Abstract: An end effector system for use in spinal surgery may be described herein. The end effector comprises a sterile section and a non-sterile section. The sterile section comprises an instrument holder that has pins for piercing a plastic sleeve. The instrument holder holds an instrument for performing spinal surgery. The non-sterile section comprises an end effector. The end effector comprises a motor and a transducer. The motor applies a torsional and axial force to the instrument. The transducer provides feedback to the end effector system to adjust a force applied to the instrument.

Abstract: An end effector system for use in spinal surgery may be described herein. The end effector comprises a sterile section and a non-sterile section. The sterile section comprises an instrument holder that has pins for piercing a plastic sleeve. The instrument holder holds an instrument for performing spinal surgery. The non-sterile section comprises an end effector. The end effector comprises a motor and a transducer. The motor applies a torsional and axial force to the instrument. The transducer provides feedback to the end effector system to adjust a force applied to the instrument.

Abstract: A device and method for installing an anchor in a bone of a patient which employs an anchor body having expandable side walls in a tapered shape with retention members on their external surfaces, and an expansion member within the anchor body which is pulled to an engaged position. While in the engaged position the expansion member presses on the inside of the side walls to expand them outwardly to engage the retention members with the bone walls. The side walls have containment ring sections at their distal ends for retaining the expansion member inside the anchor body. The expansion member may be formed as a conical plug with a central aperture and tab recesses on its underside for insertion of an elongated scissors-type instrument with movable prongs that engage into the tab recesses of the expansion plug.