ROBOTIC SYSTEM WITH VIBRATION COMPENSATION AND RELATED METHODS - Patent application

Abstract

A surgical robotic system and method configured to mitigate and withstand vibration forces. The robotic system includes an articulated arm including a plurality of arm segments and an adjustable joint coupled between adjacent arm segments. The robotic system includes an end effector rotatably coupled to the end arm segment with a powered drive portion. The end effector includes a cutting tool attachment mechanism configured to couple with a cutting tool from which the cutting tool extends axially. The powered drive portion is adapted to translate the cutting tool along a cutting path configured such that the cutting tool provides cuts at an angle relative to a longitudinal axis of the cutting tool. The end effector is oriented such that the longitudinal axis of the cutting tool and the longitudinal axis of the end effector itself are at an angle relative to the longitudinal axis of the end arm segment.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application completes and claims the benefit of priority to U.S. Provisional Application No. 63 / 302,122, entitled "Robotic Systems with Vibration Compensation, and Related Methods," filed on January 23, 2022, the entire contents of which are expressly incorporated by reference herein. [Technical field]

[0002] The following disclosure relates generally to improved surgical robots, components thereof, and related systems. More particularly, the following disclosure relates to a surgical robotic system, components thereof, and related systems that minimizes the effects of vibrations from an end effector on a cutting tool and ensures precise bone and tissue cutting. [Background technology]

[0003] Powered cutting tools, such as oscillating saws and rotary burrs, have been used in orthopaedic surgery to reduce surgical time and surgeon effort and to increase precision. Such powered cutting tools allow bone and other tissue to be cut more quickly and accurately during a surgical procedure, as compared to, for example, fully manual cutting tools.

[0004] Recently, surgical robots have become available that can control powered cutting tools used in orthopedic surgery to provide great precision in cutting bones. Surgical robots include a robotic arm, typically articulated, that provides or facilitates the overall movement of the cutting tool along a cutting path. Some current surgical robots are configured as hand-guided instruments that assist the user in powering and translating the cutting tool to (and through) the patient, but still require the user to manually move and direct the cutting tool along the cutting path (i.e., the robot does not actively perform the cut). For example, some such surgical robots include a handle and trigger that are manually used by the user to move and direct the cutting tool along its cutting path.

[0005] In orthopedic robotics, a key factor determining the safety, accuracy, and efficiency of the cutting performed by the robot is the control of the tool path. However, a typical surgical robot includes a power module or end effector that powers a cutting blade, which translates the cutting blade along a cutting direction defined by the cutting edge of the cutting blade along which the cutting blade is designed to cut. The movement of the cutting blade caused by the end effector inevitably induces vibrations in the robot arm, thereby hindering the overall control of the tool path. For example, vibrations from an instrument attached to the robot arm can affect the performance of the robot's components and adversely affect the robot's overall cutting performance during cutting operations, thereby causing the cutting tool to move outside of the intended cutting path. In particular, vibrations caused by the end effector and cutting blade can also cause damage to the robot arm. For example, vibrations passing through a surgical robot can cause damage to one or more components of the robot.

[0006] The present disclosure provides improved surgical robots, robotic system components, and associated surgical methods that inhibit the generation of and / or mitigate disruptive vibratory forces / motions to enhance safety, accuracy, and efficiency of surgical cutting. The present disclosure also provides improved surgical robots, robotic system components, and associated surgical methods that inhibit the generation of and / or mitigate disruptive vibratory forces / motions to prevent failure of the robotic components. Because the surgical robots, robotic system components, and associated surgical methods of the present disclosure provide safe, accurate, and reliable cutting of tissue (e.g., bone and / or soft tissue), fully autonomous surgical procedures and associated surgical methods may also be provided.

[0007] Although certain aspects of the prior art have been described to facilitate disclosure of Applicant's invention, Applicant does not in any way disclaim these technical aspects, and it is contemplated that the present invention may incorporate one or more aspects of the prior art.

[0008] Where a document, act, or item of knowledge is mentioned or discussed in this disclosure, such mention or discussion is not an admission that, at the priority date, that document, act, or item of knowledge, or any combination thereof, was publicly available, was known, was part of the general public knowledge, or otherwise constitutes prior art under any applicable statutory provision or was known to be relevant to any attempt to solve any problem to which this specification pertains. Summary of the Invention

[0009] The present invention may address one or more of the problems and deficiencies of current surgical robots, components of surgical robotic systems, and related surgical methods. However, it is contemplated that the present invention will prove useful in addressing other problems and deficiencies in many technical fields. Thus, the claimed invention should not necessarily be construed as limited to addressing any of the particular problems or deficiencies discussed herein.

[0010] The present disclosure is generally directed to surgical robots, components of surgical robotic systems, and related surgical methods. The present disclosure provides a surgical robotic arm including a power module or end effector that powers a cutting blade and configured to prevent and / or mitigate the generation of vibrations passing through the arm and its components. The present disclosure also provides such a powered surgical robotic arm that prevents and / or mitigates any possible vibrations that may be generated and is appropriately controlled by the robot such that the robot maintains control of the tool path along the intended cutting path. The present disclosure also provides such a powered surgical robotic arm including components configured to prevent and / or mitigate the possible damage and / or failure via the generated vibrations. The vibration prevention and mitigation features of the surgical robots, robotic system components, and related surgical methods of the present disclosure provide safe, accurate, and reliable cutting of tissue (e.g., bone and / or soft tissue). Furthermore, by virtue of the vibration prevention and mitigation features, fully autonomous surgical procedures and related surgical methods are also provided herein. In fully autonomous embodiments, where the surgical robot autonomously performs predetermined surgical cuts (via following a pre-planned cutting path), the robot and method allow a user (e.g., a surgeon) to perform other surgical tasks (e.g., tasks that utilize one or both of the user's hands) during the cutting task, allowing for an open workspace in the operating room.

[0011] In some embodiments, vibration isolation and mitigation features of the disclosed surgical robots, robotic system components, and associated surgical methods include vibration isolation / mitigation tool design, vibration isolation / mitigation tool mounts, vibration isolation / mitigation tool operation (such as, but not limited to, vibration isolation / mitigation optimization of tool motion (e.g., harmonic vibration), and vibration isolation / mitigation add-on components (such as, but not limited to, tuned mass dampers). Vibration isolation and mitigation features may be utilized individually or a combination (e.g., all) of vibration isolation and mitigation features may be utilized in a surgical robot (or robotic system) or associated surgical method.

[0012] It is 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 a cutting blade or saw (e.g., a sagittal surgical saw blade). Similarly, the end effector may be any instrument configured to move (e.g., reciprocate or rotate) the cutting tool along a direction in which the cutting blade is configured to cut (e.g., a direction extending along the cutting blade), such as a powered sagittal saw end effector. The end effector may be coupled between a distal arm segment of a robotic arm and the cutting tool, and its configuration may be optimized to minimize the occurrence of vibrations during operation of the cutting tool within its predetermined operating parameters, and / or to mitigate the intensity and / or application of vibrations to aspects or components of the robotic system.

[0013] In one aspect, the disclosure provides a robotic system including an articulated arm including a plurality of arm segments defining a longitudinal axis and adjustable joints coupled between adjacent arm segments configured to adjust the orientation of the axis of the adjacent arm segments, and an end effector rotatably coupled to an end arm segment of the plurality of arm segments and including a powered drive portion, the end effector including a cutting tool attachment mechanism disposed at a longitudinal end of the end effector and configured to couple with a cutting tool such that the cutting tool extends axially from the cutting tool attachment mechanism, and the drive portion is adapted to translate the cutting tool along a cutting path configured such that the cutting tool provides a cut at an angle relative to the longitudinal axis of the cutting tool, the end effector being oriented such that the longitudinal axis of the cutting tool is at an angle relative to the axis of the end arm segment.

[0014] In some embodiments, the cutting tool is configured to cut when oscillated along the cutting path about an oscillation axis. In some embodiments, the end effector is oriented such that the longitudinal axis of the cutting tool is angled relative to the axis of the end arm segment. In some embodiments, the end effector is oriented such that the longitudinal axis of the cutting tool is substantially perpendicular to the axis of the end arm segment. In some embodiments, the end effector defines a second longitudinal axis, and the end effector is oriented such that the second longitudinal axis is angled relative to the axis of the end arm segment. In some embodiments, the second longitudinal axis is oriented substantially perpendicular to the axis of the end arm segment.

[0015] In some embodiments, the end effector is longitudinally elongated to define a maximum longitudinal length greater than a maximum lateral width. In some embodiments, the end arm segment is rotatably coupled to a lateral portion of the end effector longitudinally spaced from a longitudinal end of the end effector opposite the attachment mechanism. In some embodiments, the cutting tool is configured as a sagittal cutting tool having cutting teeth disposed at a longitudinal end of the cutting tool, the sagittal cutting tool configured to cut when oscillated along the cutting path about the oscillation axis and translated in the longitudinal direction.

[0016] In some embodiments, the cutting tool is configured such that the cutting tool has a center of mass substantially aligned with the oscillation axis, hi some embodiments, the cutting tool is configured such that the oscillation axis is substantially aligned with a longitudinal axis of the cutting tool.

[0017] In some embodiments, the mounting mechanism includes a mounting arm coupled to the drive portion and having a first portion extending longitudinally from the drive portion, the mounting arm being configured to be oscillated by the drive portion about a second oscillation axis, the mounting arm being configured to transmit the oscillations to the cutting tool to oscillate the cutting tool. In some embodiments, the mounting arm is configured such that the second oscillation axis is aligned with a longitudinal axis of the mounting arm. In some embodiments, the mounting arm is configured to have a center of mass substantially aligned with the second oscillation axis. In some embodiments, the first and second oscillation axes are parallel.

