End effector with instrument interface for hip procedures

Abstract

To provide an end effector having an instrument interface for hip joint treatment.SOLUTION: Various implementations include an end effector for a total hip arthroplasty (THA) procedure. An exemplary end effector may include an adapter for holding a surgical instrument, the adapter having an elongated body and a projection extending therefrom, a main body having a proximal end including an interface for attaching to a robotic arm and a distal end including an elongated recess and a slot for connecting with the surgical instrument, and a connector adapted to secure the projection within the slot to rigidly attach the adapter to the main body.SELECTED DRAWING: Figure 19

Description

[Technical Field]

[0001] The present invention relates generally to devices, systems, and methods for use in surgical procedures, and more particularly, to devices, systems, and methods for performing total hip arthroplasty (THA) surgical procedures. [Background technology]

[0002] Hip arthroplasty, or hip replacement, is a surgical procedure used to replace and resurface a hip joint damaged by disease or injury, for example, due to arthritis or hip fracture. A THA device replaces both the acetabulum and the femoral head, which collectively comprise the hip joint. The acetabular implant is fixedly mounted in the acetabulum and forms a replacement articular surface that interfaces with a femoral implant fixedly mounted at the end of the femur. The femoral implant is pivotally coupled to the acetabular implant, thereby reconstructing the hip joint. Exemplary acetabular implants are disclosed, for example, in U.S. Patent Application No. 17 / 024,876, filed September 18, 2020 (published as U.S. Patent Application Publication No. 2022 / 0087823(A1)), which is incorporated by reference as if fully set forth herein.

[0003] Robotic surgical systems including computer-assisted navigation have become well-established technology in the operating room, including their use in arthroplasty procedures. Computer-assisted navigation systems provide surgeons with computerized visualization of how surgical instruments or other devices posed relative to a patient correlate to their pose relative to medical images of the patient's anatomy, and how those poses correlate to the preoperative surgical plan. Camera tracking systems for computer-assisted surgical navigation typically use a set of tracking cameras to track the pose of reference elements on a surgical instrument, which may be coupled to a surgical robot and positioned by the surgeon during surgery, relative to a patient reference element (or "dynamic reference base" (DRB)) fixed to the patient. A computer model of the actual instrument is associated with the reference element so that the computer model can be overlaid on a registered image of the patient's anatomy. The camera tracking system uses the relative pose of the reference elements to determine how the actual instrument is posed relative to the patient and how the computer model of the actual instrument is correspondingly posed as an overlay on the medical image. This allows the surgeon to use real-time visual feedback of relative pose to navigate surgical instruments during a surgical procedure on a patient.

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

[0005] The serial arm can be moved to the preferred position for surgery through computer-guided control according to the surgeon's requests, which can be provided, for example, via foot pedals, touch screen, AR interaction, etc. The passive robotic structure allows the surgeon to precisely perform each movement in the procedure.

[0006] Various workflows may be available for use with the system. Such workflows may incorporate pre-operative scans or images of the patient (e.g., X-rays or computerized tomography (CT)), while other workflows may be image-less and may not require any pre-operative images. Some workflows may incorporate the acquisition of intra-operative information about the patient's anatomy. In one example, a surgeon may measure key bone parameters using a camera tracking system and appropriate tracked instruments to capture points on the patient's anatomy. This information, and other intra-operatively acquired information, may then be used to plan the position and orientation of the implant relative to the patient's anatomy and to navigate the robot and surgical instruments during the surgical procedure.

[0007] In some workflows, the surgeon may rigidly attach reference elements to one or more bones, which include fiducials detected by a tracking camera for computer-assisted navigation. The reference elements allow the navigation system to track the bone's position. The reference elements may be positioned on the bone and oriented so that they can be viewed by the navigation system's tracking camera. Once positioned, the reference elements are attached using fixation structures (e.g., screw pins, "alligator" jaws) on the bone (e.g., the pelvis or femur). The position and orientation of each of the reference elements remains rigidly fixed relative to the bone throughout the procedure.

[0008] Another process in the various workflows is to register the patient in the tracking space of the navigation system. Patient registration may involve matching the patient's anatomy with corresponding numerical representations of bones, such as three-dimensional (3D) models of bones. The bone representations may be constructed, for example, from a set of CT images (CT workflow) or a set of fluoroscopic images, or may be based on generic bone models (image-less workflow).

[0009] Although current surgical approaches offer sophisticated techniques in robotic and navigation-assisted surgery, current approaches for bone preparation, trialing, and implant placement can have drawbacks, for example, in THA procedures. Summary of the Invention

[0010] A first aspect of the present disclosure provides an end effector for a total hip arthroplasty (THA) procedure, the end effector including: an adapter for holding a surgical instrument, the adapter having an elongated body and a protrusion extending therefrom; a main body having a proximal end including an interface for attachment to a robotic arm and a distal end including an elongated recess and a slot for connecting with the surgical instrument; and a connector adapted to securely attach the adapter to the main body by securing the protrusion within the slot.

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

[0012] According to certain embodiments, the surgical instrument and adapter are configured to connect to the main body as a single unit. In certain implementations, the surgical instrument and adapter can be pre-coupled and pre-connected to the main body, for example, by a single operator, using a quick-connect approach. In some of these cases, the final connection is made by a second operator.

[0013] According to certain embodiments, the protrusions complement slots in the main body.

[0014] According to certain embodiments, the protrusion includes a notch that complements the connector and allows for attachment and detachment of the adapter with the main body. In some examples, the notch includes a V-shaped slot.

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

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

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

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

[0019] According to certain embodiments, the connector allows the impactor to be decoupled from the main body in a single disconnection process, restoring at least 2 DoF limited by the end effector. For example, in some cases, an operator (e.g., a surgeon) may beneficially perform the single disconnection process to test the grip and / or fit of an implant within a pocket. In additional cases, if the surgical robot malfunctions or jams for any reason, the operator may beneficially perform the single disconnection process.

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

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

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

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

[0024] According to a particular embodiment, the adapter is cylindrical and complements the elongated recess.

[0025] According to certain embodiments, the connector includes pins sized for insertion into or removal from slots in protrusions in the adapter.

[0026] According to certain embodiments, when locked, the degrees of freedom (DoF) of the surgical instrument relative to the end effector are approximately zero.

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

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

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

[0030] According to certain embodiments, the connector includes an actuator that allows a user to couple or uncouple the surgical instrument with the main body. In some cases, the actuator includes a handle.

[0031] According to certain embodiments, the surgical instrument further comprises a drape across the interface on the proximal end of the main body, the drape providing a sterile shield between the actuator and the surgical instrument.

[0032] According to certain embodiments, the sterility shield allows the user to couple or uncouple the surgical instrument to the main body without compromising the pre-established sterility.

[0033] According to certain embodiments, a method includes coupling an end effector to a surgical instrument.

[0034] According to certain embodiments, the method further includes decoupling the end effector from the surgical instrument without repositioning the robotic arm. For example, decoupling the end effector can be performed without moving the arm out of the surgical field.

[0035] According to certain embodiments, the surgical robot includes a robotic arm coupled to an end effector.

