End effector for total hip arthroplasty (THA) procedures

Abstract

Various implementations include an end effector for total hip arthroplasty (THA) procedures. An example end effector may include an adapter for holding a surgical instrument, the adapter having an elongate body and a protrusion extending from the elongate body; a body having: a proximal end including an interface for attachment to a robotic arm; and a distal end comprising an elongate recess and a slot for connection with a surgical instrument; and a connector adapted to secure the protrusion in the slot to securely attach the adapter to the main body.

Description

TECHNICAL FIELD

[0001] The present invention relates generally to devices, systems, and methods for use in surgical procedures. More particularly, the present invention relates to devices, systems, and methods for performing a total hip arthroplasty (THA) surgical procedure. BACKGROUND

[0002] Hip arthroplasty or hip replacement is a surgical procedure for resurfacing and reconstruction of a hip joint that has been damaged due to disease or injury, e.g., due to arthritis or fracture. A THA device replaces the acetabulum and femoral head, which together comprise the hip joint. An acetabular implant is secured to the acetabulum, thereby forming a replacement articulating surface that interfaces with a femoral implant secured to the end of the femur. The femoral implant is pivotably coupled to the acetabular implant, thereby reconstructing the hip joint. An exemplary acetabular implant is disclosed in, e.g., U.S. Patent Application No. 17 / 024,876, filed September 18, 2020 (published as US2022 / 0087823 Al), which is incorporated by reference herein as if fully set forth herein.

[0003] Robotic surgical systems, including computer-assisted navigation, have become a mature technology in the operating room, including its use in arthroplasty procedures. Computer-assisted navigation systems provide the surgeon with computerized visualizations indicating the relationship of the pose of a surgical instrument or other device set relative to the patient to the pose of medical images relative to the patient anatomy and these poses to a preoperative surgical plan. Camera tracking systems for computer-assisted surgical navigation generally use a set of tracking cameras to track the pose of a reference element on a surgical instrument relative to a patient reference element (or “dynamic reference base” (DRB)) attached to the patient, which can be coupled to a surgical robot and can be positioned by the surgeon during a surgical procedure. A computer model of the real instrument is associated with the reference element so that the computer model can be overlaid on registered images of the patient anatomy. The camera tracking system uses the relative poses of the reference elements to determine how the real instrument is posed relative to the patient and to determine how the computer model of the real instrument is correspondingly posed, as overlaid on the medical images. The surgeon can thereby use real-time visual feedback of the relative poses to navigate the surgical instrument during the surgical procedure on the patient.

[0004] As described above, a robotic system can be used for arthroplasty procedures. The robotic system (or "robot" or "surgical robot") has a serial link arm on which an end effector is mounted. A surgeon (or "user") can hold the end effector or any instrument coupled thereto to perform surgical operations while viewing in real-time on a navigation system (e.g., on a separate display or an augmented reality (AR) headset) and receive various types of relevant feedback and information associated with a defined plan and / or progress of the surgical procedure.

[0005] The serial link arm can be moved by computer-guided control into a suitable position for a surgical procedure, e.g., upon surgeon request that can be provided via foot pedals, touch screen, AR interaction, etc. This passive robotic structure allows the surgeon to precisely perform each operation in the procedure.

[0006] There are various workflows available for use with the system. Such workflows can incorporate preoperative scans or images of the patient (e.g., x-rays or computed tomography (CT)). On the other hand, other workflows can be imageless and can not require any preoperative images. Some workflows can incorporate intraoperative information gathering about the patient's anatomy. In one example, the surgeon can use a camera tracking system and appropriate tracking instruments to measure key parameters of the bone to acquire points on the patient's anatomy. This information, along with other intraoperatively gathered information, can be used to plan implant position and orientation with respect to the patient's anatomy and to navigate the robot and surgical instruments during the surgical procedure.

[0007] In some workflows, the surgeon can rigidly attach reference elements to one or more bones, where the reference elements include fiducials that are detected by tracking cameras for computer-aided navigation. The reference elements allow the bone positions to be tracked by the navigation system. The reference elements can be positioned on the skeleton and oriented so that they can be seen by the tracking cameras of the navigation system. Once positioned, the reference elements are attached to the bone (e.g., the pelvis or femur) by fixation structures (e.g., screw pins, "alligator" jaws). The respective positions and orientations of the reference elements remain rigidly fixed relative to the bone throughout the procedure.

[0008] Another procedure of various workflows is to register the patient in the tracking space of the navigation system. Patient registration can include matching the patient's anatomy to a digital representation of the corresponding bones, such as a three-dimensional (3D) model of the bones. The bone representation can be constructed from, e.g., a set of CT images (CT workflow), a set of fluoroscopy images, or based on a generic bone model (imageless workflow).

[0009] While current surgical methods provide sophisticated techniques in robotically and navigationally assisted surgical procedures, current methods for bone preparation, trial, and implant placement can have drawbacks, for example, in THA procedures. SUMMARY

[0010] A first aspect of the present disclosure provides an end effector for a total hip arthroplasty (THA) procedure, the end effector comprising: an adapter for holding a surgical instrument, the adapter having an elongate body and a protrusion extending from the elongate body; a body having a proximal end comprising an interface for attachment to a robotic arm and a distal end comprising an elongate recess and a slot for connection with the surgical instrument; and a connector adapted to secure the protrusion in the slot to securely attach the adapter to the body.

[0011] According to certain embodiments, the connector and the elongate recess limit at least two degrees of freedom (DoF) of the surgical instrument.

[0012] According to certain embodiments, the surgical instrument and the adapter are configured to connect with the body as a single unit. In certain implementations, the surgical instrument and the adapter can be pre-coupled and connected with the body using a quick connect method (e.g., with a single operator hand). In some of these cases, the final connection is made with a second operator hand.

[0013] According to certain embodiments, the protrusion is complementary to the slot in the body.

[0014] According to certain embodiments, the protrusion comprises a notch that is complementary to the connector and enables the adapter to attach and detach from the body. In some examples, the notch comprises a V-shaped slot.

[0015] According to certain embodiments, when secured, the adapter interfaces with the elongate recess and couples with the connector.

[0016] According to certain embodiments, the adapter comprises at least two limiters to limit degrees of freedom (DoF) of the surgical instrument. For example, translation and rotation can be limited. In some examples, the limiters can comprise buttons, protrusions, or other interfaces.

[0017] According to certain embodiments, the surgical instrument is a first type of surgical instrument of a plurality of types of surgical instruments, the surgical instrument configured to detachably couple with the body. For example, the type of surgical instrument can include a reamer, an impactor, etc.

[0018] According to certain embodiments, the surgical instrument comprises an impactor.

[0019] According to certain embodiments, the connector enables decoupling of the impactor from the body in a single breakaway procedure, thereby restoring at least two DoFs constrained by the end effector. For example, in some cases, an operator (e.g., a surgeon) can beneficially perform a single breakaway procedure to test the grip and / or fit of the implant in the socket. In further cases, if the surgical robot fails or locks for any reason, the operator can beneficially perform a single breakaway procedure.

[0020] According to certain embodiments, decoupling the impactor from the body enables manual manipulation of the impactor by the surgeon.

