering profile facilitates insertion of the joint tensioner 300 into the limited space between the bones of a joint, especially in the pre-operative stages prior to performing bone resections. [0120] In some embodiments, the insertion tips 315A-B may be configured to grip the bone surfaces in order to mitigate shifting of the joint tensioner 300 during tensioning. For example, as shown in FIG.3B, the insertion tip 315B comprises a rough or textured lower surface for gripping a bone of the joint (e.g., a tibia). In some embodiments, a gripping material may be provided on one or more surfaces of the insertion tips 315A-B to accomplish the same. Additional or alternative means for gripping the bone surface may be implemented as would be known to one having an ordinary level of skill in the art. [0121] The insertion tips 315A-B may be selectively detachable from the arms 805A-B. In some embodiments, the arms 305A-B include a mating portion at their distal ends. For example, as shown in FIG.3D, each arm 305A-B includes a receptacle such as a through-hole at the distal end. Each of the insertion tips 315A-B comprises a complementary mating portion at the proximal end configured to mate with the mating portion of the arms 305A-B. For example, the insertion tips 315A-B are depicted as having a shaft or stem portion configured to mate with the receptacles of the arms 305A-B. The mating portions may lock together in a variety of manners, such as an interference fit, a snap-fit mechanism, or other manners known to one having an ordinary level of skill in the art. In some embodiments, the mating portions lock together in a specific orientation to ensure that the insertion tips 315A-B are oriented properly with respect to the arms 305A-B. In some embodiments, the insertion tips 315A-B may be adjustable. For example, the shaft portions of the insertion tips 315A-B may lock with the receptacles of the arms 305A-B in a manner that allows free rotation of the insertion tip 315A-B about the axis of the shaft portion without 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 separating from the arm. In some embodiments, where the insertion tips 315A-B are distinct from one another, the mating portions thereof may also be unique to mate specifically with the corresponding arm 305A-B. The mating portions may have unique shapes, sizes, keying features, or other characteristics corresponding to the mating portion of the corresponding arm 305A-B. [0122] In some embodiments, the insertion tips 315A-B may be designed to couple with the arms 305A-B in a plurality of positions. For example, in some embodiments, the insertion tips 315A-B extend in a direction parallel to the rotational axis of the pivot 320. As shown in FIG.3D, the through-holes of the arms 305A-B extend substantially parallel to the pivot 320 such that the insertion tips 315A-B are inserted within the through-holes at a first side and extend away from the arms in a first direction. The mating portions may be configured such that the insertion tips 315A-B may also be inserted within the through-holes at a second side, opposite the first side, such that the insertion tips 315A-B extend away from the arms 305A-B in a second direction, which is opposite the first direction. The multiple configurations allow for convenient use of the joint tensioner in multiple joints, e.g., both left and right knees of a patient, as further described with respect to FIG.5. When the insertion tips 315A-B are inserted in any of the plurality of positions, the distance between the insertion tips and the pivot 320 remains fixed (as shown in FIG.3E) such that the position of the insertion tips does not affect the calculation of distraction force and distraction distance. As such, the joint tensioner 300 does not require re-calibration upon re-configuration of the insertion tips 315A-B. [0123] As shown and described, the insertion tips 315A-B may be designed as a pair adapted for use together with the joint tensioner 300. In some embodiments, a plurality of pairs of insertion tips 315A-B may be provided for use with the joint tensioner 300. The pairs of insertion tips 315A-B may be of a variety of types, each type having a unique shape, size, 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 and/or design. Based on a particular application, a suitable pair of insertion tips 315A-B may be coupled with the arms 305A-B for distraction. For example, in some cases, the most accurate and clinically useful data may be obtained by filling the entire gap between the bones of the joint with the insertion tips 315A-B prior to distraction. The tapering profile of the insertion tips 315A-B is configured to be inserted until the gap between the bones is filled. However, the gap between the bones of a joint may vary from joint to joint and from patient to patient. Accordingly, in some embodiments, the insertion tips 315A-B may be provided in a variety of sizes and/or thicknesses. Each pair of insertion tips 315A-B may have a thickness at the free end selected from 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, and any individual values or ranges between values therein. As such, in each case, a clinician may select the pair of insertion tips 315A-B having the appropriate thickness to fill the entire gap between the bones of the joint. Additionally, the increasing thickness of the insertion tips 315A-B towards the proximal end may be provided for by a variety of slopes. While one example of the slope is demonstrated in FIGS.3A-3D, the slope may be gentler or steeper as desired. In some embodiments, pairs of insertion tips 315A-B having a variety of slopes are provided such that a suitable pair of insertion tips 315A-B may be selected to best fit the contours of the bones. [0124] Further, the pairs of insertion tips 315A-B may include a variety of different shapes, sizes, and designs. For example, in some embodiments, insertions tips 315A-B may be provided in a plurality of sizes to accommodate anatomies of varying sizes. In some embodiments, a first pair of insertion tips 315A-B may be provided in a first size for an average sized anatomy, a second pair of insertion tips 315A-B may be provided in a second size having a smaller contact surface than the first size for a below average sized anatomy, and a third pair of insertion tips 315A-B may be provided in a third size having a larger contact surface than the first size for an above average sized anatomy. In some embodiments, 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 each insertion tip size may additionally or alternatively provide varying spacing between the prongs of the insertion tips 315A-B. A greater or lesser number of sizes of insertion tips 315 may be provided in order to efficiently provide suitable insertion tips for different anatomy size ranges. In some embodiments, the anatomy size comprises the overall size of the femur and/or the tibia of a patient. In some embodiments, the anatomy size comprises the size of the particular condyle, condyles, or other anatomical features with which the insertion tip is configured to interface. In another example, insertion tips 315 may be provided in a plurality of shapes or designs for interfacing with different features of bones. In some embodiments, the plurality of pairs of insertion tips 315 comprises a first pair of insertion tips with a first design configured to interface with the medial condyles of a knee joint (i.e., inserted in the medial compartment) and a second pair of insertion tips with a second design configured to interface with the lateral condyles of a knee joint (i.e., inserted in the lateral compartment). In some embodiments, the plurality of pairs of insertion tips 315 additionally or alternatively comprises a third pair of insertion tips with a third design configured to interface with both the medial and lateral condyles simultaneously (i.e., Inserted in both the medial and lateral compartments). In another example, insertion tips 315 may be provided in a plurality of shapes or designs for different stages of an operation. In some embodiments, the plurality of pairs of insertion tips 315 comprises a first pair of insertion tips having a first shape or design configured to interface with the bones prior to bone resection (e.g., pre-operatively) and a second pair of insertion tips having a second shape or design configured to interface with the bones after one or more resections. In another example, insertion tips of a variety of designs configured for insertion into different joints (e.g., knee, shoulder, an elbow, ankle, hip, and the like) in order to facilitate use of the joint tensioner with different joints. [0125] In some embodiments, the various shapes, sizes, and designs of the insertion tips 315A-B does not affect the distance between the insertion tips and the pivot 320. Since 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 this distance remains fixed (as shown in FIG.3E), the type of the insertion tips 315A-B does not affect the calculation of distraction force and distraction distance. As such, the joint tensioner 300 does not require re-calibration upon replacement of the insertion tips 315A-B. [0126] In some embodiments, the insertion tips 315A-B are disposable and/or configured for one-time use. In some embodiments, the insertion tips 315A-B are re-usable. In some embodiments, the insertion tips 315A-B are configured for sterilizing or autoclaving. In some embodiments, the insertion tips 315A-B are configured to be placed within a sleeve during use such that the insertion tips 315 do not directly contact the patient or other elements of the surgical environment, thereby maintaining sterility. In some embodiments, the insertion tips 315A-B may be customized with a patient-specific size, shape, design, or other features as described herein for interfacing with a surface of the patien’'s operative joint in a consistent and predictable manner. [0127] Referring now to FIGS.4A-4B, several views of another example embodiment of a joint tensioner are illustrated. The joint