[0036] These and other aspects, advantages and salient features of the present invention will become apparent from the following detailed description, which, taken in conjunction with the accompanying drawings, in which like parts are designated with like reference characters throughout, disclose embodiments of the present invention. [Brief explanation of the drawings]

[0037] Aspects of the present disclosure are illustrated by way of example and not limitation in the accompanying drawings, in which: [Figure 1] FIG. 1 is a top view of a surgical system positioned during a surgical procedure in a surgical room, including a camera tracking system for computer-assisted navigation during surgery and a surgical robot for robotic assistance, according to some embodiments of the present disclosure. [Figure 2]2 illustrates the camera tracking system and surgical robot of FIG. 1 positioned relative to a patient, according to some embodiments of the present disclosure. [Figure 3] 3 further illustrates the camera tracking system and surgical robot of FIGS. 1 and 2 configured in accordance with some embodiments of the present disclosure. [Figure 4] 1 illustrates a block diagram of a surgical system including an extended reality headset, a computer platform, an imaging device, and a surgical robot configured to operate in accordance with some embodiments of the present disclosure. [Figure 5] 1 illustrates a flowchart of a workflow during the intraoperative portion of a total hip arthroplasty (THA) surgical procedure, according to some embodiments of the present disclosure. [Figure 6] 1 illustrates a robotic arm having an end effector for holding a surgical instrument, according to some embodiments of the present disclosure. [Figure 7] 1 illustrates a separated assembly including an end effector, an adapter, a surgical instrument, and a navigation array, according to some embodiments of the present disclosure. [Figure 8] 8 illustrates the connected assembly of FIG. [Figure 9] 1 illustrates a separated assembly including an end effector, an adapter, a surgical instrument, and a navigation array, according to some embodiments of the present disclosure. [Figure 10] 1 illustrates a separated assembly including an end effector, an adapter, and a surgical instrument, according to some embodiments of the present disclosure. [Figure 11] 1 illustrates a separated assembly including an end effector and an adapter, according to some embodiments of the present disclosure. [Figure 12] 1 illustrates an end view of a portion of an end effector according to some embodiments of the present disclosure. [Figure 13] 1 illustrates a partial cross-sectional view of a portion of an end effector according to some embodiments of the present disclosure. [Figure 14]1 illustrates an end view of an interface on an end effector according to some embodiments of the present disclosure. [Figure 15] FIG. 1 illustrates a perspective view of an end effector and a portion of a surgical drape according to some embodiments of the present disclosure. [Figure 16] FIG. 1 illustrates a perspective view of an end effector and a portion of a surgical drape according to some embodiments of the present disclosure. [Figure 17] FIG. 10 shows a separate perspective view of a portion of an end effector coupled with a surgical instrument adapter, according to some embodiments of the present disclosure. [Figure 18] FIG. 10 shows a separate perspective view of a portion of an end effector coupled with a surgical instrument adapter, according to some embodiments of the present disclosure. [Figure 19] 1 illustrates a schematic diagram of a system according to some embodiments of the present disclosure. [Figure 20] 1A-1C show separate views of an exemplary end effector interface, according to some embodiments of the present disclosure. [Figure 21] 1A-1C show separate views of an exemplary end effector interface, according to some embodiments of the present disclosure.

[0038] It should be noted that the drawings of the disclosure are not necessarily to scale. The drawings are intended to depict only typical aspects of the disclosure and therefore should not be considered as limiting the scope of the disclosure. In the drawings, like numbers represent like elements between the drawings. DETAILED DESCRIPTION OF THE INVENTION

[0039] It is understood that the present disclosure is not limited in its application to the details of construction and arrangement of components set forth in the description herein or illustrated in the drawings. The teachings of the present disclosure may be used and implemented in other embodiments and may be practiced or carried out in various ways. It is also understood that the phraseology and terminology used herein are for purposes of description and should not be regarded as limiting. The use of "including," "comprising," or "having," and variations thereof, herein is meant to encompass the items listed thereafter and equivalents thereof, as well as additional items. Unless otherwise specified or limited, the terms "mounted," "connected," "attached," "supported," and "coupled," and variations thereof, are used broadly and encompass both direct and indirect mounting, connecting, attaching, supporting, and coupling. Furthermore, "connected" and "coupled" are not limited to physical or mechanical connections or couplings.

[0040] The following discussion is presented to enable those skilled in the art to make and use embodiments of the present disclosure. Various modifications to the illustrated embodiments will be readily apparent to those skilled in the art, and the principles herein may be applied to other embodiments and applications without departing from the embodiments of the present disclosure. Thus, the embodiments are not intended to be limited to the embodiments shown, but are to be accorded the widest scope consistent with the principles and features disclosed herein. The following detailed description should be read with reference to the drawings, in which like elements in different drawings have like reference numerals. The figures, which are not necessarily to scale, depict selected embodiments and are not intended to limit the scope of the embodiments. Those skilled in the art will recognize that the examples provided herein have many useful alternatives and are within the scope of the embodiments.

[0041] This application is a continuation of (1) U.S. Patent Application No. 15 / 180,126 (U.S. Patent No. 10,842,453), filed June 13, 2016; (2) U.S. Patent Application No. 15 / 157,444 (U.S. Patent Publication No. 2016 / 0256225), filed May 18, 2016; (3) U.S. Patent Application No. 18 / 743,685 (Docket No. ROBOT.143.0005), filed June 14, 2024; and (4) U.S. Patent Application No. 18 / 743,388 (Docket No. ROBOT.143.0002), filed June 14, 2024. , (5) Patent Application No. 18 / 743,647 filed June 14, 2024 (ROBOT.143.0004), (6) Patent Application No. 18 / 743,615 filed June 14, 2024 (Docket No. ROBOT.143.0003), (7) Patent Application No. 18 / 770,993 filed June 14, 2024 (Docket No. ROBOT.146.0002), and (8) Patent Application No. 18 / 770,993 filed June 14, 2024 (DOCKET No. ROBOT.146.0002), each of which is incorporated herein by reference.

[0042] Robotic surgical systems and associated workflows may provide improved outcomes in surgical procedures, such as THA surgery, compared to more traditional approaches. For example, robotic surgical systems may provide additional precision and force assistance when preparing the acetabulum and additional precision and alignment when trialing and placing implants. For example, in certain embodiments including intraoperative CT imaging, confirmatory feedback regarding screw location may also be provided prior to drilling. Aspects of the disclosed embodiments are discussed below.

[0043] FIG. 1 is a top view of a surgical system 10 positioned in a surgical suite or operating room during a surgical procedure. The system 10 includes a camera tracking system 200 for computer-assisted navigation during surgery and may further include a surgical robot 100 for robotic assistance, according to some embodiments. FIG. 2 illustrates the camera tracking system 200 and surgical robot 100 positioned relative to a patient, according to some embodiments. FIG. 3 further illustrates the camera tracking system 200 and surgical robot 100 configured in accordance with some embodiments. FIG. 4 illustrates a block diagram of the surgical system 10 including an extended reality (XR) headset 150, a computer platform 400, an imaging device 420, and the surgical robot 100 configured to operate in accordance with some embodiments.

