Active Robot System with User Controller

Abstract

A fully autonomous robotic system and method having user control, interface and configuration. The robotic system includes an articulated arm, a cutting tool defining a cutting edge that cuts while translated along a cutting path, an end effector coupled to an end arm segment of the articulated arm and the cutting tool and including a powered drive for translating the cutting tool along the cutting path, and an electronic controller. The robotic system is configured to autonomously adjust the relative orientation of the arm segments of the articulated arm while the cutting tool translates along the cutting path to autonomously spatially translate the cutting tool to cut material along at least one programmed cutting path. The controller includes a plurality of control inputs that can be selectively actuated by a user to control a metric of movement of the cutting tool along the at least one programmed cutting path.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application achieves and claims the benefit of priority to U.S. Provisional Application No. 63 / 302,270, entitled "Active Robotic Systems with User Controller," filed on January 24, 2022, the entirety of which is expressly incorporated by reference herein. [Technical field]

[0002] The following disclosure relates generally to improved surgical robotic and related systems, and more particularly to autonomous surgical robots and related methods that utilize an electronic controller to enable a user to control the robot's cutting tool along a determined cutting path without the user having to physically guide the cutting tool. [Background technology]

[0003] Powered cutting tools, such as oscillating cutting saws and rotary burrs, bits or other cutting tools, have been used in orthopaedic surgical procedures to reduce operating time and surgeon effort and to increase precision. Such powered cutting tools allow for faster and more accurate cutting of bone and other tissue during a surgical procedure, for example, as compared to entirely manual cutting tools.

[0004] Recently, surgical robots have become available that can control powered cutting tools used in orthopedic surgical procedures to improve bone cutting precision. Surgical robots are typically articulated and include a robotic arm that facilitates the overall movement of the cutting tool, such as along a cutting path.

[0005] The current state of the art in orthopedic robotics is haptic robots that rely on the user to provide the overall movement of the cutting tool along the cutting path (usually a drive mechanism that moves the cutting tool along the cutting path that it is designed to cut). Orthopedic robots are designed for user-initiated cutting, such that the robot itself does not actively or autonomously perform the cuts.

[0006] Thus, such haptic surgical robots are configured as manually guided instruments that power the cutting tool and, at best, assist the user in translating the cutting tool to (and through) the patient, but require the user to manually move and direct the cutting tool along its cutting path (i.e., the robot is not actively performing the cuts). For example, some such haptic surgical robots include handles and triggers that the user manually utilizes to move and direct an active cutting tool along its cutting path. As such, the user (e.g., the surgeon) must manually provide input to the robot by physically moving the robot.

[0007] It should be noted that some such tactile robotic cutting systems electronically or autonomously define cutting and non-cutting areas / zones and can actively prevent the user from translating the cutting tool into / through the non-cutting area (e.g., accidentally) to protect areas of the patient that should not be cut. However, such robotic systems do not actively or autonomously translate the cutting tool through the cutting area because the user must physically move the cutting tool along the cutting path within the cutting area.

[0008] As such, tactile robotic cutting systems require one or both hands of a user to manually physically guide the cutting tool (and drive mechanism) to and through the cutting path. In surgical applications, it is often necessary to surgically cut or resect bone, cartilage and / or other tissue of a patient (e.g., a mammalian patient), such as during a surgical procedure. A surgeon or technician often does not have both hands readily available during a surgical procedure, which presents a problem for tactile robotic cutting systems. Because tactile robotic cutting systems require the user to perform the cutting, they are relatively demanding on the user (e.g., a surgeon), limit the user's ability to perform other tasks (the user loses the use of at least one hand), and the robotic system often physically obstructs access to the patient. Furthermore, because current tactile robotic cutting systems require the user to physically define or control the cutting path, the location, quality, timing and pattern of cuts via the robotic system are dependent on the skill of the user.

[0009] Fully autonomous or active robotic systems and associated methods that autonomously follow a determined cutting path without a user physically engaging with and guiding the cutting tool or drive mechanism are desirable. For example, an autonomous or active orthopedic and / or surgical robotic system and associated methods that autonomously follow a determined cutting path would be advantageous to allow a user (e.g., a surgeon) to perform other tasks.

[0010] The present disclosure provides improved robotic systems and associated methods that autonomously / actively follow a determined cutting path without the user having to physically engage and guide the cutting tool (or drive mechanism), but include an intuitive user controller for a limited amount of control of the cutting parameters or process by the user. The improved autonomous / active robotic systems provide an optimized and efficient (potentially pre-planned) cutting path, allow the user to use both hands for other tasks, and provide the user with some level of control of the cutting parameters or process to ensure a safe, proper, and efficient cut, while freeing up workspace around the robotic system.

[0011] Although certain aspects of the prior art have been discussed to facilitate disclosure of Applicant's invention, Applicant does not in any way reject these technical aspects and it is believed that the present invention may incorporate one or more of the prior art technical aspects.

[0012] Where a document, act or item of knowledge is referenced or discussed in this disclosure, such reference or discussion is not an admission that that document, act or item of knowledge, or any combination thereof, was publicly available, known to the public, part of the common general knowledge, or constitutes prior art under any applicable legal provision, or is relevant to any attempt to solve any problem to which the present specification pertains. Summary of the Invention

[0013] The present invention may address one or more of the problems and shortcomings of current surgical robots, surgical robotic system components, and related surgical methods. However, it is believed that the present invention will prove useful in addressing other problems and shortcomings in several technical fields. Thus, the claimed invention should not necessarily be construed as limited to addressing any of the particular problems or shortcomings discussed herein.

[0014] The present disclosure generally relates to surgical robots, surgical robotic systems, and related surgical methods that include a controller that allows a user to electronically control parameters of a cutting tool's movement along a prescribed or determined cutting path. The present disclosure provides configurations and methods that facilitate user input to an active or autonomous robotic system to control parameters of a cutting tool's movement along a prescribed or determined cutting path. The surgical robotic systems and related surgical methods provide an electronic controller that provides intuitive user control of the active robot along the active robot's prescribed or determined cutting path.

[0015] In some embodiments, the surgical robotic system is configured such that the electronic controller provides selective advancement and / or retraction of the cutting tool along the prescribed or determined cutting path. In some embodiments, the surgical robotic system is configured such that the electronic controller selectively accelerates and / or decelerates the speed of the cutting tool along the prescribed or determined cutting path. The surgical robotic system is thereby configured such that the user has limited control over the parameters of the movement of the cutting tool along the prescribed or determined cutting path to ensure that the cutting tool properly cuts the material (e.g., bone) according to the prescribed or determined cutting path. For example, it may be desirable and / or advantageous to advance and retract the cutting tool along the programmed cutting path and / or accelerate or decelerate the speed of movement of the cutting tool along the programmed cutting path at critical moments, such as upon initial contact with the cutting surface, to ensure, facilitate, or promote engagement of the cutting tool with the workpiece without deflection to initiate a cut along the intended programmed cutting path.

[0016] In some embodiments, the electronic controller of the surgical robotic system of the present disclosure is configured as a hands-free device so as to be adapted to be utilized via a user's foot. In some other embodiments, the electronic controller of the surgical robotic system of the present disclosure is a handheld device so as to be adapted to be utilized via one hand of a user. The electronic controller of the surgical robotic system is configured to obtain input from a user to command the robot along a determined, prescribed, or programmed cutting path of the cutting tool. The electronic controller can feature tactile control inputs that the user can physically engage or activate to correspondingly control parameters of the movement of the cutting tool along a currently executed determined, prescribed, or programmed cutting path of the cutting tool. In some embodiments, the tactile control inputs may comprise electrical switches that can provide tactile or physical feedback / movement. In some such embodiments, the electrical switches are configured as depressible buttons, rocker switches, foot pedals, or combinations thereof.

[0017] It should be noted that the cutting tool may be any cutting tool, such as, but not limited to, a surgical cutting tool configured to cut or resect tissue. In one exemplary embodiment, the cutting tool is an oscillating cutting blade or saw (e.g., a sagittal surgical saw blade). In another exemplary embodiment, the cutting tool is a rotary cutting tool, bit, or blade. Similarly, the end effector may be any instrument configured to move (e.g., reciprocate or rotate) the cutting tool along a cutting direction or path, such as a powered sagittal saw end effector or a powered rotary end effector, configured to cut when the cutting edge moves along the cutting direction or path. The end effector may be coupled between a distal arm segment of an articulated robotic arm of a robot and the cutting tool, and thereby translated on the same path as the cutting tool. While the end effector can translate the cutting tool along its cutting path, the articulated arm can provide an overall movement of the cutting tool (at least partially) up to and through the material along a prescribed cutting path to cut the material.

[0018] In one aspect, the disclosure provides a robotic system comprising: an articulated arm with a plurality of arm segments defining a longitudinal axis; an adjustable joint coupled between adjacent arm segments configured to adjust an orientation of the axis of the adjacent arm segments; a cutting tool defining a cutting edge configured to cut while translating along a cutting path; an end effector coupled to an end arm segment of the plurality of arm segments and the cutting tool, the end effector comprising a powered drive to translate the cutting tool along the cutting path; and an electronic controller. The robotic system is configured to autonomously adjust the relative orientation of the arm segments of the articulated arm while the cutting tool translates along the cutting path to autonomously spatially translate the cutting tool to cut material along at least one programmed cutting path. The controller includes a plurality of control inputs that can be selectively actuated by a user to control movement of the cutting tool while executing the at least one programmed cutting path.

[0019] In some embodiments, the plurality of control inputs includes a first control input configured, when selectively actuated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cut path being executed by the robotic system, In some embodiments, the plurality of control inputs includes a second control input configured, when selectively actuated by a user, to instruct the robotic system to retreat the cutting tool along a current programmed cut path last executed by the robotic system.

[0020] In some embodiments, the plurality of control inputs includes a third control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along the current programmed cut path running at a faster speed compared to the current programmed speed. In some embodiments, the plurality of control inputs includes a fourth control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along the current programmed cut path running at a slower speed compared to the current programmed speed.

