Methods and systems for robotic-assisted insertion of medical fasteners

A surgical system comprising:

• a surgical navigation system;
• and
• a surgical tool comprising:
• a tracking array configured to be detected by the surgical navigation system,
• an attachment assembly comprising:
• a collet configured to interchangeably engage a medical fastener or a bone removal tool,
• a sleeve slidable relative to the collet between a first configuration and a second configuration, the sleeve comprising a sleeve recess,
• a biasing member configured to bias the sleeve towards the first configuration, and
• a detent residing within the sleeve recess, wherein insertion of the medical fastener or the bone removal tool into the collet causes the detent to move into and at least partially occupy a corresponding recess of the medical fastener or the bone removal tool, wherein in the first configuration the sleeve bears against the detent, thereby causing the detent to maintain its position within the corresponding recess of the medical fastener or the bone removal tool and constraining axial movement of the medical fastener or the bone removal tool,
• a rotational actuator configured to rotationally drive the attachment assembly;
• a stop;
• and
• an axial actuator configured to axially drive the attachment assembly between a first position and a second position, wherein as the attachment assembly approaches the second position as driven by the axial actuator, the sleeve contacts the stop, thereby causing the sleeve to slide relative to the collet to the second configuration, there causing the detent to move radially into the sleeve recess and vacate the corresponding recess of the medical fastener, thereby releasing the medical fastener at a predetermined depth corresponding to the second position.