[0044] The camera tracking system 200 (FIGS. 1-4) includes an intraoperative imaging system that may, in some cases, include separate imaging modalities. These imaging modalities may include one or more of fluoroscopy, 2D radiography, and cone-beam computed tomography (CBCT). Fluoroscopy is a medical imaging technique that displays continuous x-ray images on a monitor, much like a moving x-ray. 2D radiography is an imaging technique that uses x-rays to view the internal structure of heterogeneously structured opaque objects, such as the human body. CBCT (or cone-beam 3D imaging or C-arm CT) is a medical imaging technique that consists of x-ray computed tomography, in which x-rays diverge to form a cone. The camera tracking system 200 can include (1) three-dimensional (3D) images (e.g., CT, CBCT, MCT, PET, angiogram, MRI, ultrasound, etc.), (2) two-dimensional (2D) images (e.g., fluoroscopy, digital radiography, ultrasound, etc.), and (3) an integrated or detachable navigation array with tracking markers (e.g., NIR retro-reflective, NIR LED, visible, etc.) that are calibrated to the image space of the 2D and 3D images.

[0045] The surgical robot 100 can include a camera tracking system 200 that can (1) use registered 2D and / or 3D images for surgical planning, navigation, and guidance in various workflows (e.g., intraoperative 3D, intraoperative 2D, preoperative 3D to 2D, and intraoperative 3D to 2D, etc.), and (2) track markers (e.g., NIR retro-reflective, NIR LED, visible, etc.). In some cases, as described herein, a dynamic reference base (DRB) (or patient reference array) 116 (1) can be rigidly attached to the patient anatomy and (2) includes an array of tracking markers (e.g., NIR retro-reflective, NIR LED, visible, etc.).

[0046] The XR headset 150 may be configured to augment a real-world scene with computer-generated XR images while worn by personnel in an operating room. The XR headset 150 may be configured to provide an augmented reality (AR) viewing environment by displaying the computer-generated XR images on a see-through display screen that allows light from the real-world scene to pass through for combined viewing by the user. Alternatively, the XR headset 150 may be configured to provide a virtual reality (VR) viewing environment by preventing or substantially preventing light from the real-world scene from being viewed directly by the user while the user is viewing the computer-generated AR images on the display screen. The XR headset 150 may be configured to provide both AR and VR viewing environments. Thus, the term XR headset encompasses both or either an AR headset or a VR headset.

[0047] 1-4 , the surgical robot 100 may include, for example, one or more robotic arms 102, 104, a display 110, an end effector 112 including, for example, a guide tube 118, and an end effector reference element 114, which may include one or more tracking fiducials. A patient reference element (or DRB) 116 (shown in FIG. 1 ) has multiple tracking fiducials and is fixed directly to the patient 210. For example, a navigated pelvic DRB marker array may be placed within or outside the incision with the aid of cortical pins drilled into the pelvic bone. In some embodiments, the DRB is oriented so as to be visible by a camera tracking system 200 and / or a tracking camera 204 (e.g., a stereoscopic tracking camera) mounted on the XR headset 150. The reference element 170 may be attached to or formed on an instrument, surgical tool, surgical implant device, or the like.

[0048] Camera tracking system 200 includes tracking cameras 204 that may be spaced apart to provide a stereo camera configured to have overlapping fields of view. Camera tracking system 200 may have any suitable configuration of arms 202 for moving, orienting, and supporting tracking cameras 204 at desired locations, and may include at least one processor operable to track the location of individual fiducials and the pose of an array of fiducials of a reference element.

[0049] As used herein, the term "pose" refers to the location (e.g., along three orthogonal axes, e.g., x, y, and z) and / or rotation angle (e.g., about three orthogonal axes) of a reference point (e.g., DRB) relative to another reference point (e.g., a surveillance reference point) and / or a defined coordinate system (e.g., a camera coordinate system, a navigation coordinate system, etc.). Thus, a pose may be defined based solely on the multidimensional location of a reference point relative to another reference point and / or a defined coordinate system, based solely on the multidimensional rotation angle of a reference point relative to other reference points and / or a defined coordinate system, or based on a combination of the multidimensional location and the multidimensional rotation angle. Thus, the term "pose" is used to refer to the location, rotation angle, or a combination thereof of, for example, the instrument reference element 170, the patient reference element 116, etc.

[0050] The tracking camera 204 may include, for example, an infrared camera (e.g., a bifocal or stereo photogrammetry camera) operable to identify a single reference point (e.g., a monitoring reference point) and active and passive tracking reference points relative to a reference element, which may be formed on or attached to, for example, the patient 210 (e.g., the patient reference element or DRB 116), the end effector 112 (e.g., the end effector reference element 114), an XR headset 150 worn by the surgeon 120 and / or surgical assistant 126, etc., in a given measurement volume of a camera coordinate system while being visible from the viewpoint of the tracking camera 204. The tracking camera 204 may scan the given measurement volume and detect light emitted from or reflected from the reference points to identify and determine the location of the individual reference points and the pose of the reference elements in three dimensions. For example, an active reference element may include an infrared-emitting reference point that is activated by an electrical signal (e.g., an infrared light emitting diode (LED)), and a passive reference element may include a retro-reflective reference point that reflects infrared light emitted by an illuminator on, for example, the tracking camera 204 or other suitable device (e.g., reflects incident IR radiation in the direction of the incident light).

[0051] The XR headset 150 may each include tracking cameras (e.g., spaced stereo cameras) that can track the locations of monitored reference points and the poses of reference elements, respectively, within the XR camera headset's field-of-view (FOV) 152 and 154. Thus, as illustrated in FIG. 1 , the locations of monitored reference points and the poses of reference elements on various objects, such as, for example, the instrument reference element 170 and the patient reference element 116, may be tracked while within the FOVs 152 and 154 of the XR headset 150 and / or the FOV 212 of the tracking camera 204.

[0052] 1 and 2 illustrate potential configurations for placement of a camera tracking system 200 and a surgical robot 100 within an operating room environment. Computer-assisted navigated robotic surgery may be provided by the camera tracking system 200 controlling the surgical robot 100, an XR headset 150 for displaying surgical procedure navigation information, and / or other displays 34, 36, and 110.

[0053] The camera tracking system 200 may operate using tracking information and other information provided by multiple XR headsets 150, such as inertial and optical tracking information (frames of tracking data). The XR headsets 150 may operate to display visual information and play audio information to the wearer. This information may be from a local source (e.g., the surgical robot 100), an imaging device 420 ( FIG. 4 ), a remote source (e.g., a patient medical image database), and / or other electronic devices. The camera tracking system 200 may track reference points with six degrees of freedom (6DOF) relative to three axes of a 3D coordinate system and the angle of rotation about each axis. The XR headsets 150 may also operate to track hand postures and gestures to enable gesture-based interaction with “virtual” buttons and interfaces displayed through the XR headsets 150, and may interpret hand or finger pointing or gestures as various defined commands. Additionally, XR headsets 150 may have a digital color camera sensor with 1-10x magnification, called a digital magnifier. In some embodiments, one or more of XR headsets 150 are minimalist XR headsets that display local or remote information but contain fewer sensors and are therefore lighter in weight.

