End effectors and methods for driving tools guided by surgical robotic systems

A surgical system comprising:

• a surgical robot;
• an end effector attached to the surgical robot and comprising:
• a manual interface, a trigger assembly, and a drive assembly configured to receive a tool and rotate the tool about a first axis;
• and one or more controllers coupled to the surgical robot and the end effector and being configured to:
• control the surgical robot to position the tool relative to a surgical site to align the first axis with a predetermined trajectory associated with the surgical site;
• and detect input from the trigger assembly to rotate the tool about the first axis with the drive assembly and advance the tool along the predetermined trajectory at the surgical site to a first depth;
• and
• wherein the manual interface is configured to receive force to rotate the tool about the first axis and advance the tool along the predetermined trajectory to a second depth greater than the first depth.

An end effector for a surgical robot, the end effector comprising:

• a drive assembly configured to receive a tool and rotate the tool about a first axis;
• a trigger assembly comprising an input configured to initiate rotation of the tool about the first axis with the drive assembly;
• and
• a manual interface comprising a handle assembly configured to receive force to rotate the tool about the first axis and advance the tool along the first axis independent of the trigger assembly.