[0018] In some embodiments, the cutting tool includes a cutting tool having a body portion including a plurality of longitudinally spaced apertures to minimize a total mass of the cutting tool. In some embodiments, as in the preceding claims, the mounting arm includes a body portion including at least one aperture configured to minimize a total mass of the mounting arm. In some embodiments, the drive portion of the end effector is configured to apply an oscillatory force at a frequency greater than or less than a resonant frequency range of the robotic system to oscillate the cutting tool along the cutting path within a cutting operating frequency range of the cutting tool.

[0019] In some embodiments, the end effector is coupled to the end arm segment such that it is rotatable about the axis of the end arm segment, hi some embodiments, the end effector is coupled to the end arm segment such that it is only rotatable about the axis of the end arm segment.

[0020] In some embodiments, the end effector is coupled to the end arm segment via a rotatable joint. In some embodiments, the rotatable joint includes a flange assembly having a first connector coupled to the end effector and a flange connector assembly coupled to the end arm segment, the flange connector having a protrusion extending into a recess of the end effector. In some embodiments, the rotatable joint further includes a flexible vibration damping member disposed within the recess between the recess and the protrusion. In some embodiments, the rotatable joint further includes a flexible vibration damping member disposed within the recess between the recess and the protrusion. In some embodiments, the vibration damping member is compressively preloaded.

[0021] In some embodiments, the cutting tool includes a cutting blade. In some embodiments, the robotic system is configured as an autonomous robot that autonomously translates the cutting tool through one or more cutting paths without a user's physical involvement with the robotic system.

[0022] In another aspect, the present disclosure provides a method of cutting a material using the robotic system described above to translate the cutting tool along the cutting path and one or more longitudinal paths to cut the material.

[0023] In some embodiments, the material comprises bone of a mammal to be treated and the cutting tool comprises a sagittal cutting blade.

[0024] It should be understood that all combinations of the foregoing aspects and the additional concepts described in more detail below (provided that such concepts are not mutually inconsistent) are part of the subject matter of the present invention and are contemplated as achieving the advantages disclosed herein.

[0025] 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 considered in conjunction with the accompanying drawings. [Brief description of the drawings]

[0026] Aspects of the present disclosure, and certain examples, features, advantages, and details thereof, are more fully described below with reference to non-limiting examples illustrated in the accompanying drawings, which are not necessarily drawn to scale and in which like reference numerals represent like aspects throughout. In the drawings: [Figure 1] FIG. 1 illustrates, in one example, a surgical robot in accordance with one or more aspects of the present disclosure. [Diagram 2] FIG. 2 is an elevated perspective view showing a distal arm segment, an end effector, and a cutting tool of the surgical robot of FIG. 1 in one example, according to one or more embodiments of the present disclosure. [Diagram 3] FIG. 13 is an elevated perspective view showing a distal arm segment, an end effector, and a cutting tool of a surgical robot in another example, according to one or more aspects of the present disclosure. [Figure 4] FIG. 3 is a side view illustrating an end effector attachment arm, attachment mechanism, and cutting instrument assembly of the surgical robot of FIG. 2, in one example, according to one or more aspects of the present disclosure. [Diagram 5] FIG. 5 is a top view of the assembly of the attachment arm, the attachment mechanism, and the cutting instrument of FIG. 4, in one example, according to one or more aspects of the present disclosure. [Figure 6] FIG. 5 is an elevated perspective exploded view of the attachment arm and stiffening collar of the end effector of FIG. 4 in one example, according to one or more aspects of the present disclosure. [Figure 7] 3 is a side cross-sectional view of a portion of an end effector including the attachment arm, the reinforcing collar, and the attachment mechanism, and a portion of a cutting instrument, of the surgical robot of FIG. 2, in accordance with one or more embodiments of the present disclosure. [Figure 8] FIG. 2 is a top view of the cutting tool of the surgical robot of FIG. 1, in one example, according to one or more aspects of the present disclosure. [Figure 9] FIG. 2 illustrates, in one example, the use of an exemplary impact tool to evaluate the natural frequency of the surgical robot of FIG. 1 in accordance with one or more aspects of the present disclosure. [Figure 10] FIG. 10 illustrates a graph of vibrations detected through the natural frequency assessment of FIG. 9 in one example, in accordance with one or more aspects of the present disclosure. [Figure 11] FIG. 2 is an exploded perspective view illustrating an end arm segment, a connector assembly, and an end effector of the surgical robot of FIG. 1, in one example, according to one or more aspects of the present disclosure. [Figure 12] FIG. 2 is another exploded perspective view showing an end arm segment, a connector assembly, and an end effector of the surgical robot of FIG. 1, in one example, according to one or more aspects of the present disclosure. [Figure 13]FIG. 2 is another exploded perspective view showing an end arm segment, a connector assembly, and an end effector of the surgical robot of FIG. 1, in one example, according to one or more aspects of the present disclosure. [Figure 14] FIG. 2 is a side view illustrating an end arm segment, a connector assembly, and an end effector of the surgical robot of FIG. 1, in one example, according to one or more aspects of the present disclosure. [Figure 15] FIG. 2 is a side cross-sectional view illustrating an end arm segment, a connector assembly, and an end effector of the surgical robot of FIG. 1, in one example, according to one or more aspects of the present disclosure. [Figure 16] FIG. 2 is a side view illustrating an end arm segment, a connector assembly, and an end effector of the surgical robot of FIG. 1, in one example, according to one or more aspects of the present disclosure. [Figure 17] FIG. 1 is an elevated perspective partial cutaway view illustrating, in one example, a connector assembly that couples an end effector and a distal arm segment of a surgical robot, in accordance with one or more aspects of the present disclosure. [Figure 18] FIG. 18 is a cross-sectional side view of the connector assembly of FIG. 17, in one example, according to one or more aspects of the present disclosure. [Figure 19] FIG. 2 graphically illustrates, in one example, moment forces due to the placement of an end effector and cutting blade relative to an arm segment of the surgical robot of FIG. 1 in accordance with one or more aspects of the present disclosure. [Figure 20] FIG. 2 is an elevated perspective view showing an end effector, cutting blade, and distal arm segment of the surgical robot of FIG. 1, by way of example, in accordance with one or more embodiments of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Aspects of the present disclosure and specific examples, features, advantages, and details thereof are described more fully below with reference to non-limiting examples illustrated 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 and are not meant to be limiting. 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.

[0028] Approximate expressions used herein throughout the disclosure may be applied to modify any quantitative expression that may be permissibly changed without resulting in a change in the basic function to which it relates. Thus, values ​​modified by terms such as "about" or "substantially" are not limited to the exact values ​​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, the approximation language may correspond to the accuracy of a measuring instrument for measuring the value. Any examples of operating or configuration parameters are not intended to exclude other parameters of the disclosed embodiments.

[0029] 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 forms as well, unless the context clearly indicates otherwise. Further, references to "one example" are not intended to be interpreted as excluding the existence of additional examples that also incorporate the recited features. Further, unless expressly stated to the contrary, the terms "comprising" (and any form of "comprising", such as "comprises" or "comprising"), "have" (and any form of "have", such as "has" or "having"), "include" (and any form of "include", such as "includes" or "including"), and "contain" (and any form of "contains", such as "contains" or "containing") are used as open-ended linking verbs. As a result, instances of "comprises", "has", "includes" or "contains" one or more steps or elements include having such one or more steps or elements, but are not limited to having only such one or more steps or elements.

[0030] As used herein, the terms "may" and "may be" indicate the modification of another verb by expressing one or more of the possibility of occurrence within a set of circumstances, the possession of a specified property, characteristic, or function, and / or the ability, capability, or possibility associated with the modified verb. Thus, the use of "may" and "may be" indicates that the modified term is seemingly appropriate, possible, or suitable for the indicated ability, function, or usage, while taking into account that the modified term may not be appropriate, possible, or suitable in some circumstances. For example, in some circumstances, an event or capability may be expected, while in other circumstances, the event or capability may not occur. This distinction is captured by the terms "may" and "may be."

[0031] As used herein, the term "coupled" and similar terms are used to refer to both direct and indirect coupling. As used herein, unless otherwise specified, the term "entirety" (and other forms of "entire") means at least a substantial portion, such as at least 95% or at least 99%. As used herein, the term "entirety" (and other forms of "entire") is not thereby limited to 100%, unless otherwise indicated. As used herein, the term "layer" refers to

[0032] The components, aspects, features, configurations, arrangements, uses, etc. described, illustrated or otherwise disclosed herein with respect to any particular embodiment may be applied to the other embodiments disclosed herein as well.

[0033] As shown in FIG. 1, among other things, a robot or robotic system 10 is disclosed having an articulated robotic arm 12, an end effector 14, and a cutting tool or device 16. As depicted in FIG. 1, the robot may be configured as a surgical robot. For example, the surgical robot 10 may be biocompatible and configured to be sterilized to the extent required in a surgical setting. However, in other embodiments, the robot 10 may be configured as an industrial or other non-surgical robotic device or system. The term "surgical robot" as used herein in connection with the exemplary exemplary robot / robotic system embodiments shown in FIGS. 1-13 is not meant in a limiting sense, and any discussion herein directed to "surgical robots" or the like applies equally to general robots / robotic systems or industrial robots / robotic systems or other non-surgical robots / robotic systems.

[0034] As described further below, the surgical robot 10 may be configured to mitigate the occurrence and / or detrimental effects of vibrations during its operation, and thus be able to control the cutting path of its cutting tool 16 with precision and reliability that allows the robot 10 to operate autonomously. In some other embodiments, the surgical robot 10 may be configured as a user-guided robot, requiring the user to manually translate (to some degree) the cutting tool 16 along a desired cutting path.

[0035] The robot 10 may be operatively connected to a computer system (e.g., memory, processor, etc.) (not shown) that controls the movement of the cutting tool 16, e.g., via the movement of the articulated arm 12, and potentially the operation of the end effector 14. For example, in some embodiments, the robot 10 may comprise part of a robot system including a control unit and potentially a user interface (UI). The control unit may include at least one processing circuit, at least one input / output device, and at least one storage device or memory having at least one database or cutting instructions stored therein. 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 angles between the segments of the articulated arm 12). The control algorithm or programming code may be a default control algorithm or may include input from, e.g., a UI and / or another interface.

