System for robot-assisted knee arthroplasty

Abstract

This application relates to a system for robot-assisted knee arthroplasty. A saw blade adapter connects a sagittal saw handpiece to the end effector of a robot to actuating the saw blade. The end effector has a first mechanical interface, and the sagittal saw handpiece has a second mechanical interface. The saw blade adapter includes a first coupling mechanism on a first side of the saw blade adapter and a second coupling mechanism on a second side of the saw blade adapter. The first coupling mechanism is connectable to the first mechanical interface, while the second coupling mechanism is connectable to the second mechanical interface.

Description

[0001] Cross - Reference to Related Applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 088,593, filed Oct. 7, 2020. This application is also a continuation - in - part of U.S. application Ser. No. 16 / 737,054, filed Jan. 8, 2020, which is a continuation - in - part of U.S. application Ser. No. 16 / 587,203, filed Sep. 30, 2019, and claims the benefit of U.S. Provisional Application No. 62 / 906,831, filed Sep. 27, 2019. The content of each of these applications is incorporated herein by reference in its entirety for all purposes. Technical Field

[0003] The present disclosure generally relates to robotic - assisted knee arthroplasty and, more particularly, to a saw blade adapter for coupling an end - effector to a sagittal saw handpiece. Background Art

[0004] There are many surgical interventions that require osteotomy, i.e., cutting an anatomical structure such as bone along a target plane. Total knee arthroplasty typically requires resection of the femoral condyles and tibial condyles to remove damaged bone and cartilage and to install a knee prosthesis. A surgeon may use a reciprocating surgical saw to make five or more cuts on the femur and one or more cuts on the tibia, although future implant designs may employ fewer cuts.

[0005] During orthopedic surgery, which includes joints and knees, it is important to precisely align and stabilize the saw while cutting at the desired location on the bone. The limited visibility of the surgical site for the surgeon combined with the difficulty of controlling the movement of the saw creates a risk that an undesired portion of the bone or adjacent tissue may be cut. The vibration generated by the saw during cutting reduces the cutting accuracy. During knee surgery, the accuracy of the bone cutting (plane cutting) affects the accuracy with which the implant can be attached to the exposed bone.

[0006] Some orthopedic surgeries involving cutting bone with a saw may utilize a robotic system to hold and guide the saw. These robotic systems are based on the connection of the saw handpiece to the robotic arm and assume that the saw blade vibrates within a certain predetermined plane relative to the handpiece. This method has drawbacks. For example, the saw blade oscillation mechanism and the saw blade attachment stiffness directly affect the stiffness of the saw blade guidance, while the mechanical superposition tolerances between the robotic arm, the saw handpiece, and the saw blade directly affect the positioning accuracy of the saw blade in 3D space. In addition, the stiffness in some designs may cause high-frequency torsional stress at the saw blade interface during use, which often leads to fatigue fracture of the saw blade at the saw blade interface. Additionally, due to the complexity of the outer surface that needs to be held by the robot, it may be difficult to integrate different power tools / saw handpieces with the robotic system. Failure to firmly restrain the saw blade may cause the saw blade to fall off during use. Summary of the Invention

[0007] In one aspect, a system for robotic-assisted knee arthroplasty is provided. The system includes an end effector having a first mechanical interface, a sagittal saw handpiece having a second mechanical interface, and a saw blade adapter configured to couple the end effector to the sagittal saw handpiece. The saw blade adapter includes a first coupling mechanism on a first side of the saw blade adapter and a second coupling mechanism on a second side of the saw blade adapter. The first coupling mechanism is couplable to the first mechanical interface, while the second coupling mechanism is couplable to the second mechanical interface.

[0008] In another aspect, a saw blade adapter is provided for coupling an end effector having a first mechanical interface to a sagittal saw handpiece having a second mechanical interface. The saw blade adapter includes a first coupling mechanism on a first side of the saw blade adapter and a second coupling mechanism on a second side of the saw blade adapter. The first coupling mechanism is couplable to the first mechanical interface, while the second coupling mechanism is couplable to the second mechanical interface.

[0009] In yet another aspect, a method is provided for coupling an end effector having a first mechanical interface to a sagittal saw handpiece having a second mechanical interface. The method includes providing a saw blade adapter that includes a first coupling mechanism on a first side and a second coupling mechanism on a second side, coupling the first coupling mechanism to the first mechanical interface, and coupling the second coupling mechanism to the second mechanical interface. Brief Description of the Drawings

[0010] The present disclosure will be better understood when consideration is given to the following detailed description thereof, and features, aspects, and advantages other than those described above will become apparent. Such detailed description refers to the following drawings, in which:

[0011] Figure 1 An embodiment of a surgical system according to some embodiments of the present disclosure is shown;

[0012] Figure 2 shows the surgical robot assembly of a surgical system according to some embodiments of the present disclosure; Figure 1 of the surgical system;

[0013] Figure 3 shows the camera tracking system assembly of a surgical system according to some embodiments of the present disclosure; Figure 1 of the surgical system;

[0014] Figure 4 shows an embodiment of a passive end effector that can be connected to a robotic arm and configured according to some embodiments of the present disclosure;

[0015] Figure 5 shows a medical procedure in which a surgical robot and a camera system are positioned around a patient;

[0016] Figure 6 shows an embodiment of an end effector coupler of a robotic arm configured to be connected to a passive end effector according to some embodiments of the present disclosure;

[0017] Figure 7 shows Figure 6 an embodiment of a cross-sectional view of the end effector coupler;

[0018] Figure 8 shows a block diagram of components of a surgical system according to some embodiments of the present disclosure;

[0019] Fig. 9 shows a block diagram of a surgical system computer platform according to some embodiments of the present disclosure, the surgical system computer platform including a surgical planning computer, the surgical planning computer being separable from and operatively connected to, or at least partially integrated with, the surgical robot herein;

[0020] Fig.10 shows an embodiment of a C-arm imaging device that can be used in combination with a surgical robot and a passive end effector according to some embodiments of the present disclosure;

[0021] Fig.11 shows an embodiment of an O-arm imaging device that can be used in combination with a surgical robot and a passive end effector according to some embodiments of the present disclosure; and

[0022] Figure 12-19 shows an alternative embodiment of a passive end effector configured according to some embodiments of the present disclosure.

[0023] Fig. 20 is a screenshot showing the progress of bone cutting during surgery.

[0024] Fig.21 Shows an exemplary embodiment of a direct saw blade guidance system consistent with the principles of the present disclosure.

[0025] Fig. 22 Shows an exemplary embodiment of a direct saw blade guidance system consistent with the principles of the present disclosure.

[0026] Figure 23-24 Shows an exemplary embodiment of a part of a direct saw blade guidance system consistent with the principles of the present disclosure.

[0027] Fig.25 Shows an exemplary embodiment of a direct saw blade guidance system consistent with the principles of the present disclosure.

[0028] Fig.26 Shows an exemplary embodiment of a direct saw blade guidance system consistent with the principles of the present disclosure.

[0029] Fig. 27 Shows an exemplary embodiment of a direct saw blade guidance system consistent with the principles of the present disclosure.

[0030] Fig.28 Shows an exemplary embodiment of a part of a direct saw blade guidance system consistent with the principles of the present disclosure.

[0031] Figure 29-30 Shows an exemplary embodiment of a direct saw blade guidance system consistent with the principles of the present disclosure.

[0032] Fig.31 Shows an exemplary embodiment of a saw blade adapter consistent with the principles of the present disclosure.

[0033] Fig.32 Shows an exemplary embodiment of a direct saw blade guidance system consistent with the principles of the present disclosure.

[0034] Fig.33 Is a perspective view of the example system described herein.

[0035] Fig.34 And 35 Is Figure 1 An exploded view of the system shown.

[0036] Fig.36 Is Figure 1 A detailed bottom view of the system shown.

[0037] Fig.37 Is Figure 1 A cross-sectional view of the system shown.

[0038] Fig.38It is a flowchart of an example method for attaching an end effector to a sagittal saw handpiece.

[0039] Fig.39 It is a perspective view of another example system described herein.

[0040] Fig.40 and 41 is Figure 7 An exploded view of the system shown.

[0041] Fig.42 is Figure 7 A detailed bottom view of the system shown.

[0042] Fig.43 is Figure 7 A cross-sectional view of the system shown.

[0043] Fig.44 It is a perspective view of another example system described herein.

[0044] Fig.45 and 46 is Fig.12 An exploded view of the system shown.

[0045] Fig.47 is Fig.12 A detailed bottom view of the system shown.

[0046] Fig.48 is Fig.12 A cross-sectional view of the system shown.

[0047] Fig.49A and 49B Illustrate one aspect of the interface of the present invention.

[0048] Fig.50 is a Figures 49A-49B Cross-sectional view of the interface attached to the end effector.

[0049] In the drawings, reference numerals may be reused to identify like and / or identical elements. Detailed Description

[0050] To overcome the above problems and achieve the sought-after features, the present disclosure provides a saw blade adapter for attaching an end effector to a sagittal saw handpiece. The inventive concept will now be described more fully hereinafter with reference to the accompanying drawings, in which various examples are shown. However, the inventive concept may be embodied in many different forms and should not be construed as limited to the examples set forth herein. Rather, these examples are provided so that this disclosure will be more complete and thorough, and will fully convey the scope of each inventive concept to those skilled in the art. It should also be noted that these examples are not mutually exclusive. Components in one example may be assumed to be present in or used in another example.

[0051] Each of the examples disclosed herein relates to an improvement in the operation of a surgical system during a surgical intervention that requires osteotomy. The surgical system can include a surgical robot that selectively positions an end effector and its functional components relative to the patient anatomy in 3D space. The examples described herein include a first coupling mechanism that can be coupled to the end effector and a second coupling mechanism that can be coupled to a sagittal saw handle for making one or more cuts. The interface between the saw blade adapter and the end effector can include one or more sidewalls, platforms, protrusions, cavities, slots, channels, openings, etc. to facilitate the coupling of the saw blade adapter to the end effector. Additionally, the interface between the saw blade adapter and the sagittal saw handle can include one or more sidewalls, platforms, protrusions, cavities, slots, channels, openings, etc. to facilitate the coupling of the saw blade adapter to the sagittal saw handle. In some examples, the first and second coupling mechanisms are located on opposite sides of the saw blade adapter. For example, the first coupling mechanism can be on the upper side of the saw blade adapter for coupling to the lower side of the end effector, while the second coupling mechanism can be on the lower side of the saw blade adapter for coupling to the upper side of the sagittal saw handle. In this way, the examples described herein are configured to securely constrain or hold the saw blade independent of the end effector and / or the sagittal saw handle.

[0052] Compared to other robotic and manual solutions for surgery, these and other related examples can operate to improve the accuracy and reliability of the saw blade. For example, by securely constraining or holding the saw blade independent of the end effector and the sagittal saw handle, the saw blade adapter described herein reduces the likelihood of saw blade breakage (e.g., due to misalignment of the saw blade guide shaft and the actuation shaft) or self-separation of the sagittal saw handle (e.g., due to saw blade wobbling) when the saw blade is being guided (e.g., using the end effector) and / or actuated (e.g., using the sagittal saw handle). Additionally, by restricting the saw blade to the cutting plane, the saw blade adapter described herein enables the saw blade to make high-precision cuts. Further, by providing a rigid connection between the end effector and the sagittal saw handle, the saw blade adapter described herein allows the surgeon using the sagittal saw handle to reliably interpret the force feedback of the saw blade when making one or more cuts.

[0053] Figure 1 An embodiment of a surgical system 2 according to some embodiments of the present disclosure is shown. Before performing an orthopedic surgery, for example, a Fig.10 C-arm imaging device 104 or Fig.11the O-arm imaging device 106, or from another medical imaging device such as a computed tomography (CT) image or an MRI, to perform a three-dimensional ("3D") image scan of the planned surgical area of the patient. This scan can be performed preoperatively (e.g., several weeks before surgery, most commonly) or intraoperatively. However, any known 3D or 2D image scan can be used according to the various embodiments of the surgical system 2. The image scan is sent to a computer platform that communicates with the surgical system 2, such as Fig. 9 the surgical system computer platform 900 of, which includes a surgical robot 800 (e.g., Figure 1 the robot 2 in Fig. 9 ) and a surgical planning computer 910. The surgeon views one or more image scans on the display device of the surgical planning computer 910 ( Fig. 9 ) and generates a surgical plan that defines a target plane in which to cut the patient's anatomical structure. This plane is a function of the patient's anatomical constraints, the selected implant, and its size. In some embodiments, the surgical plan that defines the target plane is projected onto the 3D image scan displayed on the display device.

[0054] Figure 1 The surgical system 2 can assist the surgeon during a medical procedure, for example, by holding tools, aligning tools, using tools, guiding tools, and / or positioning tools for use. In some embodiments, the surgical system 2 includes a surgical robot 4 and a camera tracking system 6. The two systems can be mechanically coupled together by any different mechanism. Suitable mechanisms can include, but are not limited to, mechanical latches, tethers, clamps, or supports, or magnetic surfaces or magnetized surfaces. The ability to mechanically couple the surgical robot 4 and the camera tracking system 6 can allow the surgical system 2 to be manipulated and moved as a single unit, and allow the surgical system 2 to have a small footprint in the area, allowing for easier movement through narrow passages and around turns, and allowing storage within a smaller area.

[0055] Orthopedic surgery can begin with the surgical system 2 being moved from a medical storage room to a medical procedure room. The surgical system 2 can be maneuvered through doorways, hallways, and elevators to reach the medical procedure room. Inside the medical procedure room, the surgical system 2 can be physically separated into two separate and distinct systems (the surgical robot 4 and the camera tracking system 6). The surgical robot 4 can be positioned in any suitable location adjacent to the patient to appropriately assist the medical staff. The camera tracking system 6 can be positioned at the bottom of the patient, at the patient's shoulder, or any other location suitable for tracking the current pose and pose movements of the surgical robot 4 and the patient's trajectory segment. The surgical robot 4 and the camera tracking system 6 can be powered by an on-board power supply and / or plugged into an exterior wall outlet.

[0056] Surgical robot 4 can be used to assist a surgeon by holding and / or using tools during a medical procedure. To properly utilize and hold the tools, surgical robot 4 can rely on multiple motors, computers, and / or actuators to function properly. As Figure 1 shown, robot body 8 can serve as a structure within which multiple motors, computers, and / or actuators can be secured within surgical robot 4. Robot body 8 can also provide support for robot telescoping support arm 16. In some embodiments, robot body 8 can be made of any suitable material. Suitable materials can be, but are not limited to, metals such as titanium, aluminum, or stainless steel, carbon fiber, fiberglass, or heavy plastics. The size of robot body 8 can provide a stable platform for supporting the attachment assembly and can house, conceal, and protect the multiple motors, computers, and / or actuators that can operate the attachment assembly.

[0057] Robot base 10 can serve as the lower support of surgical robot 4. In some embodiments, robot base 10 can support robot body 8 and can attach robot body 8 to multiple powered wheels 12. This attachment to the wheels can allow robot body 8 to move effectively in space. Robot base 10 can run along the length and width of robot body 8. Robot base 10 can be about two inches to about 10 inches in height. Robot base 10 can be made of any suitable material. Suitable materials can be, but are not limited to, metals such as titanium, aluminum, or stainless steel, carbon fiber, fiberglass, or heavy plastics or resins. Robot base 10 can cover, protect, and support the driven wheels 12.

[0058] In some embodiments, as Figure 1As shown, at least one drive wheel 12 can be attached to the robotic base 10. The drive wheels 12 can be attached to the robotic base 10 at any location. Each individual drive wheel 12 can rotate about a vertical axis in any direction. A motor can be positioned above, within, or adjacent to the drive wheel 12. Such a motor can allow the surgical system 2 to be maneuvered into any position and to stabilize and / or level the surgical system 2. A rod located within or adjacent to the drive wheel 12 can be pressed into a surface by the motor. The rod, not shown, can be made of any suitable metal to elevate the surgical system 2. Suitable metals can be, but are not limited to, stainless steel, aluminum, or titanium. Additionally, the rod can include a buffer (not shown) at the surface contact end that can prevent the rod from slipping and / or create a suitable contact surface. The material can be any suitable material that acts as a buffer. Suitable materials can be, but are not limited to, plastic, neoprene, rubber, or textured metal. The rod can elevate the drive wheels 10, which can raise the surgical system 2 to any height needed to level or otherwise fix the orientation of the surgical system 2 relative to the patient. The weight of the surgical system 2 is supported by the small contact area of the rod on each wheel, preventing the surgical system 2 from moving during a medical procedure. This rigid positioning can prevent an object and / or person from accidentally moving the surgical system 2.