[0054] The "outside-in" machine vision navigation bar 206 supports the tracking camera 204 and may include a color camera. The machine vision navigation bar generally does not move as frequently or quickly as the XR headset 150 while positioned on the wearer's head, and therefore has a more stable view of the environment. The patient reference element (or DRB) 116 is generally rigidly attached to the patient 210 with a stable pitch and roll relative to gravity. This local, precise patient reference 116 can serve as a common reference frame of reference for other tracked elements, such as the reference element 114 on the end effector 112, the instrument reference element 170, and the reference element on the XR headset 150.

[0055] In some embodiments, at the end of the end effector 112, instruments are connected to perform operations such as resection, reaming, and implant placement.

[0056] The surgical robot 100 may be positioned near or next to the patient 210, as shown in FIGS. 1-2. The robot 100 may be positioned in any suitable location near the patient 210, depending on the area of ​​the patient 210 that will undergo the surgical procedure. The camera tracking system 200 may be separate from the robot system 100 and positioned at the feet of the patient 210. This location allows the tracking camera 200 to have a direct line of sight to the surgical area 208, such as the hip area (FIG. 2). In the configuration shown in FIG. 1, the surgeon 120 may be positioned opposite the robot 100 but still be able to operate the end effector 112 and display 110. The surgical assistant 126 may also be positioned opposite the surgeon 120, with access to both the end effector 112 and display 110. If desired, the locations of the surgeon 120 and assistant 126 may be reversed. An anesthesiologist 122, nurse, or scrub technician can operate equipment that may be connected to display information from the camera tracking system 200 on the display 34 (FIG. 1).

[0057] As with other components of the robot 100, the display 110 may be mounted on the surgical robot 100 or at a remote location. The end effector 112 may be coupled to the robot arm 104 and controlled by at least one motor. The upper arm 102 may further couple the arm 104 to a support column 312 of the robot 100. In some embodiments, the end effector 112 includes a guide tube 118 (e.g., FIG. 6 ) configured to receive and orient a surgical instrument, tool, or implant used to perform a surgical procedure on the patient 210. For example, the end effector 112 is adapted to receive a surgical instrument or a portion thereof (e.g., through the guide tube 118) to removably couple to the instrument and manipulate the instrument, such as by translating and rotating the instrument. In some other embodiments, the end effector 112 includes a passive structure that guides a saw blade (e.g., a sagittal saw) along a defined cutting plane.

[0058] As used herein, the term “end effector” is used interchangeably with the terms “end effector” and “effector element.” The term “instrument” is used in a non-limiting manner and interchangeably with “tool” and “implant” and can generally refer to any type of device that may be used during a surgical procedure according to embodiments disclosed herein. The more general term device can also refer to structures such as end effectors. Exemplary instruments, tools, and implants include, but are not limited to, reamer constructs, drills, screwdrivers, saws, dilators, retractors, probes, implant inserters, and implant devices such as shells and trial shells, screws, spacers, interbody fusion devices, plates, rods, and the like. While generally shown with a guide tube 118, it will be understood that the end effector 112 can be substituted with any suitable instrument for use in a surgical procedure. In some embodiments, the end effector 112 can comprise any known structure for effecting movement of a surgical instrument in a desired manner.

[0059] The surgical robot 100 is operable to control the translation and orientation of the end effector 112. The robot 100 may move the end effector 112 under computer control, for example, along the x-, y-, and z-axes. The end effector 112 may be configured to selectively rotate about one or more of the x-, y-, and z-axes and the Z-frame axis, such that one or more of the Euler angles (e.g., roll, pitch, and / or yaw) associated with the end effector 112 may be selectively computer controlled. In some embodiments, selective control of the translation and orientation of the end effector 112 and associated surgical instruments may enable the performance of medical procedures with significantly improved accuracy, as compared to, for example, conventional robots utilizing 6DOF robotic arms that include only rotational axes. For example, the surgical robot 100 may be used to operate on a patient 210, with the robotic arm 104 positioned above the body of the patient 210 and the end effector 112 selectively angled relative to the z-axis toward the body of the patient 210.

[0060] In some exemplary embodiments, the XR headset 150 can be controlled to dynamically display an updated graphical representation of the surgical instrument pose so that the user, e.g., the surgeon 120, is constantly aware of the surgical instrument pose during the procedure.

[0061] In some further embodiments, the surgical robot 100 may be operable to correct the path of the surgical instrument guided by the robotic arm 104 if the surgical instrument deviates from a selected, pre-planned, or defined trajectory. The surgical robot 100 may be operable to allow stopping, modifying, and / or manual control of the movement of the end effector 112 and / or surgical instrument. Thus, during use, the surgeon 120 or other user may use the surgical robot 100 as part of a computer-assisted navigated surgical procedure and have the option to stop, modify, or manually control the autonomous or semi-autonomous movement of the end effector 112 and / or surgical instrument.

[0062] Reference element fiducials can be formed on or connected to the robotic arms 102 and / or 104, the end effector 112 (e.g., end effector element 114 of FIG. 2 ), and / or the surgical instrument (e.g., instrument element 170) to enable pose tracking in a defined coordinate system, such as six degrees of freedom (DOF) along three orthogonal axes and rotations about those axes. The reference elements 114, 116, 170 enable each of the marked objects (e.g., end effector 112, patient 210, and surgical instrument, respectively) to be tracked by the tracking camera 200, and the tracked poses can be used to provide navigated guidance during a surgical procedure and / or to control the movement of the surgical robot 100 to guide the end effector 112 and / or the instrument manipulated by the end effector 112. The instrument manipulated by the end effector 112 can include, for example, a reamer 124 or an inserter adapted to insert an implant.

[0063] 3, surgical robot 100 may include display 110, upper arm 102, lower arm 104, end effector 112, vertical support 312, casters 314, table 318, and ring 324 that uses light to indicate status and other information. Cabinet 106 may house electrical components of surgical robot 100, including, but not limited to, a battery, a power distribution module, a platform interface board module, and a computer. Camera tracking system 200 may include display 36, tracking camera 204, arm 202 (FIG. 1), a computer housed in cabinet 330, and other components.

[0064] In computer-assisted navigated surgery, vertical 2D scan slices, such as axial, sagittal, and / or coronal views, of a patient's anatomy are displayed to allow a user to visualize the patient's anatomy along with the relative pose of surgical instruments. An XR headset or other display can be controlled to display one or more 2D scan slices of the patient's anatomy along with a 3D graphical model of the anatomy. The 3D graphical model can be generated from a 3D scan of the patient, for example, by a CT scanning device, and / or can be generated based on a baseline model of the anatomy that is not necessarily formed from a patient scan.

[0065] Exemplary Surgical Systems FIG. 4 illustrates a block diagram of a surgical system 10 including a surgical robot 100 and a computer platform 400 including, among other things, a camera tracking system 200, an imaging device 420, and an XR headset 150 configured to operate as described herein, according to some embodiments.