[0021] In some embodiments, the plurality of control inputs includes a fifth control input configured, when selectively actuated by a user, to stop the end effector from translating the cutting tool along the cutting path. In some embodiments, the plurality of control inputs includes a sixth control input configured, when selectively actuated by a user, to register a current point of the cutting tool along the cutting path being executed by the robotic system.

[0022] In some embodiments, the plurality of control inputs comprises a plurality of electrical switches.In some embodiments, the robotic system is operated by a computer system.

[0023] In some embodiments, the controller is configured as a foot controller such that a plurality of control inputs are configured to be selectively actuated by a user's foot. In some embodiments, the foot controller comprises a foot pedal configured to be selectively engaged by an underside of a user's foot and a housing disposed adjacent at least one side of the foot pedal, the foot pedal configured to allow a user to articulate the foot pedal between a first front foot position with a front foot portion of the foot pedal depressed and a second rear foot position with a rear foot portion of the foot pedal depressed. In some embodiments, the first front foot position of the foot pedal actuates a first control input configured, when selectively actuated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cutting path being executed by the robotic system.

[0024] In some embodiments, the second rear foot position of the foot pedal actuates a second control input configured to instruct the robotic system to retract the cutting tool along a current programmed cutting path that the robotic system has previously executed when selectively actuated by a user. In some embodiments, the housing includes a plurality of control inputs configured to be selectively engaged by a user's foot. In some embodiments, the housing includes a third control input configured to instruct the robotic system to translate the cutting tool along a current programmed cutting path that the robotic system is executing at an increased speed compared to the current programmed speed when selectively actuated by a user. In some embodiments, the housing includes a fourth control input configured to instruct the robotic system to translate the cutting tool along a current programmed cutting path that the robotic system is executing at a reduced speed compared to the current programmed speed when selectively actuated by a user. In some embodiments, the third and fourth control inputs are located on opposite sides of the foot pedal. In some embodiments, the housing includes a fifth control input configured to instruct the robotic system to stop the end effector from translating the cutting tool along the cutting path when selectively actuated by a user. In some embodiments, the foot pedal is configured to be selectively rotated along an inward / outward direction by a user's foot, and the inward / outward rotation of the foot pedal is configured to activate a sixth control input configured, when selectively actuated by the user, to register a current point of the cutting tool along a cutting path being performed by the robotic system.

[0025] In some embodiments, the controller is configured as a handheld controller such that the control inputs are configured to be selectively actuated by one or more fingers of a user's hand. In some embodiments, the handheld controller comprises a grip portion configured to be grasped by a palm of a user's hand and another finger of the user's hand, and a head portion including the control inputs on an upper side thereof.

[0026] In some embodiments, the plurality of control inputs on the head portion include at least one of: a first control input configured, when selectively activated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cut path being performed by the robotic system; a second control input configured, when selectively activated by a user, to instruct the robotic system to retreat the cutting tool along a current programmed cut path last performed by the robotic system; a third control input configured, when selectively activated by a user, to instruct the robotic system to translate the cutting tool along the current programmed cut path being performed by the robotic system at a faster speed compared to the current programmed speed; a fourth control input configured, when selectively activated by a user, to instruct the robotic system to translate the cutting tool along the current programmed cut path being performed by the robotic system at a slower speed compared to the current programmed speed; and a fifth control input configured, when selectively activated by a user, to register a current point of the cutting tool along the cut path being performed by the robotic system.

[0027] In some embodiments, the cutting tool is a rotary cutting tool configured to cut when translated longitudinally and rotated about its axial longitudinal axis. In some embodiments, the cutting tool is a sagittal cutting blade with cutting teeth disposed at its longitudinal end, the sagittal cutting blade configured to cut when translated longitudinally and the blade oscillates along a cutting path that is in a plane aligned about the oscillation axis. In some embodiments, the cutting tool is configured to cut bone, and the at least one programmed cutting path extends through a first bone of the patient such that the cutting tool cuts the first bone when executing the at least one programmed cutting path.

[0028] In another aspect, the present disclosure provides a method of cutting a material, the method including utilizing a robotic system as described above to translate a cutting tool along a cutting path and at least one programmed cutting path to cut the material.

[0029] In some embodiments, the material comprises bone of a mammalian patient and the cutting tool comprises a rotary cutting tool or a sagittal cutting blade.

[0030] It is to be understood that all combinations of the foregoing aspects and the additional concepts described in more detail below (unless such concepts are mutually inconsistent) are considered to be part of the subject matter of the present invention and to achieve the advantages disclosed herein.

[0031] These and other objects, features and advantages of the present disclosure will become apparent from the following detailed description of the various aspects of the disclosure, taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0032] These and other features, aspects, and advantages of the present disclosure will be better understood from the following detailed description taken in conjunction with the accompanying drawings, which are not necessarily drawn to scale, and in which like reference numerals represent like aspects throughout the drawings.

[0033] [Figure 1] 1 illustrates a robotic system having a rotary cutting tool in one example, in accordance with one or more aspects of the present disclosure. [Diagram 2] 1 illustrates a robotic system having an oscillating cutting blade in another example, in accordance with one or more aspects of the present disclosure. [Diagram 3] FIG. 3 illustrates an elevated perspective view of an end arm segment, an end effector, and an oscillating cutting blade of the robotic system of FIG. 2 in one example, according to one or more aspects of the present disclosure. [Figure 4] 1 illustrates an elevated perspective view of a series of determined cutting paths of a cutting tool of a surgical robotic system extending along / through a bone in one example, in accordance with one or more aspects of the present disclosure. [Diagram 5] FIG. 1 illustrates an elevated perspective view of a foot-actuated controller of an active robotic system in one example, in accordance with one or more aspects of the present disclosure. [Figure 6] FIG. 5 illustrates another elevated perspective view of a foot-actuated controller of the active robotic system of FIG. 4 in one example, according to one or more aspects of the present disclosure. [Figure 7] FIG. 5 illustrates a top view of a foot-actuated controller of the active robotic system of FIG. 4 in one example, in accordance with one or more aspects of the present disclosure. [Figure 8] FIG. 1 illustrates an elevated perspective view of a hand-actuated controller for an active robotic system in an example, in accordance with one or more aspects of the present disclosure. [Figure 9] FIG. 3 illustrates an elevated perspective view of the robotic system of FIG. 2 in accordance with one or more aspects of the present disclosure. [Figure 10] FIG. 3 illustrates a side view of a workspace with a patient workpiece and the robotic system of FIG. 2 with a vertically oriented angled articulated arm, in accordance with one or more embodiments of the present disclosure. [Figure 11] FIG. 1 illustrates an elevated perspective view of a robotic system having an autonomous / active surgical cutting robot mounted on a cart and a separate navigation or guidance cart, in accordance with one or more embodiments of the present disclosure. [Figure 12] FIG. 12 illustrates an elevated perspective view of the robotic system of FIG. 11 performing a cutting operation on a patient / workpiece in accordance with one or more aspects of the present disclosure. [Figure 13] FIG. 12 illustrates another elevated perspective view of the robotic system of FIG. 11 performing a cutting operation on a patient / workpiece in accordance with one or more aspects of the present disclosure. [Figure 14] FIG. 12 illustrates another elevated perspective view of the robotic system of FIG. 11 performing a cutting operation on a patient / workpiece in accordance with one or more aspects of the present disclosure. [Figure 15] 12 illustrates a top view of the robotic system of FIG. 11 performing a cutting operation on a patient / workpiece in accordance with one or more aspects of the present disclosure. [Figure 16]FIG. 12 illustrates a side view of the robotic system of FIG. 11 performing a cutting operation on a patient / workpiece in accordance with one or more aspects of the present disclosure. [Figure 17] 1 illustrates a graphical representation of a computer system and associated devices for incorporating and / or using aspects described herein, in one example, according to one or more aspects of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] Aspects of the present disclosure as well as specific examples, features, advantages, and details thereof are described more fully below with reference to non-limiting examples shown in the accompanying drawings. Descriptions of well-known materials, manufacturing tools, processing techniques, and the like are omitted so as not to unnecessarily obscure the relevant details. It should be understood, however, that the detailed description and specific examples, while illustrating aspects of the present disclosure, are given by way of illustration only and not by way of limitation. Various substitutions, modifications, additions, and / or arrangements within the spirit and / or scope of the underlying inventive concept will be apparent to those skilled in the art from this disclosure.

[0035] Approximate language used herein throughout this disclosure may be applied to modify any quantitative expression that may be permissibly varied without resulting in a change in the relevant basic function. Thus, values ​​modified with terms such as "about" or "substantially" are not limited to the exact value specified. For example, these terms may refer to ±5% or less, such as ±2% or less, such as ±1% or less, such as ±0.5% or less, such as ±0.2% or less, such as ±0.1% or less, such as ±0.05% or less. In some cases, approximate language may correspond to the precision of the instrument for measuring the value. Any examples of operating or configuration parameters are not exclusive of other parameters of the disclosed embodiments.

[0036] The terms used herein are for the purpose of describing particular examples only and are not intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include the plural unless otherwise stated. Furthermore, reference to "one example" is not intended to be interpreted as excluding the existence of additional examples that also incorporate the recited features. Furthermore, unless expressly stated to the contrary, the terms "comprising" (any form of "comprise" such as "comprises" and "comprising"), "have" (any form of "have" such as "has" and "having"), "include" (any form of "include" such as "includes" and "including"), and "contain" (any form of "contain" such as "contains" and "containing") are used as open-ended linking verbs. As a result, any example of "comprises," "has," "includes," or "contains" one or more steps or elements includes such one or more steps or elements, but is not limited to having only such one or more steps or elements.

