A drill guide fixture may be configured to prepare a skull for attachment of a cranial insertion fixture. The drill guide fixture may include a central drill guide and a bone anchor guide at a base of the drill guide fixture. The central drill guide may define a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture. The bone anchor drill guide may define a bone anchor drill guide hole therethrough, and the bone anchor drill guide hole may be offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole. Related cranial insertion fixtures, robotic systems, and methods are also discussed.

A surgical drill for drilling a hole in a workpiece includes a housing, a probe moveably mounted to the housing, and a transducer assembly. The transducer assembly includes a gear coupled to the probe and at least two rotational sensor devices coupled to the gear to determine an amount of movement of a probe relative to a housing to determine a bore depth of the hole. The gear has reference point having an angular path of rotation about a gear axis subdivided into separate first and second arcuate regions. A first sensor device is configured to detect a rotational position of the reference point in the first arcuate region, and a second sensor device is configured to detect a rotational position of the reference point in at least the second arcuate region, with the first sensor device incapable of detecting the reference point in the second arcuate region.

A fracture treatment system can include a pair of implants cross-pinned into the medullary canal of a bone, guided by at least one guide wire with at least two diameters. The system allows for more accurate sizing of the length of implants needed to achieve bicortical purchase for enhanced stability, as well as anti-rotation of the fracture site. The more accurate sizing and placement of the cross-pinned implants additionally allow both ends of the implants to recess beneath or be flush with the outer surface of the bone, which can reduce the risk of infection. The guide wire can allow the implants to be inserted using a cannulated technique for easier surgical procedure and better outcome, with the implants having sufficient wall thickness for the desired length to achieve bicortical purchase while keeping the shaft outer diameter of the implant to be similar to a diameter of the guide wire.

An implant resection system for preparing an implant site to replace a defect in an articular surface of a first bone includes a guide configured to be coupled generally perpendicular to the first bone proximate to the defect. The guide includes a body portion defining a plurality of excision passageways. The excision passageways each define a generally cylindrical core pathway configured to extend generally perpendicular to the first bone which partially overlaps with an adjacent generally cylindrical core pathway. A projection associated with each of the plurality of the generally cylindrical core pathways defines a truncated cylindrical excision site extending through a portion of the articular surface. Each truncated cylindrical excision site partially overlaps with at least one adjacent truncated cylindrical excision site.

An apparatus includes a base portion configured to selectively couple with a robotic arm. A shaft extends distally form the base portion and terminates into a distal end. A sleeve is slidably coupled to the shaft. A colpotomy cup is fixedly secured to a portion of the sleeve. One or more sensors are configured to detect a force applied to the sleeve, the shaft, or both the sleeve and the shaft.

An apparatus includes a base portion configured to selectively couple with a robotic arm. A shaft extends distally form the base portion and terminating into a distal end. A sleeve is slidably coupled to the shaft. A colpotomy cup is fixedly secured to a portion of the sleeve. A plurality of sensors are configured to locate the position of the sleeve relative to one or more anatomical features of a patient. The sensors are further configured to locate the position of the sleeve relative to the shaft.

Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.

A navigation, tracking and guiding system for the positioning of operatory instruments inside the body of a patient. The system includes a control unit, a viewer and detecting means for determining the spatial position of the viewer. The system further includes a sensor associated to an operatory instrument and insertable inside the internal portion of the body of the patient. The control unit is configured to project on the viewer an image of the state of the internal portion.

The present invention relates to a multi-tool or multi-purpose device comprising a counter sink and a depth gauge. In one aspect, the invention provides a method of determining the necessary length of a screw to be implanted into bone. Also provided herein are sterile kits comprising single-use instrumentation for use in orthopedic procedures.

Methods of cutting bone using a robotic cutting system are provided. The robotic cutting system includes one or more controllers, a robotic manipulator, and one or more cutting tools, such as those including a bur or a saw blade, that can be coupled to the robotic manipulator. An initial cut, such as a notch, is made into the bone with the bur or the saw blade. This notch is then used to constrain the saw blade for limiting skiving of the saw blade during cutting along a cutting plane.