End effector, system, and method for robot-guided prosthesis placement

Abstract

To provide an end effector for impacting a prosthesis at a surgical site along a trajectory maintained by a surgical robot.SOLUTION: An end effector 40 comprises an impactor assembly 102 and a guide 104. The impactor assembly has a head 106 to receive impact force, an interface 84 to releasably attach to the prosthesis, a shaft 86 extending along an impactor axis between the head and the interface, and an impactor engagement surface 88 disposed between the head and the interface. The guide is adapted to attach to the surgical robot, and comprises a channel 94 defining an opening arranged to receive a portion of the shaft, a guide engagement surface 98 shaped to abut on the impactor engagement surface, and a limiter 100 to maintain the abutment of the guide engagement surface on the impactor engagement surface to facilitate coaxial alignment of the axes with the trajectory maintained by the surgical robot.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] Cross - Reference to Related Applications This patent application claims the priority and all benefits of U.S. Provisional Patent Application No. 62 / 622,3 03, filed on January 26, 2018, and the entire disclosure of that U.S. Provisional Patent Application is hereby incorporated by reference into this specification.

Background Art

[0002] Surgical robots are well - used to assist medical professionals in performing various conventional surgical procedures. For this purpose, a surgeon uses a surgical robot to guide, position, move, operate, or otherwise manipulate various tools, components, prostheses, etc. during surgery.

[0003] Surgical robots can be used to assist a surgeon in performing several different types of surgical procedures, and are generally understood to be used in procedures including correction, resection, or replacement of degenerated joints to improve patient mobility and help reduce pain. <于 As an illustrative example, in a hip replacement surgery, a surgeon replaces a part of the patient's hip joint with an artificial prosthesis component. For this purpose, in a total hip arthroplasty, a surgeon typically removes a part of the patient's femur to accommodate an artificial femoral component with a head, and uses a reamer to resurface the surface of the acetabulum of the pelvis to facilitate the installation of an acetabular cup shaped to receive the head of the artificial femoral component.

[0004] Depending on the specific procedure being performed, using a surgical robot, for example, a surgeon at the surgical site ​​​​​​​​​​Approaching the joint and / or part of the bone, and assisting in the placement of prosthesis components. It is possible to do this. For example, in order to place an acetabular cup in the acetabulum of the pelvis, a surgeon can Connect the pin to the impactor tool, and (for example, using a mallet) the impactor tool The cup is fitted into the reamed acetabulum by tapping and applying force. To facilitate installation, the surgical robot positions the impactor tool relative to the surgical site. To help maintain the cup in place, the surgeon carefully monitors the cup's trajectory and depth during insertion. This ensures proper alignment of the cup into the reamed acetabulum. Here, the acetabulum Reaming generally involves defining the desired position of the cup, which then defines the trajectory of insertion. ru.

[0005] Depending on the configuration of the prosthesis components, insertion tools, and surgical robot, the suitability of the cup may vary. The guarantee of a secure implantation is that there is no visibility of the surgical site and access is limited. This can be complicated by certain factors. Furthermore, maintaining a set trajectory requires certain techniques. This can be difficult with the method and surgical techniques, due to improper alignment and / or application of insertion force. This often leads to displacement of the cup or other prosthesis components. Furthermore, Surgical robots typically restrict the movement of the impactor tool relative to its trajectory during implantation, To bring the cup attached to the impactor tool closer to the reamed acetabulum, sometimes , the surgical robot and / or the patient's body may need to be repeatedly repositioned, It may be necessary for the surgeon to enlarge the exposed surgical site, and / or the surgeon Disassemble the impactor tool and / or part of the surgical robot to orbit the impactor tool. It may be necessary to make alignment easier.

[0006] Therefore, in this technical field, there is a need to address one or more of these defects. be. [Overview of the project]

[0007] This disclosure describes the implantation of a prosthesis at the surgical site along a trajectory maintained by a surgical robot. An end effector for which an impactor assembly and guide are included. It provides an effector. The impactor assembly is positioned to receive the impact force. Head, interface adapted to be detachably attached to prosthesis, head and A shaft extending along the impactor axis between the interface and the head and interface It has an impactor engagement surface positioned between it and the face. The guide is attached to the surgical robot. It is adapted to be mounted, extends along the guide axis, and is part of the shaft of the impactor assembly. A channel defining an opening positioned to receive a portion of the impactor engagement surface The guide engagement surface is shaped to make contact with the impactor engagement surface and the contact between the guide engagement surface and the impactor engagement surface. Maintaining and facilitating coaxial alignment between the axis and the trajectory maintained by the surgical robot. It has a mitter.

[0008] This disclosure also relates to targeting a workpiece along a trajectory maintained by a surgical robot. An end effector for positioning a s, comprising a first assembly and a second s The end effector having a hub is provided. The first assembly has a proximal end and a workpiece A distal end having an interface adapted to be detachably attached to the case, A shaft extending along a first axis between a proximal end and a distal end, and a first engagement surface disposed between the proximal end and the distal end. The second assembly has a mount adapted to be attached to a surgical robot and a guide operably attached to the mount with a channel extending along a second axis. The channel defines an opening sized to receive a portion of the shaft of the first assembly. The guide also has a second engagement surface and a limiter. The second engagement surface is shaped to abut the first engagement surface. The limiter maintains the abutment between the first and second engagement surfaces and facilitates coaxial alignment of the axis of the first assembly with a trajectory maintained by the surgical robot. The present disclosure also provides an impactor assembly for use in implanting a prosthesis along a trajectory maintained by a surgical robot, the impactor assembly having a guide defining a guide engagement surface bounded by an opening extending in the direction of the trajectory. The impactor assembly has a head disposed to receive an implanting force and an interface adapted to be removably attached to the prosthesis. The shaft extends along an impactor axis between the head and the interface and is shaped to pass through the opening of the guide. A flange is coupled to the shaft between the head and the interface and defines an impactor engagement surface shaped to rotatably engage against the guide engagement surface, enabling rotation of the impactor assembly relative to the guide and facilitating coaxial alignment of the impactor axis with a trajectory maintained by the surgical robot. The second engagement surface is shaped to abut the first engagement surface. The limiter maintains the abutment between the first and second engagement surfaces and facilitates coaxial alignment of the axis of the first assembly with a trajectory maintained by the surgical robot. The limiter maintains the abutment between the first and second engagement surfaces and facilitates coaxial alignment of the axis of the first assembly with a trajectory maintained by the surgical robot. The limiter maintains the abutment between the first and second engagement surfaces and facilitates coaxial alignment of the axis of the first assembly with a trajectory maintained by the surgical robot.

[0009] The present disclosure also provides an impactor assembly for use in implanting a prosthesis along a trajectory maintained by a surgical robot, the impactor assembly having a guide defining a guide engagement surface bounded by an opening extending in the direction of the trajectory. The impactor assembly has a guide defining a guide engagement surface bounded by an opening extending in the direction of the trajectory. The impactor assembly has a head disposed to receive an implanting force and an interface adapted to be removably attached to the prosthesis. The shaft extends along an impactor axis between the head and the interface and is shaped to pass through the opening of the guide. A flange is coupled to the shaft between the head and the interface and defines an impactor engagement surface shaped to rotatably engage against the guide engagement surface, enabling rotation of the impactor assembly relative to the guide and facilitating coaxial alignment of the impactor axis with a trajectory maintained by the surgical robot. The impactor assembly has a head disposed to receive an implanting force and an interface adapted to be removably attached to the prosthesis. The shaft extends along an impactor axis between the head and the interface and is shaped to pass through the opening of the guide. A flange is coupled to the shaft between the head and the interface and defines an impactor engagement surface shaped to rotatably engage against the guide engagement surface, enabling rotation of the impactor assembly relative to the guide and facilitating coaxial alignment of the impactor axis with a trajectory maintained by the surgical robot. The shaft extends along an impactor axis between the head and the interface and is shaped to pass through the opening of the guide. A flange is coupled to the shaft between the head and the interface and defines an impactor engagement surface shaped to rotatably engage against the guide engagement surface, enabling rotation of the impactor assembly relative to the guide and facilitating coaxial alignment of the impactor axis with a trajectory maintained by the surgical robot. A flange is coupled to the shaft between the head and the interface and defines an impactor engagement surface shaped to rotatably engage against the guide engagement surface, enabling rotation of the impactor assembly relative to the guide and facilitating coaxial alignment of the impactor axis with a trajectory maintained by the surgical robot. A flange is coupled to the shaft between the head and the interface and defines an impactor engagement surface shaped to rotatably engage against the guide engagement surface, enabling rotation of the impactor assembly relative to the guide and facilitating coaxial alignment of the impactor axis with a trajectory maintained by the surgical robot. A flange is coupled to the shaft between the head and the interface and defines an impactor engagement surface shaped to rotatably engage against the guide engagement surface, enabling rotation of the impactor assembly relative to the guide and facilitating coaxial alignment of the impactor axis with a trajectory maintained by the surgical robot. A flange is coupled to the shaft between the head and the interface and defines an impactor engagement surface shaped to rotatably engage against the guide engagement surface, enabling rotation of the impactor assembly relative to the guide and facilitating coaxial alignment of the impactor axis with a trajectory maintained by the surgical robot.

[0010] This disclosure also relates the impactor assembly along a trajectory maintained by a surgical robot. A guide adapted to be attached to a surgical robot configured to support, The impactor assembly is fitted to accommodate the prosthesis, and the impactor engagement surface and The present invention provides a guide having a shaft extending along the impactor axis. The guide is a surgical rod A mount adapted to be attached to a bot, with a channel extending along the guide axis. It has a main body that is operably mounted to the mount in a certain state. The channel defines the opening. The opening is designed to receive a portion of the shaft of the impactor assembly through it. It is positioned. The guide also has a guide engagement surface and a limiter. The guide engagement surface is impact It is shaped to contact the impactor engagement surface. The limiter is shaped to contact the impactor engagement surface and guide the engagement surface. Maintaining contact with the mating surface, and supported by the guide axis, impactor axis, and surgical robot. This facilitates coaxial alignment with the orbit.

[0011] This disclosure also relates to targeting a workpiece along a trajectory maintained by a surgical robot. An end effector for positioning a s, comprising a first assembly and a second s The end effector having a hub is provided. The first assembly has a proximal end and a workpiece A distal end having an interface adapted to be detachably attached to the case, A shaft extending along a first axis between the proximal and distal ends, and between the proximal and distal ends It has a flange positioned and defining a first engagement surface. The second assembly is a surgical robot A mount adapted to be attached to the set, and a mount that can be operated to the set. The channel has a guide and a second axis between the first and second axial channel ends. A second engaging surface is defined, extending along the line and shaped to abut against the first engaging surface. Nell also has an opening positioned to receive a portion of the shaft of the first assembly. Define. The guide also maintains contact between the first engagement surface and the second engagement surface, and the surgical robot It has a limiter that facilitates coaxial alignment of the axis with the track maintained by the system. The system checks the relative axial position of the flange between the first channel end and the second channel end. It is coupled to the guide to determine the sensor. The sensor is a linear variable differential transformer (LVDT) coil. It has a swirling semblazone, and at least one coil extends around the guide axis toward the opening. ru.

[0012] This disclosure also relates to the placement of a prosthesis at the surgical site along a trajectory maintained by a surgical robot. A method of insertion is provided. This method involves a head, an interface, and the head and interface - It has a shaft that extends along the impactor axis between it and the face, and an impactor engagement surface. The steps include providing an impactor assembly that extends along a guide axis and has an opening, and a guide The process includes providing a guide having a channel that defines an engagement surface and a limiter. This method also involves positioning the impactor assembly to place the prosthesis at the surgical site. The step of determining the shaft of the impactor assembly into the channel through the opening of the guide The steps involve positioning the impactor and guiding the impactor engagement surface of the impactor assembly. The steps include bringing the id engagement surface into contact with the guide limiter relative to the impactor assembly. This includes the step of moving to maintain contact between the impactor engagement surface and the guide engagement surface. The method also aligns the impactor axis and guide axis coaxially with the trajectory maintained by the surgical robot. The surgical robot performs a positioning step and applies a fitting force to the head of the impactor assembly. The procedure includes the step of inserting the prosthesis at the surgical site along a trajectory maintained by the net. .

[0013] By reading the following description in conjunction with the attached drawings, you will better understand other features and advantages of the embodiments of this disclosure. It will be better understood and easier to grasp. [Brief explanation of the drawing]

[0014] [Figure 1] A perspective view of a surgical system comprising a surgical robot, a navigation system, and an end effector for implanting a prosthesis at a surgical site along a trajectory maintained by the surgical robot, wherein the end effector is shown to have an impactor assembly coupled to a prosthesis and supported along the trajectory by a guide attached to the surgical robot. [Figure 2] Figure 1 is an exploded perspective view of the impactor assembly, shown separated from the prosthesis. [Figure 3] Figure 1 is a perspective view of the end effector, showing the guide supporting the impactor assembly and the prosthesis attached to the impactor assembly. [Figure 4] Figure 3 is a side view of the endo-effector and prosthesis. [Figure 5A] This is a cross-sectional view along the line 5A-5A in Figure 4. [Figure 5B] This is a cross-sectional view along the line 5B-5B in Figure 4. [Figure 6] Figures 3-5B are exploded perspective views of the guide. [Figure 7] Figure 6 is another exploded perspective view of the guide. [Figure 8A]Figures 3-5B are perspective views of the end effector and prosthesis, showing the prosthesis positioned at the generally illustrated surgical site, and the impactor assembly attached to the prosthesis and articulated away from the guide. [Figure 8B] Figure 8A shows another perspective view of the end effector, prosthesis, and surgical site, with the impactor assembly articulated within the guide. [Figure 8C] Figures 8A-8B show another perspective view of the end effector, prosthesis, and surgical site, with the guide moved along the trajectory to engage with the impactor assembly and supporting the impactor assembly. [Figure 9A] Figures 8A-8C are schematic diagrams illustrating the prosthesis and end effector, in which the guide is positioned to move along a trajectory, defining a guide axis aligned with the surgical site, and the impactor assembly is attached to the prosthesis and spaced apart from both the surgical site and the guide. [Figure 9B] Figure 9A is another illustrative schematic diagram of the end effector, prosthesis, and surgical site, showing the prosthesis and impactor assembly positioned adjacent to the surgical site. [Figure 9C] Figures 9A-9B are schematic diagrams of another exemplary end effector, prosthesis, and surgical site, showing the prosthesis positioned in the surgical site. [Figure 9D] Figures 9A-9C are schematic diagrams of another exemplary end effector, prosthesis, and surgical site, showing the prosthesis and impactor assembly articulated and partially inserted into the guide. [Figure 9E] Figures 9A-9D are schematic diagrams of other exemplary end effectors, prostheses, and surgical sites, showing the prosthesis and impactor assembly further articulated within the guide. [Figure 9F]Figures 9A–9E are schematic diagrams of another exemplary end effector, prosthesis, and surgical site, showing the guide being moved along the trajectory away from the surgical site and engaged with the taper of the impactor assembly. [Figure 9G] Figures 9A–9F are schematic diagrams of another exemplary end effector, prosthesis, and surgical site, showing the guide moved further away from the surgical site along the trajectory and engaged with the flange of the impactor assembly. [Figure 9H] Figures 9A–9G are schematic diagrams of another exemplary end effector, prosthesis, and surgical site, showing the guide moved further away from the surgical site along the trajectory, with the flange of the impactor assembly adjacent to the sensor coupled to the guide. [Figure 9I] Figure 9H is a schematic diagram illustrating an example of an endo-effector, prosthesis, and surgical site replacement. [Figure 9J] Figures 8A to 8C are schematic diagrams of exemplary prostheses and end effectors, in which the guide defining the guide axis is separated from the surgical site defining the trajectory and is deviated from coaxial alignment with the surgical site, and the impactor assembly is attached to the prosthesis and defines an impactor axis that is separated and deviated from coaxial alignment with both the guide axis and the trajectory. [Figure 9K] Figure 9J is another illustrative schematic diagram of the end effector, prosthesis, and surgical site, showing the impactor assembly articulated and partially inserted into the guide. [Figure 9L] Figures 9J-9K are schematic diagrams of another exemplary end effector, prosthesis, and surgical site, in which the guide is shown moved away from the surgical site, engaged with the flange of the impactor assembly, and the guide axis is de-coaxial with the trajectory T. [Figure 9M]Figures 9J-9L are schematic diagrams of another exemplary end effector, prosthesis, and surgical site, showing the guide further moved and articulated relative to the trajectory, with the impactor axis and guide axis coaxially aligned with the trajectory. [Figure 9N] Figures 9J-9M are schematic diagrams of another exemplary end effector, prosthesis, and surgical site, showing the guide moved and articulated, with the impactor axis positioned coaxially aligned with the guide axis and trajectory. [Figure 10] This is a perspective view of another embodiment of the end effector according to the disclosure, shown having a guide supporting the impactor assembly to which the prosthesis is attached. [Figure 11] Figure 10 is a side view of the endo-effector and prosthesis. [Figure 12A] This is a cross-sectional view along the line 12A-12A in Figure 11. [Figure 12B] This is a cross-sectional view along the line 12B-12B in Figure 11. [Figure 13] Figures 10-12B are exploded perspective views of the guide. [Figure 14] Figure 13 is another exploded perspective view of the guide. [Figure 15A] Figures 10-12B are perspective views of the end effector and prosthesis, showing the prosthesis positioned at the generally illustrated surgical site, and the impactor assembly attached to the prosthesis and articulated away from the guide. [Figure 15B] Figure 15A is another perspective view of the end effector, prosthesis, and surgical site, showing the impactor assembly articulated to the guide. [Figure 15C] Figures 15A-15B show another perspective view of the end effector, prosthesis, and surgical site, in which the impactor assembly is articulated and engaged with the impactor assembly, supporting it along its trajectory. [Figure 16A]A perspective view of another embodiment of the impactor assembly according to the present disclosure, in which the impactor assembly is shown spaced apart from the prosthesis. [Figure 16B] Figure 16A is an exploded perspective view of the impactor assembly. [Figure 17] A perspective view of yet another embodiment of the end effector according to the present disclosure, which includes a guide supporting the impactor assembly shown in Figures 16A-16B, and shows the prosthesis attached to the impactor assembly. [Figure 18A] Figure 17 is a perspective view of the guide. [Figure 18B] Figures 17-18A show exploded perspective views of the guide, which includes a main body that defines the channel, with the main body separated from the follower subassembly, sensor subassembly, and input module. [Figure 19A] Figure 18B is a perspective view of the follower subassembly. [Figure 19B] Figure 19A is an exploded perspective view of the follower subassembly, which is shown with first and second triggers positioned to move first and second push rods. [Figure 20] Figures 17-18B are top views of the end effector guide. [Figure 21] This is a cross-sectional view along line 21-21 in Figure 20. [Figure 22A] Figure 17 is an illustrative schematic diagram of a prosthesis and end effector, in which the impactor assembly comprises a shaft and an interface attached to the prosthesis positioned at the surgical site for insertion along the trajectory, and the guide channel is shown spaced apart from the impactor assembly with the guide axis defined and the guide axis positioned parallel to the trajectory. [Figure 22B]Figure 22A is another illustrative schematic diagram of the surgical site, prosthesis, and end effector, showing the guide moved toward the impactor assembly with the shaft of the impactor assembly inserted into the channel of the guide, and the guide axis coaxially aligned with the trajectory. [Figure 22C] Figures 22A-22B are other exemplary schematic diagrams of the surgical site, prosthesis, and end effector, in which the guide is moved away from the surgical site along the trajectory, and the channel is shown engaging with the flange of the impactor assembly adjacent to the shaft, and the flange is also engaged with the first trigger of the follower subassembly, translating the first push rod toward the first push rod sensor of the sensor subassembly. [Figure 22D] Figures 22A-22C are other exemplary schematic diagrams of the surgical site, prosthesis, and end effector, in which the guide is moved further away from the surgical site along the trajectory, and the flange is shown still engaged with the channel and the first trigger, and the flange is also engaged with the second trigger of the follower subassembly, translating the second push rod toward the second push rod sensor of the sensor subassembly. [Figure 22E] Figures 22A–22D are other exemplary schematic diagrams of the surgical site, prosthesis, and end effector, showing the guide being moved further away from the surgical site along the trajectory, with the flange still engaged with the channel, first trigger, and second trigger, and the flange of the impactor assembly positioned vertically centered on the channel of the guide. [Figure 22F] Figures 22A-22E are other exemplary schematic diagrams of the surgical site, prosthesis, and end effector, showing the guide being moved further away from the surgical site along the trajectory, with the flange still engaged with the channel, first trigger, and second trigger. [Figure 22G]Figures 22A-22F are other exemplary schematic diagrams of the surgical site, prosthesis, and end effector, showing the guide moved further away from the surgical site along the trajectory, with the flange still engaged with the channel and second trigger, and the flange disengaged from the second trigger and positioned. [Figure 22H] Figures 22A-22G are schematic diagrams of another exemplary surgical site, prosthesis, and end effector, in which the guide is moved further away from the surgical site along the trajectory, the flange is partially positioned within the channel, and the flange is shown disengaged from the first and second triggers. [Figure 23] Figures 22A to 22H show a graphical representation of the signals generated by the first and second pushrod sensors corresponding to the relative states of the first and second triggers. [Figure 24A] Figure 22E is an exemplary schematic diagram of a surgical site, prosthesis, and end effector arranged as shown, wherein the flange of the impactor assembly is positioned at the vertical center of the guide channel and engages with first and second triggers, where the guide reference point of the guide channel is positioned at an initial guide-target distance relative to the surgical site, and the impactor reference point of the flange of the impactor assembly is positioned at an initial flange-target distance equal to the initial guide-target distance. [Figure 24B] Figure 24A is another exemplary schematic diagram of the surgical site, prosthesis, and end effector, showing the guide still positioned at the initial guide-target distance relative to the surgical site, and the impactor assembly and prosthesis advanced along the trajectory toward the surgical site in response to the application of a fitting force to the impactor assembly, thereby positioning the impactor reference point at a secondary flange-target distance relative to the surgical site that is smaller than the initial flange-target distance. [Figure 24C]Figures 24A-24B are other exemplary schematic diagrams of the surgical site, prosthesis, and end effector, showing the impactor assembly still positioned relative to the surgical site at the secondary flange-target distance, and showing the guide advanced along the trajectory toward the surgical site, with the guide reference point positioned closer to the surgical site. [Figure 24D] Figures 24A-24C are other exemplary schematic diagrams of the surgical site, prosthesis, and end effector, showing the impactor assembly still positioned relative to the surgical site at a secondary flange-target distance, and showing a guide further advanced along the trajectory toward the surgical site, thereby showing the guide reference point positioned at a different guide-target distance relative to the surgical site, equal to the secondary flange-target distance. [Figure 25A] A perspective view of yet another embodiment of the end effector according to the present disclosure, comprising an impactor assembly and a guide having a channel defining a spaced-apart guide axis, the impactor assembly being shown comprising a shaft adjacent to a flange aligned around the spaced-apart impact axis. [Figure 25B] Figure 25A is another perspective view of the prosthesis and end effector, showing the guide moved toward the impactor assembly with the shaft of the impactor assembly inserted into the channel of the guide, and the guide axis coaxially aligned with the impactor axis. [Figure 25C] Figures 25A-25B show another perspective view of the prosthesis and end effector, in which the guide is moved further away from the prosthesis along the impactor axis, and the channel of the guide is shown engaged with the flange of the impactor assembly at the vertical center of the channel. [Figure 25D]Figures 25A-25C show another perspective view of the prosthesis and end effector, in which the guide channel is still engaged with the flange of the impactor assembly at the vertical center of the channel, but the guide is shown rotated relative to the impactor assembly while maintaining coaxial alignment between the guide axis and the impactor axis. [Figure 26A] Figures 25A to 25D are perspective views of the guide. [Figure 26B] Figures 25A to 26A are exploded perspective views of the guide, showing the main body having first and second main body components spaced apart from the sensor subassembly, input module, and coil assembly. [Figure 27A] Figure 26B is a perspective view of a coil assembly, which is shown having a coil frame supporting a generally shown coil configuration, which generally includes a transmitting coil positioned between a proximal receiving coil and a distal receiving coil. [Figure 27B] This is another perspective view of the coil assembly shown in Figure 27A, from the same viewpoint as Figure 27A, but with the coil frame, transmitting coil, proximal receiving coil, and distal receiving coil each depicted with imaginary contour lines for illustrative purposes. [Figure 28A] A perspective view of another embodiment of a coil assembly, which is shown having a coil frame supporting a generally shown coil configuration, which generally comprises a proximal receiving coil and a distal receiving coil arranged within a transmitting coil. [Figure 28B] This is another perspective view of the coil assembly shown in Figure 28A, from the same viewpoint as Figure 28A, but with the coil frame, transmitting coil, proximal receiving coil, and distal receiving coil each depicted with imaginary contour lines for illustrative purposes. [Modes for carrying out the invention]

[0015] One or more embodiments shown through the drawings are removed, or are schematically depicted. , and / or specific components, structural features, illustrated with dashed lines for illustrative purposes, Please understand that it may have and / or assemblies.

