The present invention relates to robotic device positioning. By extending the robotic arm into the surgical field, a system is provided that automatically aligns an instrument following a plan, e.g., surgical plan, using only instrument tracking feedback. No tracking markers on the robot are required.

Connectors for connecting or linking one instrument or object to one or more other instruments or objects are disclosed herein. In some embodiments, a connector can include a first arm with a first attachment feature for attaching to a first object, such as a surgical access device, and a second arm with a second attachment feature for attaching to a second object, such as a support. The connector can have an unlocked state, in which the position and orientation of the access device can be adjusted relative to the support, and a locked state in which movement of the access device relative to the support is prevented or limited. Locking the connector can also be effective to clamp or otherwise attach the connector to the access device and the support, or said attachment can be independent of the locking of the connector.

An implanted article physical referencing apparatus comprises a guide body, a first guide shaft and a second guide shaft. The guide body includes a plurality of guide shaft receptacles therein. A longitudinal axis of each of the guide shaft receptacles extends substantially parallel to a longitudinal reference axis of the guide body. The first and second guide shafts each have a proximate end portion and a distal end portion. The proximate end portion of the first guide shaft includes an exterior surface adapted for being engaged with a corresponding interior surface of a selected one of the guide shaft receptacles to constrain unrestricted relative movement between the first guide shaft and the guide body. The proximate end portion of the second guide shaft is attached to the guide body. A longitudinal axis of the second guide shaft extends substantially parallel to the longitudinal reference axis of the guide body.

Systems are described for conducting minimally invasive medical interventions utilizing instruments and assemblies thereof to stabilize and/or fixate a dysfunctional sacroiliac (SI) joint. The systems include a drill guide having a bone dislodging member adapted to create a pilot SI joint opening in the dysfunctional SI joint through an incision comprising a length no greater than 3.0 cm; portions of the pilot SI joint opening being disposed in the sacrum and ilium bone structures. The drill guide includes a tri-mode fixation system adapted to position and stabilize the drill guide during creation of the pilot SI joint opening in the dysfunctional SI joint and delivery of the SI joint prosthesis therein. The systems also include a SI joint prosthesis configured to be inserted into the pilot SI joint opening of the dysfunctional SI joint, a prosthesis deployment assembly configured to engage the SI joint prosthesis and advance the SI joint prosthesis into the dysfunctional SI joint, and a bone harvesting assembly adapted to extract and collect dislodge bone material from the bone dislodging member after creation of the pilot SI joint opening.

A surgical bone-protecting drill guide device includes a body formed of biocompatible material forming a shell. The body includes an outer surface, an interior surface being a reverse-engineering surface approximation of a protruding boney structure of one or more bones in an image of a patient and body material between the outer surface and the interior surface. The device includes implant guides. Each implant guide is configured to extend from the outer surface and through the body material and the interior surface and provide a window to a pre-planned implant location for implanting a respective one implant relative to the protruding boney structure of the patient. The window has a size and shape that is pre-calculated as a function of a size of a pre-determined tool to be inserted through the window.

Implants and instruments for providing an ideal trajectory for the insertion of instruments and screws during implantation of an interbody implant in a spinal surgery are disclosed.

Devices, systems, and methods for aiding insertion of a surgical implant by providing a threaded guide tube configured to engage a threaded surgical instrument such that an end-effector of a robot may provide force to drive the surgical implant into a patient. In addition, devices, systems, and methods relating to a dilator system for use with a robotic system that allows independent and separate control of tools within the dilator system.

The present invention relates generally to implants used in medical procedures such as bone fixation or fusion. More specifically, this application relates to fenestrated implants used in bone fixation or fusion.

A method and system to align a pin or drill a tunnel along a single line in space with a two degree of freedom (2-DOF) surgical device in a patient is provided. A plane is defined relative to a desired location for an implant or tunnel on a bone, where the implant or tunnel has an axis. An end-effector of the 2-DOF surgical device is aligned coincident with the plane, and the 2-DOF surgical device is moved side-to until a first indicator signals when the end-effector aligns with an entry point for the desired location for the implant or tunnel on the bone. A tip of the end-effector is anchored into the bone at the entry point; and the 2-DOF surgical device is rotated about the anchored tip until a second indicator signals when the end-effector aligns with the axis of the implant or tunnel at the desired location.

A surgical system includes an instrument portal comprising a first proximal end, a first distal end, and a first elongated member, the first elongated member comprising a first bore defining a first diameter, wherein the first bore extends from the first distal end to the first proximal end, wherein the maximum clearance of the instrument portal is the first diameter, and a drill guide reducer configured to be inserted into the instrument portal, the drill guide reducer comprising an elongated cylindrical member defining an outside diameter such that the drill guide reducer is sized to fit within the instrument portal and defining an inner diameter configured to receive a drill guide, wherein the inner diameter of the drill guide reducer is smaller than the first diameter of the instrument portal.