Replaceable arm guide and end effector for surgical system

Abstract

A surgical system according to at least one embodiment of the present disclosure includes an interface block disposed at a distal end of a robotic arm and an end effector block attached to the interface block via a nut. For example, the interface block can include a threaded rod extending a distance from a mounting surface of the interface block. Thus, the end effector block can include a mounting hole through the end effector block, with the nut in threaded engagement with the threaded rod through the mounting hole to clamp the end effector block against the interface block. In some examples, a sterile drape can be used to provide a sterile barrier between the surgical system and a patient. Additionally, a liner plate can be used with the surgical system such that a region of the sterile drape is disposed between the liner plate and the mounting surface.

Description

Background Art

[0001] The present disclosure relates generally to surgical systems and, more particularly, to robotic surgical devices.

[0002] A surgical robot can assist a surgeon or other medical provider in performing surgical procedures, or can autonomously complete one or more surgical procedures. Articulated members that provide a controllable connection allow the surgical robot to reach areas of a patient's anatomy during various medical procedures. Summary of the invention

[0003] Example aspects of the present disclosure include:

[0004] A surgical system, the surgical system comprising: a robotic arm, the robotic arm comprising a proximal end and a distal end; an interface block, the interface block being disposed at the distal end, the interface block comprising: a mounting surface; a threaded rod, the threaded rod extending a distance from the mounting surface; and a set of motion attachment features, the set of motion attachment features being disposed on the mounting surface around the threaded rod; and an end effector block, the end effector block comprising: a set of motion connectors, the set of motion connectors being arranged to engage with the set of motion attachment features of the interface block; and a mounting hole, the mounting hole passing through the end effector block, wherein the end effector block is movable between an attached state and a detached state, wherein in the attached state, the set of motion connectors engage with the set of motion attachment features, the threaded rod is disposed in the mounting hole, and a nut is threadedly engaged with the threaded rod, thereby clamping the end effector block against the interface block.

[0005] Any of the aspects herein, wherein, in the disengaged state, the nut is removed and the end effector block is separated from the interface block such that the threaded rod remains attached to the interface block and is no longer disposed in the mounting hole.

[0006] In any of the aspects herein, the surgical system further comprises: a sterile drape covering the robotic arm, wherein the threaded rod pierces a controlled portion of the sterile drape; and a backing plate comprising a clearance hole arranged such that the threaded rod passes through the clearance hole and an area of ​​the sterile drape is disposed between the backing plate and the mounting surface, and wherein the end effector block is capable of moving between the attached state and the detached state without removing the threaded rod from the interface block and without exposing the environment inside the sterile drape to the environment outside the sterile drape.

[0007] Any of the aspects herein, wherein the controlled portion of the sterile drape is disposed within a periphery of the interface block.

[0008] Any of the aspects herein, wherein the sterile drape further comprises: a gasket attached to the sterile drape, the gasket surrounding the controlled portion of the sterile drape and an outer circumference of the threaded rod.

[0009] Any of the aspects herein, wherein the gasket is formed in a flat ring shape, and wherein at least one flat surface of the gasket includes an adhesive layer.

[0010] Any of the aspects herein, wherein the gasket is attached to the sterile drape on a side of the sterile drape that faces the mounting surface, and wherein the adhesive layer is configured to contact the mounting surface so as to seal the environment inside the sterile drape and around the gasket from the environment outside the sterile drape.

[0011] Any of the aspects herein, wherein the liner plate is made of a flat metal plate material corresponding to at least one of aluminum, copper, titanium, cobalt chromium, and stainless steel.

[0012] Any of the aspects herein, wherein the backing plate is made of a flat polymer sheet material.

[0013] Any of the aspects herein, wherein the mounting hole comprises an unthreaded clearance hole and a countersunk hole.

[0014] A robot end effector mounting system, the robot end effector mounting system comprising: an interface block, the interface block comprising: a mounting surface; a threaded rod, the threaded rod protruding from the mounting surface; and an end effector block, the end effector block comprising: a body; a tool receiving aperture; and a mounting hole, the mounting hole passing through the body, wherein the end effector block is movable with the interface block between an attached state and a detached state, wherein in the attached state, the threaded rod is disposed in the mounting hole and a nut is threadedly engaged with the threaded rod, thereby clamping the end effector block against the interface block, and wherein the end effector block is movable between the attached state and the detached state without removing the threaded rod from the interface block.

[0015] Any of the aspects herein, wherein, in the disengaged state, the nut is removed and the end effector block is separated from the interface block such that the threaded rod remains attached to the interface block and is no longer disposed in the mounting hole.

[0016] In any of the aspects herein, the surgical system further comprises: a sterile drape covering the interface block, wherein the sterile drape is pierced by the threaded rod at a controlled portion; and a backing plate comprising a clearance hole arranged so that the threaded rod passes through the clearance hole and an area of ​​the sterile drape is disposed between the backing plate and the mounting surface, and wherein the end effector block is capable of moving between the attached state and the detached state without exposing the environment inside the sterile drape on the side of the sterile drape facing the mounting surface to the environment outside the sterile drape on the side of the sterile drape facing the end effector block.

[0017] Any of the aspects herein, wherein the controlled portion of the sterile drape is disposed within an outer edge of the interface block.

[0018] In any of the aspects herein, the sterile cover further comprises: a gasket attached to the sterile cover, wherein the gasket surrounds the controlled portion of the sterile cover and the outer circumference of the threaded rod, wherein the gasket is formed into a flat annular shape, and wherein at least one flat surface of the gasket comprises an adhesive layer.

[0019] Any of the aspects herein, wherein the gasket is formed in a flat ring shape, and wherein at least one flat surface of the gasket includes an adhesive layer.

[0020] Any of the aspects herein, wherein the gasket is attached to the sterile drape on a side of the sterile drape that faces the mounting surface, and wherein the adhesive layer is configured to contact the mounting surface so as to seal the environment inside the sterile drape and around the gasket from the environment outside the sterile drape.

[0021] Any of the aspects herein, wherein the liner plate is made of a flat metal plate material corresponding to at least one of aluminum, copper, titanium, cobalt chromium, and stainless steel.

[0022] Any of the aspects herein, wherein the backing plate is made of a flat polymer sheet material.

[0023] A robot end effector mounting system, the robot end effector mounting system comprising: an end effector block, the end effector block comprising: a body; a tool receiving aperture; and a mounting hole, the mounting hole passing through the body, wherein the end effector block is movable with an interface block between an attached state and a detached state, wherein in the attached state, a threaded rod is disposed in the mounting hole, and a nut is threadedly engaged with the threaded rod, thereby clamping the end effector block against the interface block, and wherein the end effector block is movable between the attached state and the detached state without removing the threaded rod from the interface block.

[0024] Any aspect may be combined with any one or more other aspects.

[0025] Any one or more of the features disclosed herein.

[0026] Any one or more of the features is generally disclosed herein.