[0016] Referring to Figure 1, a surgical system 30 equipped with a surgical robot 32 is shown. The surgical robot 32 generally consists of a base 34, a robotic arm 36, and a connecting part 38. The robot arm 36 is supported by the base 34 and is equipped with a base 34 for use. The position and / or orientation of the connecting portion 38 is moved, driven, maintained, or otherwise controlled. The connection portion 38 is configured to detachably secure the end effector 40. The end effector 40 conforms to the overall designation and supports the tool indicated by reference number 42. To do, or to include. Tool 42 (e.g., Impactor) will be described in more detail below. It supports workpiece 44 (e.g., acetabular cup) used in connection with various surgical procedures. It is configured to facilitate holding, positioning, or driving. In the procedure, the surgical system 30 is in a trajectory T maintained by, for example, a surgical robot 32. Along or with respect to trajectory T, with respect to the target shown as a whole by reference number 46 It is configured to guide the workpiece 44. In a typical embodiment shown herein The target 46 is the surgical site S on the patient's body B, and the workpiece 44 is (for example) (via tool 42) supported by the end effector 40, and track T (e.g., embedded track) This is a prosthesis P that is fitted into the surgical site S along the path.

[0017] The surgical robot 32 targets the end effector 40 with the robotic arm 36. Moved to 46, in particular, healthcare professionals use end effector 40, tool 42, and While precisely controlling the movement and positioning of the workpiece 44, various types It assists in performing surgical procedures. One exemplary arrangement of the robotic arm 36 is "Su rgical Robotic arm Capable of Controllin ga Surgical Instrument in Multiple Mode It is described in U.S. Patent No. 9,119,655, named "s", and the full disclosure of that patent The body is incorporated herein by reference. In addition to the robotic arm 36 and the surgical robot 32, Please understand that this section can be arranged in several different configurations.

[0018] The surgical system 30 includes a surgical robot 32, a robotic arm 36, and an end effector 40. , tool 42, and / or one or more parts of workpiece 44, and patient The relative position and / or orientation changes of various parts of body B are monitored within a common coordinate system. It can be tracked and / or determined. This is possible with various types of trackers (e.g., (Multiple degrees of freedom optical, inertial, and / or ultrasonic sensing devices), navigation systems Stems (e.g., machine vision systems, charge-coupled element cameras, tracker sensors, surface) Scanners and / or rangefinders), anatomical computer models (e.g., Magnetic resonance imaging scans of the patient's anatomical structures, previous surgical procedures and / or previous procedures Data from the surgical technique performed (for example, to be used later to facilitate the insertion of the prosthesis) This is done by utilizing data recorded during acetabular reaming, etc. For these purposes, the surgical system 30 is generally robotic, as schematically shown in Figure 1. It is equipped with a control system 48 and a navigation system 50, and these systems cooperate The surgical robot 32 works to maintain the alignment of the end effector 40 with respect to the trajectory T. This makes it possible for the surgical robot 32 to operate on the surgical site S and the surgical system 30. This allows the end effector 40 to move relative to other parts of the system.

[0019] As schematically shown in Figure 1, the robot control system 48 is a robot controller The navigation system 50 is equipped with a navigation controller 54. In the exemplary embodiment, a robot controller 52 and a navigation controller 54 via a physical electrical connection (e.g., a tether wire harness) and / or one or Via multiple types of wireless communication (e.g., Wi-Fi (trademark) network, Blu-ray) To communicate with each other using (a registered trademark such as) a wireless network, and / or are arranged to communicate with other components of the surgical system 30, for example. The bot controller 52 and / or navigation controller 54 are computer-controlled. In various configurations such as processors, control units, etc., or in conjunction with such configurations. They may be represented, have separate components, or be integrated (for example) (They may share hardware, software, inputs, outputs, etc.) Other configurations are also planned. It is illustrated.

[0020] The surgical system 30 employs a robotic control system 48, and in particular, the robotic arm The joint of part 36 is moved to position the end effector 40 relative to the surgical site S and to determine its trajectory. Maintaining T, etc. Here, the robot controller 52 of the robot control system 48 , various actuators and motors (not shown) arranged in the joints of the robot arm 36 The robot arm 36 is configured to move jointly by driving the robot. The controller 52 has an encoder (not shown) positioned along the robot arm 36. It may also be configured to collect data from various sensors such as the surgical robot 3. Since the specific geometric shapes of each component of 2 and the end effector 40 are known, The robot controller 52 uses this data within the manipulator coordinate system MNPL. The position and / or orientation of the end effector 40 can be reliably adjusted. The MNPL coordinate system has an origin, which in the exemplary embodiment is located on the robot arm 36. It is positioned relative to this. An example of this type of manipulator coordinate system MNPL is the previously referenced " Surgical Robotic Arm Capable of Control ing a Surgical Instrument in Multiple Mo It is described in U.S. Patent No. 9,119,655, under the name "des". Other components are also planned. It is illustrated.

[0021] The navigation system 50 includes, in particular, the end effector 40, the pointer 56, and and a part of the patient's body B (for example, a bone located at or adjacent to the surgical site S) It is configured to track the movement of various objects (such as other anatomical structures). Then, the navigation system 50 is the tracker 60 in the localizer coordinate system LCLZ A localizer 58 configured to sense position and / or orientation is employed. The gate controller 54 is configured to communicate with the localizer 58, and localization Position and / or orientation data for each tracker 60 detected within the field of view of Iza 58 The data is collected within the localizer coordinate system LCLZ.

[0022] The localizer 58 senses the position and / or orientation of multiple trackers 60 and responds accordingly. It is understood that multiple objects can be tracked within the localizer coordinate system LCLZ. For example, as shown in Figure 1, tracker 60 is connected to pointer 56 Intertracker 60P, one or more end effector trackers 60G, 60I, Patient tracker 60A for patient 1, and patient tracker 60B for patient 2, as well as additional patient trackers It may also include trackers for additional medical and / or surgical tools.

[0023] In some embodiments, as shown in Figure 1, one or more end effectors Trackers 60G and 60I can each have parts that can be configured to move relative to each other, etc. It may be firmly attached to different parts of the effector 40. As a non-limiting example, As will be described in more detail below, the Impactor Tracker 60I is different from the Guide Tracker 60G. An impactor (or another type of torpedo) configured to move relative to a mounted guide It can be attached to the 42). Here, as will be described in more detail below, the guide The tracker 60G can move together with the connecting part 38 by the robot arm 36, while The impactor tracker 60I moves relative to the coupling portion 38 with one or more degrees of freedom. This is possible. Navigation is possible using the guide tracker 60G and impactor tracker 60I shown in Figure 1. The gate system 50 is used by the localizer 58 to control the end effector 40. The relative position and / or orientation of different parts can be easily determined, but the particulars of this disclosure A specific embodiment facilitates this decision by other means (e.g., using one or more sensors). It can also be configured to do so. However, other configurations are also contemplated in this disclosure, and specific Tracker 60, sensors, and various geometric relationships are used to track objects. Please understand that combinations can be used.

[0024] Continuing to refer to Figure 1, the first patient tracker 60A is located at the surgical site S or hand. The surgical site S is firmly attached to one bone of the patient's body B (for example, the pelvis near the acetabulum). Once fixed, the second patient tracker 60B firmly attaches to a different bone (e.g., part of the femur). It is fixed in place. Although not shown in detail, patient trackers 60A and 60B have screw engagement, Using a ramp or other techniques, the bones of the patient's body B are joined to several different bones. It is important to understand that this is possible. Similarly, Guide Tracker 60G and / or In Pacta Tracer 60I is integrated during manufacturing, or before or during surgical procedures. End effector 40 and / or by various methods, such as by a removable mounting inside. It can be fixed to a part of tool 42. Various trackers 60, in several different ways The formula uses different types of tracked objects (e.g., separate bones, tools, pointers, etc.). Please understand that it can be firmly fixed in place.

[0025] The position of the Tracker 60 relative to the object or anatomical structure to which the Tracker 60 is attached is This can be determined by known registration techniques. For example, patient tracker Patient trackers 60A and 60B are attached to part B of the patient's body. The position of B can be achieved with various forms of point-based registration, for example. For example, when the localizer 58 monitors the position and orientation of the pointer tracker 60P, To make contact with and engage with specific anatomical landmarks (for example, to touch a specific part of a bone) The distal tip of the Ta56 is used, or, in the case of surface-based registration, the bone It is used to engage with several parts. In this case, conventional registration techniques By adopting this approach, the patient tracker 60A and 60B positions the patient's anatomical structure (for example, each It can be correlated with the femur and acetabulum. Patient trap with mechanical clamp Other types of registration are also possible, such as using the KA60A and KA60B machines. The target clamp is attached to the bone and has a tactile sensor (not shown) and the clamp is attached Determine the shape of the bone to be kicked. Then, for registration, the shape of the bone is divided into three parts. It can be matched to the D model. The tactile sensor and patient tracker 60A, 60B The known relationship with the car can be input to the navigation controller 54, or The navigation controller 54 can be known in other ways. Based on the relationships between the markers and the patient's anatomical structures, the position of the markers can be determined. Position and / or orientation data are stored in each tracker 60 within the localizer coordinate system LCLZ. To determine the coordinates, several different registration / navigation techniques are used. Used to collect, determine, or otherwise process information by the navigation controller 54. This is possible. As will be described in more detail below, these coordinates are used in the robot control system. It communicates with 48 to facilitate joint movement of the robot arm 36 and / or in other ways. To assist a surgeon in performing surgical procedures.

[0026] In the typical embodiments shown herein, the robot controller 52 is a surgical robot Operablely mounted to the 32, the navigation controller 54 and localizer 58 is supported by a movable cart 62 that is movable relative to the base 34 of the surgical robot 32. The movable cart 62 also has a user interface, as a whole, indicated by reference number 64. Support by displaying information to the surgeon or another user, and / or to The operation of the surgical system 30 is facilitated by receiving information from a physician or another user. To make it easier. The user interface 64 is connected to the navigation system 50 and / or It is arranged to communicate with the robot control system 48 and to receive information (e.g., images, videos, data) Provide surgeons or other users with data, graphics, navigable menus, etc. One or more output devices 66 (e.g., monitor, indicator, display) for showing A screen (or similar) and one or more input devices 68 (e.g., buttons, touchscreens) (including keyboards, mice, gestures, or voice-based input devices) This can happen. One type of movable is used in this type of navigation system 50. Cart 62 and user interface 64 are called "SurgerySystem" It is described in U.S. Patent No. 7,725,162, and refer to the entire disclosure of that patent. This is incorporated herein by means of.

[0027] The movable cart 62 and the base 34 of the surgical robot 32 are relative to each other, and also to the patient. Since it can be positioned relative to body B, one or more of the surgical system 30 The part generally localizes the coordinates of each tracker 60 sensed by the localizer 58. Convert from the Iza coordinate system LCLZ to the manipulator coordinate system MNPL, or vice versa. It is configured such that the joint movement of the robot arm 36 is at least partially Common coordinate systems (e.g., manipulator coordinate system MNPL, localizer coordinate system LCLZ, Based on the relative position and / or orientation of a particular tracker 60 within another common coordinate system. This can be done. The coordinates in the localizer coordinate system LCLZ are several different types. Using conversion techniques, it is possible to convert to coordinates within the manipulator coordinate system MNPL, and vice versa. It is important to understand that conversions are also possible. An example of data conversion or transformation between coordinate systems is: "Registration of Anatomical Data Sets" and It is described in U.S. Patent No. 8,675,939, and the entire disclosure of that patent is available. This is incorporated herein by reference.

[0028] In the exemplary embodiment, the localizer 58 is an optical localizer, and one or more The navigation system 50 includes a camera unit 70 having an optical position sensor 72. The optical position sensor 72 of the camera unit 70 is used within the localizer coordinate system LCLZ. The position and / or orientation of the tracker 60 is sensed. Typical examples shown herein In the implementation configuration, each tracker 60 is controlled by the optical position sensor 72 of the camera unit 70. It employs a marker 74 that can be detected. This type of navigation system 5 An example of 0 is "Navigation System Including Optic U.S. Patent No. 9, This is described in Patent No. 008,757, and the entire disclosure of that patent is incorporated herein by reference. In some embodiments, the marker 74 is a light detected by the optical position sensor 72. This is an active marker that emits light (e.g., a light-emitting diode "LED"). Other embodiments So, the tracker 60 reflects light emitted from the camera unit 70 or another light source. Passive markers (e.g., reflectors) can be used. Navigation through drawings. One embodiment of the system 50 is illustrated, but the navigation system 50 is described later. As can be understood from the above, the tracker 60 can be of various types and configurations. It may have any other suitable configuration for doing so. For example, a navigation system 50 may have other types of localizers 58 and / or trackers 60. .

[0029] In some embodiments, the navigation system 50 and / or localizer 5 8 is radio frequency (RF) based. For example, navigation system 50 is navigation Gating controller 54 and / or other computing device or controller It may be equipped with an RF transceiver coupled to a radio, etc. Here, the tracker 60 is It may include an RF emitter or transponder, and may be passive or active. It may be energized. The RF transceiver transmits an RF tracking signal, and the RF emitter is tracked. The state is communicated to the navigation controller 54 (or the navigation controller Respond with an RF signal as interpreted by Roller 54. The RF signal is any appropriate A frequency-based one is fine. RF transceivers effectively use RF signals to track objects. It can be positioned at any appropriate location. Furthermore, RF-based navigation Embodiments of the navigation system are active marker-based navigation systems as illustrated herein. Please understand that it may have a different structural configuration from System 50.

[0030] In some embodiments, the navigation system 50 and / or localizer 5 8 is electromagnetic (EM) based. For example, the navigation system 50 is navigation Controller 54 and / or other computing devices or controllers It may be equipped with an EM transceiver coupled to it. Here, Tracker 60 is equipped with Attached EM components (e.g., various types of magnetic trackers, electromagnetic trackers, induction) It may include guide trackers, etc., and the EM components may be passive or active. It may be energized. The EM transceiver generates an EM field, and the EM components are in a tracked state. The status is communicated to the navigation controller 54 (or the navigation controller Navigation controller 54 responds with an EM signal as interpreted by 54. This allows for the analysis of received EM signals and the association of relative states with the EM signals. However, embodiments of EM-based navigation systems are as illustrated herein. It may have a different structural configuration from the tibial marker-based navigation system 50. Please understand this.

[0031] In some embodiments, the navigation system 50 and / or localizer 5 8 is a tracker 60 fixed to an object in order to determine the position data associated with the object. It is based on one or more types of imaging systems that do not necessarily require For example, by providing an ultrasound-based imaging system, (e.g., identifying the object being tracked) (Known structural features of the object being tracked, or markers or stickers fixed to the object being tracked) This makes it easier to acquire sound wave images, thereby tracking the state (e.g., position and direction). (and so on) are communicated to the navigation controller 54 based on the ultrasound image (and (This is interpreted by the navigation controller 54). Ultrasound images are 2D, 3D, Or a combination thereof. The navigation controller 54 displays the ultrasound image almost as The ultrasound imaging device can process the data in real time to determine the state to be tracked. It can have any suitable configuration, and is different from the camera unit 70 shown in Figure 1. In some cases, a fluorescence-based imaging system is provided that is radiopaque. Transient markers (e.g., markers attached to an object being tracked that have known structural features) This makes it easier to obtain X-ray images of devices (such as tags and other objects), thereby enabling tracking of the device. The state is communicated to the navigation controller 54 based on the X-ray image (or navigation) (Interpreted by the navigation controller 54). The navigation controller 54 is X-ray images can be processed in near real-time to determine the state being tracked. Similarly, we provide other types of optical-based imaging systems to capture specific known objects (e.g., , based on comparison with a virtual representation of the tracked object or its structural components or feature parts. ) and / or markers (such as stickers or tags attached to the object being tracked) It becomes easier to acquire images and videos, and therefore the state being tracked is, Based on the digital image, the navigation controller 54 is communicated (or the navigation (Interpreted by the navigation controller 54). The navigation controller 54 then... Digital images can be processed in near real-time to determine the state to be traced. .

[0032] Therefore, without departing from the scope of this disclosure, multiple images of the same or different types Various types of imaging systems, including image systems, form part of the navigation system 50. It should be understood that this is possible. Those skilled in the art will understand that the navigation system 50 and / or Or the localizer 58 may not have any other suitable components not specifically described herein. It should be understood that it can also have elements or structure. For example, a navigation system The Mu-50 can utilize inertial tracking alone, or any combination of tracking techniques. This relates to techniques, methods, and / or techniques associated with the navigation system 50 shown in Figure 1. Any of the components can be implemented in several different ways, as disclosed herein. Other configurations are also being considered.

[0033] In some embodiments, the surgical system 30 is connected to one or more output devices 66. The presented patient's body B has anatomical structures, end effector 40, tool 42, and workpiece. Using images and / or graphic representations such as -44, the phase of the object being tracked The virtual representation of the relative position and orientation is displayed to the surgeon or other users of the surgical system 30. This is possible. Robot controller 52 and / or navigation controller 54 also uses the user interface 64 to display instructions and request information. This allows surgeons or other users to communicate with the robot control system 48. This facilitates the joint movement of the robot arm 36. Other configurations are also being considered.

[0034] The robot control system 48 and the navigation system 50 work together to produce end effects. The position and / or orientation of the cubator 40 and / or tool 42 can be easily controlled in various ways. Please understand that this is possible. For example, robot control system 48, surgical robot Bot 32 and / or other parts of the surgical system 30, without limiting the impedance By employing several different control methods, including lance control and / or admittance control, This facilitates the maintenance of joint movement and trajectory T of the robot arm 36. The control method for the surgical robot 32 is described in "Robotic System and Method". U.S. patent application published with the title "for Backdriving the Same" It is described in Patent No. 20170128136A1, and by referring to the entire disclosure of that patent application... This is incorporated herein. In some embodiments, the robot controller 52 is (for example) By driving the joint motors, the robot arm 36 is controlled, and the robot arm It is configured to provide tactile feedback to the surgeon via M36. Here, tactile The feedback is (for example, tool 42 and / or along or relative to orbit T) (or to maintain the alignment of the workpiece 44) the surgeon determines the procedure related to the surgical procedure. Manually move the end effector 40 and / or tool 42 beyond the virtual boundary. It helps to constrain or suppress. A haptic feedback system that defines virtual boundaries and An example of a related tactile object type is, for example, "Haptic Guidance S U.S. Patent No. 8,010,180, titled "System and Method" "Guidance System and Method for Surgical "Al Procedures With Improved Feedback" The names are listed in U.S. Patent No. 7,831,292, and the entire disclosure of those patents is available. This is incorporated herein by reference. In some embodiments, the surgical system 30 is MAKO Surgical Corp(Fort Lauderdale, FL, USA) The RIO (trademark) robotic arm interactive orthopedic surgery system manufactured by [company name] There are things to be prepared for.

[0035] As described above, in the typical embodiment shown in Figure 1, the tool 42 is a surgical robot 32 is provided to position the workpiece 44, where the workpiece 4 4 is realized as a prosthesis P adapted for implantation into the patient's body B. More specifically The example prosthesis P is implanted in the patient's acetabulum, as will be described in more detail below. It is a roughly hemispherical cup that forms part of an artificial hip joint, adapted for implantation. The patient's acetabulum is reamed to define target 46 at the surgical site S, or it is prepared in another form. The applicant describes the reaming, preparation and embedding process as follows: U.S. Patent No. 8,979,859, titled "Depth of Impaction" , and "Tool, Kit-of-Parts for Multi-Function onal Tool, and Robotic System for Same” It is described in U.S. Patent No. 8,753,346, and the entire disclosure of those patents This disclosure incorporates herein by reference. This disclosure describes various orthopedic procedures, including hip joint surgery. The subject matter described herein is, for example, the patient's body B, such as the shoulder, elbow, wrist, spine, knee, and ankle. Please understand that this may also be applicable to other joints.

[0036] Referring to Figures 1A to 9N, an exemplary embodiment of the end effector 40 is shown in the workpiece. A first tool 42 defines a way to securely fasten a 44 (for example, an acetabular cup) in a removable manner. The assembly 76 (e.g., impactor) and, in particular, the connecting portion 38 of the robot arm 36 A second assembly 78 (e.g., an impactor guide) adapted to be mounted This configuration allows the surgeon to attach and detach the workpiece 44 to the first assembly 76. It is fixed in place, and then the assembly 76 is manually operated from a favorable position, without needing to be viewed Approaching target 46 (e.g., the reamed acetabulum) without hindering recognition This becomes possible. As will be described in more detail below, manual approach is completed and workpiece 44 is After being positioned on target 46, the surgeon then proceeds to workpiece 44 and the first assemblies The joints of the 76 are moved to quickly, efficiently, and reliably form the second assembly 7 Workpiece P can be engaged with 8 and maintained by the surgical robot 32 with respect to trajectory T. This makes it easier to align the S44.

