Systems and methods for using surgical robots with navigation arrays

The surgical system of claim 0, wherein the coupling system comprises a plurality of mounting locations, each mounting location being configured to secure the navigation array to the surgical robot arm in one of the plurality of different orientations.

The surgical system of claim 0,

• wherein determining the orientation of the navigation array includes determining which of the plurality of mounting locations the navigation array is secured to, and
• wherein determining the precise location of the distal end portion of the surgical robot arm is based on a known spatial relationship between the distal end portion and the plurality of mounting locations.

The surgical system of claim 0, wherein the navigation system receiving the location of the coupling system includes receiving, from the coupling system, an indication of the orientation of the navigation array secured by the coupling system.

The surgical system of claim 0, wherein the coupling system comprises a moveable coupler configured to allow the navigation array to move between the plurality of different orientations while the navigation array is secured to the coupling system.

The surgical system of claim 0,

• wherein the coupling system comprises an encoder responsive to an orientation of the moveable coupler that corresponds to the orientation of the navigation array,
• wherein the indication of the orientation of the navigation array comprises an indication of the orientation of the moveable coupler based on the encoder.

The surgical system of claim 0,

• wherein the precise spatial parameter of the second navigation array includes an axis, and
• the at least one spatial parameter includes a distance or an angular orientation of the tool end effector with respect to the distal end portion of the surgical robot arm.

The surgical system of claim 0,

• wherein determining the precise spatial parameter of the second navigation array includes observing the second navigation array during a movement of the second navigation array by the tool end effector to determine an axis of rotation of the tool end effector, and
• the at least one spatial parameter further includes a spatial relationship between the axis of rotation of the tool end effector and the distal end portion of the surgical robot arm.

The surgical system of claim 0,

• wherein determining the precise spatial parameter of the second navigation array includes observing the second navigation array during a movement of the second navigation array by the tool end effector to determine a location of an axis of rotation of the tool end effector, and
• the at least one spatial parameter further includes a spatial relationship between the axis of rotation of the tool end effector and the distal end portion of the surgical robot arm.

The surgical system of claim 0,

• wherein the coupling system comprises one or more sensors configured to detect the orientation of the navigation array, and
• wherein determining the orientation of the navigation array is further based on a received indication of the orientation of the navigation array from the one or more sensor of the coupling system.

The surgical method of claim 0, wherein positioning a navigation array includes detaching the navigation array from a first mounting location of the coupling system and attaching the navigation array to a second mounting location of the coupling system, wherein each of the first and second mounting locations secure the navigation array to the surgical robot arm in one of the plurality of different orientations.

The surgical method of claim 0,

• wherein determining the orientation of the navigation array includes determining which of the first and second of mounting locations the navigation array is attached to, and
• wherein determining the precise location of the distal end portion of the surgical robot arm is based on a known spatial relationship between the distal end portion and the plurality of mounting locations.

The surgical method of claim 0, wherein receiving the location of the coupling system includes receiving, from the coupling system, an indication of the orientation of the navigation array secured by the coupling system.

The surgical method of claim 0, wherein positioning a navigation array includes moving the navigation array from a first orientation to a second orientation of the plurality of different orientations while attached a moveable coupler of the coupling system.

The surgical method of claim 0, comprising

• receiving, from an encoder of the coupling system an indication of an orientation of the moveable coupler that corresponds to the orientation of the navigation array,
• wherein the indication of the orientation of the navigation array comprises an indication of the orientation of the moveable coupler based on the encoder.

The surgical method of claim 0,

• wherein the precise spatial parameter of the second navigation array includes an axis, and
• the at least one spatial parameter includes a distance or an angular orientation of the tool end effector with respect to the distal end portion of the surgical robot arm.

The surgical method of claim 0,

• wherein determining the precise spatial parameter of the second navigation array includes observing the second navigation array during a movement of the second navigation array by the tool end effector to determine an axis of rotation of the tool end effector, and
• the at least one spatial parameter further includes a spatial relationship between the axis of rotation of the tool end effector and the distal end portion of the surgical robot arm.

The surgical method of claim 0, wherein determining the precise spatial parameter of the second navigation array includes observing the second navigation array during a movement of the second navigation array by the tool end effector to determine an axis of rotation of the tool end effector, and

• the at least one spatial parameter further includes a spatial relationship between the axis of rotation of the tool end effector and the distal end portion of the surgical robot arm.

-33. (canceled)