[0037] As used herein, the terms "may" and "may be" modify another verb by expressing one or more of the following: the possibility of occurring within a set of circumstances; the possession of a specified property, characteristic, or function; and / or the ability, function, or possibility associated with the modified verb. Thus, the use of "may" and "may be" indicates that the modified term is clearly appropriate, possible, or appropriate for the indicated ability, function, or use, but contemplates that in some circumstances the modified term may not be appropriate, possible, or appropriate. For example, this distinction between where in some circumstances an event or capability can be expected, but where in other circumstances the event or capability cannot be made to occur, is captured by the terms "may" and "may be."

[0038] The term "coupled" and similar terms are used herein to refer to both direct and indirect connections. As used herein, unless otherwise specified, the term "throughout" (and any other form of "throughout") means at least a substantial portion, such as at least 95% or at least 99%. Thus, as used herein, the term "throughout" (and any other form of "throughout") is not limited to 100% unless otherwise specified. As used herein, the term "layer" refers to

[0039] The components, aspects, features, configurations, arrangements, uses, etc. described, illustrated, or otherwise disclosed herein with respect to any particular embodiment may be equally applied to any other embodiment disclosed herein.

[0040] As described further below, surgical robots, surgical robotic systems and related surgical methods are disclosed that include a controller that allows a user to electronically control parameters of the movement of a cutting tool along a prescribed or determined cutting path. The surgical robotic systems and methods provide user input to an active or autonomous robotic system to control parameters of the movement of a cutting tool along a prescribed or determined cutting path. The surgical robotic systems and related surgical methods include an electronic controller that provides intuitive user control of the active robot along the active robot's prescribed or determined cutting path.

[0041] In some embodiments, the surgical robotic system is configured such that the electronic controller provides selective advancement and / or retraction of the cutting tool along a prescribed or determined cutting path. In some embodiments, the surgical robotic system is configured such that the electronic controller provides selective speed adjustments (e.g., faster and / or slower) of the cutting tool along a prescribed or determined cutting path.

[0042] The surgical robotic system provides the user with limited selective control over the parameters of the movement of the cutting tool along a prescribed or determined cutting path, rather than the configuration of the cutting path itself, to ensure that the cutting tool properly cuts the material (e.g., bone) according to the prescribed or determined cutting path. For example, the controller may be configured to provide user control over selective advancement and retraction of the cutting tool along the programmed cutting path, and / or to adjust (e.g., increase and / or decrease) the speed of movement of the cutting tool along the programmed cutting path. Selective user control over the movement parameters of the cutting tool when performing a cut along the programmed cutting path may be particularly beneficial at critical moments of the cutting operation. For example, such selective user control over the movement parameters of the cutting tool may be advantageous at the initial contact of the cutting tool with the cutting surface to ensure, facilitate, or promote engagement of the cutting tool with the workpiece to properly initiate the cut along the intended programmed cutting path.

[0043] In some embodiments, the electronic controller of the surgical robotic system is configured as a hands-free device configured to be utilized via a user's foot, hi some other embodiments, the electronic controller of the surgical robotic system of the present disclosure is a handheld device configured to be utilized via one of the user's hands.

[0044] The electronic controller of the surgical robotic system is configured to allow a user to provide or input input from the user that instructs the robot to change parameters of the movement of the cutting tool along the determined, defined, or programmed cutting path. The electronic controller can feature tactile control inputs that the user can physically engage or activate to correspondingly control parameters of the movement of the cutting tool along the determined, defined, or programmed cutting path currently being performed by the robotic system. In some embodiments, the tactile control inputs may comprise electrical switches that can provide tactile or physical feedback / movement. In some such embodiments, the electrical switches are configured as depressible buttons, rocker switches, foot pedals, or combinations thereof.

[0045] As shown in Figures 1 and 2, a robot or robotic system 1A, 1B according to the present disclosure may include, among other things, an articulated robotic arm 12, an end effector 14, and a cutting tool or device 16. As shown in Figures 1 and 2, the robotic system 1A, 1B may be configured as a surgical robot. For example, the surgical robot 1A, 1B may be biocompatible and configured to be sterilized to the extent required in a surgical environment. However, in other embodiments, the robot 1A, 1B may be configured as an industrial or other non-surgical robotic device or system. The term "surgical robot" as used herein with respect to exemplary robot / robotic system embodiments is not meant to be limiting, and any and all descriptions herein of "surgical robot" and the like apply to robots / robotic systems in general or industrial or other non-surgical robots / robotic systems as well.

[0046] The robotic system 1A, 1B may be operatively connected to a computer system (e.g., memory, processor, etc.) that controls the movement of the cutting tool 16 along one or more determined, defined, or programmed cutting paths, e.g., via the movement of the articulated arm 12 and possibly the operation of the end effector 14, as shown in FIG. 17. For example, in some embodiments, the robotic system 1A, 1B may include a control unit having programming, and potentially a user interface (UI) 22a, as shown in FIG. 2. The control unit may include at least one processing circuit, at least one input / output device, and at least one storage device or memory in which at least one database or cutting instructions are stored. The control unit may have a control algorithm or programming code for controlling the position of the cutting tool 16 (e.g., via the joint angle between the segments of the articulated arm 12). The control algorithm or programming code may be a default control algorithm or may include input, e.g., from the UI and / or another interface.

[0047] As shown in Figures 1 and 2, the articulating arm 12 may extend from a base 19 and may include a number of rigid arm or body segments / parts 18A, 18B, ... 18N and a number of joints connecting adjacent segments (and a first or base segment to the base). The number of joints may include, for example, four, five, or six individual segments coupled to each other via three, four, or five joints, respectively. In some other embodiments, the articulating arm 12 may include at least two segments and at least one joint coupling at least two segments to each other, or more than six segments and more than five joints coupling the segments to each other.

[0048] Each arm segment of the articulating arm 12 can define an axial axis extending along its longitudinal length. The joints may be configured to allow the arm segments to rotate about their axes and / or angularly articulate relative to one another such that the axes of adjacent segments are angularly offset. In some embodiments, one or more of the joints may be configured to allow multiple degrees of freedom between adjacent arm segments (and potentially the base segment and the base). In some such embodiments, at least one of the joints may be configured to provide six degrees of freedom.

[0049] The articulated arm 12 may further comprise motors, actuators or other adjustment devices configured to adjust the axial rotation and / or angular orientation between adjacent segments. In this manner, the robotic system 1A, 1B may control the configuration of the articulated arm 12 to translate the cutting tool 16 three-dimensionally in space relative to a workpiece (e.g., a patient) to ultimately cut one or more portions of the workpiece. As described above, the robotic system 1A, 1B may include control software that, among other things, directs or commands the articulated arm 12 of the robotic system 1A, 1B to adjust in a particular manner (i.e., joint adjustments) to achieve a determined, defined, or programmed cut path movement of the cutting tool 16. Stated differently, the robotic system 1A, 1B may include control software that, among other things, directs or commands the articulated arm 12 of the robotic system 1A, 1B to adjust in a particular manner (i.e., adjustment of joints) to translate the cutting tool 16 in three-dimensional space along one or more (e.g., a series of multiple) determined, prescribed, or programmed cutting paths of the cutting tool 16 to cut the workpiece along or in accordance with the determined, prescribed, or programmed cutting paths. Thus, the path of the cutting tool 16 may be pre-determined, pre-defined, or pre-programmed in the robotic system 1A, 1B, such that the user does not direct the cutting path of the cutting tool 16 along which the cutting tool 16 moves to cut the workpiece. As will be further described below, the user may control the parameters or metrics of the movement of the cutting tool 16 along the cutting path via the controller, but not the configuration or three-dimensional parameters of the cutting path itself.

[0050] The base 19 of the surgical robotic system 1A, 1B may be fixed, for example, to a movable cart 20a shown in FIG. 2, or to the ground or a base structure as shown in FIG. 1, such that the base may provide a fixed frame of reference for defining the position, orientation, and movement of the multiple joints and multiple arm segments 18A, 18B, ... 18N relative to the base 19. The base 19, or base structure or cart 20, may be used to define a frame of reference, such as, for example, a set of three-dimensional axes (e.g., x, y, z) that may be used to define the position, orientation, and movement of the surgical robotic system 1A, 1B and objects relative to the surgical robotic system 1A, 1B. For example, as shown in FIG. 1, the robotic system 1A, 1B may include an array 24 of reference points of known relative position and orientation that a camera or other detection system of the robotic system 1A, 1B may utilize to determine the position and / or orientation of the robotic system 1A, 1B, such as the base 19 and / or its first arm segment (e.g., arm segment 18E). It should be noted that the camera or other detection system of the robotic system 1A, 1B can also determine the position and / or orientation of the cutting tool 16 (e.g., its tip) directly / independently and / or based on the position and / or orientation and configuration of the arm 12. The reference frame defined relative to the base 19 is also known as the world frame, base, base frame, frame, or tool frame. It should be noted that with the position and orientation of the object defined or calculated relative to a fixed reference frame, the object may also be defined in the same reference frame as the robotic system 1A, 1B and the surgical robotic system 1A, 1B may calculate the position and orientation of the object. Thus, the surgical robotic system 1A, 1B can programmably interact with the defined object, position, and / or orientation.

[0051] As shown in Figures 1 and 2, the robot system 1A, 1B may include an end effector 14 coupled (e.g., rotatably coupled) to an end, rearmost, or terminal arm segment 18 of the articulated arm 12, such as via a rotatable connector assembly therebetween. The rotatable connector assembly 19 may be configured such that the end effector 14 is rotatable about a longitudinal axis of the end arm segment 18. As shown in Figures 1-3, the end effector 14 may be configured such that the axis of the end arm segment 18 and an axis XX of the cutting tool 16 along which the cutting direction of the cutting tool 16 extends are inclined relative to one another. In the illustrated exemplary embodiment, the axis XX of the cutting tool 16 (i.e., the direction in which the cutting tool 16 is configured to cut) and the axis of the end arm segment 18 are oriented perpendicular to one another.