[0036] The articulated arm 12 may extend from a base (not shown) and include multiple rigid arm or body segments / components and multiple joints connecting adjacent segments (and connecting a first or base segment to the base), as shown in FIG. 1. The multiple joints may include, for example, four, five, or six individual segments that are connected via three, four, or five joints, respectively. In some other embodiments, the articulated arm 12 may include at least two segments and at least one joint connecting the at least two segments to each other, or may include six or more segments and five or more joints connecting the segments to each other.

[0037] Each arm segment of the articulated arm 12 may define an axis extending along the longitudinal length of that arm segment. The joints may be configured to allow the arm segments to rotate about their axes and / or to 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 between 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. The articulated arm 12 may further include motors, actuators, or other adjustment devices configured to adjust the axial rotation and / or angular orientation between adjacent segments. In this manner, the robot 10 may utilize the articulated arm 12 to translate the cutting tool 10 three-dimensionally in space and relative to a workpiece (e.g., a patient) to ultimately cut one or more portions of the workpiece. As described above, the robot 10 may include control software that, among other things, directs or instructs the articulated arm 12 of the robot 10 to adjust (i.e., adjust the joints) in a particular manner to achieve a predetermined movement of the cutting tool 16.

[0038] The base of the surgical robot 10 may be fixed, for example, to a mobile cart or to the ground, thereby providing a fixed reference frame for defining the positions, orientations, and movements of the joints and arm segments relative to the base. The base may be used to define a reference frame, such as, for example, a set of three-dimensional axes (e.g., x, y, z). The reference frame may be used to define the position, orientation, and movement of the surgical robot 10 and objects relative to the surgical robot 10. A reference frame defined relative to the base may be known as a world frame, base, base frame, frame, or tool frame. It is noted that with the position and orientation of an object defined or calculated relative to a fixed reference frame, the object may also be defined in the same reference frame as the surgical robot 10, which may calculate the position and orientation of the object. In this manner, the surgical robot 10 may programmably interact with defined objects, positions, and / or orientations.

[0039] 2, the end effector 14 may be rotatably coupled to an end, final or terminal segment 18 of the articulated arm 12 via a rotatable connector 19. The rotatable connector assembly 19 may be configured such that the end effector 14 is rotatable about an axis X2-X2 of the end arm segment 18. As shown in FIGS. 1 and 2 and further described below, the end effector 14 may be configured such that the axis X2-X2 of the end arm segment 18 and the longitudinal axis X1-X1 of the end effector 14 (and the longitudinal axis X3-X3 of the cutting tool 16) are angled with respect to one another. In the illustrated exemplary embodiment, the longitudinal axis X1-X1 of the end effector 14 (and the longitudinal axis X3-X3 of the cutting tool 16 and the cutting direction / path 17 of the cutting tool 16 (along which the cutting tool 16 is configured to cut)) and the axis X2-X2 of the end arm segment 18 may be oriented substantially perpendicular to one another and intersect one another. Also, as shown in FIGS. 1 and 2, the end effector 14 may form a generally cylindrical shape (or a shape that varies in diameter along the longitudinal axis X1-X1) centered about the longitudinal axis X1-X1 and extend along the longitudinal axis X1-X1 (i.e., define a total length along the longitudinal axis X1-X1 that is greater than its maximum width / diameter). The cylindrical shape may be advantageous for reducing and / or mitigating vibrations (e.g., via a torsional mass damper).

[0040] 1 , because the position, orientation, and movement of the joints and arm segments relative to the base may be determined, and the angular orientation of the end effector 14 relative to the end arm segment 18 of the articulated arm 12 may be determined, the position and orientation of the cutting tool 16 extending from the end effector 14 may be calculated or determined by the robotic system 10. As another example, the position and orientation of the cutting tool 16 extending from the end effector 14 may be determined via an imaging system. Although the exemplary illustrated cutting tool 16 is configured to cut bone or other tissue, it will be understood that the cutting tool 16 may be replaced with a different cutting tool or a non-cutting instrument that may function as, for example, a marking device or viewing device.

[0041] As shown in Figures 2-5, 7 and 8, the cutting tool 16 may be a saw blade having a thin, flat, elongated shape with a cutting edge 23 at a distal tip or end portion 22 of a blade body portion 24. The thin, flat design minimizes the size of the cutting blade's kerf and allows the cutting blade to make precise, straight cuts. The cutting edge 23 is generally oriented along a direction perpendicular to the direction of extension of the blade and may include multiple teeth and / or abrasives. Thus, as the cutting blade 16 is translated along the cutting path, the cutting edge 23 may be pressed against the surface of the bone or other tissue requiring resection as it is translated along its cutting path or direction 17. The saw blade 16 includes cutting teeth extending forward from the distal end 22 of the blade body 24 as shown in Figures 4 and 5.

[0042] As shown in FIG. 7, the cutting tool saw blade 16 includes a mounting, tang or hub portion 20 at a proximal end portion. The mounting portion 20 may be configured to mount to a mounting mechanism 40 of the end effector 14, as shown in FIGS. 2-5 and 7. For example, the end effector 14 may include a chuck or other mounting mechanism 40 configured to mate with the mounting portion 20 and removably secure the saw blade 16 (or other cutting tool) and the end effector 14 together. The axis X3-X3 of the cutting tool saw blade 16 may extend through the mounting portion 20, the body portion 24, and the tip portion 22 (and thus the cutting edge 23), and the cutting blade 16 may extend longitudinally along the axis X3-X3. As described further below, the cutting blade 16 may be configured to be substantially symmetrical about the axis X3-X3, at least along a lateral direction (lying along the plane of the blade 16) that extends perpendicular to the axis X3-X3.

[0043] The cutting tool 16 (e.g., at least its cutting edge 23) may be configured to cut as it is moved / translated in a cutting path 17, such as in a reciprocating motion (along a forward stroke and / or a rearward stroke), along a linear direction (parallel to the cutting edge), along a plane (e.g., in two dimensions), or in a three-dimensional pattern. The exemplary illustrated cutting blade 16 shown in Figures 2-5, 7 and 8 is configured to be pivoted or oscillated back and forth in a cutting path 17 that extends along a plane in which the blade 16 is oriented and is perpendicular to the direction of extension of the blade. The cutting blade 16 may be designed such that the cutting direction or path 17 oscillates laterally linearly or in an arc that extends along the plane of the blade 16. The cutting blade 16 may thereby be configured as a sagittal saw blade. In some other embodiments, the cutting tool 16 may comprise a blade configured to cut while moving back and forth along a longitudinal axis X3-X3, or a tool configured to cut while rotating about the axis X3-X3.

[0044] As will be further described below, the surgical robot 10 is configured to prevent and / or mitigate the occurrence of vibrations passing through the articulated arm 12, the end effector 14 and / or the cutting blade 16 (and their subcomponents). The surgical robot 10 prevents and / or mitigates and appropriately controls any possible occurrence of vibrations, thereby allowing the robot 10 to maintain control of the cutting path of the cutting tool 16 along the intended path. The surgical robot 10 is also configured to prevent and / or mitigate the possibility of its damage and / or failure through the vibrations that occur. The vibration prevention and mitigation features of the surgical robot 10 thereby provide safe, accurate and reliable cutting of tissue (e.g., bone and / or soft tissue) through the cutting tool 16. Furthermore, thanks to the vibration prevention and mitigation features, the surgical robot 10 may be configured to operate fully autonomously, thereby allowing the robot 10 to perform pre-determined / programmed surgical cuts (through following a pre-planned cutting path stored in memory) without the user having to physically move the end effector 14 and the cutting tool 16. It is noted that the vibration prevention and mitigation features of the robot 10 may be utilized individually or in combination (e.g., all or some) in a particular robot (or robotic system) or related robotic method.

[0045] In some embodiments, vibration prevention and mitigation features of the surgical robot 10 may include vibration prevention / mitigation instrument design, vibration prevention / mitigation instrument mounts, vibration prevention / mitigation instrument operation (such as, but not limited to, vibration prevention / mitigation optimization of tool motion), and vibration prevention / mitigation add-on components (such as, but not limited to, tuned mass dampers).

[0046] 2-8, in some embodiments, the end effector 14 of the robot 10 may be configured to oscillate (i.e., translate back and forth) a cutting tool 16 configured as a cutting blade along an oscillatory cutting direction or path 17. As described above, the cutting tool 16 may be configured as a sagittal cutting blade, and the oscillatory 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 being translated (e.g., at least in part, via the articulated arm 12) along a longitudinal axis X3-X3 extending from the coupling portion 20 to the tip portion 22 as the blade (and its cutting teeth 23) oscillates along the oscillatory cutting path 17 (i.e., in a cutting stroke). Thanks to the vibrational movement along the cutting path 17 applied by the end effector 14 and the forward pressure applied by the robot 10 (e.g., at least in part via the articulated arm 12), the teeth 23 of the cutting tool 16 cut and separate material (e.g., tissue such as bone tissue).

[0047] The oscillatory cutting path 17 may define an oscillation axis R1-R1 about which oscillation occurs, as shown in Figure 4. The oscillation axis R1-R1 thereby represents a center of the oscillatory cutting path 17 at the extreme ends or midway between the amplitudes of the back and forth movement of the cutting tool 16. The oscillatory cutting path 17 may be linear or may be a curved or arcuate path defined by a radius extending from its point of rotation or axis R1-R1, as shown in Figures 4 and 5. The oscillatory cutting path 17 and the longitudinal axis X3-X3 of the cutting blade 16 (and thus the oscillation axis R1-R1 of the oscillatory cutting path 17) may be oriented substantially perpendicular to one another. In some embodiments, the oscillation / rotation axis R1-R1 may lie along the longitudinal axis X3-X3 of the blade 16, and the oscillation / rotation axis R1-R1 may be oriented perpendicular to the longitudinal axis X3-X3 of the blade 16 and the longitudinal axis X1-X1 of the end effector 14. In some embodiments, the oscillation / rotation axis R1-R1 may be oriented substantially parallel to the axis X2-X2 of the end arm segment 18 and / or may be disposed along (i.e., intersecting) the longitudinal axis X3-X3 of the blade 16 and the longitudinal axis X1-X1 of the end effector 14.