[0027] Any one or more of the features generally disclosed herein may be combined with any one or more of the other features generally disclosed herein.

[0028] Any of the aspects / features / embodiments may be combined with any one or more of the other aspects / features / embodiments.

[0029] Use any one or more of the aspects or features disclosed herein.

[0030] It should be understood that any feature as described herein may be claimed in combination with any other feature as described herein, regardless of whether the features are from the same described embodiments.

[0031] The details of one or more aspects of the present disclosure are set forth in the following drawings and description. Other features, objectives, and advantages of the techniques described in the present disclosure will be apparent from the description and drawings, and from the claims.

[0032] The phrases "at least one", "one or more", and "and / or" are open expressions that have both connective and dissociative properties in operation. For example, the expressions "at least one of A, B, and C", "at least one of A, B, or C", "one or more of A, B, and C", "one or more of A, B, or C", and "A, B, and / or C" each mean only A, only B, only C, A and B together, A and C together, B and C together, or A, B, and C together. When each of A, B, and C in the above expressions refers to an element such as X, Y, and Z or a class of elements such as X1-Xn, Y1-Ym, and Z1-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., X1 and X2), and a combination of elements selected from two or more classes (e.g., Y1 and Zo).

[0033] The term "an" entity refers to one or more of that entity. As such, the terms "a", "one or more", and "at least one" may be used interchangeably herein. It should also be noted that the terms "include", "comprises", and "have" may be used interchangeably.

[0034] The foregoing is a simplified overview of the present disclosure to provide an understanding of some aspects of the present disclosure. The present disclosure is neither a broad overview nor an exhaustive overview of the present disclosure and its various aspects, embodiments, and configurations. It is neither intended to determine the key or important elements of the present disclosure nor to delimit the scope of the present disclosure, but rather to present the selected concepts of the present disclosure in a simplified form as an introduction to the more detailed description presented below. As should be understood, other aspects, embodiments, and configurations of the present disclosure may utilize one or more of the features set forth above or described in detail below, either individually or in combination.

[0035] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art after considering the description of the embodiments provided below. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are incorporated into and form a part of this specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the present disclosure. The accompanying drawings illustrate only preferred and alternative examples of how to implement and use the present disclosure, and these examples should not be interpreted as limiting the present disclosure to only the illustrated and described examples. Additional features and advantages will become apparent from the following more detailed description of various aspects, embodiments and configurations of the present disclosure, as illustrated by the accompanying drawings referenced below.

[0037] Figure 1 is a block diagram of a system according to at least one embodiment of the present disclosure;

[0038] Figure 2A is a perspective view of a robotic surgical system according to at least one embodiment of the present disclosure;

[0039] Figure 2B is a perspective view of a robotic surgical system according to at least one embodiment of the present disclosure;

[0040] Figure 3 is a diagram of an interface block according to at least one embodiment of the present disclosure;

[0041] Figure 4 is a diagram of an interface block with a liner attached according to at least one embodiment of the present disclosure; and

[0042] Figure 5A is a perspective view of a surgical system according to at least one embodiment of the present disclosure;

[0043] Figure 5B is a front view of a surgical system according to at least one embodiment of the present disclosure;

[0044] Figure 6is an assembly diagram for attaching an end effector block to an interface block according to at least one embodiment of the present disclosure; and

[0045] Figure 7 is a flow chart of a method for selectively coupling an end effector block to a robotic arm in accordance with at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0046] It should be understood that the various aspects disclosed herein may be combined in combinations different from those specifically presented in the specification and drawings. It should also be understood that, depending on the example or implementation, certain actions or events of any process or method described herein may be performed in a different order and / or may be added, combined, or omitted entirely (e.g., not all described actions or events may be required to practice the disclosed techniques, according to different implementations of the present disclosure). In addition, although for clarity, certain aspects of the present disclosure are described as being performed by a single module or unit, it should be understood that the techniques of the present disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0047] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or codes on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, the functions may be implemented using a machine learning model, a neural network, an artificial neural network, or a combination thereof (alone or in combination with instructions). A computer-readable medium may include a non-transitory computer-readable medium corresponding to a tangible medium, such as a data storage medium (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and can be accessed by a computer).

[0048] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general-purpose microprocessor), graphics processing units (e.g., Nvidia GeForce RTX 2000 series processors, Nvidia GeForce RTX 3000 series processors, AMD Radeon RX 5000 series processors, AMD Radeon RX 6000 series processors, or any other graphics processing unit), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Thus, the term "processor" as used herein may refer to any of the foregoing structures or any other physical structure suitable for implementing the described techniques. Additionally, these techniques may be fully implemented in one or more circuits or logic elements.

[0049] Before explaining any embodiment of the present disclosure in detail, it should be understood that the present disclosure is not limited to the construction details and component arrangements set forth in the following description or illustrated in the accompanying drawings in terms of its application. The present disclosure can have other embodiments and can be practiced or implemented in various ways. In addition, it should be understood that the wording and terminology used herein are for the purpose of description and should not be considered as restrictive. "Including", "including" or "having" and its variations are used herein to cover the items listed thereafter and their equivalents, as well as additional items. In addition, the present disclosure can use examples to illustrate one or more aspects thereof. Unless otherwise expressly stated, using or listing one or more examples (which can be indicated by "for example", "by way of example", "such as" or similar language) is not intended to and does not limit the scope of the present disclosure.

[0050] The terms proximal and distal are used in this disclosure in their conventional medical sense, with proximal being closer to an operator or user of the system and farther away from the area of ​​surgical interest in or on the patient's body, and distal being closer to the area of ​​surgical interest in or on the patient's body and farther away from the operator or user of the system.

[0051] During a robotic surgical procedure, a robotic surgical system needs to have different sterile components. For example, a robotic surgical system may include end effectors, guide tools, etc. that need to be kept sterile. Existing end effectors may be specially manufactured according to different screw system diameters (e.g., 4.5 millimeters (mm), 6.5 mm, 10.5 mm, etc.). That is, the end effector may be connected to the robotic surgical system via a screw, wherein the screw has a specific diameter according to the screw system diameter used for the robotic surgical procedure. However, during the robotic surgical procedure, the screw system cannot be replaced (e.g., the countersunk hole for receiving the screw remains unchanged), so all end effectors required to perform the robotic surgical procedure must be connected to the robotic surgical system using screws of the same diameter size. Additionally or alternatively, the screw system diameter of the robotic surgical procedure may correspond to the same diameter of the screw inserted into the patient's body part, wherein the same size of screw is used for the robotic surgical procedure. For example, an end effector may include or use a drilling guide tool with different diameters. The end effector may also have additional capabilities (e.g., drilling, cutting, etc.) that require consideration of the diameter of the screw system. Therefore, if a robotic surgical procedure has multiple levels, the surgeon may need to compromise on the screw system to accommodate all vertebrae (e.g., different sized screws may be used for different vertebrae, but the same diameter screw system may be used for all vertebrae because the screw system cannot be replaced during the robotic surgical procedure).

