Double-clamp tool changer

Abstract

A surgical system including a tool changer configured to attach to and transfer power and / or data to and / or from an end effector. The tool changer includes a first clamp to secure the tool changer to a robotic tracking unit (RTU) and a second clamp to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.

Description

A0012918W001DOUBLE-CLAMP TOOL CHANGERCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 707,587, filed 15 October 2024, the entire content of which is incorporated herein by reference.FIELD

[0002] The present disclosure is generally directed to a tool changer for attaching an end effector to a robotic arm, such as an arm of a surgical robot.BACKGROUND

[0003] Surgical robots may assist a surgeon or other medical provider in carrying out a surgical procedure or may complete one or more surgical procedures autonomously. Various tools, referred to as end effectors, may be used to carry out the surgical procedure with the aid of imaging devices.BRIEF SUMMARY

[0004] Example embodiments of the present disclosure beneficially enable improved safety and ease-of-use within robotic systems having a tool changer that connects to part of a robotic arm and to an end effector.

[0005] Example aspects of the present disclosure include: a surgical system, comprising: a tool changer configured to attach to and transfer power and / or data to and / or from an end effector, the tool changer comprising: a first clamp configured to secure the tool changer to a robotic tracking unit (RTU); and a second clamp configured to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.

[0006] Aspects include wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

[0007] Aspects include wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

[0008] Aspects include wherein the second clamp completely covers four sides of an end of the first clamp.

[0009] Aspects include wherein no screws are required to attach the tool changer to the end effector or to the RTU.A0012918W001

[0010] Aspects include wherein no external tools are required to attach the tool changer to the end effector or to the RTU.

[0011] Aspects include wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

[0012] Aspects include wherein the first clamp is further configured to secure a drape between the tool changer and the RTU.

[0013] Aspects include wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

[0014] Aspects include wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

[0015] Aspects include wherein the RTU is connected to a robotic arm.

[0016] Aspects include wherein the tool changer further comprises one or more electrical contacts.

[0017] Aspects include wherein the tool changer further comprises one or more alignment points on a first face of the tool changer.

[0018] Aspects include wherein the tool changer further comprises one or more other alignment points on a second face of the tool changer.

[0019] Aspects include wherein one or more of the first clamp and the second clamp is further configured with a point of no return to prevent accidental opening.

[0020] A tool changer configured to attach to and transfer power and / or data to and / or from an end effector, the tool changer comprising: a first clamp configured to secure the tool changer to an RTU; and a second clamp configured to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.

[0021] Aspects include wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

[0022] Aspects include wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

[0023] Aspects include wherein the second clamp completely covers four sides of an end of the first clamp.

[0024] Aspects include wherein no screws are required to attach the tool changer to the end effector or to the RTU.

[0025] Aspects include wherein no external tools are required to attach the tool changer to the end effector or to the RTU.A0012918W001

[0026] Aspects include wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

[0027] Aspects include wherein the first clamp is further configured to secure a drape between the tool changer and the RTU.

[0028] Aspects include wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

[0029] Aspects include wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

[0030] Aspects include wherein the RTU is connected to a robotic arm.

[0031] Aspects include wherein the tool changer further comprises one or more electrical contacts.

[0032] Aspects include wherein the tool changer further comprises one or more alignment points on a first face of the tool changer.

[0033] Aspects include wherein the tool changer further comprises one or more other alignment points on a second face of the tool changer.

[0034] Aspects include wherein one or more of the first clamp and the second clamp is further configured with a point of no return to prevent accidental opening.

[0035] A method of attaching an end effector to an RTU, the method comprising: securing a first side of a tool changer to the RTU using a first clamp of the tool changer, wherein the tool changer is configured to transfer power and / or data to and / or from the end effector; and securing a second side of the tool changer to the end effector using a second clamp of the tool changer, wherein the second clamp is configured to prevent the first clamp from opening when the second clamp is closed.

[0036] Aspects include wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

[0037] Aspects include wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

[0038] Aspects include wherein the second clamp completely covers four sides of an end of the first clamp.

[0039] Aspects include wherein no screws are required to attach the tool changer to the end effector or to the RTU.

[0040] Aspects include wherein no external tools are required to attach the tool changer to the end effector or to the RTU.A0012918W001

[0041] Aspects include wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

[0042] Aspects include wherein the first clamp is further configured to secure a drape to the tool changer.

[0043] Aspects include wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

[0044] Aspects include wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

[0045] Aspects include wherein the RTU is connected to a robotic arm.

[0046] Aspects include wherein the tool changer further comprises one or more electrical contacts.

[0047] Aspects include wherein the tool changer further comprises one or more alignment points on a first face of the tool changer.

[0048] Aspects include wherein the tool changer further comprises one or more other alignment points on a second face of the tool changer.

[0049] Aspects include wherein one or more of the first clamp and the second clamp is further configured with a point of no return to prevent accidental opening.

[0050] Any aspect in combination with any one or more other aspects.

[0051] Any one or more of the features disclosed herein.

[0052] Any one or more of the features as substantially disclosed herein.

[0053] Any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein.

[0054] Any one of the aspects / features / embodiments in combination with any one or more other aspects / features / embodiments.

[0055] Use of any one or more of the aspects or features as disclosed herein.

[0056] It is to be appreciated that any feature described herein can be claimed in combination with any other feature(s) as described herein, regardless of whether the features come from the same described embodiment.

[0057] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.

[0058] The phrases “at least one,” “one or more,” and “and / or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressionsA0012918W001“at least one of A, B and C,” “at least one of A, B, or C,” “one or more of A, B, and C,” “one or more of A, B, or C,” and “A, B, and / or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. When each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as XI -Xn, Yl-Ym, and Zl-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., XI and X2) as well as a combination of elements selected from two or more classes (e.g., Y1 and Zo).

[0059] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more,” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising,” “including,” and “having” can be used interchangeably.

[0060] The preceding is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. This summary is neither an extensive nor exhaustive overview of the disclosure and its various aspects, embodiments, and configurations. It is intended neither to identify key or critical elements of the disclosure nor to delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments, and configurations of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below.

[0061] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art upon consideration of the embodiment descriptions provided hereinbelow.BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0062] The accompanying drawings are incorporated into and form a part of the specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the disclosure. The drawings simply illustrate preferred and alternative examples of how the disclosure can be made and used and are not to be construed as limiting the disclosure to only the illustrated and described examples. Further features and advantages will become apparent from the following, more detailed, description of the various aspects, embodiments, and configurations of the disclosure, as illustrated by the drawings referenced below.

[0063] Fig. 1A shows aspects of a system according to at least one embodiment of the present disclosure.A0012918W001

[0064] Fig. IB shows additional aspects of the system according to at least one embodiment of the present disclosure.

[0065] Figs. 2A, 2B, 2C, 2D, 2E, 2F, and 2G show various views of a tool changer according to at least one embodiment of the present disclosure.

[0066] Fig. 3 illustrates a flow chart for connecting a tool changer and end effector to a robotic tracking unit (RTU) according to at least one embodiment of the present disclosure.

[0067] Skilled artisans will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of examples, aspects, and features illustrated.

[0068] In some instances, the apparatus and method components have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the of various embodiments, examples, aspects, and features so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.DETAILED DESCRIPTION

[0069] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, and / or may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the disclosed techniques according to different embodiments of the present disclosure). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0070] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer- readable medium and executed by a hardware-based processing unit. Alternatively, or additionally, functions may be implemented using machine learning models, neural networks,A0012918W001 artificial neural networks, or combinations thereof (alone or in combination with instructions). Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0071] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al l, A12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000- series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0072] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one or more examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure.

[0073] The terms proximal and distal are used in this disclosure with their conventional medical meanings, proximal being closer to the operator or user of the system, and further from the region of surgical interest in or on the patient, and distal being closer to the region of surgical interest in or on the patient, and further from the operator or user of the system.A0012918W001

[0074] Embodiments of the present disclosure provide technical solutions to one or more of the problems related to (1) user effort needed to attach an end effector to an RTU, (2) unsafe operation involving an end effector due to improper disconnection of a tool changer from an RTU, and / or (3) other potentially dangerous consequences of using clamps to connect a tool changer to an end effector and an RTU.