[0052] 1 and 2, the position, orientation, and movement of the joints and arm segments relative to the base can be defined, and the angular orientation of the end effector 14 relative to the end arm segment 18 of the articulated arm 12 can be defined, so that the position and orientation of the cutting tool 16 extending from the end effector 14 can be calculated or determined by the robotic system 10, or vice versa. In another embodiment, the reference array 24 can be utilized to determine / detect the position and / or orientation of the system 1A, 1B (e.g., the base 19) via a camera or other detection system, and / or the position and orientation of the cutting tool 16 (e.g., the cutting portion or tip thereof) via a camera or other detection system. While the exemplary cutting tool 16 is configured to cut bone or other tissue, it is understood that the cutting tool 16 may be interchangeable with a different cutting tool or a non-cutting instrument that can function, for example, as a marking device or an observation device.

[0053] As shown in FIGS. 1-3, the cutting tool 16 of the exemplary robotic system 1A, 1B may include a mounting, tang, or hub portion at a proximal end portion that mates with a mounting mechanism 40 of the end effector 14. For example, the end effector 14 may include a chuck or other mounting mechanism 40 configured to mate with the mounting portion of the cutting tool 16 and removably secure the cutting tool 16 and the end effector 14 together. This allows the end effector 14 to physically translate or move the cutting tool 17 along a cutting path 17 that the cutting tool 16 is configured to cut along. An axis XX of the cutting tool 16 may extend through the mounting mechanism 40 and the end effector 14, and the cutting blade 16 (and the end effector 14) may extend longitudinally along the axis XX.

[0054] 1, in some embodiments, the exemplary robotic system 1A includes a cutting tool 16 configured as an axially extending rotary cutting tool. The cutting tool 16 of the exemplary robotic system 1A is configured to cut along a cutting path 17 extending about a longitudinal axis XX of the cutting tool 16 (i.e., the cutting tool 16 is configured to rotate about its axis XX and cut as it translates axially / longitudinal through the workpiece). Thus, the end effector 14 can be configured to provide such rotation or torque to the cutting tool 16 to rotate along the cutting path 17.

[0055] As shown in FIGS. 2 and 3, in some other embodiments, the exemplary robotic system 1B includes a cutting tool 16 configured as a cutting blade. For example, as shown in FIGS. 2 and 3, the cutting tool 16 of the exemplary robotic system 1B may be a saw blade having a thin, flat, elongated shape with a cutting edge at the distal tip or end of the blade body portion. The thin, flat design can minimize the size of the blade kerf and enable the blade to make precise, straight cuts. The cutting edge may be oriented along a direction that is generally perpendicular to the direction of elongation of the blade and includes multiple teeth and / or abrasives. Thus, as the blade 16 translates along the cutting path 17, the cutting edge can translate axially / longitudinally relative to and through the workpiece (e.g., bone or other tissue requiring resection) as it translates along the cutting path or direction 17.

[0056] The cutting blade 16 (e.g., at least its cutting edge) of the exemplary robotic system 1B may be configured to cut as it moves / translates in a cutting path 17, such as reciprocating (along a forward and / or backward stroke), along a linear direction (collinear with the cutting edge), along a plane (e.g., in two dimensions), or in a three-dimensional pattern. The exemplary exemplary cutting blade 16 is configured to pivot or oscillate back and forth in a cutting path 17 that extends along a plane in which the cutting blade 16 is oriented and that is perpendicular to the direction of extension of the blade. The cutting blade 16 of the exemplary robotic system 1B can be designed such that the cutting direction or path 17 oscillates linearly, laterally, or in an arc that extends along the plane of the blade 16. This allows the blade 16 to be configured as a sagittal saw blade.

[0057] 3, in some embodiments, the end effector 14 of the robot system 1B may be configured to oscillate (i.e., translate back and forth) a cutting tool 16 configured as a cutting blade along an oscillating cutting direction or path 17. As described above, the cutting tool 16 may be configured as a sagittal cutting blade, and the oscillating cutting path 17 may extend along a plane defined by the blade. When the cutting tool is configured as a sagittal saw blade, the blade performs a cutting action by translating (e.g., at least partially via the articulated arm 12) in a cutting path (i.e., longitudinal / axial) extending along the longitudinal axis XX, in a direction extending from a joint portion to a tip portion, as the blade (and its cutting teeth) are oscillated along the oscillating cutting path 17 (i.e., in a cutting stroke). Due to the movement along the vibrating cutting path 17 applied by the end effector 14 and the forward pressure applied by the robotic system 1B (e.g., at least in part via the articulated arm 12) along the cutting path, the teeth of the cutting blade 16 cut and separate material of the workpiece (e.g., tissue such as bone tissue).

[0058] As shown in FIG. 2, in some embodiments, the base portion 19 coupled to the first segment 18E of the articulated arm 12 may be coupled or attached to a mobile cart 20. The cart 20 may thereby provide a mobile base for the robotic system 1B to make it a compact, transportable or mobile cutting robot structure, as shown in FIG. 2. The cart 20 may also include a screen or graphical user interface 22 that allows a user to view and / or visualize the operation of the robotic system 1B. For example, the robotic system 1B may be configured to display the status of the operation of the cutting tool 16 (e.g., via the operation of the end effector 14), the position and / or orientation of the cutting tool 16 (potentially relative to a patient or other workpiece), and / or the status of one or more cutting paths or cutting operations. The screen or graphical user interface 22 may also allow a user to manipulate the robotic system 1B (e.g., to change a metric or characteristic of the operation of the robotic system 1B). In some embodiments, as shown in FIG. 2, the base 19 of the articulating arm 12, and thus at least the base of the articulating arm 12, may be located at one end or side of the cart 22, and the screen may be located at the opposing end or side of the cart 22. As described further below, the base portion 19 may be angled with respect to the vertical such that the articulating arm 12 is biased away from the respective side or end of the cart 22, and away from the user at the end or side of the cart 20 with the screen or graphical user interface 22. In some embodiments, as shown in FIG. 2, the robotic system 1B also includes one or more controllers 50, 150 configured to operate the robotic system 1B, which may be connected, for example, wired or wirelessly, to the cart 20.

[0059] 3, the robotic system 1B can include a connector assembly 15 that couples the end effector 14 to a rotatable joint at the end of the terminal or final arm segment 18A. In some embodiments, the connector assembly 15 is configured to allow a user to manually selectively couple and uncouple the end effector 14 to the arm 12. In some such embodiments, the connector assembly 15 can be configured as a quick connector. In one exemplary embodiment, the connector assembly 15 comprises male and female connector portions or components that releasably couple to one another to selectively secure the ends of the terminal or final arm segment 18A and couple them to one another.

[0060] The connector assembly 15 may include one or more connectors or connector portions. For example, in some embodiments, the connector assembly may include an intermediate flange portion that mates with a side of the end effector 14 and a fitting at the end of the end or final arm segment 18A to couple them together, as shown in FIG. 3. In some such embodiments, a first side of the flange portion may include a first connector, and a side of the end effector 14 may include a second connector that mates with the first connector to removably fixedly couple the flange portion and the end effector 14 to one another. In some such embodiments, the second side of the flange portion may include a third connector, and a fitting at the end of the end or final arm segment 18A may include a fourth connector that mates with the third connector to removably fixedly couple the flange portion and the final arm segment 18A to one another. In some such embodiments, the first and fourth connectors may be configured as male connectors, and the second and third connectors may be configured as female connectors.

[0061] As shown in Figures 3 and 16, in some embodiments, the robotic system 1B can include a surgical drape or curtain 25 coupled to a flange portion of the connector assembly 15 between the end effector 14 and the end segment 18A of the articulating arm 12. The surgical drape or curtain 25 (and flange portion) can extend completely around the connector assembly 15 or can be otherwise configured to form a sterile barrier. When the surgical drape or curtain 25 is placed between the arm 12 (and the remainder of the robotic system 1B) and the end effector 14, the surgical drape or curtain 25 can be effective to create a sterile barrier or seal between the end effector 14 (and attachment mechanism 40 and cutting tool 16 attached thereto) and the patient 75 and other parts of the robotic system 1B, as shown in Figure 16. In this manner, the end effector 14, attachment mechanism 40 and / or cutting tool 16 can be changed or adjusted within a sterile field adjacent to the patient without having to remove or otherwise destroy the sterile barrier.

[0062] 4, the robotic system 1A, 1B can include a plurality of determined, prescribed, or programmed cutting paths 32 for the cutting tool 16 to effect cutting of the workpiece 30 along or in accordance with the determined, prescribed, or programmed cutting paths 32. The robotic system 1A, 1B can include control software that, among other things, directs or commands the articulated arm 12 of the robotic system 1A, 1B to adjust in a particular manner (i.e., joint adjustments) to translate the cutting tool 16 in three-dimensional space along the determined, prescribed, or programmed cutting paths 32 for the cutting tool 16 to cut the workpiece 30 along or in accordance with the determined, prescribed, or programmed cutting paths 32. It should be noted that while the robotic system 1A, 1B translates the cutting tool 16 along a determined, defined or programmed cutting path 17, the end effector 14 translates the cutting tool 16 (at least in part via an articulated arm) along its cutting path 32 (this is not determined or achieved by a user, but rather is determined and / or performed fully autonomously by the active robotic system 1A, 1B).

[0063] Thus, the cutting path 32 of the cutting tool 16 may be predetermined, predefined, or preprogrammed in / via the robotic system 1A, 1B, such that the user does not dictate the cutting path 32 of the cutting tool 16 along which the cutting tool 16 moves to cut the workpiece 30. As will be explained further below, the user may control parameters or metrics of the cutting tool 16 as it moves along the cutting path 32 via the controller, but no control is provided over the configuration or three-dimensional parameters of the cutting path 32 itself (i.e., the user does not determine or control the portion of the workpiece (i.e., bone) that is removed / cut (i.e., the cutting path itself). Thus, it should be noted that the cutting path 32 may include an entry location where the cutting tool 16 first begins cutting the workpiece 30 and enters the workpiece 30, as well as a three-dimensional spatial path extending from the entry location through the workpiece 30, and may represent the removed or cut portion of the workpiece 30.