[0052] As described herein, an end effector block is described and provided that can be connected or disconnected to a surgical system using a nut threaded onto a threaded rod instead of a screw. Using a nut to attach the end effector block to the surgical system will allow for replacement of different components of the surgical system (e.g., arm guides, other cutting tools, etc.) without compromising the sterile barrier between the surgical system, the patient, and the surrounding environment. Additionally, using a nut instead of a screw to attach the end effector block can support tool designs that can include more functionality than currently provided.

[0053] In some examples, the end effector block can be connected (e.g., using a kinematic coupling) to a backing plate disposed on a contact area (e.g., a mounting surface) of an interface block at the distal end of the robotic arm, which will allow the force to be more evenly distributed over the contact area and to maintain the force without tearing components of the surgical system (e.g., a sterile drape). The backing plate can be a thin metal plate (e.g., made of aluminum, copper, stainless steel, titanium, cobalt chrome, etc., or made of a different metal not explicitly disclosed herein). Additionally or alternatively, the backing plate can be a polymer or plastic material (e.g., a plastic material with a large elongation).

[0054] Embodiments of the present disclosure provide technical solutions to one or more of the following problems: (1) using screws to attach end effector blocks in surgical systems; (2) compromising sterile barriers; and (3) limiting which tools can be used in or connected to surgical systems. For example, the surgical systems and methods of interconnecting end effector blocks described herein allow the arm guide / end effector to be connected / disconnected using a nut-to-rod interface rather than an external screw hole interface. This reverse interface allows the arm guide to be switched without compromising the sterile barrier between the patient and the robot. In addition, the liner provides a rigid interface that prevents the sterile drape from wearing at the connection point and allows the force to be evenly distributed across the mounting surface of the robot arm. In particular, this idea allows the arm guide or end effector to be replaced during a surgical procedure, thereby maintaining sterility (e.g., allowing multiple screw systems to be used in the same spinal surgery) and reducing the number of tools used in the surgical operating room (e.g., reducing the type of cannula).

[0055] First turn Figure 1 , a block diagram of a system 100 according to at least one embodiment of the present disclosure is shown. The system 100 can be used to selectively couple an end effector block to a robotic arm in a sterile environment. In some examples, the system 100 can control, place and / or otherwise manipulate a surgical mounting system, a surgical arm and / or a surgical tool attached thereto, and / or implement one or more other aspects of one or more of the methods disclosed herein. The system 100 includes a computing device 102, one or more imaging devices 112, a robot 114, a navigation system 118, a database 130, and / or a cloud or other network 134. Systems according to other embodiments of the present disclosure may include more or fewer components than the system 100. For example, the system 100 may not include an imaging device 112, a robot 114, a navigation system 118, one or more components of the computing device 102, a database 130, and / or a cloud 134.

[0056] Computing device 102 includes processor 104, memory 106, communication interface 108, and user interface 110. Computing devices according to other embodiments of the present disclosure may include more or fewer components than computing device 102.

[0057] The processor 104 of the computing device 102 may be any processor described herein or any similar processor. The processor 104 may be configured to execute instructions stored in the memory 106, which may cause the processor 104 to perform one or more computing steps using or based on data received from the imaging device 112, the robot 114, the navigation system 118, the database 130, and / or the cloud 134.

[0058] The memory 106 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory for storing computer-readable data and / or instructions. The memory 106 may store information or data useful for completing any step of the method 700 or any other method described herein, for example. The memory 106 may store instructions and / or machine learning models, for example, supporting one or more functions of the robot 114. For example, the memory 106 may store content (e.g., instructions and / or machine learning models) that, when executed by the processor 104, enable image processing 120, segmentation 122, transformation 124, and / or registration 128. In some embodiments, if provided as instructions, such content may be organized into one or more applications, modules, packages, layers, or engines. Alternatively or additionally, the memory 106 may store other types of content or data (e.g., machine learning patterns, artificial neural networks, deep neural networks, etc.) that may be processed by the processor 104 to implement the various methods and features described herein. Thus, although the various contents of the memory 106 may be described as instructions, it should be understood that the functionality described herein may be implemented using instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions may enable the processor 104 to manipulate data stored in the memory 106 and / or received from or via the imaging device 112, the robot 114, the database 130, and / or the cloud 134.

[0059] The computing device 102 may also include a communication interface 108. The communication interface 108 may be used to receive image data or other information from an external source (such as an imaging device 112, a robot 114, a navigation system 118, a database 130, a cloud 134, and / or any other system or component that is not part of the system 100) and / or to send instructions, images, or other information to an external system or device (e.g., another computing device 102, an imaging device 112, a robot 114, a navigation system 118, a database 130, a cloud 134, and / or any other system or component that is not part of the system 100). The communication interface 108 may include one or more wired interfaces (e.g., a USB port, an Ethernet port, a FireWire port) and / or one or more wireless transceivers or interfaces (configured to send and / or receive information, for example, via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.). In some embodiments, the communication interface 108 may be used to enable the device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time required to complete computationally intensive tasks or for any other reason.

[0060] The computing device 102 may also include one or more user interfaces 110. The user interface 110 may be or include a keyboard, a mouse, a trackball, a monitor, a television, a screen, a touch screen and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 110 may be used, for example, to receive a user selection or other user input for any step of any method described herein. Nevertheless, any required input for any step of any method described herein may be automatically generated by the system 100 (e.g., by another component of the processor 104 or the system 100) or received by the system 100 from a source external to the system 100. In some embodiments, the user interface 110 may be used to allow a surgeon or other user to modify the instructions to be executed by the processor 104 according to one or more embodiments of the present disclosure, and / or modify or adjust the settings of other information displayed on the user interface 110 or corresponding thereto.

[0061] Although the user interface 110 is shown as part of the computing device 102, in some embodiments, the computing device 102 can utilize a user interface 110 that is housed separately from one or more remaining components of the computing device 102. In some embodiments, the user interface 110 can be located near one or more other components of the computing device 102, while in other embodiments, the user interface 110 can be located remote from one or more other components of the computing device 102.

[0062] The imaging device 112 may be operable to image anatomical features (e.g., bones, veins, tissues, etc.) and / or other aspects of the patient's anatomical structure to generate image data (e.g., image data depicting or corresponding to bones, veins, tissues, etc.). "Image data" as used herein refers to data generated or captured by the imaging device 112, including data in machine-readable form, graphical / visual form, and in any other form. In different examples, the image data may include data corresponding to the anatomical features of the patient or a portion thereof. The image data may be or include preoperative images, intraoperative images, postoperative images, or images taken independently of any surgical procedure. In some embodiments, the first imaging device 112 may be used to obtain first image data (e.g., first image) at a first time, and the second imaging device 112 may be used to obtain second image data (e.g., second image) at a second time after the first time. The imaging device 112 may be capable of taking 2D images or 3D images to generate image data. The imaging device 112 may be or include, for example, an ultrasound scanner (which may include, for example, physically separate transducers and receivers, or a single ultrasound transceiver), an O-arm, C-arm, G-arm, or any other device that utilizes X-ray based imaging (e.g., a fluoroscope, a CT scanner or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermal imaging camera (e.g., an infrared camera), a radar system (which may include, for example, a transmitter, a receiver, a processor, and one or more antennas), or any other imaging device 112 suitable for obtaining images of anatomical features of a patient. The imaging device 112 may be entirely contained within a single housing, or may include a transmitter / emitter and a receiver / detector that are physically separated in a single housing or otherwise.

