Methods, apparatuses, and systems for robotic insertion of a screw, a rod, or another component of a surgical implant into a patient are disclosed. Clinical data from previous surgical procedures or information received from a supervising surgeon can be leveraged to minimize the risk of harm to the patient and improve outcomes. The methods disclosed thus provide more precise placement of implanted surgical components and implants.

For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.

For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.

Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.

Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.

A sterile interface for a surgical platform is provided, optionally to be used with a mechanical telemanipulator. The sterile interface is configured to allow for transmission of motion without dimensional inconsistencies between a non-sterile surgical platform and a sterile surgical instrument that are related to one another in a master-slave configuration. The sterile interface is configured to allow for multiple changes of sterile surgical instruments during a surgical procedure without contaminating the sterile field. The sterile interface allows for interchangeable sterile articulated surgical instruments to be attached to the surgical platform without coming into contact with non-sterile portions of the surgical platform.

A sterile interface for a surgical platform is provided, optionally to be used with a mechanical telemanipulator. The sterile interface is configured to allow for transmission of motion without dimensional inconsistencies between a non-sterile surgical platform and a sterile surgical instrument that are related to one another in a master-slave configuration. The sterile interface is configured to allow for multiple changes of sterile surgical instruments during a surgical procedure without contaminating the sterile field. The sterile interface allows for interchangeable sterile articulated surgical instruments to be attached to the surgical platform without coming into contact with non-sterile portions of the surgical platform.

A pull wire attachment system for a minimally invasive medical instrument comprises an anchoring element fixedly attached to the medical instrument. The anchoring element has a first outer diameter. The system also includes a pull wire assembly comprising an elongate pull wire having a proximal end and a distal end and a securing element coupled to the distal end of the pull wire. The securing element includes a second outer diameter sized smaller than the first outer diameter of the anchoring element. The securing element is coupled to the anchoring element to prevent proximal translation of the distal end of the pull wire along a longitudinal axis of the medical instrument past the anchoring element.

A surgical assembly includes a surgical instrument and a holder. The surgical instrument includes an elongate body and an end effector. The elongate body has a proximal portion and a distal portion that defines a longitudinal axis therealong. The proximal portion is movable relative to the distal portion between a first condition and a second condition. In the first condition, the proximal portion is parallel to the longitudinal axis. In the second condition, the proximal portion is non-parallel to the longitudinal axis. The holder is configured to be coupled to the elongate body to selectively retain the proximal portion of the elongate body in the first condition.

A surgical assembly includes a surgical instrument and a holder. The surgical instrument includes an elongate body and an end effector. The elongate body has a proximal portion and a distal portion that defines a longitudinal axis therealong. The proximal portion is movable relative to the distal portion between a first condition and a second condition. In the first condition, the proximal portion is parallel to the longitudinal axis. In the second condition, the proximal portion is non-parallel to the longitudinal axis. The holder is configured to be coupled to the elongate body to selectively retain the proximal portion of the elongate body in the first condition.