[0037] The first assembly 76 defining the tool 42 of the end effector 40 is generally the proximal end It extends between 80 and the distal end 82. The interface 84 provided at the distal end 82 is It is adapted to be detachably attached to the prosthesis P, and the prosthesis P is as described above. In the embodiments described herein, the workpiece 44 is defined. First assembly 76 Furthermore, a shaft 86 extending along the first axis A1 between the proximal end 80 and the distal end 82 is provided. Generally, the first engagement surface, indicated by reference no. 88 (see Figure 2), is located at the proximal end 80 and the distal end It is positioned between end 82 and the other end.

[0038] The second assembly 78 of the end effector 40 is generally attached to the surgical robot 32. Mount 90 adapted to be mounted, and operably attached to Mount 90, The device comprises a main body 92 having a channel 94 extending along axis A2. An opening 96 is defined, through which the shaft 86 of the first assembly 76 passes. It is positioned to accept a portion of the second assembly 78, which generally corresponds to reference number 9. It comprises a second engagement surface shown in 8 (see Figure 3) and a limiter 100. As will be understood below, the second engagement surface 98 is shaped to abut against the first engagement surface 88. The limiter 100 maintains contact between the engaging surfaces 88 and 98, and is operated by the surgical robot 32. It is configured to facilitate coaxial alignment of axes A1 and A2 with respect to the trajectory T that is maintained. The components and structural features of the first assembly 76 and the second assembly 78 described above. Each of the features will be described in more detail below.

[0039] The various embodiments of the end effector 40 described herein are generally impactor assists. The 102 (which defines the first assembly 76 and functions as tool 42) and the guide It comprises part 104 (defining the second assembly 78). Impactor assembly 102 and Guide 104 works in conjunction with the surgical robot 32 to guide the patient along a trajectory T. Prosthesis P (workpiece 44) is placed at surgical site S (defining target 46) on body B. To facilitate the insertion of the impactor (which defines the area). However, the impactor assemblies exemplified herein The embodiments of the hub 102 and guide 104 are illustrative, and the end effector 40 and The bi / or tool 42 is employed in connection with several different medical applications of the surgical robot 32. and / or can be configured for use in surgical procedures and attached to the surgical robot 32 It should be understood that manual positioning before installation may be advantageous. The end effector 40 and / or tool 42 are used for drill bits or reamer heads. Rotary surgical instruments employing a chuck assembly for detachable attachment and drive, It can be used with a holder or drill guide for receiving and rotating surgical instruments. Here, in this exemplary example, we have a rotary surgical instrument and a drill bit or reamer head. The surgical instrument can be manually positioned at the surgical site S, and then the robotic arm can rotate the surgical instrument. The joint is articulated to detachably engage with the holder or drill guide connected to the M36. This includes holders or drill guides, rotary surgical instruments, and drill bits or reamer heads. This can be aligned with the trajectory T maintained by the surgical robot 32. The surgical robot 32 drills into the surgical site S along a linear or nonlinear trajectory T. The cutting end of the reamer head is driven, guided, positioned, and / or moved. (Rotating surgical instruments, chuck assemblies, holders / drill guides, and drills) The bit / reamer head is not shown in the illustration, but is generally known in related technologies.

[0040] As mentioned above, other than the exemplary impactor assembly 102 and guide 104, Configurations are also intended, and this disclosure also covers several different types of end effectors 40. Please understand that... However, for the purpose of clarity and consistency, the end effector 40... The subsequent explanation of tool 42 is as described above, that the prosthesis P is inserted at the surgical site S. This is carried out in relation to exemplary embodiments targeting and

[0041] As best shown in Figure 2, an exemplary embodiment of the impactor assembly 102 is: It includes a head 106 positioned at the proximal end 80, which is configured to receive a fitting force F. The surface 84 is located at the distal end 82, and in this typical embodiment, the prosthesis P It is adapted to be detachably attached to the head 106. - It extends along the impactor axis A1 between the face 84 and the impactor axis A1. In the embodiment (and other embodiments described herein), it is synonymous with the first axis A1. The power assembly 102 is also located between the head 106 and the interface 84. It is equipped with an impactor engagement surface 88. The impactor engagement surface 88 is in this embodiment (and the present invention In other embodiments described in the sub-document, this is synonymous with the first engagement surface 88.

[0042] Referring to Figure 3, the illustrated guide 104 is generally connected to the mount 90 and the main body 92 The mount 90 is attached to the surgical robot 32 and coupled to the main body 92. The channel 94 extends through the main body 92 along the guide axis A2 (see Figure 6). (Ref.) Guide axis A2 is second in this embodiment (and other embodiments described herein). This is synonymous with axis A2. Channel 94 defines an opening 96, through which It is positioned to receive a portion of the shaft 86 of the impactor assembly 102. Guide 104 also has a guide engagement surface 9 that is shaped to contact the impactor engagement surface 88. It comprises 8. The guide engagement surface 98 is in this embodiment (and other embodiments described herein). In this configuration, it is synonymous with the second engagement surface 98. The guide 104 further comprises a limiter 100. Uh, the limiter 100 maintains contact between the impactor engagement surface 88 and the guide engagement surface 98. It is configured as follows. The limiter 100 controls the surgical robot during the insertion of the prosthesis P at the surgical site S. This facilitates the coaxial alignment of axes A1 and A2 with the orbit T maintained by the 32. It is further composed of the above-mentioned components of the end effector 40 and tool 42. This will be explained in more detail below.

[0043] Referring to Figure 2, the impactor assembly 102 is adjacent to interface 84. , shown spaced apart from prosthesis P along impactor axis A1. As described above. The impactor assembly 102 generally extends along the impactor axis A1 and interface It comprises a saddle 84, a head 106, a shaft 86, and an impactor engagement surface 88. Exemplary Act In the configuration, the impactor assembly 102 generally has a handle indicated by reference number 108. A handle 108 is provided, and the handle 108 has a grip extending between the flange 112 and the head 106. It is equipped with p 110. As best shown in Figure 5A, the handle 108 is generally, A single partial component defining the head 106, grip 110, and flange 112. It is formed as follows. However, as can be understood from the following description, handle 108 is They may be formed as separate components fixed together to move simultaneously, or they may be separate It may be defined by individual components. As a non-limiting example, grip 110 is a sha It can be defined by part of the shaft 86, head 106 and / or flange 11 2 is a separate component that is fixed, attached, secured, or otherwise integrally formed with the shaft 86. It can be implemented as an element. Other configurations are also being considered.

[0044] As best shown in Figure 5A, the handle 108 receives a portion of the shaft 86. A blind hole 114 is provided for inserting the handle 108. It is firmly fixed to the shaft 86 by press-fit engagement with the shaft 86, however Furthermore, the handle 108 and shaft 86 are not limited to the handle on shaft 86. 108 "pinning" points (for example, laterally relative to impactor axis A1), handle 10 Welding or other connection between 8 and shaft 86, "tempering" of handle 108 to shaft 86 " and / or corresponding structural features such as keyways / key configurations or screw engagements They can operate with each other in several different ways, including fixing the handle 108 to the shaft 86. Please understand that it can be attached to the Noh. As mentioned above, the shaft 86 is small It is also conceivable that at least a part of it could be integrally formed with the handle 108. Other configurations are also possible. It is planned.

[0045] In the embodiment shown in Figure 5A, the grip 110 of the handle 108 is connected to the head 106. A substantially tapered cylindrical profile extending along the impactor axis A1 between the flange 112 and the impactor axis A1 It has a mechanism that helps the surgeon manually handle and position the impactor assembly 102. It is shaped to do so. As will be described in more detail below, the impactor assembly 10 Head 106 of 2 is subjected to external forces such as a mallet or hammer (not shown). The head 10 is fitted to the surgical site S, receiving an insertion force F, and is adapted to insert the prosthesis P. 6 has a substantially cylindrical profile that is larger in the radial direction than grip 110. This allows the surgeon to securely grasp the grip 110 with one hand and the mallet or with the other hand. It should be understood that you can strike head 106 with a hammer. As shown in Figure 5A. The impactor assembly 102 also has a taper generally indicated by reference number 116, The taper 116 is positioned axially between the flange 112 and the interface 84. The taper 116 is a roughly frustoconical profile that transitions between the flange 112 and the shaft 86. It has a groove and responds to the contact that occurs between the tapered 116 and a portion of the channel 94 of the guide 104. In response, this helps to orient flange 112 towards channel 94 of guide 104. Figures 9A-9 As will be described in more detail below in relation to I, the guide 104 moves away from the surgical site S. When moved, the type of contact described above may occur.

[0046] Continuing to refer to Figure 5A, the shaft 86 of the impactor assembly 102 is as described above. As shown, it extends between the handle 108 and the interface 84, and is a roughly cylindrical proximal shaft. It has a region 118, a distal shaft region 120, and a shaft grip region 122. The positional shaft region 118 is connected to the handle 108 and is adjacent to the flange 112. It extends into the hole 114. The distal shaft region 120 is connected to interface 84 and As described above, when the surface 84 is installed, it is attached to the impactor assembly 10 So that part 2 and prosthesis P can move together, and so that part 2 can be detachably attached to prosthesis P. It is configured. For this purpose, interface 84 and prosthesis P are generally Each screw engagement portion (e.g., female and male threads) is represented by reference number 124, This allows the prosthesis P to be detachably attached to the impactor assembly 102. This becomes possible. The distal shaft region 120 is also, in the exemplary embodiment, the shaft grip region Define 122. As can be understood from the following description, shaft grip area 122 And the handle 108 makes it easier to handle the impactor assembly 102 manually. It helps to make it happen.

[0047] In the embodiment shown in Figure 5A, the interface 84 is formed separately from the shaft 86. It is operably mounted in the distal shaft region 120, but is outside the scope of this disclosure. Without detaching, interface 84 and / or shaft 86 are connected to several different It should be understood that it can be constructed in a certain way. As a non-limiting example, the following is described herein. The interface 84 is configured to facilitate the insertion of the prosthesis P into the surgical site S. However, in some embodiments, a portion of the shaft 86 defines the interface 84 It is also conceivable that this could be done. Other configurations are also being considered.

[0048] The shaft grip area 122 of the shaft 86 of the impact assembly 102 is the shaft It is positioned between the proximal shaft region 118 and the distal shaft region 120 of T86, In order to bring the prosthesis P attached to face 84 closer to the surgical site S, the surgeon Shaped to assist in manually handling and positioning the impactor assembly 102 It has a profile. In the exemplary embodiment, the proximal shaft region 118, the distal shaft region 120 and the shaft grip area 122 each have different shapes and sizes. However, the shaft 86 generally has a substantially cylindrical profile with a constant radius. It is possible to extend along the impactor axis A1 between the handle 108 and the interface 84. This is also a possibility. Therefore, in some embodiments, the shaft 86 is a separate shaft Please understand that it is also possible to configure it without the 122 foot grip area.

[0049] As described above, the impactor engagement surface 88 of the impactor assembly 102 is guide 10 Shaped and positioned to engage with the guide engagement surface 98 of 4. End effectors As can be understood from the subsequent description of the 40 embodiments, the impactor engagement surface 88 is guide 1 This corresponds to different embodiments and / or configurations of 04 and / or guide engagement surface 98. The impactor assembly 102 can be defined by different parts. In the first embodiment of the guide 104 shown in Figures 3-9N, the impactor engagement surface 88 is located in the first embodiment of the guide 104. When used in conjunction, the flange 112 of the impactor assembly 102 is used to define the area. The impactor engagement surface 88 is determined to be the second implementation of the guide shown in Figures 10-15C. When used in relation to morphology, a portion of the proximal shaft region 118 of the shaft 86 This is defined as follows. Embodiments of the impactor assembly 102 shown herein are generally It can be used interchangeably with the embodiment of Guide 104 shown herein, but particularly In some embodiments, the fixed impactor assembly 102 is only the specific guide 104. It should be understood that it can be configured to engage with [something]. Other configurations are also considered.

[0050] Referring to Figures 1-15C, as mentioned above, the guide 1 of the end effector 40 Mount 90 is provided at 04, which connects to the robotic arm 36 of the surgical robot 32. To facilitate detachable attachment to part 38, the robot arm 36 is connected to the end effector 40 Therefore, the position and / or orientation of tool 42 is moved, driven, maintained, and / or It can be controlled in other ways. In the typical embodiments shown herein, see Figures 5A and 6. , and as best shown in 7, the mount 90 is directly or indirectly connected to the connecting part It includes a mounting plate 126 adapted to be detachably attached to 38 (Figure) See reference 1. Mounting is not shown in detail. Mount 90 moves to the mounting plate 126. A receiver 128 that can be attached in an operable manner is also provided. The receiver 128 is shaped to fit the main body 92. The completed brace 130 is received and fitted for fastening (see Figures 6-7). The flannel 94 and the brace 130 are formed at the opposite end of the main body 92 of the guide 104. In some embodiments, the receiver 128 of the mount 90 and the brace 13 of the main body 92 0 is the position of the mount 90 of the guide 104 and the main body 92 by a fixing device (not shown) or the like. They interlock or align with each other so that they can be fixed together as a single unit. It is shaped to be used. However, the guide 104 is connected to the connecting part 38 of the surgical robot 32. Please understand that it can be configured in several different forms, enough to install. As a non-limiting example, a fixing device is used to mount the receiver 128 of the main body 92 to the mount 90. Instead of fixing it to -130, the main body 92 and the mount 90 are formed as a single component. It can be made, or fixed together by other means such as welding. Other configurations It is planned.

[0051] As described above, in a particular embodiment of the guide 104, channel 94 is guide 104 Formed on or defined by the body 92, extending along the guide axis A2 The opening 96 is defined, and the shaft of the impactor assembly 102 passes through there. It is positioned to accept a portion of the ft 86. Furthermore, guide 1 shown in Figures 3-9N When used in relation to the first embodiment of 04, the impactor engagement surface 88 is as described above. The flange 112 of the impactor assembly 102 is defined. In the embodiments shown in 3-9N, the guide engagement surface 98 of the guide 104 is flange 112 Shaped and positioned to contact the surgical robot 32, it works in cooperation with the limiter 100 to contact the surgical robot 32. Therefore, the alignment of the impactor axis A1 and guide axis A2 along the maintained trajectory T is maintained. To hold.

[0052] Referring specifically to the embodiments shown in Figures 3-8C, the opening 96 of the guide 104 is Guide 104 is the interface 84 between flange 112 and impactor assembly 102. When positioned between them, the shaft 86 of the impactor assembly 102 can pass through. It is positioned (see Figures 8A-8C), and the impactor axis A1 is aligned with the guide axis A2. This makes it easier. As shown by dashed lines in Figure 2, the impactor assembly 102 The shaft 86 has a first outer circumference 132 and a flange 112 of the impactor assembly 102. It has a second outer circumference 134 which is larger than the first outer circumference 132. In other words, flange 112 is larger than shaft 86 and cannot pass through opening 96 of guide 104. However, the shaft 86 has an opening, which will be described in more detail below in relation to Figures 9A to 9I. Guide as impactor assembly 102 to move shaft 86 through part 96 So that 104 can pass through the opening 96 when pivoted around the surgical site S. The size will be set.

[0053] As described above, the limiter 100 of the guide 104 engages with the impactor engagement surface 88 during insertion. It is configured to maintain contact with the guide engagement surface 98 and is maintained by the surgical robot 32. This helps to facilitate the coaxial alignment of axes A1 and A2 with the trajectory T. In the embodiment shown in Figures 3-8C, the limiter 100 is arranged adjacent to the channel 94. It comprises a pair of fingers, generally referred to as reference number 136. Finger 136 is Extending from the main body 92 of the guide 104 to each finger end 138 which are spaced apart from each other An opening 96 is defined between the finger ends 138 (see Figure 5B). Each also defines the respective arc-shaped surface, generally indicated by reference number 140. Arc-shaped surface 1 40 When the guide engagement surface 98 comes into contact with the impactor engagement surface 88, the impactor assembly It is positioned to contact the flange 112 of the ri 102, which is the impactor engagement surface 88 and Maintain contact with the guide engagement surface 98, and as described later, the impactor against the guide 104 Restrict the movement of Swertia japonica 102.

[0054] The arc-shaped surface 140 of the limiter 100 is substantially connected to the guide engagement surface 98 of the guide 104. In this embodiment, both the guide engagement surface 98 and the arc-shaped surface 140 are connected to channel 9 Defined by 4. More specifically, as best shown in Figure 5A, the limit The arc-shaped surface 140 of the ta 100 and the guide engagement surface 98 of the guide 104 are, in each case, a common half The channel 94 has a diameter of 142 and is spaced apart from the guide axis A2, thereby the channel 94 is continuous It has a cylindrical C-shaped profile, defining both the guide engagement surface 98 and the arc-shaped surface 140. Furthermore, the portion of the guide 104 that defines the guide engagement surface 98 and the limiter 100 The arc-shaped surface 140 cooperates to form first and second arc-shaped ends 114A and 114B A common arc 144 is defined. The first and second arc ends 114A and 114B are 180 degrees apart. They are radially separated from each other around guide axis A2 with a larger arc reference angle of 146. (See Figure 5B). As can be understood from the following description related to Figures 9A-9I, this configuration As a result, the flange 112 of the impactor assembly 102 is connected to the channel 94 of the guide 104. Rotatably engaged, thereby moving the impactor assembly 102 around axes A1, A2 It can be rotated, and at the same time, the axis A with respect to the trajectory T is maintained by the surgical robot 32. 1. This helps to facilitate the realization of coaxial alignment of A2. Similarly, this arrangement allows for Id 104 can rotate relative to the impactor assembly 102 about the axes A1, A2. This is also possible.

[0055] As described above, the surgical robot 32 is configured to position the end effector 40 relative to the surgical site S and maintain the trajectory T, which in the exemplary embodiment is substantially straight and aligned with the axes A1, A2, corresponding to which the tool 42 (e.g., the impactor assembly 102) can be positioned along the trajectory T. Here, the external embedding force F applied to the head 106 of the impactor assembly 102 is transmitted to the prosthesis P through the impactor assembly 102, whereby the prosthesis P advances along the trajectory T towards the surgical site S. The process of inserting the prosthesis P will be described in more detail below in connection with FIGS. 9A - 9I. Maintaining the trajectory T may include the surgical robot 32 restricting all or certain types of movement of the guide 104 relative to the surgical site S, and / or, in some embodiments, may include restricting or directing the movement of the guide 104 to translation along the trajectory T relative to the surgical site S. It should be understood that the surgeon can translate the guide 104 along the trajectory T by the surgical robot 32, which can, among other things, facilitate passing the shaft 86 of the impactor assembly 102 through the opening 96 of the guide 104, as described above (see FIGS. 8A - 8C). It should be understood that the specific steps of the surgical procedure can include controlling the surgical robot 32 in various ways. 、軸線A1、A2と位置合わせされて、それに対応してツール42(例えばインパクタア センブリ102)が軌道Tに沿って位置決めされることを可能にする。ここで、インパク タアセンブリ102のヘッド106に加えられた外部嵌込力Fは、インパクタアセンブリ 102を介してプロテーゼPに伝わり、これにより、プロテーゼPが軌道Tに沿って手術 部位Sに向かって前進する。プロテーゼPを嵌入するプロセスを図9A~9Iに関連して [[ID=二十]] 以下でより詳細に述べるが、軌道Tを維持することは、特定の条件で手術部位Sに対する ガイド104のすべてまたは特定のタイプの動きを手術ロボット32が制約することを含 むことがあり、および / または、いくつかの実施形態では、ガイド104の動きを手術部 位Sに対する軌道Tに沿った並進に制限するまたは方向付けることを含むことがあること を理解されたい。手術ロボット32により、外科医は、軌道Tに沿ってガイド104を並 進させて、とりわけ、上述したように、インパクタアセンブリ102のシャフト86をガ イド104の開口部96に通すのを容易にすることが可能になり得る(図8A~8C参照 )。手術処置の特定のステップは、様々な方法で手術ロボット32を制御することを含む ことができることを理解されたい。

[0056] Depending on the type of surgical procedure being performed and the specific configuration of the surgical robot 32, the robot The movement of the end effector 40 via arm 36 is performed via admittance control. This allows surgeons to touch various parts of the robotic arm 36, or other shapes. It is involved in moving those parts in a specific direction under specific operating conditions. In other words, When using mittance control, the surgical robot 32 (for example, via a force-torque sensor) The external force (determined by) is used as the input to control the robot arm 36. It may be configured to release. Therefore, the head of the impactor assembly 102 When the fitting force F is appropriately applied to 106, the guide does not transmit a large force to the guide 104. It should be understood that axial motion occurs in the impactor assembly 102 relative to 104. Normally, such a force would guide the surgical robot 32 off trajectory T. Move the do 104, or move the engagement surface 98 to disengage it from contact with the impactor engagement surface 88. It can happen.

[0057] During the process of applying an external insertion force F to the head 106 of the impactor assembly 102, the path To prevent the guide 104 from moving unintentionally along T, the end effector 40 is provided as an example. The implementation method generally involves the rotation of the impactor assembly 102 relative to the guide 104, and / Or it is configured to allow rotation in the opposite direction. This relative rotation is the impactor engagement surface. The bearing-type contact (e.g., sliding contact) that occurs between 88 and the guide engagement surface 98 And it will be realized.

[0058] In the first embodiment shown in Figures 3-8C, the flange 112 has an impactor engagement surface 88 The channel 94 has a roughly spherical profile that defines the guide engagement surface 9 as described above. It has a substantially cylindrical profile defining 8. This arrangement allows flange 112 during insertion. This allows it to rotate within the channel 94, which in turn allows the implantation force to the surgical robot 32 to This helps prevent transmission. Also, this arrangement allows the flange 112 to align with the channel 94. This makes translation possible, and the axis relative to the trajectory T maintained by the surgical robot 32. Without compromising the coaxial alignment of lines A1 and A2, the prosthesis P can be implanted at the surgical site S. To make it easier. In other words, this configuration makes the head 10 of the impactor assembly 102 easier. The fitting force F applied to 6 does not restrict the rotation of the impactor assembly 102 ( Such constraints would normally convert lateral forces into the movement of the guide 104 along the trajectory T. (This may cause movement of the guide 104), flange 11 along channel 94 It is converted into axial motion of 2, and at the same time, the impactor axis A1 and the guide axis A2, It is possible to maintain coaxial alignment with the trajectory T maintained by the surgical robot 32. It is. Furthermore, as can be understood from the subsequent explanation in Figures 9J to 9N below, this configuration is hand The surgical robot 32 aligns axes A1 and A2 coaxially with each other, and the prosthesis to be implanted When aligning the flange 112 with the track T defined by the predetermined position of P, This also allows for a pivot to occur between the channel 94 and the other channel, which would normally be the first to move. Situations where it may be difficult to align axis A2 coaxially with orbital T, and / or The robot arm 36 is articulated in a specific direction before insertion, or the guide axis A2 is It is advantageous in situations where it is necessary to position the object in a specific manner that requires it to be moved and removed from orbit T. could be.