[0063] In some embodiments, the imaging device 112 may include more than one imaging device 112. For example, a first imaging device may provide first image data and / or a first image, and a second imaging device may provide second image data and / or a second image. In yet other embodiments, the same imaging device may be used to provide both the first image data and the second image data and / or any other image data described herein. The imaging device 112 may be operable to generate an image data stream. For example, the imaging device 112 may be configured to operate with a shutter open, or to operate with a shutter continuously alternating between open and closed, so as to capture continuous images. For purposes of this disclosure, unless otherwise indicated, if the image data represents two or more frames per second, the image data may be considered continuous and / or provided as an image data stream.

[0064] Robot 114 may be any surgical robot or surgical robotic system. Robot 114 may be or include, for example, a Mazor X TM Stealth version of the robotic guidance system. The robot 114 can be configured to position the imaging device 112 at one or more precise positions and orientations, and / or return the imaging device 112 to the same position and orientation at a later point in time. The robot 114 can be additionally or alternatively configured to manipulate surgical tools (whether or not based on guidance from the navigation system 118) to complete or assist in surgical tasks. In some embodiments, the robot 114 can be configured to hold and / or manipulate anatomical elements during or in conjunction with a surgical procedure. The robot 114 can include one or more robotic arms 116. In some embodiments, the robotic arm 116 can include a first robotic arm and a second robotic arm, but the robot 114 can include more than two robotic arms. In some embodiments, one or more of the robotic arms 116 can be used to hold and / or manipulate the imaging device 112. In embodiments where the imaging device 112 includes two or more physically separate components (e.g., a transmitter and a receiver), one robotic arm 116 can hold one such component, and another robotic arm 116 can hold another such component. Each robotic arm 116 may be positionable independently of the other robotic arms.The robotic arms 116 may be controlled in a single shared coordinate space or in separate coordinate spaces.

[0065] The robot 114, together with the robotic arm 116, may have, for example, one, two, three, four, five, six, seven or more degrees of freedom. Furthermore, the robotic arm 116 may be or may be capable of being positioned in any pose, plane and / or focus. The pose includes a position and an orientation. Thus, an imaging device 112, a surgical tool or other object held by the robot 114 (or more specifically, by the robotic arm 116) may be capable of being precisely positioned in one or more desired and specific positions and orientations.

[0066] The robotic arm 116 may include one or more sensors that enable the processor 104 (or a processor of the robot 114) to determine the precise pose of the robotic arm (and any object or element held by or secured to the robotic arm) in space.

[0067] In some embodiments, reference markers (e.g., navigation markers) may be placed on the robot 114 (including, for example, on the robotic arm 116), the imaging device 112, or any other object in the surgical space. The reference markers may be tracked by the navigation system 118, and the results of the tracking may be used by the robot 114 and / or by an operator of the system 100 or any component thereof. In some embodiments, the navigation system 118 may be used to track other components of the system (e.g., the imaging device 112), and the system may be operated without the use of the robot 114 (e.g., the surgeon manually manipulates the imaging device 112 and / or one or more surgical tools, e.g., based on information and / or instructions generated by the navigation system 118).

[0068] During the operation, the navigation system 118 can provide navigation for the surgeon and / or the surgical robot. The navigation system 118 can be any known or future developed navigation system, including, for example, the Medtronic StealthStation TM S8 surgical navigation system or any subsequent product thereof. The navigation system 118 may include one or more cameras or other sensors for tracking one or more reference markers, navigation trackers, or other objects in the operating room or other rooms where part or all of the system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, the navigation system 118 may include one or more electromagnetic sensors. In various embodiments, the navigation system 118 may be used to track the position and orientation (e.g., pose) of the imaging device 112, the robot 114, and / or the robot arm 116, and / or one or more surgical tools (or more specifically, for tracking the pose of a navigation tracker attached directly or indirectly to one or more of the foregoing in a fixed relationship). The navigation system 118 may include a display for displaying one or more images from an external source (e.g., a computing device 102, an imaging device 112, or other source) or for displaying images and / or video streams from one or more cameras or other sensors of the navigation system 118. In some embodiments, the system 100 may operate without the use of the navigation system 118. The navigation system 118 can be configured to provide guidance to a surgeon or other user of the system 100 or its components, to the robot 114, or to any other element of the system 100 regarding, for example, the pose of one or more anatomical elements, whether a tool is in an appropriate trajectory, and / or how to move the tool into an appropriate trajectory to perform a surgical task based on a preoperative or other surgical plan.

[0069] The database 130 may store information relating one coordinate system to another coordinate system (e.g., relating one or more robot coordinate systems to a patient coordinate system and / or a navigation coordinate system). The database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about the target and / or image information about the patient's anatomical structure at and / or near the surgical site for use by the robot 114, the navigation system 118, and / or the computing device 102 or a user of the system 100); one or more images that may be used in conjunction with a surgical procedure performed by or with the assistance of one or more other components of the system 100; and / or any other useful information. The database 130 may be configured to provide any such information to the computing device 102 or any other device of the system 100 or any other device external to the system 100, whether directly or via the cloud 134. In some embodiments, database 130 can be or include a part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0070] Cloud 134 can be or represent the Internet or any other wide area network. Computing device 102 can connect to cloud 134 via communication interface 108 using a wired connection, a wireless connection, or both. In some embodiments, computing device 102 can communicate with database 130 and / or external devices (e.g., computing devices) via cloud 134.

[0071] The system 100 or a similar system may be used, for example, to perform one or more aspects of any of the methods 700 described herein. The system 100 or a similar system may also be used for other purposes.

[0072] Reference Figure 2A and Figure 2B , shows a perspective view of a robotic surgical system with different end effectors 240A, 240B installation positions according to an example of the present disclosure. More specifically, Figure 2A and Figure 2B The robotic arm 116 of the robot 114 is shown connected to the end effectors 240A, 240B holding the surgical tool 236. Figure 2A and Figure 2B232B, but the surgical tools 236 may correspond to different surgical tools used between procedures in a surgical application. For example, a first surgical tool 236 may include a direction-specific blade that may require specific rotational alignment and placement in the tool blocks 232A, 232B, while another surgical tool 236 may include a unidirectional cutting tool that is not dependent on the rotational alignment in the tool blocks 232A, 232B.