[0075] Figs 1A and IB illustrate elements of a system 100 according to at least one embodiment of the present disclosure. The system 100 may be used to carry out a robot-assisted surgery or procedure and / or carry out one or more other aspects of one or more of the methods disclosed herein. The system 100 comprises one or more imaging device(s) 112, a robot 114, a navigation system 118, a database 130, an RTU 132 (or other type of tracking system), a cloud 134 or other network, a tool changer 136, an end effector 140. Systems according to other embodiments of the present disclosure may comprise more or fewer components than the system 100. For example, the system 100 may not include the imaging device 112, the database 130, and / or the cloud 134.

[0076] The imaging device 112 may be operable to image anatomical feature(s) (e.g., a bone, veins, tissue, etc.) and / or other aspects of patient anatomy to yield image data (e.g., image data depicting or corresponding to a bone, veins, tissue, etc.). “Image data” as used herein refers to the data generated or captured by an imaging device 112, including in a machine-readable form, a graphical / visual form, and in any other form. In various examples, the image data may comprise data corresponding to an anatomical feature of a patient, or to a portion thereof. The image data may be or comprise a preoperative image, an intraoperative image, a postoperative image, or an image taken independently of any surgical procedure. In some embodiments, a first imaging device 112 may be used to obtain first image data (e.g., a first image) at a first time, and a second imaging device 112 may be used to obtain second image data (e.g., a second image) at a second time after the first time. The imaging device 112 may be capable of taking a two-dimensional (2D) image or a three-dimensional (3D) image to yield the image data. The imaging device 112 may be or comprise, for example, an ultrasound scanner (which may comprise, for example, a physically separate transducer and receiver, or a single ultrasound transceiver), an 0-arm, a C-arm, a G-arm, or any other device utilizing X-ray -based imaging (e.g., a fluoroscope, a CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermographic camera (e.g., an infrared camera), a radar system (which may comprise, for example, a transmitter, a receiver, a processor, and one or more antennae), or any other imaging device 112 suitable for obtaining images of an anatomical feature of aA0012918W001 patient. The imaging device 112 may be contained entirely within a single housing or may comprise a transmitter / emitter and a receiver / detector that are in separate housings or are otherwise physically separated.

[0077] In some embodiments, the imaging device 112 may comprise more than one imaging device 112. For example, a first imaging device may provide first image data and / or a first image, and a second imaging device may provide second image data and / or a second image. In still other embodiments, the same imaging device may be used to provide both the first image data and the second image data, and / or any other image data described herein. The imaging device 112 may be operable to generate a stream of image data. For example, the imaging device 112 may be configured to operate with an open shutter, or with a shutter that continuously alternates between open and shut so as to capture successive images. For purposes of the present disclosure, unless specified otherwise, image data may be considered to be continuous and / or provided as an image data stream if the image data represents two or more frames per second.

[0078] The robot 114 comprises one or more robotic arms 116, a processor 120, a memory 122, a communication interface 124, and a controller 128. Robots according to other embodiments of the present disclosure may comprise more or fewer components than the robot 114. In some embodiments, the robot 114 may be mechanically coupled with (e.g., affixed to, attached to, mounted to, etc.) a patient bed or table. In other embodiments, the robot 114 may be disposed on a robot cart 144. The robot cart 144 may be a mobile platform that enables the robot 114 and / or components thereof to be positioned relative to the patient and / or the bed or table on which the patient is positioned. In some embodiments, the robot cart 144 may comprise wheels that enable the robot cart 144 to roll or move relative to the patient. The robot cart 144 may be detachable from the wheels or the wheels may be lockable such that, once the robot cart 144 is positioned in a desired location relative to the patient, the robot cart 144 will remain fixed in the desired location. In other words, the robot cart 144 may have a mechanism that enables the robot cart 144 to remain fixed relative to the patient. The mechanism may better ensure that the robot 114 and / or any other components on the robot cart 144 do not move relative to the patient due to the mobility of the robot cart 144 once the robot cart 144 has been positioned in the desired location.

[0079] The robot 114 may be or comprise any surgical robot or surgical robotic system. The robot 114 may be or comprise, for example, the Mazor X™ Stealth Edition robotic guidance system or successor thereof. The robot 114 may be configured to position the imaging device 112 at one or more precise position(s) and orientation(s), and / or to return the imaging deviceA0012918W001112 to the same position(s) and orientation(s) at a later point in time. The robot 114 may additionally or alternatively be configured to manipulate the end effector 140 and / or a component thereof such as a surgical tool (whether based on guidance from the navigation system 118 or not) to accomplish or to assist with a surgical task. In some embodiments, the robot 114 may be configured to hold and / or manipulate an anatomical element during or in connection with a surgical procedure.

[0080] In some embodiments, the robotic arm 116 may comprise a first robotic arm and a second robotic arm, though the robot 114 may comprise more than two robotic arms. In some embodiments, one or more of the robotic arms 116 may be used to hold and / or maneuver the imaging device 112. In embodiments where the imaging device 112 comprises two or more physically separate components (e.g., a transmitter and receiver), one robotic arm 116 may hold one such component, and another robotic arm 116 may hold another such component. Each robotic arm 116 may be positionable independently of the other robotic arm. The robotic arms 116 may be controlled in a single, shared coordinate space, or in separate coordinate spaces.

[0081] The robot 114, together with the robotic arm 116, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Further, the robotic arm 116 may be positioned or positionable in any pose, plane, and / or focal point. The pose includes a position and an orientation. As a result, an imaging device 112, the RTU 132, the tool changer 136, the end effector 140 and components thereof such as a surgical tool, or other object held by or connected to the robot 114 (or, more specifically, held by or connected to the robotic arm 116) may be precisely positionable in one or more needed and specific positions and orientations.

[0082] The robotic arm(s) 116 may comprise one or more sensors that enable the processor 120 (or another processor of another component of the system 100) to determine a precise pose in space of the robotic arm (as well as any object or element held by or secured to the robotic arm such as the RTU 132, the tool changer 136, and / or the end effector 140).

[0083] With reference to Fig. IB, the processor 120 of the robot 114 may be any processor described herein or any similar processor. The processor 120 may be configured to execute instructions stored in the memory 122, which instructions may cause the processor 120 to carry out one or more computing steps utilizing or based on data received from the imaging device 112, the navigation system 118, the database 130, the cloud 134, and / or the end effector 140. The processor 120 may be or comprise one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al l, A12,A0012918W001A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000-series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry.

[0084] The memory 122 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non-transitory memory for storing computer-readable data and / or instructions. The memory 122 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods. In one embodiment, the memory 122 comprises an EEPROM. The memory 122 may store, for example, instructions and / or machine learning models that support one or more functions of the robot 114. For instance, the memory 122 may store content (e.g., instructions and / or machine learning models) that, when executed by the processor 120, enable image processing, segmentation, transformation, and / or registration. Such content, if provided as in instruction, may, in some embodiments, be organized into one or more applications, modules, packages, layers, or engines. Alternatively, or additionally, the memory 122 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processor 120 to carry out the various method and features described herein. Thus, although various contents of memory 122 may be described as instructions, it should be appreciated that functionality described herein can be achieved through use of instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions may cause the processor 120 to manipulate data stored in the memory 122 and / or received from or via the imaging device 112, the database 130, the RTU 132, the cloud 134, the tool changer 136, and / or the end effector 140.

[0085] The communication interface 124 may be used for receiving image data or other information from an external source (such as the imaging device 112, the navigation system 118, the database 130, the RTU 132, the cloud 134, the tool changer 136, the end effector 140, and / or any other system or component not part of the system 100), and / or for transmitting instructions, images, or other information to an external system or device (e.g., the imaging device 112, the robot 114, the navigation system 118, the database 130, the RTU 132, the cloud 134, the tool changer 136, the end effector 140, and / or any other system or component not part of the system 100). The communication interface 124 may comprise one or more wired interfaces (e.g., a USB port, an Ethernet port, a Firewire port) and / or one or more wirelessA0012918W001 transceivers or interfaces (configured, for example, to transmit and / or receive information via one or more wireless communication protocols such as 802.1 la / b / g / n, Bluetooth, NFC, ZigBee, and so forth). In some embodiments, the communication interface 124 may be useful for enabling the robot 114 (or one or more components thereof) to communicate with one or more other processors discussed herein, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.