[0064] 4, in some embodiments, the cutting path 32 includes a spatial path into and out of the (bone) workpiece 30. The cutting path 32 can thereby be configured to resect or cut the bone workpiece 30 according to the requirements of the surgical procedure. In one example, the cutting path 32 is configured to resect or cut a distal or proximal end portion of the bone workpiece 30 for cooperation between an implant and stationary bone 30, such as for a total knee arthroplasty (TKA) involving resecting and replacing the articular surfaces of the tibia and / or femur (e.g., the femoral condyles and tibial plateau).

[0065] In some embodiments, the robotic system 1A, 1B and associated methods include an electronic controller including a plurality of control inputs that a user can selectively activate to control the movement of the cutting tool 16 while the robotic system 1A, 1B is executing one of the determined, defined, or programmed cutting paths 32. In some embodiments, the plurality of control inputs comprises a plurality of manually engageable, activatable, or actuable electrical switches, sensors, or the like configured to transmit electronic signals or otherwise communicate with the robotic system 1A, 1B to provide actions or instructions to the robotic system 1A, 1B that change or affect current cutting parameters of the robotic system 1A, 1B. For example, the plurality of control inputs can include buttons, paddles, triggers, directional pads, thumbsticks, or the like, and associated electrical circuits and components.

[0066] In some such embodiments, the plurality of control inputs includes at least one first control input that, when selectively actuated by a user, instructs the robotic system 1A, 1B to advance the cutting tool 16 along a current programmed cut path 32 being executed by the robotic system 1A, 1B. In some such embodiments, the plurality of control inputs includes at least one second control input that, when selectively actuated by a user, instructs the robotic system 1A, 1B to retreat the cutting tool 16 along a current programmed cut path 32 that was last executed by the robotic system 1A, 1B. In some embodiments, the plurality of control inputs includes at least one third control input that, when selectively actuated by a user, is configured to instruct the robotic system 1A, 1B to translate the cutting tool 16 along a current programmed cut path 32 that the robotic system 1A, 1B is executing at a faster speed compared to the currently programmed (and achieved) speed. In some embodiments, the plurality of control inputs includes at least one fourth control input configured, when selectively actuated by a user, to instruct the robotic system 1A, 1B to translate the cutting tool 16 along its current programmed cutting path 32 that the robotic system 1A, 1B is executing at a slower speed compared to the current programmed (and achieved) speed. In some embodiments, the plurality of control inputs includes at least one fifth control input configured, when selectively actuated by a user, to instruct the robotic system 1A, 1B to stop translating the cutting tool 16 along its cutting path 17. For example, the at least one fifth control input may stop or otherwise stop powering the end effector 14 or translating the cutting tool 16 along its cutting path 17. In some embodiments, the plurality of control inputs includes at least one sixth control input configured, when selectively actuated by a user, to instruct the robotic system 1A, 1B to register a current point or position of the cutting tool 16 along the cutting path 32 that the robotic system 1A, 1B is currently executing.

[0067] As shown in FIGS. 5-7, in some exemplary embodiments, the robotic systems 1A, 1B and related methods may include or use an exemplary controller 50 configured as a foot-operated controller such that a plurality of control inputs thereof are configured to be selectively actuated by a user's foot. In some such embodiments, the foot controller 50 may include a foot pedal 54 having an engagement side or surface 55 configured to be selectively engaged by an underside of a user's foot, as shown in FIGS. 5-7, and a housing that movably supports the foot pedal 54, as shown in FIGS. 5-7. The housing may include a base portion 52 configured to support the controller 50 and engage the ground, and one or more side or peripheral portions 53A, 53B disposed adjacent (e.g., medial, lateral, proximal and / or distal) to the foot pedal 54, as shown in FIGS. 5-7.

[0068] The foot pedal 54 may be pivotally or articulably coupled to the housing. The foot pedal 54 may be configured to allow a user to articulate the foot pedal 54 between a first forefoot position in which a forefoot portion 58 of the foot pedal 54 is disposed in a depressed or lowered position relative to a rearfoot portion 56 (not shown) of the foot pedal 54, and a second rearfoot position in which the rearfoot portion 56 of the foot pedal 54 is disposed in a depressed or lowered position relative to the forefoot portion 58 of the foot pedal 54. The forefoot portion 58 of the foot pedal 54 is configured to be positioned below and engage the forefoot portion of the user's foot, and the rearfoot portion 56 of the foot pedal 54 is configured to be positioned below and engage the rearfoot portion of the user's foot.

[0069] In some embodiments, the first forward foot position of the foot pedal 54 actuates a first control input configured to direct or control the robotic system 1A, 1B to advance the cutting tool 16 along the current programmed cutting path 32 being executed by the robotic system 1A, 1B when the first control input is selectively actuated by a user (via the first forward foot position of the foot pedal 54). In some embodiments, the second rear foot position of the foot pedal 54 actuates a second control input configured to direct or control the robotic system 1A, 1B to retreat or reverse the translation of the cutting tool 16 along the current programmed cutting path 32 that was most recently executed by the robotic system 1A, 1B when the second control input is selectively actuated by a user (via the second rear foot position of the foot pedal 54), as shown in FIGS.

[0070] In some embodiments, the foot pedal 54 is configured such that when the foot pedal 54 is disposed in a neutral position between the first front foot position and the second rear foot position, the controller 50 instructs the robotic system 1A, 1B to stop or pause the cutting tool 16 at its current position along the current programmed cutting path 32. In some embodiments illustrated in FIGS. 5 and 7, the foot pedal 54 may be configured to be selectively rotated along an inward-outward direction 66 by a user's foot. The controller 50 may be configured such that when the inward-outward rotation of the foot pedal 54 is selectively actuated by a user via rotation of the foot pedal 54, the controller 50 activates at least one sixth control input that instructs the robotic system 1A, 1B to register a current point of the cutting tool 16 along the cutting path 32 being executed by the robotic system 1A, 1B.

[0071] As shown in FIGS. 5-7, the housing of the foot controller 50 may include a plurality of control inputs 60A, 60B, 62 configured to be selectively engaged by a user's foot. For example, in some embodiments, the first portion 53A of the housing may include a third control input 60A configured to be selectively actuated by the user's foot to instruct the robotic system 1A, 1B to translate the cutting tool 16 along the current programmed cutting path 32 that the robotic system 1A, 1B is running at a faster speed compared to the current programmed speed, as shown in FIGS. 5-7. Similarly, in some embodiments, the second portion 53B of the housing may include a fourth control input 60B configured to be selectively actuated by the user's foot to instruct the robotic system 1A, 1B to translate the cutting tool 16 along the current programmed cutting path 32 that the robotic system 1A, 1B is running at a slower speed compared to the current programmed speed, as shown in FIGS. 5-7. In some embodiments, the first and second portions 53B of the housing may be located on either side of the foot pedal 54, e.g., on the inner and outer sides thereof.

[0072] In some embodiments, the housing may include a fourth control input 62 configured to, when selectively actuated by a user's foot, instruct the robotic system 1A, 1B to stop or pause the end effector 14 from translating the cutting tool 16 along its cutting path 17. In some such embodiments, the fourth control input 62 may also be configured to, when selectively actuated by a user's foot, instruct the robotic system 1A, 1B to stop or pause the cutting tool 16 at a current position along the current programmed cutting path 32.

[0073] As shown in Figure 8, in some exemplary embodiments, the robotic systems 1A, 1B and associated methods may include or utilize an exemplary controller 150 configured as a manual controller. The controller 150 may be configured as a handheld controller such that multiple control inputs are configured to be selectively actuated by one or more fingers of a user's hand, as shown in Figure 8.

[0074] In some embodiments, the handheld controller 150 can include a grip portion 152 configured to be grasped by the palm of a user's hand and another finger of the user's hand, and a head portion 153 including a plurality of control inputs on an upper side thereof, as shown in Figure 8. For example, as shown in Figure 8, in some embodiments, the head portion 153 of the handheld controller 150 can include at least one first control input 158 ​​configured, when selectively actuated by a user (e.g., via the user's thumb), to instruct the robotic system 1A, 1B to advance the cutting tool 16 along a current programmed cutting path 32 being executed by the robotic system 1A, 1B. In some embodiments, the head portion 153 of the handheld controller 150 can include at least one second control input 156 configured, when selectively actuated by a user, to instruct the robotic system 1A, 1B to reverse or reverse the translation of the cutting tool 16 along the current programmed cutting path 32 that the robotic system 1A, 1B most recently performed when the second control input 156 is selectively actuated by the user (e.g., via the user's thumb). In some embodiments, the first control input 158 ​​and the second control input 156 can be part of a rocker switch, directional pad, stick, or other multi-part control input device 154, as shown in FIG.

[0075] In some embodiments, as shown in Figure 8, the head portion 153 of the handheld controller 150 can include at least one third control input 160A configured to, when selectively actuated by a user (e.g., via the user's thumb) to instruct the robotic system 1A, 1B to translate the cutting tool along the current programmed cutting path 32 that the robotic system 1A, 1B is running at a faster speed compared to the current programmed speed. Similarly, as shown in Figure 8, the head portion 153 of the handheld controller 150 can include at least one fourth control input 160B configured to, when selectively actuated by a user (e.g., via the user's thumb) to instruct the robotic system 1A, 1B to translate the cutting tool along the current programmed cutting path 32 that the robotic system 1A, 1B is running at a slower speed compared to the current programmed speed.

[0076] In some embodiments, as shown in FIG. 8, the head portion 153 of the handheld controller 150 may include at least one fifth control input 166 configured to be selectively actuated by a user (e.g., via the user's thumb) to instruct the robotic system 1A, 1B to register a current point of the cutting tool 16 along the cutting path 32 being performed by the robotic system 1A, 1B. Also as shown in FIG. 8, in some embodiments, the front of the head portion 153 may include at least one sixth control input 162 configured to be selectively actuated by a user to instruct the robotic system 1A, 1B to stop or pause the end effector 14 from translating the cutting tool 16 along its cutting path 17. In some such embodiments, the sixth control input 162 may also be configured to be selectively actuated by a user to instruct the robotic system 1A, 1B to stop or pause the cutting tool 16 at a current position along the current programmed cutting path 32. In some embodiments, the sixth control input 162 may be configured to be selectively actuated by the user's index finger and / or middle finger.