[0073] Features of the robot 114 and / or robot arm 116 may be described in relation to the coordinate system 202. Figure 2A and Figure 2B As shown in , the coordinate system 202 includes three dimensions including an X-axis, a Y-axis, and a Z-axis. Additionally or alternatively, the coordinate system 202 can be used to define planes (e.g., an XY plane, an XZ plane, and a YZ plane) of the robot 114 and / or the robot arm 116. These planes can be set to be orthogonal or 90 degrees to each other. Although the origin of the coordinate system 202 can be placed at any point on or near the components of the robot 114, for the purpose of description, the axes of the coordinate system 202 are always set in the same direction between the figures, regardless of whether the coordinate system 202 is shown. In some examples, dimensions, angles, directions, relative positions, and / or movements associated with one or more components of the robot 114 and / or the robot arm 116 can be referenced relative to the coordinate system 202. For example, the width of the robotic arm 116 (e.g., extending from one side shown in the foreground to one side in the background, into the page) may be defined as a dimension along the X-axis of the coordinate system 202, the height of the robotic arm 116 may be defined as a dimension along the Z-axis of the coordinate system 202, and the length of the robotic arm 116 (e.g., extending from a proximal end at the first link 204 to a distal end at the seventh link 224, etc.) may be defined as a dimension along the Y-axis of the coordinate system 202. Additionally or alternatively, the height of the system 100 may be defined as a dimension along the Z-axis of the coordinate system 202, the reach of the robotic arm 116 may be defined as a dimension along the Y-axis of the coordinate system 202, and the working area of ​​the robotic arm 116 may be defined in the XY plane with reference to the corresponding axis of the coordinate system 202.

[0074] The robotic arm 116 may be comprised of a plurality of links 204, 208, 209, 212, 216, 220, 224 that are interconnected at respective rotation axes 206, 210, 214, 218, 222, 226, 230, 234 or joints. Figure 2A and Figure 2BThere may be more or fewer links 204, 208, 209, 212, 216, 220, 224 and / or rotation axes 206, 210, 214, 218, 222, 226, 230, 234 than shown in FIG. In any case, the robotic arm 116 may have a first link 204 disposed at a proximal end of the robotic arm 116 and an end mounting flange 228 disposed at a distal end of the robotic arm 116, farthest from the proximal end. The first link 204 may correspond to a base of the robotic arm 116. In some examples, the first link 204 may rotate about the first rotation axis 206. The second link 208 may be connected to the first link 204 at a second rotation axis 210 or a joint. The second link 208 may rotate about the second rotation axis 210. In one example, the first rotation axis 206 and the second rotation axis 210 may be arranged parallel to each other. For example, the first rotation axis 206 and the second rotation axis 210 are shown extending along the Z axis in a direction perpendicular to the XY plane.

[0075] The robotic arm 116 may include a third link 209 that is rotationally interconnected to the second link 208 via a third axis of rotation 214 or a joint. The third axis of rotation 214 is shown extending along the X-axis or perpendicular to the first axis of rotation 206 and the second axis of rotation 210. In this position, when the third link 209 is caused to move (e.g., rotate relative to the second link 208), the third link 209 (and components of the robotic arm 116 extending from the third link 209) can be caused to move into or out of the XY plane. The fourth link 212 is shown as being rotationally interconnected to the third link 209 via a fourth axis of rotation 218 or a joint. The fourth axis of rotation 218 is arranged parallel to the third axis of rotation 214. The fourth axis of rotation 218 extends along the X-axis, thereby allowing the fourth link 212 to rotate into and out of the XY plane.

[0076] In some examples, the robot arm 116 may include one or more wrists 216, 224. The fifth link 216 or wrist is shown as being rotationally interconnected to the fourth link 212 via a fifth axis of rotation 222 or wrist joint. The fifth axis of rotation 222 is shown as extending along the Y axis, which is perpendicular to the X axis and the Z axis. During operation of the robot 114, rotating the fifth link 216 about the fifth axis of rotation 222 can rotate the components of the robot arm 116 distal to the joint at the fifth axis of rotation 222 (e.g., the fifth link 216, the sixth link 220, the seventh link 224, the end mounting flange 228, and the end effectors 240A, 240B, etc.) about the Y axis.

[0077] The sixth link 220 is rotationally interconnected to the fifth link 216 via a sixth axis of rotation 226. The sixth axis of rotation 226 extends along the X-axis and provides for rotation of the sixth link 220 relative to the fifth link 216 (eg, in and out of the XY plane in the illustrated position).

[0078] The seventh link 224 or wrist is shown as being rotationally interconnected to the sixth link 220 via a seventh axis of rotation 230 or wrist joint. The seventh axis of rotation 230 is shown extending along the Y axis (e.g., perpendicular to the X and Z axes). During operation of the robot 114, rotating the seventh link 224 about the seventh axis of rotation 230 can rotate components of the robot arm 116 distal to the joint at the seventh axis of rotation 230 (e.g., the end mounting flange 228 and the end effectors 240A, 240B, etc.) about the Y axis.

[0079] Located at the distal end of the robotic arm 116, the end mounting flange 228 may be rotationally interconnected to the end mounting flange 228 via an eighth axis of rotation or mounting flange rotation axis 234. Figure 2A In FIG. 2 , the seventh link 224 is rotationally positioned about the seventh axis of rotation 230 such that the end mounting flange 228 is oriented at a position where the mounting flange axis of rotation 234 extends along the Z axis. Figure 2B In some examples, at least the seventh link 224 can be rotated about the seventh rotation axis 230 to rotate in the X-axis. Figure 2A The end mounting flange 228 is shown in the same position as Figure 2B The end mounting flange 228 can be moved between the positions shown, or vice versa. The end mounting flange 228 and the mounting flange rotation axis 234 can be the last movable (e.g., motor actuated, etc.) link and joint of the robotic arm 116. Movement between these two positions of the end mounting flange 228 allows for attachment and manipulation or operation of a specific end effector 240A, 240B according to a corresponding motion profile (e.g., range and limits) or a set of kinematic solutions of the robot 114 (e.g., robotic arm 116 and surgical tool 236, etc.).