[0086] The controller 128 may be configured to automatically control one or more functions and / or components of the robot 114. In some embodiments, the controller 128 may utilize the processor 120 to perform computations during the course of controlling the one or more functions and / or components of the robot 114. In some embodiments, the controller 128 may be configured to actuate one or more motors in one or more joints of the robotic arm 116 to, for example, cause the robotic arm 116 to move. In some embodiments, the controller 128 may receive information from the RTU 132, the tool changer 136, and / or the end effector 140, and use such information to authenticate and control the RTU 132, the tool changer 136, and / or end effector 140. For example, the controller 128 may receive authentication information from the end effector 140, and compare such information to information stored, for example, in the database 130. When the authentication information from the end effector 140 does not match the information in the database 130, the controller 128 may prevent the end effector 140 from being used in the surgery or surgical procedure. In another example, the controller 128 may receive usage information from the RTU 132 associated with a number of times the end effectorl40 has been used. If the number of times the end effector 140 has been used exceeds a threshold value, the controller 128 may prevent the end effector 140 from being used in the surgery or surgical procedure.

[0087] Still with reference to Fig. IB, the navigation system 118 may provide navigation for a surgeon and / or a surgical robot during an operation. The navigation system 118 may be any now-known or future-developed navigation system, including, for example, the Medtronic StealthStation™ S8 surgical navigation system or any successor thereof. The navigation system 118 may include one or more cameras or other sensor(s) for tracking one or more reference markers, navigated trackers, or other objects within the operating room or other room in which some or all of the system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, the navigation system 118 may comprise one or more electromagnetic sensors. In various embodiments, the navigation system 118 may be used to track a position and orientation (e.g., a pose) of the imaging device 112, the robot 114, the robotic arm 116, and / or the RTU 132, and components thereof, and / orA0012918W001 one or more surgical tools (or, more particularly, to track a pose of a navigated tracker attached, directly or indirectly, in fixed relation to the one or more of the foregoing). The navigation system 118 may include a display (including, for example, the user interface 110) for displaying one or more images from an external source (e.g., imaging device 112 or other source) or for displaying an image and / or video stream from the one or more cameras or other sensors of the navigation system 118. In some embodiments, the system 100 can operate without the use of the navigation system 118. The navigation system 118 may be configured to provide guidance to a surgeon or other user of the system 100 or a component thereof, to the robot 114, or to any other element of the system 100 regarding, for example, a pose of one or more anatomical elements, whether or not a tool is in the proper trajectory, and / or how to move a tool into the proper trajectory to carry out a surgical task according to a preoperative or other surgical plan. The navigation system 118 comprises a processor 104, a memory 106, a communication interface 108, and a user interface 110.

[0088] In some embodiments, reference markers (e.g., navigation markers) may be placed on the imaging device 112, the robot 114 (including, e.g., on the robotic arm 116), or any other object in the surgical space. One or more navigation markers 150 (e.g., infrared Light Emitting Diodes (IRLEDs)) on the RTU 132 may be used as reference markers that the navigation system uses to track the robotic arm 116 and / or the end effector 140. The reference markers may be tracked by the navigation system 118, and the results of the tracking may be used by the robot 114 and / or by an operator of the system 100 or any component thereof. In some embodiments, the navigation system 118 can be used to track other components of the system (e.g., imaging device 112).

[0089] The processor 104 may be similar to or the same as any processor discussed herein (e.g., the processor 120). The processor 104 may be configured to execute instructions stored in the memory 106, which instructions may cause the processor 104 to carry out one or more computing steps utilizing or based on data received from the imaging device 112, the robot 114, the database 130, the cloud 134, and / or any other component of the system 100.

[0090] The memory 106 may be similar to or the same as any memory discussed herein (e.g., the memory 122). The memory 106 may be or comprise RAM, DRAM, SDRAM, other solid- state memory, any memory described herein, or any other tangible, non-transitory memory for storing computer-readable data and / or instructions. In one embodiment, the memory 106 comprises an EEPROM. The memory 106 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods.A0012918W001

[0091] The communication interface 108 may be similar to or the same as any communication interface discussed herein (e.g., the communication interface 124). The communication interface 108 may be used for receiving image data or other information from an external source (such as the imaging device 112, the robot 114, the database 130, the cloud 134, and / or any other system or component not part of the system 100), and / or for transmitting instructions, images, or other information to an external system or device (e.g., the imaging device 112, the robot 114, the database 130, the cloud 134, and / or any other system or component not part of the system 100).

[0092] The user interface 110 may be or comprise one or multiple user interfaces. The user interface 110 may be or comprise a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 110 may be used, for example, to receive a user selection or other user input regarding any step of any method described herein. Notwithstanding the foregoing, any required input for any step of any method described herein may be generated automatically by the system 100 (e.g., by the processor 104, the processor 120, or another component of the system 100) or received by the system 100 from a source external to the system 100. In some embodiments, the user interface 110 may be useful to allow a surgeon or other user to modify instructions to be executed by the processor 104 (or in some embodiments the processor 120) according to one or more embodiments of the present disclosure, and / or to modify or adjust a setting of other information displayed on the user interface 110 or corresponding thereto.

[0093] Although the user interface 110 is shown as part of the navigation system 118, in some embodiments, the processor 104 and / or the processor 120 (or any other processor discussed herein) may utilize a user interface 110 that is housed separately from the navigation system 118. In some embodiments, the user interface 110 may be located proximate one or more other components of the robot 114, while in other embodiments, the user interface 110 may be located remotely from one or more other components of the robot 114.

[0094] The database 130 may store information that correlates one coordinate system to another (e.g., one or more robotic coordinate systems to a patient coordinate system and / or to a navigation coordinate system). The database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about a target and / or image information about a patient’ s anatomy at and / or proximate the surgical site, for use by the robot 114, the navigation system 118, and / or a user of the system 100; information about planned surgical tools to be used and connected to the robotic arm 116 to carry out theA0012918W001 surgery or surgical procedure); one or more images useful in connection with a surgery to be completed by or with the assistance of one or more other components of the system 100; information related to the RTU 132, the tool changer 136, and / or the end effector 140, and / or any other useful information. The database 130 may be configured to provide any such information to any device of the system 100 or external to the system 100, whether directly or via the cloud 134. In some embodiments, the database 130 may be or comprise part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0095] The cloud 134 may be or represent the Internet or any other wide area network. The robot 114, the navigation system 118, the database 130, and / or the like may be connected to the cloud 134 via the communication interface 108 and / or the communication interface 124, using a wired connection, a wireless connection, or both. In some embodiments, one or more components of the system 100 may communicate with the imaging device 112, the database 130, any other component of the system 100, and / or an external device (e.g., a computing device outside the system 100) via the cloud 134.

[0096] The RTU 132 has a proximal end with an interface that is connectable to the distal end of the robotic arm 116 to attach the RTU 132 to the robotic arm 116. The RTU 132 has a distal end that facilitates connection of the RTU 132 to the tool changer 136. In general, the RTU 132 remains on the robotic arm 116 through the course of the surgery or surgical procedure. The RTU 132 may comprise a tracking device 138 that includes components used for tracking the system 100 itself, the robotic arm 116, the tool changer 136, and / or the end effector 140 within a coordinate system, such as a coordinate system formed by the navigation system 118 with the aid of imaging device(s) 112. The tracking device 138 may comprise a processor 148, a memory 152, and one or more passive or active navigation markers 150 (e.g., reflective spheres as passive markers, IRLEDs as active markers). In some implementations, the navigation markers 150 may be disposed in a predetermined arrangement on the RTU 132 which may enable, for example, registration with other elements of the system based on the detection of the navigation markers 150 using image data from the imaging devices 112 and processing by the navigation system 118. Additionally, or alternatively, the memory 152 of the RTU 132 may comprise a calibration file including calibration and authentication information that enables the controller 128 to calibrate and authenticate the RTU 132, as discussed in further detail below. In some embodiments, the RTU 132 may omit one or more components depicted in Fig. IB. In some embodiments, the RTU 132 may comprise additional components, such asA0012918W001 temperature sensors, LED driver circuit(s), other sensors used for surgery, communication interfaces, and / or the like. In some embodiments, the RTU 132 may comprise additional input elements, such as push buttons, toggles, and / or other elements used to provide user inputs. The RTU 132 may transfer such inputs to the robot 114. The processor 104 of the navigation system 118 and / or the processor 120 of the robot 114 (or any other processor discussed herein) may utilize such inputs together with inputs from the user interface 110.