[0059] As described above, the guide engagement surface 98 of the guide 104 and the impactor assembly 102 of the impactor engagement surface 88 are shaped to enable relative rotation therebetween by supporting each other such that the impactor assembly 102 can rotate relative to the guide 104. However, it is also conceivable that the guide engagement surface 98 and the impactor engagement surface 88 do not necessarily support each other to facilitate rotation, and that the rotation of the impactor assembly 102 described above can be achieved. As a non-limiting example, in some embodiments the contact between the impactor engagement surface 88 and the guide engagement surface 98 may be static and may be achieved by a spline, key, or other configuration that prevents rotation, and the impactor assembly 1 02 may include a bearing or spherical joint (not shown) disposed between the shaft 86 and the impactor engagement surface 88 to facilitate rotation of the shaft 86 relative to the impactor engagement surface 88 about the impactor axis A1. Other configurations are contemplated. As described above, when an insertion force F is applied to the head 106 of the impactor assembly 102, the prosthesis P and the impactor assembly 102 necessarily translate along the trajectory T. Accordingly, it should be understood that the guide 104 and the impactor assembly 102 are configured to ensure that the contact between the impactor engagement surface 88 and the guide engagement surface 98 is maintained when the flange 112 moves within the channel 94 (e.g., when the surgeon continuously taps the head 106 with a mallet). For this purpose, in the embodiment of the guide 104 shown in FIGS. 3-8C, the channel 94 of the guide 104 has a first axially channel end 94A and a second

[0060] [[ID=2..5]]As described above, when an insertion force F is applied to the head 106 of the impactor assembly 102, the prosthesis P and the impactor assembly 102 necessarily translate along the trajectory T. Accordingly, it should be understood that the guide 104 and the impactor assembly 102 are configured to ensure that the contact between the impactor engagement surface 88 and the guide engagement surface 98 is maintained when the flange 112 moves within the channel 94 (e.g., when the surgeon continuously taps the head 106 with a mallet). For this purpose, in the embodiment of the guide 104 shown in FIGS. 3-8C, the channel 94 of the guide 104 has a first axially channel end 94A and a second axial channel end 94B, and is configured such that the first axial channel end 94A and the second axial channel end 94B are spaced apart along the axis of the channel 94 and are sized to receive the flange 112 of the impactor assembly 102 such that the flange 112 can move between the first axial channel end 94A and the second axial channel end 94B within the channel 94. In this way, when the insertion force F is applied to the head 106 of the impactor assembly 102, the prosthesis P and the impactor assembly 102 translate along the trajectory T, and the contact between the impactor engagement surface 88 and the guide engagement surface 98 is maintained. ​​​​​​​​​Extending between the axial channel end 94B and the axial channel ends 94A and 94B, They are spaced apart from each other along axis A2 with a channel depth of 148. The channel depth of 148 is... In this embodiment, the axial boundary between the taper 116 and the grip 110 of the handle 108 The flange thickness of flange 112 is greater than 150 (see Figure 5A). Flange 11 As described above, part 2 has a roughly spherical profile, so the guide engagement surface 98 is in contact with the impactor. When it comes into contact with the mating surface 88, only a portion of the flange 112 that defines the impactor engagement surface 88 It actually engages with the cylindrical channel 94. Therefore, the channel depth 148 is flange 1 12 can be easily positioned within the channel 94 and will come into contact with the channel 94 during insertion. It was understood that being large enough to guarantee that it could be kept was advantageous. However, as will be described in more detail below, the guide engagement surface 98 and the impactor engagement surface 88 Maintaining contact with the surgical robot 32 during implantation is directed towards the surgical site S along trajectory T. This can also be achieved in other ways, such as by advancing guide 104. Other configurations are also planned. It is illustrated.

[0061] In some embodiments, the end effector 40 is generally shown as reference number 152. The sensor 152 further comprises a sensor (or "sensor subassembly"), and the guide 10 It is coupled to 4 and detects the engagement of the impactor assembly 102 with respect to channel 94. This configuration is achieved by using the sensor 152 to connect the first axial channel end 94A and the Flange 112 of impactor assembly 102 between 2 axial channel ends 94B The relative axial position can be detected, and channel 94 is detected by sensor 152. Based on the need to accommodate changes in the axial position of the flange 112 along the surgical site S, This facilitates the "tracking" motion of the prosthesis P along the orbit T during implantation.

[0062] As can be understood from the following description, sensor 152 inputs input within channel 94 It can also be used to detect the presence (or absence) of the dent assembly 102. This can be used to change how the surgical robot 32 is controlled under specific conditions. As a non-limiting example, any part of the impactor assembly 102 is a guide 104 When sensor 152 detects that it is not located within channel 94, the surgical robot 32 can be controlled in a specific way, but shaft 86 channels through opening 96 When sensor 152 detects that it is being guided into lu 94, it is controlled in a different manner. This is possible, especially when axes A1 and A2 are coaxially aligned with each other and with trajectory T. This helps to facilitate proper joint movement of the robot arm 36. Furthermore, for example, in the axial direction By knowing the relative position of flange 112 between channel ends 94A and 94B, surgery The robot 32 interacts with the impactor engagement surface 88 and the guide engagement surface 98 during the movement of the guide 104. This ensures consistent engagement, which imparts force around the surgical site S. The spur assembly 102 is pivoted so that axes A1 and A2 are directed toward track T and / or When it is moved away from track T, the lateral direction of flange 112 relative to track T This results in translation. Furthermore, in relation to the embodiments shown in Figures 16A to 28B, more details are provided below. As will be described in detail, the sensor 152 is used to (for example, to apply the fitting force F to the head 106) By sensing the movement of the rear flange 112, the guide 10 along the track T during insertion This can also facilitate the advancement of 4. Other configurations are also being considered.

[0063] In the embodiment shown in Figure 7, the sensor 152 is arranged to communicate with the trigger 154, Rigger 154 has a pin 156 coupled to the body 92 of guide 104 adjacent to channel 94. It is rotatably supported by. More specifically, the trigger 154 is adjacent to channel 94. The trigger 154 is located within the trigger aperture 158, which is positioned as such, and the trigger 154 is located within the flange 112 It has a tapered profile shaped to contact the spring. The trigger 154 is a spring The channel 94 is biased at least partially by other biasing elements (not shown here). This can occur, and as will be described in more detail below, different impactor assemblies 102 It contacts the part and detects the relative motion and / or positioning of the impactor assembly 102. It is possible to know.

[0064] In some embodiments, the shaft 86 is guided by the guide 104, as shown in Figures 8A-8B. When passing through the opening 96, the trigger 154 can make contact with the shaft 86, The switch 152 indicates that the shaft 86 is positioned within the channel 94. It works like this. Then, using the detection of the presence of shaft 86 in channel 94, This makes it possible to easily control the surgical robot 32 in a specific way or in a specific mode, and external The physician then moves the guide 104 along the trajectory T to guide the flange 112 into the channel 94. To enable it to move forward. As an addition or alternative, sensor 152 guides It may be configured to detect the relative position of the trigger 154 with respect to the main body 92 of 104. The trigger 154 is located at the first and second axial channel ends 94A, 9 When moving between 4B, in response to contact between the flange 112 of the impactor assembly 102 It moves. In other words, the trigger 154 and / or sensor 152, in certain embodiments, It can be configured to act as a "contact switch" and / or a "displacement sensor". can.

[0065] Therefore, the sensor 152 and / or trigger 154 deviate from the scope of this disclosure. Please understand that there are several different configurations, types, and arrangements that are acceptable. As a typical example, as schematically shown in Figure 5A, sensor 152 is used for simultaneous movement. The emitter 160 is coupled to the rig 154, and the emitter is coupled to the main body 92 of the guide 104. It can also include a detector 162 configured to respond to changes in the position of the 160. Alternatively, the sensor 152 is inserted between the trigger 154 and pin 156 (not shown). It can be equipped with a rotary potentiometer. Furthermore, it can be combined with the impactor assembly 102. Rather than relying on the movement of trigger 154 in response to physical contact, sensor 152 instead It can be configured as a Hall effect sensor, proximity sensor, optical sensor, etc., and physically Any suitable position of the impactor assembly 102 relative to the guide 104 without requiring contact It senses the proximity and / or relative position of parts. Other configurations are possible, including additional sensor placement. This will be discussed in more detail below in relation to Figures 16A to 28B.

[0066] Referring to Figures 9A to 9I, the illustrated end effector 40 is used to protect The specific steps for implanting the -se P into the surgical site S are shown sequentially. The end effector 40's mount 90 and guide 104 are positioned so that the guide axis A2 is on the trajectory T. In an aligned state, it is positioned adjacent to the surgical site S. In this exemplary embodiment, As mentioned above, trajectory T is the intended position of the prosthesis P after it has been fitted into the acetabulum (Figure Based on the expected location (indicated by the dashed line in 9A), the surgical site S is defined. In addition, both the orbit T and the intended position of the prosthesis P are tracked by trackers, sensors, cameras, etc. Various combinations are used to monitor, know, or determine the surface robot 32. To make it easier to understand, in Figure 9A, the guide 104 is positioned first. Guide axis A2 is aligned coaxially with orbital T, and orbital T is positioned at the desired location of prosthesis P. Therefore, it is defined. However, the above scenario is illustrative, and the orbit T is several. Please understand that it can be defined, determined, or set in different ways. As can be understood from the subsequent explanation in Figures 9J-9N below, Guide 104 is initially The guide axis A2 can be positioned so that it is not necessarily coaxial with the trajectory T.

[0067] Generally, as shown in Figures 9A-9N, the surgical area includes muscles, cartilage, and parts of the pelvic bone. The part of the patient's body B adjacent to site S is where the surgeon inserts the prosthesis P into the surgical site S before implantation. To position the device, it may be necessary to restrict direct access to the surgical site S along the trajectory T. Here, the surgical system 30 and end effector 40 of this disclosure approach the surgical site S. To facilitate the surgery, a large incision or excessive incision at the surgical site S that would normally be required Without requiring bone / tissue removal, the surgeon brings the prosthesis P close to the surgical site S and initially positions it. To enable placement and determination. Furthermore, the surgical system 30 and end-effect of this disclosure The 40 also allows the surgeon to set the trajectory T and bring the prosthesis P closer to the surgical site S. This makes it possible to move the guide 104 and / or the robot arm 36 off the trajectory T. Further procedures are not necessarily required. Furthermore, this allows the surgeon to manipulate the patient's body B. This minimizes the need for prosthesis P to approach the surgical site S, making it easier to access the prosthesis P. Furthermore, as can be understood from the following description, the surgical system 30 and end effector 40 uses the impactor assembly 102 to manually push without connecting to the guide 104. In a specific scenario where the resectant P can be positioned to approach the surgical site S, This offers significant advantages in terms of positioning the prosthesis P and accessing the surgical site S. After the thesis P is first positioned at the surgical site S, the shaft 86 is inserted into the opening of the guide 104. To move it within 96, the impactor assembly 102 is pivoted around the surgical site S. Alternatively, the orientation can be determined relative to the surgical site S. This allows the impactor assembly to be positioned correctly. It is necessary to disassemble part of the bridge 102 and / or guide 104, and then reassemble them before insertion. Without needing to do so, it is possible to quickly and efficiently align axes A1 and A2 with respect to trajectory T. It becomes Noh.

[0068] Continuing to refer to Figure 9A, as mentioned above, in this exemplary example, the end effect Guide 104 of TA40 is first positioned along the trajectory T, and guide axis A2 of the acetabulum The desired position of the implanted prosthesis P is determined by reaming, etc. The orbital T is coaxial with the trajectory. Here, the impactor assembly 102 and the prosthesis P are It is positioned adjacent to the surgical site S, but is not yet positioned at the surgical site S. Since the trajectory T is known, in some embodiments the surgical robot 32 allows the surgeon to The prosthesis P attached to the impactor assembly 102 is manually brought closer to the surgical site. When performing this procedure, the position and orientation of the guide 104 along the trajectory T relative to the surgical site S are maintained. This is possible (see Figure 9B; compare with Figure 9A).

[0069] As shown in Figure 9C, the prosthesis P and impactor assembly 102 are located in orbital T It can be manually guided to the surgical site S without requiring the movement of the guide 104 which will detach from it. (Compare Figure 9C with Figure 9B). However, as mentioned above, and in relation to Figures 9J to 9N, As described in more detail, the surgical robot 32 moves along a trajectory T during a specific step of the surgical procedure. It may be configured to allow the movement of the guide 104 to detach. Similarly, several In that embodiment, the surgical robot 32 performs the "rotational" motion of the guide 104 around the trajectory T. This enables specific joint movements of the robot arm 36 (for example, in "zero space") It may be configured in such a way (see, for example, Figures 25A-25D). Then, after the surgeon manually brings the prosthesis P close to the surgical site S, the impactor assembly 1 The shaft 86 of the impactor assembly 102 is pivoted around the surgical site S. It can be passed through the opening 96 of guide 104 (see Figure 9D; compare with Figure 9C; see Figures 8A~). (See also 8B).

[0070] The surgeon inserts the shaft of the impactor assembly 102 through the opening 96 of the guide 104. When 86 is moved and the shaft 86 is generally positioned within the channel 94 (see Figure 9E), the outside The physician moves the guide 104 away from the surgical site S and the flank of the impactor assembly 102. It can be moved toward J112. As described above, the surgical robot 32 is To facilitate force control under certain conditions, the surgeon touched or directional Configure to allow restricted movement of guide 104 in response to the applied force. This is possible. As shown in Figure 9E, the surgeon grasps the main body 92 of the guide 104. Alternatively, press the main body 92 and move it along the trajectory T toward the surgical site S (for example, the surgical site S or The guide 104 can be moved away from it. Here, the configuration of the surgical robot 32 Depending on the surgical procedure to be performed and / or the surgeon's preference, the surgical robot 32 may be special For example, the shaft 86 of the impactor assembly 102 will not open until certain conditions are met. Sensor 1 indicates that it has passed through section 96 and / or is properly positioned within channel 94. Until 52 detects it, guide 104 may not be allowed to translate along trajectory T. Sensor 152, as described above and in more detail below, has several Although this detection can be performed in different ways, in the embodiment shown in Figure 9E, impact The shaft 86 of the assembly 102 is shown in physical contact with the trigger 154. The detection that shaft 86 has been moved within channel 94 is indicated via sensor 152.

[0071] The surgical robot 32 is positioned as shown in Figures 9A-9D and described in relation to those figures, It is configured to prevent all or specific types of movement of the guide 104 relative to the surgical site S. Furthermore, the shaft 86 of the impactor assembly 102 is guided by the guide 104 When the sensor 152 detects that the opening 96 has been passed, it moves away from the surgical site S. Alternatively, in some embodiments, the device moves away from and / or toward the surgical site S. (u) It is possible to further configure the guide 104 to later allow for translation along the trajectory T. It is also possible that this is the case. However, as shown in Figures 9A to 9D, and as described in relation to those figures, At this position, the surgical robot 32 follows a trajectory T in one or both directions relative to the surgical site S. It is important to understand that translation can also be allowed. For example, sensor 15 2 is employed to track the position of flange 112 along channel 94, and shaft 8 It is not necessarily used to detect the presence and / or proximity of 6. Nevertheless, the presence and / or proximity of shaft 86 to channel 94 is detected. When sensor 152 is used for this purpose, the surgical robot 32 will perform several different actions. The movement of guide 104 can be configured to allow and / or restrict it. For example. The sensor 152 detects that the shaft 86 has passed through the opening 96 and entered the channel 94. If it is determined, the surgical robot 32 will then move in a direction other than the direction along the trajectory T, for example, in surgery This allows for the movement of the guide 104 in other directions, which facilitates movement away from part S. It is possible. Other configurations are also being considered.

[0072] As described above, Figure 9E shows the surgeon grasping the main body 92 of the guide 104, or the main body Apply force to 92 and move guide 104 away from the surgical site S along trajectory T. This is shown. In Figure 9F, the guide 104 moves away from the surgical site S along the trajectory T. The first axial channel end 94A of the channel 94 of the guide 104 is impacted It is indicated to be in contact with the taper 116 of the truss assembly 102, as described above. The taper 116 extends along the impactor axis A1 between the shaft 86 and the flange 112. The building has a roughly frustoconical profile, and this shape and arrangement are tapered 116 and channel 9 In response to contact occurring between the first axial channel end 94A of 4, the flange 112 This helps to direct it towards channel 94. Therefore, guide axis A2 is shown in Figures 9A-9I. In this exemplary scenario, the guide 104 is aligned coaxially with orbit T, so the surgeon can use When directed toward the taper 116, the contact that occurs between the taper 116 and the channel 94 also imparts impact. This helps to align the sculptor axis A1 coaxially with the guide axis A2 and the trajectory T.

[0073] The surgeon controls the movement of the guide 104 along a trajectory T away from the surgical site S under certain conditions. Because it can be controlled, the impactor axis A1 can be efficiently positioned coaxially with the guide axis A2 under controlled conditions. It can be aligned, and the impactor engagement surface 88 guides the engagement surface 98 and also the arc-shaped surface. By bringing it into contact with surface 140, the coaxial alignment of axes A1 and A2 is maintained. After alignment is achieved, the surgeon moves the guide 104 along the trajectory T away from the surgical site S. Move it further away, as shown in Figure 9G, the impactor assembly 102 The lunge 112 can be brought into contact with the trigger 154. Here, the end effector 40 , the surgical robot 32, the surgical procedure to be performed, and / or the specific configuration of the surgeon's preference Accordingly, the sensor 152 detects a specific amount of contact occurring between the flange 112 and the trigger 154. This can be interpreted as reducing the movement of the guide 104 along trajectory T. To speed, limit, or restrict the flange 112 axially along the channel 94 before it is fitted. Ensures proper positioning.

[0074] In Figure 9H, the flange 112 extends the trigger 154 from the channel 94 to the trigger aperture. It is indicated that the trigger 154 should be in contact with the trigger 158 so that it is completely deflected to 158. For position, the sensor 152 is used to, for example, measure the movement after the guide 104 along the trajectory T. It can be limited; in order to start tracking the depth of flange 112 along channel 94 and / or different forces applied in admittance control to increase the sensitivity of tracking The operation of the surgical robot 32 can be changed by responding; flange 112 Regarding the position, provide the surgeon with feedback indicating that implantation can be performed safely. It can be provided. Next, as schematically shown in Figure 9I, the external fitting force F is inserted. In addition to the head 106 of the impactor assembly 102, the prosthesis P is aligned with the impactor axis A1. This allows it to advance to the surgical site S. As can be understood from the description, between the first and second axial channel ends 94A, 94B The relative position of flange 112 is arranged in a different manner than that shown in Figures 9H to 9I. There is a mechanism to "center" the flange 112 within the channel 94, and the prosthesis P follows the trajectory. When advanced along T toward the surgical site S, the impactor engagement surface 88 and guide engagement surface 9 Ensure that engagement with 8 is securely maintained. In other words, Figures 9H~9I (and also Figure The position of the flange 112 along the channel 94 shown in 9N) is illustrative, and the fitting force F Ideal flange 112 between the first and second axial channels 94A and 94B immediately before application It does not necessarily correspond to a relative position.

[0075] The exemplary example shown in Figures 9A-9I is that the guide axis A2 is initially positioned coaxially with the trajectory T. This represents the constrained movement of the guide 104 along trajectory T when the surgical robot 3 is moved. 2 is a different orientation from when the guide axis A2 is initially aligned coaxially with the orbital T, and It is configured to address the positioning and movement of the guide 104 in other forms, including direction. It is important to understand that this is also possible. This can be understood from the subsequent explanations in Figures 9J to 9N below. This is because, in certain situations, the impactor assembly 102 through the opening 96 This could help facilitate the positioning and movement of the Futo 86.

[0076] In Figure 9J, the prosthesis P is attached to the impactor assembly 102, and the hand It is manually positioned at the surgical site S. Here too, the surgical site S is the trajectory T for implantation. The defined trajectory T is known by the surgical robot 32 as described above. In one embodiment, the robot arm 36 guides the guide 104 to the impactor assembly 102. It is moving toward shaft 86, but guide axis A2 is aligned coaxially with trajectory T. (Compare the relative positions of guide 104 in Figure 9J and Figure 9C).

[0077] In Figure 9K, the impactor assembly 102 is "pivoting" around the surgical site S. The shaft 86 is moved through the opening 96 into the channel 94 (compare Figure 9K with Figure 9J). Here, the impactor axis A1 is shown as passing through channel 94, and the impact Both the truss axis A1 and the guide axis A2 remain out of coaxial alignment with the trajectory T. .

[0078] As described above, the surgical robot 32 applies the impactor assembly 1 to the guide 104. Using information from sensor 152 regarding the position of 02, the shaft 86 passes through the opening 96. After being placed within channel 94, the guide 104 is moved away from the surgical site S. It can be done. In Figure 9L, guide 104 is moved away from the surgical site S. The flange 112 of the impactor assembly 102 is guided to engage the impactor engagement surface 88. It is positioned within the channel 94 of the guide 104 so as to be in contact with surface 98. As mentioned above, the spherical profile of flange 112 and the cylindrical profile of channel 94 The rophile causes the flange 112 to translate along the channel 94, or the channel When rotating relative to the 94, pivot between the impactor assembly 102 and the guide 104. It is possible to perform actions.

[0079] The surgical robot 32 controls the orientation of the guide axis A2 and trajectory T, as well as the impactor assembly. Since we know the structural configuration of the ri102 and prosthesis P, the surgical robot 32 Using sensor 152, the presence and / or position of flange 112 in channel 94 is detected. Since it can detect the surgical site S and guide, the surgical robot 32 can detect the surgical site S and guide. The relative position and orientation of the do 104, and the relative position of the flange 112 along the channel 94. Based on the orientation, the orientation of the impactor axis A1 relative to the trajectory T and / or guide axis A2 is derived. It can be configured to output. As an alternative or addition, impactor assembly The guide 102 and / or guide 104 help to facilitate detection of the orientation of the impactor axis A1. To achieve this, one or more sensors, as well as the Guide Tracker 60G and / or It is thought that it may be equipped with an impactor tracker 60I (schematically shown in Figure 1). Here, the surgical robot 32 has an impactor axis A1, a guide axis A2, and a trajectory. Because it recognizes or can detect the relative orientation of T, the surgical robot 3 2 drives the robotic arm 36, or the surgeon moves the robotic arm 36 in joint motion. It can be configured so that the impactor axis A1 and guide axis A2 are tracked before insertion. Guide the joint to align with path T in the same axis. This type of joint movement is shown in Figures 9L to 9N. They are shown in order.