[0059] The movement of the surgical system 2 can be facilitated using a robotic track 14. The robotic track 14 gives a person the ability to move the surgical system 2 without grasping the robotic body 8. As Figure 1 shown, the length of the robotic track 14 can be as long as, shorter than, and / or longer than the robotic body 8. The robotic track 14 can be made of any suitable material. Suitable materials can be, but are not limited to, metals such as titanium, aluminum, or stainless steel, carbon fiber, fiberglass, or heavy-duty plastic. The robotic track 14 can further provide protection to the robotic body 8 from objects and / or medical personnel contacting, hitting, or bumping into the robotic body 8.

[0060] The robotic body 8 can provide support for a Selective Compliance Assembly Robot Arm, hereinafter referred to as "SCARA". Due to the repeatability and compactness of the robotic arm, it may be advantageous to use a SCARA 24 within the surgical system 2. The compactness of the SCARA can provide additional space within a medical procedure, which can allow medical professionals to perform a medical procedure without excessive clutter and restricted areas. The SCARA 24 can include a robotic telescoping support 16, a robotic support arm 18, and / or a robotic arm 20. The robotic telescoping support 16 can be positioned along the robotic body 8. As Figure 1As shown, the robotic telescoping support 16 can provide support for the SCARA 24 and the display 34. In some embodiments, the robotic telescoping support 16 can extend and contract in the vertical direction. The robotic telescoping support 16 can be made of any suitable material. Suitable materials can include, but are not limited to, metals such as titanium or stainless steel, carbon fiber, fiberglass, or heavy plastics. The body of the robotic telescoping support 16 can be of any width and / or height to support the stress and weight placed thereon.

[0061] In some embodiments, medical personnel can move the SCARA 24 by a command submitted by the medical personnel. The command can originate from an input received on the display 34 and / or a tablet computer. The command can come from a press of a switch and / or a press of multiple switches. As Figure 4 and 5 best shown, the activation assembly 60 can include a switch and / or multiple switches. The activation assembly 60 can be operable to transmit a movement command to the SCARA 24, thereby allowing the operator to manually manipulate the SCARA 24. When the switch or multiple switches are pressed, the medical personnel have the ability to easily move the SCARA 24. Additionally, when the SCARA 24 does not receive a movement command, the SCARA 24 can be locked in place to prevent accidental movement by the medical personnel and / or other objects. By being locked in place, the SCARA 24 provides a stable platform on which, as Figure 4 and 5 shown, the passive end effector 1100 and the connected surgical saw 1140 are ready for a medical procedure.

[0062] The robotic support arm 18 can be positioned on the robotic telescoping support 16 by various mechanisms. In some embodiments, best seen in Figure 1 and 2 , the robotic support arm 18 rotates in any direction relative to the robotic telescoping support 16. The robotic support arm 18 can rotate three hundred and sixty degrees around the robotic telescoping support 16. The robotic arm 20 can be connected to the robotic support arm 18 at any suitable location. The robotic arm 20 can be attached to the robotic support arm 16 by various mechanisms. Suitable mechanisms can include, but are not limited to, nuts and bolts, ball and socket joints, press fits, weldments, adhesives, screws, rivets, clamps, latches, and / or any combination thereof. The robotic arm 20 can rotate in any direction relative to the robotic support arm 18. In an embodiment, the robotic arm 20 can rotate three hundred and sixty degrees relative to the robotic support arm 18. This free rotation can allow the operator to position the robotic arm 20 as planned.

[0063] Figure 4 and 5The passive end effector 1100 therein can be attached to the robotic arm 20 at any suitable location. As will be further explained in detail below, the passive end effector 1100 includes a base, a first mechanism, and a second mechanism. The base is configured to be attached to the end effector coupler 22 of the robotic arm 20 positioned by the surgical robot 4. The various mechanisms can include, but are not limited to, latches, clamps, nuts and bolts, ball-and-socket joints, press fits, welds, adhesives, screws, rivets, and / or any combination thereof, and the base can be attached to the end effector coupler 22 through the various mechanisms. The first mechanism extends between a rotatable connection to the base and a rotatable connection to the tool attachment mechanism. The second mechanism extends between a rotatable connection to the base and a rotatable connection to the tool attachment mechanism. The first mechanism and the second mechanism pivot about the rotatable connection and can be configured to limit the movement of the tool attachment mechanism to a range of movement within the working plane. The rotatable connection can be a pivot joint that allows 1 degree of freedom (DOF) of movement, a universal joint that allows 2 DOFs of movement, or a spherical joint that allows 3 DOFs of movement. The tool attachment mechanism is configured to be connected to a surgical saw 1140 having a saw blade or directly connected to the saw blade. The surgical saw 1140 can be configured to oscillate the saw blade for cutting. The first mechanism and the second mechanism can be configured to limit the cutting plane of the saw blade to be parallel to the working plane. When the passive end effector is to be configured to limit the movement of the saw blade to the cutting plane, a pivot joint can preferably be used to connect the planar mechanism.

[0064] The tool attachment mechanism can be connected to the surgical saw 1140 or the saw blade through various mechanisms, which can include, but are not limited to, screws, nuts and bolts, clamps, latches, tethers, press fits, or magnets. In some embodiments, the dynamic reference array 52 is attached to the passive end effector 1100, such as attached to the tool attachment mechanism, and / or attached to the surgical saw 1140. The dynamic reference array (also referred to herein as the "DRA") is a rigid body that can be placed on the patient, the surgical robot, the passive end effector, and / or the surgical saw during a navigated surgical procedure. The camera tracking system 6 or other 3D positioning system is configured to track the pose (e.g., position and rotational orientation) of the tracking markers of the DRA in real time. The tracking markers can include the arrangement of the balls or other optical markers shown. This tracking of the 3D coordinates of the tracking markers can allow the surgical system 2 to determine the pose of the DRA 52 in any space relative to Figure 5 the target anatomical structure of the patient 50 therein.

[0065] As Figure 1As shown, the light indicator 28 can be positioned at the top of the SCARA 24. The light indicator 28 can be illuminated with any type of light to indicate the “status” of the current operation of the surgical system 2 therein. For example, green illumination can indicate that all systems are normal. Illuminating red can indicate that the surgical system 2 is not operating properly. Pulsating light can mean that the surgical system 2 is performing a function. Combinations of lights and pulsations can produce an almost infinite number of combinations in which the current operating conditions, status, or other operating indications are conveyed. In some embodiments, the light can be produced by LED bulbs that can form a ring around the light indicator 28. The light indicator 28 can include a fully permeable material that can allow the light to pass through the entirety of the light indicator 28.

[0066] The light indicator 28 can be attached to the lower display support 30. As Figure 2 shown, the lower display support 30 can allow the operator to manipulate the display 34 to any suitable position. The lower display support 30 can be attached to the light indicator 28 by any suitable mechanism. In an embodiment, the lower display support 30 can rotate around the light indicator 28. In an embodiment, the lower display support 30 can be rigidly attached to the light indicator 28. Then, the light indicator 28 can rotate three hundred and sixty degrees around the robotic support arm 18. The lower display support 30 can be any suitable length, and a suitable length can be from about eight inches to about thirty-four inches. The lower display support 30 can act as a base for the upper display support 32.

[0067] The upper display support 32 can be attached to the lower display support 30 by any suitable mechanism. The upper display support 32 can be any suitable length, and a suitable length can be from about eight inches to about thirty-four inches. In an embodiment, as Figure 1 shown, the upper display support 32 can allow the display 34 to rotate three hundred and sixty degrees relative to the upper display support 32. Similarly, the upper display support 32 can rotate three hundred and sixty degrees relative to the lower display support 30.

[0068] The display 34 can be any device supported by the upper display support 32. In an embodiment, as Figure 2 shown, the display 34 can produce color and / or black and white images. The width of the display 34 can be from about eight inches to about thirty inches wide. The height of the display 34 can be from about six inches to about twenty-two inches high. The depth of the display 34 can be from about half an inch to about four inches.

[0069] In an embodiment, the tablet computer can be used in combination with and / or without the display 34. In an embodiment, the table can be placed on the upper display support 32, replacing the display 34, and can be removed from the upper display support 32 during a medical operation. Additionally, the tablet computer can communicate with the display 34. The tablet computer can be connected to the surgical robot 4 through any suitable wireless and / or wired connection. In some embodiments, the tablet computer can program and / or control the surgical system 2 during a medical operation. When the surgical system 2 is controlled by the tablet computer, all input and output commands can be replicated on the display 34. Using the tablet computer can allow the operator to manipulate the surgical robot 4 without having to move around the patient 50 and / or the surgical robot 4.

[0070] As Figure 5 shown, the camera tracking system 6 works in cooperation with the surgical robot 4 through a wired or wireless communication network. Referring Figure 1 to 5 and, the camera tracking system 6 can include some components similar to those of the surgical robot 4. For example, the camera body 36 can provide functions found in the robot body 8. The robot body 8 can provide a structure on which the camera 46 is mounted. The structure within the robot body 8 can also provide support for the electronic devices, communication devices, and power supply used to operate the camera tracking system 6. The camera body 36 can be made of the same material as the robot body 8. The camera tracking system 6 can communicate directly with the tablet computer and / or the display 34 through a wireless and / or wired network so that the tablet computer and / or the display 34 can control the functions of the camera tracking system 6.

[0071] The camera body 36 is supported by the camera base 38. The camera base 38 can be used as the robot base 10. In Figure 1 an embodiment, the camera base 38 can be wider than the robot base 10. The width of the camera base 38 can allow the camera tracking system 6 to be connected to the surgical robot 4. As Figure 1 shown, the width of the camera base 38 can be large enough to fit outside the robot base 10. When the camera tracking system 6 is connected to the surgical robot 4, the additional width of the camera base 38 can allow the surgical system 2 to provide additional maneuverability and support for the surgical system 2.

[0072] Similar to the robot base 10, a plurality of drive wheels 12 can be attached to the camera base 38. Similar to the operation of the robot base 10 and the driven wheels 12, the driven wheels 12 can allow the camera tracking system 6 to be stabilized and leveled or set to a fixed orientation relative to the patient 50. This stabilization can prevent the camera tracking system 6 from moving during a medical procedure and can prevent the camera 46 from losing sight of, as Figure 5Tracking of one or more DRAs 52 within the specified region 56 shown that are connected to the anatomical structure 54 and / or the tool 58. This stability and maintenance of the tracking enhances the ability of the surgical robot 4 to operate effectively with the camera tracking system 6. Additionally, the wide camera base 38 can provide additional support for the camera tracking system 6. Specifically, as Figure 5 shown, when the camera 46 is positioned on the patient, the wide camera base 38 can prevent the camera tracking system 6 from tipping over. In the absence of the wide camera base 38, the protruding camera 46 may unbalance the camera tracking system 6, which may cause the camera tracking system 6 to topple over.

[0073] The camera telescoping support 40 can support the camera 46. In an embodiment, the telescoping support 40 can move the camera 46 higher or lower in the vertical direction. The telescoping support 40 can be made of any suitable material that supports the camera 46. Suitable materials can be, but are not limited to, metals such as titanium, aluminum, or stainless steel, carbon fiber, fiberglass, or heavy plastics. The camera handle 48 can be attached to the camera telescoping support 40 at any suitable location. The camera handle 48 can be any suitable handle configuration. Suitable configurations can be, but are not limited to, bar-shaped, circular, triangular, square, and / or any combination thereof. As Figure 1 shown, the camera handle 48 can be triangular, allowing the operator to move the camera tracking system 6 to a planned position prior to a medical procedure. In an embodiment, the camera handle 48 can be used to lower and raise the camera telescoping support 40. The camera handle 48 can perform the raising and lowering of the camera telescoping support 40 by pressing buttons, switches, levers, and / or any combination thereof.

[0074] The lower camera support arm 42 can be attached to the camera telescoping support 40 at any suitable location. In an embodiment, as Figure 1As shown, the lower camera support arm 42 can rotate 360 degrees around the telescopic support 40. This free rotation can allow the operator to position the camera 46 in any suitable position. The lower camera support arm 42 can be made of any suitable material that supports the camera 46. Suitable materials can include, but are not limited to, metals such as titanium, aluminum, or stainless steel, carbon fiber, fiberglass, or heavy plastics. The cross-section of the lower camera support arm 42 can be any suitable shape. Suitable cross-sectional shapes can include, but are not limited to, circular, square, rectangular, hexagonal, octagonal, or I-beam. The length and width of the cross-section can be approximately one to ten inches. The length of the lower camera support arm can be approximately four inches to approximately thirty-six inches. The lower camera support arm 42 can be connected to the telescopic support 40 by any suitable mechanism. Suitable mechanisms can include, but are not limited to, nuts and bolts, ball and socket joints, press fits, weldments, adhesives, screws, rivets, clamps, latches, and / or any combination thereof. The lower camera support arm 42 can be used to provide support for the camera 46. The camera 46 can be attached to the lower camera support arm 42 by any suitable mechanism. Suitable mechanisms can include, but are not limited to, nuts and bolts, ball and socket joints, press fits, weldments, adhesives, screws, rivets, and / or any combination thereof. The camera 46 can pivot in any direction at the attachment area between the camera 46 and the lower camera support arm 42. In an embodiment, the curved track 44 can be disposed on the lower camera support arm 42.

[0075] The curved track 44 can be disposed at any suitable position on the lower camera support arm 42. As Figure 3 shown, the curved track 44 can be attached to the lower camera support arm 42 by any suitable mechanism. Suitable mechanisms can include, but are not limited to, nuts and bolts, ball and socket joints, press fits, weldments, adhesives, screws, rivets, clamps, latches, and / or any combination thereof. The curved track 44 can be any suitable shape, and suitable shapes can include crescent, circular, flat, oval, and / or any combination thereof. In an embodiment, the curved track 44 can be any appropriate length. The appropriate length can be approximately one foot to approximately six feet. The camera 46 can be movably disposed along the curved track 44. The camera 46 can be attached to the curved track 44 by any suitable mechanism. Suitable mechanisms can include, but are not limited to, rollers, brackets, braces, motors, and / or any combination thereof. Motors and rollers (not shown) can be used to move the camera 46 along the curved track 44. As Figure 3As shown, during a medical procedure, if an object blocks the camera 46 from viewing one or more DRAs 52, the motor can move the camera 46 along the curved track 44 using the rollers. This motile movement can allow the camera 46 to move to a new position where it is no longer blocked by the object, without moving the camera tracking system 6. When the view of the DRA 52 by the camera 46 is blocked, the camera tracking system 6 can send a stop signal to the surgical robot 4, the display 34, and / or the tablet. The stop signal can prevent the SCARA 24 from moving until the camera 46 reacquires the DRA 52. This stop can prevent the SCARA 24 and / or the end effector coupler 22 from moving and / or using the medical tool without being tracked by the surgical system 2.

[0076] As Figure 6 shown, the end effector coupler 22 is configured to attach various types of passive end effectors to the surgical robot 4. The end effector coupler 22 can include a saddle joint 62, an activation assembly 60, a force sensor 64 ( Figure 7 ), and a connector 66. The saddle joint 62 can attach the end effector coupler 22 to the SCARA 24. The saddle joint 62 can be made of any suitable material. Suitable materials can be, but are not limited to, metals such as titanium, aluminum, or stainless steel, carbon fiber, fiberglass, or heavy plastics. The saddle joint 62 can be made of a single piece of metal, which can provide additional strength and durability to the end effector. The saddle joint 62 can be attached to the SCARA 24 through attachment points 68. There can be multiple attachment points 68 disposed around the saddle joint 62. The attachment points 68 can be recessed, flush, and / or disposed on the saddle joint 62. In some instances, screws, nuts, and bolts and / or any combination thereof can pass through the attachment points 68 and secure the saddle joint 62 to the SCARA 24. The nuts and bolts can connect the saddle joint 62 to a motor (not shown) within the SCARA 24. The motor can move the saddle joint 62 in any direction. The motor can further prevent the saddle joint 62 from moving due to accidental collisions and / or accidental contacts by actively servoing at the current position or passively by applying a spring-actuated brake.

[0077] The end effector coupler 22 can include a force sensor 64 interposed between the saddle joint 62 and the attached passive end effector. As Figure 7 shown, the force sensor 64 can be attached to the saddle joint 62 by any suitable mechanism. Suitable mechanisms can be, but are not limited to, screws, nuts, and bolts, threads, press fits, and / or any combination thereof.

