Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.

A medical robot system, including a robot coupled to an end effector element with the robot configured for controlled movement and positioning. The robot system includes a robot base having a display, a robot arm coupled to the robot base, wherein movement of the robot arm is electronically controlled by the robot base. The end-effector is coupled to the robot arm, containing one or more end-effector tracking markers. The system also includes a plurality of dynamic reference bases (DRB) attached to multiple patient fixture instruments, wherein the plurality of dynamic reference bases include one or more tracking markers indicating a position of the patient fixture instrument in a navigational space. The system also includes a first camera system and a second camera system, the first and second camera systems being able to detect a plurality of tracking markers.

A smoke evacuator and evacuation system for removing gaseous and/or particulate byproducts of surgical procedures and noxious vapors from chemicals is provided and includes an end effector or vacuum head positionable at a surgical site, the end effector including a plenum, a plenum support for preventing the plenum from collapsing, and an adaptor for coupling the end effector or vacuum head to a vacuum source.

A smoke evacuator and evacuation system for removing gaseous and/or particulate byproducts of surgical procedures and noxious vapors from chemicals is provided and includes an end effector or vacuum head positionable at a surgical site, the end effector including a plenum, a plenum support for preventing the plenum from collapsing, and an adaptor for coupling the end effector or vacuum head to a vacuum source.

A drape connector system can be used to join different sections of drape material, such as different sections of compositionally dissimilar drape material. In some examples, a medical drape is formed that includes a first section of drape material, a second section of drape material, and the connector system. The connector system includes a receiving body defining a groove and a locking body insertable into the groove. A portion of the first section of drape material is positioned overlaying the groove, and a portion of the second section of drape material is also positioned overlaying the groove. The locking body is inserted into the groove thereby locking the portion of the first section of drape material and the portion of the second section of drape material in the groove.

An improved draping system with a drape and a lock device. The drape includes an area defined by a predetermined length and a predetermined width, as well as a selectively separable portion. The drape also has a first perforation, as well as a z-shaped fold over the perforation. The lock device may be a poly seal with a second perforation. The draping system is secured to an operating table to maintain sterility about that operating table. When ready for removal, the draping system is simply pulled in opposite directions. When this occurs, the second perforation breaks, which disengages the lock device. Upon further pulling, the z-shaped fold is unfolded. Further pulling still results in the second perforation breaking.

An improved draping system with a drape and a lock device. The drape includes an area defined by a predetermined length and a predetermined width, as well as a selectively separable portion. The drape also has a first perforation, as well as a z-shaped fold over the perforation. The lock device may be a poly seal with a second perforation. The draping system is secured to an operating table to maintain sterility about that operating table. When ready for removal, the draping system is simply pulled in opposite directions. When this occurs, the second perforation breaks, which disengages the lock device. Upon further pulling, the z-shaped fold is unfolded. Further pulling still results in the second perforation breaking.

Apparatus and methods provided to remove biopsy specimens from bone and/or associated bone marrow. A powered driver may rotate a biopsy needle at an optimum speed to obtain the biopsy specimen. A thread or a groove may be disposed on interior portions of the biopsy needle. The thread or groove may engage a biopsy specimen and enhance removal of a bone marrow core from cancellous bone. Manufacturing procedures are provided for bonding a single helical thread with interior portions of the biopsy needle. The apparatus may also include a biopsy sample ejector and/or ejector funnel. A biopsy needle set may include a cannula and a trocar with respective tips having optimum configurations, dimensions and/or orientations relative to each other to optimize penetration of a bone and/or bone marrow with minimum patient trauma and enhanced reliability of obtaining a biopsy specimen.

Apparatus and methods provided to remove biopsy specimens from bone and/or associated bone marrow. A powered driver may rotate a biopsy needle at an optimum speed to obtain the biopsy specimen. A thread or a groove may be disposed on interior portions of the biopsy needle. The thread or groove may engage a biopsy specimen and enhance removal of a bone marrow core from cancellous bone. Manufacturing procedures are provided for bonding a single helical thread with interior portions of the biopsy needle. The apparatus may also include a biopsy sample ejector and/or ejector funnel. A biopsy needle set may include a cannula and a trocar with respective tips having optimum configurations, dimensions and/or orientations relative to each other to optimize penetration of a bone and/or bone marrow with minimum patient trauma and enhanced reliability of obtaining a biopsy specimen.

The present invention relates to a tracking reference structure for localizing and tracking an object by means of a medical tracking system, said structure comprising: —a first part (1) which forms a support structure for at least one tracking marker (3); and—a second part (2) which is configured to be fixed to said object, wherein a positionally fixed connection between the first part (1) and the second part (2) is established by means of an interface comprising at least one resiliently articulated element (4) on the first part (1) and/or second part (2), which engage(s) with the respective other part (2, 1), and wherein the resiliently articulated element (4) is configured such that its restoring spring force alone is already sufficient to positionally fix the connection. The present invention also relates to a tracking reference system comprising such a tracking reference structure which in turn comprises at least one first part (1), wherein any additional first part(s) (1) support(s) a different type of tracking marker (3) and said different first parts (1) can be interchangeably connected to the second part (2), and wherein the tracking markers (3) of each of said different first parts (1) are in particular placed in the same spatial position when being coupled to the second part (2).