[0080] A second embodiment of the end effector is shown in Figures 10-15C. As will be understood below, this embodiment is a first implementation of the end effector 40 described above. They share similar forms, structures, components, and similar characteristics, advantages, and functional applications. Therefore, the structure and components of the first embodiment are the same as or correspond to the first embodiment. The structure and components of the second embodiment are shown in the drawings and the following description with an additional 200. The same reference number is given for the addition.

[0081] A second embodiment of the end effector 240 is shown in Figures 10-15C, and as described above. This is similar to the first embodiment of the end effector 40 shown in Figures 3-8C. Specific details of the second embodiment of the effector 240 and the first embodiment of the end effector 40 The differences will be described in detail below, but for clarity, consistency, and brevity, the same applies between embodiments. Most of the structure and components of the general framework will not be reintroduced or explained again below.

[0082] Therefore, unless otherwise specified below, the first implementation of the end effector 40 described above The description of the configuration is not limited to the second embodiment of the end effector 240 and is based on reference. It will be understood that it can be included. Furthermore, the end f shown in Figures 10-15C A diagram of the second embodiment of the Effector 240 is shown in Figures 3-8C, which show the end effector 40. Since it generally corresponds to the diagram of Embodiment 1, in Figures 10-15C, the end effector 240 With respect to the second embodiment, only the structures and components discussed herein are identified by reference numbers. Nevertheless, the description of the first embodiment of the end effector 40 corresponds to the description of the first embodiment. Using the reference numbers that appear in Figures 3-8C, the second embodiment of the end effector 240 This is shown in Figures 10-15C (however, they are not necessarily identified by reference numbers). i) To be able to easily identify and understand corresponding or other common structures and components can.

[0083] Referring to Figures 10-15C, the second embodiment of the end effector 240 is shown in various ways. As shown in the figure, in this second embodiment, the impactor assembly 302 is structurally equivalent to the first embodiment of the impactor assembly 102 described above. However, in this second embodiment, the impactor engagement surface 288 is related to the first embodiment. As described above, it is defined not by a part of the flange 312, but by a part of the shaft 286. Here again, the shaft 286 is aligned around the impactor axis A1. It has a substantially cylindrical profile. Therefore, in this embodiment, the impactor engagement surface 28 8 is realized in correspondence as part of the substantially cylindrical surface of shaft 286.

[0084] In a second embodiment of the end effector 240, the limiter 300 of the guide 304 is similar It is adopted to maintain contact between the guide engagement surface 298 and the impactor engagement surface 288, and axis A 1. Coaxial alignment of A2 with respect to each other and with the trajectory T maintained by the surgical robot 32. This helps to promote (see, for example, Figure 12B). However, in this embodiment, the impact Since the cleat engagement surface 288 is defined as part of the shaft 286, the limiter 300 Here, it is realized as a separate component formed separately from the main body 292 of the guide 304. Specifically, in this embodiment, the limiter 300 is generally referred to as reference number 364. The latch 364 has a first latch position 364A and a second latch position 36 The guide 304 is movable relative to the body 292 between 4B and the first latch position 36. In 4A, the limiter 300 is an impactor assembly that exits from the opening 296 of the main body 292. The movement of 302 is blocked, and the axis between the guide engagement surface 298 and the impactor engagement surface 288 is blocked. Maintain coaxial alignment of lines A1 and A2 (see Figure 15C). Second latch position 364B The limiter 300 then allows the movement of the impactor assembly 302 across the opening 296. Make it possible (see Figure 15B).

[0085] When viewed in order, Figures 15A to 15C show how the impactor assembly 302 is positioned. It pivots around the surgical site S, and the shaft 286 is directed toward the opening 296 and passed through the opening 296. This indicates whether it is possible to approach and contact the guide engagement surface 298 of the main body 292. Here, The movement of latch 364 between the first and second latch positions 364A and 364B is as follows: As will be described in detail, this is caused by the contact of the shaft 286 with the latch 364. The first latch position 364A is the movement of the impactor assembly 302 exiting the opening 296. The limiter 300 can define the axis in any suitable way sufficient to prevent it from being blocked. The coaxial alignment of A1, A2 and the guide engagement surface 298 that contacts the impactor engagement surface 288 Please understand that this will be maintained. Similarly, the second latch position 364B is the guide engagement surface Movement into channel 294 to move toward contact with 298, and guide engagement surface 2 Including the movement out of channel 294 to move away from contact with 98, opening 2 The limiter 300 is sufficient to allow the movement of the impactor assembly 302 across 96. It can be defined in any appropriate way.

[0086] As best shown in Figures 12A-14, in the exemplary embodiment, the book of Guide 304 Body 292 is similarly adapted for mounting to mount 290, and the opening 296 and guide The engagement surface 298 is defined. However, in this embodiment, the guide engagement surface 298 is substantially U-shaped. Having a profile (see Figure 12B), the main body 292 extends from the guide engagement surface 298 It comprises a pair of arms 366 that extend to the arm end 368. The arm end 368 is They are spaced apart from each other so as to define an opening 296 between them. Arms 366 are each The arm surface 370 extends between each arm end 368 and the guide engagement surface 298. Here, the arm surface 370 is arranged in a roughly V-shape, with an opening 296 and a guide It tapers towards the engagement surface 298, helping to coaxially align axes A1 and A2. The configuration also includes the fact that the guide axis A2 is coaxial with the trajectory T, which is initially maintained by the surgical robot 32. In a scenario where alignment is not performed, the impactor engagement surface 288 of the shaft 286 guide This helps to facilitate guidance so that it comes into contact with the engagement surface 298. And in this second embodiment of the end effector 240, the surgeon also uses shaft 286 and / or articulate the guide 304 to move the impactor engagement surface 288 to the guide engagement surface 298 It can be brought into contact with the surgical robot 32, and the contact is maintained by the limiter 300. Next, the guide 304 is articulated to align axes A1 and A2 coaxially with trajectory T. It is possible.

[0087] As best shown in Figure 13, the second embodiment of the end effector 240 Similarly, between the first and second axial channel ends 294A and 294B of the channel 294, It extends. However, in this embodiment, the channel 294 also extends to the second axial channel end. The part between 294 and the adjacent part of the main body 292 tapers away from the guide axis A2. (See also Figure 14). This arrangement also helps to coaxially align axes A1 and A2. Utilize a wide range of movement and orientation when moving shaft 286 and / or guide 304. This facilitates contact between the impactor engagement surface 288 and the guide engagement 298. However, please understand that other configurations are also being considered.

[0088] Continuing to refer to Figure 13, between the first and second latch positions 364A and 364B In the exemplary embodiment, an aperture 372 is formed to facilitate the movement of the latch 364. It extends through the latch 364 and is related to the movement relative to the body 292 by the fixing device 374. The latch 364 is rotatably supported. The fastener 374 has a boss formed on the body 292. It is fixed at 376. Therefore, the latch 364 is fixed in the first and second latch positions 364 It can pivot around the fixture 374 between A and 364B. In the exemplary embodiment, S376 is disposed within a pocket 378 formed in the main body 292. Furthermore, in this specification, a biasing element 380, which is implemented as a torsion spring, is housed, and the biasing element 38 0 is supported around boss 376 and between latch 364 and body 292 of guide 304 It is inserted and biases latch 364 toward the first latch position 364A. However, Chi 364, without departing from the scope of this disclosure, describes the first and in several different ways. The second latch is positioned to move relative to the main body 292 between the second latch positions 364A and 364B. Please understand what is possible.

[0089] Referring to Figures 12A to 15C, latch 364 is in the first latch position 364A. At some point, the guide 304 crosses at least part of the channel 294 of the main body 292. It is manufactured and positioned to prevent the movement of the impactor assembly 302 from exiting the opening 296. (See, for example, Figure 12B). In this configuration, the impactor engagement surface 288 is the guide engagement surface 298 With the limiter 300 in contact with the limiter, the coaxial alignment of axes A1 and A2 is maintained. Please understand that this will help ensure that.

[0090] In the exemplary embodiment, as best shown in Figure 12B, the latch 364 is generally The retaining surface is provided by reference number 382, ​​and the retaining surface is in the first latch position 364A. It is formed and positioned to engage with the shaft 286 of the impactor assembly 302. Therefore, the retaining surface 382 of the latch 364 contacts the shaft 286 and the limiter 3 A portion of 00 is formed, and the impactor engagement surface 288 is in contact with the guide engagement surface 298, with the shaft Maintain the coaxial alignment of lines A1 and A2. Here, the biasing element 380 is advantageous, The impactor engagement surface 288 also maintains contact with the engagement surface 298 with sufficient force to hold the surface It should be understood that it is configured to maintain contact between 382 and shaft 286. In one embodiment, the movement of the latch 364 out of the first latch position 364A is restricted. It is also conceivable that a locking mechanism (not shown) could be provided for this purpose. Other configurations are also conceivable. It is illustrated.

[0091] The latch 364 also has a cam portion generally indicated by reference number 384, and the cam portion The part 384 faces away from the guide engagement surface 298. The cam portion 384 is the first latch. This facilitates the movement of the latch 364 from position 364A to the second latch position 364B. The urchin is positioned so as to contact a part of the impactor assembly 302 (see Figure 15B). This allows the shaft 286 of the impactor assembly 302 to pass through the opening 2 of the guide 304. It passes through 96 and heads toward the guide engagement surface 298, and the impactor engagement surface 288 toward the guide engagement surface 2 It is possible to bring it into contact with 98. Furthermore, latch 364 is generally reference number 386. Further comprising the indicated release portion, the release portion 386 allows the impactor assembly to guide 304 To allow exit from the opening 296 of the main body 292, the latch 364 is moved to the first latch The surgeon or user operates to move from the latch position 364A to the second latch position 364B. It is configured to allow this. However, those skilled in the art can shape the latch 364 in several different forms. This can be achieved, and therefore between the first and second latch positions 364A and 364B. Having several different shapes, profiles, and / or configurations sufficient to move Let's understand what this is capable of.

[0092] A third embodiment of the end effector is generally shown in Figures 16A to 24D. As can be understood from the description below, this embodiment is the third of the end effector 40 described above. Similar structure and components as in Embodiment 1, as well as similar features, advantages, and functional applications. It shares the same or the same structure and components as those of the first embodiment. The structure and components of the corresponding third embodiment are as shown in the drawings and the following description, 40 The same reference number is given, incremented by 0. Furthermore, the third embodiment also includes the above-mentioned E The second embodiment of the end effector 240 has a similar structure and components, as well as similar features. We will share some features, advantages, and operational uses. Therefore, the structure of the second embodiment The structure and components of the third embodiment, which are the same as or correspond to the components, include: In the drawings and the following description, the same reference numbers are given, but increased by 200.

[0093] A third embodiment of the end effector 440 is shown in Figures 16A to 24D, and is described herein. This is similar to the other embodiments described and illustrated. The third embodiment of the end effector 440 is The specific differences from other embodiments will be described in detail below, but clarity, consistency, and brevity are important. Therefore, most of the structures and components common to the embodiments are reintroduced or again below. They will not be explained. Therefore, unless specifically indicated below, the descriptions of other embodiments described above are limited. Indefinitely, a third embodiment of the end effector 440 can be incorporated by reference. It will be understood that this is possible. Furthermore, various forms of the third embodiment of the end effector 440 It should be understood that this can also be applied to other embodiments of this disclosure.

[0094] Referring to Figures 16A to 16B, the third embodiment of the end effector 440 is shown below. The impactor assembly 502 is shown. Here again, the impactor assembly 502 is The head of the handle 508 is attached to the proximal end 480 so that it receives the fitting force F along the impactor axis A1. It uses part 506 and is equipped with flange 512, which connects shaft 486 and handle A roughly spherical shape is positioned between the grip 510 of the 508 and the impactor engagement surface 488. It has the following configuration. However, in this third embodiment, adjacent to the distal end 482 of the shaft 486 Interface 484, which is detachably attached to the prosthesis P it contacts, is generally a reference interface. The carrier shaft is defined by the number 588 (see Figure 16B). Shaft 588 is positioned around the impactor axis A1 relative to shaft 486 and handle 508. The impactor axis A1 is supported to rotate, and as will be described in more detail below, Supported for a limited amount of translation along the line. For this purpose, shaft 486 and hand A third embodiment of the $508 is generally hollow and comprises one or more cylindrical regions (in detail) It may include (not shown), for example, a carrier shaft 588 housed therein. To facilitate rotation and / or translation. The carrier shaft 588 is generally the proximal shaft Extending along the impactor axis A1 between the distal end 590 and the distal shaft end 592, and rotating To facilitate the distribution of force, one or more bearing areas 594 are provided between them. It will be established.

[0095] In this third embodiment, the interface 484 is the distal end 48 of the shaft 486 itself. In contrast to 2, a screw mechanism located at the distal shaft end 592 of the carrier shaft 588. This is achieved by the joint 524. In this embodiment, the distal end 482 of the shaft 486 is , shaped to engage with a corresponding notch portion 598 formed in the prosthesis P A key portion 596 having a roughly rectangular profile is provided (see Figure 16A; dashed lines indicate...) (As shown). This configuration protects the shaft 486 (and therefore the handle 508) This allows for the identification of prosthesis P, which aligns the prosthesis P with the surgical site S. This configuration may be advantageous for applications that have specific feature parts that need to be modified. Furthermore, this configuration also Using the rotation and translation of the carrier shaft 588 relative to the shaft 486, the shaft The screw engagement 524 is disengaged without rotating the T486 around the impactor shaft A1. In that respect, the prosthesis P and the impactor assembly 502 are detachable. This helps to facilitate installation. For this purpose, the handle 508 accommodates the knob 602. The head 506 and grip 5 were shaped to facilitate access to the knob 602. A cage 600 is also provided between 10 and the carrier shaft 58. The knob 602 is connected to the carrier shaft 58. It is operably mounted on the proximal shaft end 590 of 8. In an exemplary embodiment, the knob 60 2 is an axial knob aperture 604 formed along the impactor axis A1, and the impactor A transversely formed lateral to axis A1 and arranged in communication with the axial knob aperture 604 It is equipped with a directional knob aperture 606. The axial knob aperture 604 is a carrier shaft Shaped to receive the proximal shaft end 590 of T 588, with a lateral knob aperture 606 is shaped to accept lateral pin 608, and lateral pin 608 is a carrier It can also be received within the lateral shaft aperture 610 formed in the shaft 588. (See Figure 16B). In addition to ensuring the retention of the carrier shaft 588, this configuration provides, The knob 602 and the carrier shaft 588 rotate simultaneously around the impactor axis A1 and It also allows for translation. Here, the cage 600 of the handle 508 has a roughly U-shaped profile. It has a file that allows for limited translation of the knob 602 along the impactor axis A1. It will also be configured to provide surgeons with access to the Nobu 602.

[0096] Referring now to Figures 17-21, the guide for the third embodiment of the end effector 440. 504 is shown as a whole, and similarly includes body 492, body 492 is mounted 4 Operablely mounted to 90 (not shown in detail), the coupling portion 38 of the surgical robot 32 (See Figure 1) This facilitates detachable attachment. Here again, the main body 492 is generally It comprises a channel 494, an opening 496, a guide engagement surface 498, and a limiter 500. As best shown in Figure 18B, the body 492 of the guide 504 is in this embodiment So, we'll use pocket 578, and in particular, sensor subassembly 612, follower sub Assembly 614 and input module 616 are housed in each of which are described in more detail below. To state.

[0097] In this third embodiment, the sensor subassembly 612 is generally located in the sensor housing 6 The sensor housing 618 is equipped with 18, and supports multiple sensors 552 and a fixing device 574. It is fixed to the main body 492 of the guide 504 via this. More specifically, this is best shown in Figure 18B. As shown, the sensor subassembly 612 is connected to the first pushrod sensor 552 A comprises a second push rod sensor 552B and an input sensor 552I, and these Each sensor is connected to the robot control system 48 (for example, the robot controller 52), Alternatively, it communicates with other components of the surgical system 30 (for example, via wired or wireless telecommunications). It may be arranged in such a way. The input sensor 552I is engaged by the input module 616. It is arranged to be configured to communicate with input module 616, and the first And the second push rod sensors 552A, 552B are connected to the follower subassembly 61 It is positioned to engage with 4, or to communicate with the follower subassembly 614. It is installed in the following location. As can be understood from the following description, each of the sensor subassemblies 612 Sensor 552 may be of several different types, styles, configurations, etc., as specified herein. Other configurations not specifically shown herein are also intended by this invention.

[0098] As shown in Figure 18B, the input module 616 is for selective operation by the surgeon. It is configured to include an input frame 620 and an input button 622. The 620 is fixed to the main body 492 of the guide 504 via one or more fasteners 574. The input button 622 is supported by the surgeon. In response to an action (for example, by pressing input button 622), the input sensor 552I is connected It includes projections 624 arranged to meet. In some embodiments, input button 62 2 is elastically biased away from the input frame by a spring (not shown), etc. This can happen. However, other configurations are also considered. As will be described in more detail below, the input is The Joule 616 facilitates the operation of the surgical robot 32 in various ways during surgical procedures. It can be configured to do so.

[0099] The follower subassembly 614, like the sensor subassembly 612, is guide 50 It is configured to be housed in a pocket 578 formed in the main body 492 of 4, and fastener 57 It is fixed to the main body 492 by 4. In this third embodiment, pocket 578 is a It extends to communicate with Nell 494, facilitating the installation of the follower subassembly 614. The follower subassembly 614 connects to channel 494, as will be described in more detail below. It has a follower housing 626 seated in an adjacent pocket 578, and an opening 496 It is sized and shaped to allow passage. This configuration allows for the assembly of guide 504. This helps to simplify the process and ensures that the sensor subassembly 612 is properly positioned relative to channel 494. It is guaranteed that it will be determined (see Figure 18A). In this third embodiment, pocket 578 is Since it extends into the channel 494, the guide engagement surface 498 is connected to the main body 492 and the follower housing. It is defined by both the part of the 626 and the other part. In other words, in this embodiment, The impactor engagement surface 488 defined by the flange 512 of the impactor assembly 502 is It contacts both the main body 492 and the follower housing 626.

[0100] Referring now to Figures 18A-19B and 21, in addition to the follower housing 626, The follower subassembly 614 is generally the first and second triggers 628, 630, First and second trigger pins 632, 634, first and second push rods 636, 638, first and second springs 640, 642, first and second seats 644, 646 It also includes first and second keepers 648, 650, and a manifold body 652. Each of these components will be described in more detail below.

[0101] As will be discussed in relation to Figures 22A to 24D, the follower housing 626 is generally... For pivoting motion around the first and second trigger pins 632 and 634, respectively, the first and And supporting the second triggers 628, 630. For this purpose, the follower housing 626 is A flange surface 654 having a substantially flat profile for contact with the manifold body 652 and , complementary to channel 494, and in this embodiment forming part of guide engagement surface 498 The opposite engagement surface 656 has a curved profile (Figures 18A-18B and 2 (See reference 0). Fixing device 574 allows the manifold body 652 to operate on the follower housing 626. Attaches to the bay (attachment is not shown in detail). Roughly rectangular profile (details are not shown). The first and second trigger slots 658 and 660, each having a flange surface The engagement surface 656 extends longitudinally toward 654 and is defined by the first and second Shaped and positioned to accommodate triggers 628, 630. For this purpose, the first and Second pin holes 662, 664 are also defined in the follower housing 626, and the first and second Through trigger slots 658 and 660 respectively, and through follower housing 626 It extends laterally through the side. The first and second pin holes 662 and 664 are, respectively, the first and the first and second trigger pins 632 extending through the second triggers 628, 630, They are shaped and arranged to accommodate 634 units each.

[0102] Triggers 628 and 630 extend into channel 494 and respond to engagement with flange 512. In that it is configured to deflect toward the sensor, the end effector 40 Similar to the trigger 154 described above in relation to the first embodiment, but nevertheless, Due to specific differences in their configurations, they will be described separately in this specification. More specifically, The first and second triggers 628 and 630 are connected to the first and second trigger pins 632, respectively. , each trigger hole 666 and trigger slot shaped to accept 634 668 is defined, and the trigger hole 666 of the first trigger 628 is around the first trigger pin 632 The trigger hole 666 of the second trigger 630 is rotatably supported, and the second trigger pin 6 It is rotatably supported around 34. Furthermore, the second trigger pin 634 is connected to the first trigger The first trigger pin 632 extends through the trigger slot 668 of the 628 trigger, and the second trigger It extends through the 630 trigger slot 668.

[0103] The trigger slot 668 responds to engagement with the flange 512 of the impactor assembly 502. In response, the triggers 628 and 630 around each of the trigger pins 632 and 634 It is shaped and positioned to allow for this restricted movement. More specifically, the first The trigger 628 is defined by not engaging with the impactor assembly 502. The first extended position 628E (see Figures 22A-22B and 22G-22H), then retracted. The first position 628R (see Figures 22D-22E), and the extended first position 628E and the rear One or more intermediate first positions 628I between the retracted first position 628R and the first position 628R (Figure 22) It is positioned to move between C and 22F. Similarly, the second trigger 630 is delayed The second position extended is 630E (see Figures 22A-22C and 22H), and the second position retracted is 630E. 630R (see Figures 22E-22F), and the extended second position 630E and the retracted second One or more intermediate second positions 630I (Figure 22D and 2) between position 630R and position 630R. It is positioned to move between 2G (see reference).

[0104] The first and second triggers 628 and 630 also affect flange regions 672 and 630, respectively. It has an edge surface 670 that defines the push rod region 674. The flange region 672 is Generally, when triggers 628, 630 are in their extended positions 628E, 630E, the triggers are generally It is located within the channel 494 and contacts and engages with the flange 512 of the impactor assembly 502. or contact, and in response to that, pivot around each trigger pin 632, 634 Shaped and positioned to facilitate dynamic motion. Flange region 672 is also flange 5 The curved profile of channel 494 when fully pivoted via engagement with 12 Complementarily, it has curved and / or inclined profiles (see Figure 20). This can happen. The push rod areas 674 of the first and second triggers 628, 630 are The pivotal motion of the first and second triggers 628, 630 is driven by the first and second push rods 63 6, 638 to convert into axial motion, the first and second push rods 636, 6 It is shaped to contact each of the 38 stems 676. Here, in more detail below As stated, the first and second push rods 636 and 638 are, respectively, the first and Second triggers 628, 630 and first and second push rod sensors 552A, 552 Interposed between B in a force-convertible manner, the respective triggers 628, 630 are extended to their respective positions In response to movement away from positions 628E and 630E, sensors 552A and 552B are engaged, This is between the first and second axial channel ends 494A and 494B of channel 494. To enable detection of the relative axial position of lunge 512.