[0066] The imaging device 420 may include a C-arm imaging device, an O-arm imaging device, other imaging devices, and / or a patient image database of 2D and / or 3D images. The XR headset 150 provides a human interface for performing navigated surgical procedures. The XR headset 150 may be configured, for example, via the computer platform 400, to provide functionality including, but not limited to, any one or more of hand gesture-based command recognition and display of XR graphical objects on the display device 438 of the XR headset 150 and / or another display device. The display device 438 may include a video projector, a flat panel display, etc. The user may view the XR graphical objects as overlays anchored to specific real-world objects viewed through a see-through display screen. The XR headset 150 may additionally or alternatively be configured to display video streams from one or more cameras mounted on the XR headset 150 and other cameras on the display device 438.

[0067] The electrical components of the XR headset 150 may include multiple cameras 430, a microphone 432, a gesture sensor 434, a posture sensor (e.g., an inertial measurement unit (IMU)) 436, a display device 438, and a wireless / wired communication interface 440. The camera 430 of the XR headset 150 may be a visible light capture camera, a near-infrared capture camera, or a combination of both.

[0068] The camera 430 may be configured to operate as a gesture sensor 434 by tracking hand gestures of an identified user performed within the field of view of the camera 430. Alternatively, the gesture sensor 434 may be a proximity sensor and / or a touch sensor that senses hand gestures performed in proximity to the gesture sensor 434 and / or senses physical contact, e.g., a tap on the sensor 434 or its housing. The attitude sensor 436, e.g., an IMU, may include a multi-axis accelerometer, a tilt sensor, and / or another sensor capable of sensing rotation and / or acceleration of the XR headset 150 along one or more defined coordinate axes. Some or all of these electrical components may be housed in the head-worn component housing or in a separate housing configured to be worn elsewhere, such as on the waist or shoulder.

[0069] As described above, the surgical system 10 includes a camera tracking system 200 that may be connected to a computer platform 400 for motion processing and may provide other motion functions, including a navigation controller 404 and / or an XR headset controller 410. The surgical system 10 may further include a surgical robot 100. The navigation controller 404 may be configured to provide visual navigation guidance to the operator for moving and positioning the surgical tool relative to the patient's anatomy, for example, based on a surgical plan from a surgical planning function that defines where a surgical procedure will be performed on the anatomy using the surgical tool, and based on the pose of the anatomy determined by the camera tracking system 200. The navigation controller 404 may be further configured to generate navigation information based on a target pose for the surgical tool, the pose of the anatomy, and the pose of the surgical tool and / or the end effector 112 of the surgical robot 100. The navigation information may be displayed through the display device 438 of the XR headset 150 and / or another display device to indicate where the surgical tools and / or end effectors 112 of the surgical robot 100 should be moved to perform the surgical procedure according to the defined surgical plan.

[0070] The electrical components of the XR headset 150 may be operatively connected to the electrical components of the computer platform 400 through a wired / wireless interface 440. The electrical components of the XR headset 150 may be operatively connected to various imaging devices 420, such as a C-arm imaging device, an O-arm imaging device, other imaging devices, patient image databases, and / or other medical equipment through the wired / wireless interface 440, for example, through the computer platform 400 or may be directly connected.

[0071] The surgical system 10 may include an XR headset controller 410 that resides at least partially within the XR headset 150, the computer platform 400, and / or another system component connected via a wired cable and / or wireless communication link. Various functions may be provided by software executed by the XR headset controller 410. The XR headset controller 410 is configured to receive information from the camera tracking system 200 and the navigation controller 404 and to generate XR images based on the information for display on the display device 438.

[0072] The XR headset controller 410 can be configured to operatively process frames of tracking data from the camera 430 (tracking camera), signals from the microphone 432, and / or information from the orientation sensor 436 and gesture sensor 434 to generate information for display as an XR image on the display device 438 and / or for display on another display device for viewing by a user. Thus, the XR headset controller 410, as illustrated as a circuit block within the XR headset 150, should be understood as being operatively connected to the other illustrated components of the XR headset 150, but not necessarily within a common housing or otherwise transportable by a user. For example, the XR headset controller 410 may additionally or alternatively reside within the computer platform 400, which in turn may reside within the cabinet 330 of the camera tracking system 200, the cabinet 106 of the surgical robot 100, etc.

[0073] Exemplary Patient Registration Workflow In some embodiments of the present disclosure, the system 10, e.g., the computer platform 400, may perform one of several available workflows to register a patient to the surgical system 10 prior to a surgical procedure. The workflow may further include isolating a target area for the surgical procedure from a non-target surgical area. In one example, the target surgical area may include the acetabulum and the non-target surgical area may include the femur.

[0074] In one embodiment, the workflow may be an image-less workflow in which preoperative images are not used. Instead, information about the patient's anatomy in the operating room (OR) may be obtained by the surgeon using the system to measure key parameters of the patient's bones, as described herein. For example, the computer platform 400 of the system 10 operates to identify the locations of landmarks (e.g., points, axes, and / or surfaces) on the bones and register the locations simultaneously with or after the identification. The locations can be used to define reference planes (e.g., the anterior pelvic plane (APP) and / or the functional pelvic plane (FPP)), which are used to plan implants and navigate robots and surgical instruments for the THA surgical procedure.

[0075] In some embodiments, the only preoperative use case associated with an image-less workflow may be an initial patient assessment. A surgeon may assess a patient's mobility and health status using sensors (e.g., sensors made by Globus Medical attached to the leg), physical movement, and / or assistance from clinical surveys to determine whether a THA is recommended. The collected data may then be stored and processed by the system before being analyzed by the surgeon to facilitate a final decision. The data may then be reused by an application (e.g., a surgical planning application by Globus Medical) to establish the most appropriate implant surgical plan.

[0076] FIG. 5 illustrates a flowchart for a workflow during the intraoperative portion of a THA surgical procedure, according to some embodiments of the present disclosure. In some embodiments, after positioning the patient on the operating room table (process 500), some of the operations discussed above and below may be performed during process 510 for positioning the patient and before another process 520 for intraoperative computer-navigated surgery. In the case of a hip joint, the patient's pelvis or acetabulum is registered to the tracking coordinate system of the camera tracking system 200. As shown in FIG. 1, the pelvis or acetabulum is registered in an optical coordinate system. In one embodiment, registration is performed in an image-less modality, without the use of medical images, such as X-ray or CT images from an imaging device. As described herein, in other embodiments, registration is performed using one or more preoperative X-ray and / or CT images.

[0077] 6 illustrates the configuration of the end effector 112 used in force control mode according to a particular implementation. Aspects of the force control mode, as well as additional modes (e.g., point rotation control mode, axis rotation control mode, translation control mode, translation / rotation control mode, etc.), are further described in U.S. Patent Application Serial No. 18 / 737,123 (Docket No. ROBOT.145.0002), previously incorporated by reference herein.

[0078] Exemplary End Effector with Instrument Interface Figure 7 shows a perspective, separated (unfolded or exploded) view of an exemplary end effector 700 interfacing with a surgical instrument 710, according to various implementations. Figure 8 shows the components of Figure 7 in an assembled form. Figure 9 shows the end effector 700 interfacing with a separate surgical instrument 720. As described herein, the end effector 700 can be configured to interface with multiple types of surgical instruments, e.g., reamers, impactors, etc., and enable efficient connection and disconnection of such instruments to beneficially enhance surgical procedures, such as total hip arthroplasty (THA) procedures.

