Surgical tool systems and methods

A surgical robot system comprising:

• a dynamic reference base adapted to attach to a patient fixture instrument, wherein the dynamic reference base has reference markers, which are configured to be tracked by a camera system, indicating a position of the patient fixture instrument in a camera coordinate system associated with the camera system;
• a temporary registration fixture device adapted to be temporarily attached to the patient and having:
• temporary markers trackable by the camera system, indicating a location of a target anatomical structure in the camera coordinate system and
• radiopaque markers indicating a location of the target anatomical structure in an image coordinate system defined by an imaging system, the temporary markers being in a fixed position relative to the radiopaque markers;
• wherein the surgical robot system has a processor configured to perform an initial registration of the target anatomical structure from the imaging coordinate system to the camera coordinate system by associating a spatial location of the radiopaque markers of the registration fixture device in the image coordinate system to a spatial location of the markers of the registration fixture device in the camera coordinate system based on the fixed position relationship of the temporary markers relative to the radiopaque markers
• wherein the processor of the surgical robot system is configured to transfer the initial registration of the target anatomical structure relative to the temporary registration fixture device to a subsequent registration of the target anatomical structure relative to the dynamic reference base based on a relative position relationship between the temporary markers and the reference markers;
• and
• wherein the surgical robot system includes a robotic base, a robotic arm and an end effector, wherein a plurality of tracking markers are positioned on the robotic base and spaced from surgical field;
• and wherein at least one tracking marker of the plurality of tracking markers is mounted secured to the end-effector.