tensioner 400 may further be incorporated within a CASS (e.g., CASS 100 shown in FIG.1 ). The joint tensioner 400 comprises a first arm 405A and a second arm 405B coupled by a pivot 420 located along the length of the arms 405. The first arm 405A comprises a handle portion 410A at the proximal end and an insertion tip 415A formed as a two-pronged tip at the distal end. The two-pronged design for engaging the femur may allow the insertion tip 415A to cradle a condyle of the femur and self-center upon the condyle by sliding along the surface of the condyle as the insertion tip is placed and/or retracted. Accordingly, tensioning across a plurality of measurements may be performed with at more consistent location. Similarly, the second arm 405B comprises a handle portion 410B at the proximal end and an insertion tip 415B formed as a one-pronged tip at the distal end. In some embodiments, the insertion tips 415A-B may be integrally formed with the joint tensioner 400 and may be oriented in the same plane as the 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 handles 410A-B so as to be “front-facing” tips as shown in FIG.4A. The pivot 420 that joins the arms 405A-B is located between the handle portions 410A-B and the insertion tips 415A- B on the respective arms 405A-B. In some embodiments, the arms 405A-B may include a loading arm and a flexing arm. For example, as shown in FIG.4A, the first arm 405A may be formed as a flexing arm having a predetermined amount of flexibility, and the second arm 405B may be formed as a loading arm having relatively little flexibility compared to the first arm 405A. In other embodiments, the first arm 405A may be a loading arm, and the second arm 405B may be a flexing arm. In some embodiments, the arms 405A-B may have a similar design and similar degree of flexibility (e.g., as shown and described with respect to joint tensioner 300). In order to form the pivot 420, the first arm 405A may include two parallel flanges 435 with through holes formed therein. The second arm 405B includes at least one protrusion extending through a through hole in order to form the pivot joint. In another embodiment, each arm 405 may include a hole extending orthogonal to the longitudinal axis of the arm. The holes are aligned, and a pivot pin is placed therethrough, thus coupling the arms 405 while permitting pivotal movement about the pivot pin (e.g., as shown and described with respect to joint tensioner 300). The joint tensioner 400 may be moved between a closed configuration and an open configuration by pivotal movement of the arms 405A-B about the pivot 420. The pivot 420 is configured to allow manual separation of the insertion tips 415A-B by applying force to the handle portions 410A-B of the arms 405A-B. Similar to the embodiment of FIGS.3A-3E , the insertion tips 415A-B can be moved from a closed configuration to an open configuration when force is applied at the handle portions 410A-B. [0128] As shown in FIG.4B, in an embodiment the joint tensioner 400 comprises one or more force sensors 425 located upon the first arm 405A to measure the force applied to the handle portion 410A. In some embodiments, the one or more force sensors 425 are located distally of the pivot 420. For example, as shown in FIG.4B, the one or more force 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 sensors 425 may be adjacent to the prongs of the insertion tip 415A. However, a force sensor 425 may be placed in additional or alternative locations upon the arms as described herein. In some embodiments, the joint tensioner 400 includes an array of force sensors 425 which may be utilized to provide additional information and accuracy as described herein. Additional locations and arrangements of force sensors 425 will be apparent to one having an ordinary level of skill in the art. In some embodiments, the one or more force sensors 425 comprise one or more strain gauges. However, any types of force sensors could alternatively or additionally be utilized with the joint tensioner 400. In some embodiments, the arm 405A may include one or more concentration features configured to concentrate stress forces at the location(s) of the one or more force sensors 425. For example, the one or more concentration features may include holes, grooves, notches, fillets, or other irregularities in the design of the arm 405A-B that concentrates the stress forces resulting from a force applied at the handle portion 410A-B. [0129] Referring again to FIG.4A, the joint tensioner 400 comprises one or more positional sensors 430 in order to facilitate calculation of a tip distance between the insertion tips 415A-B (i.e., a distraction distance during distraction of a joint). As shown in FIG.4A, the positional sensor 430 may be contained within the joint of pivot 420 and configured to measure a rotational displacement at the pivot. The pivot 420 has a known spatial relationship with the distal end of the joint tensioner. As such, the distraction distance at the insertion tips 415A-B may be calculated according to the equation:

where LP1 is a first prong length (i.e., the length of the first arm 405A from the pivot 420 to the insertion tip 415A), L_P2 is a second prong length (i.e., the length of the second arm 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 405B from the pivot 420 to the insertion tip 415B), and rot is the angular displacement measured by the positional sensor 430 at the pivot 420. [0130] In some embodiments, the one or more positional sensors 430 comprise one or more rotary encoders. The rotary encoder may be inserted within the pivot 420 in order to measure rotational displacement. Other types of rotational sensors could alternatively or additionally be utilized. In some embodiments, the one or more positional sensors 430 may include a rotary potentiometer. In some embodiments, the one or more positional sensors 430 may include an orientation sensor located along the length of the arms. For example, the one or more positional sensors 430 may comprise an inertial measurement unit configured to measure a change in the orientation of the arms. In some embodiments, the joint tensioner 400 includes a plurality of positional sensors 430 at the pivot 420 to calculate the distraction distance more accurately. In some embodiments, the one or more positional sensors 430 further include one or more sensors configured to measure a separation distance at a location along the arms 405A-B, as shown and described with respect to FIGS.3A-3E . Additional locations and arrangements of positional sensors 430 will be apparent to one having an ordinary level of skill in the art. In some embodiments, the positional sensors 430 may be removable from the joint tensioner 400. For example, as shown in FIG.4A, the rotary encoder 430 may be removable from the pivot 420. In some embodiments, the positional sensor 430 may be designed as a disposable component. In some embodiments, the positional sensor 430 may be designed as a reusable component which may be removed and replaced in the pivot 420 to facilitate sterilization and calibration procedures. In some embodiments, the positional sensor 430 may be embedded and/or integrally formed with the joint tensioner 400. [0131] Referring once again to FIG.4A, the joint tensioner 400 may comprise sensing electronics 440, which include additional electronic components needed to capture the force data and separation data from the one or more force sensors 425 and the one or 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 more positional sensors 430. In some embodiments, the sensing electronics 440 include a processor. The processor may receive force data including applied force measurements from the one or more force sensors 425 and separation data including rotational displacement measurements from the one or more positional sensors 430. In some embodiments, the processor utilizes the force data and the separation data to perform calculations. Various additional components which may be included in the sensing electronics 440 are described and depicted fully with respect to joint tensioner 300 (i.e., sensing electronics 340). As shown in FIG.4A, the sensing electronics 440 may be coupled to a display interface 445 located on one of the handles 410 or elsewhere on the joint tensioner 400 to display information derived from the force data and the separation data (e.g., distraction force and distraction distance), such that the joint tensioner 400 can act as a standalone device. Examples of the calculations that may be performed by the processor and information that may be displayed on the display interface of the joint tensioner are described in greater detail with respect to the system of FIG.6. In some embodiments, the joint tensioner 400 may include one or more buttons or other means of controlling the function of the processor, display, and sensing electronics. The joint tensioner 400 may comprise a power button, a display button, and/or a calibration button such as a “zero out” or “tare” button as fully described herein. [0132] In some embodiments, the joint tensioner 400 may additionally or alternatively include communication electronics configured to transmit the signals to an external computing device (e.g., the surgical computer 150 of the CASS 100) to perform calculations as described herein. The communication electronics may comprise any of the various embodiments described and discussed with respect to joint tensioner 300. For example, the joint tensioner 400 may comprise a communication interface such as a port or adapter to provide wired connection to the external computing device. In another example, the communication interface comprises a wireless transmission system for wireless 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 communication with the external computing device. The force data and the separation data may be sent via the communication interface for remote processing. [0133] In some embodiments, the joint tensioner 400 comprises a power source. For example, an on-board power source such