[0021] According to certain embodiments, the surgical instrument is configured to be coupled or decoupled from the body at any stage of the THA procedure.

[0022] According to certain embodiments, the surgical instrument includes a navigation array.

[0023] According to certain embodiments, the elongated recess has one of a V-shaped cross-section or a U-shaped cross-section.

[0024] According to certain embodiments, the adapter is cylindrical and complementary to the elongated recess.

[0025] According to certain embodiments, the connector includes a pin sized for insertion into or removal from a slot in the protrusion in the adapter.

[0026] According to certain embodiments, when secured, the surgical instrument has substantially zero degrees of freedom (DoF) relative to the end effector.

[0027] According to certain embodiments, the interface on the proximal end includes a set of pins for interfacing with a robotic arm. In one example, the set of pins includes two pins, three pins, four pins, or more pins. In a particular example, the set of pins includes three pins.

[0028] According to certain embodiments, the end effector further includes a kinematic mount proximate to each of the pins.

[0029] According to certain embodiments, the interface includes a set of two U-shaped elements adjustably coupled by at least one screw.

[0030] According to certain embodiments, the connector includes an actuator that enables a user to couple or decouple the surgical instrument from the body. In some cases, the actuator includes a handle.

[0031] According to certain embodiments, the end effector includes a drape that spans the interface on the proximal end of the body, wherein the drape provides a sterile shield between the actuator and the surgical instrument.

[0032] According to some implementations, sterile shielding allows users to attach or detach surgical instruments from the body without compromising pre-established sterility.

[0033] According to some implementations, one method involves coupling an end effector to a surgical instrument.

[0034] According to some implementations, the method also includes disengaging the end effector from the surgical instruments without repositioning the robotic arm. For example, disengagement of the end effector can be performed without removing the arm from the surgical field.

[0035] According to some implementations, a surgical robot includes a robotic arm coupled to an end effector.

[0036] These and other aspects, advantages and salient features of the invention will become apparent from the following detailed description, which discloses embodiments of the invention when viewed in conjunction with the accompanying drawings, wherein similar parts are indicated by similar reference numerals throughout the drawings. Attached Figure Description

[0037] Various aspects of this disclosure are illustrated by way of example and are not limited to the accompanying drawings. In the drawings:

[0038] FIG. 1 This is a top view of a surgical system arranged in an operating room during surgical procedures according to some embodiments of the present disclosure, the surgical system including a camera tracking system for computer-aided navigation during surgery and a surgical robot for robot-assisted procedures.

[0039] FIG. 2 The following are examples of patient positioning according to some embodiments of this disclosure. FIG. 1 Camera tracking systems and surgical robots.

[0040] FIG. 3 Further illustrations show configurations according to some embodiments of this disclosure. FIGS. 1-2 Camera tracking systems and surgical robots.

[0041] FIG. 4 A block diagram of a surgical system configured to operate according to some embodiments of the present disclosure is shown, the surgical system including an extended reality head-mounted device, a computer platform, an imaging device, and a surgical robot.

[0042] FIG. 5 A flowchart illustrating the workflow during a portion of a total hip arthroplasty (THA) procedure according to some embodiments of this disclosure is shown.

[0043] FIG. 6A robotic arm with an end effector for holding a surgical instrument is shown in accordance with some embodiments of the present disclosure.

[0044] FIG. 7 A separation assembly including an end effector, an adapter, a surgical instrument, and a navigation array is shown in accordance with some embodiments of the present disclosure.

[0045] FIG. 8 A connection assembly is shown in accordance with some embodiments of the present disclosure. FIG. 7

[0046] FIG. 9 A separation assembly including an end effector, an adapter, a surgical instrument, and a navigation array is shown in accordance with some embodiments of the present disclosure.

[0047] FIG. 10 A separation assembly including an end effector, an adapter, and a surgical instrument is shown in accordance with some embodiments of the present disclosure.

[0048] FIG. 11 A separation assembly including an end effector and an adapter is shown in accordance with some embodiments of the present disclosure.

[0049] FIG. 12 An end view of a portion of an end effector is shown in accordance with some embodiments of the present disclosure.

[0050] FIG. 13 A partial cross-sectional view of a portion of an end effector is shown in accordance with some embodiments of the present disclosure.

[0051] FIG. 14 An end view of an interface on an end effector is shown in accordance with some embodiments of the present disclosure.

[0052] FIG. 15 And FIG. 16 A perspective view of a portion of an end effector and a surgical drape is shown in accordance with some embodiments of the present disclosure.

[0053] FIG. 17 And FIG. 18 Different perspective views of a portion of an end effector coupled with a surgical instrument adapter are shown in accordance with some embodiments of the present disclosure.

[0054] FIG. 19 A schematic view of a system is shown in accordance with some embodiments of the present disclosure.

[0055] FIG. 20 And FIG. 21 Different views of an example end effector interface are shown in accordance with some embodiments of the present disclosure.

[0056] ​Note that the drawings of the present disclosure are not necessarily to scale. The drawings are intended to depict only typical aspects of the disclosure and therefore should not be considered as limiting the scope of the disclosure. In the drawings, like numbering represents similar elements. DETAILED DESCRIPTION

[0057] It is to be understood that the present disclosure in its application to the construction details and arrangement of components shown in the description herein or illustrated in the drawings is not limited to the embodiments described herein or illustrated in the drawings. The teachings of the present disclosure can be used and practiced in other embodiments and in various ways, and are not limited to only the embodiments described herein or illustrated in the drawings. Furthermore, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms “mounted,” “connected,” “supported,” and “coupled,” and variations thereof, are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Further, “connected” and “coupled” are not restricted to physical or mechanical connections or couplings.

[0058] The following discussion is presented to enable a person skilled in the art to make and use embodiments of the present disclosure. Various modifications to the illustrated embodiments will be readily apparent to those skilled in the art, and the principles described herein can be applied to other embodiments and applications without departing from the scope of the present disclosure. Thus, the embodiments are not intended to be limited to the embodiments shown, but are to be accorded the widest scope consistent with the principles and features described herein. The following detailed description is read with reference to the drawings, in which like elements in different drawings are identified with like reference numerals. The drawings, which are not necessarily to scale, depict examples and are not intended to limit the scope of the embodiments. Skilled artisans will recognize that the examples provided herein have many useful alternatives and fall within the scope of the embodiments.

[0059] This application is related to the following patents: (1) Patent Application No. 15 / 180,126 (U.S. 10,842,453), filed June 13, 2016; (2) Patent Application No. 15 / 157,444 (U.S. Pub. No. 2016 / 0256225), filed May 18, 2016; (3) Patent Application No. 18 / 743,685 (Docket No. ROBOT.143.0005), filed June 14, 2024; (4) Patent Application No. 18 / 743,388 (Docket No. ROBOT.143.0002), filed June 14, 2024; (5) Patent Application No. 18 / 743,647 (ROBOT.143.0004), filed June 14, 2024; (6) Patent Application No. 18 / 743,615 (Docket No. ROBOT.143.0003), filed June 14, 2024; (7) Patent Application No. 18 / 770,993 (Docket No. ROBOT.146.0002), filed June 14, 2024; and (8) Patent Application No. 18 / 770,993 (ROBOT.146.0002), each of which is incorporated herein by reference.

