Abstract: Surgical systems and methods involve a surgical robot and an end effector attached to the surgical robot. The end effector includes a drive assembly, a manual interface, a trigger assembly, and a tool attached to the drive assembly and being rotatable about a first axis. Controller(s) control the surgical robot to position the tool relative to a surgical site to align the first axis with a predetermined trajectory associated with the surgical site. The controller(s) detect input from the trigger assembly to rotate the tool about the first axis with the drive assembly and advance the tool along the predetermined trajectory at the surgical site to a first depth. The manual interface is configured to receive force to rotate the tool about the first axis and advance the tool along the predetermined trajectory to a second depth greater than the first depth.

Abstract: A surgical system includes a surgical robot with an end effector that supports a drive assembly, a manual interface, and a trigger assembly. A cutting tool is attached to the drive assembly and rotatable about a cutting axis. A method includes positioning, with the surgical robot, the cutting tool relative to a surgical site to align the cutting axis with a predetermined trajectory. A user engages the trigger assembly for rotating the cutting tool about the cutting axis with the drive assembly and advancing the cutting tool along the predetermined trajectory at the surgical site to a first depth. A user applies force to the manual interface for rotating the cutting tool about the cutting axis and advancing the cutting tool along the predetermined trajectory to a second depth greater than the first depth.

Abstract: Some embodiments provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments of the invention provide a method for forwarding control and data plane messages in an SD-PMN that includes a split control plane architecture. A first set of control plane components including a UPF, security gateway, AMF, and SMF is deployed to each of multiple branch sites connected by the SD-PMN and a second set of control plane components including a UDM is deployed to each of multiple SD-WAN PoPs connected by the SD-PMN. The method is performed at a security gateway at a branch site. The method receives first and second data messages from first and second user devices at the branch site. The method determines the first and second data messages are a control plane first message and a data plane second message. Based on the determinations, the method forwards the control plane first message to the AMF at the branch site and the data plane second message to the UPF at the branch site.

Abstract: Some embodiments of the invention provide a method for forwarding control and data plane messages in an SD-PMN that includes a split control plane architecture. A first set of control plane components including a UPF is deployed to each of multiple branch sites connected by the SD-PMN and a second set of control plane components including a security gateway, an AMF, an SMF, and a UDM is deployed to each of multiple SD-WAN PoPs connected by the SD-PMN. The method is performed at a UPF at a branch site. The method establishes GTP tunnels with a set of physical access points at the branch site. The method receives a first data message encapsulated with a GTP header from one of the physical access points. The method removes the GTP header from the first data message, converts the first data message to IP traffic, and forwards the first data message as IP traffic toward its destination.

Abstract: Some embodiments provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments of the invention provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments provide a method for implementing a software-defined private mobile network (SD-PMN) for an entity. At a physical location of the entity, the method deploys a first set of control plane components for the SD-PMN, the first set of control plane components including a security gateway, a user-plane function (UPF), an AMF (access and mobility management function), and an SMF (session management function). At an SD-WAN (software-defined wide area network) PoP (point of presence) belonging to a provider of the SD-PMN, the method deploys a second set of control plane components for the SD-PMN that includes a subscriber database that stores data associated with users of the SD-PMN. The method uses an SD-WAN edge router located at the physical location of the entity and a SD-WAN gateway located at the SD-WAN PoP to establish a connection from the physical location of the entity to the SD-WAN PoP.

Abstract: Some embodiments of the invention provide a method for link optimization in an SD-PMN defined over at least a first site of a first entity and a second site of a PMN-provider. The method configures a first portion of the SD-PMN deployed at the first entity's first site, the first portion of the SD-PMN including at least one or more physical access points for connecting user devices at the first entity's first site to the SD-PMN and one or more control plane components of the SD-PMN. The method configures a first edge router deployed at the first entity's first site to use multiple links including at least one commercial Internet network link between the first edge router and a gateway router deployed in the PMN-provider second site to reach the PMN-provider second site and to perform a multi-link optimization process on the multiple links to establish a secure tunnel for use in communicating with the gateway router.

Abstract: A surgical system includes a surgical robot with an end effector that supports a drive assembly, a manual interface, and a trigger assembly. A cutting tool is attached to the drive assembly and rotatable about a cutting axis. A method includes positioning, with the surgical robot, the cutting tool relative to a surgical site to align the cutting axis with a predetermined trajectory. A user engages the trigger assembly for rotating the cutting tool about the cutting axis with the drive assembly and advancing the cutting tool along the predetermined trajectory at the surgical site to a first depth. A user applies force to the manual interface for rotating the cutting tool about the cutting axis and advancing the cutting tool along the predetermined trajectory to a second depth greater than the first depth.

Abstract: End effectors for driving tools at surgical sites along trajectories maintained by surgical robots. A tool has interface and working ends. An end effector has a mount to attach to the surgical robot, and an actuator configured to generate torque. A drive assembly with a geartrain translates rotation from the actuator into rotation of a drive conduit supported about an axis. A rotational lock operatively attached to the drive conduit releasably secures the tool for concurrent rotation about the axis, and an axial lock releasably secures the tool for concurrent translation with the drive conduit along the trajectory maintained by the surgical robot. The axial lock is operable between a release configuration where relative movement between the drive assembly and the tool is permitted along the axis, and a lock configuration where relative movement between the drive assembly and the tool is restricted along the axis.

Abstract: End effectors for driving tools at surgical sites along trajectories maintained by surgical robots. A tool has interface and working ends. An end effector has a mount to attach to the surgical robot, and an actuator configured to generate torque. A drive assembly with a geartrain translates rotation from the actuator into rotation of a drive conduit supported about an axis. A rotational lock operatively attached to the drive conduit releasably secures the tool for concurrent rotation about the axis, and an axial lock releasably secures the tool for concurrent translation with the drive conduit along the trajectory maintained by the surgical robot. The axial lock is operable between a release configuration where relative movement between the drive assembly and the tool is permitted along the axis, and a lock configuration where relative movement between the drive assembly and the tool is restricted along the axis.

Abstract: A robotic system for performing spine surgery. The robotic system comprises a robotic manipulator and a navigation system to track a surgical tool relative to a patient's spine. The robotic system may be controlled manually and/or autonomously to place implants in the patient's spine.