as a battery may be included in communication with the sensing electronics 440. In some embodiments, the joint tensioner 400 comprises a power interface such as those described with respect to joint tensioner 300. In some embodiments, a single interface may be utilized as a communication interface and a power interface. [0134] FIG.5 depicts a joint tensioner inserted in a knee joint in accordance with an embodiment. A joint tensioner 500 (e.g., tensioner 300 of FIGS.3A-3E ) is inserted between the femur and the tibia of a knee joint. The insertion tips of the joint tensioner 500 may be sized and shaped to be inserted between one condyle of a femur and one corresponding condyle of a tibia. In an embodiment, the insertion tips of the joint tensioner 500 may be inserted in the medial compartment of a knee joint. However, the insertions ends may be sized and shaped to be inserted between lateral condyles, between both condyles individually, between both condyles simultaneously, and/or additional features of the femur and tibia. When inserted, applying a force to a handle of the joint tensioner 500 may cause a distraction force at a contact surface upon the bones, i.e., a surface of the insertion tips in contact with the bones. The applied force may be sensed and registered by the force sensors. Further, the distraction force may cause the femur and the tibia to separate, resulting in pivoting of the arms of the joint tensioner. A separation measurements (e.g. a separation distance at a position along the arms and/or a rotational displacement) may be sensed and registered by the positional sensors. Each sensor may communicate signals indicative of the measurements to on-board sensing electronics of the joint tensioner 500 and/or directly to an external device via a communication interface (e.g., a wired connection or a wireless transmission system) to perform calculations as described herein. The joint tensioner 500 may include an on-board 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 power source or a wired connection to receive power. In some embodiments, a single wired connection and/or interface may be utilized for communication and power. [0135] As described with respect to FIGS.3A-3E, the insertion tips may be designed to couple with the arms in multiple configurations allow for convenient use of the joint tensioner in multiple joints, e.g., both left and right knees of a patient. For example, as shown in FIG.5 , the insertion tips may be inserted at the first side of the joint tensioner for use in tensioning a patient's left knee with the arms oriented medially. The insertion tips may also be inserted at the second side for use in tensioning a patient's right knee joint with the arms similarly oriented medially. This orientation allows the patella to be reverted to the native position during tensioning, thus providing a more natural position of the joint and more accurate distraction measurements. [0136] While FIG.5 depicts the use of the joint tensioner 500 with the knee joint in flexion, the joint tensioner 500 may also be used with the knee joint in extension. In some embodiments, the joint tensioner 500 may be utilized to capture data at each of a plurality of positions along the range of motion of the knee joint. In some embodiments, the knee joint may be moved through the range of motion with the joint tensioner 500 inserted in order to capture data at a plurality of positions. Additionally, while FIG.5 depicts the joint tensioner 500 in use on native condyles, the joint tensioner 500 may also be used intraoperatively after one or more bone cuts. In some embodiments, the joint tensioner 500 may be used after cutting one or more of the distal femur and the proximal tibia, e.g., to assess the medial and collateral ligaments under tensioning and/or assess a suitable prosthesis thickness. For example, a distraction distance may be utilized to determine the suitable prosthesis thickness In some embodiments, the joint tensioner 500 may be used after prosthesis implantation in order to assess postoperative distraction force and data. In some embodiments, the joint tensioner 500 may be used before bone cuts, after one or more bone cuts, and/or after 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 prosthesis implantation in order to compare distraction force and/or distraction distance at each stage. [0137] Referring now to FIG.6 , a block diagram of an illustrative system for tensioning a joint during a surgical procedure in accordance with an embodiment is depicted. As shown in FIG.6 , the system 600 may include a computing device 605 and a joint tensioner 610. In some embodiments, the system 600 is a surgical system or a robotic surgical system. The joint tensioner 610 may be any of the embodiments depicted and/or described herein (e.g., joint tensioner 300 of FIGS.3A-3E or joint tensioner 400 of FIGS.4A-4B). The joint tensioner 610 is in electronic communication with computing device 605 so as to relay signals from the sensors (e.g., force sensors and positional sensors) to the computing device 605. In some embodiments, the computing device is an on-board processor of the joint tensioner 610 (e.g., as part of the sensing electronics 340 of the joint tensioner 300). In some embodiments, the computing device 605 is an external computing device such as a tablet computer, mobile device, the computing device of a CASS, or other types of computing or data processing systems as described herein. In some embodiments, electronic communication between the joint tensioner 600 and the computing device 605 may be wired. In additional embodiments, electronic communication between the joint tensioner 600 and the computing device 605 may be through a wireless transmission system. [0138] The computing device 605 receives, via the electronic communication, signals from the force sensors indicative of force measurements registered by each individual force sensor (i.e., force data). Similarly, the computing device 605 receives signals from the positional sensors that are indicative of separation distance measurements and/or rotational displacement measurements registered by each individual positional sensor (i.e., separation distance data). The computing device 605 utilizes known parameters related to the sensors to perform various calculations. In some embodiments, the computing device 605 may utilize 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 the force data in conjunction with the known properties and geometry of the joint tensioner 610 to calculate the distraction force at the insertion tips. Where a plurality of force sensors are utilized, the computing device 605 may calculate a distraction force based on the force data from each individual force sensor and average the calculated distraction forces to obtain an improved approximation of the distraction force. In some embodiments, the computing device 605 may utilize the separation data in conjunction with the known properties and geometry of the joint tensioner 610 to calculate the distraction distance at the insertion tips. In some embodiments, the force data may be utilized as a calibration factor in the distraction distance calculations. For example, where high loads are applied, the joint tensioner 610 may experience bending at various locations, thus affecting the geometry of the joint tensioner 610 in a manner not accounted for in the separation data. In other words, the bending of the joint tensioner 610 affects the relationship between the separation data and the distraction distance. As such, the force data may be utilized to estimate any deformation of the joint tensioner 610 and account for the deformation in the distraction distance calculations. When a plurality of positional sensors are utilized, the computing device 605 may calculate a distraction distance based on the separation data from each individual positional sensor and average the calculated distraction distances to obtain an improved approximation of the distraction distance. The known properties and geometry for the calculations may include the distance between the force sensor and the pivot, the distance between the positional sensor and the pivot, the distance between the pivot and the insertion tips, the angle formed by each arm at the pivot, the angle between the handles in the closed configuration, the material properties of the joint tensioner 610 (e.g., modulus of elasticity), and additional properties of the joint tensioner 610 as would be known to one having an ordinary level of skill in the art. Further, it is understood that any or all of the described calculations and information could alternatively 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 be performed and provided on-board by a processor of a standalone joint tensioner as described with respect to FIGS.3A-3E. [0139] Referring again to FIG.6 , the system 600 may include one or more displays 615 in wired or wireless electronic communication with the computing device 605. The one or more displays 615 may display, for example, information pertaining to the distraction force and distraction distance. In an embodiment, the one or more displays 615 may include a digital display. Any of the collected or calculated data described herein may be displayed to a user in real-time on the one or more displays 615. For example, a total magnitude and direction of the distraction force, a distraction distance, and/or a distraction profile may be indicated to a user on a display 615 as feedback to the user. Further, additional information or data may be indicated on a display 615. In some instances, the computing device 605 may have additional information such as a pre-determined force value or range of force values (i.e., target force values) known to provide useful assessment of a patient's joint. As such, the system 600 may prompt a user via a display 615 to apply a greater or lesser force in order to reach the target force to obtain useful measurements such as distraction distance. In some embodiments, the appropriate amount or