[0077] It should also be noted that the cutting paths described herein represent the general or overall spatial path of the cutting edge of the cutting tool / blade 16 as it translates (i.e., during a cutting operation) to and through the respective workpiece / bone portion via the active / autonomous robotic system 1A, 1B. A cutting path can be formed or completed by a single continuous cutting motion or advance of the cutting tool / blade 16 directly along the respective path. A cutting path can also be formed or completed by multiple successive separate cutting motions or advances of the cutting tool / blade 16 that extend cooperatively along the respective path. For example, the systems 1A, 1B can be programmed to execute a series of small advances or intermediate cutting paths (which may or may not be consecutive), each of which removes a small amount of workpiece / bone along a given vector (i.e., a peck at the bone). The cutting tool / blade 10 can stop, move backwards, or translate between the small advances or intermediate cutting paths, but the respective cutting paths may be formed by the collective workpiece / bone removal of the series of small advances or intermediate cutting paths. Thus, a cutting path as used herein is the overall path, trajectory, or strip of workpiece / bone portion removed during a cutting operation. The actual movement of the cutting tool / blade 16 that forms the cutting path may or may not extend directly along the cutting path. Thus, the cutting paths disclosed herein do not require the cutting blade 16 to move continuously along a given path or trajectory, but rather represent the path or strip of workpiece / bone removed without reference to exactly how the cutting blade 10 cuts / removes the workpiece / bone portion, but rather is the end result of the overall cutting operation. It should be noted that cutting paths may or may not overlap with each other.

[0078] As discussed above, and as shown in the exemplary robotic system 1B illustrated in FIGS. 9 and 10, the base portion 10 and first arm segment 18E of the articulated / articulating arm 12 may be inclined with respect to the vertical such that the base portion 10 and first arm segment 18E extend away from or upwardly from the respective side / end (e.g., front side, section or end) of the cart or base 20. It should also be noted that the base portion 10 and first arm segment 18E are attached proximate to the respective side / end (e.g., front side, section or end) of the cart or base 20, such that the arm 12 is cantilevered on such respective side / end of the cart or base 20. For example, in some embodiments, the base portion 10 and / or the first arm segment 18E may define an axis X1-X1 inclined within a range of about 15 degrees to about 55 degrees from the vertical V, or within a range of about 25 degrees to about 25 degrees from the vertical V. In the exemplary embodiment shown in FIGS. 9 and 10, the axis X1-X1 of the base portion 10 and / or the first arm segment 18E is inclined from the vertical V by approximately 35 degrees.

[0079] It should be noted that robotic systems are generally constrained by their physical limitations. Generally speaking, it may be preferable to position the articulating / articulated arms in the workspace such that there is kinematic redundancy in performing the required tasks. Furthermore, it is generally preferable to maximize the maneuverability of the arms in the workspace such that the joint movements required to perform a particular task are minimized (i.e., such that the task may be performed in a time-efficient manner). The position of the arms on the cart or base 02 relative to the target site of the workpiece 75 is important for optimal performance of the system. As a non-limiting example, non-optimized positioning of the cart or base 20 and / or the arms on the cart or base 20 relative to the target site of the workpiece 75 may require repositioning of the cart or base 20 during a cutting operation or procedure, or may require repositioning of the workpiece / patient 75 during a cutting operation / procedure, or may require tooling changes to perform all desired cuts.

[0080] The angled base portion 10 and first arm segment 18E of the articulating / articulating arm 12 unexpectedly maximize the working area around the workpiece (e.g., a patient or other workpiece 75 on an operating table or support structure 76) without compromising the robot's work envelope. For example, as shown in FIG. 10, a cart or base 20 of a robot system 1B having an articulating / articulating robot arm 12' including a vertically mounted / oriented base portion 10' and first arm segment 18E' would need to be positioned closer to the workpiece / patient 75 and / or the arm 12' would not have the same reach compared to an articulating / articulating arm 12 having an angled base portion 10 and first arm segment 18E. Note that if the angled base portion 10 and first arm segment 18E were positioned horizontally, the arm 12 would be closer to the floor and potentially below the workpiece / patient 75, eliminating the degree of freedom of the arm 12. Thus, the tilted arm 12 having the cantilever / tilted base portion 10 and the first arm segment 18E maximizes the working volume of the arm 12 and the robotic system 1B.

[0081] Referring to Figures 11-16, a robotic system is shown that includes a cart-mounted autonomous / active surgical cutting robotic system 1B and a separate navigation or guidance cart 80 that communicates with and assists in the operation of the cutting robotic system 1B.

[0082] It should be noted that certain robotic applications may require the use of a cart for movement of the robotic system. Certain applications may require the robotic system to support tracking cameras, monitors, or other equipment. Additionally, the robotic systems 1A, 1B may require a user input station to facilitate input to the system by an operator or other user. The optimal positioning and configuration of such user interfaces may not be intuitive and may impact safety, accuracy, and other performance.

[0083] 11-16, a robotic system according to the present disclosure may be an active / autonomous cutting robot mounted to a robotic cart 20 having at least one display or monitor 22, a computing system, and a navigation or guidance cart 80 including at least one tracking camera 82 and at least one display or monitor 22. The robotic cart 20 and the guidance cart 80 can each include lockable wheels to enable selective movement or translation thereof, respectively, as shown in FIGS.

[0084] At least one tracking camera 82 of the guide cart 80 may be effective to image the cutting tool 16 and the cart 20, and potentially the patient / workpiece 75, so as to determine / track their relative three-dimensional position and orientation, and ultimately determine the necessary adjustments of the arm 12 to autonomously accomplish one or more cutting paths via the cutting tool 16. In such an embodiment, the robot cart 20 may be devoid of such tracking camera, etc. 82. It should be noted that any movement of the tracking camera 82 of the robot system may significantly reduce the tracking accuracy. For example, at a distance of 2 meters of an object, a one degree movement of the camera 82 may introduce a tracking error of more than 34 mm of the object. The robot cart 20 may include a tracking array 24 for locating the robot arm base 19 and / or base segment 18E (for example) via the tracking camera system 82 and monitor 22 of the guide cart 80.

[0085] The guide cart 80 supporting the at least one camera system 82 and the at least one screen / monitor 22 may be configured such that it can be manually positioned and then locked into approximately a predetermined position via a base 81 that includes wheels / casters. The at least one camera system 82 and / or the at least one screen / monitor 22 may be positioned, for example, via a semi-rigid, self-stabilized or moveable mount that is locked after positioning. In some embodiments, the at least one screen / monitor 22 of the guide cart 80 may be passive such that it is configured not to operate as a rigid screen or other user input device.

[0086] As also shown in FIGS. 11-16 and described above, the rolling robot cart 20 can include a robot arm 12 and cutting components (e.g., end effector 14, mounting mechanism 40, and cutting tool 16, for example) disposed at or toward the front section of the cart 20 and angled toward its nearest edge. The angle of the robot arm base 19 and / or base segment 18E can be between 0 degrees and 90 degrees from vertical. In some embodiments, the robot arm base 19 and / or base segment 18E can be angled within a range of about 15 degrees to about 55 degrees from vertical, or within a range of about 25 degrees to about 25 degrees from vertical, or can be angled about 35 degrees from vertical. As shown in FIGS. 11-16, the cutting robot cart 20 can also include at least one monitor / screen 22, and possibly a workstation, disposed opposite or spaced from the robot arm base 19 and / or base segment 18E toward the rear of the cart 22. In some embodiments, at least one monitor / screen 22 may be mounted such that it can articulate, for example, about a rigid post, and its height may be variable.

[0087] In some embodiments, as shown in FIGS. 11-16, the cutting robot cart 20 can include a flat work surface configured for / with a keyboard and can include retractable storage drawers (e.g., for storing a keyboard and mouse or other input device). The rear section of the cart 20 can be configured for input from a primary operator or user. In some embodiments, the screen / monitor 22 mounted on the cart 20 can be a touch screen. In some embodiments, the cart 20 can house a main control and computing system, an auxiliary power supply, and / or various other electronic devices.

[0088] It should be noted that the above-described cart-mounted robotic cutting system 1B and robotic system having navigation / guidance cart 80 advantageously minimizes user interaction with at least one tracking camera system 82 (which can introduce tracking errors) and maximizes the working area around the patient / workpiece 75 (and support / operating table 76) without compromising the working envelope of the cutting robot.

[0089] It should be understood that the above description is intended to be illustrative and not limiting. For example, the exemplary embodiments and / or aspects thereof described above may be used in combination with one another. Furthermore, many modifications may be made to adapt a particular configuration in accordance with the teachings of the various examples without departing from the scope thereof. For example, it is expressly disclosed that the cutting tool 16 may not be configured as a sagittal saw blade or a rotary cutter, but rather as a different type of cutting tool. Furthermore, the particular configuration and operation of the plurality of control inputs may be changed to different user-actuated input devices and / or configurations without departing from the spirit and scope of the present disclosure. For example, the controllers disclosed herein may include additional control inputs, fewer f control inputs, or different style and / or function control inputs. Furthermore, the plurality of control inputs may be assigned to different control parameters of the movement of the cutting tool along a determined, defined, or programmed cutting path.

[0090] The processes described herein may be performed by one or more computer systems, such as, by way of example, one or more systems that are or communicate with a robotic system, such as an articulation joint, an end effector, a controller, a camera system, a tracking system, and / or an AR system thereof. FIG. 17 illustrates an example of such a computer system and associated apparatus for incorporating and / or using aspects described herein. The computer system may also be referred to herein as a data processing device / system, a computing device / system / node, or simply a computer. The computer system may be based on one or more of a variety of system architectures and / or instruction set architectures, such as those provided by Intel Corporation (Santa Clara, Calif., USA) or ARM Holdings Public Limited (Cambridge, UK), by way of example.

