Scalpel guide

A scalpel guide, comprising

• a body having an first face and a second face, the body sized and shaped to be at least partially inserted into an aperture of a tool guide of a surgical system, the body having a shoulder extending outwardly from the body, the body having a first central axis extending through a center of the body;
• the body having internal sides defining a guide slot, the guide slot aligned with the first central axis of the scalpel guide;
• a handle having a first guide prong and a second guide prong extending therefrom, the first guide prong and the second guide prong constructed of a spring bias material, the first guide prong and the second guide prong slidably inserted in first and second apertures within the body, the first guide prong having a first guide portion and the second guide prong having a second guide portion, the first guide portion and the second guide portion spaced apart and extending across at least a portion of the guide slot;
• and
• wherein when the handle is in a first position the first guide portion and the second guide portion are positioned adjacent to the guide slot to restrain a scalpel positioned in the guide slot from horizontal movement, and when the handle is in a second position, the first and second guide portions are positioned away from the guide slot to permit horizontal movement for a scalpel positioned in the guide slot.

A robotic surgical system, comprising:

• a robotic arm;
• a tool guide supported by the robotic arm, the tool guide comprising a tool support having a first end, a second end, an aperture extending through the tool support from the first end to the second end, and a longitudinal axis extending through a center of the aperture from the first end to the second end;
• and
• a controller in communication with the robotic arm, the controller having a non-transitory computer readable memory and a processor, the non-transitory computer readable memory storing at least one planned trajectory associated with a surgical procedure and processor executable instructions that, when executed, cause the processor to pass a first signal to the robotic arm causing the robotic arm to position the tool support a distance from a patient with the longitudinal axis of the tool support substantially coaxially aligned with the at least one planned trajectory;
• and
• a scalpel guide comprising:
• a body having a first end, a second end opposite the first end, a guide slot extending between the first end and the second end, and a central axis extending through a center of the body,
• the body including a shoulder at the first end of the body and extending outwardly from a portion of the body and extending from the first end to a lower face of the shoulder;
• the guide slot being formed in and extending through the body from the first end to the second end, the guide slot defined by a first face, a second face opposite the first face, a third face, and a fourth face opposite the third face, the guide slot having a second central axis substantially coaxially aligned with the central axis of the scalpel guide, the guide slot defining a trajectory plane that extends through a center of the guide slot parallel with the first face and the second face and intersecting the second central axis;
• the body further comprising:
• a seat section extending from the lower face of the shoulder to an insertion marker formed in the body, the seat section sized and shaped to be at least partially inserted into the aperture of the tool guide of the robotic surgical system;
• and
• an elongated portion extending from the second end toward the seat section, the elongated portion having a marker surface that is an extension of the first face of the guide slot, the marker surface having a trajectory marker formed therein, the trajectory marker aligned with the central axis of the scalpel guide and offset a predetermined distance from the trajectory plane.