[0078] Figure 8 A block diagram of components of a surgical system 800 according to some embodiments of the present disclosure is shown. Refer to Figure 7 and8 , the force sensor 64 can be any suitable instrument for detecting and measuring force. In some instances, the force sensor 64 can be a six-axis force sensor, a three-axis force sensor, or a single-axis force sensor. The force sensor 64 can be used to track the force applied to the end effector coupler 22. In some embodiments, the force sensor 64 can communicate with multiple motors 850, 851, 852, 853, and / or 854. When the force sensor 64 senses a force, information about the amount of the applied force can be distributed from the switch array and / or multiple switch arrays to the controller 846. The controller 846 can obtain the force information from the force sensor 64 and process it with a switching algorithm. The controller 846 uses the switching algorithm to control the motor driver 842. The motor driver 842 controls the operation of one or more motors. The motor driver 842 can direct a particular motor to generate, for example, an equal amount of force as measured by the force sensor 64 through the motor. In some embodiments, as indicated by the controller 846, the generated force can come from multiple motors, such as 850 - 854. Additionally, the motor driver 842 can receive an input from the controller 846. The controller 846 can receive information about the direction of the force sensed by the force sensor 64 from the force sensor 64. The controller 846 can process this information using a motion controller algorithm. The algorithm can be used to provide information to a particular motor driver 842. To replicate the direction of the force, the controller 846 can activate and / or deactivate certain motor drivers 842. The controller 846 can control one or more motors, such as one or more of 850 - 854, to induce movement of the passive end effector 1100 in the direction of the force sensed by the force sensor 64. This force-controlled movement can allow the operator to move the SCARA 24 and the passive end effector 1100 effortlessly and / or with very little resistance. The movement of the passive end effector 1100 can be performed to position the passive end effector 1100 in any suitable orientation (i.e., position and angular orientation relative to a defined three-dimensional (3D) orthogonal reference axis) for use by medical personnel.

[0079] The connector 66 is configured to be connectable to the base of the passive end effector 1100 and connected to the force sensor 64. The connector 66 can include attachment points 68, sensing buttons 70, tool guides 72, and / or tool connectors 74. As Figure 6 and 8As best shown, there can be multiple attachment points 68. The attachment points 68 can connect the connector 66 to the force sensor 64. The attachment points 68 can be recessed, flush, and / or seated on the connector 66. The attachment points 68 and 76 can be used to attach the connector 66 to the force sensor 64 and / or the passive end effector 1100. In some instances, the attachment points 68 and 76 can include screws, nuts and bolts, press fits, magnetic attachments, and / or any combination thereof.

[0080] As Figure 6 shown, the sensing button 70 can be disposed around the center of the connector 66. When the passive end effector 1100 is connected to the SCARA 24, the sensing button 70 can be depressed. Depressing the sensing button 70 can alert the surgical robot 4 and, in turn, alert the medical staff that the passive end effector 1100 has been attached to the SCARA 24. As Figure 6 shown, the guide 72 can be used to facilitate proper attachment of the passive end effector 1100 to the SCARA 24. The guide 72 can be recessed, flush, and / or seated on the connector 66. In some instances, there can be multiple guides 72, and they can have any suitable pattern and can be oriented in any suitable direction. The guide 72 can be any suitable shape to facilitate attachment of the passive end effector 1100 to the SCARA 24. Suitable shapes can be, but are not limited to, circular, flat, square, polyhedral, and / or any combination thereof. Additionally, the guide 72 can be cut with chamfers, straight lines, and / or any combination thereof.

[0081] The connector 66 can have an attachment point 74. As Figure 6 shown, the attachment point 74 can form a protrusion and / or multiple protrusions. The attachment point 74 can provide a surface on which the passive end effector 1100 can clamp. In some embodiments, the attachment point 74 is disposed around any surface of the connector 66 and is oriented in any suitable manner relative to the connector 66.

[0082] As Figure 6 and 7As best shown, the activation assembly 60 can surround the connector 66. In some embodiments, the activation assembly 60 can take the form of a bracelet that wraps around the connector 66. In some embodiments, the activation assembly 60 can be located in any suitable area within the surgical system 2. In some instances, the activation assembly 60 can be located on any part of the SCARA 24, any part of the end effector coupler 22, can be worn (and communicate wirelessly) by a medical staff member, and / or any combination thereof. The activation assembly 60 can be made of any suitable material. Suitable materials can include but are not limited to neoprene, plastic, rubber, gel, carbon fiber, fabric, and / or any combination thereof. The activation assembly 60 can include a primary button 78 and a secondary button 80. The primary button 78 and the secondary button 80 can surround the entirety of the connector 66.

[0083] The primary button 78 can be a single ridge, as Figure 6 shown, which can surround the connector 66. In some instances, the primary button 78 can be positioned on the activation assembly 60 at the end farthest from the saddle joint 62. The primary button 78 can be positioned on the primary activation switch 82, as Figure 7 best shown. The primary activation switch 82 can be positioned between the connector 66 and the activation assembly 60. In some instances, there can be multiple primary activation switches 82, and the multiple primary activation switches can be positioned adjacent to and beneath the primary button 78 along the entire length of the primary button 78. Pressing the primary button 78 on the primary activation switch 82 can allow an operator to move the SCARA 24 and the end effector coupler 22. As described above, once positioned in place, the SCARA 24 and the end effector coupler 22 can not move until the operator programs the surgical robot 4 to move the SCARA 24 and the end effector coupler 22, or uses the primary button 78 and the primary activation switch 82 to move. In some instances, it may be necessary to press at least two non-adjacent primary activation switches 82 before the SCARA 24 and the end effector coupler 22 will respond to an operator command. Pressing at least two primary activation switches 82 can prevent accidental movement of the SCARA 24 and the end effector coupler 22 during a medical procedure.

[0084] Activated by the main button 78 and the main activation switch 82, the force sensor 64 can measure the magnitude and / or direction of the force applied by the operator, i.e., the medical staff, on the end effector coupler 22. This information can be transferred to the motors within the SCARA 24, which can be used to move the SCARA 24 and the end effector coupler 22. Information regarding the magnitude and direction of the force measured by the force sensor 64 can cause the motors to move the SCARA 24 and the end effector coupler 22 in the same direction as sensed by the force sensor 64. This force-controlled movement can allow the operator to easily move the SCARA 24 and the end effector coupler 22, and since the motors move the SCARA 24 and the end effector coupler 22 while the operator is moving them, a large amount of effort is not required.

[0085] As Figure 6 shown, the secondary button 80 can be positioned at the end of the activation assembly 60 closest to the saddle joint 62. In some instances, the secondary button 80 can include multiple ridges. The multiple ridges can be positioned adjacent to each other and can surround the connector 66. Additionally, the secondary button 80 can be positioned on the secondary activation switch 84. As Figure 7 shown, the secondary activation switch 84 can be positioned between the secondary button 80 and the connector 66. In some instances, the operator can use the secondary button 80 as a "selection" device. During a medical procedure, the surgical robot 4 can notify the medical staff of certain situations via the display 34 and / or the light indicator 28. The surgical robot 4 can prompt the medical staff to select functions, modes, and / or evaluate the situation of the surgical system 2. Pressing the secondary button 80 once on the secondary activation switch 84 can activate certain functions, modes, and / or confirm the information transmitted to the medical staff via the display 34 and / or the light indicator 28. Additionally, pressing the secondary button 80 multiple times in quick succession on the secondary activation switch 84 can initiate additional functions, modes, and / or select the information transmitted to the medical staff via the display 34 and / or the light indicator 28. In some instances, at least two non-adjacent secondary activation switches 84 can be pressed before the secondary button 80 can function properly. This requirement can prevent the accidental collision of the medical staff during the activation of the assembly 60 from causing the unintended use of the secondary button 80. The main button 78 and the secondary button 80 can use the software architecture 86 to transmit the commands of the medical staff to the surgical system 2.

[0086] Figure 8FIG. 0 shows a block diagram of components of a surgical system 800 configured in accordance with some embodiments of the present disclosure, and it may correspond to the above surgical system 2. The surgical system 800 includes a platform subsystem 802, a computer subsystem 820, a motion control subsystem 840, and a tracking subsystem 830. The platform subsystem 802 includes a battery 806, a power distribution module 804, a connector panel 808, and a charging station 810. The computer subsystem 820 includes a computer 822, a display 824, and a speaker 826. The motion control subsystem 840 includes drive circuits 842, motors 850, 851, 852, 853, 854, stabilizers 855, 856, 857, 858, an end effector connector 844, and a controller 846. The tracking subsystem 830 includes a position sensor 832 and a camera converter 834. The surgical system 800 may also include a removable foot pedal 880 and a removable tablet computer 890.

[0087] Input power is supplied to the surgical system 800 through a power source, and the power source may be supplied to the power distribution module 804. The power distribution module 804 receives the input power and is configured to generate different power supply voltages and provide the power supply voltages to other modules, components, and subsystems of the surgical system 800. The power distribution module 804 may be configured to provide different voltage supplies to the connector panel 808, and the voltage supplies may be provided to other components such as the computer 822, the display 824, the speaker 826, the driver 842 to power, for example, the motors 850-854 and the end effector coupler 844, and to the camera converter 834 and other components for the surgical system 800. The power distribution module 804 may also be connected to the battery 806, and the battery acts as a temporary power source when the power distribution module 804 does not receive power from the input power source. At other times, the power distribution module 804 may be used to charge the battery 806.

[0088] The connector panel 808 may be used to connect different devices and components to the surgical system 800 and / or related components and modules. The connector panel 808 may include one or more ports that receive lines or connectors from different components. For example, the connector panel 808 may have a ground terminal port for grounding the surgical system 800 to other devices, a port for connecting the foot pedal 880, a port for connecting the tracking subsystem 830, and the tracking subsystem may include a position sensor 832, a camera converter 834, and a marker tracking camera 870. The connector panel 808 may also include other ports to allow USB, Ethernet, and HDMI communication with other components such as the computer 822.

[0089] The control panel 816 can provide various buttons or indicators for controlling the operation of the surgical system 800 and / or providing information from the surgical system 800 for the operator to observe. For example, the control panel 816 can include buttons for turning the surgical system 800 on or off, raising or lowering the vertical column 16, and raising or lowering the stabilizers 855 - 858, which can be designed to engage the casters 12 to lock the surgical system 800 without physically moving it. Other buttons can stop the surgical system 800 in an emergency event, which can remove all motor power and apply mechanical brakes to stop all movement from occurring. The control panel 816 can also have indicators for notifying the operator of certain system conditions, such as the line power indicator or the charge status of the battery 806.

[0090] The computer 822 of the computer subsystem 820 includes an operating system and software for operating the designated functions of the surgical system 800. The computer 822 can receive and process information from other components (e.g., the tracking subsystem 830, the platform subsystem 802, and / or the motion control subsystem 840) in order to display information to the operator. Further, the computer subsystem 820 can provide output for the operator through the speaker 826. The speaker can be part of the surgical robot, part of the head - mounted display assembly, or within another component of the surgical system 2. The display 824 can correspond to Figure 1 and 2 the display 34 shown in, or can be a head - mounted display that projects an image onto a fluoroscopic display screen, which forms an augmented reality (AR) image that overlays real - world objects visible through the fluoroscopic display screen.

[0091] The tracking subsystem 830 can include a position sensor 832 and a camera converter 834. The tracking subsystem 830 can correspond to Figure 3 the camera tracking system 6 of. The marker tracking camera 870 operates with the position sensor 832 to determine the pose of the DRA 52. This tracking can be performed in a manner consistent with the present disclosure, which includes using infrared or visible light techniques, such as LEDs or reflective markers, to separately track the positions of active or passive elements of the DRA 52. The position, orientation, and location of structures such as the DRA 52 with these types of markers are provided to the computer 822 and can be shown to the operator on the display 824. For example, as Figure 4 and 5 shown, the surgical saw 1240 having the DRA 52 or connected to the end - effector coupler 22 can be shown to the operator relative to a three - dimensional image of the patient's anatomy, and the end - effector coupler has the DRA 52 tracked in this way (which can be referred to as the navigation space).

[0092] The motion control subsystem 840 can be configured to physically move the vertical column 16, the upper arm 18, the lower arm 20, or rotate the end effector coupler 22. The physical movement can be performed by using one or more motors 850 - 854. For example, the motor 850 can be configured to vertically lift or lower the vertical column 16. As Figure 2 shown, the motor 851 can be configured to laterally move the upper arm 18 about a point of engagement with the vertical column 16. As Figure 2 shown, the motor 852 can be configured to laterally move the lower arm 18 about a point of engagement with the upper arm 20. The motors 853 and 854 can be configured to move the end effector coupler 22 to provide translational movement along three-dimensional axes and rotation about them. Fig. 9 The surgical planning computer 910 shown can provide control inputs to the controller 846, which guides the movement of the end effector coupler 22 to position the passive end effector connected thereto in a planned pose (i.e., position and angular orientation relative to a defined 3D orthogonal reference axis) relative to the anatomical structure to be cut during the surgical procedure. The motion control subsystem 840 can be configured to use integrated position sensors (such as encoders) to measure the position of the passive end effector structure. In one embodiment of the embodiment, the position sensor is directly connected to at least one joint of the passive end effector structure, but can also be positioned at another location in the structure and remotely measure the joint position through an interconnect such as a timing belt, wire, or any other synchronous transmission interconnect.

[0093] Fig. 9 A block diagram of a surgical system computer platform 900 according to some embodiments of the present disclosure is shown. The surgical system computer platform includes a surgical planning computer 910, which can be separated from and operatively connected to the surgical robot 800 herein, or at least partially integrated therewith. Alternatively, at least a portion of the operations for the surgical planning computer 910 disclosed herein can be performed by components of the surgical robot 800 (such as by the computer subsystem 820).

[0094] Referring Fig. 9 to, the surgical planning computer 910 includes a display 912, at least one processor circuit 914 (also referred to as a processor for brevity), at least one memory circuit 916 containing computer-readable program code 918 (also referred to as a memory for brevity), and at least one network interface 920 (also referred to as a network interface for brevity). The network interface 920 can be configured to connect to Fig.10 the C-arm imaging device 104 in Fig.11the O-arm imaging device 106, another medical imaging device, an image database 950 of medical images, components of the surgical robot 800, and / or other electronic devices therein.

[0095] When the surgical planning computer 910 is at least partially integrated within the surgical robot 800, the display 912 can correspond to Figure 2 the display 34 of Figure 8 the tablet computer 890 and / or the head-mounted display of Figure 8 the platform network interface 812 of Figure 8 the computer 822 of

[0096] The processor 914 can include one or more data processing circuits, such as general and / or special-purpose processors, such as microprocessors and / or digital signal processors. The processor 914 is configured to execute the computer-readable program code 918 in the memory 916 to perform operations, which may include some or all of the operations described herein as being performed by the surgical planning computer.

[0097] The processor 914 is operable to display an image of a bone on the display device 912, receiving the image from one of the imaging devices 104 and 106 and / or from the image database 950 via the network interface 920. The processor 914 receives a definition by the operator of the location where an anatomical structure (i.e., one or more bones) shown in one or more images is to be cut, such as by the operator touching and selecting a location on the display 912 for a planned surgical cut, or using a mouse-based cursor to define a location for a planned surgical cut.

[0098] The surgical planning computer 910 is capable of performing anatomical measurements useful for knee surgery, similar to measurements of various angles for determining the center of the hip, the center of the angle, natural landmarks (such as the transepicondylar line, the Whitesides line, the posterior condylar line, etc.). Some measurements can be automatic, while some others involve manual input or assistance. The surgical planning computer 910 allows the operator to select the correct implant for the patient, including the selection of size and alignment. The surgical planning computer 910 is capable of performing automatic or semi-automatic (involving manual input) segmentation (image processing) of CT images or other medical images. The surgical plan for the patient can be stored in a cloud-based server for retrieval by the surgical robot 800. During the surgical procedure, the surgeon will use a computer screen (such as a touch screen) or augmented reality interaction, for example, through a head-mounted display, to select which cuts to make (such as the posterior femur, the proximal tibia, etc.). The surgical robot 4 can automatically move the surgical saw blade to the planned position so that the target plane of the planned cut is optimally placed within the workspace of the passive end effector that interconnects the surgical saw blade and the robotic arm 20. The user can give commands to effect the movement using various means (such as a foot pedal).

[0099] In some embodiments, the surgical system computer platform 900 can use two DRAs to track the patient's anatomical position: one on the patient's tibia and one on the patient's femur. The platform 900 can use standard navigation instruments for registration and inspection (e.g., a pointer similar to the pointer used in the Globus ExcelsiusGPS system for spinal surgery). Tracking markers that allow the detection of DRA movement with reference to the tracked anatomical structures can also be used.