[0091] FIG. 17 illustrates a computer system 200 in communication with an external device 212. The computer system 200 includes one or more processors 202, such as, for example, a central processing unit (CPU). The processor may include functional components used to execute instructions, such as functional components for fetching program instructions from a location such as a cache or main memory, decoding the program instructions, executing the program instructions, accessing memory for instruction execution, and writing results of executed instructions. The processor 202 may also include registers used by one or more of the functional components. The computer system 200 also includes memory 204, input / output (I / O) devices 208, and I / O interfaces 210, which may be coupled to the processor 202 and each other via one or more buses and / or other connections. The bus connections represent any one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example and not limitation, such architectures include Industry Standard Architecture (ISA), Micro Channel Architecture (MCA), Enhanced ISA (EISA), Video Electronics Standards Association (VESA) Local Bus, and Peripheral Component Interconnect (PCI).

[0092] Memory 204 may be or include, by way of example, a main or system memory (e.g., random access memory), a storage device such as a hard drive, flash media, or optical media, and / or a cache memory used to execute program instructions. Memory 204 may include, by way of example, a cache, such as a shared cache, which may be coupled to a local cache (e.g., an L1 cache, an L2 cache, etc.) of processor 202. Additionally, memory 204 may be or include at least one computer program product having a set of (e.g., at least one) program module, instructions, code, etc. configured to perform the functions of the embodiments described herein when executed by one or more processors.

[0093] The memory 204 can store an operating system 205 and other computer programs 206, such as one or more computer programs / applications that execute to perform aspects described herein. In particular, the programs / applications can include computer readable program instructions that can be configured to perform the functions of embodiments of the aspects described herein.

[0094] Examples of I / O devices 208 include, but are not limited to, microphones, speakers, global positioning system (GPS) devices, RGB and / or IR cameras, lights, accelerometers, gyroscopes, magnetometers, sensor devices configured to sense light, proximity, heart rate, body and / or ambient temperature, blood pressure, and / or skin resistance, registration probes, and activity monitors. As shown, the I / O devices may be incorporated into the computer system, although in some embodiments the I / O devices may be considered external devices (212) coupled to the computer system via one or more I / O interfaces 210.

[0095] The computer system 200 may communicate with one or more external devices 212 through one or more I / O interfaces 210. Exemplary external devices include a keyboard, a pointing device, a display, and / or any other device that allows a user to interact with the computer system 200. Other exemplary external devices include any device that allows the computer system 200 to communicate with one or more other computing systems or peripheral devices, such as a printer. A network interface / adapter is an exemplary I / O interface that allows the computer system 200 to communicate with one or more networks, such as a local area network (LAN), a general wide area network (WAN), and / or a public network (e.g., the Internet), providing communication with other computing devices or systems, storage devices, and the like. Ethernet-based (such as Wi-Fi) interfaces and Bluetooth® adapters are just examples of currently available types of network adapters for use in computer systems (BLUETOOTH is a registered trademark of Bluetooth SIG, Inc., Kirkland, Washington, USA).

[0096] Communications between I / O interface 210 and external device 212 may occur via wired and / or wireless communication link 211, such as an Ethernet-based wired or wireless connection. Exemplary wireless connections include cellular, Wi-Fi, Bluetooth, proximity-based, near-field, or other types of wireless connections. More generally, communication link 211 may be any suitable wireless and / or wired communication link for communicating data.

[0097] A particular external device 212 may include one or more data storage devices capable of storing one or more programs, one or more computer readable program instructions, and / or data, etc. The computer system 200 may include and / or be coupled to and in communication with removable / non-removable, volatile / non-volatile computer system storage media (e.g., as a computer system external device). For example, this may include and / or be coupled to non-removable non-volatile magnetic media (typically referred to as a "hard drive"), a magnetic disk drive for reading and writing removable non-volatile magnetic disks (e.g., a "floppy disk"), and / or an optical disk drive for reading and writing removable non-volatile optical disks, such as CD-ROMs, DVD-ROMs, or other optical media.

[0098] Computer system 200 can operate with numerous other general purpose or special purpose computing system environments or configurations. Computer system 200 can take any of a variety of forms, well-known examples of which include, but are not limited to, personal computer (PC) systems, server computer systems such as messaging servers, thin clients, thick clients, workstations, laptops, handheld devices, mobile devices / computers such as smartphones, tablets, and wearable devices, multiprocessor systems, microprocessor-based systems, telephony equipment, network equipment (such as edge equipment), virtualization devices, storage controllers, set-top boxes, programmable consumer electronics, network PCs, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above systems or devices, and the like.

[0099] Various input devices may be provided, such as a camera that may be used to capture images or video. The camera may be used by the device to obtain an image / video of the material being cut and / or a view of the cutting tool, e.g., to capture an image / video of the scene.

[0100] One or more microphones, proximity sensors, light sensors, accelerometers, speakers, GPS devices, and / or other input devices (unnumbered) may additionally be provided. Electronic components such as a processor, memory, and / or electronic circuitry including a communication device such as cellular, short-range wireless (e.g., Bluetooth), or Wi-Fi circuitry for connecting to remote devices may be included. A power source such as a battery that provides power to the components of the system may also be incorporated. A physical port (not shown) used to connect the device to a computer power source (to recharge the battery) and / or any other external device such as a controller. Such physical ports may be of any standardized or proprietary type, such as a Universal Serial Bus (USB).

[0101] Aspects of the present invention may be systems, methods, and / or computer program products, any of which may be configured to perform or facilitate the aspects described herein.

[0102] In some embodiments, aspects of the invention may take the form of a computer program product that may be embodied as a computer readable medium. The computer readable medium may be a tangible storage device / medium having computer readable program code / instructions stored thereon. Exemplary computer readable media include, but are not limited to, electronic, magnetic, optical, or semiconductor storage devices or systems, or any combination thereof. Exemplary embodiments of computer readable media include hard drives or other mass storage devices, electrical connections with wires, random access memory (RAM), read only memory (ROM), erasable programmable read only memory such as EPROM or flash memory, optical fiber, portable computer disks / diskettes such as compact disk read only memory (CD-ROM) or digital versatile disk (DVD), optical storage device, magnetic storage device, or any combination thereof. The computer readable medium may be readable by a processor, processing unit, or the like to retrieve data (e.g., instructions) from the medium for execution. In certain examples, the computer program product is or includes one or more computer readable media that contain / store computer readable program code for providing and facilitating one or more aspects described herein.

[0103] As discussed above, program instructions contained or stored on a computer-readable medium may be retrieved and executed by any of a variety of suitable components, such as a processor of a computer system, to cause the computer system to operate and function in a particular manner. Such program instructions for performing operations to implement, achieve, or facilitate aspects described herein may be written in any desired programming language, or compiled from written code. In some embodiments, such programming languages ​​include object-oriented and / or procedural programming languages, such as C, C++, C#, Java, and the like.

[0104] Program code may include one or more program instructions obtained for execution by one or more processors. The computer program instructions may be provided to one or more processors of, for example, one or more computer systems to produce a machine, which when executed by the one or more processors performs, achieves, or facilitates aspects of the invention, such as the operations or functions depicted in the flowcharts and / or block diagrams described herein. Thus, each block or combination of blocks in the flowchart illustrations and / or block diagrams depicted and described herein may, in some embodiments, be implemented by computer program instructions.

[0105] Many other examples will be apparent to those of skill in the art upon reviewing the above description, and therefore, the scope of the various examples should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

[0106] While dimensions and types of materials may be described herein, they are intended to define some parameters of the various examples, and they are by no means limiting to all examples, but are merely illustrative.

[0107] In the appended claims, the terms "including" and "in which" are used as the plain English equivalents of the terms "comprising" and "wherein," respectively. Additionally, in the following claims, terms such as "first," "second," and "third" are used merely as guarantee labels and are not intended to impose numerical, structural, or other requirements on their objects. The form of the term "based on" herein encompasses relationships in which an element is partially based, and relationships in which an element is fully based. The form of the term "defined" encompasses relationships in which an element is partially defined, and relationships in which an element is fully defined. Additionally, the limitations of the following claims are not written in means-plus-function form and are not intended to be construed under the sixth paragraph of 35 U.S.C. 112, unless and until such claim limitations expressly use the phrase "means for" followed by a description of the functional cavity of further structure. It should be understood that not all such objects or advantages described above may necessarily be achieved in accordance with any particular example. Thus, for example, those skilled in the art will recognize that the devices, systems, and methods described herein may be implemented or performed in a manner that achieves or optimizes one advantage or advantages as taught herein, without necessarily achieving other objects or advantages as may be taught or suggested herein.

[0108] Although the present disclosure has been described in detail in connection with only a limited number of examples, it should be readily understood that the present disclosure is not limited to such disclosed examples. Rather, the present disclosure can be modified to incorporate any number of variations, alterations, substitutions, or equivalent arrangements not previously described, but which are commensurate with the spirit and scope of the present disclosure. Furthermore, while various examples have been described, it should be understood that aspects of the present disclosure may include only one or some of the described examples. Also, while some disclosures are described as having a specific number of elements, it should be understood that the examples can be practiced with fewer or more than the specified number of elements.

[0109] It is to be understood that all combinations of the foregoing and additional concepts described in more detail below (unless such concepts are mutually inconsistent) are considered to be part of the inventive subject matter disclosed herein, and in particular, all combinations of claimed subject matter appearing at the end of this disclosure are considered to be part of the inventive subject matter disclosed herein.

