Surgical robotic automation with tracking markers

A surgical robot system comprising:

• a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm, the end-effector having a guide tube;
• an instrument having an array extending from the instrument with a plurality of fixed tracking markers and a moveable tracking marker, the instrument receivable in the guide tube and having a proximal rotatable knob;
• an implant configured to be inserted in a patient, the implant configured to be detachably coupled to the instrument, the implant being expandable relative to the instrument, wherein the implant is adapted to be expandable by rotation of the proximal knob;
• and
• at least one camera able to detect the plurality of fixed tracking markers and the moveable tracking marker on the instrument, wherein the robot determines a position or movement of the moveable tracking marker to determine a level of expansion of the implant,
• wherein the end effector includes a plurality of markers placed around the surface of the end effector, wherein the distribution of the plurality of markers is configured to be tracked when the end-effector is translated and rotated in the surgical field,
• wherein the implant is an expandable interbody fusion device positioned between adjacent vertebral bodies,
• and wherein the surgical robot system correlates the position of the moveable tracking marker to a particular position, orientation, and height of the expandable interbody fusion device and determines the height of the expandable interbody fusion device based on the location of the moveable tracking marker.