[0080] Figure 2A 2 shows the first movement kinematics of the robotic arm 116 when the first tool block 232A of the first end effector 240A sets the surgical tool axis 238 parallel to the mounting flange rotation axis 234. Figure 2AIn the position shown in , the seventh link 224 is prevented from rotating into and / or out of the XY plane between the first end effector 240A. This position and arrangement may be ideal for applications (e.g., surgery, procedures, etc.) that may require the end rotation position of the surgical tool 236 to be maintained for the robotic arm 116. For example, the surgical tool 236 in the first end effector 240A may correspond to an imaging device that may need to be maintained in a specific non-rotational position relative to the patient during imaging (e.g., when other joints of the robotic arm 116 move the distal end closer to or farther away from the proximal end, the imaging plane of the surgical tool 236 should be maintained parallel to the XY plane). In this case, a corresponding arrangement of the surgical tool axis 238 associated with the first end effector 240A (e.g., parallel to the mounting flange rotation axis 234) may be preferred. In another example, it may be necessary to prevent the surgical tool 236 from rotating into or out of the XY plane to ensure the accuracy of movement along the Y axis, in the XY plane, and the like. Additionally or alternatively, during operation of the robot 114, it may be desirable to maintain a constant distance between the reference plane and the end of the surgical tool 236 (e.g., along the Z-axis). In either of these cases, in combination with Figure 2A The position and arrangement shown (eg, preventing the ends from rotating relative to the XY plane) may be preferred.

[0081] Figure 2B A second movement kinematics of the robotic arm 116 is shown when the second tool block 232B of the second end effector 240B sets the surgical tool axis 238 perpendicular (e.g., at 90 degrees) to the mounting flange rotation axis 234. In this alternative position, the end mounting flange 228 and the second end effector 240B can be permitted to rotate relative to the seventh link 224. In other words, in this alternative position, the end mounting flange 228 and the second end effector 240B can be permitted to rotate into and / or out of the XY plane (e.g., relative to the seventh link 224 at the mounting flange rotation axis 234). This position and arrangement can be ideal when precise rotational movement of the surgical tool 236 at the distal end of the robotic arm 116 is desired. Figure 2A The position and arrangement shown in , in which the most recent rotation of the first end effector 240A about the X-axis is provided at the sixth rotation axis 226, is opposite, Figure 2B The position and arrangement of the second end effector 240B allows the second end effector 240B to rotate about the X-axis about the mounting flange rotation axis 234. In particular, the position and arrangement can be used for any application of the surgical tool 236 where movement of the second end effector 240B (including rotation of the end into and / or out of the XY plane) is desired. Such applications may include directional cutting operations, probing movements, displacement of tissues and organs, and / or other surgical operations.

[0082] Figure 3 300 shows an interface block 302 according to at least one embodiment of the present disclosure. In some examples, the interface block 302 can represent Figure 2A and Figure 2B The example of the end mounting flange 228 described above. For example, the interface block 302 can be disposed on a robot arm (e.g., as shown in FIG. Figure 1 At the distal end of the described robotic arm 116).

[0083] In some examples, the interface block 302 may include a mounting surface 304, a threaded rod 306 extending a distance from the mounting surface 304, and a set of kinematic attachment features 308 disposed on the mounting surface 304 around the threaded rod 306. Figure 3 In the example of FIG. 302 , three (3) kinematic attachment features 308 are shown (e.g., a first kinematic attachment feature 308A, a second kinematic attachment feature 308B, and a third kinematic attachment feature 308C), but a greater or lesser number of kinematic attachment features 308 may be present on the interface block. The interface block 302 may allow the end effector block to be connected using a nut that is threaded onto the threaded rod 306. Figure 5A , Figure 5B and Figure 6 The end effector block and how it is connected to the interface block 302 using a nut with a threaded rod 306 are described in more detail. In some examples, a set of kinematic attachment features 308 can engage with a set of kinematic connectors disposed on the end effector block.

[0084] Additionally, the sterile drape 310 can be used as part of a surgical system of which the interface block 302 is a part. The sterile drape 310 can cover the robotic arm where the interface block 302 is located, such that the mounting surface 304 and the set of kinematic attachment features 308 are also covered by the sterile drape 310. The sterile drape 310 can provide a sterile barrier between the patient and the robotic / surgical system.

[0085] In some examples, the threaded rod 306 can pierce the controlled portion of the sterile cover cloth 310. For example, the controlled portion of the sterile cover cloth 310 can be set within the periphery of the interface block 302. Additionally, the sterile cover cloth 310 can include a gasket 312 attached to the sterile cover cloth 310, wherein the gasket 312 surrounds the controlled portion of the sterile cover cloth 310 and the outer circumference of the threaded rod 306. In some examples, the gasket 312 can be formed into a flat ring shape, wherein at least one flat surface of the gasket 312 includes an adhesive layer. In some examples, the gasket 312 can be attached to the sterile cover cloth 310 on one side of the sterile cover cloth 310 facing the mounting surface 304, wherein the adhesive layer is configured to contact the mounting surface 304, thereby sealing the environment inside the sterile cover cloth 310 and around the gasket 312 from the environmental influence outside the sterile cover cloth 310. Additionally or alternatively, the gasket 312 can be attached to the sterile drape 310 on an opposite side of the sterile drape 310 (eg, a side external to the mounting surface 304 ).

[0086] In some examples, diagram 300 can represent a detached state of an end actuator block as described herein, in which the nut is removed and the end actuator block is separated from the interface block 302, such that the threaded rod 306 remains attached to the interface block 302 and is not disposed in a mounting hole of the end actuator block.

[0087] Figure 4 400 shows an interface block 402 with a backing plate 404 attached thereto according to at least one embodiment of the present disclosure. In some examples, the interface block 402 may be as shown in FIG. Figure 3 An example of an interface block 302 is described. Figure 4 As shown, the backing plate 404 can be mounted above the mounting surface of the interface block 402. In some examples, the backing plate can be added to or can be attached to the sterile drape covering the interface block 402 (e.g., via glue or other types of adhesives). When the end effector block is attached to the interface block 402, the backing plate 404 can help prevent the sterile drape from tearing. As previously described with reference to Figure 3 As described, the interface block 402 may include a set of kinematic attachment features, wherein the end effector block includes a set of kinematic connectors that engage or work in conjunction with the set of kinematic attachment features of the interface block 402. However, when the end effector block is moved, rotated, actuated, etc., the set of kinematic connectors may cause tears or holes in the sterile drape, thereby compromising sterility.

[0088] Thus, the liner 404 can reduce the chance of forming these tears or holes by distributing the forces applied by the end effector block on the mounting surface of the interface block 402. In some examples, the liner 404 can include a kinematic "connection indentation" that matches and takes into account a set of motion features of the interface block 402, or can be flat but deformable without tearing or ripping the sterile drape. In some examples, the liner 404 can include a clearance hole that is arranged so that the threaded rod of the interface block 402 passes through the clearance hole. Additionally, the liner 404 can be attached to the interface block 402 so that the area of ​​the sterile drape is disposed between the liner 404 and the mounting surface of the interface block 402. In some examples, the liner 404 can be made of a flat metal sheet material corresponding to at least one of aluminum, copper, titanium, cobalt chromium, and stainless steel (e.g., or a different metal not explicitly listed herein). Additionally or alternatively, the liner 404 can be made of a flat polymer sheet material (e.g., a plastic material).