range of force may be pre-determined for all patients. In other embodiments, the appropriate amount or range of force may be adjusted based on various factors, such as one or more contemplated post-operative activities and patient demographics including but not limited to weight, height, size, and age. The system 600 may also prompt the user to apply less force if an excessive applied force may result in damage to the patient or a component of the system 600. In additional embodiments, the computing device 605 may have a pre-determined distraction distance value or range of values (i.e., target distance values) known to provide useful assessment of a patient's joint. As such, the system 600 may prompt a user via a display 615 to adjust the distraction distance (greater or lesser) in order to reach the target distance to obtain useful measurements such as 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 distraction force. The appropriate target distance may be pre-determined for all patients or calculated and adjusted based on any of the parameters described above with respect to a target force. The system 600 may also prompt the user to decrease distraction distance if an excessive distance may result in damage to the patient or a component of the system 600. [0140] The feedback with respect to the distraction force or distraction distance may be provided in a variety of manners. In some embodiments, the visual feedback indication may include a first color, such as green, if more force or separation should be applied, and a second color, such as red, if less force or separation should be applied. In some embodiments, feedback information for the direction may include an arrow or other visual indication identifying that the user should alter the direction in which the force or separation is applied. In some embodiments, a visual indication identifying a location at which the joint tensioner 610 should be positioned in order to apply an appropriate magnitude and direction of distraction for a given application may be provided via the display 615. In further embodiments, the system 600 may prompt collection of measurements at specific positions along the range of motion of the joint. The system 600 may additionally prompt collection of measurements at specific locations within the joint (e.g., medial compartment, lateral compartment, etc.). In some embodiments, the measurements may be associated by a user with a particular location within the joint and/or position along the range of motion before or after data collection via a user interface as described herein. In still further embodiments, the computing device 605 may identify unexpected results and prompt the user to assess one or more components of the system. For example, where the computing device 605 obtains measurements which do not comport with an expected range of credible measurements, the display 615 may prompt a user to examine the joint tensioner 610 as well as connections of the components because the unexpected results may be indicative of a faulty or damaged component, improper assembly of one or more components of the system 600, and the like. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 Alternate or additional information may be provided to the user within the scope of this disclosure as will be apparent to those of ordinary skill in the art. In some embodiments, the display 615 may be an augmented reality headset worn by a user. In some embodiments, the system 600 may provide additional feedback, such as suggested implant size, suggested amount of tissue release, estimated post-operative tension, estimated varus/valgus alignment, and the like. Further, it is understood that any information that may be displayed on an external display 615 may additionally or alternatively be displayed on an on-board display interface of the joint tensioner and vice versa. In other embodiments, other manners of feedback may additionally or alternatively be utilized, such as auditory signals. An auditory signal or other feedback may be emitted from a component of the system 600 or, in the case of a standalone joint tensioner, from the joint tensioner itself (e.g., a sound emitting component communicating with the sensing electronics). [0141] In some embodiments, the computing device 605 is a WiFi- or broadband cellular-enabled device. The computing device 605 may communicate collected and/or calculated data to one or more destinations. For example, the data may be communicated to a local storage unit, a remote computer, a remote database, a server, and/or a cloud network. In some embodiments, the computing device 605 transmits the data to a WiFi- or cellular- enabled device via another wired or wireless communication means and the WiFi- or cellular- enabled device in turn relays the data to the one or more destinations. For example, the WiFi- or cellular-enabled device may be a tablet computer, mobile device, laptop computer, desktop computer, or other data processing system as described herein. In some embodiments, the computing device 605 and/or the display 615 may be integrated into the WiFi- or cellular- enabled device. For example, a tablet computer or mobile device may receive measurement data from the joint tensioner 610 and perform calculations via a local processor 605. In some embodiments, the system 600 comprises multiple such WiFi- or cellular-enabled devices, 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 each having a computing device 605 and a display 615 such that the joint tensioner 610 may communicate data with any of the interfaces. In some embodiments, data may be shared or synced across the devices by wired or wireless communication. [0142] In some embodiments, where an external device is utilized (e.g., a tablet computer or mobile device as described herein), a software application on the external device may be utilized to display to a user the distraction forces, distraction distances, distraction profiles, and any other information provided to or determined by the computing device 605 and/or provided to the display 615. In some embodiments, a user interface of the external device may be utilized to receive user input and/or perform further calculations. For example, the display 615 and user interface of such an external device may be utilized during data collection to associate measurements with a particular location within the joint and/or position along the range of motion. In some embodiments, one or more measurements taken after bone resection (e.g., separation distance) may be recorded and utilized to determine a suitable implant thickness. For example, the joint tensioner may record a total distance between the bones at a desired tension in order to identify the required implant thickness. In some embodiments, additional input may be received through the user interface. For example, an implant type, family, and/or size may be selected through the user interface. The computing device 605 may utilize the dimensions and other information associated with the selected implant to perform further calculations. For example, based on the implant information, the computing device 605 may calculate and report a tension and/or varus/valgus alignment of the post-operative knee. In some embodiments, the user may select a plurality of implants and compare the calculated post-operative data for each of the implants through the user interface. In some embodiments, the computing device 605 may perform the calculations for a plurality of implants and identify one or more suggested implants for the user to review and/or compare. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0143] Systems utilizing a software application on a tablet, mobile device, or other smart device may be particularly advantageous because use of the joint tensioner 610 may not be dependent on a specific computer-assisted surgical system (e.g., CASS 100 of FIG.1 ). Rather, while the tool may be compatible with the CASS 100, the joint tensioner 110 may also be used with any other surgical system and/or used independently to obtain the distraction forces, distraction distances, distraction profiles, recommendations for a surgical plan, and any other information related to the joint, which may be provided to the user by the software application. [0144] In some embodiments, the joint tensioner 610 may require calibration prior to data collection. In some embodiments, the calibration comprises collecting force data in response to the application of one or more known quantities of force. The computing device 605 may utilize the collected data to determine the precise relationship between the quantified measurements from the force sensors and the applied force. In some embodiments, the calibration comprises collecting separation data in response to one or more known separation distances between the arms of the joint tensioner 610 along a length thereof. The computing device 605 may utilize the collected data to determine the precise relationship between the quantified measurements from the positional sensors and the separation of the arms. In some embodiments, calibration is performed prior to obtaining a first measurement. In some embodiments, certain changes to the system or the joint tensioner do not affect calculations and thus re-calibration is not required thereafter. For example, as described, repositioning the insertion tips from a first side to a second side of the joint tensioner may not require re-calibration. Further, replacing one type of insertion tip with another type of insertion tip may not require re-calibration. In some embodiments, certain changes to the system or the joint tensioner require re-calibration of the joint tensioner. For example, where a sensor is removed, re-positioned, or replaced, re-calibration may be required. In some 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 embodiments, where a Hall effect sensor and magnet are utilized for collecting separation data, re-calibration may be required if a magnet is removed, re-positioned, or replaced. In