Robotic Spine Surgery System And Methods

A surgical robotic system comprising:

• a robotic manipulator comprising a sensor;
• a surgical tool coupled to the robotic manipulator and configured to hold a screw and to rotate the screw about a rotational axis, the screw being self-tapping and having a known thread geometry;
• a navigation system configured to track a position of a target anatomy;
• and
• one or more controllers coupled to the robotic manipulator and the navigation system and comprising a memory for storing the known thread geometry and wherein the one or more controllers are configured to:
• control movement of the robotic manipulator to maintain the rotational axis of the surgical tool on a planned trajectory with respect to the target anatomy based on the tracked position of the target anatomy,
• detect, with the sensor, a force applied by a user;
• control one of a rotational rate of the surgical tool to insert the screw about the rotational axis or an advancement rate of the surgical tool to insert the screw linearly along the planned trajectory based on the forces applied by the user to implant the screw into the target anatomy;
• and
• autonomously control the other of the advancement rate of the surgical tool or the rotational rate of the surgical tool so that the advancement rate of the surgical tool and the rotational rate of the surgical tool are proportional to the force applied by the user and to the known thread geometry stored in the memory.