Abstract: Robotic surgical systems and methods involve a robotic manipulator, a surgical tool configured to engage and rotate a screw, and a haptic device having an actuator and a manually rotatable interface. Controller(s) receive a control input generated by manual rotation of the rotational interface, the input defining a rotational rate and/or advancement rate of the screw. The controller(s) operate the surgical tool and robotic manipulator to rotate and advance the screw according to the control input. The controller(s) obtain information indicative of an interaction between the screw and the target site, and adjust a force or torque required to rotate the rotational interface based on the information. The adjusted force or torque provides haptic feedback to the operator that emulates the interaction between the screw and the target site.

Abstract: Disclosed herein are techniques including a robotic manipulator including a surgical tool to interface with and rotate the screw about a rotational axis. A haptic device includes an actuator and a rotational interface coupled to the actuator and the rotational interface is manually manipulatable by a hand of an operator. One or more controllers control movement of the robotic manipulator to maintain the rotational axis of the surgical tool along a planned trajectory; autonomously control the surgical tool to rotate the screw at a rotational rate about the rotational axis and to linearly advance the screw at an advancement rate according to a known thread geometry of the screw; obtain a measurement indicative of a present interaction between the screw and the target site; and control the actuator of the haptic device to enable the rotational interface to emulate the present interaction between the screw and the target site.

Abstract: Disclosed herein are techniques including a robotic manipulator including a surgical tool to interface with and rotate the screw about a rotational axis. A haptic device includes an actuator and a rotational interface coupled to the actuator and the rotational interface is manually manipulatable by a hand of an operator. One or more controllers control movement of the robotic manipulator to maintain the rotational axis of the surgical tool along a planned trajectory; autonomously control the surgical tool to rotate the screw at a rotational rate about the rotational axis and to linearly advance the screw at an advancement rate according to a known thread geometry of the screw; obtain a measurement indicative of a present interaction between the screw and the target site; and control the actuator of the haptic device to enable the rotational interface to emulate the present interaction between the screw and the target site.