Embodiments of a system and method for surgical tracking and control are generally described herein. A system may include a robotic arm configured to allow interactive movement and controlled autonomous movement of an end effector, a cut guide mounted to the end effector of the robotic arm, the cut guide configured to guide a surgical instrument within a plane, a tracking system to determine a position and an orientation of the cut guide, and a control system to permit or prevent interactive movement or autonomous movement of the end effector.

Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.

This application relates to a robot arm structure and a manipulator of a surgical robot including the robot arm structure. The robot arm structure includes a first robot arm unit and a second robot arm unit. The first robot arm unit includes a plurality of first link arms, a first joint unit mounted on one of the first link arms and rotating the one of the first link arms about a first axis and a second joint unit installed on at least one of the plurality of first link arms to adjust a length of the at least one link arm. The second robot arm unit includes a second link arm connected to one of the first link arms and a third joint unit using a lengthwise direction of the second link arm as a first rotary shaft and rotating the second link arm.

A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor. The controller is configured to servo at least one joint associated with at least one manipulator arm segment of the manipulator arm, the servoing including executing a servo loop. Executing the servo loop includes obtaining an actual state of the manipulator arm, computing a difference between a commanded state and the actual state, where the commanded state is used for the servoing the at least one joint, and determining whether the difference exceeds an error threshold. Based on determining that the difference does exceed the error threshold, the commanded state is updated using an offset to reduce the difference, and. Based on determining that the difference does not exceed the error threshold, the commanded state is not updated. The controller is further configured to apply the commanded state to control the actual state.

A surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue-penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators. In various instances, a robotic camera of the surgical visualization system can monitor and track one or more tagged structures.

A surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue-penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators. In various instances, imaging data from different sources and/or obtained at different times can be integrated.

A medical manipulator system includes: a medical manipulator having a bending portion; a drive device connected to the medical manipulator and bending the bending portion; and a controller into which a manipulation input for bending the bending portion is input. The drive device is configured to determine a bending direction in which the bending portion is bent based on a first part of the manipulation input, and determine an amount of bending drive based on an entire input from a start to an end of the manipulation input.

A medical manipulator system includes: a medical manipulator having a movable portion; and a drive device to which the medical manipulator is detachably connected. The medical manipulator includes a driven portion to which a driving force for driving the movable portion is input. The drive device includes: a drive portion that is attached to the driven portion when the medical manipulator is connected and drives the driven portion; and a controller that controls the drive portion. The number of the drive portions is greater than the number of the driven portions. The drive device is capable of simultaneously connecting a first manipulator and a second manipulator that are the medical manipulators. All of the driven portions of the first manipulator and the second manipulator are attachable to the drive device.

A medical manipulator system includes a medical manipulator having an insertion portion to be intracorporeally inserted, a drive device to which the medical manipulator is detachably connected, and a controller which is communicatively connected to the drive device and to which a manipulation input for driving the medical manipulator is input. The controller has a groove engaged with a part of the medical manipulator. The medical manipulator has a connection portion and an extracorporeal flexible portion. The connection portion rotatably connects the insertion portion and the extracorporeal flexible portion around a rotation axis extending in a longitudinal direction of the medical manipulator. The connection portion has a fitting portion fitted with the groove of the controller.

Techniques for controlling an end effector include a computer-assisted device having a drive system configured to actuate a moveable element to a first commanded position and a control unit coupled to the drive system. The control unit is configured to actuate, using the drive system, the moveable element to the first commanded position. The control unit is further configured to monitor a force or torque applied by the drive system to actuate the moveable element to the first commanded position, determine a force or torque limit for the drive system based on the monitored force or torque applied by the drive system in response to determining that the moveable element has reached a first position, and further actuate the moveable element to a second commanded position while limiting a force or torque applied by the drive system based on the determined force or torque limit.