[0097] The processor 148 may be similar to or the same as any processor discussed herein (e.g., the processor 104, the processor 120, etc.). The processor 148 may be configured to execute instructions stored in the memory 152, which instructions may cause the processor 148 to carry out one or more computing steps utilizing or based on data received from the imaging device 112, the robot 114, the database 130, the cloud 134, and / or any other component of the system 100.

[0098] The memory 152 may be similar to or the same as any memory discussed herein (e.g., memory 106, the memory 122, etc.). The memory 152 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non- transitory memory for storing computer-readable data and / or instructions. The memory 152 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods. In one embodiment, the memory 152 comprises an EEPROM that is programmable to store information specific to the RTU 132. For example, the EEPROM may comprise information about the position of LEDs on the RTU 132; specification information associated with the dimensions, operating conditions, and the like of the RTU 132; usage information associated with the RTU 132; authentication information of the RTU 132; and / or any other useful information. Such information may be sent by the processor 148 to the controller 128 upon the RTU 132 being attached to the robotic arm 116.

[0099] The interface(s) 156 may comprise one or more electrical and / or mechanical interfaces to electrically and mechanically connect interface(s) 164 of the tool changer 136 to the RTU 132 to enable the tool changer 136 to provide power and data, e.g., control signals, to the end effector 140. The end effector 140 may be an active component, such as a motorized surgical tool. In this case, the interfaces 156 may send signals to and receive signals from the end effector 140 through the tool changer 136 to control the end effector 140 and / or active components of the end effector 140 such as surgical drills, reamers, etc. In some embodiments, power supplied to the interfaces 156 and signals exchanged with the end effector 140 are controlled by the processor 148. In some examples, the end effector 140 comprises a passiveA0012918W001 component, such as a cylinder that facilitates use of another tool therethrough - whether motorized or non-motorized.

[0100] As noted above, the tool changer 136 may comprise one or more electrical and / or mechanical interfaces 164 at the distal and proximal ends thereof that electrically and mechanically connect with an end effector 140 and the RTU 132. The interfaces 164 are described in more detail below with reference to Figs. 2A-2G but should generally be understood to include a first type of mechanical connection to the RTU (e.g., a first clamp) and a second type of mechanical connection to the end effector (e.g., a second clamp). The tool changer 136 may comprise a distal end interface with fixed dimensions designed to connect to corresponding end effectors 140. Optionally, the tool changer 136 comprises a distal end interface with adjustable dimensions to enable end effectors 140 of different shapes and sizes to be coupled to the robotic arm 116. In some implementations, the tool changer 136 receives control signals from other components of the system 100) that are passed to the end effector 140.

[0101] A tool changer 136 as described herein may be constructed from one or more materials selected for durability, sterility, and / or mechanical properties suitable for an intended procedure. Such materials may include, for example, one or more of stainless steel (such as surgical-grade stainless steel), titanium, plastics, polymers, silicone, and / or other suitable materials.

[0102] With reference to Fig. IB, an end effector 140 may include a proximal end having an electromechanical interface that is connectable to an interface 164 of the tool changer 136 and a distal end that comprises an operative portion 180 that can be used to carry out one or more surgical tasks. The end effector 140 may comprise an active end effector, such as when the operative portion 180 comprises a surgical tool, or a passive end effector, such as when the operative portion 180 comprises a tool guide. The end effector 140 may also comprise a memory 172, a processor 168, a motor controller 176, and / or other components.

[0103] The operative portion 180 of an end effector 140 may comprise a surgical tool. The surgical tool may be configured to drill, burr, mill, cut, saw, ream, tap, etc. into anatomical tissues such as patient anatomy (e.g., soft tissues, bone, etc.). In some embodiments, the system 100 may comprise multiple surgical tools, with each surgical tool performing a different surgical task (e.g., a surgical drill for drilling, a surgical mill for milling, a curette for removing anatomical tissue, an osteotome for cutting bone (which may be referred to as a bone-cutting device), etc.). In other embodiments, the surgical tool may provide an adapter interface to which different working ends can be attached to perform multiple different types of surgicalA0012918W001 maneuvers (e.g., the surgical tool may be able to receive one or more different tool bits, such that the surgical tool can drill, mill, cut, saw, ream, tap, etc. depending on the tool bit coupled with the surgical tool). The surgical tool may be operated autonomously or semi-autonomously. The navigation system 118 may track the pose (e.g., position and orientation) of and / or navigate the surgical tool.

[0104] Additionally, or alternatively, the operative portion 180 may comprise a tool guide (which may also be referred to as a robotic arm guide). The tool guide may provide a passive hole through which a surgical tool or component may pass to reach a surgical site. For example, the tool guide may be or comprise a hollow cylinder that can be aligned with a planned trajectory of a surgical tool. As a result, the guide provides a visual indicator to an operator (e.g., a surgeon) of the planned trajectory of the surgical tool. In some cases, the operative portion 180 comprising the tool guide may be attached to the robotic arm 116 and the robotic arm 116 may move such that the tool guide is positioned at the planned surgical entry point. Another robotic arm 116 with a surgical tool (e.g., a surgical drill) may then be positioned such that the surgical tool enters the surgical site through the tool guide.

[0105] The operative portion 180 may be controlled by a motor controller 176. The motor controller 176 may be connected to or otherwise communicate with one or more motors disposed in or connected to the end effector 140. The motor controller 176 may control the operation of the motors, such that the motor controller 176 controls movement of the end effector 140 and / or one or more components thereof such as the operative portion 180. The motor controller 176 may control the motors based on signals sent from the robot 114 or components thereof (e.g., the controller 128), the navigation system 118 or components thereof (e.g., the processor 104), the RTU 132, the tool changer 136, and / or the like. In one example, such as when the operative portion 180 comprises a surgical tool, the motor controller 176 may control one or more motors of the operative portion 180 to cause movement of the surgical tool, to turn the surgical tool on and off, combinations thereof, and / or the like. In some embodiments, the motor controller 176 may be housed in the RTU 132 and communicate with one or more motors disposed in or connected to the end effector 140 through the tool changer 136.

[0106] The processor 168 may be similar to or the same as any processor discussed herein (e.g., the processor 104, processor 120, the processor 148, etc.). The processor 168 may be configured to execute instructions stored in the memory 172, which instructions may cause the processor 168 to send information stored in the memory 172 to one or more components of the system 100 (e.g., to the robot 114, to the navigation system 118, to the RTU 132, to the tool changer 136, etc.). Additionally, or alternatively, the instructions may cause the processor 168A0012918W001 write to or otherwise update information stored in the memory 172, such as to update information about the number of uses of the end effector 140, as discussed in further detail below.

[0107] The memory 172 may be similar to or the same as any memory discussed herein (e.g., the memory 122). The memory 172 may be or comprise RAM, DRAM, SDRAM, other solid- state memory, any memory described herein such as an EEPROM, or any other tangible, non- transitory memory for storing computer-readable data and / or instructions. The memory 106 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods. The memory 172 is reprogrammable memory, such that information stored in the memory 172 can be erased and reprogrammed. In one embodiment, the memory 172 may be unique to the end effector 140. In other words, each end effector 140 may have a separate memory 172 embedded in the end effector 140 and containing information unique to the end effector 140.

[0108] The system 100 or similar systems may be used, for example, to carry out one or more aspects of the methods described herein. The system 100 or similar systems may also be used for other purposes.

[0109] Figs. 2A-2G illustrate different views of a tool changer 136 according to at least one embodiment of the present disclosure. Fig. 2E illustrates a tool changer 136 attached to an end effector 140 and an RTU 132. In particular, Figs. 2A and 2B illustrate example proximal end views of a tool changer 136 that electrically and mechanically connects to a distal end of an RTU 132 (not shown) via corresponding interfaces. In Fig. 2A, first and second clamps 204a, 204b are open while in Fig. 2B, the first and second clamps 204a, 204b are closed. Fig. 2F provides a detailed view of the open clamps 204a, 204b of Fig. 2A. Fig. 2G provides a detailed view of the closed clamps 204a, 204b of Fig. 2B. Figs. 2C and 2D illustrate example distal end views of a tool changer 136, which may electrically and mechanically connect to an end effector 140. The first and second claims 204a, 204b are closed in Figs. 2C and 2D. Fig. 2E illustrates a view of the tool changer 136 connected to a distal end of an RTU 132 and to an end effector 140 to explain locking features according to at least one embodiment of the present disclosure. The interfaces of the tool changer 136 are described in more detail below with reference to Figs. 2A-2E but should generally be understood to include respective electrical connections and a first type of mechanical connection to the RTU 132 and a second type of mechanical connection to the end effector.