[0089] Figure 5A 500 is a perspective view of a surgical system 502 according to at least one embodiment of the present disclosure. The surgical system 502 may include an interface block disposed at a distal end of a robotic arm. Figure 5A As shown, the end effector block 504 can be attached to the interface block. As previously described, the end effector block 504 can include a set of motion connectors that are arranged (e.g., at the rear of the end effector block 504, not shown) to engage with a set of motion attachment features of the interface block.

[0090] Additionally, the end effector block 504 may include a mounting hole 506 passing through the end effector block 504. In some examples, the mounting hole 506 may include a non-threaded clearance hole and a countersunk hole. In some examples, the end effector block 504 may be moved between an attached state and a detached state relative to the interface block. For example, in the attached state, a set of motion connectors of the end effector block 504 engages with a set of motion attachment features of the interface block, a threaded rod of the interface block is disposed in the mounting hole 506, and a nut is threadedly engaged with the threaded rod, thereby clamping the end effector block 504 against the interface block. Additionally or alternatively, in the detached state, the nut is removed and the end effector block 504 is detached from the interface block, so that the threaded rod remains attached to the interface block and is no longer disposed in the mounting hole 506. That is, the end effector block 504 can be moved between the attached state and the detached state without removing the threaded rod from the interface block and without exposing the environment inside the sterile drape to the environment outside the sterile drape.

[0091] The end effector block 504 may also include a body 508 and a tool receiving aperture 510. The tool receiving aperture 510 may be designed to accommodate or handle any number of surgical tools used in a robotic surgical system.

[0092] Figure 5B 5 shows a front view 501 of a surgical system 502 according to at least one embodiment of the present disclosure. Figure 5B As shown and described above, the nut 512 is used to threadedly engage with the threaded rod of the interface block to clamp the end effector block 504 against the interface block. In some examples, the nut 512 can be screwed onto and / or removed from the threaded rod through the access granted by the mounting hole 512. For example, a nut driver (e.g., or a screwdriver with a hexagonal socket) can pass through the mounting hole 512 so that the nut 512 can be tightened or loosened from the threaded rod. In some examples, the nut 512 can have a socket for use with a specific tool (e.g., a key, a screwdriver, a unique tool, etc.) or by a specific tool (e.g., a key, a screwdriver, a unique tool, etc.) to prevent the threaded rod (e.g., a screw) from being opened when the nut 512 is opened.

[0093] By securing the end effector block 504 to the interface block using the nut 512, the end effector block 504 can be easily replaced with another end effector block or a different operating tool during operation. For example, the surgical system 502 and the method of interconnecting the end effector block 504 described herein allow the arm guide / end effector to be connected / disconnected using a nut to rod interface rather than an external screw hole interface. This reverse interface allows the arm guide / end effector to be switched without compromising the sterile barrier between the patient and the surgical system 502.

[0094] Figure 6 An assembly diagram 600 for attaching an end effector block 604 to an interface block 602 is shown in accordance with at least one embodiment of the present disclosure. For example, as previously described with reference to Figure 5A and Figure 5B As depicted, the nut 606 is threadedly engaged with the threaded rod of the interface block 602 , thereby clamping the end effector block 604 against the interface block 602 , wherein the nut 606 is screwed onto the threaded rod through a mounting hole of the end effector block 604 .

[0095] Although the end effector block 604 is shown and described herein as being attached to the interface block 602 by engaging the threaded rod of the interface block 602 using the nut 606, other mechanisms and techniques not expressly described or illustrated herein may be used to attach the end effector block 604 to the interface block 602. For example, the end effector block 604 may be attached to the interface block 602 using one or more magnets or electromagnets, latches, eccentrics / eccentric handles, etc.

[0096] Figure 7 A method 700 is depicted that may be used to selectively couple an end effector block to a robotic arm, such as in a sterile environment.

[0097] Method 700 (and / or one or more steps) may be performed, for example, by at least one processor or otherwise. The at least one processor may be the same or similar to the processor 104 of the computing device 102 described above. The at least one processor may be part of a robot (such as robot 114) or part of a navigation system (such as navigation system 118). Processors other than any processor described herein may also be used to perform method 700. The at least one processor may perform method 700 by executing elements stored in a memory (such as memory 106). The elements stored in the memory and executed by the processor are equivalent to the processor performing one or more steps of the functions shown in method 700. One or more parts of method 700 may be performed by a processor that executes any of the contents of the memory (such as image processing 120, segmentation 122, transformation 124, and / or registration 128).

[0098] Method 700 includes covering at least a portion of a robotic arm with a sterile drape (step 702). In some examples, the sterile drape is intended to provide a sterile barrier between the robotic arm and the patient (eg, and the environment surrounding the robotic arm).

[0099] The method 700 also includes aligning the controlled portion of the sterile drape with a mounting surface of an interface block disposed at a distal end of the robotic arm (step 704). In some examples, aligning the controlled portion of the sterile drape can include aligning a gasket surrounding the controlled portion of the sterile drape with a hole disposed on the mounting surface, and adhering the gasket to the mounting surface such that the mounting hole is surrounded by the gasket and the axis of the mounting hole is disposed within the controlled portion of the sterile drape.

[0100] The method 700 also includes piercing the sterile drape within the controlled portion with a threaded rod such that the threaded rod is secured to the interface block and extends a distance from the mounting surface through the sterile drape (step 706). In some examples, the backing plate can be attached to the mounting surface of the interface block. For example, the backing plate can include a clearance hole for attaching the backing plate to a portion of the sterile drape such that the threaded rod passes through the clearance hole and an area of ​​the sterile drape is sandwiched between the backing plate and the mounting surface of the interface block.

[0101] The method 700 also includes coupling the mounting hole of the end effector block with the threaded rod so that the threaded rod is disposed in the mounting hole (step 708). For example, the end effector block is placed against the interface block so that the mounting hole of the end effector block is aligned with the threaded rod of the interface block.

[0102] The method 700 also includes tightening the nut to the threaded rod such that the nut clamps the end effector block against the interface block in a tightened state (step 710). In some examples, after tightening the nut, a tool can be placed in a tool receiving aperture of the end effector block to perform a different operation (e.g., as part of a robotic surgical operation). If a subsequent operation requires a different end effector block and / or tool, the nut can be loosened from the threaded rod and the end effector block can be removed from the threaded rod and the interface block while the threaded rod remains attached to the interface block and the sterile drape remains in place. Subsequently, the mounting hole of the second end effector block can be coupled to the threaded rod such that the threaded rod is disposed within the mounting hole of the second end effector block, and the nut can be tightened to the threaded rod again such that the nut clamps the second end effector block against the interface block in a tightened state.

[0103] Embodiments of method 700 of the present disclosure include more or fewer steps than those described differently and / or one or more steps that are different than those described differently.

[0104] As mentioned above, the present disclosure encompasses Figure 7 A method comprising all steps identified in (and corresponding description of method 700), and including beyond Figure 7 The present disclosure also encompasses methods that include one or more steps from one method described herein and one or more steps from another method described herein. Any correlation described herein may be or include registration or any other correlation.