[0079] 7-9, an end effector 700 is shown including an adapter 730 for holding a surgical instrument 710, 720. In certain implementations, the adapter 730 has an elongated body 740 with a protrusion 750 extending therefrom. The end effector 700 further includes a main body 760 having a proximal end 770 including an interface 780 for attachment to a robotic arm 104 (FIG. 2). The main body 760 also has a distal end 790 including an elongated recess 800 and a slot 810 for connecting with the surgical instrument 710, 720, for example, by receiving the protrusion 750 extending therefrom. In various implementations, a connector 820 is adapted to securely mount the protrusion 750 within the slot 810 to securely attach the adapter 730 to the main body 760, as shown in the exploded perspective view of a portion of the end effector 700 in FIG. 11.

[0080] According to certain embodiments, the protrusion 750 complements the slot 810 in the main body 760, e.g., the cross-sectional shape of the protrusion 750 corresponds to and mates with the cross-sectional shape of the slot 810. In various implementations, the protrusion 750 is positioned relative to the main shaft (A) of the adapter 730. ad ) extending approximately perpendicularly from the major axis (A er ) is configured to align with a slot 810 extending generally perpendicularly from the

[0081] In certain cases, protrusion 750 includes a notch 830 that complements connector 820 and allows for attachment and detachment of adapter 730 to main body 760, as described herein below. In some examples, notch 830 includes a V-shaped slot. Other shapes are possible, such as a U-shaped slot, an arcuate slot, or an oval slot. In certain cases, when secured to end effector 700 (e.g., as shown in FIG. 8), adapter 730 interfaces with elongated recess 800 and is mated with connector 820 ( FIG. 11 ).

[0082] The elongated recess 800 can take a variety of forms, and in certain cases is at least partially defined by a sidewall 840 that extends distally from the distal end 790 of the main body 760. In certain cases, the sidewall 840 extends along at least a portion of the length of the main body 760. In some examples, the sidewall 840 is er In some embodiments, sidewall 840 extends along only a portion of the length of main body 760 along the length of main body 760. In further examples, sidewall 840 includes a separate protrusion or section extending from main body 760. Sidewall 840 can define various shapes for elongated recess 800, including, for example, a V-shaped cross-section, a U-shaped cross-section, or a polygonal cross-section (as shown in FIG. 11 ).

[0083] In certain implementations, the shape and dimensions of the adapter 730 complement the shape and dimensions of the elongated recess 800. In certain examples, the adapter 730 is cylindrical and complements the elongated recess 800 (e.g., a V-shaped or U-shaped recess). According to various implementations, the sidewall 840 is spaced to accommodate the outer dimensions, e.g., diameter, of the cylindrical (or other geometric shape) adapter 730, such that the adapter 730 contacts the sidewall 840 and the distal end 790 of the main body 760 when the adapter 730 is secured.

[0084] According to various implementations, as shown in FIG. 11 , along with an end view of a portion of the end effector 700 in FIG. 12 and a cross-sectional view of a portion of the end effector 700 in FIG. 13 , the connector 820 can include a pin 850 sized for insertion into or removal from the notch 830 of the protrusion 750 of the adapter 730. In some cases, the pin 850 includes a notch, tab, or recess configured to engage with the notch 830. In certain cases, the connector 820 includes a spring-loaded coupling 860. In certain aspects, the pin 850 can be actuated by an actuator 870, such as a handle, tab, or switch, configured to extend / retract the pin 850 or to swing or rotate the pin 850 between positions that engage / disengage the notch 830. According to certain embodiments, the actuator 870 allows a user to couple or discouple the surgical instrument 710, 720 with the main body 760. In some cases, the actuator 870 has a multi-mode actuation mechanism, for example, to engage and / or disengage the pin 850 with the notch. For example, the actuator 870 may require a compression and rotation actuation, a sliding and rotation actuation, or a sliding and compression actuation to engage or disengage the pin 850 with the notch. In some cases, the actuator 870 can be actuated by a single operator's hand. In certain examples, the actuator 870 includes two articulated handles ( FIG. 11 ) joined by a central shaft 872 and allowing actuation of the pin 850 from multiple sides of the end effector 700. The central shaft 872 rotates about a central axis and has a reduced diameter central portion off-axis to act as a cam to depress the pin 850 (by pressing on the coupling 860) when the knob 870 is rotated. In additional implementations, a secondary coupler 862, e.g., a pin or screw, can be positioned in a slot in the main body to interface with the protrusion 750 opposite the notch 830.In some cases, the secondary coupler 862 is fixed within the main body 760 and protrudes slightly into the slot 810, for example, to allow the protrusion 750 to slide over the coupler 862 and into the slot 810 when the connector 820 is not engaged with the notch 830.

[0085] According to certain embodiments, the surgical instruments 710, 720 and the adapter 730 are configured to connect to the main body 760 as a single unit. For example, in certain implementations, the surgical instruments 710, 720 and the adapter 730 may be pre-coupled and connected to the main body 760, e.g., by a single operator's hand, using a quick-connect approach. For example, the surgical instruments 710, 720 and the adapter 730 may be pre-coupled by an operator (e.g., a surgeon) or a surgical assistant, who can then connect the adapter 730 to the main body 760 using one hand. This may allow the operator to effectively connect the adapter 730 to the main body 760, e.g., while attending to other surgical functions with another hand. In certain of these cases, the final connection is made by a second operator's hand, e.g., the operator and / or a surgical assistant.

[0086] In certain implementations, as described herein, the connector 820 and the elongated recess 800 limit at least two degrees of freedom (DoF) of the surgical instrument 710, 720. According to certain embodiments, the adapter 730 includes at least two limiters 880 for limiting the degrees of freedom (DoF) of the surgical instrument 710, 720. For example, the limiters 880 may be configured to limit the translation and rotation of the surgical instrument 710, 720. In some examples, the limiters 880 may include buttons, protrusions, or other interfaces. In one exemplary implementation shown in FIGS. 11-13, the limiters 880 include pins 880A and / or screws 880B configured to interface with an outer surface 890 ( FIGS. 7-10 ) of the surgical instrument 710, 720 and / or to interface with a slot, groove, or opening (not shown) in the surgical instrument 710, 720. In a further implementation, when fixed, the degrees of freedom (DoF) of the surgical instruments 710, 720 relative to the end effector 700 are approximately zero.

[0087] In certain cases, the connector 820 allows for the decoupling of the surgical instruments 710, 720 (e.g., impactors) from the main body 760 in a single disconnection process, restoring at least two DoF constrained by the end effector 700. For example, in some cases, an operator (e.g., a surgeon) may beneficially perform a single disconnection process to test the grip and / or fit of an implant within an implant pocket. In these instances, the operator may desire to operate the surgical instrument without the constraint of the end effector 700, e.g., freed from the surgical robotic arm 104. This grip and / or fit test is often performed by hand, and allowing for efficient connection and / or disconnection from the end effector 700 may enhance the effectiveness and efficiency of the THA procedure.