[0110] With reference to Figs. 2A and 2B, the tool changer 136 may be used to connect an RTU 132 to an end effector 140. For example, starting in an open state as illustrated by Fig.A0012918W0012A, a user may place the tool changer 136 onto an RTU 132 (not shown) of a robotic arm 116 and close the first clamp 204a. The interior 218a of the proximal side of the tool changer 136 may be configured to mate with a distal end of the RTU 132. The distal end of the RTU 132 may fit into an interior 218a of the proximal side of the tool changer 136 and, once the first clamp 204a is closed, the tool changer 136 may be securely fastened to the RTU 132.

[0111] In some implementations, a user may be enabled to secure a drape 250 (illustrated in Fig. 2E) to the tool changer 136 using the first clamp 204a. The drape 250 may separate exterior portions of the connected tool changer 136 and RTU 132 such that a sterile environment may contain the tool changer 136 and the end effector 140 while a non- sterile environment may contain the RTU 132. As described herein, the first clamp 204a may not be openable unless the second clamp 204b is already open. In this way, a user can be ensured that the drape will not be inadvertently unsecured during a procedure. A tool changer 136 as described herein lessens the risk of inadvertent unlocking of the tool changer 136 from an RTU 132 during a procedure. Inadvertent unlocking of the tool changer 136 from the RTU 132 may cause the tool changer 136 and the end effector 140 to drop on the floor or worse - on the patient. Inadvertent unlocking of the tool changer 136 from the RTU 132 may be caused due to confusion of the user due to the same type of mechanism (a clamp) being used for both the RTU-to-tool changer interface and the tool-changer-to-end effector interface. In some embodiments, a user may be enabled to secure a drape 250 to the interface between the tool changer 136 and RTU 132, such that when the tool changer 136 is secured to the RTU 132, the drape cannot be removed.

[0112] With reference to Figs. 2C and 2D, the user may next place an end effector 140 (not shown) into an interior 218b of the distal side of the tool changer 136 and close the second clamp 204b. The interior 218b of the distal side of the tool changer 136 may be configured to mate with an end of the end effector 140. The end of the end effector 140 may fit into the interior 218b of the distal side of the tool changer 136 and, once the second clamp 204b is closed, the tool changer 136 may be securely fastened to the end effector 140.

[0113] In some implementations, one or more alignment aids (which may be referred to as alignment points), such as protrusions 220a, 220b may project from side walls of the interior 218a of the proximal side of the tool changer 136. Such protrusions 220a, 220b may be configured to mate with corresponding recesses of a distal end of an RTU 132 such that the mating of the tool changer 136 with the RTU 132 can be assured to be aligned appropriately. The protrusions 220a, 220b and recesses may assist with aligning the tool changer 136 and the RTU 132 for proper connection and with ensuring accuracy of the system by providing anA0012918W001 accurate and repeatable connection. In at least one example, a user inserts each protrusion 220a, 220b into a corresponding recess and then secures the tool changer 136 to the RTU 132 via the first clamp 204a. The protrusions 220a and 220b may be shaped differently so as to provide additional assurance that the tool changer 136 is properly aligned with the RTU 132.

[0114] In some implementations, protrusions 220c, 220d may also, or alternatively, project from side walls of the interior 218b of the distal side of the tool changer 136. Such protrusions 220c, 220d may be configured to mate with recesses of an end of an end effector 140 such that the mating of the tool changer 136 with the RTU 132 can be assured to be aligned appropriately. The protrusions 220c, 220d and recesses may assist with aligning the tool changer 136 and the end effector 140 for proper connection and with ensuring accuracy of the system by providing an accurate and repeatable connection. In at least one example, a user inserts each protrusion 220c, 220d into a corresponding recess and then secures the tool changer 136 to the end effector 140 via the second clamp 204b. The protrusions 220c and 220d may be shaped differently so as to provide additional assurance that the tool changer 136 is properly aligned with the end effector 140.

[0115] As should be appreciated, in the same or other implementations alternative means for aligning the tool changer 136 with the RTU 132 and / or the end effector 140 may be used. In some implementation, a greater or lesser number of protrusions may be used, and in some scenarios, zero protrusions may be used.

[0116] As may be appreciated by the illustration of Figs. 2F and 2G, the second clamp 204b may be configured to prevent the first clamp 204a from opening when the second clamp 204b is closed. As illustrated in Fig. 2G, a portion of the second claim 204b covers a portion of the first clamp 204a. That is, a portion of the second clamp 204b overlaps at least a portion of the first clamp 204a when the first clamp 204a and the second clamp 204b are closed. For example, the first clamp 204a and the second clamp 204b must be operated in sequence. The first clamp 204a must be closed prior to the closing of the second clamp 204b. The second clamp 204b, once closed, is configured to secure a portion of the first clamp 204a to prevent premature or inadvertent opening of the first clamp 204a.

[0117] The first clamp 204a comprises a primary clamping mechanism configured to securely hold an RTU 132 in the tool changer 136. In at least one embodiment, the first clamp 204a includes a locking mechanism such as a lever or latch to firmly tighten a ring of the tool changer 136 onto the RTU 132. Once closed, the first clamp 204a is designed to hold the RTU 132 securely, ensuring stability and preventing movement or disengagement during use.A0012918W001

[0118] The second clamp 204b may be configured to be closed only after the first clamp 204a is securely closed. In at least one embodiment, the second clamp 204b is positioned and shaped such that, when closed, it covers a portion of the first clamp 204a. In some implementations, the second clamp 204b includes one or more protrusions 224 which are shaped to fit around an outer edge of the first clamp 204a as illustrated in Fig. 2F. In this way, the second clamp 204b may, once closed, wrap around edges of the first clamp 204a, creating a physical barrier that prevents access to the first clamp 204a while the second clamp 204b remains engaged. In some implementations, the second clamp 204b may completely covers four sides of an end of the first clamp 204a.

[0119] The second clamp 204b comprises a primary clamping mechanism configured to securely hold an end effector 140 in the tool changer 136. In at least one embodiment, the second clamp 204b includes a locking mechanism such as a lever or latch to firmly tighten a ring of the tool changer 136 onto the end effector 140. Once closed, the second clamp 204b is designed to hold the end effector 140 securely, ensuring stability and preventing movement or disengagement during use.

[0120] In some implementations, the first clamp 204a may be configured to prevent the second clamp 204b from closing when the first clamp 204a is open. As an example, the second clamp 204b may be configured such as to not be secure unless latched onto a closed and secure first clamp 204a. Such a feature may prevent misuse of the tool changer 136, such as by a user attempting to connect an end effector 140 before mounting the tool changer 136 onto an RTU 132.

[0121] While the systems and methods described herein refer to specifically designed first and second clamps 204a, 204b, it should be appreciated that other ways of preventing the first clamp 204a from opening once the second clamp 204b is closed may be used. The present disclosure should not be considered as being limited to any particular design of the clamps 204a, 204b.

[0122] In some embodiments, the first clamp 204a and / or the second clamp 204b may have a point of no return to decrease a risk of accidental opening, such as due to system vibrations, accidental collisions with surrounding objects, and / or accidental user touches. For example, a clamp may include a lever or handle that, when engaged, activates the clamping mechanism to securely lock the tool changer 136 onto an end effector 140 and / or an RTU 132. To enhance the safety and security of this connection, in some embodiments, the clamp mechanism may be equipped with a spring-loaded feature, wherein one or more parts of the clamp are compliant or springy, creating a bias towards the closed position. In other embodiments, no springA0012918W001 mechanism may be required, as the geometry and mechanics of the clamp alone may create sufficient resistance to prevent accidental opening.

[0123] Once a clamp is moved into the closed position, the components of the clamp may exert continuous force to maintain the closure and to provide resistance to being opened. This tension may ensure the clamp remains locked in place, even when subjected to external forces or vibrations. In cases where no spring is used, the clamp's design may rely on mechanical friction, detents, or other physical resistance mechanisms to keep the clamp securely closed.