[0048] In some embodiments, the vibratory cutting path 17 may extend along a plane oriented substantially parallel to the longitudinal axis X3-X3 of the cutting blade 16 and substantially parallel to the longitudinal axis X1-X1 of the end effector 14, as shown in FIG. 2. As shown in FIG. 2, the vibratory cutting path 17 may extend along a plane oriented substantially normal to the axis X2-X2 of the end arm segment 18, and as shown in FIGS. 4 and 5, the vibratory cutting path 17 may extend along a plane oriented substantially normal to the oscillation / rotation axis R1-R1 of the blade 16 (and end arm segment 18). It is noted that such an arrangement may unexpectedly and advantageously reduce the vibratory forces (e.g., the total amount of vibrations and / or their magnitude) affecting the robotic system 10 and / or result in less detrimental vibratory wear on components of the robotic system 10.

[0049] Figure 3 illustrates another exemplary surgical robot system 110 that includes an end effector 114 in an orientation different from the orientation of the end effector 14 of the surgical robot system 10 of Figures 1 and 2. The surgical robot 110 of Figure 3 is substantially similar to the surgical robot 10 described herein, and thus like reference numerals preceded by "1" are used to indicate like components, aspects, parts, functions, processes, etc., and the above descriptions directed thereto likewise apply and will not be repeated for purposes of brevity and clarity.

[0050] The surgical robot 110 differs from the surgical robot 11 in the orientation of the robot arm and end effector. As shown in Fig. 3, the robot arm 112 and end effector 114 of the surgical robot 110 are configured such that the oscillation / rotation axis R1-R1 is oriented substantially perpendicular to the axis X2-X2 of the end arm segment 118. Thus, the oscillatory cutting path 17 extends along a plane oriented substantially parallel to the axis X2-X2 of the end arm segment 18. It is noted that other relative orientations of the robot arm 112 (particularly its end arm segment 118) and the end effector 114 of the surgical robot 110 may be employed.

[0051] As shown in FIGS. 4 and 10, the attachment mechanism 40 is configured to reliably and removably couple the cutting tool 16 and the end effector 14. The attachment mechanism 40 may be part of or attached to the end effector 14. As shown in FIG. 7, the attachment mechanism 12 may be configured to engage and potentially apply a compressive force to face(s) or side(s) (e.g., opposing faces) of the cutting tool 16. The adjustment member 38 may thereby be utilized (e.g., manually) by a user to activate the clamping mechanism, thereby "opening" the clamping member by enlarging the space between its engaging faces, or "closing" the clamping member by minimizing the space between its engaging faces. In some embodiments, the clamping mechanism may be configured to adjust (e.g., manually) the distance between the engaging faces, for example, along a direction extending normal to the plane of the cutting tool 16. However, it is noted that the attachment mechanism 40 may have any configuration that securely couples the cutting tool 16 and the end effector 14 such that the end effector 14 effects movement of the cutting tool 16 along the cutting path 17.

[0052] As shown in FIGS. 4-7, the end effector 14 includes a mounting arm 30 that may be coupled (directly or indirectly) to and extend longitudinally from a portion of a drive or motion portion 37 of the end effector 14. The mounting arm 30 may also be coupled (directly or indirectly) to an attachment mechanism 40. The mounting arm 30 may thereby be coupled (directly or indirectly) between and extend longitudinally from the drive portion 37 of the end effector 14 and the attachment mechanism 40, such that the attachment arm 30 is coupled (at least in part) to and extends longitudinally along the longitudinal axis X3-X3 of the cutting tool 16 and the longitudinal axis X1-X1 of the end effector 14. The drive portion 37 of the end effector 14 is ultimately a mechanism that provides the physical motion (e.g., vibration) that results in the motion (e.g., vibration) of the cutting tool 16 along the cutting path 17. As discussed above, the drive portion 37 may include a motor or other device or system that provides the physical motion, as shown in FIG. 7.

[0053] As shown in FIG. 7, in some embodiments, the mounting arm 30 may be disposed within an internal cavity of a housing 36 that extends longitudinally from a portion of the end effector 14. In some embodiments, the housing 36 may be fixedly coupled to the end effector 14 such that the housing 36 does not translate relative to the end effector 14 itself via the drive portion 37. In this manner, the housing 36 may not translate along the cutting path 17 and / or the motion path 15 of the mounting arm 30, as shown in FIG. 5 and further described below. For example, the drive portion 37 may be configured to translate the mounting arm 30 along the mounting path (e.g., vibration path) 15 within the housing 36, thereby preventing the housing 36 from translating along the mounting path 15 (i.e., the mounting arm 30 may translate relative to the housing 36). In some alternative embodiments, the housing 36 may be coupled to the end effector 14 such that the housing 36 translates relative to the end effector 14 itself via the drive portion 37. For example, in some such alternative embodiments, the housing 36 may be translated along the cutting path 17 and / or the attachment path 15 of the attachment arm 30 via a drive portion 37 .

[0054] As shown in FIGS. 2 and 7, the attachment mechanism 40 may be coupled to a longitudinal end portion of the housing 36. The housing 36 may generally fix the position (e.g., longitudinal, lateral and elevational position) of the attachment mechanism 40 relative to the entire end effector 14, and in particular relative to the drive portion 37. It is noted that at least some portions of the attachment mechanism 40 may rotate about and / or translate along an elevational direction that extends perpendicular to the longitudinal and lateral directions. The attachment arm 30 and the attachment mechanism 40, and thus the cutting tool 16 (when coupled with the attachment mechanism 40), may be fixed together such that movement of the attachment arm 30 along the attachment path 15 (e.g., along the lateral direction) results in movement of the cutting tool 16 along the cutting path 17 (e.g., along the lateral direction). For example, the attachment mechanism 40 may be configured such that the housing 36 fixes the position of a shaft that defines an axis that aligns with (or defines) the rotational axis R1-R1. The coupling end portion 35 of the mounting arm 30 may be coupled to and rotatably fixed to the shaft. In this manner, the drive portion 37 causes the drive coupling end portion 33 of the mounting arm 30, which is attached to the drive portion 37, to reciprocate along the mounting path 15, causing the coupling end portion 35 to rotate the shaft and thus rotate the components of the mounting mechanism 40 that are coupled to the cutting tool 16 about the axis of rotation R1-R1, thereby causing the cutting tool 16 to reciprocate along the cutting path 17.

[0055] In some embodiments, as shown in FIGS. 4 and 5, the mounting path 15 of the mounting arm 30 and the cutting path 17 of the cutting tool 16 may be mirror images of one another longitudinally across the rotation axis R1-R1. In some such embodiments, the rotation axis R1-R1 may be defined by the mounting arm 30 and / or the mounting mechanism 40, such as the reinforcing collar / sleeve 50. As described above, the housing 36 may fix the longitudinal and lateral position of the mounting mechanism 40. As such, the mounting path 15 of the mounting arm 30 and the center or oscillation axis X3-X3 of the cutting path 17 of the cutting tool 16 may be aligned and pass through the rotation axis R1-R1, as shown in FIG. 4. As such, lateral movement of the mounting arm 30 along the mounting path 15 in a first lateral direction results in lateral movement of the cutting tool 16 along the cutting path 17 in a second lateral direction opposite the first lateral direction. Thus, oscillation of the mounting arm 30 via the drive portion 37 of the end effector 14 results in oscillation of the cutting tool 16 along the cutting path 17 .

[0056] In some embodiments, at least the mounting arm 30 of the end effector 16 and the cutting tool 16 (e.g., saw / cutting blade) are configured to mitigate vibrations caused by their vibrations via their mass displacement. In some such embodiments, to mitigate vibrations caused by the vibrations of the end effector 14 and the cutting tool 16, at least the mounting arm 30 and the cutting tool 16 are substantially mass balanced across their vibration axis X3-X3 (and across the longitudinal axis X1-X1). For example, through optimization of the weight of the mounting arm 30, the center of mass of the mounting arm 30 may be located along or substantially along its vibration axis X3-X3. In some embodiments, the center of mass of the mounting arm 30 may be located along or substantially along the longitudinal axis X1-X1 (its neutral or center position along the mounting path 15). In some embodiments, the physical configuration of the mounting arm 30 may be mirrored laterally across the longitudinal axis X1-X1. Similarly, the center of mass of the cutting tool 16 may be located along or substantially aligned with its oscillation axis X3-X3. In some embodiments, through optimization of the weight of the cutting tool 16, the center of mass of the cutting tool 16 may be located along or substantially aligned with the longitudinal axis X1-X1 (its neutral or center position along the cutting path 17). In some embodiments, the physical configuration of the cutting tool 16 may be mirrored laterally across the longitudinal axis X1-X1. It is noted that any other components of the end effector 14 that may vibrate during operation of the robot 10, including the mounting mechanism 40, may be configured such that their centers of mass are substantially mass balanced along their oscillation axis. In some embodiments, the centers of mass of the mounting arm 30 and cutting tool 16 are located within 10%, or within 8%, or within 6%, or within 5%, or within 4%, or within 3%, or within 2%, or within 1% of their total / maximum size extending along (e.g., extending laterally from) the vibration axis X3-X3 or the cutting path 15 or 17, respectively.