[0088] Additionally, if the surgical robot 100 malfunctions or jams for any reason, the operator may beneficially perform a single disconnection process. For example, the surgical robot 100 may stall or seize for one or more reasons, restricting the movement of the surgical instruments 710, 720 due to a power interruption, a software malfunction, and / or surgical process limitations (e.g., induced by the controller and / or associated software). In such cases, the surgeon may desire to manually manipulate the surgical instruments 710, 720 to complete one or more portions of a procedure (e.g., a THA procedure). That is, in many cases, decoupling the surgical instruments 710, 720 (e.g., impactors) from the main body 760 allows the surgeon to manually manipulate the surgical instruments 710, 720. Furthermore, in various implementations, the surgical instruments 710, 720 are configured to be coupled or uncoupled from the main body 760 at any stage of the THA procedure, for example, during reaming, impacting, positioning, etc.

[0089] As described herein, the adapter 730 can be configured to interface (e.g., couple) with various surgical instruments, such as impactors, reamers, placement devices, etc., that may be used in performing a THA procedure. In some aspects, the adapter 730 can couple with multiple surgical instruments during a THA procedure. In additional implementations, the surgical procedure can be aided by having multiple adapters 730 available to pre-couple to various separate surgical instruments 710, 720, simplifying the process of connecting and disconnecting those surgical instruments 710, 720 to the main body 760.

[0090] According to certain embodiments, as illustrated in Figures 7-9, the surgical instruments 710, 720 include a navigation array 900. As described herein, the navigation array 900 may enable accurate tracking of the position of the instruments 710, 720 during a surgical procedure, such as a THA procedure. The navigation array 900 may enable optical tracking of the position of the instruments 710, 720 throughout the THA procedure, enhancing control of the surgical robot 100 and improving surgical outcomes. In certain implementations, separate types of navigation arrays 900 are coupled to separate types of surgical instruments 710, 720, such that a first navigation array 900 is paired with the surgical instrument 710 (e.g., an impactor) and a second navigation array 900 is paired with the second surgical instrument 720 (e.g., a reamer). For example, a navigation array 900 paired with a reamer may be configured not to move with rotation of the reamer, while a navigation array 900 paired with an impactor may be configured to move with rotation of the impactor.

[0091] 10-14, with particular reference to FIG. 14, the interface 780 on the proximal end 770 of the main body 760 can include a plate 902 having a set of pins 910 extending therefrom to interface with the robotic arm 104. In one example, the set of pins 910 includes two pins, three pins, four pins, or more. In a particular example, the set of pins 910 includes three pins 910A, 910B, and 910C. In various implementations, the set of pins 910 are used as alignment pins to align with openings in an interface plate on the robotic arm 104. In particular implementations, the end effector 700 further includes a kinematic mount 920 proximate each of the pins 910. In some cases, the interface 780 includes a set of two U-shaped elements 930 adjustably coupled by at least one screw 940 (two are shown). In particular cases, the U-shaped elements 930 surround the plate 902. The screw 940 may allow for relative adjustment of the U-shaped element 930 to increase the clamping force for the connection with the robotic arm 104. For example, the screw 940 may be tightened to clamp the U-shaped element 930 around a coupler on the robotic arm 104.

[0092] 15 and 16, the end effector 700 may further include a drape 950 across the interface 780 on the proximal end 770 of the main body 760. In certain cases, the drape 950 provides a sterile shield between the actuator 870 and the surgical instruments 710, 720, for example, during a THA procedure. According to certain embodiments, the sterile shield or drape 950 allows the user to couple or uncouple the surgical instruments 710, 720 to the main body 760 without compromising pre-established sterility.

[0093] According to certain embodiments, a method of operating the end effector 700 includes coupling the end effector 700 to a surgical instrument 710, 720, for example, via an adapter 730. As described herein, the surgical instruments 710, 720 can be decoupled from the end effector 700 without repositioning the robotic arm 104. For example, decoupling the end effector 700 can be performed without moving the arm 104 out of the surgical field.

[0094] In addition to the end effector 700 shown and described according to various implementations, other implementations may include an end effector 1000 having a separate connection mechanism for coupling with an adapter 1020. As shown in FIGS. 17 and 18 , the adapter 1020 may be configured to receive a surgical instrument (e.g., surgical instruments 710, 720) and interface with a main body 1030 (which, in some implementations, includes multiple sections) of the end effector 1000. The adapter 1020 may include a protrusion 1010 sized to complement a slot 1040 in the main body 1030 and may be coupled to the main body 1030 using a quick connect approach as described herein. In certain cases, the protrusion 1010 includes an internal slot 1050 configured to interface with a shaft (or pin) 1060 in the main body 1030. The shaft (or pin) 1060 may extend between the handles 1070 (e.g., the handles 1070 may be connected by the shaft 1060) and may further include a retaining member 1080 that may be rotated, slid, or otherwise actuated into place to engage a corresponding retaining feature on the protrusion 1010. In certain aspects, the main body 1030 is formed from separate components 1030A, 1030B that are connected via a coupler 1090, such as a pin or screw. In various implementations, the adapter 1020 is configured to couple with any of several separate types of surgical instruments 710, 720 and, like the adapter 730, may include an opening (or slot) 1100 for receiving a retaining member, such as a screw or pin, to retain the surgical instrument. A portion of the end effector 1000 is shown in Figures 17 and 18, and may include a coupler 1120 that interfaces with the proximal end 770 of the main body 760 (Figure 7). Similar to the end effector 700, the end effector 1000 is configured to limit the DoF of the surgical instruments 710, 720 to improve surgical outcomes.Additionally, like the end effector 700, the end effector 1000 may be configured to allow a quick connect approach with the robotic arm 104, further enabling the operator to disconnect the adapter 1020 to restore the DoF of the surgical instruments 710, 720 while the robotic arm 104 remains in the surgical field.

[0095] 19 shows a schematic diagram of an exemplary system 1200 including a robotic arm 104 (e.g., also referred to as an EFlex-Palm) coupled with an end effector 700, according to various implementations. It is understood that the end effector 700 in this exemplary system 1200 can be replaced with the end effector 1000 illustrated in FIGS. 15 and 16 and / or any other end effector shown and described herein. While the end effector 700 is illustrated in FIG. 19 in an angled position relative to the robotic arm 104, it is understood that the end effector 700 can also be aligned with the robotic arm 104 such that the main body 760 is not angled.

[0096] In addition to the components of the end effector 700 illustrated in FIGS. 6-18 , the system 1200 also illustrates an optional insulating layer 1210 within the main body 760. Also shown are user touch points 1220 that may allow a user (e.g., a surgeon or other operator) to interact with the end effector 700. Optional configurations of user touch points 1220A, 1220B are shown in FIGS. 20 and 21 , respectively. These user touch points 1200 may include a knob 1230 having a continuous gripping element 1240, or a multi-pronged grip 1250 defined by separate prongs 1250A, 1250B, etc. In certain cases, the user touch points 1200 may allow adjustment of the end effector 700 and, in some cases, coupling and / or decoupling of the end effector 700 with the robotic arm 104. In some aspects, actuation of the user touch points 1200 controls the clamping of the U-shaped elements 930 to connect / disconnect with the robotic arm 104. These touch points 1200 can be actuated by a single user hand in certain implementations.