some embodiments, the system 600 may prompt a user to calibrate and/or re-calibrate the joint tensioner 610 at appropriate times. [0145] Referring once again to FIG.6 , additional or optional features of the system 600 are depicted in broken lines. In some embodiments, the robotic surgical system 600 may additionally comprise a tracking system 620 in wired or wireless electronic communication with the computing device 605. In an embodiment, the tracking system 620 is configured to be attached to one or more portions of the patient's anatomy into which the joint tensioner 610 is inserted to improve the detail of the measurements obtained using the joint tensioner. In an embodiment, the tracking system 620 includes one or more patient trackers 625 (e.g., optical tracking arrays). The one or more patient trackers 625 can be attached to one or more of the patient's tibia and femur. In an embodiment, the one or more patient trackers 625 may be attached to each of the patient's tibia and femur and may be configured to record one or more location data points that may be indicative of the relative orientation of the tibia and femur as the joint tensioner 610 is inserted between the patient's tibia and femur and moved, for example, as a force is applied to the handle of the joint tensioner. In an embodiment, the relative orientation of the tibia and femur includes the locations of the tibia and femur. In an embodiment, the relative orientation of the tibia and femur includes the distance between the tibia and femur. In an embodiment, the relative orientation of the tibia and femur includes the angle between the tibia and femur relative to one or more of the distal-proximal axis, the anterior-posterior axis, and the medial-lateral axis. In an embodiment, the relative orientation of the tibia and femur includes a flexion angle of the tibia and femur. [0146] Further, the patient trackers 625 of the tracking system 620 may facilitate additional calculations by the computing device 605. For example, the computing device 605 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 may receive information from the tracking system 620 regarding the flexion and/or extension of the joint, and thus associate each set of distraction measurements (e.g., distraction force and distraction distance) with a discrete position along the range of the motion of the joint. Measurements may be collected at a plurality of discrete positions to create a distraction profile with respect to the range of motion of the joint. [0147] In further embodiments, the tracking system 620 includes one or more tool trackers 630 (e.g., optical tracking arrays). The one or more tool trackers 630 are configured to record one or more location data points indicating one or more of the location, the orientation, and the motion of the joint tensioner 610 and provide at least one of these data points to the computing device 605. The one or more tool trackers 630 can be attached to the joint tensioner 610 and may be configured to record one or more location data points that may be indicative of the relative position, orientation, and motion of the joint tensioner 610. In conjunction with one or more patient trackers 625, the tracking system 620 and the computing device 605 may determine the location, orientation, and motion of the joint tensioner 610 with respect to the patient anatomy based on the known dimensions and geometry of the joint tensioner 610 with respect to the tool trackers 630. Further, the tool trackers 630 of the tracking system 620 may facilitate additional calculations by the computing device 605. For example, the computing device 605 may receive information from the tracking system 620 regarding the location and orientation of the joint tensioner 610 with respect to the patient anatomy. The computing device 605, based on known parameters related to the joint tensioner 610 and the patient anatomy, can approximate contact points on the bones of the joint. [0148] The system 600 may include more or fewer components in certain examples. For example, the system 600 may not include a display 615, a patient tracking system 620, and/or one or both of patient trackers 625 and tool trackers 630. In some embodiments, the 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 display 615 is integrated into the joint tensioner 610 as an on-board display interface. In some embodiments, both an on-board display interface 615 and an external display 615 may be included. [0149] Further details on tensioner devices are described in International Patent Application No. PCT/US2021/029355, filed April 27, 2021, and entitled "KNEE TENSIONER WITH DIGITAL FORCE AND DISPLACEMENT SENSING," the entirety of which is incorporated herein by reference. Patient-Specific Tensioning [0150] While the disclosed joint tensioners 300/400 may be used to collect data when a force within a specified range is applied, the devices 300/400 are not capable of identifying a patient-specific tensioning force that approximates the maximum distraction point and/or stability point. [0151] Some surgical systems allow surgeons to select between one or more different generic force levels. Once selected, the surgeon tensions the joint using a tool (e.g., a joint tensioner 300/400), and the system 100 only collects data when the applied force is at the selected force level (e.g., as defined by a range). The different generic force levels may be useful for different sized patients and/or different anatomies, but the force levels are not patient- specific. Accordingly, generic force levels are not necessarily effective for distracting to the maximum distraction point and/or stability point for a given patient. [0152] In order to approximate the stability point, surgeons have used a joint tensioner to apply a low amount of force and slowly increase the force while viewing data recorded during the tensioning to determine whether the gap is increasing and/or tension is increasing in the joint. As more force is applied, the surgeon may manually identify an approximate point at which the joint tension is no longer increasing (i.e., the maximum 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 distraction point). The stability point may be approximated as being just below the maximum distraction point. However, it can be difficult to accurately determine the stability point in different patients with a level of consistency. [0153] In some embodiments, the surgical system 100 is configured to determine a patient-specific tensioning force by capturing a live force-displacement curve as the joint, including the ligaments thereof, are being tensioned with a joint tensioner (e.g., joint tensioner 800/900). The patient-specific tensioning force may be the force at an identifiable point on the force-displacement curve that is associated with the stability point. For example, the patient- specific tensioning force may be the force corresponding to an inflection point before the maximum distraction point on the force-displacement curve. [0154] Once identified, the patient-specific tensioning force may be applied to the joint to collect stress-strain curves and other tensioning data in different poses of the joint. For example, data may be collected at a plurality of positions along a range of motion (ROM) of the joint and/or as the joint is moved through a ROM. [0155] FIG. 7 illustrates a flow diagram of a method 700 of determining a patient- specific tensioning force in accordance with an embodiment. The method 700 may include adjusting 705 a patient joint (e.g., the knee) into a fixed pose. For example, the pose may be a position just short of full extension (i.e., 10 degrees of flexion). Alternatively, this may occur at multiple static flexion angles (i.e., 10 degrees, 45 degrees, 90 degrees). In some embodiments, a surgeon may be guided by and/or receive feedback from the surgical system 100 to aid in achieving the fixed pose. The surgical system 100 may base guidance and/or feedback on the tracking information relating to the anatomy of the joint. For example, the anatomy may be the femur and tibia in a knee joint. In the example, a tracking element may be rigidly affixed to the femur and tibia. Based on the affixed tracking elements and models of the anatomy (e.g., based atlas models and/or imagery), the surgical system 100 may 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 determine a displacement between the anatomy of the joint. Additionally, or alternatively, a mechanical device (e.g., a brace) may partially limit the movement of the joint to approximate the fixed pose. [0156] The method 700 may include applying 710 a varying force to the joint using a joint tensioner (e.g., joint tensioner 300/400). In some embodiments, the surgeon may be prompted, by the surgical system 100, to apply 710 the force over an appropriate range. The appropriate range of forces may be based on some combination of a predetermined value, patient attributes (e.g., height, weight, age, gender, health, etc.), or a detected force- displacement of the joint. The force-displacement may be based on force measurements detected using the joint tensioner (e.g., measured using force sensors 325/425 in the joint tensioners 300/400) and displacement of the anatomy measured by the tracking system 115. In further embodiments, the joint tensioner may be robotically assisted to automatically apply the appropriate range of forces. In other embodiments, the surgeon may apply the joint tensioner until maximum distraction of the joint is attained. [0157] The method 700 may further include measuring 715 the varying force using the joint tensioner (e.g., using force sensors 325/425). The joint tensioner (e.g., joint tensioner 300/400) may communicate the measured force to the surgical system 100 (e.g., as depicted in FIG.6). [0158] The method 700 may further include measuring 720 joint displacement resulting from the varying force. The surgical system 100 may track the relative positions of the anatomy in a joint. As described above, tracking elements may be rigidly