The vertebral pedicle screw placement device of the present application includes a bone drill mechanism and a depth advancing mechanism connected to the bone drill mechanism and used to generate linear reciprocating motion. The bone drill mechanism includes a bone drill driving device and a clamping mechanism connected and driven by the bone drill driving device. The present application provides the driving force of the linear reciprocating motion of the bone drill mechanism through a depth advancing mechanism, and combines the driving control of the clamping mechanism by the bone drill driving device. The clamping mechanism is used to clamp the guide pins, reamers, taps, vertebral pedicle screws, etc. required in the operation, so as to realize the screw placement in the operation, improve the operation efficiency and the accuracy of the screw placement, and avoid possible accidental injuries in the manual screw placement process in the prior art.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for detecting a hardstop for a surgical tool includes a wrist connected to and driven by a plurality of cables of a tool driver, a plurality of sensors configured to detect forces associated with the plurality of cables one or more processors configured to perform a comparison of the forces associated with the plurality of cables, selected a highest tension cable from the plurality of cables based on the comparison of the forces associated with the plurality of cables, set a force assigned to the highest tension cable to a predetermined value, calculate a variable torque threshold for the wrist based on a sum of the predetermined value for the highest tension cable and detected forces for remaining cables in the plurality of cables, receive a joint torque value for the wrist, perform a comparison of the received joint torque value for the wrist to a variable wrist torque threshold and identify a hardstop based on the comparison of the received joint torque value for the wrist to the variable wrist torque threshold.

A method comprises receiving an input coupling adjacent to a drive input, the drive input being driven by an actuating element, the input coupling being coupled to a joint output, the joint output being connected to a movable object. The method further comprises rotating the actuating element until a resistance torque is experienced by the actuating element and determining, based upon the resistance torque, whether the drive input has engaged the input coupling.

The surgical robotic system includes a robotic arm having one or more joints, each having a motor and at least one torque sensor and a velocity sensor. The system also includes a main controller, which outputs a drive command to the motor thereby actuating the motor. The system further includes a safety observer, which receives a measured velocity of the motor from the sensor, calculates an observed velocity, and detects a failure in operation of the at least one joint based on the observed velocity and the measured velocity.

A method for producing a surgical instrument is disclosed. The method comprises obtaining a handle, wherein the handle comprises a distal end comprising a shaft interface surface and a first set of magnetic elements. The method further comprises obtaining a shaft, wherein the shaft comprises a proximal end comprising a handle interface surface, a second set of magnetic elements, and a third set of magnetic elements. The method further comprises attaching the shaft to the handle, wherein the shaft interface surface is configured to engage the shaft at the handle interface surface, wherein an attractive magnetic force is configured to pull the handle towards the shaft when the first set of magnetic elements interact with the second magnetic elements, and wherein a repulsive magnetic force is configured to repel the handle from the shaft when the first set of magnetic elements interacts with the third set of magnetic elements.

The disclosed technology relates to robotic surgical systems for improving surgical procedures. In certain embodiments, the disclosed technology relates to robotic surgical systems for use in osteotomy procedures in which bone is cut to shorten, lengthen, or change alignment of a bone structure. The osteotome, an instrument for removing parts of the vertebra, is guided by the surgical instrument guide which is held by the robot. In certain embodiments, the robot moves only in the locked plane (one of the two which create the wedgei.e., the portion of the bone resected during the osteotomy). In certain embodiments, the robot shall prevent the osteotome (or other surgical instrument) from getting too deep/beyond the tip of the wedge. In certain embodiments, the robotic surgical system is integrated with neuromonitoring to prevent damage to the nervous system.

Systems and methods are provided for guiding movement of a tool. The system includes a tool and a manipulator. A guide handler obtains a target state for the tool and generates virtual constraints based on the target state and a current state of the tool. A constraint solver calculates a constraint force adapted to attract the tool toward the target state or repel the tool away from the target state based on the virtual constraints. A virtual simulator simulates dynamics of the tool in a virtual simulation based on the constraint force and input from one or more sensors, to output a commanded pose. The control system commands the manipulator to move the tool based on the commanded pose to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.

Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.

Surgical systems and methods involve manipulation of a bone. A robotic manipulator supports and moves a surgical tool that has a cutting bur rotatable about a cutting axis. Controller(s) control the manipulator to align the cutting axis to a target axis associated with the bone and advance the cutting bur along the target axis towards a cortical region of the bone. The controller(s) control the surgical tool to rotate the cutting bur about the cutting axis and contact the cortical region. The controller(s) detect, from sensor(s), forces applied to the cutting bur by the cortical region and compare the sensed forces to a threshold indicative of skiving of the cutting bur relative the cortical region. In response to the sensed forces exceeding the threshold, the controller(s) adjust control of the manipulator and/or surgical tool to reduce forces applied to the cutting bur by the cortical region.

Disclosed herein are systems for implanting anchors and method of use thereof. The systems and methods can include an anchor punch, an anchor inserter, and a controller. The anchor punch can include an anchor punch sensor. The anchor inserter can include an anchor inserter sensor. The controller can be in electrical communication with the anchor punch sensor and the anchor inserter sensor. The controller can be operative to perform operations that include receiving an anchor punch sensor signal from the anchor punch sensor, recommending a number of anchors to be implanted in the bone based on a first estimate of the bone quality, receiving an anchor inserter signal from the anchor inserter sensor, and recommending a number of additional anchors to be implanted in the bone based on a second estimate of the bone quality.