Surgical tool systems and method

A surgical robot system comprising:

• a surgical robot having a display, a housing, and an arm;
• a guide surgical tool assembly coupled to the arm of the surgical robot, the guide surgical tool assembly comprising:
• a tool sensor system including at least one processor and at least one data input/output interface, the data input interface including at least one sensor;
• a rigid guide tube disposed in the guide surgical tool assembly, wherein the rigid guide tube is a single hollow structure and the at least one sensor is disposed inside the single hollow structure, wherein the rigid guide tube is configured to removably receive one of a plurality of surgical instruments associated with spinal surgery;
• and
• a surgical instrument configured to be received within the single hollow structure containing the at least one sensor and moveable within the guide tube, the surgical instrument including at least one detectable feature extending longitudinally along the surgical instrument;
• wherein the at least one sensor is configured and arranged to couple with the at least one detectable feature when the surgical instrument is inside the single hollow structure to determine a position of the surgical instrument within the guide tube,
• wherein the surgical robot system is configured to calibrate a targeting fixture to a medical image received by the surgical robot system in order to track movement of the surgical instrument relative to the medical image, receive data indicative of an intended trajectory associated with the medical image, and move the arm and guide surgical tool in accordance with the intended trajectory
• wherein the detectable feature includes at least one longitudinal magnetic strip and at least one radial magnetic strip, wherein the at least one longitudinal magnetic strip extends the entire length of the guide tube and the radial magnetic strip is positioned proximal to a first opening and extending the entire circumference of the guide tube.

A medical robot system, comprising:

• a robot comprising a display, a housing, and an arm, the robot configured for controlled movement and positioning;
• an effectuator element coupled to the arm;
• a motor assembly coupled to the robot, the motor assembly being configured to move the effectuator element along one or more of an x-axis, a y-axis, and a z-axis such that movement of the effectuator element along one of the x-, y-, or z-axes occurs independently of movement of the effectuator element along the other axes of the x-, y-, and z-axes, wherein the x-axis is perpendicular to the y- and z-axes, the y-axis is perpendicular to the x- and z-axes, and the z-axis is perpendicular to the x- and y axes;
• a tool sensor system including at least one processor and at least one data input/output interface, the data input interface including at least one sensor;
• a guide tube disposed in the effectuator element, wherein the guide tube is a single hollow structure including the at least one sensor disposed inside the single hollow structure, wherein the guide tube is configured to removably receive one of a plurality of surgical instruments associated with spinal surgery;
• and
• a surgical instrument configured to be received within the single hollow structure containing the at least one sensor and moveable within the guide tube, the surgical instrument including at least one detectable feature extending longitudinally along the surgical instrument;
• wherein the at least one sensor is configured and arranged to couple with the at least one detectable feature when the surgical instrument is inside the single hollow structure to determine a position of the surgical instrument within the guide tube;
• and wherein the at least one processor is configured and arranged to detect when the surgical instrument is inside the single hollow structure,
• wherein the guide tube is rigid and the surgical instrument includes a guide stop that contacts a proximal end of the rigid guide tube to prevent the surgical instrument from extending further,
• wherein the surgical robot system is configured to calibrate a targeting fixture to a medical image received by the surgical robot system in order to track movement of the surgical instrument relative to the medical image, receive data indicative of an intended trajectory associated with the medical image, and move the arm and guide surgical tool in accordance with the intended trajectory
• wherein the detectable feature includes at least one longitudinal magnetic strip and at least one radial magnetic strip, wherein the at least one longitudinal magnetic strip extends the entire length of the guide tube and the radial magnetic strip is positioned proximal to a first opening and extending the entire circumference of the guide tube.