[0105] The foregoing is not intended to limit the present disclosure to one or more forms disclosed herein. In the aforementioned specific embodiments, for example, for the purpose of simplifying the present disclosure, the various features of the present disclosure are grouped together in one or more aspects, embodiments and / or configurations. The features of the aspects, embodiments and / or configurations of the present disclosure may be combined in alternative aspects, embodiments and / or configurations other than those discussed above. The method of the present disclosure should not be interpreted as reflecting the following intention: the claims require more features than the features explicitly stated in each claim. On the contrary, as reflected in the following claims, aspects of the present invention are less than all the features of a single aforementioned disclosed aspect, embodiment and / or configuration. Therefore, the following claims are hereby incorporated into this specific embodiment, wherein each claim exists independently as a separate preferred embodiment of the present disclosure.

[0106] In addition, although the foregoing has included descriptions of one or more aspects, embodiments and / or configurations and certain variations and modifications, other variations, combinations and modifications are within the scope of the present disclosure, for example, within the skill and knowledge of those skilled in the art after understanding the present disclosure. It is intended to obtain rights to include alternative aspects, embodiments and / or configurations, including alternative, interchangeable and / or equivalent structures, functions, scopes or steps of those claimed, regardless of whether such alternative, interchangeable and / or equivalent structures, functions, scopes or steps are disclosed herein, and it is not intended to be disclosed for any patentable subject matter.

Claims

1. A surgical system, comprising: a robotic arm comprising a proximal end and a distal end; An interface block, the interface block being disposed at the distal end, the interface block comprising: Mounting surface; a threaded rod extending a distance from the mounting surface; and a set of kinematic attachment features disposed about the threaded rod on the mounting surface; and An end effector block, the end effector block comprising: a set of kinematic connectors arranged to engage the set of kinematic attachment features of the interface block; and and a mounting hole extending through the end effector block, wherein the end effector block is movable between an attached state and a detached state, wherein in the attached state the set of motion connectors engage with the set of motion attachment features, the threaded rod is disposed in the mounting hole, and a nut is threadedly engaged with the threaded rod to clamp the end effector block against the interface block.

2. The surgical system of claim 1, wherein: In the disengaged state, the nut is removed and the end effector block is separated from the interface block such that the threaded rod remains attached to the interface block and is no longer disposed in the mounting hole.

3. The surgical system of claim 2, further comprising: a sterile drape covering the robotic arm, wherein the threaded rod pierces a controlled portion of the sterile drape; and A backing plate including a clearance hole arranged such that the threaded rod passes through the clearance hole and an area of ​​the sterile drape is disposed between the backing plate and the mounting surface, and wherein the end effector block is movable between the attached state and the detached state without removing the threaded rod from the interface block and without exposing the environment inside the sterile drape to the environment outside the sterile drape.

4. The surgical system of claim 3, wherein the controlled portion of the sterile drape is disposed within a periphery of the interface block.

5. The surgical system of claim 4, wherein the sterile drape further comprises: A gasket is attached to the sterile drape, the gasket surrounding the controlled portion of the sterile drape and an outer circumference of the threaded rod.

6. The surgical system of claim 5, wherein the gasket is formed in a flat annular shape, and wherein at least one flat surface of the gasket includes an adhesive layer.

7. A surgical system according to claim 6, wherein the gasket is attached to the sterile drape on a side of the sterile drape facing the mounting surface, and wherein the adhesive layer is configured to contact the mounting surface to seal the environment inside the sterile drape and around the gasket from the environment outside the sterile drape.

8. The surgical system of claim 6, wherein the backing plate is made of a flat metal plate material corresponding to at least one of aluminum, copper, titanium, cobalt chromium, and stainless steel.

9. The surgical system of claim 6, wherein the backing plate is made of a flat polymer sheet material.

10. The surgical system of claim 6, wherein the mounting holes comprise unthreaded clearance holes and countersunk holes.

11. A robot end effector mounting system, the robot end effector mounting system comprising: An interface block, the interface block comprising: Mounting surface; a threaded rod protruding from the mounting surface; and An end effector block, the end effector block comprising: main body; a tool receiving aperture; and a mounting hole extending through the body, wherein the end effector block is movable with the interface block between an attached state and a detached state, wherein, In the attached state, the threaded rod is disposed in the mounting hole and the nut is threadedly engaged with the threaded rod, thereby clamping the end effector block against the interface block, and wherein the end effector block is movable between the attached state and the detached state without removing the threaded rod from the interface block.

12. The robotic end effector mounting system of claim 11, wherein: In the disengaged state, the nut is removed and the end effector block is separated from the interface block such that the threaded rod remains attached to the interface block and is no longer disposed in the mounting hole.

13. The robotic end effector mounting system of claim 12, further comprising: a sterile drape covering the interface block, wherein the sterile drape is pierced by the threaded rod at a controlled portion; and and a backing plate including a clearance hole arranged such that the threaded rod passes through the clearance hole and an area of ​​the sterile drape is disposed between the backing plate and the mounting surface, and wherein the end effector block is movable between the attached state and the detached state without exposing an environment inside the sterile drape on a side of the sterile drape facing the mounting surface to an environment outside the sterile drape on a side of the sterile drape facing the end effector block.

14. The robotic end effector mounting system of claim 13, wherein the controlled portion of the sterile drape is disposed within an outer edge of the interface block.

15. The robotic end effector mounting system of claim 14, wherein the sterile drape further comprises: A gasket is attached to the sterile drape, wherein the gasket surrounds the controlled portion of the sterile drape and an outer circumference of the threaded rod, wherein the gasket is formed in a flat ring shape, and wherein at least one flat surface of the gasket includes an adhesive layer.

16. The robotic end effector mounting system of claim 15, wherein the washer is formed in a flat ring shape, and wherein at least one flat surface of the washer includes an adhesive layer.

17. A robotic end effector mounting system according to claim 16, wherein the gasket is attached to the sterile drape on a side of the sterile drape facing the mounting surface, and wherein the adhesive layer is configured to contact the mounting surface to seal the environment inside the sterile drape and around the gasket from the environment outside the sterile drape.

18. The robotic end effector mounting system of claim 16, wherein the backing plate is made of a flat sheet metal material corresponding to at least one of aluminum, copper, titanium, cobalt chrome, and stainless steel.

19. The robotic end effector mounting system of claim 16, wherein the backing plate is made of a flat polymer sheet material.

20. A robot end effector mounting system, the robot end effector mounting system comprising: An end effector block, the end effector block comprising: main body; a tool receiving aperture; and A mounting hole extending through the body, wherein the end effector block is movable with the interface block between an attached state and a detached state, wherein in the attached state a threaded rod is disposed in the mounting hole and a nut is threadedly engaged with the threaded rod to clamp the end effector block against the interface block, and wherein the end effector block is movable between the attached state and the detached state without removing the threaded rod from the interface block.

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