An end-effector for a surgical robot system may include an end-effector body and an optical sub-assembly. The optical sub-assembly may include a housing coupled to the end-effector body, the housing including a threaded portion. The optical sub-assembly may further include a window that is transparent to a predetermined range of light radiation wavelengths. The optical sub-assembly may further include a gasket disposed between the housing and the window. The optical sub-assembly may further include a threaded ring disposed over the window and threadedly engaging the threaded portion of the housing, the threaded ring compressing the gasket between the window and the housing to form a seal between the window and the housing. The optical sub-assembly may further include a light emitter configured to emit light in the predetermined range of light radiation wavelengths through the window.

A computer assisted system is disclosed that includes an optical tracking system. The optical tracking system includes an RGB sensor and is configured to capture color images of an environment in the visible light spectrum and tracking images of fiducials in the environment in a near-infrared spectrum. The computer assisted surgical system is configured to generate a color image of the environment using the color images, identify fiducial locations using the tracking images, register pre-operative and/or intra-operative data to the color images using the fiducial locations, and generate an augmented reality (AR) image of the environment by overlaying the data over the color image. The computer assisted surgical system can further include a monitor or a head-mounted display (HMD) configured to present the AR image.

A marker for an optical tracking system includes an object having a curved surface and a plurality of beads adhered to the curved surface with an adhesive. The beads of the plurality of beads are configured for being retroreflectors. A bead of the plurality of beads can include a first portion having a reflective surface and a second portion that is substantially transparent. The first portion of the bead is oriented toward the curved surface of the object. The second portion of the bead is oriented away from the curved surface of the object. The beads are applied to the marker. A bead of the plurality of beads can be transparent and embedded in a reflective medium on the marker surface.

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.

Methods and systems of placing a medical fastener at a predetermined depth in a bone are described. A surgical tool can include an attachment assembly configured to interchangeably engage a medical fastener and a cutting element or bone removal tool and a drive assembly coupled to the attachment assembly. The attachment assembly can be configured to automatically release the medical fastener in response to the drive assembly reaching its end or distal-most position to place the medical fastener at a predetermined depth within the bone.

Optical sensors and optical markers are placed on components in a medical system to provide calibration and alignment, such as on a patient transportation mechanism and spatially separated medical diagnostic devices. Image processing circuitry uses the data captured by these optical devices to coordinate their movements and/or position. This enables scans that were captured in multiple medical diagnostic devices to be accurately aligned.

Methods and systems of placing a medical fastener at a predetermined depth in a bone are described. A surgical tool can include an attachment assembly configured to interchangeably engage a medical fastener and a cutting element or bone removal tool and a drive assembly coupled to the attachment assembly. The attachment assembly can be configured to automatically release the medical fastener in response to the drive assembly reaching its end or distal-most position to place the medical fastener at a predetermined depth within the bone.

A system includes a processor and a display. The processor is configured to: (a) receive an optical image of an organ of a patient, (b) receive an anatomical image of the organ, (c) receive, from a position tracking system (PTS), a position signal indicative of a position of a medical instrument treating the organ, (d) register the optical image and the anatomical image in a common coordinate system, and (e) estimate the position of the medical instrument in at least one of the optical image and the anatomical image. The display is configured to visualize the medical instrument overlaid on at least one of the optical image and the anatomical image.

A location pad includes two or more field-generators, and a frame. The field-generators are configured to generate respective magnetic fields at least in a region-of-interest (ROI) of a patient organ, for measuring a position of a medical instrument in the ROI. The frame is coupled with tissue that is at least partially surrounding the organ and is configured to fix the two or more field-generators at respective positions surrounding the ROI.

A location pad includes two or more field-generators, one or more tracking elements, and a frame. The field-generators are configured to generate respective magnetic fields at least in a region-of-interest (ROI) of an organ of a patient, for measuring a position of a medical instrument in the ROI. The one or more tracking elements are for registering the location pad with the organ. The frame is coupled with tissue that is at least partially surrounding the organ, and the frame is configured to fix (i) the two or more field-generators at respective positions surrounding at least a portion of the ROI, and (ii) the one or more tracking elements at one or more respective predefined positions on the frame.