[0060] In comparison to more traditional approaches, robotic surgical systems and workflows associated therewith can provide improved outcomes in surgical procedures such as, for example, THA procedures. For example, robotic surgical systems can provide additional accuracy and force assistance in preparing the acetabulum, and additional accuracy and alignment in trialing and placing implants. In certain embodiments, for example, including intraoperative CT imaging, confirmation feedback regarding screw placement can also be provided prior to drilling. Aspects of the disclosed embodiments are discussed below.

[0061] FIG. 1 is a top view of a surgical system 10 disposed in a surgical operating room during a surgical procedure. According to some embodiments, the system 10 includes a camera tracking system 200 for computer-assisted navigation during a surgical procedure, and can also include a surgical robot 100 for robotic assistance. FIG. 2 A camera tracking system 200 and a surgical robot 100 positioned relative to a patient are shown according to some embodiments. FIG. 3 A camera tracking system 200 and a surgical robot 100 configured according to some embodiments are further shown. FIG. 4 A block diagram of a surgical system 10 configured to operate according to some embodiments is shown, including an extended reality (XR) headset 150, a computer platform 400, an imaging device 420, and a surgical robot 100.

[0062] In some cases, a camera tracking system 200 (FIGS. 1-4 ) includes an intraoperative imaging system, which can include different imaging modalities. These imaging modalities can include one or more of fluoroscopy, 2D radiography, and cone beam computed tomography (CBCT). Fluoroscopy is a medical imaging technique which shows continuous X-ray images on a monitor, much like an X-ray movie. 2D radiography is an imaging technique that uses X-rays to observe the internal structure of an object of non-uniform composition and opacity, such as the human body. CBCT (or cone beam 3D imaging or C-arm CT) is a medical imaging technique consisting of X-ray computed tomography, where the X-rays are divergent, forming a cone. The camera tracking system 200 is capable of: (1) capturing three-dimensional (3D) images (e.g., CT, CBCT, MCT, PET, angiography, MRI, ultrasound, etc.), (2) capturing two-dimensional (2D) images (e.g., fluoroscopy, digital radiography, ultrasound, etc.), and (3) containing an integrated or detachable navigation array with tracking markers (e.g., NIR-reflective, NIR LED, visible, etc.) that are calibrated to the image space of the 2D and 3D images.

[0063] The surgical robot 100 is capable of: (1) using registered 2D and / or 3D images for surgical planning, navigation, and guidance in various workflows (e.g., intraoperative 3D, intraoperative 2D, preoperative 3D to 2D, and intraoperative 3D to 2D, etc.), and (2) containing the camera tracking system 200 that is capable of tracking markers (e.g., NIR-reflective, NIR LED, visible, etc.). In some cases, a dynamic reference base (DRB) (or patient reference array) 116, as described herein, is: (1) capable of being rigidly attached to patient anatomy, and (2) contains an array of tracking markers (e.g., NIR-reflective, NIR LED, visible, etc.).

[0064] The XR headset 150 can be configured to augment a real-world scene with computer-generated XR images when worn by a person in an operating room. The XR headset 150 can be configured to provide an augmented reality (AR) viewing environment by displaying computer-generated AR images on a see-through display that allows light from the real-world scene to pass through for combined viewing by the user. Alternatively, the XR headset 150 can be configured to provide a virtual reality (VR) viewing environment by preventing or substantially preventing the user from directly viewing light from the real-world scene while the user is viewing computer-generated AR images on the display. The XR headset 150 can be configured to provide both AR and VR viewing environments. Thus, the term XR headset encompasses either or both of an AR headset or a VR headset.

[0065] With continued reference to FIGS. 1-4The surgical robot 100 can include, for example, one or more robotic arms 102, 104, a display 110, an end effector 112 (e.g., including a guide tube 118), and an end effector reference element 114 (which can include one or more tracking fiducials). A patient reference element (or DRB) 116 (shown in FIG. 1 FIG. 1) has multiple tracking fiducials and is fixed directly to the patient 210. For example, a navigated pelvic DRB marker array can be placed intra- or extra-corporeally with the aid of cortical pins drilled into the pelvic bones. In some embodiments, the DRB is oriented to be visible to tracking cameras 204 (e.g., stereo tracking cameras) mounted on a camera tracking system 200 and / or an XR headset 150. Reference elements 170 are attached to or formed on instruments, surgical tools, surgical implant devices, etc.

[0066] The camera tracking system 200 includes tracking cameras 204, which can be spaced apart to provide stereo cameras configured with partially overlapping fields of view. The camera tracking system 200 can have any suitable configuration of arms 202 to move, orient, and support the tracking cameras 204 in desired positions, and can include at least one processor operable to track positions of individual fiducials and poses of arrays of fiducials of reference elements.

[0067] As used herein, the term “pose” refers to a position (e.g., along three orthogonal axes, e.g., an x-axis, a y-axis, and a z-axis) and / or a rotation angle (e.g., about three orthogonal axes) of a fiducial (e.g., a DRB) relative to another fiducial (e.g., a monitor fiducial) and / or relative to a defined coordinate system (e.g., a camera coordinate system, a navigation coordinate system, etc.). Thus, a definition of a pose can be based solely on a multidimensional position of a fiducial relative to another fiducial and / or relative to a defined coordinate system, solely on a multidimensional rotation angle of a fiducial relative to another fiducial and / or relative to a defined coordinate system, or on a combination of a multidimensional position and a multidimensional rotation angle. Thus, the term “pose” is used to refer to a position, a rotation angle, or a combination thereof, of, for example, an instrument reference element 170, a patient reference element 116, etc.

[0068] The tracking cameras 204 can include, for example, infrared cameras (e.g., dual focus or stereo photogrammetry cameras) operable to identify active and passive tracking fiducials for individual fiducials (e.g., surveillance fiducials) and reference elements that can be formed in or attached to the patient 210 (e.g., patient reference elements or DRBs 116), the end effector 112 (e.g., end effector reference elements 114), the XR headsets 150 worn by the surgeon 120 and / or surgical assistant 126, etc., while being visible from the perspective of the tracking cameras 204 in a given measurement volume of the camera coordinate system. The tracking cameras 204 can scan the given measurement volume and detect light emitted or reflected from the fiducials in order to identify and determine the position of the individual fiducials and the pose of the reference elements in three dimensions. For example, active reference elements can include infrared emitting fiducials (e.g., infrared light emitting diodes (LEDs)) activated by an electrical signal, and passive reference elements can include retro-reflective fiducials that reflect infrared light (e.g., they reflect incident IR radiation into the direction of the incident light) emitted, for example, by illuminators or other suitable devices on the tracking cameras 204.

[0069] The XR headsets 150 can each include tracking cameras (e.g., spaced apart stereo cameras) that can track the position of the surveillance fiducials and the pose of the reference elements within the XR camera headset fields of view (FOVs) 152 and 154, respectively. Thus, as shown, the position of the surveillance fiducials and the pose of the reference elements on various objects such as, for example, the instrument reference elements 170 and the patient reference elements 116 can be tracked when in the FOVs 152 and 154 of the XR headsets 150 and / or the FOV 212 of the tracking cameras 204. FIG. 1

[0070] FIG. 1 and FIG. 2 A possible configuration for placing the camera tracking system 200 and the surgical robot 100 in an operating room environment is shown. Computer-assisted navigated robotic surgery can be provided by the surgical robot 100, the camera tracking system 200 controlling the XR headsets 150 and / or other displays 34, 36, and 110 to display surgical procedure navigation information.

