Problem to be Solved A traverse that is percutaneously provided and a surgical instrument for percutaneously providing the transverse are provided. Solution A rod 10 is placed in each of two rod openings 113, 123 and a transverse bar 130 is inserted in two bar holes 111, 121. Set screws 140, 150 are screwed in screw holes 114, 124. The set screws 140, 150 press the transverse bar 130, thereby restraining the transverse bar 130 in the longitudinal direction. Since portions of the bar holes 111, 121 adjoin the rod openings 113, 123, the pressed transverse bar 130 contacts the rods 10 and pushes the rods 10 against the rod openings 113, 123. A protrusion 127 engages with the rods 10 to restrain hooks 110, 120 in the longitudinal direction and circumferential direction of the rods 10.

A multi-portal method for treating a subject's spine includes distracting adjacent vertebrae using a distraction instrument positioned at a first entrance along the subject to enlarge an intervertebral space between the adjacent vertebrae. An interbody fusion implant can be delivered into the enlarged intervertebral space. The interbody fusion implant can be positioned directly between vertebral bodies of the adjacent vertebrae while endoscopically viewing the interbody fusion implant using an endoscopic instrument. The patient's spine can be visualized using endoscopic techniques to view, for example, the spine, tissue, instruments, and implants before, during, and after implantation, or the like. The visualization can help a physician throughout the surgical procedure to improve patient outcome.

An end effector system for use in spinal surgery may be described herein. The end effector comprises a sterile section and a non-sterile section. The sterile section comprises an instrument holder that has pins for piercing a plastic sleeve. The instrument holder holds an instrument for performing spinal surgery. The non-sterile section comprises an end effector. The end effector comprises a motor and a transducer. The motor applies a torsional and axial force to the instrument. The transducer provides feedback to the end effector system to adjust a force applied to the instrument.

Certain embodiments of the invention relate to a surgical procedure resulting in the fusion of transverse processes. The disclosure herein presents novel approaches for accessing transverse processes of the spine, novel methods for the delivery of fusion material for the fusion of said transverse processes, and novel tools to facilitate the procedure. Certain embodiments of the invention include a graft delivery assembly, which has a delivery shaft, delivery sheath, and at least one curved rod. Bony material is position with a graft delivery assembly, in which retraction of the delivery shaft or sheath places the bone fusion material to the fusion site. The graft delivery assembly further includes features to decorticate and prepare the bone surface for fusion.

Disclosed is a system for delivering a facet screw assembly to a facet joint. The system includes a facet screw assembly and a delivery device. The distal end of the delivery device includes a facet screw engagement feature, which is keyed to a corresponding delivery device engagement feature. In other embodiments, the system may include a facet screw assembly, a facet access guide, a washer sizer tool removably engaged with the facet access guide, a lateral mass decorticator guide slidably and removably engaged with the washer size tool, a washer implant delivery tool removably engaged with the facet access guide and detachably coupled to the facet screw assembly, and optionally an impact handle detachably coupled to the facet access guide, washer sizer tool, and washer implant delivery tool.

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.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

Prostheses are described for stabilizing dysfunctional sacroiliac (SI) joints. The prostheses are sized and configured to be press-fit into surgically created pilot SI joint openings in dysfunctional SI joint structures. The prostheses have an integral structure with opposed elongated sections connected by a bridge section. The elongated sections, in some instances, have an unequal length.

Systems for and methods of fusing a sacroiliac joint are provided which may include an implant adapted to be inserted into the joint space defined by the bones of a sacrum and an ilium and a delivery tool for inserting the implant into the sacroiliac joint. The method may include delivering the implant into the SI joint in a first position and transitioning the implant from the first position to a second position in situ. The implant may be configured such that in the second position the implant generally mimics a shape of the joint space of the sacroiliac joint. The implant may further include an actuation mechanism configured to cause the implant to transition from the first position to the second position. The actuation mechanism may include a hydraulic, pneumatic, geared or screwed mechanical arrangement.

A technique for harvesting bone graft material for spinal and other fusion surgeries. In the disclosed embodiment, a bone cutting blade is placed in a disc space between two vertebrae to be fused. The blade cuts into the vertebrae and forms solid segments of autologous bone inside each vertebra. Each bone segment is urged out of its associated vertebra until a first portion of the segment enters the opposite vertebra, an intermediate portion spans the disc space, and a second portion remains in the associated vertebra. Each segment thus forms a strut graft to promote a healthy and permanent fusion. In another embodiment, a wire is placed in the disc space and rotated to cut grooves in the vertebrae, causing a slurry of morselized cortical and cancellous bone to ooze into a cage that is placed in the disc space. The slurry heals to fuse the vertebrae solidly and permanently.