[0124] To further prevent inadvertent opening, in some implementations the lever or handle of a clamp must pass through a point of no return during the opening process. This point represents a position in the lever’s movement where the force required to overcome the resistance of the clamping mechanism is at its highest, regardless of whether a spring or mechanical resistance is used. A user must apply a deliberate amount of force to move the lever past this point, ensuring that only intentional efforts can open the clamp. Once the lever surpasses the point of no return, the remaining force required to fully open the clamp is reduced, allowing for a controlled and deliberate opening.

[0125] This feature serves as a safeguard by ensuring that accidental bumps or minor external forces are insufficient to disengage the clamp. By incorporating this point of no return, the overall probability of the clamp inadvertently opening is significantly lowered, thus maintaining the integrity of the connection and ensuring patient safety.

[0126] In some implementations, the first clamp 204a and / or the second clamp 204b may be designed to prevent partial locking, ensuring that the clamp is either fully secured or not locked at all. This feature enables improved safety by avoiding situations where the tool changer 136 may appear to be attached to the RTU 132 and / or an end effector 140 but is not fully secured, which could result in accidental detachment during use.

[0127] This dual-clamp design provides enhanced safety and security as compared to conventional tool changers by ensuring that the tool changer will not be inadvertently disconnected from the RTU during a procedure. Because the first clamp may be used to secure a surgical drape during a procedure, by preventing inadvertent opening of the first clamp, the drape will remain secured, avoiding contamination of sterilization. Additionally, by providing clamps to secure the tool changer to the RTU and end effectors, no screws are required to be used to attach the tool changer to the end effector or to the RTU. Nor are any external tools required to attach the tool changer to the end effector or to the RTU. Users are also not required to apply rotation to attach the tool changer to the end effector or to the RTU.A0012918W001

[0128] As shown in Figs. 2A-2D, electrical connection for data and / or power transfer between the tool changer 136 and the RTU 132 and end effector 140 may be achieved through electrical connectors of the tool changer 136 and an electrical connector of the RTU 132. In the non-limiting example shown in Figs. 2A and 2B, the electrical connectors of the tool changer 136 comprise a plurality of conductive pins 226 (which may be referred to as electrical contacts). An electrical connector of the RTU 132 may comprise conductive pads that correspond to each conductive pin 226 on a proximal face of the tool changer as illustrated in Figs. 2A and 2B. Each pin 226 at a distal end of the tool changer 136 may electrically connect to a corresponding pin 226 at the proximal end of the tool changer 136 and a corresponding conductive pad of the RTU 132. An electrical connector of an end effector 140 may comprise conductive pads that correspond to each conductive pin 226 on a distal face of the tool changer as illustrated in Figs. 2C and 2D. In some cases, corresponding pins 226 on a proximal face of the tool changer 136 may be aligned with pins 226 on a distal face of the tool changer 136 so as to have a same central longitudinal axis.

[0129] In some examples, the pins 226 of the tool changer 136 are spring loaded so as to have a compressed or pushed-in state and a decompressed or protruded state. For example, when the tool changer 136 and the RTU 132 are connected, pins 226 on the proximal face of the tool changer 136 may be in a compressed state and in electrical contact with corresponding conductive pads (not shown) internal to the tool changer 136 and positioned between ends of corresponding pins 226 on proximal and distal faces of the tool changer 136. Meanwhile, the pins 226 on the distal face of the tool changer 136 are in a decompressed state when the tool changer 136 is detached from or not secured to the RTU 132. When an end effector 140 is attached and / or locked to the tool changer 136, spring-loaded pins 226 on the distal face of the tool changer 136 may be pushed into electrical contact with the conductive pads (not shown) internal to the tool changer 136. The pins 226 of the distal face of the tool changer 136 may be in a decompressed state when the end effector 140 is detached from or not locked to the tool changer 136. In this case, the pins 226 on the proximal face of the tool changer 136 retract from the conductive pads internal to the tool changer 136 so as to not to be in electrical contact. In some examples, at least some of the pins 226 are not spring-loaded and are instead non- retractable conductive posts designed to make electrical contact with connections (which may be spring-loaded or not) on the end effector 140 and / or the RTU 132. For example, pins 226 on the proximal face of the tool changer 136 are not spring loaded, and instead have lengths so as to be in constant electrical contact with pads of the RTU 132 when the tool changer 136 is connected to the RTU 132.A0012918W001

[0130] The above discussion describes a pin 226 on a proximal face of the tool changer 136 as being separate from a pin 226 on a distal face of the tool changer 136 and electrically connectable to one another through a corresponding conductive pad internal to the tool changer 136. However, in some examples, pins 226 on opposing faces of the tool changer 136 may form a unitary component (i.e., a single pin) which passes through the tool changer 136 from the distal end to the proximal end. In this case, both ends of the pin 226 may have the same or similar spring-loaded functionality and compressed / decompressed states described so that the ends are compressed inward toward a center of the tool changer 136 in a compressed state and are allowed to decompress by extending away from the center of the tool changer 136 in a decompressed state. In some examples, the entire pin 226 is conductive and able to pass electrical signals regardless of whether each end of the pin is compressed or decompressed. In some examples, however, the pin 226 may comprise a conductive pad or part located between the ends (in the same or similar position as a pad) which serves the same purpose as the abovedescribed conductive pads internal to the tool changer 136. Here, the pin 226 conducts electricity from one end to the other only when both ends are in the compressed state. Thus, a conductive part of one end of the pin may be separated from a conductive part of the other end of the pin by an insulator when either end is in the decompressed state. For example, an insulative middle section of the pin may separate the two conductive ends. The insulative middle section may be secured within the tool changer 136 and may be surrounded by or house a conductive pad that enables electrical connection when both ends are in the compressed state (i.e., when the tool changer 136 is connected to the end effector 140 and the RTU 132 to push each end of the pin into contact with the conductive pad).

[0131] The above-described electrical connectors of the tool changer 136 may enable data to be transferred between an RTU 132 and an end effector 140 via the tool changer 136. In various implementations, power may be provided to the end effector 140 from the RTU 132 via the tool changer 136, power may be provided to the RTU 132 from the end effector 140 via the tool changer 136, data may be provided to the end effector 140 from the RTU 132 via the tool changer 136, and / or data may be provided to the RTU 132 from the end effector 140 via the tool changer 136.

[0132] Fig. 3 illustrates a method 300 according to at least one embodiment of the present disclosure. As described above, in at least one embodiment, a tool changer 136 is disclosed that features an integrated clamping mechanism including a first clamp 204a and a second clamp 204b. The first clamp 204a may be configured to securely attach the tool changer 136 to a distal end of an RTU 132. The connection between the tool changer 136 and the RTU 132 may enableA0012918W001 a surgical drape 250 to be secured and establish a sterile environment on a tool changer side of the drape 250. The connection between the tool changer 136 and the RTU 132 may be mechanically secure to maintain the integrity of the connection between the tool changer 136 and the RTU 132 during a procedure such as a robotic surgery. The second clamp 204b may be configured to securely attach the tool changer 136 to an end of an end effector 140. The connection between the tool changer 136 and the end effector 140 may also be mechanically secure to maintain the integrity of the connection of the tool changer 136 to the end effector 140 during a procedure such as a robotic surgery. Further, as described above, the second clamp 204b may, once closed, prevent the first clamp 204a from opening, such as from being inadvertently opened by a user, before the second clamp 204b has been opened.

[0133] To utilize the tool changer 136 as described herein to secure an RTU 132 to an end effector 140 via the tool changer 136, a user may, at 304, secure a first side of the tool changer 136 to the RTU 132 using a first clamp 204a of the tool changer 136 by inserting a distal end of the RTU 132 into an interior of the tool changer 136. In some implementations, an inner coupling ring of the tool changer 136 may align with a corresponding ring of the RTU 132. The coupling rings may in some implementations include a series of guiding ridges, notches, and / or protrusions (such as protrusions 220a, 220b) to facilitate proper alignment, ensuring that the RTU 132 is fully and correctly inserted into the tool changer 136.

[0134] After the RTU 132 is properly inserted into the tool changer 136, a first clamp 204a integrated into the tool changer 136 may be used to secure the connection. In at least one embodiment, the first clamp 204a includes a hinge mechanism that allows it to be opened and closed around the end of the RTU 132. Once the end of the RTU 132 is inserted, the user may move the first clamp 204a into a closed position, wrapping it around a circumference of the tool changer 136.

