CPC A61B 34/70 (2016.02) [A61B 17/144 (2016.11); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/37 (2016.02); A61B 2017/00017 (2013.01); A61B 2034/108 (2016.02); A61B 2034/2059 (2016.02)] | 20 Claims |
1. A direct blade guidance system, comprising:
a robot arm configured to be positioned by a surgical robot;
an end effector arm including a base configured to attach to an end effector coupler of the robot arm, wherein the end effector arm includes a plurality of linkages connected by a plurality of joints, including a proximal joint disposed at a proximal end of the end effector arm and a distal joint disposed at a distal end of the end effector arm;
a blade adaptor adapted to rotatably connect to the end effector arm about a rotation axis via the distal joint, wherein the distal joint is positioned on a horizontal plane that is below a horizontal plane defined by the proximal joint;
a blade adapted to be connected to the blade adaptor and having an oscillation axis aligned with the rotation axis when the blade adaptor is connected to the distal joint; and
a handpiece adapted to removably attach to the blade adaptor and oscillate the blade along the oscillation axis.
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