US 11,864,857 B2
Surgical robot with passive end effector
Olivier Chappuis, Lutry (CH); and Szymon Kostrzewski, Lausanne (CH)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Jan. 8, 2020, as Appl. No. 16/737,054.
Application 16/737,054 is a continuation in part of application No. 16/587,203, filed on Sep. 30, 2019.
Claims priority of provisional application 62/906,831, filed on Sep. 27, 2019.
Prior Publication US 2021/0093404 A1, Apr. 1, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01); A61B 17/14 (2006.01); A61B 17/00 (2006.01)
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
OG exemplary drawing
 
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.