[0135] At 308, the user may next secure a second side of the tool changer 136 to the end effector 140 using a second clamp 204b of the tool changer 136 by inserting an end of the end effector 140 into an interior of the tool changer 136. In some implementations, an inner coupling ring of the tool changer 136 may align with a corresponding ring of the end effector 140. The coupling rings may in some implementations include a series of guiding ridges, notches, and or protrusions (such as protrusions 220c, 220d) to facilitate proper alignment, ensuring that the end effector 140 is fully and correctly inserted into the tool changer 136.

[0136] After the end effector 140 is properly inserted into the tool changer 136, the second clamp 204b integrated into the tool changer 136 may be used to secure the connection. In at least one embodiment, the second clamp 204b includes a hinge mechanism that allows it to beA0012918W001 opened and closed around the end of the end effector 140. Once the end of the end effector 140 is inserted, the user may move the second clamp 204b into a closed position, wrapping it around a circumference of the tool changer 136. As described above, the second clamp 204b may be configured to prevent the first clamp 204a from opening and / or to prevent the first clamp 204a from being inadvertently opened when the second clamp 204b is closed.

[0137] Once the tool changer 136 securely connects the end effector 140 to the RTU 132, a procedure may be performed. Such a procedure may be a robotic surgery or any other type of procedure involving an end effector 140 being controlled by a robot 114. If, during the procedure, the end effector 140 is to be switched out for a different type of end effector, a user may dismount the end effector 140 by opening the second clamp 204b. Because the first clamp 204a cannot be opened before the second clamp 204b, the user is ensured to not inadvertently open the first clamp 204a (releasing the tool changer 136 from the RTU 132 and / or the drape 250) which may ruin the sterile field and / or otherwise disrupt the procedure.

[0138] A tool changer 136 as described herein, including an integrated double-clamping mechanism, is designed for safe and effective removal from an RTU 132 following a procedure. The disconnection process is carefully designed to ensure that the end effector 140 and tool changer 136 can be safely detached from the RTU 132 without causing damage to either the end effector 140, the tool changer 136, or the RTU 132.

[0139] To begin the removal process, at 312, the user may open the second clamp 204b which secures the end effector 140 to the tool changer 136. Once the second clamp 204b is fully opened, the user can carefully remove the end effector 140 from the tool changer 136. During disconnection, the user may gently separate the end effector 140 from the tool changer 136, ensuring that the tool changer 136 and end effector 140 are disengaged without applying excessive force. The end effector 140 may then be pulled out of the tool changer 136 in a controlled manner.

[0140] Once the second clamp 204b is in an open position, the user may be enabled to open the first clamp 204a. To complete the disconnection process, and the method 300 of using the tool changer 136, at 316 the user may open the first clamp 204a which secures the RTU 132 to the tool changer 136. Once the first clamp 204a is fully opened, the user can carefully remove the RTU 132 from the tool changer 136. During disconnection, the user may gently separate the RTU 132 and the tool changer 136, ensuring that the tool changer 136 and RTU 132 are disengaged without applying excessive force. The tool changer 136 may then be pulled off of the RTU 132 in a controlled manner.A0012918W001

[0141] As noted above, the present disclosure encompasses methods with fewer than all of the steps identified in Fig. 3 (and the corresponding description of the method 300), as well as methods that include additional steps beyond those identified in Fig. 3 (and the corresponding description of the method 300). The present disclosure also encompasses methods that comprise one or more steps from one method described herein, and one or more steps from another method described herein. Any correlation described herein may be or comprise a registration or any other correlation.

[0142] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and / or configurations of the disclosure may be combined in alternate aspects, embodiments, and / or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and / or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0143] Moreover, though the foregoing has included description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and / or configurations to the extent permitted, including alternate, interchangeable and / or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

[0144] Aspects of the present disclosure may include the following non-limiting examples.

[0145] A surgical system, comprising: a tool changer configured to attach to and transfer power and / or data to and / or from an end effector, the tool changer comprising: a first clamp configured to secure the tool changer to an RTU; and a second clamp configured to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.A0012918W001

[0146] The surgical system of the preceding aspect, wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

[0147] The surgical system of any of the preceding aspects, wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

[0148] The surgical system of any of the preceding aspects, wherein the second clamp completely covers four sides of an end of the first clamp.

[0149] The surgical system of any of the preceding aspects, wherein no screws are required to attach the tool changer to the end effector or to the RTU.

[0150] The surgical system of any of the preceding aspects, wherein no external tools are required to attach the tool changer to the end effector or to the RTU.

[0151] The surgical system of any of the preceding aspects, wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

[0152] The surgical system of any of the preceding aspects, wherein the first clamp is further configured to secure a drape between the tool changer and the RTU.

[0153] The surgical system of any of the preceding aspects, wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

[0154] The surgical system of any of the preceding aspects, wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

[0155] The surgical system of any of the preceding aspects, wherein the RTU is connected to a robotic arm.

[0156] The surgical system of any of the preceding aspects, wherein the tool changer further comprises one or more electrical contacts.

[0157] The surgical system of any of the preceding aspects, wherein the tool changer further comprises one or more alignment points on a first face of the tool changer.

[0158] The surgical system of any of the preceding aspects, wherein the tool changer further comprises one or more other alignment points on a second face of the tool changer.

[0159] The surgical system of any of the preceding aspects, wherein one or more of the first clamp and the second clamp is further configured with a point of no return to prevent accidental opening.

[0160] A tool changer configured to attach to and transfer power and / or data to and / or from an end effector, the tool changer comprising: a first clamp configured to secure the tool changer to an RTU; and a second clamp configured to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.A0012918W001

[0161] The tool changer of any of the preceding aspects, wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

[0162] The tool changer of any of the preceding aspects, wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

[0163] The tool changer of any of the preceding aspects, wherein the second clamp completely covers four sides of an end of the first clamp.

[0164] The tool changer of any of the preceding aspects, wherein no screws are required to attach the tool changer to the end effector or to the RTU.

[0165] The tool changer of any of the preceding aspects, wherein no external tools are required to attach the tool changer to the end effector or to the RTU.

[0166] The tool changer of any of the preceding aspects, wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

[0167] The tool changer of any of the preceding aspects, wherein the first clamp is further configured to secure a drape between the tool changer and the RTU.

[0168] The tool changer of any of the preceding aspects, wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

[0169] The tool changer of any of the preceding aspects, wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

[0170] The tool changer of any of the preceding aspects, wherein the RTU is connected to a robotic arm.

[0171] The tool changer of any of the preceding aspects, wherein the tool changer further comprises one or more electrical contacts.

[0172] The tool changer of any of the preceding aspects, wherein the tool changer further comprises one or more alignment points on a first face of the tool changer.

[0173] The tool changer of any of the preceding aspects, wherein the tool changer further comprises one or more other alignment points on a second face of the tool changer.

[0174] The tool changer of any of the preceding aspects, wherein one or more of the first clamp and the second clamp is further configured with a point of no return to prevent accidental opening.

[0175] A method of attaching an end effector to an RTU, the method comprising: securing a first side of a tool changer to the RTU using a first clamp of the tool changer, wherein the tool changer is configured to transfer power and / or data to and / or from the end effector; and securing a second side of the tool changer to the end effector using a second clamp of the tool changer,A0012918W001 wherein the second clamp is configured to prevent the first clamp from opening when the second clamp is closed.

[0176] The method of any of the preceding aspects, wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

[0177] The method of any of the preceding aspects, wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

[0178] The method of any of the preceding aspects, wherein the second clamp completely covers four sides of an end of the first clamp.

[0179] The method of any of the preceding aspects, wherein no screws are required to attach the tool changer to the end effector or to the RTU.

[0180] The method of any of the preceding aspects, wherein no external tools are required to attach the tool changer to the end effector or to the RTU.

[0181] The method of any of the preceding aspects, wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

[0182] The method of any of the preceding aspects, wherein the first clamp is further configured to secure a drape to the tool changer.

[0183] The method of any of the preceding aspects, wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

[0184] The method of any of the preceding aspects, wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

[0185] The method of any of the preceding aspects, wherein the RTU is connected to a robotic arm.