[0100] An important difficulty in knee surgery is how to plan the position of the implant in the knee, and many surgeons strive to complete this plan on a computer screen, which is a 2D representation of a 3D anatomy on the computer screen. Platform 900 can solve this problem by using an augmented reality (AR) head-mounted display to generate an implant overlay around the actual patient's knee. For example, the surgeon can operatively display virtual handles to grasp the implant and move it to the desired pose, and adjust the planned implant placement. Then, during the surgery, platform 900 can provide navigation through the AR head-mounted display to show the surgeon what is not directly visible. Additionally, the progress of bone removal, such as depth or cut, can be displayed in real time. Other features that can be displayed through AR can include but are not limited to the gap or ligament balance along the range of joint motion, the contact line on the implant along the range of joint motion, the ligament tension and / or laxity through color or other graphical overlays, etc.

[0101] In some embodiments, the surgical planning computer 910 can allow for the planning of the use of standard implants, such as posterior stabilized implants and cruciate ligament retaining implants, cemented and non-cemented implants, revision systems for surgeries related to, for example, total knee or partial knee and / or hip replacement and / or trauma.

[0102] The processor 912 can graphically display on the display 912 one or more cutting planes that intersect the displayed anatomy at positions selected by the operator for cutting the anatomy. The processor 912 also determines a set or sets of angular orientations and positions at which the end effector coupler 22 must be positioned such that the cutting plane of the surgical saw blade will align with the target plane to perform the cut defined by the operator, and stores the set of angular orientations and positions as data in the surgical planning data structure. The processor 912 uses the known range of motion of the tool attachment mechanism of the passive end effector to determine where the end effector coupler 22 attached to the robotic arm 20 needs to be positioned.

[0103] The computer subsystem 820 of the surgical robot 800 receives data from a surgical planning data structure and receives information from the camera tracking system 6 that indicates the current pose of the anatomical structure to be cut and indicates the current pose of the passive end effector and / or the surgical saw tracked by the DRA. The computer subsystem 820 determines the pose of the target plane based on a surgical plan that defines the location where the anatomical structure is to be cut and based on the pose of the anatomical structure. The computer subsystem 820 generates manipulation information based on a comparison of the pose of the target plane and the pose of the surgical saw. The manipulation information indicates where the passive end effector needs to move so that the cutting plane of the saw blade becomes aligned with the target plane and the saw blade is positioned at a distance from the anatomical structure to be cut, the distance being within the movement range of the tool attachment mechanism of the passive end effector.

[0104] As explained above, the surgical robot includes a robot base, a robot arm connected to the robot base, and at least one motor operatively connected to move the robot arm relative to the robot base. The surgical robot also includes at least one controller, such as the computer subsystem 820 and the motion control subsystem 840, the controller being connected to at least one motor and configured to perform operations.

[0105] As will be explained in further detail below with respect to Figure 12-19 The passive end effector includes a base configured to be attached to the activation assembly of the robot arm, a first mechanism, and a second mechanism. The first mechanism extends between a rotatable connection to the base and a rotatable connection to the tool attachment mechanism. The second mechanism extends between a rotatable connection to the base and a rotatable connection to the tool attachment mechanism. The first mechanism and the second mechanism pivot about the rotatable connection, which can be configured to limit the movement of the tool attachment mechanism to a movement range within a working plane. The rotatable connection can be a pivot joint that allows 1 degree of freedom (DOF) of movement, a universal joint that allows 2 DOF of movement, or a spherical joint that allows 3 DOF of movement. The tool attachment mechanism is configured to be connected to the surgical saw that includes a saw blade for cutting. The first mechanism and the second mechanism can be configured to limit the cutting plane of the saw blade to be parallel to the working plane.

[0106] In some embodiments, the operations performed by at least one controller of the surgical robot further include controlling the movement of the at least one motor based on the manipulation information to reposition the passive end effector such that the cutting plane of the saw blade becomes aligned with the target plane, and the saw blade is positioned at the distance from the anatomical structure to be cut, the distance being within the movement range of the tool attachment mechanism of the passive end effector. The manipulation information can be displayed to guide the operator to move the surgical saw and / or the at least one controller can use it to automatically move the surgical saw.

[0107] In one embodiment, the operations performed by the at least one controller of the surgical robot further include providing the manipulation information to a display device for display to guide the operator to move the passive end effector such that the cutting plane of the saw blade becomes aligned with the target plane, and the saw blade is positioned at the distance from the anatomical structure to be cut, the distance being within the movement range of the tool attachment mechanism of the passive end effector. The display device can correspond to the display 824 ( Figure 8 ) Figure 1 of the display 34 and / or a head-mounted display.

[0108] For example, the manipulation information can be displayed on a head-mounted display that projects an image onto a see-through display screen, the see-through display screen forming an augmented reality image over the real-world objects visible through the see-through display screen. The operation can display a graphical representation of the target plane having an orientation overlaid on the bone, and the relative orientation therebetween corresponding to the surgical plan for how the bone is planned to be cut. The operation can alternatively or additionally display a graphical representation of the saw blade cutting plane such that the operator can more easily align the cutting plane with the planned target plane for cutting the bone. Thus, the operator can visually observe and perform the movement to align the cutting plane of the saw blade with the target plane such that the saw blade is positioned relative to the bone in the planned orientation and within the movement range of the tool attachment mechanism of the passive end effector.

[0109] An automatic imaging system can be used in combination with the surgical planning computer 910 and / or the surgical system 2 to acquire pre-operative, intra-operative, post-operative, and / or real-time image data of the patient. Fig.10 and 11 shows an example automatic imaging system. In some embodiments, the automatic imaging system is a C-arm 104 ( Fig.10 ) imaging device or 106 ( Fig.11)。(Medtronic Navigation, Inc., which has a place of business in Louisville, Colo., USA) owns copyrights) may desire to perform x-ray examinations of a patient from many different orientations without the need for frequent manual repositioning of the patient, which may be required in an x-ray system. The C-arm 104 x-ray diagnostic device can address the problem of frequent manual repositioning and is well known in the medical field of surgical and other interventional procedures. As Fig.10 shown, the C-arm includes an elongated C-shaped member that terminates at opposite distal ends 112 of the "C" shape. The C-shaped member is attached to an x-ray source 114 and an image receiver 116. The space within the C-arm 104 of the arm provides substantially unobstructed space for a doctor to attend to the patient without interference from the x-ray support structure.

[0110] The C-arm is mounted such that the arm can rotate and move in two degrees of freedom (i.e., in a spherical motion about two perpendicular axes). The C-arm is slidably mounted to the x-ray support structure, which allows the C-arm to orbitally rotate about its center of curvature, which can allow selective vertical and / or horizontal orientation of the x-ray source 114 and the image receiver 116. The C-arm can also be rotatable laterally (i.e., in a direction perpendicular to the direction of orbital travel such that the positioning of the x-ray source 114 and the image receiver 116 can be selectively adjusted relative to the width and length of the patient). The spherical rotation aspect of the C-arm device allows a doctor to perform x-ray examinations of a patient at an optimal angle determined relative to a particular anatomical condition being imaged.

[0111] Fig.11 shown in 106 includes a gantry housing 124, which may enclose an image capture portion not shown. The image capture portion includes an x-ray source portion and / or an x-ray emitting portion and an x-ray receiving portion and / or an image receiving portion, which may be disposed approximately one hundred and eighty degrees apart from each other and are mounted on a rotor (not shown) relative to the orbit of the image capture portion. The image capture portion can be operatively rotated three hundred and sixty degrees during image acquisition. The image capture portion can rotate about a center point and / or an axis, thereby allowing image data of a patient to be acquired from multiple directions or in multiple planes.

[0112] With the gantry housing 124 106 has a central opening for positioning around an object to be imaged and a radiation source rotatable within the gantry housing 124, the radiation source being adapted to project radiation from a plurality of different projection angles. A detector system is adapted to detect the radiation at each projection angle so as to acquire an object image from a plurality of projection planes in a quasi-simultaneous manner. The gantry may be attached to a support structure in a cantilever manner such as a wheeled mobile cart with wheels. The positioning unit preferably translates and / or tilts the gantry to a planned position and orientation under the control of a computerized motion control system. The gantry may include a source and a detector disposed opposite each other on the gantry. The source and the detector may be fixed to a motorized rotor that can rotate the source and the detector around the interior of the gantry in combination with each other. The source may be pulsed at a plurality of positions and orientations in a partial and / or complete three-hundred-sixty-degree rotation to perform multi-planar imaging of a target object positioned inside the gantry. The gantry may further include an orbital and bearing system for guiding the rotor during rotation of the rotor, the orbital and bearing system being capable of carrying the source and the detector. Both 106 and the C-arm 104 and / or one of them may be used as an automatic imaging system to scan a patient and send information to the surgical system 2.

[0113] The images captured by the automatic imaging system may be displayed on a display device of the surgical planning computer 910, the surgical robot 800, and / or another component of the surgical system 2.

[0114] Now described in the context of Figure 12-19 various embodiments of a passive end effector configured for a surgical system.

[0115] As will be further explained in detail below, Figure 12-19 each of the various passive end effectors shown includes a base, a first planar mechanism, and a second planar mechanism. The base is configured to be attached to an end effector coupler of a robotic arm (e.g., Figure 1 and 2 the robotic arm 18 in Figure 4 and 5The end effector coupler 22) in. Various clamping mechanisms can be used to firmly attach the base to the end effector coupler, thereby eliminating clearance and ensuring appropriate stiffness. Irreversible clamping mechanisms that can be used to attach the base to the end effector coupler can include, but are not limited to, toggle mechanisms or one or more irreversible locking screws. The user can use additional tools such as, but not limited to, screwdrivers, torque wrenches, or drivers to activate or tighten the clamping mechanism. The first mechanism extends between a rotatable connection to the two bases and a rotatable connection to the tool attachment mechanism. The second mechanism extends between a rotatable connection to the base and a rotatable connection to the tool attachment mechanism. The first mechanism and the second mechanism pivot about the rotatable connection. The rotatable connection can be a pivot joint that allows 1 degree of freedom (DOF) of movement, a universal joint that allows 2 DOFs of movement, or a ball joint that allows 3 DOFs of movement. When using a pivot joint, the first mechanism and the second mechanism can be configured to limit the movement of the tool attachment mechanism to a range of movement within the working plane. The tool attachment mechanism is configured to connect to a surgical saw having a saw blade configured to oscillate for cutting. The first mechanism and the second mechanism can be configured to limit the cutting plane of the saw blade to be parallel to the working plane, for example, by a pivot joint having 1 DOF of movement. The tool attachment mechanism can be connected to the surgical saw or the saw blade by various mechanisms, which can include, but are not limited to, screws, nuts, and bolts, clamps, latches, tethers, press fits, or magnets. The DRA can be connected to the tool attachment mechanism or the surgical saw to enable tracking of the pose of the saw blade by the camera tracking system 6( Figure 3 ) to track the pose of the saw blade.

[0116] As explained above, a surgical system (e.g., Figure 1 and Figure 2 the surgical system 2) in includes a surgical robot (e.g., Figure 1 and Figure 2 the surgical robot 4) in and a tracking system (e.g., Figure 1 and Figure 3 the camera tracking system 6) in, the tracking system being configured to determine the pose of the anatomical structure to be cut by the saw blade and to determine the pose of the saw blade. The surgical robot includes a robot base, a robot arm rotatably connected to the robot base and configured to position a passive end effector. At least one motor is operatively connected to move the robot arm relative to the robot base. At least one controller is connected to the at least one motor and is configured to perform operations that include determining the pose of a target plane based on a surgical plan that defines the location where the anatomical structure is to be cut and based on the pose of the anatomical structure, where the surgical plan can be generated by Fig. 9The surgical planning computer 910 is generated based on inputs from an operator (such as a surgeon or other surgical personnel). The operation further includes generating manipulation information based on a comparison of the orientation of the target plane and the orientation of the surgical saw. The manipulation information indicates where the passive end effector needs to be moved to position the working plane of the passive end effector such that the cutting plane of the saw blade is aligned with the target plane.

[0117] In some additional embodiments, the operation performed by the at least one controller further includes controlling the movement of the at least one motor based on the manipulation information to reposition the passive end effector such that the cutting plane of the saw blade becomes aligned with the target plane and the saw blade is positioned at a distance from the anatomical structure to be cut, the distance being within the movement range of the tool attachment mechanism of the passive end effector.

[0118] The operation may include providing the manipulation information to a display device for display to guide the operator to move the passive end effector such that the cutting plane of the saw blade becomes aligned with the target plane and the saw blade is positioned at a distance from the anatomical structure to be cut, the distance being within the movement range of the tool attachment mechanism of the passive end effector.

[0119] As explained above, some surgical systems may include a head-mounted display device that can be worn by a surgeon, a nurse practitioner, and / or other people assisting with the surgery. The surgical system may display information that allows the wearer to more precisely position the passive end effector and / or confirm that it has been precisely positioned, where the saw blade is aligned with the target plane for cutting at a planned location on the anatomical structure. The operation of providing the manipulation information to the display device may include configuring the manipulation information for display on the head-mounted display device, which has a see-through display screen that displays the manipulation information as an overlay on the anatomical structure to be cut to guide the operator to move the passive end effector such that the cutting plane of the saw blade becomes aligned with the target plane and the saw blade is positioned at the distance from the anatomical structure within the movement range of the tool attachment mechanism of the passive end effector.

[0120] The operation of configuring the manipulation information for display on the head-mounted display device may include generating a graphical representation of the target plane, which is displayed as an overlay anchored to and aligned with the anatomical structure to be cut, and generating another graphical representation of the cutting plane of the saw blade, which is displayed as an overlay anchored to and aligned with the saw blade. The wearer can thereby move the surgical saw to provide a visually observed alignment between the graphically presented target plane and the graphically presented cutting plane.

[0121] The operation of configuring the manipulation information for display on the head-mounted display device may include generating a graphical representation of the cutting depth produced by the saw blade as a graphical representation of the anatomical structure being cut. Thus, the wearer can use the graphical representation of the cutting depth to better monitor how the saw blade penetrates the bone, even though direct observation of the cutting is obstructed by tissue or other structures.

[0122] The tracking system may be configured to determine the pose of the anatomical structure to be cut by the saw blade based on determining the pose of a tracking marker, such as a DRA, attached to the anatomical structure, and may be configured to determine the pose of the surgical saw based on determining the pose of a tracking marker connected to at least one of the surgical saw and the passive end effector. The tracking system may be configured to determine the pose of the surgical saw based on a rotational position sensor configured to measure the rotational positions of the first and second mechanisms during movement of the tool attachment mechanism within the working plane. As explained above, the position sensor may be directly connected to at least one joint of the passive end effector structure, but may also be located at another position within the structure and remotely measure the joint positions through an interconnection such as a timing belt, wire, or any other synchronous transmission interconnection. Additionally, the pose of the saw blade may be determined based on tracking markers attached to the structure base, position sensors within the passive structure, and a kinematic model of the structure.

[0123] The various passive end effectors disclosed herein may be sterilizable or non-sterilizable (covered by a sterile drape) passive 3-DOF (degrees of freedom) mechanical structures that allow mechanical guidance of a surgical saw, such as a sagittal saw, or a saw blade along two translations in a plane parallel to the saw blade (defining the cutting plane) and one rotation (instrument orientation) perpendicular to this cutting plane. During surgery, the surgical robot 4 automatically moves the end effector coupler 22 and the attached passive end effector and surgical saw to a position close to the knee or other anatomical structure such that all the bones to be cut are within the workspace of the passive end effector. This position depends on the cuts to be made, the surgical plan, and the implant structure. The passive end effector may have 3 DOF to guide a sagittal saw or saw blade on the cutting plane, which provides two translations (in the X and Y directions) and one rotation (about the Z axis) as shown Fig.12 in the figure.

[0124] When the surgical robot 4 reaches the planned position, it holds that position (by brake or active motor control) and does not move during a particular bone cut. The passive end effector allows the saw blade of the surgical saw to move along the planned target plane. Such planar cuts are particularly useful for traditional total knee arthroplasty in which all bone cuts are planar. In partial knee arthroplasty, there are special types of implants called "on-lay" that can be used in conjunction with the sawn bone surface. The various passive end effectors have a mechanical structure that can ensure guiding accuracy during cutting, with higher accuracy than traditional jigs, and provide a sufficient range of workspace to cut all planned bones, and at the same time provide sufficient lateral stiffness (corresponding to locked DOFs), despite the fact that there may be a significant amount of vibration from the surgical saw in addition to the forces applied by the surgeon and the bone reaction forces.