[0057] 4, 5 and 7, through optimization of the weights of the mounting arm 30 and cutting tool 16, in some embodiments, the center of mass C1 of the combined mounting arm 30 and cutting tool 16 may be disposed along or substantially aligned with their oscillation axis X3-X3. In some embodiments, the center of mass C1 of the combined mounting arm 30 and cutting tool 16 may be disposed along or substantially aligned with their longitudinal axis X1-X1 (at their neutral or centered positions along the mounting path 15 and cutting path 17). In some embodiments, through optimization of the weights of at least the mounting arm 30 and cutting tool 16, the center of mass C1 of the combined mounting arm 30, mounting mechanism 40 and cutting tool 16 may be disposed along or substantially aligned with their oscillation axis X3-X3. In some embodiments, the center of mass C1 of the combined mounting arm 30, mounting mechanism 40 and cutting tool 16 may be disposed along or substantially aligned with the longitudinal axis X1-X1 (their neutral or central positions along the mounting path 15 and cutting path 17 of the cutting tool 16). In some embodiments, the center of mass of the mounting arm 30, mounting mechanism 40 and cutting tool 16 arrangement is disposed within 10%, or within 8%, or within 6%, or within 5%, or within 4%, or within 3%, or within 2%, or within 1% of the oscillation axis X3-X3 and / or rotation axis R1-R1 of the maximum size of that arrangement extending along the mounting path 15 and cutting path 17 (e.g., extending laterally), respectively.

[0058] In some embodiments, at least the mounting arm 30 of the end effector 16 and the cutting tool 16 (e.g., a saw / cutting blade) are configured to mitigate the vibrations caused by their vibrations through their total mass. For example, to reduce the amplitude of the oscillatory forces / motions transmitted laterally in the case of the robot 10, at least the mounting arm 30 of the end effector 16 and the cutting tool 16 (e.g., a sagittal saw / cutting blade) are configured such that their total mass is minimized. It is noted that, for example, the end effector 16 (including the mounting mechanism 40) or any other vibrating component of the robot arm 12 may also be configured to minimize their total mass in order to minimize the amplitude of the oscillatory forces / motions caused thereby during vibration.

[0059] As shown in Figure 6, in some embodiments, the mounting arm 30 may include a proximal or drive coupling end portion 33, a distal cutting tool coupling end portion 35, and a body portion 31 extending longitudinally between the drive coupling end portion 33 and the cutting tool coupling end portion 35. Thus, as shown in Figure 5, the drive coupling end portion 33 may define one longitudinal end of the mounting arm 30, and the cutting tool coupling end portion 35 may define the other longitudinal end of the mounting arm 30. The mounting arm 30 may extend along a longitudinal direction or may be elongated (i.e., longer along a longitudinal direction than its width along a lateral direction).

[0060] In some embodiments, as shown in Figure 6, the drive coupling end portion 33 may be angularly offset from (but essentially longitudinally aligned with) the body portion 31 and the cutting tool coupling end portion 35. For example, the body portion 31 and the cutting tool coupling end portion 35 may extend (or be oriented) longitudinally (e.g., linearly) and the drive coupling end portion 33 may be angled (extends / oriented) substantially perpendicular thereto. As discussed above, the drive coupling end portion 33 may be configured to couple with a drive portion 37 of an end effector.

[0061] The cutting tool coupling end portion 35 may be configured to couple with the attachment mechanism 40. For example, as shown in FIG. 6, the cutting tool coupling end portion 35 may include an axial / longitudinal slot extending from its free end. A sidewall of the axial / longitudinal slot may engage a non-circular (e.g., oval) shaft or otherwise engage a portion of the attachment mechanism 40 such that movement of the attachment arm 30 along the attachment path 15 via the drive portion 37 translates the cutting tool 16 along the cutting path 17, as shown in FIGS. 6 and 7. In other words, the cutting tool coupling end portion 35 may be drivingly engaged with a portion of the attachment mechanism 40 to apply a torque thereto about the oscillation axis R1-R1.

[0062] 6 and 7, the coupling end portion 35 of the mounting arm 30 can include a retention recess or groove 52 extending around a free end opening / slot that mates with a reinforcing sleeve or collar 50 such that an axial end of the reinforcing collar 50 resides within the retention groove 52 and strengthens the coupling end portion 35. In some such embodiments, the reinforcing collar 50 can provide the necessary strength to the coupling end portion 35 so that the coupling end portion can adequately withstand torsional and vibration forces during a cutting operation.

[0063] The reinforcing collar 50 may define an inner opening or through hole that is substantially aligned with the free end opening / slot and the oscillation axis R1-R1. In some embodiments, the inner opening of the reinforcing collar 50 may act to define the oscillation axis R1-R1. The attachment mechanism 40 may include components that mate / couple with the reinforcing collar 50 and form / actuate selective clamping of the cutting tool 16 by the end effector 14. For example, the attachment mechanism 40 may include a clamping shaft that extends axially through / inside the inner opening of the reinforcing collar 50 and a manually operated knob or lever attached (directly or indirectly) to the reinforcing collar 50 that may rotate the clamping shaft (or rotate a component on the shaft) to thereby cause axial movement of one or more cutting tool clamping members. In some embodiments, the reinforcing collar 50 may be rotated about the oscillation axis R1-R1 via the mounting arm 30 (i.e., the mounting arm 30 and the reinforcing collar 50 may be rotatably fixed) during movement of the mounting arm 30 along the cutting path 17 about the oscillation axis R1-R1. In some other embodiments, the reinforcing collar 50 may remain stationary (e.g., via being coupled to the housing 36) during movement of the mounting arm 30 along the cutting path 17 about the oscillation axis R1-R1, thereby allowing the coupling end portion 35 to slide over the reinforcing collar 50 via a retention slot.

[0064] As discussed above, in some embodiments, the end effector 14 may be configured such that the mounting arm 30 and cutting tool 16 are fixed together and rotated about the axis of rotation R1-R1. In such embodiments, the cutting tool coupling end portion 35 may engage and rotate on a portion of the mounting mechanism 40 (e.g., a rotating shaft) that defines or forms the axis of rotation R1-R1. In some other embodiments, the end effector 14 may be configured such that the mounting arm 30 directly translates the cutting tool 16 along the cutting path 17 (i.e., the mounting path 15 is the same as the cutting path 17).

[0065] As shown in FIG. 6, the mounting arm 30 of the end effector 16 may include at least one opening or cavity to minimize its total mass, thereby minimizing the amplitude of any vibratory force / motion caused by the mounting arm 30 during its vibration. For example, in some embodiments, the drive coupling end portion 33 may include at least one opening 34, which may be configured as at least one through hole, as shown in FIG. 6. In some embodiments, the body portion 31 of the mounting arm 30 may include at least one opening or cavity to minimize its total mass, thereby minimizing the amplitude of any vibratory force / motion caused by the mounting arm 30 during its vibration. For example, in some embodiments, the body portion 31 may include at least one opening 32, which may be configured as at least one through hole, as shown in FIG. 6. The at least one opening 32 of the body portion 31 may extend along an axial / longitudinal direction or may be elongated, as shown in FIG. 6. In some embodiments, at least one opening or cavity in mounting arm 30 may be centrally located about the longitudinal axis of mounting arm 30 .

[0066] As shown in FIG. 8, the cutting tool 16 (e.g., a sagittal saw blade) may include at least one opening or cavity 25 to minimize its overall mass, thereby minimizing the amplitude of any vibratory forces / motions caused by the cutting tool 16 during its vibration. For example, in some embodiments, the cutting tool 16 may be configured with a mounting portion 20 at one longitudinal / axial end, a cutting portion at one longitudinal / axial end, and a longitudinal / axially extending body portion 24 therebetween that includes one opening or cavity 25. For example, as shown in FIG. 8, the body portion 24 of the cutting tool 16 may include a plurality of axially / longitudinally spaced through holes 25. At least one of the axially / longitudinally spaced through holes 25 may extend along the axial / longitudinal direction or may be elongated, as shown in FIG. In some embodiments, at least one opening or cavity 25 of the cutting tool 16 may be centrally located about the longitudinal axis X3-X3 of the cutting tool 16.

[0067] 9 and 10, the robot 10 may be configured to prevent vibration generation and / or limit the amplitude of oscillatory forces / motions by avoiding frequencies of motion of the end effector 14 that are at or near the natural frequency of the robot 10 or an aspect thereof (or that induce in the robot 10 frequencies at or near the natural frequency of the robot 10 or an aspect thereof). In this manner, the robot 10 may be configured such that the end effector 14 operates at a frequency that is greater than or less than the natural frequency of the robot 10 (such as at least 3%, at least 5%, at least 7%, or at least 10%). In some embodiments, the end effector 14 may be configured such that components of the end effector 14, such as the attachment arm 30, and / or the cutting tool 16, operate at a frequency that is greater than or less than the natural frequency of the robot 10 (such as at least 3%, at least 5%, at least 7%, or at least 10%).

[0068] As is known in the art, a robot 10 has a natural frequency at which it tends to oscillate in the absence of driving or damping forces. When a periodic force is applied to the robot 10, such as from a drive portion 37 (e.g., a motor) of the end effector 14, the amplitude of the vibration increases exponentially if the periodicity is at or near the natural frequency of the system. This natural phenomenon is known as resonance.

[0069] In some embodiments, the natural frequencies or resonances of the robot 10 may be evaluated to avoid generation of such frequencies by the end effector 14 during a cutting operation via the cutting tool 16. For example, as shown in FIG. 9, in some embodiments, a force may be applied to the end effector 14 (or cutting tool 16 or articulated arm 12, etc.) over a range of frequencies via a cyclic hammer device, related or similar device, or system 55 (e.g., via an impact hammer or other device). In some such embodiments, the cyclic force / motion may be applied along an axial / longitudinal direction (e.g., X-direction / orientation on a Cartesian coordinate system), along a lateral direction (perpendicular to the axial / longitudinal direction, along the plane of the blade 16 and / or cutting path 17 and / or motion path 15) (e.g., Y-direction / orientation on a Cartesian coordinate system), and / or along a vertical or elevation direction (e.g., Z-direction on a Cartesian coordinate system) that is orthogonal to the longitudinal and lateral directions. During application of such cyclical forces / motions, the positional or spatial movement of the robotic device 1 (e.g., the end effector 14 and / or the cutting blade 16) may be monitored, such as via one or more position sensors or other devices, so that natural frequency bands and other frequencies that produce relatively large amplitude vibrations may be determined. For example, in some embodiments, natural frequency bands and other frequencies that produce relatively large amplitude vibrations may be determined for the X, Y, and Z directions in the end effector 14 and / or the cutting blade 16, as shown in FIG.