affixed to the anatomy of the joint (e.g., the femur and tibia of a knee joint). The tracking elements’ location and orientation may be detected by a tracking system 115, including but not limited to, an infrared (IR) tracking system, an electromagnetic (EM) tracking system, a video or image- based tracking system, and/or an ultrasound registration and tracking system. The 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 location/orientation of the tracking elements may be applied to a registered model of the anatomy of the joint (e.g., generated through atlas models and/or collected imagery) to determine a displacement of the joint (e.g., a displacement between the femur and tibia). The displacement may be determined based on selectable or predetermined locations on the anatomy. In some embodiments, the displacement is measured based on the affixation point for one or more ligaments (e.g., the Medial Collateral Ligament (MCL) and Lateral Collateral Ligament (LCL) in the knee) connecting the anatomy in the joint. [0159] In an alternative embodiment, measuring 720 the joint displacement resulting from the varying force can be performed using the joint tensioner (e.g., joint tensioner 300/400). For example, the joint tensioner can capture the displacement of the insertion tips using positional sensors 330/430. In some embodiments, the surgical system 100 can track the relative positions of the joint tensioner and the patient anatomy to determine a location of the applied distraction. In further embodiments, the surgical system 100 can use the measured joint displacement, from the joint tensioner, to extrapolate a displacement between other features of the patient anatomy (e.g., at a specific enthesis). [0160] The method may further include generating 725 a force-displacement curve based on the measured force and displacement. The force-displacement curve may be generated as the joint tensioner is used to apply tension to the joint. [0161] FIG. 8 depicts an illustrative graph 800 of force-displacement curves in accordance with an embodiment. The illustrative force-displacement graph includes curves for the MCL and the LCL during tensioning. FIG.9 depicts a graph 900 of a stress-strain curve for a ligament (e.g., the MCL of FIG.8) during tensioning. As shown, during tensioning, the force- displacement curve and/or stress-strain curve may initially include a toe region 812/902 where the inherent slack in the ligaments is being overcome. After this toe region 812/902, the force- displacement, or stress-strain, curve may be substantially linear 806 in a linear region 814/904 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 while a gap is being increased within the joint (e.g., between the femur and the tibia in the knee). As the force is increased, the collagen fibers comprising the knee ligaments align and elongate to increase the gap between the anatomy (e.g., the femur and tibia). [0162] As the gap approaches a maximum displacement 802 in a maximum displacement region, the force-displacement curve may deviate from linear as the collagen fibers reach the extent of their ability to stretch. As the force-displacement curve deviates from linear, an inflection point 804A/910 occurs where the ability of additional force to further tension the joint substantially diminishes (i.e., the stability point). Because the stability point is not easily recognizable manually, the surgeon may continue to tension the joint up to the maximum distraction point (i.e., where the ligaments “max out,” so they are not stretching anymore as additional force is applied). Beyond the maximum distraction point, continued force application may lead to failure 810/906 of the ligament. [0163] Referring back to FIG.7, the collected force-displacement and/or stress-strain curve may be used to determine 730 the patient-specific tensioning force. In some embodiments, the force associated with the stability point on the force-displacement curve is the patient-specific tensioning force. [0164] The inflection point 804A (i.e., the stability point) may be identified by the surgical system 100 based on the collected curve (e.g., the force-distraction or stress-strain curve). The inflection point 804A may be an approximate point of inflection that is slightly before the maximum distraction point 802. In some embodiments, the inflection point 804A is identified by a user viewing the curve. In some embodiments, the curve is best fit to an equation that may be used to identify a precise inflection point 804A. [0165] An inflection point 804B may similarly be determined for other ligaments in the joint (e.g., the LCL). In some embodiments, different ligaments (e.g., the MCL and LCL) may have different maximum distraction points. Accordingly, the maximum distraction point, 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 and as a result the determined patient-specific tensioning force, may change based on the location of distraction within the joint. In some embodiments, the distraction is measured at locations based on a feature of the bony anatomy that is unrelated to a ligament (e.g., enthesis). The resulting patient-specific tensioning force may be based on the laxity of a plurality of ligaments. [0166] In some embodiments, the patient-specific tensioning force is determined from a central distraction position. In other embodiments, the patient-specific tensioning force is determined by distracting from the medial pocket. In further embodiments, the patient- specific tensioning force is determined by distracting from the lateral pocket. [0167] In additional embodiments, a tensioning force is determined from multiple positions (e.g., each of the medial and lateral pockets). The tensioning forces may be averaged to determine at the patient-specific tensioning force. In additional embodiments, other calculations may be used instead of an average (e.g., a fixed percent of the difference between the two tensioning forces). For example, the position may also be considered in determining the patient-specific tensioning force. [0168] The force associated with the stability point 804A may be preferable as a patient-specific tensioning force over the maximum distraction point 802 because it may not be desirable for the post-operative joint to be held in maximum distraction. However, in order to ensure stability of the joint, the distraction of the joint may be relatively close to the maximum distraction 802. Accordingly, the stability point 804A or inflection point may serve as a useful marker of a stable configuration of the joint and where further distraction may not meaningfully improve stability. [0169] After the patient-specific tensioning force is identified using a first pose of the joint, the patient-specific force may be used for additional data collection with additional poses. For example, the force-displacement curve may be collected for additional positions along a 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 range of motion (ROM) (e.g., flexion angles). Displacement data may also be collected with a fixed force applied (i.e., the patient-specific tensioning force) as the joint is moved through a ROM. [0170] Data may also be collected from various locations within the joint. For example, if the patient-specific tensioning force was identified by distracting centrally, similar force-displacement curves may be collected when tensioning from the medial and/or lateral pockets. The MCL and LCL may be stretched more when tensioning from the medial and lateral pockets, respectively, thereby providing unique and useful data. [0171] The uniformity in data collection presented herein may be used to generate large comparable datasets which in turn may be used to generate statistical models for surgical planning. The collected patient specific force-displacement curves may be further used to calculate the joint forces that result in the joint as a function of implant positions and implant size or thickness. The resulting joint forces may be used for surgical planning. [0172] In current systems, surgical planning may include tensioning the native joint to determine the approximate size that the post-operative gaps (e.g., with an implant) should be when a consistent distraction force is applied. [0173] Surgical planning success rates may be improved by using the resulting joint forces alone and/or in combination with the post-operative gap. To use joint forces in planning, the surgical system 100 may calculate the expected joint force at the contact point between implant components based on the planned component positions for a given implant size and thickness. Accordingly, implant positions may be adjusted to modify the expected joint contact forces. [0174] Furthermore, the system may calculate the expected joint force at the contact point between implant components, based on the planned implant thickness for a given implant position. Accordingly, implant thickness may be adjusted to modify the expected 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 joint contact forces. For example, if a particular implant thickness (e.g., 10 mm) results in a high force (e.g., 50 N), the surgeon may opt to use an implant that is less thick (e.g., 9 mm) and re-calculate the joint contact force until an acceptable amount of force (e.g., 25 N) is obtained. [0175] Instead of targeting a specific post-operative gap distance, planning may be performed to target a specific joint contact force that is deemed acceptable, safe, and/or standard for the joint. [0176] In some embodiments, the force-displacement and/or stress-strain curves (e.g., as depicted in FIGS.8 and 9) may additionally be utilized to make determinations of ligament quality, integrity, and/or health. This information may be used in surgical planning to determine whether a specific type of implant (e.g., a posterior stabilized (PS) implant, a cruciate retaining (CR) implant, or a bi-cruciate retaining (BCR) implant) should be selected. [0177] In alternative embodiments, the patient-specific tensioning force may