Claims

1. 1. A robot system comprising: an articulating arm comprising a plurality of arm segments defining a longitudinal axis and an adjustable joint coupled between adjacent arm segments and configured to adjust an orientation of the axis of the adjacent arm segments; a cutting tool defining a cutting edge configured to cut while translating along a cutting path; an end effector coupled to an end arm segment of the plurality of arm segments and to the cutting tool, the end effector including a powered drive for translating the cutting tool along the cutting path; an electronic controller; the robotic system is configured to autonomously adjust the relative orientations of the arm segments of the articulated arm while the cutting tool translates along the cutting path to autonomously spatially translate the cutting tool to cut material along at least one programmed cutting path; and a plurality of control inputs that a user can selectively actuate to control the operation of the cutting tool while the controller is executing the at least one programmed cutting path but not changing the configuration of the at least one programmed cutting path.

2. 2. The robotic system of claim 1, wherein the plurality of control inputs includes a first control input configured, when selectively actuated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cutting path being executed by the robotic system.

3. 3. The robotic system of claim 2, wherein the plurality of control inputs includes a second control input configured, when selectively actuated by a user, to instruct the robotic system to retract the cutting tool along a current programmed cutting path last executed by the robotic system.

4. 4. The robotic system of claim 3, wherein the plurality of control inputs includes a third control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path running at a faster speed compared to a current programmed speed.

5. 5. The robotic system of claim 4, wherein the plurality of control inputs includes a fourth control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path running at a slower speed compared to a current programmed speed.

6. 6. The robotic system of claim 5, wherein the plurality of control inputs includes a fifth control input configured, when selectively actuated by a user, to stop the end effector from translating the cutting tool along the cutting path.

7. 7. The robotic system of claim 6, wherein the plurality of control inputs includes a sixth control input configured, when selectively actuated by a user, to register a current point of the cutting tool along the cutting path being performed by the robotic system.

8. The plurality of control inputs include: a first control input configured, when selectively actuated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cutting path being executed by the robotic system; a second control input configured, when selectively actuated by a user, to instruct the robotic system to retract the cutting tool along a currently programmed cutting path previously executed by the robotic system; and a third control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a faster speed as compared to a current programmed speed; a fourth control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a slower speed compared to the current programmed speed; a fifth control input configured, when selectively actuated by a user, to stop the end effector from translating the cutting tool along the cutting path; and a sixth control input configured, when selectively actuated by a user, to register a current point of the cutting tool along the cutting path being performed by the robotic system; and The robotic system of claim 1 , comprising a plurality of control inputs selected from the group consisting of:

9. The plurality of control inputs include: a first control input configured, when selectively actuated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cutting path being executed by the robotic system; a second control input configured, when selectively actuated by a user, to instruct the robotic system to retract the cutting tool along a currently programmed cutting path previously executed by the robotic system; and a third control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a faster speed as compared to a current programmed speed; a fourth control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a slower speed compared to the current programmed speed; a fifth control input configured, when selectively actuated by a user, to stop the end effector from translating the cutting tool along the cutting path; and a sixth control input configured, when selectively actuated by a user, to register a current point of the cutting tool along the cutting path being performed by the robotic system; and The robotic system of claim 1 , comprising at least three control inputs selected from the group consisting of:

10. The plurality of control inputs include: a first control input configured, when selectively actuated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cutting path being executed by the robotic system; a second control input configured, when selectively actuated by a user, to instruct the robotic system to retract the cutting tool along a currently programmed cutting path previously executed by the robotic system; and a third control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a faster speed as compared to a current programmed speed; a fourth control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a slower speed compared to the current programmed speed; a fifth control input configured, when selectively actuated by a user, to stop the end effector from translating the cutting tool along the cutting path; and a sixth control input configured, when selectively actuated by a user, to register a current point of the cutting tool along the cutting path being performed by the robotic system; and The robotic system of claim 1 , comprising at least four control inputs selected from the group consisting of:

11. The plurality of control inputs include: a first control input configured, when selectively actuated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cutting path being executed by the robotic system; a second control input configured, when selectively actuated by a user, to instruct the robotic system to retract the cutting tool along a currently programmed cutting path previously executed by the robotic system; and a third control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a faster speed as compared to a current programmed speed; a fourth control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a slower speed compared to the current programmed speed; a fifth control input configured, when selectively actuated by a user, to stop the end effector from translating the cutting tool along the cutting path; and a sixth control input configured, when selectively actuated by a user, to register a current point of the cutting tool along the cutting path being performed by the robotic system; and The robotic system of claim 1 , comprising at least five control inputs selected from the group consisting of:

12. The robotic system of claim 1 , wherein the plurality of control inputs comprises a plurality of electrical switches.

13. The robotic system of claim 1 , wherein the controller is configured as a foot controller such that the plurality of control inputs are configured to be selectively actuated by a user's foot.

14. 14. The robotic system of claim 13, wherein the foot controller comprises a foot pedal configured to be selectively engaged by an underside of a user's foot and a housing disposed adjacent at least one side of the foot pedal, the foot pedal configured to enable the user to articulate the foot pedal between a first front foot position with a front portion of the foot pedal depressed and a second rear foot position with a rear portion of the foot pedal depressed.

15. 15. The robotic system of claim 14, wherein the first front foot position of the foot pedal actuates a first control input configured, when selectively actuated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cutting path being executed by the robotic system.

16. 15. The robotic system of claim 14, wherein the second rear foot position of the foot pedal actuates a second control input configured, when selectively actuated by a user, to instruct the robotic system to retract the cutting tool along a current programmed cutting path that the robotic system most recently executed.

17. The robotic system of claim 14 , wherein the housing includes a plurality of the control inputs configured to be selectively engaged by a foot of the user.

18. 20. The robotic system of claim 17, wherein the housing includes a third control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a currently programmed cutting path running at a faster speed compared to a currently programmed speed.

19. 18. The robotic system of any of claims 17 to 17, wherein the housing includes a fourth control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a currently programmed cutting path running at a slower speed compared to a currently programmed speed.

20. 20. The robotic system of claim 19, wherein the third and fourth control inputs are located on opposite sides of the foot pedal.

21. 20. The robotic system of claim 17, wherein the housing includes a fifth control input configured, when selectively actuated by a user, to stop the end effector from translating the cutting tool along the cutting path.

22. 18. The robotic system of claim 17, wherein the foot pedal is configured to be selectively rotated along an inward / outward direction by a user's foot, and wherein the inward / outward rotation of the foot pedal is configured, when selectively actuated by a user, to activate a sixth control input configured to register a current point of the cutting tool along the cutting path being performed by the robotic system.

23. 23. The robotic system of claim 22, wherein the controller is configured as a handheld controller such that the plurality of control inputs are configured to be selectively actuated by one or more fingers of the user's hand.

24. 24. The robotic system of claim 23, wherein the handheld controller comprises a grip portion configured to be grasped by a palm of a user's hand and another finger of the user's hand, and a head portion including a plurality of the control inputs on an upper side thereof.

25. The plurality of control inputs on the head portion include: a first control input configured, when selectively actuated by a user, to instruct the robotic system to advance the cutting tool along a current programmed cutting path being executed by the robotic system; a second control input configured, when selectively actuated by a user, to instruct the robotic system to retract the cutting tool along a currently programmed cutting path previously executed by the robotic system; a third control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a faster speed as compared to a current programmed speed; a fourth control input configured, when selectively actuated by a user, to instruct the robotic system to translate the cutting tool along a current programmed cutting path being executed by the robotic system at a slower speed compared to the current programmed speed; a fifth control input configured, when selectively actuated by a user, to register a current point of the cutting tool along the cutting path being performed by the robotic system; and 25. The robotic system of claim 24, comprising at least one of:

26. 2. The robotic system of claim 1, wherein the cutting tool is a rotary cutting tool configured to cut upon longitudinal translation and rotation about the longitudinal center of its axis.

27. 2. The robotic system of claim 1, wherein the cutting tool is a sagittal cutting blade having cutting teeth disposed at a longitudinal end thereof, the sagittal cutting blade configured to cut when translated longitudinally and to oscillate along the cutting path that lies in a plane aligned about an oscillation axis.

28. 2. The robotic system of claim 1, wherein the cutting tool is configured to cut a bone, and the at least one programmed cutting path extends through a first bone of a patient such that the cutting tool cuts the first bone when executing the at least one programmed cutting path.

29. The robotic system of claim 1 , wherein the robotic system is operated by a computer system.

30. 2. The robotic system of claim 1, further comprising a selectively movable cutting robot cart, wherein a base arm segment of the plurality of arm segments of the articulated arm is coupled to the cutting robot cart via a rotatable base portion of the articulated arm.

31. 31. The robotic system of claim 30, further comprising at least one of a monitor and a computer input device mounted to a first side of the cutting robot cart, and the base portion of the articulating arm is mounted to a second side of the cutting robot cart.

32. 31. The robotic system of claim 30, wherein the base arm segment and the base portion are mounted to the cutting robot cart at an angle to the vertical.

33. 33. The robotic system of claim 32, wherein the base arm segment and the base portion define axes that are inclined within a range of 15 degrees to 55 degrees relative to vertical.

34. 33. The robotic system of claim 32, wherein the base arm segment and the base portion define axes that are inclined at approximately 35 degrees to vertical.

35. 31. The robotic system of claim 30, further comprising a selectively movable guide cart equipped with a tracking camera system.

36. 36. The robotic system of claim 35, wherein the cutting robot cart further comprises a tracking array, and the system is configured to track and / or locate the articulating arm via the tracking camera system of the guide cart.

37. 36. The robotic system of claim 35, wherein the guide cart further comprises at least one monitor not configured as a touch screen.

38. 2. The robotic system of claim 1, further comprising: a connector assembly coupling the articulating arm and the end effector, the connector assembly including a flange portion, the flange portion including a surgical drape coupled to the connector assembly forming a sterile barrier between the articulating arm and the end effector.

39. 1. A method of cutting a material, comprising: A method comprising utilizing a robotic system as described in any of claims 1 to 2385 to translate the cutting tool along the cutting path and the at least one programmed cutting path to cut the material.

40. 40. The method of claim 39, wherein the material comprises bone of a mammalian patient and the cutting tool comprises a rotary cutting tool or a sagittal cutting blade.

Images