[0105] The stems 676 of the first and second push rods 636 and 638 are, respectively, the first and The follower housing 62 extends to communicate with the second trigger slots 658 and 660. Displaced within each stem hole 678 defined on the flange surface 654 of 6, the first This facilitates contact between the first trigger 628, 630 and the push rod area 674. And the second push rods 636 and 638 extend axially from the stem 676, respectively. Each also has a shank 680. First and second push rods 636, 638 The shank 680 is formed on the first and second sheets 644, 646 respectively Extending through the shank hole 682 are the first and second push rods 636, 63, respectively. Stem 676 of 8 and edges 684 of the first and second seats 644, 646 (see Figure 19B) ) supporting the first and second springs 640, 642 between (or at least their (Restricts movement). Parts of the first and second sheets 644, 646, and the first and The shanks 680 of the second push rods 636 and 638 are connected to the manifold body 6 It extends through sheet holes 686 defined longitudinally through 52. Here, the first and The second keepers 648 and 650 are connected to the first and second pushrod sensors 552, respectively. First and second push rods 636, 63 that engage or interact with A, 552B Each of the first and second push rods 6 adjacent to the push rod end 690 of 8 It is seated in the notch 688 formed in 36, 638. This configuration is first and second The shear rods 636 and 638 are held in place, and in some embodiments, the stem 676 and the edge 6 A preload is applied to the first and second springs 640 and 642 between 84, thereby the first The second push rods 636 and 638 are connected to the first and second triggers 628, respectively. Each is independently biased to engage with 630. Therefore, each extension position The first and second triggers 6 between the retracted positions 628E, 630E; 628R, 630R The pivoting motion of 28, 630 is the pushing of the first and second push rods 636, 638. This is converted into axial motion of the rod end 690, and this axial motion is transmitted to the push rod sensor 55 It can be sensed or detected by 2A and 552B.

[0106] Referring to Figures 22A-22H and 24A-24D, the end effector 440 A portion of the third embodiment of the prosthesis P and surgical site S is shown with a schematic outline. Some of the outlines are shown with imaginary lines and / or exaggerated geometric shapes for illustrative purposes. Figures 22A to 22H show, in particular, the sensors, as will be described in more detail below. To demonstrate the operation of assembly 612, guide 5 for impactor assembly 502 This shows various positions of 04. Here, the prosthesis P and surgical site S are shown for clarity. In addition, several including various types of workpieces 44 and / or targets 46 The embodiments of this disclosure can be used in relation to the different types of surgical procedures. This is generally expressed in order to respond to the previous statement.

[0107] As best shown in Figure 22A, the surgical site S is the target base along the trajectory T. The reference point TRP is defined, and the prosthesis P is attached to the impact point where the prosthesis P can be detachably attached. Define the workpiece reference point WRP along the impactor axis A1 of the 502 impactor assembly. Here too, the impactor assembly 502 is centered on the flange 512 (for example, the impactor The impactor is positioned at the geometric center of the spherical profile that defines the impactor engagement surface 488. The flange reference point FRP is defined along axis A1. Similarly, guide 504 is channel 4 Located at the center of 94 (for example, the first and second axial channel ends 494A, 49 Define the guide reference point GRP along the guide axis A2 (equally spaced apart between 4B).

[0108] In the exemplary example shown in Figure 22A, the prosthesis P has an impactor axis A1 aligned with orbital T. The workpiece is positioned to be inserted into the surgical site S while in the aligned position, and the workpiece base The reference point WRP is spaced apart from the target reference point TRP, and the prosthesis P is positioned in the desired location after implantation. This is defined by the workpiece reference point WRP coinciding with the target reference point TRP. Figures 22A-22B show that the workpiece reference point WRP is in a common coordinate system (for example). (In the localizer coordinate system LCLZ) the workpiece reference point WRP and the target reference point T The first workpiece-target distance 692A is expressed as the distance between coordinate points with RP. This indicates that it is separated from the target reference point TRP. Furthermore, Figures 22A to 22B show that The lunge reference point FRP is located within a common coordinate system (e.g., localizer coordinate system LCLZ) here. This is expressed as the distance between the coordinate points of the flange reference point FRP and the target reference point TRP. The first flange-target distance is 694A, and it is separated from the target reference point TRP. This is shown. Furthermore, Figure 22B shows that the guide reference point GRP is in a common coordinate system (for example). The relationship between the guide reference point GRP and the target reference point TRP within the localizer coordinate system (LCLZ) The first guide-target distance is 696A, expressed as the distance between coordinate points, and the target base This indicates that the points are spaced apart from the reference point TRP. In this specification, these are referred to as "points," but also as guides and f Lunge, target, and / or workpiece reference point GRP, FRP, TRP, WR One or more Ps (for example, to represent both position and orientation) in a coordinate system, for example, other It is also possible that it can be defined by its shape.

[0109] Although not shown in Figures 22A-22B, the guide tracker 60G shown in Figure 1, The Pacta Tracker 60I and the first patient tracker 60A use guide reference points GRP, and flat The reference point FRP and the target reference point TRP are localized to the localizer coordinate system LCLZ (and This shows one way of monitoring within (and / or one or more other common coordinate systems). Please understand that here, prosthesis P is the inter in impactor assembly 502. Since it is detachably fixed to face 484, the workpiece reference point WRP is the impactor Based on the known geometric relationship between assembly 502 and prosthesis P, the flange reference point FR It should be understood that this can be detected by transforming P. Therefore, In one embodiment, a navigation system 50 is used, and a tracker 60 is used. By doing so, the guide, flange, target, and in the localizer coordinate system LCLZ Workpiece reference points GRP, FRP, TRP, and WRP can be monitored. However, Various tracking techniques can be used, and for specific applications, the specific configuration of the surgical system 30 It may be unnecessary or difficult to implement the use of a specific tracker 60 along with the element. Please understand that this is a possibility.

[0110] As a non-limiting example, the guide reference point GRP is a known reference point between the guide 504 and the connecting portion 38. Considered in conjunction with their geometric relationships, robots (detected by sensors in the joints, for example) Based on the specific configuration and arrangement of the toe arm 36, etc., the guide tracker 60G is not used. It can be detected. As a further non-limiting example, the impactor tracker 60I By using this system, advantageously, the navigation system 50 can track the target reference point TRP. This will allow monitoring of the workpiece reference point WRP, (for example, related to Figures 22A-22H) A particular embodiment of the impactor assembly 502 (as shown) is an impactor track The KA60I is sometimes omitted. In such cases, as will be explained in more detail below, one Alternatively, multiple sensors 552 can be used to connect the impactor assembly 502 and the guide 504. By transforming the guide reference point GRP based on known geometric relationships, the flange reference Point FRP (and therefore workpiece reference point WRP) can be determined. As a result, This results in a predetermined interaction with one or more sensors 552, thereby one or Multiple sensors 552 are in a known manner relative to the guide 504 of the impactor assembly 502. It generates a signal indicating that it is being positioned, placed, or oriented.

[0111] Figures 22A to 24D determine the position of the impactor assembly 502 (or the position of the impactor assembly 502). To respond to changes, one or more sensors 552 coupled to the guide 504 are used. A third embodiment of the end effector 440, including whether it can be used as follows ( Various aspects of the present disclosure (and other embodiments thereof) are shown. The present disclosure relating to Figures 22A-24D. In the typical embodiment described below, the first and second push rod sensors 552A, 55 2B is implemented as a momentary switch, but as will be described in more detail below, other Type and configuration may also be used. Nevertheless, for the sake of clarity and consistency, Figure 22 The above explanation for A-24D is that the first push rod sensor 552A is disengaged. It is operable between sensor state S1A and the engaged first sensor state S1B. Based on this, the second push rod sensor 552B is disengaged from the second sensor Based on the fact that it is operable between state S2A and the engaged second sensor state S2B Yes, they are.

[0112] The engagement / disengagement of the first and second push rod sensors 552A and 552B are shown in Figure 2. Figures 2A to 22H will be described in detail below, but Figure 23 also shows other parts of the surgical system 30. The first and second pushrod sensors 552A and 552B may communicate with each other every minute. Therefore, the graphical representations of the generated signals SN1 and SN2 are shown in Figure 23. Vertical lines A, B, C, D, E, F, G, and H correspond to Figures 22A, 22B, and 22C, respectively. This corresponds to those shown in 22D, 22E, 22F, 22G, and 22H. In Figure 23, the dashed line shows the first sensor state S1A when disengaged and the first sensor state when engaged. This represents the first signal SN1 (represented here by a horizontal line) between the sensor state S1B and two points. The dashed line represents the second sensor state S2A when disengaged and the second sensor state S2B when engaged. This represents the second signal SN2 (also represented by a horizontal line) in between.

[0113] In Figure 22A, the guide 504 is shown horizontally separated from the impactor assembly 502. Figure 22B shows the shaft 486 of the impactor assembly 502 guided by the chuck of the 504. The guide 504 is shown being moved horizontally to the left to position it within the Nell 494. More specifically, in Figure 22B, the surgical robot 32 aligns the guide axis A2 with the trajectory T. To achieve this, the guide 504 is moved relative to the surgical site S. Although not yet, the surgical robot 32 maintains the alignment between the guide axis A2 and the trajectory T. Furthermore, the movement of the surgical site S is compensated by controlling or driving the robotic arm 36. I want you to understand that this is possible.

[0114] Figure 22B shows the gap between the prosthesis P and the flange 512 of the impactor assembly 502. The impactor assembly 50 is positioned within the channel 494 of the guide 504 which is directly installed. Shows shaft 486 of 2. As mentioned above, this arrangement is advantageous for the surgeon to guide 5 The impactor assembly 502 is articulated, manipulated, or removed independently from 04. This allows the surgeon to position themselves within channel 494, and guide 504 To move along the trajectory T away from the surgical site S towards the flange 512 (for example, perpendicularly) ) can be moved. Figure 22B (and Figure 22A) also shows each extension position 62 The first trigger 628 and the second trigger 630 are located at 8E and 630E, respectively. For the sake of accuracy and consistency, unless otherwise specified, the first pushrod sensor 552A is At the first extended position 628E, it is considered not to be engaged with the first trigger 628, and the first In either the retracted position 628R or one of the intermediate first positions 628I, the first trigger 628 engages. It is considered to be doing so. Similarly, unless otherwise specified, the second pushrod sensor 55 2B is considered not to be engaged with the second trigger 630 at the second extension position 630E. In either the second retracted position 630R or the intermediate second position 630I, the second trigger 630 It is considered to be engaged with. In other words, the extension positions 628E and 630E are impact Determined by not engaging with assembly 502, retracted position 628R, 630 R (and intermediate positions 628I, 630I) is the flange 5 of impactor assembly 502. It is defined by its engagement with 12. However, other configurations are also conceivable.

[0115] Figure 22C shows that the guide reference point GRP is positioned at a second guide-target distance of 696B. The flange 512 of the impactor assembly 502 is positioned within the channel 494 of the guide 504. Guide 504 is shown, which has been moved to be installed. In other words, in this arrangement, The kuta engagement surface 488 is in contact with the guide engagement surface 498 (the contact is not shown here), The guide reference point GRP is positioned vertically below the flange reference point FRP. Figure 22C shows Also, the impactor assembly 502 contacts the flange region 672 of the first trigger 628. The flange 512 is shown, and in response, the first extending around the first trigger pin 632 It pivots away from position 628E to one of the intermediate first positions 628I. The first push rod 636 is engaged toward the first push rod sensor 552A. It is moving forward in this way (compare Figure 22C with Figure 22B). However, the second guide in this way -When positioned at a target distance of 696B, the flange area 672 of the second trigger 630 It disengaged from contact with flange 512 and remained positioned in the extended second position 630E. Therefore, the second push rod 638 is connected to the second push rod sensor 552. B remains disengaged. Therefore, Figure 23 shows the first signal SN (at vertical line C). Move 1 from the first sensor state S1A, where it is disengaged, to the first sensor state S1B, where it is engaged. As shown, the second signal SN2 (at vertical line C) is shown in the disengaged second sensor state. This is shown assuming that the state remains in S2A.

[0116] Figure 22D shows that the guide reference point GRP is positioned at a third guide-target distance of 696C. The flange 512 of the impactor assembly 502 is inside the channel 494 of the guide 504. The guide 504 is shown, which has been moved to be positioned further. Here again, in Figure 22D, The guide reference point GRP is positioned vertically below the flange reference point FRP. Figure 22D is Furthermore, the impactor assembly 502 that contacts the flange region 672 of the first trigger 628 The flange 512 is shown, and in response, the first position retracts around the first trigger pin 632. It is further pivoted to position 628R. This is the first pushrod 636, and further the Push rod 1 is being advanced to engage with sensor 552A (see Figure 22D). (Compare with Figure 22C). Here, the engagement / disengagement of the push rods 636 and 638 is represented by In contrast to digital signals, other types of sensors 552 other than switches are used to detect push signals. It is possible to generate analog signals that represent the relative positions of rods 636 and 638. Please understand. Other configurations are also considered. Nevertheless, Figure 22D also shows the second tri Flange 512 of impactor assembly 502 abuts against flange area 672 of 630 In response, the second trigger pin 634 extends from the second position 630E. It moves away and pivots to one of the intermediate second positions 630I. This is the second pushro Move the rod 638 forward to engage with the second pushrod sensor 552B. (Compare Figure 22D with Figure 22C). Therefore, Figure 23 shows the first crane (at vertical line D). The number SN1 is shown as remaining in the engaged first sensor state S1B, (vertical line The second signal SN2 (at D) is transmitted from the disengaged second sensor state S2A to the engaged second The sensor status S2B indicates that movement occurred.

[0117] Figure 22E shows that the guide reference point GRP is positioned at the fourth guide-target distance of 696D. The flange 512 of the impactor assembly 502 is inside the channel 494 of the guide 504. The guide 504 is shown, which has been moved to be positioned further. More specifically, in Figure 22E The guide reference point GRP is positioned to coincide with the flange reference point FRP. Figure 22E is Also, the impactor assembly 502 contacts the flange region 672 of the first trigger 628. The flange 512 is shown, and in particular the geometry of the first trigger 628 and flange 512. Based on the situation, the arrangement remains generally the same as shown in Figure 22D. Therefore, the first The push rod 636 is similarly arranged to engage with the first push rod sensor 552A. It remains as is (comparison between Figure 22E and Figure 22D). Figure 22E also shows the second trigger 63 The flange 512 of the impactor assembly 502 is shown in contact with the flange region 672 of 0. In response, the second trigger pin 634 moves further around to the retracted second trigger position 630R. It is pivoting. This is the second pushrod 638, and further the second pushrod It is being advanced to engage with sensor 552B (compare Figure 22E with Figure 22D). Therefore, Figure 23 shows the first signal SN1 (at the vertical line E) being engaged with the first sensor. Assuming it remains in state S1B, the second signal SN2 (at the vertical line E) is engaged. This is shown assuming that the sensor remains in the second sensor state S2B.

[0118] Figure 22F shows that the guide reference point GRP is positioned at the fifth guide-target distance of 696E. The flange 512 of the impactor assembly 502 is inside the channel 494 of the guide 504. The guide 504 is shown, which has been moved to be positioned further. More specifically, in Figure 22F The guide reference point GRP is positioned vertically on the flange reference point FRP. Figure 22F Also, the impactor assembly 50 abuts against the flange region 672 of the first trigger 628. The flange 512 of the second flange is shown, and the first trigger pin 632 is retracted to the first position 62 It is pivoting away from 8R and beginning to return to one of the intermediate first positions 628I. Therefore The first push rod 636 is slightly retracted, but still the first push The rod sensor 552A remains engaged and installed (comparison between Figure 22F and Figure 22E). Figure 22F also shows the impactor assemblies contacting the flange region 672 of the second trigger 630. The flange 512 of the flange 502 is shown, and in particular the second trigger 630 and flange 5 Based on the 12 geometric shapes, the arrangement remains largely the same as shown in Figure 22E. Therefore, the second push rod 638 engages with the second push rod sensor 552B. They remain arranged in the same manner (comparison between Figure 22F and Figure 22E). Therefore, Figure 23 is The first signal SN1 (at the vertical line F) remains in the engaged first sensor state S1B. The second signal SN2 (at the vertical line F) is shown as the engaged second sensor state S. This is shown assuming it remains at level 2B.

[0119] Figure 22G shows that the guide reference point GRP is positioned at the sixth guide-target distance of 696F. The flange 512 of the impactor assembly 502 is inside the channel 494 of the guide 504. The guide 504 is shown, which has been moved to be positioned further. More specifically, in Figure 22G The guide reference point GRP is positioned vertically on the flange reference point FRP. Figure 22G Also, the flange 512 of the impactor assembly 502 is in contact with the first trigger 628. It indicates that it has come off and is fully extended to the first extension position 628E around the first trigger pin 632. It pivots and returns. Therefore, the first push rod 636 is also retracting, Here, it is installed disengaged from the first push rod sensor 552A (Figure 22G and Figure 22G). (Comparison with 22F). Figure 22G also shows the flange region 672 of the second trigger 630 in contact with the flange region 672. The flange 512 of the impactor assembly 502 is shown, around the second trigger pin 634. Then, moving away from the retracted second position 630R, it pivots to one of the intermediate second positions 630I. It is starting to move back. Therefore, the second pushrod 638 is slightly retracted, , it remains engaged with the second push rod sensor 552B (Figure (Comparison of 22G and Figure 22F). Therefore, Figure 23 shows the first signal SN (at vertical line G). Move 1 from the engaged first sensor state S1B to the disengaged first sensor state S1A. As shown, the second signal SN2 (at the vertical line G) is the engaged second sensor state S. This is shown assuming it remains at level 2B.

[0120] Figure 22H shows that the guide reference point GRP is positioned at the seventh guide-target distance of 696G. The flange 512 of the impactor assembly 502 does not come into contact with the guide 504. This shows guide 504, which has been moved to be positioned slightly within channel 494. In Figure 22H, the guide reference point GRP is positioned vertically above the flange reference point FRP. Figure 22H also shows that the flange 512 of the impactor assembly 502 is the first extension. This indicates that the first trigger 628 remains out of contact with the ejection position 628E. Also, the first push rod 636 is disengaged from the first push rod sensor 552A. It remains installed as is (comparison of Figure 22H and Figure 22G). Figure 22H also shows impact This indicates that the flange 512 of the trigger assembly 502 has disengaged from contact with the second trigger 630. It then fully pivots back to the second position 630E, which extends around the second trigger pin 634. Therefore, the second push rod 638 also retracts and returns, and here, The push rod sensor 552B is disengaged and installed (see Figures 22H and 22G). (Comparison). Therefore, Figure 23 shows the first signal SN1 (at vertical line H) disengaged. It is shown as remaining in sensor state S1A, and the second signal SN (on the vertical line H) Move 2 from the engaged second sensor state S2B to the disengaged second sensor state S2A. It is shown as such.

[0121] As described above, Figure 23 shows the first for each of the positions shown in Figures 22A to 22H. and the first generated by the second push rod sensors 552A and 552B respectively And the graph representation of the second signals SN1 and SN2 is shown. Signals SN1 and SN2 are shown here. As described above, the disengaged states S1A and S2A and the engaged states S1B and S2B It is shown as containing each "square wave" that represents the movement between them. However, the signal SN1, SN2, in particular, are sensor 552 and / or sensor subassembly 61 2. Guide 504 and / or various other components of impactor assembly 502 It should be understood that this can also be achieved in other ways based on a specific configuration. (Non-restrictive example) As mentioned above, the first and / or second push rod sensors 552A, 5 52B generates analog signals representing the relative positions of push rods 636 and 638. It is conceivable that it can be configured in this way. Other configurations are also being considered.

[0122] Continuing to refer to Figure 23, the water between vertical lines A, B, C, D, E, F, G, and H Please understand that the horizontal spacing is arbitrary. Nevertheless, each vertical line A, B, C, D The intersections of E, F, and G with the first signal SN1 and the second signal SN2 are shown in Figure 22A~ The first and second push rod sensors 552A, 5 are consistent with the above description of 22H. Corresponding to each state of 52B. In this typical embodiment of the end effector 440. The head 506 of the impactor assembly 502 fits into the channel 494 of the guide 504. It is too large to be used for that purpose, so the guide engagement surface 498 is brought into contact with the impactor engagement surface 488. Therefore, the surgeon needs to move the guide 504 away from the surgical site S. Other configurations (for example, using a head 506 that can be fitted into channel 494) are possible. (This is also intended, but is an example shown in relation to a third embodiment of the end effector 440.) The configuration is such that when the guide 504 is moved so as to gradually move away from the surgical site S, the first The contact between the trigger 628 and the flange 512 of the impactor assembly 502 triggers the second trigger Please understand that this occurs before 630 and flange 512 come into contact. (Compare Figures 22B to 22H in order). The surgical system 30 is particularly important for the guide axis A2 and trajectory T To maintain alignment, the placement of the guide 504 relative to the surgical site S is determined. Therefore, the position of the impactor assembly 502 relative to the guide 504 is as follows: As will be described in more detail, the known positions of guide 504 are indicated by the first and second signals SN1, SN This can be determined by comparing it with state 2.

[0123] As described above, in an exemplary embodiment of the impactor assembly 502, the head 506 guides Although it is configured so that it is not possible to enter channel 494 of D504, However, for example, if the flange 512 extends through the opening 496 to the channel 494 Handle 508 can be made to a narrower area (for example, the same size as shaft 486) In cases where separation is required, the impactor assembly 502 may be configured in other ways. It is intended that it can be done. In other words, flange 512 is shown in Figures 22A to 22H It is possible to enter channel 494 in a manner other than the one described below. As can be understood, in order to define the fitting area 698 shown in Figure 23, predetermined relative to each other Two sensors 552 arranged in a specific manner (e.g., first and second pushrod sensors) The use of 552A and 552B depends on which signal, SN1 or SN2, changes state first. Based on this, it is easy to determine how flange 512 fits into channel 494. It can be used for that purpose.

[0124] An exemplary embodiment of the third embodiment of the end effector 440 first involves the flange 512 Guide 504 must move away from the surgical site S in order to enter channel 494. Since it is configured so that this does not happen, both signals SN1 and SN2 are in their respective disengaged states. In S1A and S2A, the flange 512 is generally positioned on the guide 504. This means that the impactor engagement surface 488 and the guide engagement surface 498 are in sufficient contact. This indicates that the channel is not fully positioned within channel 494 to provide (for example) (See Figure 22C).