[0186] The method of any of the preceding aspects, wherein the tool changer further comprises one or more electrical contacts.

[0187] The method of any of the preceding aspects, wherein the tool changer further comprises one or more alignment points on a first face of the tool changer.

[0188] The method of any of the preceding aspects, wherein the tool changer further comprises one or more other alignment points on a second face of the tool changer.

[0189] The method of any of the preceding aspects, wherein one or more of the first clamp and the second clamp is further configured with a point of no return to prevent accidental opening.

[0190] The techniques of this disclosure may also be described in the following examples

[0191] Example 1. A surgical system, comprising: a tool changer (136) configured to attach to and transfer power and / or data to and / or from an end effector (140), the tool changerA0012918W001 comprising: a first clamp (204a) configured to secure the tool changer to a robotic tracking unit (RTU) (132); and a second clamp (204b) configured to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.

[0192] Example 2. The surgical system of example 1, wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

[0193] Example 3. The surgical system of any of the preceding examples, wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

[0194] Example 4. The surgical system of any of the preceding examples, wherein the second clamp completely covers four sides of an end of the first clamp.

[0195] Example 5. The surgical system of any of the preceding examples, wherein no screws are required to attach the tool changer to the end effector or to the RTU.

[0196] Example 6. The surgical system of any of the preceding examples, wherein no external tools are required to attach the tool changer to the end effector or to the RTU.

[0197] Example 7. The surgical system of any of the preceding examples, wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

[0198] Example 8. The surgical system of any of the preceding examples, wherein the first clamp is further configured to secure a drape (250) between the tool changer and the RTU.

[0199] Example 9. The surgical system of any of the preceding examples, wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

[0200] Example 10. The surgical system of any of the preceding examples, wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

[0201] Example 11. The surgical system of any of the preceding examples, wherein the RTU is connected to a robotic arm (116).

[0202] Example 12. The surgical system of any of the preceding examples, wherein the tool changer further comprises one or more electrical contacts (226).

[0203] Example 13. The surgical system of any of the preceding examples, wherein the tool changer further comprises one or more alignment points (220a, 220b) on a first face of the tool changer.

[0204] Example 14. The surgical system of any of the preceding examples 3, wherein the tool changer further comprises one or more other alignment points (220c, 220d) on a second face of the tool changer.A0012918W001

[0205] Example 15. The surgical system of any of the preceding examples, wherein one or more of the first clamp and the second clamp is further configured with a point of no return to prevent accidental opening.

[0206] Example 16. A tool changer configured to attach to and transfer power and / or data to and / or from an end effector, the tool changer comprising: a first clamp configured to secure the tool changer to a robotic tracking unit (RTU); and a second clamp configured to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.

[0207] Example 17. The tool changer of example 16, wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

[0208] Example 18. The tool changer of any of the preceding examples, wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

[0209] Example 19. The tool changer of any of the preceding examples, wherein the second clamp completely covers four sides of an end of the first clamp.

[0210] Example 20. The tool changer of any of the preceding examples, wherein no screws are required to attach the tool changer to the end effector or to the RTU.

[0211] Example 21. The tool changer of any of the preceding examples, wherein no external tools are required to attach the tool changer to the end effector or to the RTU.

[0212] Example 22. The tool changer of any of the preceding examples, wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

[0213] Example 23. The tool changer of any of the preceding examples, wherein the first clamp is further configured to secure a drape between the tool changer and the RTU.

[0214] Example 24. The tool changer of any of the preceding examples, wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

[0215] Example 25. The tool changer of any of the preceding examples, wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

[0216] Example 26. The tool changer of any of the preceding examples, wherein the RTU is connected to a robotic arm.

[0217] Example 27. The tool changer of any of the preceding examples, wherein the tool changer further comprises one or more electrical contacts.

[0218] Example 28. The tool changer of any of the preceding examples, wherein the tool changer further comprises one or more alignment points on a first face of the tool changer.A0012918W001

[0219] Example 29. The tool changer of any of the preceding examples, wherein the tool changer further comprises one or more other alignment points on a second face of the tool changer.

[0220] Example 30. The tool changer of any of the preceding examples wherein one or more of the first clamp and the second clamp is further configured with a point of no return to prevent accidental opening.

[0221] Example 31. A method of attaching an end effector to a robotic tracking unit (RTU), the method comprising: securing a first side of a tool changer to the RTU using a first clamp of the tool changer, wherein the tool changer is configured to transfer power and / or data to and / or from the end effector; and securing a second side of the tool changer to the end effector using a second clamp of the tool changer, wherein the second clamp is configured to prevent the first clamp from opening when the second clamp is closed.

[0222] Example 32. The method of example 31, wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

[0223] Example 33. The method of any of the preceding examples, wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

[0224] Example 34. The method of any of the preceding examples, wherein the second clamp completely covers four sides of an end of the first clamp.

[0225] Example 35. The method of any of the preceding examples, wherein no screws are required to attach the tool changer to the end effector or to the RTU.

[0226] Example 36. The method of any of the preceding examples, wherein no external tools are required to attach the tool changer to the end effector or to the RTU.

[0227] Example 37. The method of any of the preceding examples, wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

[0228] Example 38. The method of any of the preceding examples, wherein the first clamp is further configured to secure a drape to the tool changer.

[0229] Example 39. The method of any of the preceding examples, wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

[0230] Example 40. The method of any of the preceding examples, wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

[0231] Example 41. The method of any of the preceding examples, wherein the RTU is connected to a robotic arm.A0012918W001

[0232] Example 42. The method of any of the preceding examples, wherein the tool changer further comprises one or more electrical contacts.

[0233] Example 43. The method of any of the preceding examples, wherein the tool changer further comprises one or more alignment points on a first face of the tool changer.

[0234] Example 44. The method of any of the preceding examples, wherein the tool changer further comprises one or more other alignment points on a second face of the tool changer.

[0235] Example 45. The method of any of the preceding examples, wherein one or more of the first clamp and the second clamp is further configured with a point of no return to prevent accidental opening.

[0236] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and / or configurations of the disclosure may be combined in alternate aspects, embodiments, and / or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and / or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0237] Moreover, though the foregoing has included description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and / or configurations to the extent permitted, including alternate, interchangeable and / or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

Claims

A0012918W001CLAIMSWhat is claimed is:

1. A surgical system, comprising: a tool changer (136) configured to attach to and transfer power and / or data to and / or from an end effector (140), the tool changer comprising: a first clamp (204a) configured to secure the tool changer to a robotic tracking unit (RTU) (132); and a second clamp (204b) configured to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.

2. The surgical system of any of the preceding claims, wherein the first clamp is further configured to prevent the second clamp from closing when the first clamp is open.

3. The surgical system of any of the preceding claims, wherein at least a portion of the second clamp overlaps at least a portion of the first clamp when the first and second clamps are closed.

4. The surgical system of any of the preceding claims, wherein the second clamp completely covers four sides of an end of the first clamp.

5. The surgical system of any of the preceding claims, wherein no screws are required to attach the tool changer to the end effector or to the RTU.

6. The surgical system of any of the preceding claims, wherein no external tools are required to attach the tool changer to the end effector or to the RTU.

7. The surgical system of any of the preceding claims, wherein no rotation is required to attach the tool changer to the end effector or to the RTU.

8. The surgical system of any of the preceding claims, wherein the first clamp is further configured to secure a drape (250) between the tool changer and the RTU.A0012918W0019. The surgical system of any of the preceding claims, wherein the tool changer is formed of one or more of stainless steel, titanium, and plastic.

10. The surgical system of any of the preceding claims, wherein the end effector comprises one or more of a robotic arm guide and a bone-cutting device.

11. The surgical system of any of the preceding claims, wherein the RTU is connected to a robotic arm (116).

12. The surgical system of any of the preceding claims, wherein the tool changer further comprises one or more electrical contacts (226).

13. The surgical system of any of the preceding claims, wherein the tool changer further comprises one or more alignment points (220a, 220b) on a first face of the tool changer.

14. The surgical system of any of the preceding claims, wherein the tool changer further comprises one or more other alignment points (220c, 220d) on a second face of the tool changer.

15. A tool changer configured to attach to and transfer power and / or data to and / or from an end effector, the tool changer comprising: a first clamp configured to secure the tool changer to a robotic tracking unit(RTU); and a second clamp configured to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.

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