[0070] To configure the end effector 14 of the robot 10 (e.g., via a periodic force / motion applied to or near the end effector 14) to account for the natural frequency of the robot 10 and to mitigate the amplitude of oscillatory forces / motions occurring during a cutting operation (i.e., during operation of the drive portion 37 of the end effector 14), the drive portion 37 of the end effector 14 may be configured to operate within a potential operating frequency range at a frequency substantially different from the determined natural frequency, as shown in Figure 10. The potential operating frequency range is the frequency of the drive portion 37 (e.g., motor) that ultimately results in a frequency / frequency of the cutting tool 16 along the cutting path 17 at which the cutting tool 16 is configured to suitably / properly / appropriately cut a desired material (e.g., bone). For example, in some embodiments, the end effector 14 may be configured or adjusted such that the drive portion 37 operates at a frequency within the potential operating frequency range but that is greater than or less than the determined resonant frequency (as described above) or that otherwise corresponds to a frequency (e.g., in the X, Y, and Z directions) that produced a relatively small amplitude of vibration during the natural frequency determination. In some embodiments, the drive portion 37 of the end effector 14 may be operated (e.g., at a frequency) such that the components of the robot 10 (e.g., the attachment mechanism 40 and / or the cutting blade 16) vibrated by the drive portion 37 vibrate at a frequency (e.g., in the X, Y, and Z directions) that is within the potential operating frequency range but that is greater than or less than the determined resonant frequency (as described above) or that otherwise corresponds to a frequency that produced a relatively small amplitude of vibration during the natural frequency determination.

[0071] 10, in some embodiments, the robot 10 may be configured to minimize the generation of harmful vibrations from the forces / motions applied by the drive portion 37 of the end effector 14 by adjusting the mass of the robot 10 to shift its natural frequency so that it is not within or substantially near the desired operating frequency range. For example, after determining a natural frequency or other frequency that similarly produces increased vibrations (e.g., increased amplitude) through the robot 10 via periodic forces applied at / by the end effector 14, the desired operating frequency or frequency range of the drive portion 37 (or acted upon by the drive portion 37) may be compared thereto to determine whether there is an overlap. If there is an overlap, in some embodiments, weight (i.e., mass) may be added to the robot 10 (such as the end effector 14 and / or cutting tool 16) to lower the natural and harmful frequencies (i.e., frequencies with relatively high amplitudes), thereby lowering the frequencies of the natural and harmful frequencies out of the desired operating range of the drive portion 37 (i.e., the cyclically applied forces of the end effector 14). Similarly, in some other embodiments, such as that shown in FIG. 10, if there is an overlap between the natural and harmful frequencies and the desired operating range, weight (i.e., mass) may be removed from the robot 10 (e.g., from the end effector 14 and / or cutting tool 16) to increase the natural and harmful frequencies (i.e., frequencies with relatively high amplitudes), thereby lowering the natural and harmful frequencies out of the desired operating range of the drive portion 37 (i.e., the cyclically applied forces of the end effector 14).

[0072] As shown in Figures 1, 2, and 11-16, the end effector 14 may be coupled to an end (or distal or final) arm segment 18 of the articulated arm 12 via a flange connector assembly 19. For example, at least a portion of the flange connector assembly 19 may be disposed between a distal end portion of the end arm segment 18 and a side (e.g., an upper portion or a lateral portion) of the end effector 14. The flange connector assembly 19 may also be referred to as, for example, a mounting flange connector assembly, a surgical robotic arm flange connector assembly, or an output flange connector assembly, or simply a connector assembly.

[0073] The flange connector assembly 19 is configured to couple a rotational adjustment portion 70 of the end arm segment 18 to the end effector 14. For example, the rotational adjustment portion 70 may rotatably couple the end arm segment 18 to the end effector 14 such that the end effector 14 is adjustably rotatably coupled to the end arm segment 18 such that the end effector 14 rotates about the longitudinal axis X2-X2. Thus, the rotational adjustment portion 70 may be a motorized joint or the like that selectively rotates the end effector 14, and thus the cutting tool 16, about the longitudinal axis X2-X2. In some embodiments, the adjustment portion 70 may be powered (e.g., including a motor or other movement mechanism) such that it affects or adjusts the orientation of the effector 14 relative to the end arm segment 18 (such as about the longitudinal axis X2-X2). In some embodiments, the adjustment portion 70 may be fixedly (i.e., non-rotatably) coupled to the end arm segment 18 and / or the end effector 14. In some other embodiments, the adjustment portion 70 may be rotatably coupled to the end arm segment 18 and / or the end effector 14 .

[0074] In some embodiments, the end arm segment 18 (e.g., the adjustment portion 70 thereof) may be coupled to the end effector via a flange connector assembly 19, which may be configured as a quick connector for selectively, quickly and easily manually detaching the end effector 14 from the end arm segment 18. In some such embodiments, the flange connector assembly 19 may be configured as two connector assemblies, such as a first and a second quick connector. As shown in FIGS. 11-16 , the flange connector assembly 19 may include a first coupling assembly 72 (e.g., a first quick connector assembly) that selectively / removably fixedly couples the end segment 18 to a first side of a flange member or plate 76, and a second coupling assembly 74 (e.g., a first quick connector assembly) that selectively / removably fixedly couples the second side of the flange member or plate 76 to the end effector 14.

[0075] In some embodiments, as shown in Figures 11-16, the first linkage assembly 72 may include a first female connector 73A secured to an end of the end arm segment 18 (e.g., adjustment portion 70) and a first male connector 73B secured to a side of a flange member or plate 76. The first female and male connectors 73A, 73B are configured to be removably manually fixedly mated and coupled with the first male connector 73B disposed within a cavity or opening in the first female connector 73A. For example, in some embodiments, the cavity or opening in the first female connector 73A may include a first wall or bar portion having a gap therebetween and at least one second wall portion having a gap therebetween spaced about the longitudinal axis X2-X2 from the first wall or bar portion. 11-16, the first male connector 73B may include a first protrusion configured to seat within a gap behind a first wall or bar portion and at least one second protrusion configured to seat within a gap behind at least one second wall portion when the first male connector 73B is positioned within the first female connector 73A to releasably fixedly couple the end segment 18 and the flange member 76. The at least one second protrusion of the first male connector 73B may be manually movable (e.g., spring biased) between an extended position and a retracted position to enable selective positioning (i.e., coupling) and removal (i.e., uncoupling) of the first male connector 73B within and from the first female connector 73A. The cavity of the first female connector 73A and the first male connector 73B may include other recesses and mating protrusions configured to oppose or orient them about the longitudinal axis X2-X2 and / or prevent relative rotation therebetween, as shown in Figures 11-16.

[0076] To prevent and / or limit (e.g., minimize the amplitude of) vibratory forces / motions generated by the end effector 14 and / or cutting operation from passing to / through the end arm segment 18, the first coupling assembly 72 may include vibration damping features. For example, as shown in Figures 13 and 15, the flange member 76 may include a mating recess within which is disposed a compressible / flexible vibration damping member 78 that extends around the first male connector 73B. The mating recess and vibration damping member 78 are configured to mate with a rim portion of the first female connector 73A when the first female and male connectors 73A, 73B are mated together. In some embodiments, the flange connector assembly 19 is configured such that when the first female and male connectors 73A, 73B are coupled together, the vibration damping member 78 is compressed / squeezed between a rim portion of the first female connector 73A and a recess in the flange member 76 around the first male connector 73B (in a direction extending along the axis X2-X2).

[0077] The vibration damping member 78 is configured to damp oscillatory forces / motions applied thereto via the end effector 14. The vibration damping member 78 is thereby configured to dissipate periodic energy (e.g., oscillatory forces / motions) applied thereto by the end effector 14 / cutting tool 16. In some embodiments, the vibration damping member 78 may be configured to provide viscoelastic damping. In some embodiments, the vibration damping member 78 is made of or includes an inertial mass and energy dissipating material, such as rubber (natural or synthetic) (such as, but not limited to, latex, silicone rubber or silicone-free rubber), synthetic elastomers (such as polyurethane, polyvinyl chloride (PVC)), springs, fluids, or some combination thereof. As a non-limiting example, the vibration damping member 78 may be comprised of an O-ring.

[0078] As shown in Figures 11-16, in some embodiments, the second linking assembly 74 may be configured substantially similarly to the first linking assembly 72 and may include a second female connector 75A secured to the other side of the flange member or plate 76 and a second male connector 75B secured to a side (e.g., upper side) of the end effector 14. The second male and female connectors 75B, 75A may be configured substantially the same as or similar to the first female and male connectors 73A, 73B and will not be repeated herein for brevity. The second male connector 75B may or may not include a groove or recess and a compressible / flexible vibration damping member 78 (e.g., an O-ring) disposed therein for connection to a rim portion of the second female connector 75A.

[0079] As shown in Figures 13-16, the flange member 76 of the flange connector assembly 19 may include a sterile portion or ring 77 extending about the axis X2-X2. Also as shown in Figures 13-16, a surgical drape, curtain, or the like 80 may be sterile-sealably coupled to the sterile portion 77 of the sterile portion or ring 77. The flange connector assembly 19 and the surgical drape 80 thereby define a sterile barrier between the end effector 14 and cutting tool 16 and the arm 12 and base portion of the robot 10. As shown in Figure 16, an upper portion of the end effector 14 furthest from the attachment mechanism 40 and cutting tool 16 may be coupled to the second linkage assembly 74 such that the surgical drape 80 is spaced from the cutting tool 16.

