Abstract: Systems and methods for surgical robotic navigation include multiple small surgical markers which avoid interfere with line of sight and do not otherwise disturb the surgical staff, while providing a convenient and highly accurate methodology for tracking and compiling the markers. Multi-arm robotic surgery systems are described in various embodiments that hold surgical tools and navigation cameras and optimally make use of several small surgical markers placed on patient anatomy of interest, surgical tools and the robotic arms. The small surgical markers are mathematically compiled so that the navigation cameras see a larger “compiled” surgical marker, thus providing greater accuracy.

Abstract: A gripper for holding surgical tools is provided. The gripper incorporates a concentric and adjustable shutter mechanism that allows the gripper to hold tools of multiple different circumferences and tools that do not have perfectly circular circumferences. In the context of a centrally coordinated robotic system and, in particular, a surgical robotic system, the disclosed gripper allows the robotic system to deploy a large variety of surgical tools without regard to their circumference or precise circumferential dimensions. A robotic system using the disclosed gripper is able to deploy a wide variety of tools while always keeping the tools centered in the work area due to the concentric shutter design.

Abstract: A tool feeding system includes a tool cart having a tool cart coordinate space and surgical tools removably carried by the tool cart at known locations within the tool cart coordinate space. The tool cart is physically attached to a surgical robotic system having one or more surgical robotic arms and a central control unit which controls movement of the robotic arms in a surgical robotic coordinate space. The central control unit registers the tool cart coordinate space with the surgical robotic coordinate space to create a common surgical robotic space, allowing the central control unit to kinematically control motion of the surgical robotic arms within the common surgical robotic space to retrieve and return multiple tools and perform surgical procedures with the tools.

Abstract: A mobile bilateral robotic surgery system is provided. The system may be optimized for robotic spinal surgery. The system comprises a mobile cart configured to be deployable under a surgical table, and particular a spinal surgery table. The mobile cart does not need to be affixed to the floor or the surgical table. The cart comprises multiple robotic arms that can be folded beside or into the cart so as to allow for deployment under the surgical table. The robotic arms may be relatively short and light compared to known systems and are deployed to either side of the patient. This allows for the highly accurate performance of a wide range of surgical procedures. The mobile cart further comprises a central control unit that facilitates the system knowing the position of the robotic arms. The system further optionally comprises a robotic navigation capability that augments the abilities of the system in locating features of a patient's anatomy and tools being used in a surgical procedure.

Abstract: A robotic surgical system comprises a mobile cart, a first surgical robotic arm, a table support element, and a surgical robotic controller. The first surgical robotic arm is located on the mobile cart and holds a first surgical tool. The surgical robotic controller elevates the table support element to engage and to apply a controlled upward force to a structure on an underside of the surgical table to stabilize the surgical table.

Abstract: A surgical robot a chassis includes a first surgical robotic arm and a reference device on a chassis. The first surgical robotic arm carries a surgical object, such as an implant, tool, or assembly, and the reference device carries indicia for identifying, sizing, calibrating, modeling, or verifying the surgical object. A controller kinematically positions the first surgical robotic arm to locate the implant, tool, or assembly in a predetermined orientation relative to the reference device in a surgical robotic coordinate space, and a camera is positioned to view the implant, tool, or assembly, when in proximity to the reference device.

Abstract: A robotic surgical system includes multiple robotic arms which hold, place and/or manipulate surgical access tools, such as ports, for placing and positioning other surgical tools, such as end effectors, cameras, and markers or other navigation elements, for use in performing a robotic surgical procedure. The robotic system will reposition the ports as the surgical procedure progresses to optimize performance of the robotic surgical procedure.

Abstract: Robotic surgical procedures are successively performed on a patient's bony anatomy by engaging the patient's bony anatomy with a first tool or implant coupled to a first surgical robotic arm to perform a first procedure. A second tool or implant coupled to a second surgical robotic arm is then used to perform a second procedure while the first surgical robotic arm and the first tool or implant remain engaged with the patient's bony anatomy to stabilize the bony anatomy while the second procedure is being performed with the second surgical robotic arm and second tool or implant.