[0071] The camera tracking system 200 can operate using tracking information and other information provided by the multiple XR headsets 150, such as inertial tracking information and optical tracking information (tracking data frames). The XR headsets 150 operate to display visual information and can play audio information to the wearer. This information can come from local sources (e.g., the surgical robot 100), imaging devices 420 FIG. 4 ​The XR head-mounted device 150 can track six degrees of freedom (6DOF) relative to three axes of a 3D coordinate system and a reference for rotational angles about each axis. The XR head-mounted device 150 can also operate to track hand gestures and postures to enable gesture-based interaction with “virtual” buttons and interfaces displayed through the XR head-mounted device 150, and can also interpret hand or finger pointing or gestures as various defined commands. Additionally, the XR head-mounted device 150 may have a digital color camera sensor with a magnification of 1x to 10x, referred to as a digital magnifier. In some embodiments, one or more of the XR head-mounted devices in the XR head-mounted device 150 are minimally simplified XR head-mounted devices that display local or remote information but include fewer sensors and are therefore lighter.

[0072] The “outside-in” machine vision navigation bar 206 supports tracking camera 204 and may include a color camera. The machine vision navigation bar generally provides a more stable view of the environment because it does not move as frequently or rapidly as the XR head-mounted device 150 when positioned on the wearer's head. The patient reference element (or DRB) 116 is typically rigidly attached to the patient 210 with pitch and roll stability relative to gravity. This locally rigid patient reference 116 can serve as a common reference relative to other tracking elements, such as reference element 114 on the end effector 112, instrument reference element 170, and reference elements on the XR head-mounted device 150.

[0073] In some implementations, an instrument is attached at the end of the end effector 112 to perform operations such as resection, reaming, and implant placement.

[0074] As shown in the figure FIGS. 1-2 As shown, the surgical robot 100 can be positioned near or beside the patient 210. The robot 100 can be positioned at any suitable location near the patient 210, depending on the area where the patient 210 undergoes the surgical procedure. The camera tracking system 200 can be separate from the robot system 100 and positioned at the patient 210's feet. This position allows the tracking camera 200 to have a direct view of the surgical area 208 (e.g., the hip joint area). FIG. 2 )).exist FIG. 1 In the illustrated configuration, surgeon 120 can be positioned opposite robot 100, yet still able to manipulate end effector 112 and display 110. Surgical assistant 126 can again be positioned opposite surgeon 120, able to access both end effector 112 and display 110. The positions of surgeon 120 and assistant 126 can be interchanged if needed. Anesthesiologist 122, nurse, or scrubbing technician can operate devices that can be connected to display 34 (…). FIG. 1) a device displaying information from the camera tracking system 200.

[0075] With respect to other components of the robot 100, the display 110 can be attached to the surgical robot 100 or in a remote location. The end effector 112 can be coupled to the robot arm 104 and controlled by at least one motor. The upper arm 102 can further couple the arm 104 to a column 312 of the robot 100. In some embodiments, the end effector 112 includes a guide tube 118 (e.g., FIG. 6 ) configured to receive and orient a surgical instrument, tool, or implant for performing a surgical procedure on a patient 210. For example, the end effector 112 is adapted to receive a surgical instrument or a portion thereof (e.g., through the guide tube 118) to removably couple to the instrument and manipulate the instrument, such as by translating and rotating the instrument. In some other embodiments, the end effector 112 includes a passive structure that guides a saw blade (e.g., a sagittal saw) along a defined cutting plane.

[0076] As used herein, the term“end effector” can be used interchangeably with the terms“end effector” and“effector element.” The term“instrument” is used in a non-limiting manner and can be used interchangeably with“tool” and“implant” to generally refer to any type of device that can be used during a surgical procedure in accordance with the embodiments disclosed herein. The more general term“device” can also refer to structures such as end effectors, etc. Example instruments, tools, and implants include, but are not limited to, reamers, drill bits, screwdrivers, saws, dilators, retractors, probes, implant inserters, and implant devices such as shells and trial shells, screws, spacers, interbody fusion devices, plates, rods, etc. Although generally shown with a guide tube 118, it should be understood that the end effector 112 can be replaced with any suitable instrument used in surgical procedures. In some embodiments, the end effector 112 can include any known structure for effecting movement of a surgical instrument in a desired manner.

[0077] The surgical robot 100 is operable to control the translation and orientation of the end effector 112. The robot 100 can move the end effector 112 along, for example, x, y and z axes under computer control. The end effector 112 can be configured for selective rotation about one or more of the x, y and z axes and a Z-frame axis, such that one or more of the Euler Angles (e.g., roll, pitch and / or yaw) associated with the end effector 112 can be selectively computer controlled. In some embodiments, the selective control of the translation and orientation of the end effector 112 and associated surgical instruments can allow medical procedures to be performed with significantly improved accuracy compared to conventional robots that utilize, for example, 6DOF robot arms that include only rotational axes. For example, the surgical robot 100 can be used to operate on the patient 210, and the robot arm 104 can be positioned above the body of the patient 210 with the end effector 112 selectively angled toward the body of the patient 210 relative to the z-axis.

[0078] In some example embodiments, the XR headset 150 can be controlled to dynamically display an updated graphical indication of the pose of the surgical instrument, such that the user (e.g., the surgeon 120) can know the pose of the surgical instrument at all times during the procedure.

[0079] In some further embodiments, the surgical robot 100 can be operable to correct the path of the surgical instrument guided by the robot arm 104 when the surgical instrument deviates from a selected, pre-planned or defined trajectory. The surgical robot 100 can be operable to allow the movement of the end effector 112 and / or surgical instrument to be stopped, modified and / or manually controlled. Thus, in use, the surgeon 120 or other user can use the surgical robot 100 as part of a computer-aided navigated surgical procedure, and have the option to stop, modify or manually control the autonomous or semi-autonomous movement of the end effector 112 and / or surgical instrument.

[0080] References to elements can be formed in the robot arms 102 and / or 104, the end effector 112 (e.g., the surgical instrument), the patient 210 and / or the patient table 212 can be used to determine the pose of the surgical instrument relative to the patient 210 and / or the patient table 212. FIG. 2Reference elements 114, 116, 170 enable each marked object (e.g., end effector 112, patient 210, and surgical instrument, respectively) to be tracked by tracking camera 200, and the tracked poses can be used to provide navigational guidance during a surgical procedure and / or to control movement of surgical robot 100 for guiding end effector 112 and / or an instrument manipulated by end effector 112. Instruments manipulated by end effector 112 can include, for example, a reamer 124 or an inserter adapted to insert an implant.

[0081] Reference FIG. 3 Surgical robot 100 can include display 110, upper arm 102, lower arm 104, end effector 112, vertical column 312, casters 314, table 318, and ring 324 that uses light to indicate status and other information. Cabinet 106 can house electronic components of surgical robot 100, including but not limited to a battery, a power distribution module, a platform interface board module, and a computer. Camera tracking system 200 can include display 36, tracking cameras 204, arms 202 FIG. 1 ), a computer housed in cabinet 330, and other components.