[0125] At the same time, it is preferable to measure the position of the passive end effector as it enables the surgical robot 4 to inform the surgeon of how much bone has been removed (progression of the procedure). One method of providing real-time information about bone removal is to have the surgical robot 4 measure the position of the saw blade with respect to the passage of the bone, as the saw blade can only pass through positions where the bone has been cut. To measure the position of the saw blade, a DRA can be mounted to the surgical saw and / or the passive end effector. This enables direct or indirect measurement of the saw position in 3D space. An alternative method of measuring the saw blade position is to integrate a position (rotational or translational) sensor (such as an encoder, resolver) into the position information of the passive end effector in order to calculate the position of the saw blade using a mathematical model of the defined relationship between the position of the passive end effector geometry and the tip of the saw blade.

[0126] In one embodiment, a traditional sagittal saw mechanism can be used with the surgical system computer platform 900 with little or no modification. Potential changes would involve adjusting the outer housing to enable the surgical saw to be easily attached to the passive end effector, but would not necessarily involve changes to the internal structure. The passive end effector can be configured to connect to a traditional sagittal saw provided by, for example, the DeSoutter company. Additionally, the saw blade can be directly attached to the passive end effector without a saw handle.

[0127] When the surgical robot 4 positions the passive end effector, to prevent the saw from being affected by accidental movement of the passive end effector, e.g., to prevent the surgical saw from falling onto the patient due to gravity, the passive end effector may include a locking mechanism that moves between an engaged operation and a disengaged operation. When engaged, the locking mechanism prevents movement of the saw blade relative to the robot end effector coupler, either directly by locking the degrees of freedom (DOF) of the surgical saw or indirectly by braking or locking specific joints of the passive end effector. When disengaged, the first and second mechanisms of the passive end effector may move relative to the base without interference from the locking mechanism. The locking mechanism may also be used when the surgeon holds the surgical saw and controls the movement of the surgical robot 4 by applying force and torque to the surgical saw. The surgical robot 4 uses force sensors 64 integrated in the distal end of the robot arm 22 Figure 6 and 7 to measure the applied force and torque and generate responsive forces and torques on the robot arm 22, such that the surgeon can more easily move the passive end effector back and forth, left and right, and apply rotation about the respective axes.

[0128] Fig.12 A first embodiment of the passive end effector is shown. Referring to Fig.12 , the passive end effector 1200 includes a base 1202 configured to be attached to an end effector coupler of a robot arm (e.g., Figure 1 and 2 the robot arm 18 in Figure 4 and 5 ) positioned by the surgical robot (e.g., the end effector coupler 22 in

[0129] The first link section and the second link section 1210a and 1220a form a first planar mechanism, and the third link section and the fourth link section 1210b and 1220b form a second planar mechanism. The first link section 1210a extends between a rotatable connection to a first position on the base 1202 and a rotatable connection to the end of the second link section 1220a. The third link section 1210b extends between a rotatable connection to a second position on the base 1202 and a rotatable connection to the end of the fourth link section 1220b. When rotated by the robotic arm, the first position and the second position on the base 1202 are spaced apart on opposite sides of the axis of rotation of the base. The tool attachment mechanism is formed by a fifth link section that extends relative to the base 1202 between rotatable connections to the distal ends of the second link section 1220a and the fourth link section 1220b. The first mechanism and the second mechanism (the first link section and the second link section 1210a - 1220a and the third link section and the fourth link section 1210b - 1220b) pivot about their rotatable connections to limit the movement of the tool attachment mechanism 1230 to a range of movement within the working plane. The tool attachment mechanism 1230 is configured to connect to a surgical saw 1240 having a saw blade 1242 configured to oscillate for cutting. The first mechanism and the second mechanism (the first link section and the second link section 1210a - 1220a and the third link section and the fourth link section 1210b - 1220b) can be configured to limit the cutting plane of the saw blade 1242 to be parallel to the working plane, for example, by means of pivot joints having 1 DOF motion. The tool attachment mechanism 1230 can be connected to the surgical saw 1240 by various mechanisms that can include, but are not limited to, screws, nuts and bolts, clamps, latches, tethers, press fits, or magnets. The DRA 52 can be connected to the tool attachment mechanism 1230 or the surgical saw 1240 to enable tracking of the pose of the saw blade 1242 by the camera tracking system 6( Figure 3 ).

[0130] The passive end effector 1200 provides passive guidance for the surgical saw 1240 to limit the saw blade 1242 to a defined cutting plane and reduce its mobility to three degrees of freedom (DOF): two translations Tx and Ty in a plane parallel to the cutting plane of the saw blade 1242; and one rotation Rz about an axis perpendicular to the cutting plane.

[0131] In some embodiments, the tracking system is configured to determine the pose of the saw blade 1242 based on rotational position sensors of the rotary joints of at least some of the link segments connected to the passive end effector 1200. The rotational position sensors are configured to measure the rotational positions of the engaged link segments during movement of the tool attachment mechanism in the working plane. For example, a rotational position sensor may be configured to measure the rotation of the first link segment 1210a relative to the base 1202, another rotational position sensor may be configured to measure the rotation of the second link segment 1220a relative to the first link segment 1210a, and another rotational position sensor may be configured to measure the rotation of the tool attachment mechanism 1230 relative to the second link segment 1220a. The surgical saw 1240 may be connected to have a fixed orientation relative to the tool attachment mechanism 1230. The serial kinematic chain connecting the saw blade 1242 and the passive end effector 1200 of the robotic arm 22 has serial link segments and pivot joints, which provide the required mobility for the surgical saw 1240. The position of the tip of the saw blade 1242 in the plane defined by the passive kinematic chain can be fully determined by the joint angles sensed by the rotational position sensors and the structural geometry of the interconnected link segments. Thus, by measuring the relative angles between each connected link segment, e.g., along one or more interconnected paths between the base 1202 and the surgical saw 1240, the proposed forward kinematic model can be used to calculate the position of the tip of the saw blade 1242 in the cutting space. When the position and orientation of the distal end of the robotic arm 22 relative to the position and orientation of the bone are known, the position and orientation of the saw blade 1242 relative to the bone can be calculated and displayed as feedback to the surgeon. For an exemplary embodiment in which the saw blade is directly attached to the passive end effector, the frequency of the measurements provided by the rotational position sensors may be at least twice higher than the saw blade oscillation frequency so that the saw blade position can be measured even during oscillation.

[0132] Example types of rotational position sensors that may be used with the passive end effector herein may include, but are not limited to: potentiometers; optical; capacitive; rotary variable differential transformers (RVDT); linear variable differential transformers (LVDT); Hall effect; and encoders.

[0133] Potentiometer-based sensors are passive electronic components. Potentiometers work by changing the position of a sliding contact on a uniform resistance. In a potentiometer, the entire input voltage is applied across the entire length of the resistor, and the output voltage is the voltage drop between the fixed contact and the sliding contact. To receive the absolute position, calibration of the position is required. The measurement range of a potentiometer may be less than 360°.

[0134] An optical encoder can include a rotating disk, a light source, and a light detector (photosensor). The disk mounted on the rotating shaft has a pattern of opaque and transparent sectors encoded on the disk. When the disk rotates, these patterns interrupt the light emitted onto the light detector, thereby generating a digital signal or a pulse signal output. With the signal encoded on the disk, absolute measurement, relative measurement, and multi-turn measurement are all possible.

[0135] A capacitive encoder detects capacitance changes using a high-frequency reference signal. This is achieved with three main parts: a fixed transmitter, a rotor, and a fixed receiver. A capacitive encoder can also be provided in a two-part configuration with a rotor and a combined transmitter / receiver. The rotor can be etched with a sine pattern, and when it rotates, this pattern modulates the high-frequency signal of the transmitter in a predictable manner. The encoder can be multi-turn, but it is difficult to achieve absolute measurement. Calibration is required at startup.

[0136] RVDT and LVDT sensors operate with the core of the transformer in the zero position, where the output voltage magnitudes of both the primary and secondary windings are equal, yet opposite in direction. The total output at the zero position is always zero. An angular displacement relative to the zero position induces a total differential output voltage. Thus, the total angular displacement is proportional to the linear differential output voltage. The differential output voltage increases in the clockwise direction and decreases in the counterclockwise direction. This encoder functions in absolute measurement and may not be compatible with multi-turn measurement. Calibration is required during assembly.

[0137] In a Hall effect sensor, a current is applied along a thin metal strip. In the presence of a magnetic field, the electrons in the metal strip are deflected towards one edge, thereby generating a voltage gradient across the short side of the metal strip (i.e., perpendicular to the feed current). The sensor operates in its simplest form as an analog transducer, thus directly returning a voltage. In the case of a known magnetic field, its distance from the Hall plate can be determined. Using a group of sensors, the relative position of the magnet can be deduced. By combining multiple sensor elements with a patterned magnet plate, absolute and relative positions can be detected similar to an optical encoder.

[0138] An encoder sensor operates in a similar manner to a rotary variable transformer sensor, a brushless resolver, or a synchro. The stator receives DC power and generates a low-power AC electromagnetic field between the stator and the rotor. This electromagnetic field is modified by the rotor according to its angle. The stator induces the generated electromagnetic field and outputs the rotation angle as an analog signal or a digital signal. Different from a resolver, the encoder uses a laminated circuit instead of a wound wire spool. This technology makes the encoder compact in shape, low in mass, low in inertia, and high in precision without the need for high-precision installation. A signal (Z) for counting a complete rotation is emitted. Multi-turn sensing and absolute sensing are possible.

[0139] Fig.13 shows a second embodiment of a passive end effector. Referring Fig.13 , the passive end effector 1300 includes a base 1302 configured to be attached to an end effector coupler (e.g., Figure 1 and 2 the end effector coupler 22 in Figure 4 and 5 ) of a robotic arm (e.g., the robotic arm 18 in Figure 3 and ) positioned by a surgical robot. The passive end effector 1300 further includes a first mechanism and a second mechanism that extend between a rotatable connection to the base 1302 and a rotatable connection to a tool attachment mechanism. The rotatable connection can be a pivot joint that allows 1 DOF of movement, a universal joint that allows 2 DOFs of movement, or a ball joint that allows 3 DOFs of movement. A first link segment and a second link segment 1310a and 1320a form a first planar mechanism, and a third link segment and a fourth link segment 1310b and 1320b form a second planar mechanism. The first link segment 1310a extends between a rotatable connection to a first position on the base 1302 and a rotatable connection to the end of the second link segment 1320a. The third link segment 1310b extends between a rotatable connection to a second position on the base 1302 and a rotatable connection to the end of the fourth link segment 1320b. When rotated by the robotic arm, the first position and the second position on the base 1302 are spaced apart on opposite sides of the axis of rotation of the base. The distal ends of the second link segment 1320a and the fourth link segment 1320b that are remote from the base 1302 are rotatably connected to each other and to the tool attachment mechanism 1330. The first mechanism and the second mechanism (the first link segment and the second link segment 1310a - 1320a and the third link segment and the fourth link segment 1310b - 1320b) can be configured to rotate about their rotatable connections, e.g., by a pivot joint having 1 DOF of movement, to limit the movement of the tool attachment mechanism 1330 to a range of movement within a working plane. The tool attachment mechanism 1330 is configured to be connected to a surgical saw 1240 having a saw blade 1242 configured to oscillate for cutting. The first mechanism and the second mechanism (the first link segment and the second link segment 1310a - 1320a and the third link segment and the fourth link segment 1310b - 1320b) limit the cutting plane of the saw blade 1242 to be parallel to the working plane. The tool attachment mechanism 1330 can be connected to the surgical saw 1240 by various mechanisms that can include but are not limited to screws, nuts and bolts, clamps, latches, tethers, press fits, or magnets. A DRA can be connected to the tool attachment mechanism 1330 or the surgical saw 1240 to enable tracking by a camera system 6 ()Track the attitude of the saw blade 1242.

[0140] Fig.14 A third embodiment of the passive end effector is shown. Refer to Fig.14 , the passive end effector 1400 includes a base 1402 configured to be attached to an end effector coupler of a robotic arm (e.g., Figure 1 and 2 the end effector coupler 22 in Figure 4 and 5 ) of the robotic arm 18 positioned by a surgical robot. The base 1402 includes a first elongated base section and a second elongated base section 1404a and 1404b that extend from spaced-apart positions on opposite sides of the axis of rotation of the base 1402 when rotated by the robotic arm. The first elongated base section and the second elongated base section 1404a and 1404b extend in a direction away from the end effector coupler of the robotic arm when attached to the passive end effector 1400. The passive end effector 1400 further includes a first mechanism and a second mechanism that extend between rotatable connections to the elongated base sections 1404a and 1404b and rotatable connections to the tool attachment mechanism. One or more of the rotatable connections disclosed for this embodiment may be a pivot joint that allows 1 DOF of movement, a universal joint that allows 2 DOF of movement, or a ball joint that allows 3 DOF of movement.

[0141] The first mechanism includes a first link section 1411a, a second link section 1410a, a third link section 1420a, and a fourth link section 1430a. The first link section and the second link section 1411a and 1410a extend parallel to each other between rotatable connections to spaced-apart positions on the first elongated base section 1404a and spaced-apart positions on the third link section 1420a. The end of the third link section 1420a is rotatably connected to the end of the fourth link section 1430a.

[0142] The second mechanism includes a fifth link section 1411b, a sixth link section 1410b, and a seventh link section 1420b. The fifth link section and the sixth link section 1411b and 1410b extend parallel to each other between rotatable connectors at spaced positions on the second elongated base section 1404b and at spaced positions on the seventh link section 1420b. The tool attachment mechanism includes an eighth link section 1440 that extends between rotatable connectors at the distal ends of the fourth link section and the seventh link section 1430a and 1420b that are remote from the base 1402. In another embodiment, the eighth link section 1440 of the tool attachment mechanism includes an attachment member 1442 that extends in a direction away from the base 1402 to a rotatable connector that is configured to connect to a surgical saw 1240. The attachment member 1442 extends from a position on the eighth link section 1440 that is closer to the fourth link section 1430a than to the seventh link section 1420b.

[0143] The first mechanism and the second mechanism (the group of link sections 1411a, 1410a, 1420a, 1430a and the group of link sections 1411b, 1410b, 1420b) can be configured to pivot about their rotatable connectors to limit the movement of the tool attachment mechanism 1440 to a range of movement within the working plane. The tool attachment mechanism 1440 is configured to connect to a surgical saw 1240 that has a saw blade 1242 that is configured to oscillate for cutting. The first mechanism and the second mechanism can be configured to limit the cutting plane of the saw blade 1242 to be parallel to the working plane, for example, by a pivot joint having 1 DOF movement. The tool attachment mechanism 1440 can be connected to the surgical saw 1240 by various mechanisms that can include but are not limited to screws, nuts and bolts, clamps, latches, tethers, press fits, or magnets. The DRA can be connected to the tool attachment mechanism 1440, such as to the attachment member 1442 or the surgical saw 1240 to enable tracking of the attitude of the saw blade 1242 by a camera tracking system 6( Figure 3 )

[0144] Fig.14 The passive end effector 1400 has a parallel architecture that enables the surgical saw to be positioned about a rotation axis in the cutting plane. The synchronous movement and / or differential movement of the lateral parallelograms allows the surgical saw rotation axis to be positioned in the cutting plane.

[0145] Fig.15 A fourth embodiment of the passive end effector is shown. The passive end effector 1500 includes a base 1502 that is configured to be attached to a robotic arm positioned by a surgical robot (e.g., Figure 1 and 2the end - effector coupler of the robotic arm 18) (e.g., Figure 4 and 5 the end - effector coupler 22) in. The base 1502 can include a first elongated base section and a second elongated base section that extend from spaced - apart positions on opposite sides of the axis of rotation of the base 1502 when rotated by the robotic arm. The first elongated base section and the second elongated base section extend away from each other. The passive end - effector 1500 further includes a first mechanism and a second mechanism that extend between a rotatable connection to the base 1502 and a rotatable connection to the tool - attachment mechanism. One or more of the rotatable connections disclosed for this embodiment can be a pivot joint that allows 1 DOF of movement, a universal joint that allows 2 DOFs of movement, or a ball joint that allows 3 DOFs of movement.

[0146] The first mechanism includes a first link section 1510a. The second mechanism includes a second section 1510b. The tool - attachment mechanism includes a third link section 1520, a fourth link section 1530, a fifth link section 1540a, a sixth link section 1540b, and a seventh link section 1550. The first link section and the second link section 1510a and 1510b extend between rotatable connections to the first and second positions on the base 1502, e.g., rotatable connections to the first elongated base section and the second elongated base section that extend away from the base 1502, and rotatable connections to the opposite ends of the third link section 1520. When rotated by the robotic arm, the first position and the second position on the base 1502 are spaced apart on opposite sides of the axis of rotation of the base. The fourth link section 1530 extends from the third link section 1520 in a direction toward the base 1502. The fifth link section and the sixth link section 1540a and 1540b extend parallel to each other between rotatable connections to spaced - apart positions on the fourth link section 1530 and spaced - apart positions on the seventh link section 1550. The seventh link section 1550 is configured to have a rotatable connector that is configured to connect to the surgical saw 1240.

