Abstract: Systems and methods for changing an end effector for a robotic arm are provided. The system may include an adaptor having an adaptor plate having a kinematic interface having at least one projection extending from both the first side and the second side. The adaptor may also include a torque sleeve retained on the adapter plate and a screw disposed inside of the torque sleeve. The system may also include an end effector having a kinematic receiver and a nut. The kinematic receiver may include at least one recess for receiving a corresponding projection of the at least one projection. The screw may be secured to a robot flange and the nut may be secured to the torque sleeve, thereby securing the end effector, the adaptor, and the robot flange to each other.

Abstract: A method according to at least one embodiment of the present disclosure includes receiving a plurality of images, the plurality of images depicting a navigation probe contacting a plurality of divots on a medical instrument; receiving information about the medical instrument; and determining, based on the plurality of images and the information, a pose of the medical instrument.

Abstract: A surgical system according to at least one embodiment of the present disclosure includes an interface block disposed at a distal end of a robot arm and an end-effector block that attaches to the interface block via a nut. For example, the interface block may include a threaded rod that extends a distance from a mount surface of the interface block. Accordingly, the end-effector block may include a mount hole that passes through the end-effector block, where the nut threadedly engages with the threaded rod through the mount hole to clamp the end-effector block against the interface block. In some examples, a sterile drape may be used to provide a sterile barrier between the surgical system and a patient. Additionally, a liner plate may be used with the surgical system, such that an area of the sterile drape is disposed between the liner plate and the mount surface.