[0082] In computer-assisted navigational surgery, vertical 2D scan slices (such as axial, sagittal, and / or coronal views) of a patient’s anatomy are displayed to enable a user to visualize the patient’s anatomy along the relative pose of a surgical instrument. An XR headset or other display can be controlled to display one or more 2D scan slices of the patient’s anatomy and a 3D graphical model of the anatomy. The 3D graphical model can be generated, for example, from a 3D scan of the patient by a CT scanning device, and / or can be generated based on a baseline model of the anatomy that need not be formed from a scan of the patient.

[0083] Example surgical system

[0084] FIG. 4 A block diagram of a surgical system 10 is shown, in accordance with some embodiments, that includes surgical robot 100, computer platform 400, which includes, among other things, camera tracking system 200 configured to operate as described herein, imaging device 420, and XR headset 150.

[0085] The imaging device (420) can include a C-arm imaging device, an O-arm imaging device, other imaging devices, and / or a patient image database of 2D and / or 3D images. The XR headset 150 provides a human-machine interface for performing the navigated surgical procedure. The XR headset 150 can be configured to provide functionality, e.g., via the computer platform 400, including but not limited to any one or more of the following: recognizing gesture-based commands, and displaying XR graphical objects on a display device 438 of the XR headset 150 and / or another display device. The display device 438 can include a video projector, a flat panel display, etc. The user can view the XR graphical objects as overlays anchored to specific real-world objects viewed through the see-through display screen. The XR headset 150 can additionally or alternatively be configured to display video streams from cameras and other cameras mounted to the one or more XR headsets 150 on the display device 438.

[0086] The electronic components of the XR headset 150 can include a plurality of cameras 430, microphones 432, gesture sensors 434, a pose sensor (e.g., an inertial measurement unit (IMU)) 436, a display device 438, and a wireless / wired communication interface 440. The cameras 430 of the XR headset 150 can be visible light capture cameras, near-infrared capture cameras, or a combination of both.

[0087] The cameras 430 can be configured to operate as gesture sensors 434 by tracking recognized user gestures performed within the field of view of the cameras 430. Alternatively, the gesture sensors 434 can be proximity sensors and / or touch sensors that sense gestures performed in proximity to the gesture sensors 434 and / or sense physical contact, e.g., tapping the sensors 434 or their housings. The pose sensor 436 (e.g., an IMU) can include a multi-axis accelerometer, a tilt sensor, and / or another sensor that can sense rotation and / or acceleration of the XR headset 150 along one or more defined coordinate axes. Some or all of these electronic components can be housed in a headset housing, or can be housed in another housing configured to be worn elsewhere, such as on the hip or shoulder.

[0088] As described above, the surgical system 10 includes a camera tracking system 200 that can be connected to a computer platform 400 for operating a procedure and can provide other operating functionality including a navigation controller 404 and / or an XR headset controller 410. The surgical system 10 can also include a surgical robot 100. The navigation controller 404 can be configured to provide visual navigation guidance to an operator to move and position a surgical tool relative to a patient anatomy based on a surgical plan (e.g., from a surgical planning function) that defines where to perform a surgical procedure on the anatomy using the surgical tool and based on a pose of the anatomy determined by the camera tracking system 200. The navigation controller 404 can be further configured to generate navigation information based on a target pose of the surgical tool, the pose of the anatomy, and a pose of the surgical tool and / or an end effector 112 of the surgical robot 100. The navigation information can be displayed through a display device 438 of the XR headset 150 and / or another display device to indicate where the surgical tool and / or the end effector 112 of the surgical robot 100 should be moved to perform the surgical procedure according to the defined surgical plan.

[0089] Electronic components of the XR headset 150 can be operatively connected to electronic components of the computer platform 400 through a wired / wireless interface 440. The electronic components of the XR headset 150 can be operatively connected to or directly connected to various imaging devices 420, such as C-arm imaging devices, O-arm imaging devices, other imaging devices, patient image databases, and / or other medical devices through the computer platform 400, for example, through the wired / wireless interface 440.

[0090] The surgical system 10 can include an XR headset controller 410 that resides at least partially in the XR headset 150, the computer platform 400, and / or another system component connected via a wired cable and / or a wireless communication link. Software executed by the XR headset controller 410 can provide various functionality. The XR headset controller 410 is configured to receive information from the camera tracking system 200 and the navigation controller 404 and generate XR images based on the information to display on the display device 438.

[0091] The XR headset controller 410 can be configured to operatively process tracking data frames from the camera 430 (tracking camera), signals from the microphone 432, and / or information from the pose sensor 436 and the gesture sensor 434 to generate information for display as an XR image on the display device 438 and / or on other display devices for viewing by a user. Thus, the XR headset controller 410, illustrated as a block of circuitry within the XR headset 150, should be understood to be operatively connected to other illustrated components of the XR headset 150, but need not necessarily reside within a common housing or otherwise be capable of being carried by a user. For example, the XR headset controller 410 can additionally or alternatively reside within the computer platform 400, which in turn can reside within the cabinet 330 of the camera tracking system 200, the cabinet 106 of the surgical robot 100, and / or the like.

[0092] Example patient registration workflow

[0093] In some embodiments of the present disclosure, the system 10 (e.g., the computer platform 400) can execute one of a plurality of available workflows to register a patient to the surgical system 10 prior to a surgical procedure. The workflow can also include isolating a target region for the surgical procedure from non-target surgical regions. In one example, the target surgical region can include the acetabulum, and the non-target surgical regions can include the femur.

[0094] In some embodiments, the workflow can be an imageless workflow, in which preoperative images are not used. Rather, information about the patient anatomy in the operating room (OR) can be obtained by the surgeon measuring key parameters of the patient’s bones using the system as described herein. For example, the computer platform 400 of the system 10 operates to identify locations of landmarks (e.g., points, axes, and / or surfaces) on the bone, and register the locations contemporaneously with or after the identification. The locations can be used to define reference planes (e.g., the anterior pelvic plane (APP) and / or the functional pelvic plane (FPP)), which in turn are used to plan implants and navigate the robot and surgical instruments to perform the THA surgical procedure.

[0095] In some embodiments, the only preoperative use case associated with the imageless workflow can be initial patient evaluation. The surgeon can evaluate patient mobility and health status with the help of sensors (e.g., sensors attached to the legs manufactured by Globus Medical), athletic exercises, and / or clinical investigations to determine whether THA is recommended. The collected data can then be stored and processed by the system before being analyzed by the surgeon to facilitate the final decision. Subsequently, the data can be reused by an application (e.g., the Surgical Planning application by Globus Medical) to determine the most appropriate implant surgical plan.