[0125] Furthermore, the first sensor state S1B is activated when the first signal SN1 is engaged, and the second signal S When N2 is in the second sensor state S2A with disengagement, flange 512 imparts With sufficient contact between the truss engagement surface 488 and the guide engagement surface 498, the channel 4 of the guide 504 It generally indicates that it is positioned within 94, and that the flange reference point FRP is in the vertical direction It is also generally indicated that it is positioned above the guide reference point GRP (see Figure 22D). The first signal SN1 is in the first sensor state S1A, where it is disengaged, and the second signal SN2 The second sensor state S2B in which the impactor engagement surface is engaged is when the flange 512 is engaged with the impactor engagement surface With sufficient contact between 488 and the guide engagement surface 498, the guide 504 is positioned within the channel 494. It is generally indicated that the position is fixed, and the flange reference point FRP is a guide base in the vertical direction. It is also generally shown that it is located below the reference point GRP (see Figure 22F). However, Specific configuration of prosthesis P, guide 504, and / or impactor assembly 502 Accordingly, before insertion begins, the flange 512 is further positioned within the channel 494. It may be advantageous to guarantee this. For this purpose, the first signal SN1 and the second signal When SN1 is in the respective engagement states S1B and S2B, flange 512 begins to fit. This generally indicates that it is positioned within channel 494 sufficiently to do so (see, for example, Figure 494). (See 22E). In some embodiments, both signals SN1 and SN2 are engaged in their respective engagements. The fact that the state S1B and S2B are in particular the impactor engagement surface 488 and the guide engagement surface 49 Contact occurs between 8 and the flange reference point FRP, and the flange reference point FRP is separated from the guide reference point GRP. The insertion range 698 can be defined based solely on a predetermined distance.

[0126] The position of guide 504 relative to the surgical site S is known and will be monitored or recorded over time. Therefore, one or more controllers (for example, robot controller 52 or Navigation controller 54, etc., or other components of the surgical system 30 are related The change between the disengaged states S1A, S2A and the engaged states S1B, S2B is indicated by signal SN1. It can be configured to monitor SN2, and if either signal SN1 or SN2 changes, At any given time, the position of guide 504 can be recorded. Here, guide 50 Based on the known geometric parameters of the various components of the impactor assembly 502 Subsequently, as shown in Figure 23, "steps" occur adjacent to vertical lines C, D, F, and G. The resulting state changes are specific to the guide reference point GRP relative to the flange reference point FRP. It can represent a position. Furthermore, it can represent a "step" that occurs adjacent to vertical lines D and F. The state changes shown in Figure 23 each represent the outer limit of the insertion range 698. The difference between them is due to the coincidence of the guide reference point GRP and the flange reference point FRP. This corresponds to (for example, as shown in Figure 22E).

[0127] Referring to Figure 24A, the guide reference point GRP coincides with the flange reference point FRP. The impactor and guide axes A1 and A2 are positioned and operated by the surgical robot 32, respectively. With the guide 504 aligned to the maintained orbit T, it is the same as in Figure 22E described above. It is positioned and shown as shown. Here too, prosthesis P is in impactor assembly 5 It is fixed to 02 and positioned at the surgical site S before implantation. More specifically, Figure 24A shows, First workpiece - separated from target reference point TRP at target distance 692A The workpiece reference point WRP is located at the first flange-to-target distance of 694A. Flange reference point FRP separated from reference point TRP, and fourth guide-target This shows the guide reference point GRP, which is separated from the target reference point TRP at a distance of 696D. Here, the flange 512 of the impactor assembly 502 is channel 4 of the guide 504. Aligned within 94 (in other words, guide reference point GRP and flange reference point FRP) (and so coincide), therefore the first flange-target distance 694A is the fourth guide-target The acquisition distance is equal to 696D. Although not described in detail, Figure 24A shows the pushrod sensor. Both 552A and 552B are engaged by their respective push rods 636 and 638. Please understand that this is presented as something that is already being considered.

[0128] Moving from Figure 24A to Figure 24B, guide 504 is not moving, but impactor assembly The ri 502 and prosthesis P respond to the insertion force F applied to the head 506, and the trajectory T It is being advanced towards the surgical site S along the workpiece reference point WRP and F Each lunge reference point FRP moves towards the target reference point TRP, The workpiece reference point WRP is the second workpiece-target from the target reference point TRP. They are separated by a distance of 692B, and the flange reference point FRP is the target reference point TRP. The second flange is separated from the target at a distance of 694B. Impactor assembly 5 The movement of 02 also results in a change in contact between the flange region 672 and the first trigger 628. The first trigger 628 is pivoted around the first trigger pin 632, and correspondingly The first push rod 636 is then disengaged from the first push rod sensor 552A. This is consistent with the discussion in Figure 23 above, representing the first signal state in which the first signal SN1 is disengaged. The goal is to achieve S1A. Here, the second signal SN2 is the engaged second signal state S2 Since it remains at B, the guide reference point GRP is positioned somewhere above the flange reference point FRP. The flange 512 remains in contact with the channel 494, but outside the engagement range 698. It is located there.

[0129] Referring to Figure 24C, the guide 504 is engaged when the first signal SN1 changes. The device then moves forward along trajectory T towards the surgical site S until it returns to the first signal state S1B. It is done. More specifically, in Figure 24C, the guide reference point GRP is, here, the fourth G The 8th guide, smaller than the target distance of 696D, is at a target distance of 696H. - It is separated from the reference point TRP. Both signals SN1 and SN2 are engaged with each other. Since the signal states S1B and S2B were met, flange 512 came into contact with channel 494. It remains as is and is also within the insertion range 698. Furthermore, the guide reference point GRP and target Both reference points (TRP) are controlled by the surgical system (for example, the robotic control system 48). and / or monitored by the navigation system 50, and the impactor assembly 502 and guide 504 are embedded based on the changes in signals SN1 and SN2 as described above. The configuration allows you to see the outer limit of range 698, so the position of the flange reference point FRP This can be determined relative to the guide reference point GRP.

[0130] With the above configuration, the second flange-target distance is 694B, and the second workpiece Please understand that a piece-to-target distance of 692B can also be easily detected. When replaced, the impactor assembly 502 and prosthesis P respond to the application of the insertion force F. After advancing along trajectory T towards the surgical site S (compare Figures 24A and 24B), D504 is then moved along trajectory T toward the surgical site S (Figures 24B-24C). (Comparing these), ultimately, one of the signals SN1 and SN2 changes, and the guide reference point GRP and the flush One of the known outer limits of the insertion range 698, corresponding to the known positional relationship with the FRP reference point. This indicates that it crossed the line. Therefore, this configuration allows for changes in the position of prosthesis P, for example. For example, the distance between the first workpiece and the target is 692A (see Figure 24A) and the second workpiece - Detection is based on the difference from the target distance of 692B (see Figures 24B-24D). You will be able to do that.

[0131] Referring to Figure 24D, the guide 504 moves along trajectory T toward the surgical site S. Then, move forward and realign the guide reference point GRP with the flange reference point FRP. Specifically, in Figure 24C, the guide reference point GRP is, here, the 8th guide-target The ninth flange is smaller than the to-target distance 696H and equal to the second flange-to-target distance 694B. The guide-target distance is 696I, and it is separated from the target reference point TRP. Here Then, flange 512 is centered again within channel 494 at the center of the engagement range 698. The surgeon then applies the insertion force F again, so that the workpiece reference point WRP moves to the target reference point TR. Guide the prosthesis P along the trajectory T toward the surgical site S until it aligns with P (not shown in detail). It should be understood that this can be advanced further. In some embodiments, surgical Stem 30, in particular, based on changes in signals SN1, SN2, and / or other factors Based on data from the type's sensor (e.g., force-torque sensor), the insertion force F is applied. It can be configured to sense. Here, the surgical robot 32 uses the guide reference point GR P is used to realign the flange reference point FRP and / or workpiece reference. To detect the change in position of point WRP, after detecting the application of the fitting force F, the movement along the trajectory T is performed. Guide 504 can be advanced.

[0132] As an example, a given surgical procedure can completely embed a prosthesis P into the surgical site S. Until it is inserted, the surgeon inserts the head 506 of the impactor assembly 502 into the mallet (not shown). If it is necessary to apply an insertion force F by striking the surgical system 30 multiple times in succession, The surgical robot 32 controls the guide 504 to advance along the trajectory T, and each successive blow After the shot, update based on the difference between the target reference point TRP and the workpiece reference point WRP. The "depth-target" distance (for example, the value displayed on output device 66 in Figure 1) It can be configured to be presented to the surgeon. This allows the surgeon to, among other things, The applied force F can be adjusted accordingly (for example, during the next blow, a greater or smaller force F). This may result in the application of a fitting force F.

[0133] As described above, the third embodiment of the end effector 440 is such that the guide 504 is trajectory T Moving away from the surgical site S along (and along the aligned axes A1, A2) By moving it in this way, flange 512 can enter channel 494. It is constructed as follows. However, the head 506 is too large to fit into the channel 494, and the grip 5 10 is too large to pass through opening 496, and handle 508 is generally flange 51 2 is very close (for example, guide 504 along trajectory T with flange 512 and surgical site S) By moving in both directions, flange 512 enters channel 494 from the opposite direction. It is positioned so that it cannot be done. Other than as described above, the impactor assembly 502 The configuration is intended, but the impactor assembly is designed to enter channel 494 from only one direction. By configuring Bri 502, the embodiments shown in Figures 22A to 24D will be described in relation to the embodiments. It may become possible to implement a particular concept in another way or to construct it in a different form. Please understand this. As a non-limiting example, (for example, the first real of end effector 40) (Similar to the sensor 152 and trigger 154 described in relation to the implementation configuration) Single trigger and The intention is to utilize the sensor placement, and the end effector has a flange. It is configured to ensure that the channel can only be accessed from a specific direction. Other configurations are also available. It is planned.

[0134] Referring again to Figures 22A-22H, the surgical robot 32 guides in many different ways. To achieve initial alignment between axis A2 and trajectory T, the impactor assembly 502 is configured Please understand that the guide 504 can be configured to facilitate movement. For example, the surgical robot 32 operates the robotic arm 36 to first guide 504 This facilitates orientation and ensures that the guide axis A1 aligns with the trajectory T before getting too close to the surgical site S. The line is set, or the guide axis A moves toward the surgical site S. Ensure that 1 is aligned with trajectory T. The surgical robot 32 also uses an impactor assembly. The shaft 486 of the bridge 502 is directed towards the expected position (for example, the position shown in Figure 22A). To facilitate the movement of the guide 504 (towards a specific location), the robot arm 36 is operated. It can also be configured as follows. In some embodiments, the surgical robot 32 guides the surgeon. It is possible to configure it so that the guide 504 can be moved by pressing the button 504. By utilizing haptic feedback (e.g., attractive / repulsive haptic forces), in particular, virtual objects and It helps control the movement based on boundaries, etc., and aligns guide axis A2 with trajectory T. They can be guided in that way.

[0135] Furthermore, the surgical robot 32 maintains the alignment between the guide axis A2 and the trajectory T, The guide 504 can also be configured in various ways to facilitate its movement along the trajectory T. Please understand that, for example, the surgical robot 32 operates the robotic arm 36, This facilitates moving guide 504 along trajectory T away from the surgical site S. Furthermore, using haptic feedback (e.g., attractive / repulsive forces), in particular, guide reference points This helps to initially align the GRP with the flange reference point FRP (see, for example, Figure 22E). (and / or can be configured to help maintain alignment during insertion) It can be done. By advancing the guide 504 along the trajectory between strikes with the mallet, it can be inserted. The surgical rod maintains the alignment of the guide reference point GRP and the flange reference point FRP inside. In a particular embodiment in which the bot 32 is configured, the surgical robot 32 satisfies certain conditions Until, for example, until a surgeon engages with the input button 622 of the input module 616, Configured to prevent manual movement of the guide 504 in one or both directions along path T. At the time of the above involvement, the surgical robot 32 then guides 50 along the trajectory T. This makes motion 4 possible. Here, motion along trajectory T is impactor assembly The GA is positioned in a location where it can be properly removed from the BR502 (for example, the position shown in Figure 22B). Until Id 504 is reached, the movement can be restricted to the translation of guide 504 only (around orbit T). (This may also allow the rotation of guide 504), and once it reaches the above position, the surgical robot The 32 then moves away from orbit T (for example, towards the position shown in Figure 22A) This allows for 504 movements. Other configurations are also being considered.

[0136] A fourth embodiment of the end effector is generally shown in Figures 25A to 28B. As can be understood from the description below, this embodiment is the third of the end effector 40 described above. Similar structure and components as in Embodiment 1, as well as similar features, advantages, and functional applications. It shares the same or the same structure and components as those of the first embodiment. The structure and components of the corresponding fourth embodiment are as shown in the drawings and the following description, 70 The same reference number is given, incremented by 0. Furthermore, the fourth embodiment also includes the above-mentioned E The second embodiment of the end effector 240 has a similar structure and components, as well as similar features. We will share some features, advantages, and operational uses. Therefore, the structure of the second embodiment The structure and components of the fourth embodiment, which are the same as or correspond to the components, include: In the drawings and the following description, the same reference numbers are given, but increased by 500. Furthermore, the fourth embodiment is similar to the third embodiment of the end effector 440 described above. We share some of the structure and components, as well as similar characteristics, advantages, and operational uses. Therefore, the structure and components of the third embodiment are the same as or correspond to the third embodiment. The structure and components of the fourth embodiment are shown in the drawings and the following description with an additional 300. The same reference number is given for the addition.

[0137] A fourth embodiment of the end effector 740 is shown in whole in Figures 25A to 28B. This is similar to the other embodiments described and illustrated herein. The fourth of the end effector 740 The specific differences between this embodiment and other embodiments will be described in detail below, but clarity, consistency, and For the sake of brevity, most of the structures and components common to the embodiments are reintroduced below. Or not explained again. Therefore, unless specifically indicated below, the other embodiments described above The description is incorporated by reference without limitation with respect to a fourth embodiment of the end effector 740. It will be understood that this is possible. Furthermore, a fourth embodiment of the end effector 740 It should be understood that various aspects of this can be applied to other embodiments of the present disclosure.

[0138] Referring now to Figure 25A, the impactor of the fourth embodiment of the end effector 740 Assembly 802 and guide 804 are shown spaced apart from each other. Here, The nut assembly 802 relates to the third embodiment shown in Figures 16A-16B, for example. This is identical to the impactor assembly 502 described above. As will be described in more detail below, In this embodiment, the guide 804 is configured in a different manner, but the guide 804 is impacted The general process for engaging with assembly 802 is the same. Here again, see Guide 804. Similarly, the shaft 786 of the impactor assembly 802 passes through the opening 796. It is configured to allow entry into Nell 794 (see Figure 25B), and then into Guide 804 Move towards flange 812 (for example, along trajectory T away from surgical site S) Thus, the impactor engagement surface 788 can be brought into contact with the guide engagement surface 798 (Figure 25). (See C), where the positions of axes A1 and A2 with respect to the trajectory T maintained by the surgical robot 32 Alignment is performed by the limiter 800, which also controls the movement of the guide 804. Depending on how the surgical robot 32 is configured, the guide 804 and impactor Relative rotation with respect to assembly 802 is generally performed by one or more joints of the robot arm 36. By controlling this, and still maintaining the alignment of the guide axis A2 with the orbit T, the actual This can be done (see Figure 25D, compare with Figure 25C).

[0139] Referring now to Figures 26A to 26B, the fourth embodiment of the end effector 740 is as follows. The guides 804 shown in the picture are the first and second guides, which are fixed to each other by the fasteners 874. The main body 792 comprises different configurations defined by the main body components 1000 and 1002. Nevertheless, the main unit 792 is operable on the mount 790 (not shown in detail). It is attached to the connecting part 38 of the surgical robot 32 (see Figure 1) and is detachably attached to it. To facilitate. In this embodiment, the first and second main body components 1000 and 1002 cooperate. The coil assembly 1004 works to define the opening 796, but generally, more details are provided below. The following are details including the channel 794, the guide engagement surface 798, and the limiter 800 (or (This defines most of them.)

[0140] As shown in Figure 26B, the main body components 1000 and 1002 are each pocket 8 A portion of 78 is defined, and pocket 878 is also a sensor subassembly in this embodiment. It houses the bridge 912 and input module 916, and also houses the coil assembly 1004. Although not shown in detail, the input module 916 also has an input frame 920. The input frame 920 supports the input button 922 and is connected to the guide 8 via the fixture 874. Fixed to the first main body component 1000 of 04, and in response to the surgeon's actions, the input sensor It is positioned to engage with the 852I. The input sensor 852I is also positioned in the sensor housing. Coupled with 918, the sensor housing 918 is guided by the guide 804 via the fixing fixture 874. It is fixed to the main body component 1002 of 2. In this embodiment, the circuit board 1006 is also a sensor. Coupled to the housing 918, the coil assembly 100 is described in more detail below. It supports the sensor controller 1008 which is wired to 4, and also the surgical system 30. Various components (for example, the robot controller 52 and the navigation controller 54) It can also be configured to communicate with (for example, wired or wireless telecommunications). In that embodiment, the sensor controller 1008 may be located in another position, and surgery This may be implemented by other components of system 30.

[0141] In this embodiment, the coil assembly 1004 has first and second axial channel ends A sensor configured to detect the relative position of flange 812 between sections 794A and 794B. 852 is defined. For this purpose, the coil assembly 1004 is described in more detail below. As shown, a linear variable differential transformer (LV) is coupled to the guide 804 adjacent to channel 794. This is implemented as coil assembly 1004 (DT). As can be understood from the following description: Various configurations of the LVDT coil assembly 1004 are intended by this disclosure. Specifically, one style of LVDT coil assembly 1004 is shown in Figures 26A-27B. As shown, another style of LVDT coil assembly 1004 is shown in Figures 28A-28B. The LVDT coil assembly 1004 shown in Figures 26A to 28B is similar. Therefore, the drawings and the following description show the structures and components common to each style. The same reference number is used, and specific differences are described in detail and identified with additional reference numbers. Thus, the LVDT coil assemblies 1004 shown in Figures 26A to 29B are generally It includes a transmitting coil 1014, a proximal receiving coil 1016, and a distal receiving coil 1018. It comprises a coil frame 1010 that supports the coil configuration 1012, and those coils I will describe that in detail below.

[0142] Continuing to refer to Figure 26B, in this fourth embodiment, pocket 878 is the first When the second main body components 1000 and 1002 are fixed together, the LVDT coil... The pocket is shaped and positioned to securely hold the 1004 gentian inside. 878 also includes a wire harness 1 extending between the coil configuration 1012 and the circuit board 1006. Configured to accommodate 020 (general terminology) (for example, multiple wires (Communicates with sensor controller 1008).

[0143] The coil frame 1010 of the LVDT coil assembly 1004 is finger 836 The first and second body components 1000 and 1002 adjacent to the winger end 838 It has a profile complementary to the defined channel 794 portion. In other words, Frame 1010 is defined by first and second main components 1000, 1002 They are positioned adjacent to the first and second axial channel ends 794A and 794B, respectively. Guide axis A2 It has a roughly C-shaped profile that extends vertically along the line.

[0144] As described above, the coil frame 1010 is similarly continuous and has a roughly cylindrical C-shape At least a portion of channel 794 having a rfile (e.g., first and second frames) Define the portion extending between the ends 1010A and 1010B. Therefore, the coil frame The 1010 also has a guide engagement surface 79 spaced apart from the guide axis A2 with a common radius of 842. The part 8 is defined. Furthermore, the illustrated coil frame 1010 also includes limiter 80 Define a portion of 0 (for example, a portion of finger 836) and guide it with a common radius of 842. It includes at least a portion of the arc-shaped surface 840 that is spaced apart from axis A2 (see Figure 27A). (Details are not shown). However, in this embodiment, the coil frame 1010 defines The portion of the limiter 800 with finger 836 does not define the finger end 838, and below As will be described in more detail, the opening 796 is not defined. Rather, the first and second The finger ends 838 of the main body components 1000 and 1002 are located in the opening 796 of the guide 804. The fins of the limiter 800 are defined by the coil frame 1010. Each part of the 836 is equipped with its respective frame finger end 1022, and the frame The finger ends 1022 are spaced apart from each other, and in the exemplary embodiment, the first and second fingers Frame opening wider than the opening 796 defined by body components 1000 and 1002 Section 1024 is defined. However, please understand that other configurations are also conceivable.

[0145] In the exemplary embodiment, the coil frame 1010 defines various slots, and the slots are, In particular, the coil configuration 1012 is supported, and the shape of coils 1014, 1016, and 1018 The configuration is generally defined. Other configurations of the slots are also intended in this disclosure, but see Figure 27. Each of the coil frames 1010 shown in A to 28B is generally the first proximal receiving winding. Slot 1026, second proximal receiving winding slot 1028, first distal receiving winding slot 1030, second distal receiving winding slot 1032, first transmitting winding slot 1034, 2 transmit winding slots 1036, access routing slot 1038, 1 linkage slot Lot 1040 and the second linkage slot 1042 are defined. (See Figures 28A-28B) The coil frame 1010 is connected to the third linkage slot 1044 and the fourth linkage slot We will also define To 1046.

[0146] Winding slots 1026, 1028, 1030, 1032, 1034, and 1038 are each (For example, along guide axis A2) the first and second frame ends 1010A, 101 Formed in the coil frame 1010 as arc-shaped recesses that are spaced apart from each other in the vertical direction between 0B. Then, separate coils 1014, 1016, and 1018 from each other. Access routing Lot 1038 has winding slots 1026, 1028, 1030, 1032, 1034, First and second frame ends 1 extending through each of 1038 (for example, in communication) It is formed in the coil frame 1010 between 010A and 1010B. Details are not shown in the illustration. In particular, the access routing slot 1038 is used for coil 1 to circuit board 1006. The ends of 014, 1016, and 1018 are routed (e.g., via wire harness 1020) They can be provided to facilitate the first and second linkage slots 104 0, 1042 are winding slots 1026, 1028, 1030, 1032, 1034, 1 It extends through each of 038 (for example, in communication). As shown in Figure 28, the third The fourth linkage slots 1044 and 1046 also connect to the first and second frame ends 10 A coil frame 1010 is formed between 10A and 1010B, but the first and second transmissions The winding extends only through (for example, in communication with) winding slots 1034 and 1036 (Figures 27A and 2 (Compare 8A). This is, in particular, relative to each other, as will be described in more detail below. Linkage slots 1040, 1042, 1044 for frame finger end 1022, Based on the proximity of 1046. In the exemplary embodiment, linked slots 1040, 1042, 10 44, 1046 are winding slots 1026, 1028, 1030, 1032, 1034, Hook 1048, adjacent to (or formed as part of) 1038, is also defined. As can be understood from the subsequent descriptions of coils 1014, 1016, and 1018 below, The 1048 coil is the proper configuration of coils 1014, 1016, and 1018 (and between them). To ensure separation, the wires are routed, wrapped, and placed within various slots. It can be provided to facilitate formation.