[0097] The end effectors illustrated and described according to various implementations can provide benefits over conventional end effectors and surgical instruments. For example, the end effectors disclosed according to various implementations can be configured to interface with multiple types of surgical instruments, such as reamers, impactors, placement devices, etc., and can enable efficient connection and disconnection of such instruments to beneficially enhance surgical procedures, such as total hip arthroplasty (THA) procedures. The end effectors disclosed herein can further enable an operator to efficiently disconnect surgical instruments from a robotic arm within the surgical field, enhancing aspects of THA procedures, such as reaming, impacting, and / or implant placement.

[0098] Further Definitions and Embodiments In the above description of various embodiments of the inventive concept, it should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the inventive concept. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the inventive concept belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted to have a meaning consistent with their meaning in the context of this specification and related art, and should not be interpreted in the idealized or overly formal sense explicitly defined herein.

[0099] When an element is referred to as being "connected," "coupled," or "responsive" to another element, or variations thereof, it may be directly connected, coupled, or responsive to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected," "directly coupled," or "directly responsive" to another element, or variations thereof, there are no intervening elements present. Like numbers refer to like elements throughout. Furthermore, as used herein, "coupled," "connected," "responsive," or variations thereof can include being wirelessly coupled, connected, or responsive. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. Well-known features or structures may not be described in detail for the sake of brevity and / or clarity. The term "and / or" includes any and all combinations of one or more of the associated listed items.

[0100] In this specification, terms such as first, second, and third may be used to describe various elements / operations, but it is understood that these elements / operations should not be limited by these terms. These terms are used only to distinguish one element / operation from another. Thus, a first element / operation in some embodiments may be referred to as a second element / operation in other embodiments without departing from the teachings of the inventive concept. The same reference numbers or characters refer to the same or similar elements throughout this specification.

[0101] As used herein, the words "comprise," "comprising," "comprises," "include," "including," "includes," "have," "has," "having," or variations thereof, are open-ended and refer to the inclusion of one or more stated features, integers, elements, steps, components, or functions, but do not exclude the presence or addition of one or more other features, integers, elements, steps, components, functions, or groups thereof. Furthermore, as used herein, the common abbreviation "eg," derived from the Latin phrase "exempli gratia," may be used to introduce or designate a general example or examples of a previously mentioned item and is not intended to be limiting of such items. The common abbreviation "ie," derived from the Latin phrase "id est," may be used to designate a particular item from a more general list.

[0102] Exemplary embodiments are described herein with reference to block diagrams and / or flowchart illustrations of computer-implemented methods, apparatus (systems and / or devices), and / or computer program products. It will be understood that blocks of the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can be implemented by computer program instructions carried out by one or more computer circuits. These computer program instructions can be provided to general-purpose computer circuits, special-purpose computer circuits, and / or processor circuits of other programmable data processing devices to produce machines such that the instructions, executed via a processor of a computer and / or other programmable data processing device, transform and control transistors, values ​​stored in memory locations, and other hardware components within such circuits to implement the function(s) / operations specified in the block diagram and / or flowchart block(s), thereby forming means (functions) and / or structure for implementing the function(s) / operations specified in the block diagram and / or flowchart block(s).

[0103] These computer program instructions may also be stored on a tangible computer-readable medium that can instruct a computer or other programmable data processing apparatus to function in a particular manner to produce an article of manufacture that includes instructions that cause the instructions to implement the function / act specified in the flowchart and / or block diagram block or blocks. Thus, embodiments of the inventive concepts may be embodied in hardware and / or software (including firmware, resident software, microcode, etc.) running on a processor, such as a digital signal processor, which may collectively be referred to as a "circuit," "module," or variations thereof.

[0104] It should also be noted that in some alternative implementations, the functions / acts noted in the blocks may also occur in an order different from that noted in the flowcharts. For example, two blocks shown in succession may in fact be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending on the functions / acts involved. Furthermore, the functionality of a given block in the flowcharts and / or block diagrams may be separated into multiple blocks, or the functionality of two or more blocks in the flowcharts and / or block diagrams may be at least partially integrated. Finally, other blocks may be added / inserted between the illustrated blocks and / or blocks / acts may be omitted without departing from the scope of the inventive concept. Furthermore, while some diagrams include arrows on communication paths to indicate a primary direction of communication, it should be understood that communication may occur in the opposite direction to the depicted arrows.

[0105] Numerous variations and modifications can be made to the embodiments without substantially departing from the principles of the inventive concept. All such variations and modifications are intended to be included herein within the scope of the inventive concept. Accordingly, the above disclosed subject matter should be considered illustrative, and not limiting, and the accompanying examples of embodiments are intended to cover all such modifications, enhancements, and other embodiments that fall within the spirit and scope of the inventive concept. Thus, to the maximum extent permitted by law, the scope of the inventive concept should be determined by the broadest permissible interpretation of this disclosure, including the following examples of embodiments and their equivalents, and is not limited or constrained by the foregoing detailed description.

Claims

1. 1. An end effector for a total hip arthroplasty (THA) procedure, the end effector comprising: an adapter for holding a surgical instrument, the adapter having an elongated body and a protrusion extending therefrom; A main body, a proximal end including an interface for attachment to a robotic arm; and a main body having a distal end including an elongated recess and a slot for connecting with the surgical instrument; a connector adapted to secure the protrusion within the slot to rigidly attach the adapter to the main body.

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

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

4. The end effector of claim 1 , wherein the protrusion complements the slot in the main body.

5. The end effector of claim 4 , wherein the protrusion includes a notch that complements the connector and allows for attachment and detachment of the adapter with the main body.

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

7. The end effector of claim 1 , wherein the adapter includes at least two limiters for restricting degrees of freedom (DoF) of the surgical instrument.

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

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

10. The end effector of claim 9 , wherein the connector enables decoupling of the impactor from the main body in a single disconnection process to restore at least 2 DoF limited by the end effector.

11. The end effector of claim 10 , wherein decoupling the impactor from the main body allows for manual manipulation of the impactor by a surgeon.

12. The end effector of claim 1 , wherein the surgical instrument is configured to be coupled or uncoupled from the main body at any stage of the THA procedure.

13. The end effector of claim 1 , wherein the surgical instrument includes a navigation array.

14. The end effector of claim 1 , wherein the elongated recess has one of a V-shaped cross-section or a U-shaped cross-section.

15. The end effector of claim 14 , wherein the adapter is cylindrical and complements the elongated recess.

16. The end effector of claim 1 , wherein the connector includes a pin sized for insertion into or removal from a slot in the protrusion in the adapter.

17. The end effector of claim 1 , wherein when secured, the surgical instrument has approximately zero degrees of freedom (DoF) relative to the end effector.

18. The end effector of claim 1 , wherein the interface on the proximal end includes a set of pins for interfacing with the robotic arm.

19. The end effector of claim 18 , further comprising a kinematic mount proximate each of the pins.

Images