[0096] FIG. 5 A flowchart showing a workflow during the intraoperative portion of a THA surgical procedure is shown in accordance with some embodiments of the present disclosure. In some embodiments, after the patient is positioned on the operating table (process 500), some of the operations discussed above and below can be performed during process 510 to register the patient and before another step 520 for a computer-navigated surgical procedure. In the case of the hip, the patient’s pelvis or acetabulum is registered in the tracking coordinate system of the camera tracking system 200. As shown, the pelvis or acetabulum is registered in the optical coordinate system. In one embodiment, the registration is performed in an imageless mode without using any medical images from imaging devices, such as X-ray or CT images. In other embodiments, the registration is performed using one or more preoperative X-ray images and / or CT images, as described herein. FIG. 1

[0097] FIG. 6 A configuration of an end effector 112 used in a force control mode is shown in accordance with certain implementations. Aspects of the force control mode, as well as additional modes (e.g., point rotation control mode, shaft rotation control mode, translation control mode, translation / rotation control mode, etc.) are further described in U.S. Patent Application No. 18 / 737,123 (Docket No. ROBOT.145.0002), previously incorporated by reference herein.

[0098] Example end effector with instrument interface

[0099] FIG. 7 A perspective exploded (blown apart or exploded) view of an example end effector 700 interfacing with a surgical instrument 710 is shown in accordance with various implementations. FIG. 8 An assembled form of the components of FIG. 7 is shown. FIG. 9 ​An end effector 700 is shown interfacing with different surgical instruments 720. As described herein, the end effector 700 can be configured to interface with multiple types of surgical instruments (e.g., reamers, impactors, etc.) and enable efficient connection and disconnection of such instruments to beneficially enhance surgical procedures, such as total hip arthroplasty (THA) procedures.

[0100] Referring to FIGS. 7-9 , an end effector 700 is shown that includes an adapter 730 for holding surgical instruments 710, 720. In particular implementations, the adapter 730 has an elongated body 740 from which a protrusion 750 extends. The end effector 700 also includes a body 760 having a proximal end 770 that includes an interface 780 for attachment to a robotic arm 104 FIG. 2 ) of a robotic surgical system 100. The body 760 also has a distal end 790 that includes an elongated recess 800 and a slot 810 for connection with the surgical instruments 710, 720, e.g., by receiving the protrusion 750 extending therefrom. In various implementations, a connector 820 is adapted to secure the protrusion 750 in the slot 810 to firmly attach the adapter 730 to the body 760, as shown in an exploded perspective view of a portion of the end effector 700 in FIG. 11 .

[0101] According to certain embodiments, the protrusion 750 is complementary to the slot 810 in the body 760, e.g., the cross-sectional shape of the protrusion 750 corresponds to and mates with the cross-sectional shape of the slot 810. In various implementations, the protrusion 750 extends substantially perpendicular to a major axis (A ad ) of the adapter 730 and is configured to align with the slot 810 that extends substantially perpendicular to a major axis (A er ) of the elongated recess 800.

[0102] In certain instances, the protrusion 750 includes a notch 830 that is complementary to the connector 820 and enables the adapter 730 to attach and detach from the body 760, as described below. In some examples, the notch 830 includes a V-shaped slot. Other shapes are also possible, e.g., a U-shaped slot, an arcuate slot, or an elliptical slot. In particular instances, when secured to the end effector 700 (e.g., as shown in FIG. 8 ), the adapter 730 interfaces with the elongated recess 800 and is coupled with the connector 820 FIG. 11 .

[0103] The elongated recess 800 can take various forms, and in certain cases, is at least partially defined by a sidewall 840 extending in a distal direction from the distal end 790 of the body 760. In some cases, the sidewall 840 extends along at least a portion of the length of the body 760. In some examples, the sidewall 840 extends only along a portion of the length of the body 760 along A. er Extension. In another example, sidewall 840 includes various protrusions or segments extending from body 760. Sidewall 840 may define various shapes of elongated recess 800, including, for example, V-shaped cross-section, U-shaped cross-section, or polygonal cross-section (e.g., FIG. 11 (As shown).

[0104] In some embodiments, the shape and dimensions of the adapter 730 are complementary to the shape and dimensions of the elongated recess 800. In a particular example, the adapter 730 is cylindrical and complementary to the elongated recess 800 (e.g., a V-shaped or U-shaped recess). According to various embodiments, the sidewalls 840 are spaced apart to accommodate external dimensions (e.g., the diameter of the cylindrical (or other geometrically shaped) adapter 730), such that, for example, when the adapter 730 is secured, the adapter 730 contacts the sidewalls 840 and the distal end 790 of the body 760.

[0105] In various specific implementations, such as FIG. 11 As shown, together with FIG. 12 An end view of a portion of the end actuator 700 and FIG. 13 A cross-sectional view of a portion of the end effector 700 shows that connector 820 may include a pin 850 sized for insertion into or removal from a recess 830 in a protrusion 750 of adapter 730. In some cases, pin 850 includes a notch, tab, or recess configured to engage recess 830. In certain cases, connector 820 includes a spring-loaded coupling 860. In some aspects, pin 850 may be actuated by an actuator 870 (such as a shank, tab, or switch) configured to extend / retract pin 850, or to swing or rotate pin 850 between positions to engage / disengage recess 830. According to some embodiments, actuator 870 enables a user to engage or disengage surgical instruments 710, 720 from body 760. In some cases, actuator 870 has a multi-mode actuation mechanism, for example, for engaging and / or disengaging pin 850 from the recess. For example, actuator 870 may require compression-rotation actuation, sliding-rotation actuation, or sliding-compression actuation to engage or disengage pin 850 from a notch. In some cases, actuator 870 can be actuated by a single operator's hand. In a particular example, actuator 870 includes two linked handles ( FIG. 11), the two linked handles are connected by a central shaft 872 and enable actuation pins 850 from multiple sides of the end effector 700. The central shaft 872 rotates about a central axis and has a central portion of reduced diameter and the central portion is off-axis to act as a cam to push the pins 850 down (by pushing the couplers 860) when the knob 870 is rotated. In further implementations, a secondary coupler 862 (e.g., a pin or screw) can be positioned in a slot within the body to interface with the protrusion 750 on the side opposite the notch 830. In some cases, the secondary coupler 862 is fixed in the body 760 and protrudes slightly into the slot 810, enabling the protrusion 750 to slide past the coupler 862 into the slot 810, for example, when the connector 820 is not engaged with the notch 830.

[0106] According to certain embodiments, the surgical instruments 710, 720 and the adapter 730 are configured to connect with the body 760 as a single unit. For example, in certain implementations, the surgical instruments 710, 720 and the adapter 730 can be pre-coupled and connected with the body 760 using a quick connect method (e.g., with a single operator hand). For example, the surgical instruments 710, 720 and the adapter 730 can be pre-coupled by an operator (e.g., a surgeon) or a surgical assistant, and the operator can then use a single hand to connect the adapter 730 to the body 760. This can enable the operator to efficiently connect the adapter 730 to the body 760 with, for example, the other hand while performing other surgical functions. In certain of these cases, the final connection is made with a second operator hand (e.g., the operator and / or a surgical assistant).