[0147] Coils 1014, 1016, and 1018 are generally depicted in the drawings for illustrative purposes only. However, each coil 1014, 1016, and 1018 is generally as described below in more detail. For specific winding slots 1026, 1028, 1030, 1032, 1034, 1038 and through linkage slots 1040, 1042, 1044, and 1046 in a predetermined manner It should be understood that each wire is wound in a coil shape. A person skilled in the art will understand that coil 1 014, 1016, and 1018 are, for example, of various sizes and can be wrapped with various loop amounts. Please understand that it is possible to have wires that can be used. Figures 27B and 28B show the best As shown, coils 1014, 1016, and 1018 are, in general, Each of these consists of a proximal coil portion 1050, a distal coil portion 1052, and a first connecting portion 1054. It also includes a second linkage part 1056, and each of these parts is a continuous wire loop "T" represents a "segment" of a winding.

[0148] Now, referring to the LVDT coil assembly 1004 shown in Figures 27A to 27B, In this embodiment, the coil configuration 1012 is such that the proximal receiving coil 1016 is the first frame The distal receiving coil 1018 is located adjacent to the end 1010A, and the distal receiving coil 1018 is located at the second frame end 10 Located adjacent to 10B, the transmitting coil 104 is arranged vertically between the receiving coils 1018. It is configured to be placed there. Therefore, the coil frame 1010 shown in Figure 27A is The first proximal receiving winding slot 1026 is closest to the first frame end 1010A, and After that, the second proximal receiving winding slot 1028, the first transmitting winding slot 1034, the second Transmit winding slot 1036, first distal receiving winding slot 1030, and second distal receiving The signal winding slot 1032 is defined to continue from there.

[0149] Therefore, with respect to the coil configuration 1012 shown in Figures 27A to 27B, proximal reception Coil 1016 is, for example, a first proximal receiving winding slot 1026, a first linking slot 1040, along the second proximal receiving winding slot 1028, and the second linking slot 1042 , wound in a loop returning to the first proximal receiving winding slot 1026; the transmitting coil 1014, For example, the first transmit winding slot 1034, the first linkage slot 1040, the second transmit winding Line slot 1036, along the second linkage slot 1042, the first transmit winding slot 1 The distal receiving coil 1018 is wound in a loop returning to 034; for example, the first distal receiving winding Slot 1030, first linkage slot 1040, second distal receiving winding slot 1032 Then, along the second linkage slot 1042, it returns to the first distal receiving winding slot 1030. It is wound into a loop. When configured in this way, coil configuration 1 is shown in Figures 27A to 27B. 012 is substantially similar proximal to coils 1014, 1016, and 1018, respectively. Regarding coil section 1050, and each of coils 1014, 1016, and 1018: It has a substantially similar distal coil portion 1052, and the distal coil portion 1052 is also the proximal coil portion This is substantially the same as minute 1050. Here again, the first and second connections of the transmitting coil 1014 The parts 1054 and 1056 are substantially the same as each other, but the receiving coils 1016 and 101 This is different from the first and second linked parts 1054 and 1056 of 8. More specifically, the proximal receiver The first connecting portion 1054 of the signal coil 1016 is connected to its second connecting portion 1056, and Both the first and second linkage portions 1054 and 1056 of the distal receiving coil 1016 are substantially It is similar to the above.

[0150] Referring now to Figure 27B, in this embodiment, the transmitting coil 1014 is the receiving coil They are positioned substantially equidistant from each other between 1016 and 1018. Here, the receiving coil 1016, 1018 has a substantially identical configuration to the transmitting coil 1014, but differs from it. Specifically, the coil portions 1050 and 1052 of the transmitting coil 1014 are connected to the receiving coil 101 6. Separate the coil sections 1050 and 1052 of 1018 from each other along the guide axis A2. They are separated. In other words, the connecting parts 1054 and 1056 of the transmitting coil 1014 are It is larger than the linking parts 1054 and 1056 of the receiving coils 1016 and 1018. In this exemplary embodiment, each of the coils 1014, 1016, and 1018 is related The proximal and distal coil portions 1050 and 1052 are all located around the guide axis A2. The opening 796 extends (for example, to the first and second linkage slots 1040, 1042) They are substantially similar to each other in that they have an arc-shaped profile extending toward [a certain direction].

[0151] Now, referring to the LVDT coil assembly 1004 shown in Figures 28A to 28B, In this embodiment, the coil configuration 1012 has a transmitting coil 1014 at the first frame end 1 It is configured to be positioned adjacent to 010A and the second frame end 1010B, The receiving coils 1016 and 1018 are located "inside" the transmitting coil 1014, and are for nearby reception. Coil 1016 is located at the first frame end 1010A rather than the second frame end 1010B. The distal receiving coil 1018 is positioned near the second frame end 1010A. It is positioned near the frame end 1010B. Therefore, the coil shown in Figure 28A Frame 1010 has a first transmit winding slot 1034 at the first frame end 1010A The closest to it, then the first proximal receiving winding slot 1026, the second proximal receiving winding slot T1028, first distal receiving winding slot 1030, second distal receiving winding slot 103 2, and is defined to be followed by the second transmit winding slot 1036.

[0152] Therefore, with respect to the coil configuration 1012 shown in Figures 28A to 28B, proximal reception Coil 1016 is, for example, a first proximal receiving winding slot 1026, a first linking slot 1040, along the second proximal receiving winding slot 1028, and the second linking slot 1042 , wound in a loop returning to the first proximal receiving winding slot 1026; the transmitting coil 1014, For example, the first transmit winding slot 1034, the third linkage slot 1044, the second transmit winding Line slot 1036, along the fourth linkage slot 1046, the first transmit winding slot 1 The distal receiving coil 1018 is wound in a loop returning to 034; for example, the first distal receiving winding Slot 1030, first linkage slot 1040, second distal receiving winding slot 1032 Then, along the second linkage slot 1042, it returns to the first distal receiving winding slot 1030. To be wrapped in a loop.

[0153] When configured in this way, the coil configuration 1012 shown in Figures 28A to 28B is for receiving For coils 1016 and 1018, substantially similar proximal coil portions 1050, Furthermore, substantially similar distal coil section for each of the receiving coils 1016 and 1018 The distal coil section 1052 also has receiving coils 1016 and 1018, and the proximal coil section 1052 also has receiving coils 1016 and 1018. It is substantially the same as the part 1050. Furthermore, the proximal coil part 1 of the transmitting coil 1014 050 is substantially the same as the distal coil portion 1052 of the transmitting coil 1014, but this In this embodiment, the coil portions 1050 and 1052 of the transmitting coil 1014 are connected to the receiving coil 10 16, This is different from the coil section 1052 of 1018. Here again, the first of the transmitting coil 1014 The second linkage parts 1054 and 1056 are substantially similar to each other, but the receiving coil 1 This differs from the first and second linked parts 1054 and 1056 of 016 and 1018. Specifically, the first linking portion 1054 of the proximal receiving coil 1016 is connected to its second linking portion 10 56, and the first and second linkage portions 1054, 1056 of the distal receiving coil 1016 It is essentially the same as both of the above.

[0154] Referring now to Figure 28B, in this embodiment, the transmitting coil 1014 is the receiving coil 1016 and 1018 are located "inside" the transmitting coil 1014, spaced substantially equidistant from each other. It is configured to be arranged in this way. Here, the proximal coil portion 10 of the proximal transmitting coil 1016 50 is the distal coil portion 1052 of the distal receiving coil 1018 distal to the transmitting coil 1014. In substantially the same manner as being separated from coil portion 1052, the proximal position of the transmitting coil 1014 The coil portion 1050 is separated from the coil. Here too, the receiving coils 1016 and 1018 are separated from each other. Although it has essentially the same configuration, it differs from the transmitting coil 1014. More specifically, the transmitting The coil portions 1050 and 1052 of coil 1014 are connected to the receiving coils 1016 and 1018. Sections 1050 and 1052 are spaced further apart from each other along the guide axis A2. In other words, the linking parts 1054 and 1056 of the transmitting coil 1014 are connected to the receiving coil 101 6, is larger than the linked parts 1054 and 1056 of 1018. However,

[0155] In this exemplary embodiment, the proximal part of each of the receiving coils 1016 and 1018 The distal coil sections 1050 and 1052 are all open around the guide axis A2. Extend toward 796 (for example, between the first and second linked slots 1040 and 1042) They are substantially similar to each other in that they have a curved profile, but the transmitting coil 1 The proximal and distal coil portions 1050 and 1052 of 014 are different. Here, the transmitting coil The proximal and distal coil portions 1050 and 1052 of 1014 are both guides Around axis A2 toward opening 796 (for example, the third and fourth linkage slots 1044, 1 They are substantially similar to each other in that they have an arc-shaped profile extending between 046. However, the third and fourth linkage slots 1044 and 1046 are linked to the first and second linkage slots Depending on how it is positioned relative to lots 1040 and 1042, the transmitting coil 1014 The proximal and distal coil portions 1050, 1052 are near the receiving coils 1016, 1018. The pitted and distal coil portions 1050 and 1052 extend toward the opening 796.

[0156] Generally, referring to Figures 25A and 28B, those skilled in the art will understand the LVDT described and illustrated herein. Coil assemblies 1014, 1016, and 1018 of coil assembly 1004 are guided An opening having an arc-shaped profile when viewed perpendicular to the guide axis A2 around axis A2. It should be understood that it is shaped and positioned to extend toward the mouth portion 796. For example, the coil sections 1050 and 1052 are each arc-shaped (for example, generally C-shaped). (or U-shaped) and without obstructing or crossing the opening 796, guide axis A2 They are arranged to surround it. Furthermore, each of the coils 1014, 1016, and 1018 The parts 1054 and 1056 are located between their respective coil parts 1050 and 1052. Shaped and positioned to extend, and having a roughly cylindrical profile, for illustrative purposes only. This is shown as follows: Here, the loop-shaped section defines coils 1014, 1016, and 1018. The wire is looped, wound, or coiled 1014, 1016. When positioned to form 1018, it defines various curved profiles. Please understand that this is possible. Therefore, coils 1014, 1016, and 1018 are Please understand that this disclosure can be structured in several different ways that are consistent with the original disclosure. .

[0157] Regardless of the specific configuration and arrangement of coils 1014, 1016, and 1018, LVDT coil The guide assembly 1004 is located in channel 794 of the impactor assembly 8 of guide 804. It is configured to facilitate the determination of whether or not 02 is present. More specifically, LVDT coil assemblies The channel 1004 has first and second axial channel ends 794A, 7 It is configured to detect the relative axial position of the flanges 812 between 94B. For this purpose, The sensor controller 1008 generally controls the coils 1014, 1016, and 1018 respectively It is arranged to communicate with the transmitting coil 1014 and generates a transmission signal (e.g., AC). It may be configured to form (or communicate), generate an electromagnetic field, and the electromagnetic field is received. Voltage is induced in coils 1016 and 1018 and monitored by sensor controller 1008. The received signal can be (for example, the differential voltage across receiving coils 1016 and 1018). This generates [something]. The above is an illustrative example, and it should be understood that other configurations are also conceivable. i. As a non-limiting example, using several different components of the surgical system 30, It can generate signal signals and / or monitor received signals.

[0158] How are the receiving coils 1016 and 1018 positioned (for example, relative to the guide reference point GRP)? (and similarly) and configuration (for example, having the same number of windings and wired in series with each other) Depending on whether it is ferromagnetic, the voltage induced in the receiving coils 1016 and 1018 respectively is ferromagnetic. The objects cancel each other out when they are placed at an equal distance between the receiving coils 1016 and 1018, but their strength The magnetic object changes when it moves away from one receiving coil and towards the other. Here is an example. For example, the flange 812 of the impactor assembly 802 can be manufactured from a ferromagnetic material. (or may be equipped with a ferromagnetic insert not shown), flange reference point FRP When it coincides with the guide reference point GRP, the receiving coil 1016 is transmitted via the transmitting coil 1014. They can be arranged in such a way that the voltage induced in 1018 cancels out. However The relative motion between the guide 804 and the impactor assembly 802 is necessarily, the flange base Remove the FRP reference point from its alignment with the GRP reference point. Here, flange 8 If 12 moves away from the proximal receiving coil 1016 and toward the distal receiving coil 1018, The received signal changes in response to it, in correlation with the change in the position of flange 812. Similarly, flange 812 moves away from distal receiving coil 1018 and towards proximal receiving coil 1016. When moving toward the object, the received signal responds in correlation with the change in the position of flange 812. It changes in this way, but the received signal has the opposite phase. In other words, the amplitude of the received signal is used. Then, it detects how far the flange reference point FRP has moved from the guide reference point GRP. It is possible to use the phase of the received signal (for example, compared to the phase of the transmitted signal) to franc It is possible to detect the direction in which the reference point FRP is moving relative to the guide reference point GRP. Therefore, the LVDT coil assembly 1004 is used for the end effector 44. Similar to what was described above in relation to the third embodiment of 0, the first and second axial channels The relative axial position of the flange 812 between ends 794A and 794B can be detected.

[0159] This disclosure also provides a surgical robot 32 that performs a procedure at the surgical site S along a trajectory T maintained by the surgical robot 32. This describes a method for inserting thesis P. This method involves various steps, and head 10 6, 306, 506, 806 and interfaces 84, 284, 484, 784 and The 106, 306, 506, and 806 interfaces are compatible with the 84, 284, 484, and 784. Between and along the impactor axis A1 are shafts 86, 286, 486, and 786, and An impactor assembly 102 having impactor engagement surfaces 88, 288, 488, and 788, This method also includes providing 302, 502, and 802. Interfaces 84, 284, 48 for conductor assemblies 102, 302, 502, 802 4, 784 has a step for mounting and a gas with mounts 90, 290, 490, 790 Id 104, 304, 504, 804, extending along guide axis A2, openings 96, 296 Channels 94, 294, 494, 794 defining 496, 796, and guide engagement surface 98 It offers 298, 498, 798, and limiters 100, 300, 500, and 800. Includes steps.

[0160] This method is for mounts 90, 290, and 490 of guides 104, 304, 504, and 804. The steps include attaching the 790 to the surgical robot 32 and maintaining it with the surgical robot 32. Align guides 104, 304, 504, and 804 with respect to the orbit T and / or This method also includes the steps of moving the impactor assembly 102, 3 The steps include positioning 02, 502, and 802 to place the prosthesis P at the surgical site S, The impactor assemblies 102, 302, 502, and 802 are articulated to shaft 86. 286, 486, 786, guides 104, 304, 504, 804, openings 96, 29 Move through channels 6, 496, and 796 towards channels 94, 294, 494, and 794. The impactor engagement surface 88 of impactor assemblies 102, 302, 502, and 802. Guide engagement surfaces 98 of guides 104, 304, 504, 804, 288, 488, 788 By bringing it into contact with 298, 498, and 798, the impactor axis A1 is aligned with the guide axis A2. This method includes the steps of: Furthermore, this method applies to impactor assemblies 102, 302, 5 Limiters 100 and 300 for guides 104, 304, 504, and 804 for 02 and 802. Move 500, 800, and guide the impactor engagement surfaces 88, 288, 488, 788. With the engaging surfaces 98, 298, 498, and 798 in contact, the axes A1 and A2 along the track T Maintain coaxial alignment, head of impactor assembly 102, 302, 502, 802 Applying insertion force F to prostheses 106, 306, 506, and 806, the prosthesis P is inserted at the surgical site S. This includes the step of entering.

[0161] In the method described above, several steps are taken, among other things, for the end effectors 40 and 240. Depending on the specific configuration of 440, 740, the order and / or definition may differ. Please understand this. As a non-exclusive example, the end effector 40 described herein is In one embodiment, the impactor engagement surface 88 is brought into contact with the guide engagement surface 98, and the limiter Step 100 moves guide 104 away from prosthesis P along trajectory T. Move it so that the flange 112 comes into contact with the first axial channel end 94A of the channel 94. The flange 112 is channeled between the first and second axial channel ends 94A and 94B. The guide 104 will continue to move along the orbit T until it is positioned inside 94. They can also be defined as follows. On the other hand, these same steps are the end steps described herein. A second embodiment of the Fecta 240 can be defined in a different way, for example, surgical The impactor assembly 302 is pivoted adjacent to part S, so as to cross the opening 296 Move the shaft 286 to engage it with the cam portion 384 of the latch 364, and the shaft 286 This is defined by bringing it into contact with both the guide engagement surface 298 and the retaining surface 382. Yes, it is possible. Here, the limiter 300 enters contact with the shaft 286 and the latch 364. The latch 364 moves relative to the impactor assembly 302, and sequentially moves to the first latch position 364A. From (when shaft 286 begins to contact cam portion 384), second latch position 364 Move to B (when shaft 286 passes through opening 296), and further to the first latch position 3 Understand that it returns to 64A (in response to the force exerted from biasing element 380 to latch 364). Please understand that other configurations are also being considered.

[0162] Thus, the method, surgical system 30, and end effector described herein The 40, 240, 440, and 740 are used to perform a wide range of surgical techniques and procedures. This offers significant advantages in relation to the surgical robot 32. In particular, the end effector 40, 2 The alignment and detachable mounting provided by 40, 440, and 740 allows for external The surgeon sets the trajectory T, brings the prosthesis P close to the surgical site S, and moves the robotic arm 36. It is not always necessary to move and remove it from orbit T, and also from the patient's body B and / or surgical site. No major operations on S itself are required. Furthermore, sensors 152, 352, 552, 852, as well as end effectors 40, 240, 440, 740 and / or surgical system 3 Other components of the embodiment of 0 (but not limited to the robot control system 48, navigation system) System 50, sensor subassemblies 612, 912, follower subassembly 614 , and utilizing various arrangements of the LVDT coil assembly 1004, several Maintaining alignment between the guide reference point GRP and the flange reference point FRP is easy using different methods. It is possible to do so. Furthermore, by adopting various aspects of this disclosure, channels 94, 294, Flanges 112, 312, 512, 812, or impactors along 494, 794 Easily detect the relative axial position of different parts of assemblies 102, 302, 502, and 802. This allows the tracker 60 to use impactor assemblies 102 and 302. Without requiring connection to 502 and 802, the prosthesis P to the surgical site S It can monitor location.

[0163] Furthermore, the guides 104, 304, 504, 804 and Impactor described herein Various embodiments of Swertia 102, 302, 502, and 802 include procedures involving the insertion of a prosthesis. It offers significant advantages in this regard, but those skilled in the art can see that end effectors 40, 240, 440, The alignment and detachable mounting advantages provided by the 740 are several different Positioning, guiding, and controlling prostheses, surgical tools, instruments, workpieces, etc. To monitor and / or restrict movement, a wide range of surgical procedures and various types Please understand that this may be useful regarding surgical instruments, tools, etc.

[0164] Those skilled in the art can swap or combine the embodiments described and illustrated herein. Let's make sure people understand what we can do.

[0165] Please further understand that the term "includes" is synonymous with the term "equip." Furthermore, in this specification, terms such as "first," "second," and "third" are used for clarity and to ensure accuracy. Used to distinguish specific structural features and components for non-limiting illustrative purposes of interpenetration. Please understand that this will happen.

[0166] Several configurations have been discussed in the above explanation. However, the configurations discussed in this specification are network It is not intended to be descriptive or to limit the present invention to any particular form. The terminology used is intended to be descriptive rather than restrictive. Many modifications and changes are possible in light of the above teachings, and the present invention is specifically described It can also be done in a different way than that.

Claims

1. It is a surgical system, A surgical arm composed of multiple links and joints, A tool configured to position a prosthesis, comprising a tool shaft having a cylindrical profile and a first diameter extending along the tool axis, and a tool engagement surface having a second diameter larger than the first diameter, An end effector coupled to the surgical arm, The main body portion extends between the proximal and distal ends, The main body portion comprises a guide portion located at the distal end and configured to receive the tool, The guide portion includes a pair of arms, each arm extending to its respective end, and the arm ends are spaced apart from each other so as to define an opening between them. A channel is formed between the arms, and the channel extends along the guide axis. The guide portion is such that a part of the tool shaft can pass through the opening between the arm ends so that the tool shaft can enter and exit the channel. The arm defines a guide engagement surface that enables contact with the tool engagement surface and coaxially aligns the tool axis with the guide axis. The cross-section of the guide engagement surface is an arc shape having a constant radius with respect to the guide axis when viewed from a direction along the guide axis, and the end effector is... Equipped with, A surgical system in which the opening of the guide portion is equal to or greater than the first diameter of the tool shaft so that the tool shaft can pass through the opening and move in a direction perpendicular to the guide axis, and the opening is smaller than the second diameter of the tool engagement surface so that the tool engagement surface cannot pass through the opening and move in a direction perpendicular to the guide axis.

2. The surgical system according to claim 1, wherein the channel of the guide portion has a cylindrical profile, and the diameter of the channel is greater than the first diameter of the tool shaft and equal to the second diameter of the tool engagement surface.

3. The surgical system according to claim 1, wherein the tool has an interface adapted to be detachably attached to the prosthesis.

4. The surgical system according to claim 3, wherein the tool comprises a flange positioned on the tool shaft, the flange defining the tool engagement surface.

5. The surgical system according to claim 4, wherein the tool comprises a taper positioned between the flange and the interface in the direction of the tool axis, the taper transitioning between the flange and the tool shaft to guide the flange into the channel of the guide portion.

6. The surgical system according to claim 1, wherein the guide engagement surface has a C-shaped profile.

7. The surgical system according to claim 1, wherein the guide engagement surface defines a common arc having first and second arc ends, each terminating at the arm end, and the common arc has an arc reference angle greater than 180 degrees.

8. The surgical system according to claim 1, wherein the guide portion defines a length along the guide axis, and the channel extends along the entire length of the guide portion.

9. The surgical system according to claim 1, wherein the main body portion extends along the axis of the main body, and the guide axis is oriented perpendicular to the axis of the main body.

10. An assembly configured for use with a surgical arm consisting of multiple links and joints, A tool configured to position a prosthesis, comprising a tool shaft having a cylindrical profile and a first diameter extending along the tool axis, and a tool engagement surface having a second diameter larger than the first diameter, It is an end effector, A mount detachably attached to the surgical arm, A main body portion extending between the proximal end and distal end that are coupled to the mount, The main body portion comprises a guide portion located at the distal end and configured to receive the tool, The guide portion includes a pair of arms, each arm extending to its respective end, and the arm ends are spaced apart from each other so as to define an opening between them. A channel is formed between the arms, and the channel extends along the guide axis. The guide portion is such that a part of the tool shaft can pass through the opening between the arm ends so that the tool shaft can enter and exit the channel. The arm defines a guide engagement surface that enables contact with the tool engagement surface and coaxially aligns the tool axis with the guide axis. The cross-section of the guide engagement surface is an arc shape having a constant radius with respect to the guide axis when viewed from a direction along the guide axis, and the end effector is... Equipped with, An assembly in which the opening of the guide portion is sized to be equal to or greater than the first diameter of the tool shaft so that the tool shaft can move through the opening in a direction perpendicular to the guide axis, and the opening is sized to be smaller than the second diameter of the tool engagement surface so that the tool engagement surface cannot move through the opening in a direction perpendicular to the guide axis.

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