Abstract: A mobile bilateral robotic surgery system is provided. The system may be optimized for robotic spinal surgery. The system comprises a mobile cart configured to be deployable under a surgical table, and particular a spinal surgery table. The mobile cart does not need to be affixed to the floor or the surgical table. The cart comprises multiple robotic arms that can be folded beside or into the cart so as to allow for deployment under the surgical table. The robotic arms may be relatively short and light compared to known systems and are deployed to either side of the patient. This allows for the highly accurate performance of a wide range of surgical procedures. The mobile cart further comprises a central control unit that facilitates the system knowing the position of the robotic arms. The system further optionally comprises a robotic navigation capability that augments the abilities of the system in locating features of a patient's anatomy and tools being used in a surgical procedure.

Abstract: A gripper for holding surgical tools is provided. The gripper incorporates a concentric and adjustable shutter mechanism that allows the gripper to hold tools of multiple different circumferences and tools that do not have perfectly circular circumferences. In the context of a centrally coordinated robotic system and, in particular, a surgical robotic system, the disclosed gripper allows the robotic system to deploy a large variety of surgical tools without regard to their circumference or precise circumferential dimensions. A robotic system using the disclosed gripper is able to deploy a wide variety of tools while always keeping the tools centered in the work area due to the concentric shutter design.

Abstract: Robotically controlled and coordinated surgical navigation systems include displays which may have virtual and/or augmented reality capabilities. Multi-arm robotic systems hold cameras, tools, and virtual and/or augmented reality screens The robotic arms are deployed on a chassis incorporating a control unit. Multiple robotic elements may be attached to the single base and may be controlled by the single control unit in order to be used in a coordinated fashion to deploy and/or relate to trackers, cameras, virtual and/or augmented reality screens and surgical instruments as part of a robotic surgery procedure that may optionally be a spinal robotic surgery procedure.

Abstract: Described herein are robotically coordinated systems and methods for safe and efficient spinal decompression and bone milling. In various embodiments, a robotic spinal surgery system is provided with at least three robotic arms co-located on a single mobile base wherein the movement of the robotic arms is coordinated by a central control unit on the base. The system further comprises tools for spinal decompression, elements for protection of nervous tissue and navigation cameras. The nerve protection elements are placed between bony anatomy structures and nervous structures to prevent contact of the spinal decompression tools with the nervous structures. The nerve protection elements further include safety components that can optionally close electrical circuits with the decompression tools and sense or stimulate the nervous structures. Methods of deploying the inventive system in surgery are also provided.

Abstract: A mobile bilateral robotic surgery system is provided. The system may be optimized for robotic spinal surgery. The system comprises a mobile cart configured to be deployable under a surgical table, and particular a spinal surgery table. The mobile cart does not need to be affixed to the floor or the surgical table. The cart comprises multiple robotic arms that can be folded beside or into the cart so as to allow for deployment under the surgical table. The robotic arms may be relatively short and light compared to known systems and are deployed to either side of the patient. This allows for the highly accurate performance of a wide range of surgical procedures. The mobile cart further comprises a central control unit that facilitates the system knowing the position of the robotic arms. The system further optionally comprises a robotic navigation capability that augments the abilities of the system in locating features of a patient's anatomy and tools being used in a surgical procedure.

Abstract: A mobile bilateral robotic surgery system is provided. The system may be optimized for robotic spinal surgery. The system comprises a mobile cart configured to be deployable under a surgical table, and particular a spinal surgery table. The mobile cart does not need to be affixed to the floor or the surgical table. The cart comprises multiple robotic arms that can be folded beside or into the cart so as to allow for deployment under the surgical table. The robotic arms may be relatively short and light compared to known systems and are deployed to either side of the patient. This allows for the highly accurate performance of a wide range of surgical procedures. The mobile cart further comprises a central control unit that facilitates the system knowing the position of the robotic arms. The system further optionally comprises a robotic navigation capability that augments the abilities of the system in locating features of a patient's anatomy and tools being used in a surgical procedure.