[0147] The first through sixth link segments 1510a-b, 1520, 1530, and 1540a-b can be configured to pivot about their rotatable connections to limit movement of the seventh link segment 1550 to a range of movement within the working plane. The seventh link segment 1550 is configured to be coupled to a surgical saw 1240 having a saw blade 1242 configured to oscillate for cutting. The first through sixth link segments 1510a-b, 1520, 1530, and 1540a-b can be configured to limit the cutting plane of the saw blade 1242 to be parallel to the working plane, for example, by pivot joints having 1 DOF of motion. The seventh link segment 1550 can be coupled to the surgical saw 1240 by various mechanisms that can include, but are not limited to, screws, nuts and bolts, clamps, latches, tethers, press fits, or magnets. A DRA can be coupled to the seventh link segment 1550 or the surgical saw 1240 to enable tracking of the pose of the saw blade 1242 by a camera tracking system 6( Figure 3 )

[0148] Fig.16 A fifth embodiment of a passive end effector is shown. The passive end effector 1600 includes a base 1602 configured to be attached to an end effector coupler (e.g., Figure 1 and 2 the end effector coupler 22 in Figure 4 and 5 ) of a robotic arm (e.g., the robotic arm 18 in

[0149] ) positioned by a surgical robot. The passive end effector 1600 further includes a first mechanism and a second mechanism that extend between a rotatable connection to the base 1502 and a rotatable connection to a tool attachment mechanism. The first mechanism includes a first link segment 1610a. The second mechanism includes a second segment 1610b. The tool attachment mechanism includes a third link segment 1620, a fourth link segment 1630, a fifth link segment 1640a, a sixth link segment 1640b, and a seventh link segment 1650. One or more of the rotatable connections disclosed for this embodiment can be pivot joints that allow 1 DOF of motion, universal joints that allow 2 DOF of motion, or spherical joints that allow 3 DOF of motion.The first link section and the second link sections 1610a and 1610b extend respectively between rotatable connectors at a first position and a second position on the base 1602 to a rotatable connector at an opposite end of the third link section 1620. When rotated by the robotic arm, the first position and the second position on the base 1602 are spaced on opposite sides of the axis of rotation of the base 1602. The fourth link section 1630 extends from the third link section 1620 in a direction away from the base 1602. The fifth link section and the sixth link sections 1640a and 1640b extend parallel to each other between rotatable connectors at spaced positions on the fourth link section 1630 and at spaced positions on the seventh link section 1650. The seventh link section 1650 is configured to have a rotatable connector that is configured to connect to the surgical saw 1240.

[0150] The first through sixth link sections 1610a-b, 1620, 1630, and 1640a-b can be configured to pivot about their rotatable connectors to limit the movement of the seventh link section 1650 to a range of movement within a working plane. The seventh link section 1650 is configured to connect to the surgical saw 1240, which has a saw blade 1242 configured to oscillate for cutting. The first through sixth link sections 1610a-b, 1620, 1630, and 1640a-b can be configured to pivot while restricting the cutting plane of the saw blade 1242 to be parallel to the working plane. The seventh link section 1650 can be connected to the surgical saw 1240 by various mechanisms, which can include but are not limited to screws, nuts and bolts, clamps, latches, tethers, press fits, or magnets. The DRA can be connected to the seventh link section 1650 or the surgical saw 1240 to enable tracking of the attitude of the saw blade 1242 by the camera tracking system 6( Figure 3 )

[0151] The passive end effector 1600 provides two translational movements perpendicular to each other for positioning the axis of rotation of the surgical saw in the cutting plane, and two of the translations are implemented by a parallelogram.

[0152] Fig.17 A sixth embodiment of the passive end effector is shown. The passive end effector 1700 includes a base 1702 that is configured to be attached to an end effector coupler (e.g., Figure 1 and 2 of the robotic arm (e.g., Figure 4 and 5The end effector coupler 22) in. The passive end effector 1700 further includes a first mechanism and a second mechanism that extend between a rotatable connection to the base 1702 and a rotatable connection to the tool attachment mechanism. One or more of the rotatable connections disclosed for this embodiment can be a pivot joint that allows 1 DOF of movement, a universal joint that allows 2 DOFs of movement, or a ball joint that allows 3 DOFs of movement. The first and second mechanisms are connected to provide translation along the parallelogram radius. The first mechanism includes a first link segment and a second link segment 1710 and 1720b. The first link segment 1710 extends between a rotatable connection to the base 1702 and a rotatable connection to the end of the second link segment 1720b. The second mechanism includes a third link segment 1720a. The tool attachment mechanism includes a fourth link segment 1730. The second and third link segments 1720b and 1720a extend away from the base 1702 and extend parallel to each other between rotatable connections to spaced positions on the first link segment 1710 and spaced positions on the fourth link segment 1730. The fourth link segment 1730 includes an attachment member 1732 that extends in a direction away from the base to a rotatable connector that is configured to connect to a surgical saw 1240. The attachment member 1732 extends from a position on the fourth link segment 1730 that is closer to the third link segment 1720a than the second link segment 1720b.

[0153] The first through third link segments 1710, 1720b, 1720a can be configured to pivot about their rotatable connections to limit movement of the fourth link segment 1730 to a range of movement within the working plane. The fourth link segment 1730 is configured to connect to a surgical saw 1240 that has a saw blade 1242 configured to oscillate for cutting. The first through third link segments 1710, 1720b, 1720a can be configured to limit the cutting plane of the saw blade 1242 to be parallel to the working plane. The fourth link segment 1730, such as its attachment member 1732, can be connected to the surgical saw 1240 by various mechanisms that can include but are not limited to screws, nuts and bolts, clamps, latches, tethers, press fits, or magnets. The DRA can be connected to the fourth link segment 1730, such as to the attachment member 1732 or the surgical saw 1240, to enable tracking of the attitude of the saw blade 1242 by a camera tracking system 6( Figure 3 )

[0154] Fig.18 A seventh embodiment of a passive end effector is shown. The passive end effector 1800 includes a base 1802 that is configured to be attached to a robotic arm positioned by a surgical robot (e.g., Figure 1 and 2 the end - effector coupler of the robotic arm 18) in, for example, Figure 4 and 5 the end - effector coupler 22) in. The passive end - effector 1800 further includes a first mechanism and a second mechanism that extend between a rotatable connection to the base 1802 and a rotatable connection to the tool - attachment mechanism. One or more of the rotatable connections disclosed for this embodiment can be a pivot joint that allows 1 DOF of motion, a universal joint that allows 2 DOF of motion, or a ball joint that allows 3 DOF of motion. The first mechanism includes a first link segment 1810a. The second mechanism includes a second link segment 1810b. The tool - attachment mechanism includes a third link segment 1820. The first link segment and the second link segment 1810a and 1810b extend to rotatable connections at opposite ends of the third link segment between rotatable connections to a first position and a second position on the base 1802, respectively. When rotated by the robotic arm, the first position and the second position on the base 1802 are spaced apart on opposite sides of the axis of rotation of the base 1802. The third link segment 1820 includes an attachment member 1822 that extends in a direction away from the base 1802 to a rotatable connector that is configured to connect to a surgical saw 1240. The attachment member 1822 extends from a position on the third link segment 1820 that is closer to the first link segment 1810a than to the second link segment 1810b. One or more of the rotatable connections disclosed for this embodiment can be a pivot joint that allows 1 DOF of motion, a universal joint that allows 2 DOF of motion, or a ball joint that allows 3 DOF of motion.

[0155] The first link segment and the second link segments 1810a and 1810b can be configured to pivot about their rotatable connection between the base 1802 and the third link segment 1820 to limit the movement of the attachment member 1822 to a range of movement within the working plane. In some other embodiments, one or more of the rotatable connections can be a universal joint that permits 2 DOF movement or a ball joint that permits 3 DOF movement such that the movement is not restricted to the working plane. The tool attachment mechanism 1822 is configured to connect to a surgical saw 1240 having a saw blade 1242 configured to oscillate for cutting. The first link segment and the second link segments 1810a and 1810b pivot while restricting the cutting plane of the saw blade 1242 to be parallel to the working plane. The attachment member 1822 can be connected to the surgical saw 1240 by various mechanisms that can include but are not limited to screws, nuts and bolts, clamps, latches, tethers, press fits, or magnets. The DRA can be connected to the third link segment 1820, such as to the attachment member 1822 or the surgical saw 1240 to enable tracking of the attitude of the saw blade 1242 by a camera tracking system 6( Figure 3 ) to track the attitude of the saw blade 1242.

[0156] Fig.19 An eighth embodiment of a passive end effector is shown. The passive end effector 1900 includes a base 1902 configured to be attached to an end effector coupler (e.g., Figure 1 and 2 ) of a robotic arm (e.g., Figure 4 and 5 ) of the robotic arm 18 positioned by a surgical robot. The passive end effector 1900 further includes a first link segment 1910 and a second link segment 1920. The first link segment 1910 extends between a rotatable connection to the base 1902 and a rotatable connection to one end of the second link segment 1920. The other end of the second link segment 1920 is rotatably connected to the tool attachment mechanism. The axes of rotation q1, q2, and q3 are parallel to each other to provide a planar cutting plane for the saw blade 1242. Thus, the 3 DOF movement of the saw 1240 includes a translational direction Tx in the x direction, a translational direction Ty in the y direction, and a rotational direction Rz about the z-axis. One or more of the rotatable connections disclosed for this embodiment can be a pivot joint that permits 1 DOF movement, a universal joint that permits 2 DOF movement, or a ball joint that permits 3 DOF movement.

[0157] Tracking markers 52 attached to the end effector base 1902 and the saw 1240, as well as tracking markers on the bone (e.g., tibia and femur), can be used to accurately and continuously monitor the real-time position of the saw blade 1242 and the saw blade tip relative to the patient's bone being cut. Although not explicitly shown in other figures, in all embodiments, tracking markers can be attached to the saw 1240 and all end effectors 1902 to track the position of the saw blade relative to the patient's bone being cut. Although not shown, alternatively or in addition to tracking markers, encoders can be positioned in each of the link segments 1910 and 1920 to always accurately determine where the saw blade tip is.

[0158] Example surgical procedure

[0159] An example surgical procedure for using the surgical robot 4 in an operating room (OR) can include:

[0160] Optional step: Plan the surgery preoperatively based on medical images.

[0161] 1. The surgical robot 4 system is outside the operating room (OR). When the patient is ready for surgery, the nurse brings the system into the OR.

[0162] 2. The nurse powers on the robot and deploys the robot arm. The nurse verifies the accuracy of the robot system and the tracking system.

[0163] 3. In the case of a sterilized passive end effector, the scrub nurse places a sterile drape on the robot arm and mounts the passive end effector with the sagittal saw on the robot arm. The scrub nurse locks the passive end effector with the locking mechanism. The scrub nurse attaches the DRA to the passive structure through the drape (if necessary). For an unsterilized passive end effector, the drape is placed after attaching the passive end effector to the robot arm, the DRA is attached to the passive end effector with the drape in between, and a sterilized saw or saw blade is attached to the passive end effector with the drape in between. To fix the position of the saw blade relative to the end effector coupler, the locking mechanism is engaged.

[0164] 4. The surgeon attaches navigation markers to one or more bones of the patient, such as the tibia and femur. Using, for example, the Horn point-to-point algorithm, surface matching, or other algorithms, the bones are registered to the camera tracking system 6. Soft tissue balance assessment can be performed, whereby the system allows the surgeon to evaluate the balance of soft tissues in the operating room. For example, when the surgeon applies forces in different directions (e.g., varus / valgus stress), by tracking the relative movement of the femur and tibia. The soft tissue balance information can be used to change the surgical plan (e.g., move implant components, change implant types, etc.).

[0165] 5. When the surgeon is ready to cut the bone, the scrub nurse brings the surgical robot 4 to the operating table near the knee joint where the surgery is to be performed and stabilizes the surgical robot 4 on the floor. The system can operate to guide the nurse to find the position of the robot 4 such that all cutting planes are within the workspace of the robot and the passive structure.

[0166] 6. The surgeon selects different parameters (such as the bone to be cut, the desired cutting plan, etc.) on the screen of the surgical robot 4 according to the surgical plan to make the first cut.

[0167] 7. The surgical robot 4 automatically moves the robotic arm 22 to reposition the passive end effector such that the cutting plane of the saw blade becomes aligned with the target plane, and the saw blade is positioned at a certain distance from the anatomical structure to be cut, the distance being within the movement range of the tool attachment mechanism of the passive end effector.

[0168] 8. The surgeon unlocks the passive end effector.

[0169] 9. The surgeon performs a cut restricted to the cutting plane provided by the passive end effector. The surgical robot 4 can provide a real-time display of the tracking position of the saw blade relative to the bone, such that the surgeon can monitor the progress of bone removal. In one way, the tracking subsystem processes the position of the saw relative to the bone in real time based on camera images and various tracking markers attached to the saw, robotic arm, end effector, femur, and tibia. Then, the surgeon can use the locking mechanism to lock the passive end effector when the cut is completed.

[0170] 10. The surgeon selects the next cut to be performed on the screen and proceeds as before.

[0171] 11. The surgeon can perform trial implant placement and intermediate soft tissue balance assessment and change the implant plan and related cuts based on this.

[0172] 12. After all the cutting is completed, the nurse removes the surgical robot 4 from the operating table and detaches the passive end effector from the robotic arm.

[0173] 13. The surgeon places the implant and completes the surgery.

[0174] In step 9 above, due to the tissue and ligaments around the bone, the debris generated by the cutting, and other surgical instruments near the bone, it may be difficult for the doctor to visually confirm the progress of the cutting. Even if visual confirmation is acceptable, there are certain areas of the bone that the doctor cannot see, such as the rear of the bone being cut.

[0175] Advantageously, an embodiment of the robotic system of the present invention provides a method for the doctor to confirm the progress of the bone being cut in multiple dimensions. The camera tracking system 6 and the tracking markers attached to the end effector bases (1100, 1202, 1302, 1402, 1502, 1602, 1702, 1802, 1902), the robotic arm 20, and the saws (1140, 1240) allow the tracking subsystem 830 and the computer subsystem 820 to calculate the exact position of the saw blade relative to the bone in real time, enabling the surgeon to monitor the progress of bone removal.

[0176] Fig. 20 is a screenshot showing the progress of bone cutting during surgery. Fig. 20 The subsystems 830 and 820 are shown displaying three images: a side view, an A-P view, and a top view. In each image, the real-time position of the saw blade 1242 relative to the bone (e.g., the tibia 2000) is displayed on the monitor 34. The side view and the top view are particularly useful for the doctor because they show the position of the saw blade, which is not easily visible. At the top of the monitor, the computer subsystems 830, 820 display the number of cutting programs and the program currently running. For example, as shown in the screenshot, the doctor may have programmed 6 planar cuts, and the current cutting program is the first. Additionally, because the subsystems 830 and 820 can track the positions where the saw blade may have traveled with the tracking markers, they can determine how much of the bone cutting (the area being cut) for a specific cutting program has been completed, and the percentage of progress is displayed on the monitor 34. The bone image itself is preferably derived from the actual image of the patient's body to obtain an accurate representation. The bone image is enhanced by the subsystem 820 with contour lines showing the cortical bone 2004 and the cancellous bone 2002. This is important for the doctor because the resistance to cutting between the two types of bone varies greatly.

[0177] If an augmented reality (AR) head-mounted display is used, the computer subsystem 820 can generate the same contour lines showing cortical and cancellous bone and continuously superimpose them on the actual leg as the doctor moves his / her head. The areas that have been cut can be overlaid on the actual bone with a shadow. In addition, the implant to be inserted into the cut area can be overlaid on the bone to show the doctor that the cut is being made correctly along the plane of the implant. This is all possible because subsystems 830 and 820 can use tracking markers and a camera subsystem to track the position of the saw blade and its movement history relative to the bone.

[0178] Now referring Figure 21-32 , an exemplary embodiment of a direct saw blade guidance system in the context of orthopedic surgery is described. As shown in Fig.21 , 22 , 29, and 30, the direct saw blade guidance system 2100 can include a robotic system that holds an end effector arm (EEA) 2102. The EEA 2102 can include a base configured to attach to the end effector coupler of the robotic arm. Other exemplary embodiments of the end effector arm consistent with the principles of the present disclosure are described with respect to Figure 12-19 . To achieve a planar cut, the saw blade should be guided in the plane in which the saw blade 2104 vibrates. The high vibration frequency of the saw blade (e.g., 200 - 300 Hz) makes it difficult to achieve mechanical guidance. The EEA 2102 can include a number of joints and linkages 2106, 2108 that can be used to achieve movement of the tip 2110 of the EEA 2102 in a plane. Similar to the embodiment of Figure 12-18 , the tip 2110 of the EEA 2102 can have three (3) degrees of freedom: movement in two directions in a plane and rotation about an axis perpendicular to the plane. The EEA 2102 can allow for planar cuts and access to the target bone from all angles. The system 2100 can also include a handpiece 2112 and a saw blade adapter 2114 that are each connected to the EEA 2102 and the saw blade 2104.

