Navigated percutaneous lumbar and thoracic spine facet fusion

A system for facet joint fusion, the system comprising:

• a cannula comprising:
• a body;
• a navigation arm mounted to the body, wherein the navigation arm includes a base and a plurality of individual arms mounted to the base;
• and
• one or more markers mounted to the plurality of individual arms;
• an imaging system configured to identify a position of the one or more markers relative to a facet joint of a patient;
• a computing system in communication with the imaging system, wherein the computing system is configured to determine a docking location at the facet joint and a docking angle at which to position the cannula at the docking location, wherein the docking angle is specific to the patient and is determined based on analysis of the facet joint of the patient;
• and
• a rotary tool that is configured to mount within the cannula, wherein the rotary tool is configured to create a void in the facet joint by way of the cannula, and wherein the void is configured to receive a bone graft or bone growth promoting material.