be determined using the force associated with the maximum distraction point. As previously outlined, using the force associated with the maximum distraction point as the patient- specific tensioning force may be sub-optimal. [0178] In some embodiments, the patient-specific tensioning force is a fixed percentage of the force associated with the maximum distraction point. For example, the force associated with the maximum distraction point may be 99% of the force associated with the maximum distraction point. However, other percentages may be used (e.g., 98%, 97%, 96%, 95%, 90%, 85%, 80%, less than 80%, or individual values or ranges between any two of such values). [0179] In some embodiments, the patient-specific tensioning force is a force associated with a reduced amount of distraction from the maximum distraction point. For example, the patient-specific tensioning force may be estimated to be the point at which the 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 joint is 1 mm from maximum distraction. Accordingly, where x is the maximum distraction point, the patient-specific tensioning force is a force associated with x-1 mm on the force- displacement curve. However, other reduced amounts of distraction may be used (e.g., x -1.5 mm, x -2 mm, x - 2.5 mm, x -3 mm, less than x -3 mm, or individual values or ranges between any two of such values). [0180] The above values are exemplary, and it should be understood that values may vary from those presented. Furthermore, although the above examples refer to anatomy of the knee, it should be understood that the systems and methods disclosed may also be applied to other joints such as the shoulder, hip, or ankle. [0181] The patient-specific tensioning force may approximate the stability point of the joint, thereby providing a set force that places the joint under sufficient tension to collect useful stress/strain data in a patient-specific manner. Prior art solutions utilize set levels of force that do not account for the variations in biomechanics between patients. Accordingly, the collected data may more accurately correspond to a post-operative joint under appropriate tension. [0182] Manually estimating the appropriate force is not reproducible with sufficient accuracy from patient to patient and/or between sets of patients. Using patent-specific tensioning may enable greater comparability between patient tensioning data, which can be used for surgical planning. For example, large sets of force-displacement data across a plurality of patients collected by the manners described above may be used to determine relationships between a force-displacement curve and appropriate implant positions, sizes, and/or thicknesses. Accordingly, the comparability of the data may allow prior surgical plans to serve as a guide for future surgical planning. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 [0183] The solutions described herein may also enable surgical plans to be determined based on estimated joint contact forces in the post-operative joint, which may be a useful metric for improving patient outcomes. Data Processing Systems for Implementing Embodiments Herein [0184] FIG.10 illustrates a block diagram of an exemplary data processing system 1000 in which embodiments are implemented. The data processing system 1000 is an example of a computer, such as a server or client, in which computer usable code or instructions implementing the process for illustrative embodiments of the present invention are located. In some embodiments, the data processing system 1000 may be a server computing device. For example, the data processing system 1000 may be implemented in a server or another similar computing device operably connected to a surgical system 100 as described above. The data processing system 1000 may be configured to, for example, transmit and receive information related to a patient and/or a related surgical plan with the surgical system 100. [0185] In the depicted example, the data processing system 1000 may employ a hub architecture including a north bridge and memory controller hub (NB/MCH) 1001 and south bridge and input/output (I/O) controller hub (SB/ICH) 1002. A processing unit 1003, a main memory 1004, and a graphics processor 1005 may be connected to the NB/MCH 1001. The graphics processor 1005 may be connected to the NB/MCH 1001 through, for example, an accelerated graphics port (AGP). [0186] In the depicted example, a network adapter 1006 connects to the SB/ICH 1002. An audio adapter 1007, a keyboard and mouse adapter 1008, a modem 1009, a read only memory (ROM) 1010, a hard disk drive (HDD) 1011, an optical drive (e.g., CD or DVD) 1012, a universal serial bus (USB) ports and other communication ports 1013, and PCI/PCIe devices 1014 may connect to the SB/ICH 1002 through a bus system 1016. The PCI/PCIe devices 1014 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 may include Ethernet adapters, add-in cards, and/or PC cards for notebook computers. The ROM 1010 may be, for example, a flash basic input/output system (BIOS). The HDD 1011 and the optical drive 1012 may use an integrated drive electronics (IDE) or serial advanced technology attachment (SATA) interface. A super I/O (SIO) device 1015 may be connected to the SB/ICH 1002. [0187] An operating system may run on the processing unit 1003. The operating system may coordinate and provide control of various components within the data processing system 1000. As a client, the operating system may be a commercially available operating system. An object-oriented programming system, such as the Java^TM programming system, may run in conjunction with the operating system and provide calls to the operating system from the object-oriented programs or applications executing on the data processing system 1000. As a server, the data processing system 1000 may be an IBM® eServer^TM System^® running the Advanced Interactive Executive operating system or the Linux operating system. The data processing system 1000 may be a symmetric multiprocessor (SMP) system that includes a plurality of processors in the processing unit 1003. Alternatively, a single processor system may be employed. [0188] Instructions for the operating system, the object-oriented programming system, and applications or programs are located on storage devices, such as the HDD 1011, and are loaded into the main memory 1004 for execution by the processing unit 1003. The processes for embodiments described herein may be performed by the processing unit 1003 using computer usable program code, which can be located in a memory such as, for example, main memory 1004, ROM 1010, or in one or more peripheral devices. [0189] A bus system 1016 may comprise one or more busses. The bus system 1016 may be implemented using any type of communication fabric or architecture that provides for a transfer of data between different components or devices attached to the fabric or architecture. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 A communication unit such as the modem 1009 or the network adapter 1006 may include one or more devices that can be used to transmit and receive data. [0190] Those of ordinary skill in the art will appreciate that the hardware depicted in FIG. 10 may vary depending on the implementation. Other internal hardware or peripheral devices, such as flash memory, equivalent non-volatile memory, or optical disk drives may be used in addition to or in place of the hardware depicted. Moreover, the data processing system 1000 can take the form of any of a number of different data processing systems, including but not limited to, client computing devices, server computing devices, tablet computers, laptop computers, telephone or other communication devices, personal digital assistants, and the like. Essentially, data processing system 1000 can be any known or later developed data processing system without architectural limitation. [0191] While various illustrative embodiments incorporating the principles of the present teachings have been disclosed, the present teachings are not limited to the disclosed embodiments. Instead, this application is intended to cover any variations, uses, or adaptations of the present teachings and use its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which these teachings pertain. [0192] In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless context dictates otherwise. The illustrative embodiments described in the present disclosure are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that various features of the present disclosure, as generally described herein, and illustrated in the Figures, can be arranged, substituted, combined, 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein. [0193] The present disclosure is not to be limited in terms of the particular embodiments described in this application, which are intended as illustrations of various features. Many modifications and variations can be made without departing from its spirit and scope, as will be apparent to those skilled in the art. Functionally equivalent methods and apparatuses within the scope of the disclosure, in addition to those enumerated herein, will be apparent to those skilled in the art from the foregoing descriptions. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. [0194] With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations may be expressly set forth herein for sake of clarity. [0195] It will be understood by those within the art that, in general, terms used herein are generally intended as “open” terms (for example, the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” et cetera). While various compositions, methods, and devices are described in terms of “comprising” various components or steps (interpreted as meaning “including, but not limited to”), the compositions, methods, and devices also can “consist essentially of” or “consist of” the various components and steps, and such terminology should be interpreted as defining essentially closed-member groups. [0196] In addition, even if a specific number is explicitly recited, those skilled in the art will recognize that such recitation should be interpreted to mean at least the recited number 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 (for example, the bare recitation of "two recitations," without other modifiers, means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, et cetera” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (for example, “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, et cetera). In those instances where a convention analogous to “at least one of A, B, or C, et cetera” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (for example, “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, et cetera). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, sample embodiments, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” [0197] In addition, where features of the disclosure are described in terms of Markush groups, those skilled in the art will recognize that the disclosure is also thereby described in terms of any individual member or subgroup of members of the Markush group. [0198] As will be understood by one skilled in the art, for any and all purposes, such as in terms of providing a written description, all ranges disclosed herein also encompass any and all possible subranges and combinations of subranges thereof. Any listed range can be easily recognized as sufficiently describing and enabling the same range being broken down into at least equal halves, thirds, quarters, fifths, tenths, et cetera. As a non-limiting example, each range discussed herein can be readily broken down into a lower third, middle third and 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 upper third, et cetera. As will also be understood by one skilled in the art all language such as “up to,” “at least,” and the like include the number recited and refer to ranges that can be subsequently broken down into subranges as discussed above. Finally, as will be understood by one skilled in the art, a range includes each individual member. Thus, for example, a group having 1-3 cells refers to groups having 1, 2, or 3 cells. Similarly, a group having 1-5 cells refers to groups having 1, 2, 3, 4, or 5 cells, and so forth. [0199] The term “about,” as used herein, refers to variations in a numerical quantity that can occur, for example, through measuring or handling procedures in the real world; through inadvertent error in these procedures; through differences in the manufacture, source, or purity of compositions or reagents; and the like. Typically, the term “about” as used herein means greater or lesser than the value or range of values stated by 1/10 of the stated values, e.g., ±10%. The term “about” also refers to variations that would be recognized by one skilled in the art as being equivalent so long as such variations do not encompass known values practiced by the prior art. Each value or range of values preceded by the term “about” is also intended to encompass the embodiment of the stated absolute value or range of values. Whether or not modified by the term “about,” quantitative values recited in the present disclosure include equivalents to the recited values, e.g., variations in the numerical quantity of such values that can occur, but would be recognized to be equivalents by a person skilled in the art. [0200] Various of the above-disclosed and other features and functions, or alternatives thereof, may be combined into many other different systems or applications. Various presently unforeseen or unanticipated alternatives, modifications, variations or improvements therein may be subsequently made by those skilled in the art, each of which is also intended to be encompassed by the disclosed embodiments. 1614844597.1

Claims

Attorney Docket No. PT-6056-WO-PCT/D031102 CLAIMS What is claimed is: 1. A method for tensioning a joint comprising: affixing a first tracking element to a first rigid anatomical structure in the joint; affixing a second tracking element to a second rigid anatomical structure in the joint; adjusting the joint into a fixed pose; applying a force to the joint, in the fixed pose, using a joint tensioner comprising a sensor; measuring, using the sensor, the force, over an application period of the force; detecting, using a tracking system, a first location of the first tracking element and a second location of the second tracking element over the application period of the force; determining a displacement, over the application period of the force of the first rigid anatomical structure and the second rigid anatomical structure; generating a force-displacement relationship based on the force and displacement; and determining a patient-specific tensioning force based on the force-displacement relationship. 2. The method of claim 1, further comprising tensioning the joint using the patient- specific tensioning force. 3. The method of claim 1, wherein determining the patient-specific tensioning force further comprises determining a point of inflection in the force-displacement relationship. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 4. The method of claim 1, wherein determining the patient-specific tensioning force further comprises: determining a maximum distraction point based on the force-displacement relationship; and setting the patient-specific tensioning force at a predetermined threshold from the maximum distraction point. 5. The method of claim 1, wherein the displacement comprises a distance between a first feature of the first rigid anatomical structure and a second feature of the second rigid anatomical structure. 6. The method of claim 5, wherein the first and second features comprise an enthesis of a ligament. 7. The method of claim 6, wherein determining the displacement comprises determining a plurality of displacements associated with a plurality of ligaments. 8. The method of claim 7, wherein determining the patient-specific tensioning force comprises determining the patient-specific tensioning forces for each of the plurality of ligaments. 9. The method of claim 8, further comprising calculating a weighted average of the patient-specific tensioning forces for each of the plurality of ligaments. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 10. The method of claim 1, further comprising: adjusting the joint into a plurality of fixed poses; and determining a patient-specific tensioning force associated with each of the plurality of fixed poses. 11. A system for planning a surgical procedure associated with a joint, the system comprising: a tracking system; a first tracking element configured to affix to a first rigid anatomical structure of the joint; a second tracking element configured to affix to a second rigid anatomical structure of the joint; a processor; a joint tensioner in communication with the processor, the joint tensioner comprising a sensor; and a non-transitory, processor-readable storage medium, wherein the non-transitory, processor-readable storage medium comprises one or more programming instructions that, when executed, cause the processor to: measure, using the sensor, a force applied to the joint by the joint tensioner, over an application period of the force; detect, using the tracking system, a first location of the first tracking element and a second location of the second tracking element over the application period of the force; determine a displacement, over the application period of the force of the first rigid anatomical structure and the second rigid anatomical structure; 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 generate a force-displacement relationship based on the force and displacement; and determine a patient-specific tensioning force based on the force-displacement relationship. 12. The system of claim 11, wherein the programming instructions further cause the processor to select an implant type based on the force-displacement relationship. 13. The system of claim 11, wherein the programming instructions that cause the processor to determine the patient-specific tensioning force further comprise programming instructions that cause the processor to determine a point of inflection in the force- displacement relationship. 14. The system of claim 11, wherein the programming instructions that cause the processor to determine the patient-specific tensioning force further comprise programming instructions that cause the processor to: determine a maximum distraction point based on the force-displacement relationship; and set the patient-specific tensioning force at a predetermined threshold from the maximum distraction point. 15. The system of claim 11, wherein the displacement comprises a distance between a first feature of the first rigid anatomical structure and a second feature of the second rigid anatomical structure. 1614844597.1 Attorney Docket No. PT-6056-WO-PCT/D031102 16. The system of claim 15, wherein the first and second features comprise an enthesis of a ligament. 17. The system of claim 16, wherein the programming instructions that cause the processor to determine the displacement comprise programming instructions that cause the processor to determine a plurality of displacements associated with a plurality of ligaments. 18. The system of claim 17, wherein the programming instructions that cause the processor to determine the patient-specific tensioning force comprise programming instructions that cause the processor to determine the patient-specific tensioning forces for each of the plurality of ligaments. 19. The system of claim 18, wherein the programming instructions further cause the processor to calculate a weighted average of the patient-specific tensioning forces for each of the plurality of ligaments. 20. The system of claim 11, wherein the programming instructions further cause the processor to: measure, using the sensor, a plurality of forces applied to the joint by the joint tensioner, for a plurality of fixed poses; and determine a patient-specific tensioning force associated with each of the plurality of fixed poses. 1614844597.1