[0080] Another exemplary surgical robot system 110, shown in Figures 17 and 18, includes a connection between an end effector 114 and an end segment 118 of an arm 112 that is different from the flange connector assembly 19 described above. The surgical robot 110 of Figures 17 and 18 is substantially similar to the surgical robot 10 described herein, and thus like reference numerals preceded by "1" are used to indicate like components, aspects, parts, features, processes, etc., and the above descriptions directed thereto apply similarly and will not be repeated for purposes of brevity and clarity.

[0081] 17 and 18, the end effector 114 may include a mating recess or slot 162 disposed proximate the connector 161. In some embodiments, the mating recess 162 may be adjacent a periphery of the connector 161. As shown in FIGS. 17 and 18, in some embodiments, the mating recess 162 may be annular (e.g., extend circumferentially) about at least a portion of the connector 161. In one such embodiment, the mating recess 162 may be circular.

[0082] To prevent and / or limit (e.g., minimize the amplitude of) the oscillatory forces / motions generated by the end effector 114 from passing to / through the end arm segment 118, the coupling recess 162 includes a compressible / flexible vibration damping member 164 disposed therein. The vibration damping member 64 is configured to damp the oscillatory forces / motions applied thereto by the end effector 114. The vibration damping member 164 is thereby configured to dissipate periodic energy (e.g., oscillatory forces / motions) applied thereto by the end effector 114. In some embodiments, the vibration damping member 164 may be configured to provide viscoelastic damping. In some embodiments, the vibration damping member 64 is made from or includes an inertial mass and energy dissipating material, such as rubber (natural or synthetic) (such as, but not limited to, latex, silicone rubber, or silicone-free rubber), a synthetic elastomer (such as polyurethane, polyvinyl chloride (PVC)), a spring, a fluid, or some combination thereof. As a non-limiting example, the vibration dampening member 164 may consist of an O-ring.

[0083] 17 and 18 , the flange connector assembly 119 includes a protrusion or rim 166 cooperatively configured with the mating recess 162 such that when the flange connector assembly 119 is mated with the end effector 114 via the connector 161 (i.e., when the flange connector assembly 119 is mated with the connector 161 and the connector 161 is mated with the end effector 114), the protrusion 166 is received within the mating recess 162 with the vibration damping member 164 at least partially disposed therebetween. In some embodiments, the flange connector assembly 119 is configured such that when the flange connector assembly 119 is mated with the connector 161 of the end effector 114, the vibration damping member 164 is compressed / squeezed between the protrusion 166 and the mating recess 162. In some embodiments, the vibration damping member 164 is disposed and compressed between a direction extending along the axis X2-X2 of the end segment 118 and / or a direction substantially perpendicular to the axis X1-X1 of the end effector 114 and the cutting blade 116.

[0084] The robot 110 may thereby be configured such that the vibration damping member 64 dampens vibrations between the end effector 114 and the end segment 118, such as oscillatory forces / motions generated by the end effector 114, to minimize translation of the vibrations (e.g., their amplitude) to the articulated arm 112. Furthermore, when the flange connector assembly 119 is mated with the connector 161 of the end effector 114, compression of the vibration damping member 164 between the protrusion 166 of the flange connector assembly 119 and the mating recess 162 of the end effector 114 thereby preloads the vibration damping member 164. Such preloaded force of the vibration damping member 164 thereby preloads the connection between the end effector 114 and the connector assembly 19 / end segment 118, which further tends to reduce vibrations and / or relative movement therebetween and strengthen the mating connection.

[0085] As shown in Figures 19 and 20, the orientation of the end effector 14 and cutting blade 16 relative to the articulated arm 12 is intended to minimize moment forces acting on the arm 12 during a cutting operation and reduce loads on the joints of the arm 12. For example, as shown in Figures 19 and 20, the end effector 14 may extend or be elongated along a longitudinal or axial direction extending along its axis X1-X1. In other words, the end effector 14 may be configured such that its maximum longitudinal / axial length is greater than its maximum lateral width. Additionally, as described above and shown in Figures 19 and 20, the cutting tool 16 may extend axially from the attachment mechanism 40 at the front longitudinal / axial end portion of the end effector 14. 19 and 20, the cutting tool 16 may be a sagittal cutting blade configured to cut as the cutting blade is oscillated or translated along a cutting path 17 that extends laterally into / through the material to be cut (e.g., bone or other tissue) and advances axially / longitudinally. In such an embodiment, the forces generated by the end effector 14 (e.g., via the drive portion 37) are angled (e.g., perpendicular) to and axially / longitudinally spaced from the axis X2-X2 of the end segment 18 of the articulated arm 12 such that they act as a torque or moment force M on the joint 19 between the end effector 14 and the end segment 18, as depicted in FIG.

[0086] 19 and 20, the robot 10 is configured such that the end segment 18 is coupled to an upper side of the end effector 14 spaced from the longitudinal / axial rear end of the end effector 14. In some embodiments, the end segment 18 may be coupled to a central portion of the upper side of the end effector 14 along the longitudinal / axial length of the end effector 14. The distance D1 between the axis X2-X2 of the end segment 18 (which may pass through the center of the coupling joint 19) and the force applied by the drive portion 37 of the end effector 14 is thereby minimized to minimize the moment M of the force acting on the joint 19 and / or the end segment 18. It is noted that if, alternatively, the lateral trailing end of the end effector 14 were coupled to the distal end of the end segment 18, the additional longitudinal / axial length of the trailing end portion of the end effector 14 would increase the force moment M1 by a distance D3 (i.e., the force moment would be D1+D3), as shown in FIG.

[0087] Additionally, in an alternative arrangement in which the axis X1-X1 of the end effector 14 is parallel or aligned with the axis X2-X2 of the end segment 18, the flange connector assembly 19 would be configured to rotate the end effector 14 in line with the axis X2-X2 of the end segment 18, as opposed to rotating the end effector 14 orthogonal to or about the axis X2-X2 of the end segment 18 as in the arrangement shown in FIG. 19. In some embodiments, the robot 10 may be positioned adjacent to the material or patient to be cut (e.g., operated on), as shown in FIG. 1. In such an embodiment and in the arrangement shown in FIGS. 19 and 20, to effect a cut via the downwardly extending cutting tool 16, the end segment 18 may be extended laterally above the material or patient, and the end effector 14 and cutting tool 16 may be rotated about the axis X2-X2 of the end segment 18 to orient the cutting tool 16 for such a cut. It is noted that in the alternative arrangement discussed above in which axis X1-X1 of end effector 14 is parallel or aligned with axis X2-X2 of end segment 18, end segment 18 would have to be oriented downward and the adjacent second arm segment 13 connected to end arm segment 18 would have to be oriented laterally above the material or patient in order to orient cutting tool 16 for such cutting. In such a configuration, articulated arm 12 would be limited in its ability (or options for orienting) to spatially move and orient cutting tool 16, as opposed to the arrangements shown in Figures 1, 19 and 20, which orientation would be less desirable for vibration mitigation purposes.

[0088] 19, due to the arrangement of the end effector 14 and the end arm segment 18 that is orthogonally coupled to the side of the end effector 14, the longitudinal / axial distance between the joint 11 connecting the end arm segment 12 and the second arm segment 13 of the articulated arm 12 extending from the end segment 18 is located only slightly beyond the axis X2-X2 of the end arm segment 18. This makes the configuration of the end effector 14 and end arm segment 18 effective to position the force applied by the drive portion 37 of the end effector 14 a minimum longitudinal / axial distance D2 from the joint 11. Again, it is noted that in the alternative arrangement described above where the axis X1-X1 of the end effector 14 is parallel or aligned with the axis X2-X2 of the end segment 18, the moment of force applied by the end effector 14 to the joint 11 would be increased by a distance D3 (i.e., the moment of force would be D2+D3).

[0089] The orthogonal arrangement of the axes X1-X1 of the end effector 14 and cutting tool 16 also minimizes rotational forces F2 (i.e., twisting) acting on the joints of the articulated arm 12, as shown in Figure 10. Referring to Figure 20, in the configuration of the robot 10, the forces applied by the end effector 14 (i.e., drive portion 37) acting in the cutting path 17 (i.e., vibration direction or plane) are directed perpendicular to the axis X2-X2 of the end segment 18 between the end effector 14 and the end arm segment 18, and thus are directed about the joint 19. In some embodiments, the end effector 14 may be mounted on the end segment 17 such that the axis X2-X2 of the end segment 18 (and the joint 19 therebetween) passes through or is substantially close to the center of mass of the end effector 14, further reducing the force loading transferred to the joints of the articulated arm 12. It is noted that in the alternative embodiment shown in FIG. 3, the force applied by the end effector 14 (i.e., drive portion 37) acting on the cutting path 17 (i.e., vibration direction or plane) is directed generally parallel to the axis X2-X2 of the end segment 18 and thus the joint 19.

[0090] It should be understood that the above description is illustrative and not restrictive. For example, the above-described exemplary embodiments and / or aspects thereof 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 be configured as a different type of saw blade rather than as a sagittal saw blade. For example, the cutting tool 16 may be configured as a reciprocating type saw blade having cutting teeth (and / or abrasives) disposed along the axially extending sides of the blade, or as a rotary cutting blade. As another example, the cutting tool 16 may be configured as any other blade-type cutting tool utilizing a mounting portion 20 for coupling with the mounting mechanism 12 of the end effector 14. Furthermore, the cutting tool 16 may be a non-planar cutting tool, such as a rotary cutting bit or blade configured to be rotated by the end effector 14 and cut via such rotational force. As such, the configurations of the articulated arm 12, end effector 14 (including its mounting mechanism 40), and / or cutting tool 16 described above to prevent the generation of vibrations and / or mitigate the effects of vibrations may be adapted or modified according to the particular configuration of the vibratory cutting path 17 of a particular cutting tool 16 within the scope of the present disclosure.

[0091] Many other examples will be apparent to those of skill in the art upon reviewing the above description. Accordingly, 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.

