The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.

A robot-assisted surgical system includes a robotic manipulator for robotic positioning of a surgical instrument, and a user input device moveable by a user to cause the robotic manipulator to move the surgical instrument. The system is configured to define virtual boundaries in a workspace of the user input device, based on range limits or user ergonomic limits of the user input device. The system alerts the user if the user input device is moved into proximity of the virtual boundary. This cues the user that it would be useful to clutch and reposition the user input device.

A jaw closure transmission system is presented comprising an input sub-system, output sub-system and a transmission sub-system.

An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, ultra-MIS techniques.

An orthopedic surgical instrument comprising: a customized patient-specific acetabular reaming guide comprising an at least partially circular body, having an inner surface defining a slot sized to receive an acetabular reamer head, and further having a top surface defining a contact element; at least one support element configured for supporting the at least partially circular body on a patient-specific anatomy of a coxal bone; and further comprising at least one acetabular reamer head comprising a bone milling portion configured for insertion in the slot of the acetabular reaming guide; a connecting element configured for removable attachment to a reamer's shank for operation of the at least one acetabular reamer head; wherein the orthopedic surgical instrument further comprises an abutment element attached to a top portion at least one acetabular reamer head and configured to limit a milling depth of the bone milling portion, by resting on the contact element of the acetabular reaming guide.

A surgical instrument is disclosed including an end effector, a generator configured to deliver adaptive energy, a mode selector switch having a plurality of surgical modes, a closure switch configured to control the end effector, and a counter configured to count a number of closure switch activations. The surgical instrument is configured to communicate a selected surgical mode of the mode selector switch and the number of closure switch activations from the counter to the generator. The surgical instrument is configured to receive the adaptive energy from the generator based on the selected surgical mode and the number of closure switch activations. The generator is configured to deliver the adaptive energy to the surgical instrument closer to a start of an activation cycle for the selected surgical mode as the number of closure switch activations increases.

An instrument drive unit includes a hub, a motor pack, and an annular member disposed between the hub and the motor pack. The hub and motor pack each have a surface feature. The motor pack is rotatably coupled to the hub. The annular member defines an upper annular channel, and a lower annular channel. The annular member has a stop formed in each of the upper and lower annular channels. Upon the motor pack achieving a threshold amount of rotation relative to the hub, the surface feature of the motor pack abuts the stop of the lower annular channel to rotate the annular member. Upon the annular member achieving a threshold amount of rotation relative to the hub, the stop of the upper annular channel abuts the surface feature of the hub stopping further rotation of the motor pack.

Methods for resetting a fuse in a surgical instrument are disclosed.

A system for robotic surgery makes use of an end-effector which has been configured so that any selected one of a group of surgical tools may be selectively connected to such end-effector. The end-effector makes use of a tool-insert locking mechanism which secures a selected one of the surgical tools at not only a respective, predetermined height and angle of orientation, but also at a rotational position relative to an anatomical feature of the patient. The tool-insert locking mechanism may include interchangeable inserts to interconnect multiple tools to the same end-effector. In this way, different robotic operations may be accomplished with less reconfiguration of the end-effector. The end-effector may also include a tool stop which has a sensor associated with a moveable stop mechanism which may be positioned to selectively inhibit tool insertion or end-effector movement.