Abstract: Described herein are systems and devices for counterbalancing a surgical robotic system using a counterbalanced Z-axis drive. The counterbalanced Z-axis drive includes a self-centering ball screw assembly having a linear actuator and a counter weight. The counter weight is configured to substantially support a load associated with an arm of the robotic system when the driving portion is engaged or disengaged. In some embodiments, the counterbalanced Z-axis drive controls the arm and a movable effector mounted on the arm. Also disclosed herein are systems and devices for direct drive actuation of rotary axes of the arm which reduce the size and weight of the arm.

Abstract: In this invention, there is provided a system which can visually indicate to the surgeon an ideal angle for the acetabular cup during a total hip replacement procedure, wherein the system uses a robotic system which orients an elongated guide at the preferred axis for the acetabular cup.

Abstract: A device and a method are described for finding the location of a bone surface in patients or living animals by using a thin probe equipped with bone contacting detection functionality for a minimally invasive procedure.