[0107] In particular implementations, as described herein, the connector 820 and the elongated recess 800 limit at least two degrees of freedom (DoF) of the surgical instruments 710, 720. According to certain embodiments, the adapter 730 includes at least two limiters 880 to limit the degrees of freedom (DoF) of the surgical instruments 710, 720. For example, the limiters 880 can be configured to limit the translation and rotation of the surgical instruments 710, 720. In some examples, the limiters 880 can include buttons, protrusions, or other interfaces. In further implementations, the limiters 880 can be configured to limit the degrees of freedom (DoF) of the surgical instruments 710, 720 in other ways. FIGS. 11-13 In one example implementation shown, the limiters 880 include pins 880A and / or screws 880B that are configured to interface with an outer surface 890( FIGS. 7-10 ) of the surgical instruments 710, 720 and / or interface with slots, grooves, or holes (not shown) in the surgical instruments 710, 720. In further implementations, when fixed, the degrees of freedom (DoF) of the surgical instruments 710, 720 relative to the end effector 700 are substantially zero.

[0108] In certain situations, connector 820 enables the disengagement of surgical instruments 710, 720 (e.g., impactors) from body 760 in a single disconnection process, thereby restoring at least two DoFs (DoFs) constrained by end effector 700. For example, in some cases, an operator (e.g., a surgeon) may advantageously perform a single disconnection process to test the gripping and / or fitting of an implant in an implant recess. In these examples, the operator may wish to manipulate surgical instruments without being constrained by end effector 700 (e.g., without being constrained by surgical robotic arm 104). Such gripping and / or fitting tests are often performed manually, and achieving effective connection and / or disconnection with end effector 700 can improve the effectiveness and efficiency of THA procedures.

[0109] In other cases, if the surgical robot 100 malfunctions or locks for any reason, the operator can advantageously perform a single disconnection procedure. For example, the surgical robot 100 may stop or jam for one or more reasons, thereby restricting the movement of surgical instruments 710, 720 due to power outages, software malfunctions, and / or surgical procedure limitations (e.g., caused by the controller and / or related software). In such cases, the surgeon may wish to manually manipulate the surgical instruments 710, 720 to complete one or more parts of a procedure (e.g., a THA procedure). That is, in many cases, disengaging the surgical instruments 710, 720 (e.g., an impactor) from the body 760 allows the surgeon to manually manipulate the surgical instruments 710, 720. Furthermore, in various specific embodiments, the surgical instruments 710, 720 are configured to engage or disengage from the body 760 at any stage of the THA procedure (e.g., during reaming, impaction, positioning, etc.).

[0110] As described herein, adapter 730 can be configured to interact (e.g., connect) with a variety of surgical instruments (e.g., impactors, reamers, placement devices, etc.) capable of performing THA procedures. In some aspects, adapter 730 can be connected with multiple surgical instruments during a THA procedure. In other embodiments, surgical procedures can be facilitated by making multiple adapters 730 available for pre-connection to various different surgical instruments 710, 720, thereby simplifying the process of connecting and disconnecting these surgical instruments 710, 720 from the body 760.

[0111] According to certain implementation schemes, such as FIGS. 7-9As shown, the surgical instruments 710, 720 include a navigation array 900. As described herein, the navigation array 900 can enable precise tracking of the position of the instruments 710, 720 during a surgical procedure (e.g., a THA procedure). The navigation array 900 can enable optical tracking of the position of the instruments 710, 720 throughout the THA procedure, thereby enhancing control of the surgical robot 100 and improving surgical outcomes. In particular implementations, different types of navigation arrays 900 are coupled with different types of surgical instruments 710, 720, such that a first navigation array 900 is paired with a surgical instrument 710 (e.g., an impactor), and a second navigation array 900 is paired with a second surgical instrument 720 (e.g., a reamer). For example, a navigation array 900 paired with a reamer can be configured to not move with rotation of the reamer, while a navigation array 900 paired with an impactor can be configured to move with rotation of the impactor.

[0112] Turning to FIGS. 10-14 , with particular reference to FIG. 14 , the interface 780 on the proximal end 770 of the body 760 can include a plate 902 having a set of pins 910 extending therefrom for interfacing with the robot arm 104. In one example, the set of pins 910 includes two pins, three pins, four pins, or more pins. In a particular example, the set of pins 910 includes three pins 910A, 910B, 910C. In various implementations, the set of pins 910 serve as alignment pins for alignment with holes in an interface plate on the robot arm 104. In certain implementations, the end effector 700 further includes a kinematic mount 920 proximate to each of the pins 910. In some cases, the interface 780 includes a set of two U-shaped elements 930 adjustably coupled by at least one screw 940 (two shown). In certain cases, the U-shaped elements 930 surround the plate 902. The screws 940 can enable relative adjustment of the U-shaped elements 930 to enhance clamping force at the connection with the robot arm 104. For example, the screws 940 can be tightened to clamp the U-shaped elements 930 around a coupler on the robot arm 104.

[0113] According to certain embodiments, as shown in FIG. 15 and FIG. 16 , the end effector 700 can further include a drape 950 that spans the interface 780 on the proximal end 770 of the body 760. In particular cases, for example, during a THA procedure, the drape 950 provides a sterile shield between the actuators 870 and the surgical instruments 710, 720. According to certain embodiments, the sterile shield or drape 950 allows a user to couple or decouple the surgical instruments 710, 720 with the body 760 without compromising a pre-established sterility.

[0114] According to some embodiments, a method of operating an end effector 700 includes, for example, coupling the end effector 700 to surgical instruments 710, 720 via an adapter 730. As described herein, the surgical instruments 710, 720 can be disengaged from the end effector 700 without repositioning the robotic arm 104. For example, disengagement of the end effector 700 can be performed without removing the arm 104 out of the surgical field.

[0115] In addition to the end effector 700 shown and described according to various specific embodiments, other specific embodiments may include an end effector 1000 having different connection mechanisms for coupling with adapter 1020. For example... FIG. 17 and FIG. 18 As shown, adapter 1020 can be configured to receive surgical instruments (e.g., surgical instruments 710, 720) and intersect with the body 1030 of end effector 1000 (which in some specific embodiments includes multiple segments). Adapter 1020 may include a protrusion 1010 sized to complement a slot 1040 in the body 1030 and can be coupled to the body 1030 using a quick-connect method as described herein. In certain cases, protrusion 1010 includes an internal slot 1050 configured to intersect with a shaft (or pin) 1060 in the body 1030. Shaft (or pin) 1060 may extend between shanks 1070 (e.g., shanks 1070 may be connected via shaft 1060) and may also include a retaining member 1080 that can be rotated, slidable, or otherwise actuated to engage a corresponding retaining feature on protrusion 1010. In some aspects, the body 1030 is formed from different components 1030A, 1030B, which are connected via a connector 1090 (such as a pin or screw). In various specific embodiments, the adapter 1020 is configured to connect with any of a variety of different types of surgical instruments 710, 720, and, similar to the adapter 730, may include a hole (or slot) 1100 for receiving a retaining member (such as a screw or pin) to retain the surgical instrument. A portion of the end effector 1000 is in... FIG. 17 and FIG. 18 As shown in the figure, the end effector 1000 may include a body 760 ( FIG. 7 The connector 1120 is joined to the proximal end 770 of the surgical instruments 710 and 720. Similar to the end effector 700, the end effector 1000 is configured to limit the DoF of the surgical instruments 710 and 720 to enhance surgical outcomes. Furthermore, similar to the end effector 700, the end effector 1000 can be configured to enable a rapid connection method with the robotic arm 104, and also allows the operator to disconnect the adapter 1020 to restore the DoF of the surgical instruments 710 and 720 while the robotic arm 104 is held in the surgical field.

