System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices

A surgical robot system for surgery on an anatomical feature of a patient, the system comprising:

• a surgical robot;
• a robot arm connected to the surgical robot;
• an end-effector connected to the robot arm and orientable to oppose the anatomical feature so as to be in operative proximity thereto;
• a plurality of surgical tools, each of the tools selectively connectable to the end-effector;
• a processor circuit;
• a memory accessible by the processor circuit and comprising machine-readable instructions configured to cause, when executed, the end-effector to move relative to the anatomical feature;
• a tool-insert locking mechanism located on and connected to the end-effector and configured to secure any selected one of the plurality of surgical tools at a respective, predetermined height, angle of orientation, and rotational position relative to the anatomical feature of the patient;
• and
• a tool stop located on and connected to the end-effector and having a stop mechanism and a sensor;
• wherein the stop mechanism is configured to be selectively moveable between an engaged position to prevent any of the tools from being connected to the end-effector and a disengaged position to permit any of the tools to be selectively connected to the end-effector;
• wherein the sensor is configured to detect the positions of the stop mechanism;
• and
• wherein, in response to detection of the disengaged position, the sensor causes the processor to execute instructions to prevent movement of the end-effector relative to the anatomical feature.