Screw tower and rod reduction tool

1 . A rod reduction system for use with a tracking system comprising:

a screw tower having:

an outer sleeve having distal ends adapted to mate to an exterior feature of a tulip of a bone screw, the outer sleeve further having extensions extending radially inwardly; and

an inner sleeve configured to be slidably coupled to the outer sleeve and configured to secure the bone screw to the outer sleeve, the inner sleeve having longitudinal slots for receiving the extensions of the outer sleeve to prevent rotation of the inner sleeve relative to the outer sleeve;

a driver having a shaft extendable longitudinally through the screw tower, the shaft having a threaded sleeve disposed around a proximal portion of the shaft; and

a housing configured to attach to the screw tower and holding a threaded insert configured to threadably couple to the threaded sleeve of the shaft, wherein the threaded sleeve is rotatable about a longitudinal axis to urge the driver shaft longitudinally relative to the screw tower to reduce a rod disposed in the tulip,

a tracking system for use with a robot including:

a computer, a display in communication with the computer;

a position sensor in communication with the computer;

one or more tracking markers disposed on the screw tower;

wherein the position sensor is configured to detect the one or more tracking markers to determine position sensor data of the one or more tracking markers;

wherein the computer is configured to receive the position sensor data and present the position of the screw tower via the display in relation to an image of an anatomical structure of a patient.

2 . The system of claim 1 , wherein the housing includes retention clips configured to clamp to external features disposed in a proximal portion of the screw tower.

3 . The system of claim 2 , wherein each retention clip includes a spring loaded pivoting clip biased to a clamped position.

4 . The system of claim 1 , wherein the threaded insert includes a threaded button having a threaded hole configured to threadably couple to the threaded sleeve, the button switchable between an engaged position for engaging with the threaded sleeve and a disengaged position.

5 . The system of claim 4 , wherein the threaded button is a spring loaded threaded button biased to the engaged position.

6 . The system of claim 4 , wherein the threaded button is a transversely movable spring loaded threaded button biased to the engaged position, wherein transverse movement of the threaded button against the bias releases the threaded engagement with the threaded sleeve.

7 . The system of claim 1 , wherein the system includes a second screw tower positioned on a second location on the patient, and one or more tracking markers disposed on the second screw tower.

8 . The system of claim 1 , wherein the one or more tracking markers are passive tracking markers.

9 . The system of claim 1 , further comprising a robot trackable by the position sensor.

10 . The system of claim 1 , further comprising a surgical tool trackable by the position sensor.

11 . A rod reduction system for use with a tracking system comprising:

a computer;

a screw tower configured to be positioned at a first location on a patient during the surgical procedure;

a position sensor in electronic communication with the computer;

one or more tracking markers positioned on the screw tower;

wherein the screw tower includes:

an outer sleeve having distal ends adapted to mate to an exterior feature of a tulip of a bone screw, the outer sleeve further having extensions extending radially inwardly; and

an inner sleeve configured to be slidably coupled to the outer sleeve and having a pair of mating extensions configured to be positioned inside the tulip to sandwich the tulip between the outer sleeve and the inner sleeve, thereby locking the bone screw to the outer sleeve, the inner sleeve having longitudinal slots for receiving the extensions of the outer sleeve to prevent rotation of the inner sleeve relative to the outer sleeve;

a driver having a shaft extendable longitudinally through the screw tower, the shaft having a threaded sleeve disposed around a proximal portion of the shaft; and

a housing configured to attach to the screw tower and holding a threaded insert configured to threadably couple to the threaded sleeve of the shaft, wherein the threaded sleeve is rotatable about a longitudinal axis to urge the driver shaft longitudinally relative to the screw tower to reduce a rod disposed in the tulip,

wherein the position sensor is configured to detect the one or more first tracking markers to determine position sensor data of the one or more first tracking markers and provide the position sensor data to the computer.

12 . The system of claim 11 , wherein the housing includes retention clips configured to clamp to external features disposed in a proximal portion of the screw tower.

13 . The system of claim 12 , wherein each retention clip includes a spring loaded pivoting clip biased to a clamped position.

14 . The system of claim 11 , further comprising:

a second screw tower positioned at a second location on the patient; and

one or more second tracking markers disposed on the second screw tower.

15 . The system of claim 14 , wherein the one or more first tracking markers and the second one or more tracking markers are passive tracking markers.

16 . The system of claim 11 , further comprising a robot trackable by the position sensor.

17 . The system of claim 11 , further comprising a surgical tool trackable by the position sensor.