[0092] Dimensions and types of materials may be described herein, but these are intended to define some parameters of the various examples and are by no means limiting of all examples, but are merely illustrative.

[0093] In the appended claims, the terms "including" and "in which" are used as the plain equivalents of the respective terms "comprising" and "wherein." Moreover, in the following claims, the terms "first," "second," "third," etc. are used merely as referee labels and are not intended to impose numerical, structural, or other requirements on their objects. As used herein, the term "based on" encompasses relationships in which an element is fully based as well as relationships in which an element is partially based. The term "defined" encompasses relationships in which an element is fully defined as well as relationships in which an element is partially defined. Moreover, the following claim limitations are not written in means-plus-function form, and are not intended to be construed under 35 USC § 112, paragraph 6, to the extent that such claim limitations expressly use the phrase "means for" followed by a recitation of a function cavity of further structure. It should be understood that not all of the objects or advantages set forth above may be achieved in accordance with any particular example. Thus, for example, one skilled in the art will recognize that the devices, systems, and methods described herein can be embodied 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.

[0094] Although the present disclosure has been described in detail in connection with 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, modifications, 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 can include only one example or a portion of the described examples. Also, while some disclosures are described as having a certain number of elements, it will be understood that an example can be implemented with less than that certain number of elements or more than that certain number of elements.

[0095] It should be understood that all combinations of the foregoing concepts, and additional concepts described in more detail below, provided that such concepts are not mutually inconsistent, are contemplated as being 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 contemplated as being part of the inventive subject matter disclosed herein.

Claims

1. It is a robotic system, A multi-joint arm comprising a plurality of arm segments defining a longitudinal axis, and adjustable joints connected between adjacent arm segments and configured to adjust the orientation of the axis of the adjacent arm segments, An end effector is provided with a drive unit that is rotatably connected to the end arm segment among the multiple arm segments mentioned above and to which power is supplied. Equipped with, The end effector comprises a cutting tool mounting mechanism positioned at the longitudinal end of the end effector and configured to connect with a cutting tool, thereby extending the cutting tool axially from the cutting tool mounting mechanism, and the drive unit is configured to translate the cutting tool along a cutting path configured such that the cutting tool produces a cut at an angle to the longitudinal axis of the cutting tool. The end effector is oriented such that the longitudinal axis of the cutting tool is at an angle to the axis of the end arm segment. A robotic system characterized by the following features.

2. In the robot system according to claim 1, The above cutting tool is configured to cut when it vibrates along the above cutting path with respect to the vibration axis. A robotic system characterized by the following features.

3. In the robot system according to claim 1, The end effector is oriented such that the longitudinal axis of the cutting tool is at an angle to the axis of the end arm segment. A robotic system characterized by the following features.

4. In the robot system according to claim 3, The end effector is oriented such that the longitudinal axis of the cutting tool is substantially perpendicular to the axis of the end arm segment. A robotic system characterized by the following features.

5. In the robot system according to claim 1, The above end effector defines a second longitudinal axis, The end effector is oriented such that the second longitudinal axis is at an angle to the axis of the end arm segment. A robotic system characterized by the following features.

6. In the robot system described in claim 5, The second longitudinal axis described above is oriented substantially perpendicular to the axis of the end arm segment. A robotic system characterized by the following features.

7. In the robot system according to claim 1, The end effector described above is elongated in the longitudinal direction so as to define a maximum longitudinal length that is greater than the maximum width. A robotic system characterized by the following features.

8. In the robot system according to claim 7, The end arm segment described above is rotatably coupled to the lateral portion of the end effector, which is spaced longitudinally from the longitudinal end of the end effector and faces the cutting tool mounting mechanism. A robotic system characterized by the following features.

9. In the robot system according to claim 1, The above cutting tool is configured as a sagittal cutting tool having cutting teeth positioned at the longitudinal end of the cutting tool. The sagittal cutting tool described above is configured to vibrate along the cutting path with respect to a first vibration axis and to cut when translated in the longitudinal direction. A robotic system characterized by the following features.

10. In the robot system according to claim 9, The cutting tool described above is configured such that it has a center of mass substantially aligned with the first vibration axis. A robotic system characterized by the following features.

11. In the robot system according to claim 10, The cutting tool is configured such that the first vibration axis is substantially aligned with the longitudinal axis of the cutting tool. A robotic system characterized by the following features.

12. In the robot system according to claim 9, The above cutting tool mounting mechanism comprises a mounting arm which is coupled to the drive unit and has a first portion extending longitudinally from the drive unit, The above-mentioned mounting arm is vibrated by the above-mentioned drive unit around the second vibration axis, The mounting arm described above is configured to transmit the vibrations to the cutting tool, thereby causing the cutting tool to vibrate. A robotic system characterized by the following features.

13. In the robot system according to claim 12, The mounting arm is configured such that the second vibration axis is aligned with the longitudinal axis of the mounting arm. A robotic system characterized by the following features.

14. In the robot system according to claim 12, The mounting arm is configured to have a center of mass substantially aligned with the second vibration axis. A robotic system characterized by the following features.

15. In the robot system according to claim 12, The first and second vibration axes described above are parallel. A robotic system characterized by the following features.

16. In the robot system according to claim 1, The above cutting tool includes a body portion having multiple openings spaced apart in the longitudinal direction in order to minimize the total mass of the cutting tool. A robotic system characterized by the following features.

17. In the robot system according to claim 12, The above-mentioned mounting arm includes a main body portion which includes at least one opening configured to minimize the total mass of the mounting arm. A robotic system characterized by the following features.

18. In the robot system according to claim 1, The drive portion of the end effector described above is configured to apply an oscillatory force that causes the cutting tool to vibrate along the cutting path within the cutting operating frequency range of the cutting tool, at a frequency greater than or less than the resonant frequency range of the robot system described above. A robotic system characterized by the following features.

19. In the robot system according to claim 1, The drive portion of the end effector described above is configured to apply an oscillatory force that causes the cutting tool to vibrate along the cutting path within the cutting operating frequency range of the cutting tool, at a frequency greater than or less than the resonant frequency range of the robot system described above. The above cutting path is a planar arc defined by the radius extending from the axis of rotation. The end effector is coupled to the end arm segment via a manually operable connector assembly, the connector assembly including a flange assembly, the flange assembly including a first connector that detachably connects the end arm segment to a flange member of the flange assembly, a second connector that detachably connects the flange member to the end effector, and a flexible vibration damping member disposed within the corresponding component of at least one of the first connector and the second connector. A robotic system characterized by the following features.

20. In the robot system according to claim 1, The end effector is coupled to the end arm segment so as to be rotatable around the axis of the end arm segment. A robotic system characterized by the following features.

21. In the robot system according to claim 1, The end effector is coupled to the end arm segment such that it is rotatable only around the axis of the end arm segment. A robotic system characterized by the following features.

22. In the robot system according to claim 1, The end effector is connected to the end arm segment via a rotatable joint. A robotic system characterized by the following features.

23. In the robot system according to claim 1, The above end effector is coupled to the end arm segment via a manually operable connector assembly. The connector assembly includes a flange assembly, which includes a first connector that detachably connects the end arm segment to the flange member of the flange assembly, and a second connector that detachably connects the flange member to the end effector. A robotic system characterized by the following features.

24. In the robot system according to claim 23, The connector assembly further includes a flexible vibration damping member disposed within the corresponding component of at least one of the first connector and the second connector. A robotic system characterized by the following features.

25. In the robot system according to claim 24, The flexible vibration damping member is positioned within the recess of the flange member and engages with a portion of the first connector coupled to the end arm segment. A robotic system characterized by the following features.

26. In the robot system according to claim 25, The vibration damping member is subjected to a compressive preload between the recess and the part of the first connector. A robotic system characterized by the following features.

27. In the robot system according to claim 23, The connector assembly includes a first connector that connects the end arm segment to the first side of the flange member, and a second connector that connects the second side of the flange member to the end effector. A robotic system characterized by the following features.

28. In the robot system according to claim 27, The above-mentioned first connector is a first quick connector, The second connector mentioned above is a second quick connector. A robotic system characterized by the following features.

29. In the robot system according to claim 27, The connector assembly further includes a surgical drape extending from and around the flange member. A robotic system characterized by the following features.

30. In the robot system according to claim 27, The first connector comprises a first male connector portion fixed to the first side of the flange member and a first female connector portion fixed to the end arm segment, and the first male connector portion and the first female connector portion are configured to be manually and detachably connected. The second connector comprises a second male connector portion fixed to the end effector and a second female connector portion fixed to the second side of the flange member, and the second male connector portion and the second female connector portion are configured to be manually and detachably connected. A robotic system characterized by the following features.

31. In the robot system according to claim 23, The connector assembly further includes a surgical drape extending from and around the flange member. A robotic system characterized by the following features.

32. In the robot system according to claim 1, The above cutting tool includes a cutting blade. A robotic system characterized by the following features.

33. In the robot system according to claim 1, The above robot system is configured as an autonomous robot that autonomously translates the cutting tool through one or more cutting paths without the user physically interfering with the robot system. A robotic system characterized by the following features.

34. In the robot system according to claim 1, The above cutting path is planar. A robotic system characterized by the following features.

35. In the robot system according to claim 34, The above cutting path is oriented substantially perpendicular to the axis of the end arm segment. A robotic system characterized by the following features.

36. In the robot system according to claim 34, The above cutting path is an arc defined by the radius extending from the axis of rotation. A robotic system characterized by the following features.

37. In the robot system according to claim 36, The rotation axis is oriented substantially parallel to the axis of the end arm segment. A robotic system characterized by the following features.

38. A method of cutting material, Using the robotic system described in claim 1, the cutting tool is translated along the cutting path and one or more longitudinal paths to cut the material. A method characterized by the following:

39. In the method according to claim 38, The above materials include bone from the mammal being treated. The above cutting tool includes a sagittal cutting blade. A method characterized by the following:

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