[0179] The concept of directly guiding the saw blade 2104 involves aligning the axis of rotation of the distal end of the linkage 2110 (the distal rotary joint 2116 of the EEA 2102) with the axis of saw blade vibration. A sagittal saw is the mechanism in most embodiments that causes the saw blade to have a small rotational movement (vibration / oscillation) about an axis near the saw blade attachment. By aligning the axis of rotation with the distal rotary joint 2116 of the EEA 2102 (at the distal end of the linkage 2108), the joint 2116 can be configured to achieve the general rotation of the saw handpiece and to achieve saw blade vibration.

[0180] The saw blade 2104 can be configured to be connected to the distal joint rotating shaft of the EEA 2102 via a saw blade adapter 2114. The saw blade adapter 2114 can be configured to tighten the saw blade 2104. By adjusting the saw blade adapter 2114, different sagittal saws can be integrated into the system 2100. Exemplary configurations of the saw blade adapter 2114 consistent with the present disclosure are discussed below. In Fig.31 an exemplary saw blade adapter is shown.

[0181] Permanent fixation

[0182] In a permanent fixation configuration, the saw blade 2104 can be permanently clamped to the saw blade adapter 2114. When the surgeon prepares the surgical area, a user (e.g., an operating room nurse) can assemble the saw blade 2104 to the saw blade adapter 2114. Exemplary permanent fixation configurations can include the following.

[0183] · Components such as screws or spring-loaded latches can be used to firmly clamp the saw blade 2104 to the saw blade adapter 2114, and the components are configured to provide a clamping force to the saw blade 2104.

[0184] · The saw blade 2104 can include an interface, such as a through hole, configured to fix the saw blade 2104 to the saw blade adapter 2114.

[0185] · The saw blade 2104 and the saw blade adapter 2114 can be manufactured as a single reusable device to be later set on the EEA 2102. Example embodiments relate to a metal saw blade attached to a PEEK or stainless steel saw blade adapter. The assembly of the saw blade to the saw blade adapter is performed by an operating room nurse.

[0186] · The saw blade 2104 and the saw blade adapter can also be manufactured as a sterilely delivered disposable (single-use) device. Example embodiments relate to a metal saw blade overmolded using plastic injection molding techniques.

[0187] Fig. 22 A system 2200 is shown, which is an exemplary embodiment consistent with the principles of the present disclosure. In this embodiment, the saw blade adapter is permanently fixed to a saw blade in a base that can rotate about a saw blade rotation axis and a clamping assembly that clamps the saw blade to the saw blade adapter base via a screw. Fig.23 A saw blade 2204, a saw blade adapter 2214, a distal rotary joint 2216, and a clamp 2218 consistent with this configuration are shown. These components can be the same as or similar to the components described previously with respect to Fig.21 the components described.

[0188] Removable fixing

[0189] In a detachable fixed configuration, the saw blade can be quickly attached to or detached from the saw blade adapter on-site. The saw blade adapter incorporates a clamping mechanism, which can be active (normally closed clamping mechanism opened by an electrical signal) or passive (quick coupling and / or quick release mechanism).

[0190] Moment of inertia

[0191] The saw blade adapter 2114 can significantly increase the moment of inertia of the "saw blade / saw blade adapter" connection rotating about the saw blade rotation axis. Once the saw blade adapter 2114 vibrates together with the saw blade 2104, the unbalanced inertia generates power and torque that are output to the mechanical structure and the surgeon's hand. To optimize the implementation, the inertia of the vibrating element about the vibration axis can be minimized. This means that the lighter the mass of the vibrating element and the closer it is to the vibration axis, the better. The moment of inertia of the saw blade element for the handpiece guiding concept about the vibration axis is:

[0192] I h =I d +MD 2

[0193] where D is the distance between the saw blade vibration axis and the distal joint rotation axis, M is the weight of the saw blade (the weight of the saw blade element), and I d is the moment of inertia of the saw blade element about the saw blade vibration axis. Then the moment of inertia is reduced by MD 2 using the direct saw blade guiding concept, and this value is minimized when the distance between the vibration axis and the saw blade vibration axis is 0 (axis combination).

[0194] Fig.24 Shows a system using a standard clamp 2402. According to the principles discussed herein, direct saw blade guiding can provide more effective saw blade cutting length compared to the effective saw blade cutting length provided by a standard clamp (such as the clamp 2402 shown in Fig.24 ). L G represents the guiding length (the length guiding the saw blade), and L E represents the effective saw blade length. Since the guiding length can be made shorter using the direct saw blade guiding concept, the effective saw blade length is longer. This may be more comfortable for the surgeon, and the surgeon can cut through more bone.

[0195] The cutting accuracy is given by the stiffness of the different elements from the floor to the saw blade tip that make up the robotic system, including the robotic system, EEA 2102, handpiece sagittal saw, saw blade swing mechanism (such as saw blade adapter 2114 or 2214), and saw blades 2104, 2204. With direct saw blade guiding, the clearance and inaccuracy of the handpiece can be significantly reduced or completely avoided because the saw blade is directly tightened through the saw blade adapter.

[0196] In addition, the direct saw blade guidance concept can be more easily integrated with various existing sagittal saws. Since the saw blade adapter is an element that only needs to tighten a saw blade with a simple shape, it may not be necessary to construct components specific to the shape of the sagittal saw (specific to the manufacturer). Additionally, the saw blade adapter is easy to sterilize. It is a small, lightweight, and relatively simple mechanical element that can be manufactured in such a way that it does not have any narrow spaces and can be easily disassembled. As previously mentioned, the saw blade incorporating the saw blade adapter can be delivered as a single reusable device.

[0197] track

[0198] Fig.25 The direct saw blade guidance system 2100 is shown, which may include a navigation marker or marker array 2500 attached to the handpiece 2112 of the sagittal saw. The marker 2500 allows the sagittal saw to be tracked by a camera (such as the camera tracking system 6). Optical tracking enables the measurement of the saw position, but it may be difficult to measure the direct saw blade position during cutting (high-frequency vibration of the saw blade). In addition, due to the poor stiffness of the saw blade / saw handpiece connection, the tracking will directly measure the deflection of the saw handpiece 2112 relative to the saw blade 2104.

[0199] To measure the direct saw blade position, Fig.26 The system 2100 is shown, where encoders 2600, 2602, and 2604 are integrated into the joints of the EEA 2102. Compared with using optical tracking, encoder measurements can generally be performed at a higher frequency and rotational accuracy. For example, the measurement frequency can be at least twice higher than the saw blade oscillation. Using the saw blade position signal, additional useful information can be extracted, such as the saw vibration frequency, on / off state, and jamming of the saw blade in the bone (e.g., by interpreting the signal and its derived information).

[0200] In an exemplary embodiment consistent with the principles of the present disclosure, the vibration of the sagittal saw handpiece held by the surgeon can be reduced. By reducing the vibration of the handpiece, the haptic feedback can be improved and the cutting efficiency can be increased. As previously mentioned, the vibration output to the surgeon's hand is caused by the output power and torque generated by the unbalanced inertia of the coupled saw blade / saw blade adapter around the saw blade rotation axis.

[0201] One method for reducing vibration can be achieved by filtering the vibration. In Fig. 27In this case, the damping element 2700 can be connected between the handpiece 2112 and the EEA 2102. This may be implemented using rubber, pneumatic, or hydraulic cylinder components. Another method for reducing vibration can be achieved by dynamically balancing the inertia of the coupled saw / saw adapter about the saw's axis of rotation. This can be implemented by using a compensating inertia to dynamically compensate for the output force and torque generated by the vibrating saw blade, with the compensating inertia performing precise opposite movements in the same dynamics. Fig.28 and 32 shows an exemplary embodiment in which the compensating inertia can be coupled to the main inertia for balancing using a mechanical reverser 2800.

[0202] Example Saw Blade Adapter

[0203] Reference Figure 33-37 , the exemplary system 3100 includes an end effector having a rotary interface 3112 that can rotate freely relative to the link arm 2108, a sagittal saw handpiece 3120, and a saw blade adapter 3130 that couples the sagittal saw handpiece 3120 to the rotary interface 3112. The saw blade adapter 3130 can be configured to couple any of the handpieces described herein (e.g., the surgical saw 1140 or 1240 or the handpiece 2112) to any of the end effectors described herein (e.g., the end effectors 1100, 1200, 1300, 1400, 1500, 1600, 1700, 1800, or 1900). To achieve a planar cut, the rotary interface 3112 can be guided to position the saw blade 3132 (e.g., the saw blade 1242, 2104, or 2204) in the plane of its vibration. The rotary interface 3112 is configured to approach the target bone from multiple angles. In some instances, the rotary interface 3112 can move in three degrees of freedom: translate in two directions on a plane and rotate about an axis perpendicular to that plane.

[0204] As Fig.34 and 35 shown, the saw blade adapter 3130 has an end effector interface or a first coupling mechanism 3140 at a first side (e.g., the upper side) of the saw blade adapter 3130 facing the rotary interface 3112. The first coupling mechanism 3140 can include, for example, side walls 3142 that define a cavity 3144 and one or more platforms 3146 that project in a first direction (e.g., upward) within the cavity 3144. In some instances, the side walls 3142 and the platforms 3146 can be concentric. The size, shape, and / or configuration of the first coupling mechanism 3140 are sized to engage the mechanical interface 3148 of the rotary interface 3112 ( Fig.36 shown). For example, the mechanical interface 3148 can be positioned within the cavity 3144 to facilitate coupling the rotary interface 3112 to the saw blade adapter 3130.

[0205] In some instances, platform 3146 includes a base and one or more protrusions 3150 extending from the base in a first direction (e.g., upward), as Fig.34 and 35 shown. The protrusions 3150 may be positioned within one or more openings 3152 defined in the mechanical interface 3148, as Fig.36 shown, for controlling the rotation of the saw blade adapter 3130 about a first axis 3154 (e.g., a vertical axis), as Fig.33 shown. In this manner, the rotary interface 3112 can rotate about the first axis 3154 to rotate the saw blade adapter 3130 about the first axis 3154 and thus also rotate the saw blade 3132.

[0206] The fixing mechanism 3160 can extend through the first coupling mechanism 3140 and / or the mechanical interface 3148 to control the translation of the saw blade adapter 3130 along the first axis 3154 relative to the rotary interface 3112. In this manner, the saw blade adapter 3130 can be securely coupled to the rotary interface 3112. In some instances, the fixing mechanism 3160 can include a captive screw pre-loaded by a spring located in the rotary interface 3112 (e.g., at the mechanical interface 3148) to help prevent the fixing mechanism 3160 from loosening (e.g., due to vibration) during use of the system 3100.

[0207] In some instances, the saw blade 3132 can be quickly attached to and detached from the saw blade adapter 3130 in the field. As Fig.35 shown, the saw blade adapter 3130 can include, for example, a plate or lower portion 3162 defining a channel 3164, as Fig.35 shown, to prevent or limit movement of the saw blade 3132 relative to the saw blade adapter 3130. In some instances, the size, shape, and / or configuration of a first side (e.g., the upper side) of the lower portion 3162 can be sized to receive the saw blade 3132 in the channel 3164 using a transition fit or an interference fit. Additionally or alternatively, the saw blade adapter 3130 can include one or more fixing mechanisms 3166 that extend through the lower portion 3162 and / or the saw blade 3132 to prevent or limit movement of the saw blade 3132 relative to the saw blade adapter 3130.

[0208] As Fig.36 shown, the saw blade adapter 3130 can have a handpiece interface or second coupling mechanism 3170 at a second side (e.g., the lower side) of the saw blade adapter 3130 facing the handpiece 3120. The size, shape, and / or configuration of the second coupling mechanism 3170 can be designed to engage a mechanical interface (the saw blade interface that attaches the saw blade 3132 to the handpiece) 3178 of the handpiece 3120, as shown in Fig.34 and 35 shown.

[0209] Fig.38 is a flow chart of an example method 3200 for coupling an end effector (e.g., a rotary interface 3112) to a sagittal saw handpiece (e.g., a handpiece 3120). Method 3200 includes providing a saw blade adapter 3130 at operation 3210. The saw blade adapter 3130 may include a first coupling mechanism 3140 on an upper side of the saw blade adapter 3130 and a second coupling mechanism 3170 on a lower side of the saw blade adapter 3130.

[0210] At operation 3220, the first coupling mechanism 3140 is coupled to a mechanical interface 3148 of the rotary interface 3112. In some instances, the first coupling mechanism 3140 may include one or more protrusions 3150. The protrusions 3150 may be inserted into one or more openings 3152 defined in the mechanical interface 3148 such that the rotary interface 3112 can rotate the saw blade adapter 3130 about a first axis 3154. In some instances, a securing mechanism 3160 extends through the first coupling mechanism 3140 and / or the mechanical interface 3148 to secure the saw blade adapter 3130 to the rotary interface 3112. The securing mechanism 3160 may include, for example, a captive screw or pin that extends through a clearance opening defined in the first coupling mechanism 3140 and is threaded into a threaded opening in the mechanical interface 3148 such that the saw blade adapter 3130 is clamped to the rotary interface 3112.

[0211] The saw blade 3132 may extend from the saw blade adapter 3130 in a direction perpendicular to the first axis 3154. In some instances, the saw blade adapter 3130 includes one or more securing mechanisms 3166 that extend through clearance openings defined in a lower portion 3162 of the saw blade adapter 3130 and the saw blade 3132 and are threaded into threaded openings in a body or upper portion of the saw blade adapter 3130 to clamp a proximal portion of the saw blade 3132 between the lower portion 3162 and the upper portion of the saw blade adapter 3130. At operation 3230, the second coupling mechanism 3170 is coupled to a mechanical interface 3178 of the handpiece 3120.

[0212] Figure 39-43 shows another example system 3300 for coupling an end effector 3312 to a sagittal saw handpiece 3120 ( Fig.33 and 34 shown in). System 3300 includes a saw blade adapter 3330 and a saw blade 3332 connected to the saw blade adapter 3330. From Figure 33-37 and Figure 39-43 a comparison can be understood that the end effector 3312, saw blade adapter 3330, and saw blade 3332 shown in Figure 39-43 are the same as those in Figure 33-37The rotary interface 3112, saw blade adapter 3130, and saw blade 3132 shown are substantially similar, but with some exceptions, as shown and described herein.

[0213] As Fig.40 and 41 shown, the saw blade adapter 3330 has an end effector interface or first coupling mechanism 3340 at its first side (e.g., upper side). The first coupling mechanism 3340 can include sidewalls 3342 defining a cavity 3344 and one or more platforms 3346 protruding in a first direction (e.g., upward) within the cavity 3344. In some instances, the sidewalls 3342 and the platforms 3346 can be concentric. The size, shape, and / or configuration of the first coupling mechanism 3340 are sized, shaped, and / or configured to engage with the mechanical interface 3348 of the end effector 3312 (as Fig.42 shown). For example, the mechanical interface 3348 can be positioned within the cavity 3344 to facilitate coupling the end effector 3312 to the saw blade adapter 3330.

[0214] In some instances, the platforms 3346 can have different configurations. For example, the platforms 3346 can include a base in which one or more openings 3350 ( Fig.40 shown) are defined. The size, shape, and / or configuration of the platforms 3346 can be designed to receive one or more protrusions 3352 of the mechanical interface 3348 extending in a second direction (e.g., downward) (as Fig.42 shown). The protrusions 3352 can be positioned within the openings 3350 for controlling the rotation of the saw blade adapter 3330 about a first axis 3354 (e.g., a vertical axis) (as Fig.39 shown). In some instances, the first coupling mechanism 3340 can include one or more protrusions 3356 extending in a first direction (e.g., upward). The protrusions 3356 can be positioned within one or more openings defined in the mechanical interface 3348 for centering the first coupling mechanism 3340 about the first axis 3354.

[0215] A fixing mechanism 3360 can extend through the first coupling mechanism 3340 and / or the mechanical interface 3348 to control the translation of the saw blade adapter 3330 along the first axis 3354 relative to the end effector 3312. In some instances, the fixing mechanism 3360 includes a captive screw or headed pin that extends through a clearance opening defined in the first coupling mechanism 3340 and is screwed into a threaded opening in the mechanical interface 3348 such that the saw blade adapter 3330 is clamped to the end effector 3312.

