An assembly for a surgical arm includes a tool to position a prosthesis and an end effector. The tool has a tool shaft extending along a tool axis and a tool engagement surface. The end effector has a mount attachable to the surgical arm, a body portion extending from the mount, a distal end, and a guide portion is at the distal end of the body portion to receive the tool. The guide portion has a pair of arms, each arm extending to an arm end and the arm ends are spaced apart from one another to provide an opening between the arm ends. A channel is formed between the arms and extends along a guide axis. The arms define an arc-shaped guide engagement surface to enable contact with the tool engagement surface for facilitating alignment of the tool axis and the guide axis.

A minimally invasive surgical procedure for replacing a hip joint is provided. A main incision is initiated at a point being a projection of a tip of a greater trochanter and extends proximally about a distance in the range of from 1 cm to 8 cm in line with the femoral axis. An inline capsulotomy is performed, while keeping muscles and posterior capsule intact, to expose the hip joint capsule for accessing the hip joint. The femoral canal is prepared for receipt of a femoral implant. The femoral head is resected and removed out of the acetabulum. A step of acetabular preparation is performed using a retractor comprising two tip rails, each tip rail having a plurality of tines. Related tools, devices, systems and methods are also provided.

A bi-directional fixating transvertebral (BDFT) screw/cage apparatus including an intervertebral cage for maintaining disc height, and a method of inserting the same is provided. The intervertebral cage includes a first internal screw guide and a second internal screw guide, a first screw member and a second screw member, and a central screw locking lever coupled to the intervertebral cage, wherein the central screw locking lever prevents the first screw member and the second screw from pulling-out of the first internal screw guide and the second internal screw guide. The central screw locking lever includes a rotatable handle and stem portion, or a screw locking horizontal bracket. A pliers device for inserting and removing the bi-directional fixating transvertebral (BDFT) screw/cage apparatus, a posterior cervical and lumbar facet joint staple, and a staple gun for a posterior cervical and lumbar facet joint staple also are provided.

A trial system for determining a suitable proximal body implant for hip replacement surgery comprises a separator instrument, a trial body attachable to a distal stem, and an insert. The insert is positioned within the trial body to receive the separator instrument. As the separator instrument is rotated about its axis, a ramp element of the insert guides a pin of the separator instrument, so as to separate the trial body from the distal stem. Additional apparatus, methods, and systems are disclosed.

An intervertebral prosthetic disc placement instrument is provided for implantation of an intervertebral prosthetic disc. The placement instrument shaft has a distal end and a proximal end and an instrument handle on the proximal end having an activation mechanism. A pair of grasping jaws on the distal end of the instrument shaft are configured to move with respect to one another to grasp a multipart prosthetic disc in a non-articulating configuration. The grasping jaws are movable from a tightened to a released position by the activation mechanism. A prosthetic disc ejector on the distal end of the instrument shaft moves distally with respect to the pair of grasping jaws when the grasping jaws are in the released position and the ejector is configured to contact the prosthetic disc to fully disengage the prosthetic disc from the placement instrument. An intervertebral prosthetic disc core removal instrument is also provided for use in distracting plates of the intervertebral disc away from one another to allow the core to be more easily removed.

End effectors for driving tools at surgical sites along trajectories maintained by surgical robots. A tool has interface and working ends. An end effector has a mount to attach to the surgical robot, and an actuator configured to generate torque. A drive assembly with a geartrain translates rotation from the actuator into rotation of a drive conduit supported about an axis. A rotational lock operatively attached to the drive conduit releasably secures the tool for concurrent rotation about the axis, and an axial lock releasably secures the tool for concurrent translation with the drive conduit along the trajectory maintained by the surgical robot. The axial lock is operable between a release configuration where relative movement between the drive assembly and the tool is permitted along the axis, and a lock configuration where relative movement between the drive assembly and the tool is restricted along the axis.

A method for removing a stem portion of an orthopedic implant from a bone comprises exposing an implanted orthopedic implant having a body portion, a stem portion interconnected to the body and a porous metal section forming an interconnection between the body and the stem portion. A cutting tool is mounted on a holder connected to an exposed surface of the orthopedic implant. The porous section is aligned with the cutting tool mounted on the holder. The entire porous section is cut by moving the cutting tool therethrough in a direction transverse to the stem portion axis. The implant body portion is then removed and then the stem portion is removed from the bone. The cutting tool may be a saw or chisel which may be mounted on a guide fixed to the body portion.

A tool assembly for extracting a liner from a prosthesis comprising an impactor and a faceplate. The impactor can be configured to receive and transmit a force. The faceplate can be configured to deliver the force from the impactor to the prosthesis to separate the liner from a shell of the prosthesis.

Apparatus and method of removing a liner attached to an implanted acetabular shell. A surgical site is accessed where the acetabular shell has already been implanted into a patient. A rim plate having a through opening is placed over the acetabular shell. A pilot hole is then drilled into the attached liner through the opening in the placed rim plate. After the drilling, the rim plate is removed to expose the drilled hole. A removal tool is inserted into the drilled pilot hole. The attached liner is then disengaged from the implanted acetabular shell with the inserted removal tool.

A minimally invasive surgical procedure for replacing a hip joint is provided. A main incision is initiated at a point being a projection of a tip of a greater trochanter and extends proximally about a distance in the range of from 1 cm to 8 cm in line with the femoral axis. An inline capsulotomy is performed, while keeping muscles and posterior capsule intact, to expose the hip joint capsule for accessing the hip joint. The femoral canal is prepared for receipt of a femoral implant. The femoral head is resected and removed out of the acetabulum. A step of acetabular preparation is performed using a retractor comprising two tip rails, each tip rail having a plurality of tines. Related tools, devices, systems and methods are also provided.