Surgical tool systems and method

A guided surgical tool assembly system comprising:

• a tool sensor system including at least one processor and at least one data input/output interface, the data input interface including at least one sensor;
• a guide tube including the at least one sensor;
• a surgical instrument moveable within the guide tube,
• the surgical instrument including at least one detectable feature;
• and
• wherein the at least one sensor is configured and arranged to detect the at least one detectable feature.

A medical robot system, comprising;

• a robot coupled to an effectuator element, the robot configured for controlled movement and positioning;
• a motor assembly coupled to the robot, the motor assembly being configured to move the effectuator element along one or more of an x-axis, a y-axis, and a z-axis such that movement of the effectuator element along one of the x-, y-, or z-axes occurs independently of movement of the effectuator element along the other axes of the x-, y-, and z-axes, wherein the x-axis is substantially perpendicular to the y- and z-axes, the y-axis is substantially perpendicular to the x- and z-axes, and the z-axis is substantially perpendicular to the x- and y axes;
• a tool sensor system including at least one processor and at least one data input/output interface, the data input interface including at least one sensor;
• a guide tube including the at least one sensor;
• a surgical instrument moveable with respect to the guide tube, the surgical instrument including at least one detectable feature;
• and
• wherein the at least one sensor is configured and arranged to detect the at least one detectable feature;
• and
• wherein the at least one processor is configured and arranged to detect when the surgical instrument is at least partially coupled with the guide tube.