[0216] The saw blade adapter 3330 may include, for example, an upper portion 3361 and a lower portion 3362 that are configured to clamp a saw blade 3332 therebetween. In some instances, the upper portion 3361 and the lower portion 3362 form a bonded joint to prevent or limit relative movement therebetween. The upper portion 3361 and / or the lower portion 3362 may define a channel or recess 3364 in which the saw blade 3332 may be received to help prevent or limit movement of the saw blade 3332 relative to the saw blade adapter 3330. As Fig.41 shown, the proximal portion of the saw blade 3332 may have an annular or ring-like configuration. Additionally or alternatively, the saw blade adapter 3330 may include one or more securing mechanisms 3366 that extend through the lower portion 3362 and / or the saw blade 3332 to prevent or limit movement of the saw blade 3332 relative to the saw blade adapter 3330. In some instances, the securing mechanism 3366 extends through a clearance opening defined in the lower portion 3362 and the saw blade 3332 and is threaded into a threaded opening in the upper portion 3361 such that the proximal portion of the saw blade 3332 is clamped between the upper portion 3361 and the lower portion 3362 of the saw blade adapter 3330.

[0217] As Fig.41 and 42 shown, the saw blade adapter 3330 may have a handpiece interface or a second coupling mechanism 3370 at a second side (e.g., the lower side) of the saw blade adapter 3330. The size, shape, and / or configuration of the second coupling mechanism 3370 may be designed to engage a mechanical interface 3178 of the handpiece 3120 (as Fig.34 and 35 shown). For example, the second coupling mechanism 3370 may define a radial slot 3380 into an opening 3382 that is sized, shaped, and / or configured to receive a portion of the mechanical interface 3178. As Fig.41 and 42 shown, the opening 3382 may have a star-shaped configuration. In this way, the handpiece 3120 may be securely connected to the saw blade adapter 3330 without directly connecting to the saw blade 3332.

[0218] Figures 44-48 Shows yet another example system 3400 for coupling an end effector 3412 to a sagittal saw handpiece 3120 ( Fig.33 and 34 shown). The system 3400 includes a saw blade adapter 3430 and a saw blade 3432 connected to the saw blade adapter 3430. From Figure 33-37 , Figure 39-43 and the comparison of 44 - 48, it can be understood that Figures 44-48 the end effector 3412, the saw blade adapter 3430, and the saw blade 3432 shown in Figure 33-37The rotary interface 3112, saw blade adapter 3130, and saw blade 3132 shown in Figure 39-43 The end effector 3312, saw blade adapter 3330, and saw blade 3332 shown in are substantially similar, with some exceptions as shown and described herein.

[0219] As Fig.45 and 46 shown, the saw blade adapter 3430 has an end effector interface or a first coupling mechanism 3440 at its first side (e.g., the upper side). The first coupling mechanism 3440 may include a sidewall 3442, one or more platforms 3446 protruding in a first direction (e.g., upward), and one or more flanges 3447 extending radially outward from the sidewall 3442. In some instances, the sidewall 3442, platforms 3446, and flanges 3447 may be concentric. The size, shape, and / or configuration of the first coupling mechanism 3440 are configured to engage the mechanical interface 3448 of the end effector 3412 ( Fig.47 shown in). For example, the mechanical interface 3448 may be positioned to surround the platform 3446 and / or engage the flange 3447 to facilitate coupling the end effector 3412 to the saw blade adapter 3430.

[0220] In some instances, the platform 3446 includes a base and one or more protrusions 3450 extending from the base in a first direction (e.g., upward). The protrusions 3450 may be positioned within one or more openings 3452 ( Fig.47 shown in) defined in the mechanical interface 3448 for controlling the rotation of the saw blade adapter 3430 about a first axis 3454 (e.g., a vertical axis) (as Fig.44 shown). In this way, the end effector 3412 can be rotated about the first axis 3454 to rotate the saw blade adapter 3430 about the first axis 3454 and thus also rotate the saw blade 3432. In some instances, the platform 3446 may define one or more openings or gaps 3455 ( Fig.45 shown in) sized, shaped, and / or configured to receive one or more protrusions 3458 ( Fig.47 shown in) of the mechanical interface 3448. The protrusions 3458 may be located within the gap 3455 for orienting or aligning the first coupling mechanism 3440 about the first axis 3454.

[0221] The fixing mechanism 3460 can extend through the first coupling mechanism 3440 and / or the mechanical interface 3448 to control the translation of the saw blade adapter 3430 along the first axis 3454 relative to the end effector 3412. In some instances, the fixing mechanism 3460 includes a captive screw that extends through a clearance opening defined in the first coupling mechanism 3440 and is threaded into a threaded opening in the mechanical interface 3448, such that the saw blade adapter 3430 is clamped to the end effector 3412.

[0222] As Fig.47 shown, the saw blade adapter 3430 can have a handpiece interface or a second coupling mechanism 3470 at a second side (e.g., the lower side) of the saw blade adapter 3430. The size, shape, and / or configuration of the second coupling mechanism 3470 can be designed to engage the mechanical interface 3178 of the handpiece 3120 (as Fig.34 and 35 shown). For example, the second coupling mechanism 3470 can define a radial slot 3480, a formed edge 3481, and one or more openings 3482 that are configured to receive a portion of the mechanical interface 3178. In this way, the handpiece 3120 can be securely attached to the saw blade adapter 3430 without being directly connected to the saw blade 3432.

[0223] Fig.49A 、 49B and 50 illustrate one aspect of the present invention. Fig.49A A standard saw blade interface 3178 is shown with the saw blade lock removed. The saw blade interface 3178 is generally removably attached to the main drill 3120. Instead, a headed pin 3160 is inserted through the location where the saw blade lock was positioned. The headed pin 3160 has an external thread that is screwed into an internal thread of the rotary interface 3112. When inserted through the saw blade interface 3178, then through the saw blade adapter 3130, then through the rotary interface 3112, and screwed into the rotary interface, the headed pin 3160 locks the saw blade interface 3178, the saw blade adapter 3130, and the rotary interface 3112 of the end effector 3100 together so that they can rotate or articulate together. As Fig.50 shown, at least a portion of the pin 3160 (e.g., a portion of the head of the pin head) is captured / located within the saw blade interface 3178 and within the saw blade adapter 3130 and the rotary interface 3112 to provide stiffness between the handpiece 3120 and the saw blade 3132 such that any downward or upward movement of the handpiece does not cause the saw blade to bend at the interface around the headed pin 3160. In the embodiment shown in FIGS. 49 - 50, it is also important to note that the saw blade 3132, the saw blade interface 3178, the saw blade adapter 3130, and the rotary interface 3112 all revolve around the same vertical axis 3154 (see Fig.33)Rotation or oscillation, and the vertical axis is collinear with the oscillation axis of the handpiece interface. If the standard saw blade interface 3178 does not allow the insertion of the headed pin 3160, a slight modification of the saw blade interface may be necessary. The concept of positioning the pin 3160 inside the saw blade interface 3178, the saw blade adapter 3130, and the rotation interface 3112 to stabilize the saw blade can be implemented by Figure 33-48 all of the embodiments shown.

[0224] Additional Definitions and Examples:

[0225] Example systems and methods for coupling an end effector to a sagittal saw handpiece are described herein and shown in the drawings. This written description uses examples to disclose aspects of the present disclosure and also enables those skilled in the art to practice these aspects, including manufacturing or using the systems described above and performing or carrying out the methods described above. The examples described herein allow the sagittal saw handpiece to be rigidly coupled to the end effector arm of a robot to actuate the saw blade, which improves the feel from the user's perspective. In addition, since the handpiece is not directly connected to the saw blade, the saw blade guide and drive axis alignment is controlled and ensured, reducing the risk of saw blade breakage at the interface due to misalignment of the saw blade guide and / or drive axis, and also reducing the risk of automatic detachment of the handpiece. In addition, the interface is agnostic to the handpiece system. This provides flexibility in terms of integration with existing handpieces. That is, modifications to existing handpieces are reduced, and there is no need to "rework" the existing handpiece body.

[0226] The foregoing description is illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It should be further understood that terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art, and will not be interpreted in an idealized or overly formal sense. The broad teachings of the present disclosure may be implemented in a variety of forms. Thus, while the present disclosure includes specific examples, the true scope of the present disclosure should not be so limited, as other modifications will become apparent upon study of the drawings, the specification, and the appended claims. It should be understood that one or more steps of a method may be performed in a different order (or simultaneously) without changing the principles of the present disclosure. In addition, although each embodiment is described above as having certain features, any one or more of those features described with respect to any embodiment of the present disclosure may be implemented in and / or combined with the features of any other embodiment, even if such a combination is not explicitly described. In other words, the described embodiments are not mutually exclusive, and the arrangement of one or more embodiments with each other is still within the scope of the present disclosure.

[0227] The spatial and functional relationships between components (e.g., between modules) are described using various terms, including "connected", "engaged", "interface", and "coupled". Unless explicitly described as "direct", when the relationship between a first and a second component is described in the foregoing disclosure, the relationship includes both a direct relationship in which no other intermediate component exists between the first and second components and an indirect relationship in which one or more intermediate components (spatially or functionally) exist between the first and second components. Unless the context clearly dictates otherwise, as used herein, the singular forms "a", "an", and "the" are intended to include the plural forms. The term "and / or" includes any and all combinations of one or more of the associated listed items. As used herein, the phrase "at least one of A, B, and C" should be construed to represent the logical (A or B or C) using non-exclusive logic "or", and should not be construed to mean "at least one of A, at least one of B, and at least one of C".

[0228] It should be understood that although the terms first, second, third, etc. may 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, without departing from the teachings of the inventive concept, a first element / operation in some embodiments may be referred to as a second element / operation in other embodiments.

[0229] As used herein, the terms "comprise", "comprising", "includes", "including", "has", "having", or variations 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 combinations thereof. Further, as used herein, the common abbreviation "e.g.", derived from the Latin phrase "exempli gratia", may be used to introduce or specify one or more general examples of a previously mentioned item and is not intended to limit such item. The common abbreviation "i.e.", derived from the Latin phrase "id est", may be used to specify a particular item from a more general statement.

[0230] In the figures, the direction of an arrow, as indicated by the arrowhead, generally represents the information flow (e.g., data or instructions) of interest in the illustration. For example, when components A and B exchange various information and the information transmitted from component A to component B is relevant to the illustration, the arrow can point from component A to component B. This one-way arrow does not mean that no other information is transmitted from component B to component A. Additionally, for the information sent from component A to component B, component B can send a request for the information or receive an acknowledgement of the information. The term subset does not necessarily require a proper subset. In other words, the first subset of the first group can be coextensive (equal) with the first group.

[0231] Example embodiments are described herein with reference to block diagrams and / or flowchart illustrations of computer-implemented methods, apparatus (systems and / or devices), and / or computer program products. It should be understood that the blocks of the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can be implemented by computer program instructions executed by one or more computer circuits. These computer program instructions can be provided to a processor circuit of a general purpose computer circuit, a special purpose computer circuit, and / or other programmable data processing circuit to produce a machine, such that the instructions executed by the processor of the computer and / or other programmable data processing device transform and control transistors, values stored in memory locations, and other hardware components within such circuitry to implement the functions / actions specified in the block diagrams and / or one or more flowchart blocks, and thereby create a means (functionality) and / or structure for implementing the functions / actions specified in the block diagrams and / or one or more flowchart blocks.

[0232] These tangible computer program instructions can also be stored in a computer-readable medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture that includes instructions implementing the functions / actions specified in the block diagrams and / or one or more flowchart blocks. Accordingly, embodiments of the inventive concept can be embodied in hardware and / or software (including firmware, resident software, microcode, etc.) that runs on a processor such as a digital signal processor, which can be collectively referred to as "circuitry", "module", or variants thereof.

[0233] It should also be noted that in some alternative implementations, the functions / actions labeled in the boxes may not occur in the order labeled in the flowchart. For example, depending on the functions / actions involved, two consecutively shown boxes may actually be executed substantially simultaneously, or the boxes may sometimes be executed in the reverse order. Additionally, the function of a given box in the flowchart and / or block diagram can be divided into multiple boxes, and / or the functions of two or more boxes in the flowchart and / or block diagram can be at least partially integrated. Finally, other boxes can be added / inserted between the shown boxes, and / or boxes / operations can be omitted, without departing from the scope of the inventive concept. Moreover, although some of the figures in the drawings contain arrows on communication paths to show the primary direction of communication, it should be understood that communication can occur in the direction opposite to that of the depicted arrows. Many variations and modifications can be made to the embodiments without substantially departing from the principles of the inventive concept. All such variations and changes are intended to be included within the scope of the inventive concept herein. Thus, the subject matter disclosed above should be regarded as illustrative and not restrictive, and the examples of the appended embodiments are intended to cover all such modifications, enhancements, and other embodiments that fall within the spirit and scope of the inventive concept. Accordingly, to the maximum extent permitted by law, the scope of the inventive concept will be determined by the broadest permissible interpretation of this disclosure, including the following examples of embodiments and their equivalents, and should not be limited to or restricted by the foregoing detailed description.

Claims

1. A system for robot-assisted knee arthroplasty, comprising: An end effector having a first mechanical interface; A sagittal saw handpiece having a second mechanical interface; And A saw blade adapter configured to couple the end effector to the sagittal saw handpiece, the saw blade adapter including a first coupling mechanism on a first side of the saw blade adapter and a second coupling mechanism on a second side of the saw blade adapter, the first coupling mechanism being couplable to the first mechanical interface and the second coupling mechanism being couplable to the second mechanical interface; Wherein the second coupling mechanism defines a radial slot and one or more openings for receiving one or more portions of the second mechanical interface.

2. The system according to claim 1, wherein the first coupling mechanism defines a cavity for receiving the first mechanical interface therein.

3. The system according to claim 1, wherein the first coupling mechanism includes side walls defining a cavity and one or more platforms within the cavity.

4. The system according to claim 3, wherein the first mechanical interface defines one or more openings for receiving the one or more platforms therein.

5. The system according to claim 3, wherein the one or more platforms include a base and one or more protrusions extending from the base.

6. The system according to claim 3, wherein the first mechanical interface includes one or more protrusions, and the one or more platforms define one or more openings for receiving the one or more protrusions therein.

7. The system according to claim 1, wherein the first coupling mechanism includes one or more protrusions, and the first mechanical interface defines one or more openings for receiving the one or more protrusions therein.

8. The system according to claim 1, further comprising a fixing pin that extends along a common rotational or pivoting axis through the first mechanical interface, the saw blade adapter, and the second mechanical interface.

9. The system according to claim 1, wherein the saw blade adapter includes an upper portion and a lower portion configured to receive a saw blade therebetween.

10. The system according to claim 9, wherein the lower portion defines a channel for receiving the saw blade therein.

11. The system according to claim 9, further comprising a fixing mechanism that extends through the lower portion to clamp the saw blade between the lower portion of the saw blade adapter and the upper portion of the saw blade adapter.

12. A saw blade adapter for coupling an end effector having a first mechanical interface to a sagittal saw handpiece having a second mechanical interface, the saw blade adapter comprising: A first coupling mechanism on a first side of the saw blade adapter, the first coupling mechanism being couplable to the first mechanical interface; And A second coupling mechanism on a second side of the saw blade adapter, the second coupling mechanism being couplable to the second mechanical interface; Wherein the second coupling mechanism defines a radial slot and one or more openings for receiving one or more portions of the second mechanical interface.

13. The saw blade adapter according to claim 12, wherein the first coupling mechanism includes side walls defining a cavity and one or more platforms within the cavity.

14. The saw blade adapter according to claim 13, wherein the one or more platforms include a base and one or more protrusions extending from the base.

15. The saw blade adapter according to claim 12, further comprising a securing mechanism extendable through the first coupling mechanism to clamp the first coupling mechanism to the end effector.

16. The saw blade adapter according to claim 12, further comprising an upper portion and a lower portion configured to receive a saw blade therebetween.

17. The saw blade adapter according to claim 16, further comprising a securing mechanism extendable through the lower portion to clamp the saw blade between the lower portion of the saw blade adapter and the upper portion of the saw blade adapter.

18. A method for coupling an end effector having a first mechanical interface to a sagittal saw handpiece having a second mechanical interface, the method comprising: providing a saw blade adapter including a first coupling mechanism on a first side and a second coupling mechanism on a second side; coupling the first coupling mechanism to the first mechanical interface; and coupling the second coupling mechanism to the second mechanical interface; wherein the second coupling mechanism defines a radial slot and one or more openings for receiving one or more portions of the second mechanical interface.

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