[0116] FIG. 19 A schematic of an example system 1200 is shown, in accordance with various implementations, that includes a robotic arm 104 (e.g., also referred to as an EFlex-Palm) coupled with an end effector 700. It should be appreciated that the end effector 700 in this example system 1200 can be replaced with the end effector 1000 depicted in FIG. 15 and FIG. 16 and / or any other end effector shown and described herein. The end effector 700 is shown in an angled position relative to the robotic arm 104 in FIG. 19 but it should be appreciated that the end effector 700 can also be aligned with the robotic arm 104 such that the body 760 is not angled.

[0117] In addition to the components of the end effector 700 shown in FIGS. 6-18 the system 1200 also shows an optional insulating layer 1210 within the body 760. A user touch point 1220 is also shown that can enable a user (e.g., a surgeon or other operator) to interface with the end effector 700. Optional configurations of the user touch point 1220A, 1220B are shown in FIG. 20 and FIG. 21 These user touch points 1200 can include a knob 1230 with a continuous gripping element 1240 or a multi-pronged grip 1250 defined by different prongs 1250A, 1250B, etc. In certain instances, the user touch points 1200 enable adjustment of the end effector 700 and, in some instances, enable coupling and / or decoupling of the end effector 700 with the robotic arm 104. In some aspects, actuation of the user touch points 1200 controls clamping of the U-shaped element 930 to connect / disconnect with the robotic arm 104. In certain implementations, these touch points 1200 can be actuated with a single user hand.

[0118] The end effectors shown and described in accordance with various implementations can provide advantageous effects relative to conventional end effectors and surgical instruments. For example, the end effectors disclosed in accordance with various implementations can be configured to interface with multiple types of surgical instruments (e.g., reamers, impactors, placement devices, etc.) and enable efficient connection and disconnection of such instruments to advantageously enhance surgical procedures, such as total hip arthroplasty (THA) procedures. The end effectors disclosed herein can also enable an operator to efficiently disconnect surgical instruments from a robotic arm in the surgical field, thereby enhancing aspects of THA procedures, such as reaming, impacting, and / or implant placement.

[0119] Further definitions and embodiments

[0120] In the above-description of various embodiments of the present inventive concepts, it is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the inventive concepts. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the inventive concepts belong. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the specification and relevant art and should not be interpreted in an overly legal sense unless expressly so defined herein.

[0121] When an element is referred to as being “connected,” “coupled,” “responsive,” or “related” to another element, it can be directly connected, coupled, responsive, or related to the other element or intervening elements can be present. In contrast, when an element is referred to as being “directly connected,” “directly coupled,” “directly responsive,” or “directly related” to another element, there are no intervening elements present. Throughout the specification, like reference numbers designate like elements. Also, as used herein, “coupled,” “connected,” “responsive,” or “related” can include wireless coupling, connection, response, or relation. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. Well-known functions or constructions can not be described in detail for brevity and / or clarity. The term “and / or” includes any and all combinations of one or more of the associated listed items.

[0122] It will be understood that, although the terms “first,” “second,” “third,” etc. can be used herein to describe various elements / operations, these elements / operations should not be limited by these terms. These terms are only used to distinguish one element / operation from another. Thus, a first element / operation in some embodiments could be termed a second element / operation in other embodiments without departing from the teachings of the present inventive concepts. The same reference numbers or same reference designators denote the same or similar elements throughout the specification.

[0123] As used herein, the terms “comprise,” “comprising,” “comprises,” “including,” “includes,” “have,” “has,” “having,” or variants thereof are open-ended, and include one or more stated features, integers, elements, steps, components or functions but do not preclude the presence or addition of one or more other features, integers, elements, steps, components, functions or groups thereof. Furthermore, as used herein, the common abbreviation “e.g.,” which derives from the Latin phrase “exempli gratia,” can be used to introduce or specify a general example or examples of a previously recited item, and is not intended to be limiting of such previously recited item. The common abbreviation “i.e.,” which derives from the Latin phrase “id est,” can be used to specify a particular or similar item or items in reference to a more general earlier recitation.

[0124] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0125] These computer program instructions can also be stored in a tangible computer-readable medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions which implement the functions / acts specified in the flowchart and / or block diagram block or blocks. Accordingly, embodiments of the present inventive concept can be embodied in hardware and / or in software (including firmware, resident software, micro-code, etc.) that runs on a processor such as a digital signal processor, which can collectively be referred to as “circuitry,” “a module” or variants thereof.

[0126] It should also be noted that in some alternative implementations, the functions / acts noted in the blocks can occur out of the order noted in the flowcharts. For example, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality / acts involved. Also, the functionality of a given block can be separated into multiple blocks and / or the functionality of two or more blocks can be combined into a single block. Finally, additional blocks can be added / inserted between the blocks shown in the flowcharts and / or blocks / operations can be omitted from the flowcharts. In addition, while some of the diagrams include arrows on communication paths to show a primary communication direction, it is to be understood that communication can occur in the opposite direction to the depicted arrows.

[0127] Many variations and modifications can be made to the implementations described and illustrated herein, all of which fall within the scope of the inventive concept. All such modifications and variations are intended to be included herein within the scope of the inventive concept. Accordingly, the subject matter disclosed above is to be considered illustrative, and not restrictive, and the examples provided are intended to cover all such modifications, enhancements, and other implementations falling within the spirit and scope of the inventive concept. Accordingly, the scope of the inventive concept is to be interpreted only in conjunction with the appended claims, and not in the light of the foregoing detailed description or examples described herein, to the maximum extent permitted by law.

Claims

1. An end effector for a total hip arthroplasty (THA) procedure, the end effector comprising: an adapter for holding a surgical instrument, the adapter having an elongated body and a protrusion extending out from the elongated body; a body having: a proximal end comprising an interface for attachment to a robotic arm; and a distal end comprising an elongated recess and a slot for connection with the surgical instrument; and a connector adapted to secure the protrusion in the slot to firmly attach the adapter to the body.

2. The end effector of claim 1, wherein the connector and the elongated recess restrict at least two degrees of freedom (DoF) of the surgical instrument.

3. The end effector of claim 1, wherein the surgical instrument and the adapter are configured to connect with the body as a single unit.

4. The end effector of claim 1, wherein the protrusion is complementary to the slot in the body.

5. The end effector of claim 4, wherein the protrusion comprises a notch that is complementary to the connector and enables the adapter to attach and detach from the body.

6. The end effector of claim 1, wherein when secured, the adapter interfaces with the elongated recess and couples with the connector.

7. The end effector of claim 1, wherein the adapter comprises at least two restrictors to restrict degrees of freedom (DoF) of the surgical instrument.

8. The end effector of claim 1, wherein the surgical instrument is a first type of surgical instrument from a plurality of types of surgical instruments, the surgical instrument configured to detachably couple with the body.

9. The end effector of claim 1, wherein the surgical instrument comprises an impactor.

10. The end effector of claim 9, wherein the connector enables the impactor to be decoupled from the body in a single breakaway procedure, thereby restoring at least two DoF restricted by the end effector. ​

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