US 11,890,066 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 Sep. 30, 2019, as Appl. No. 16/587,203.
Prior Publication US 2021/0093396 A1, Apr. 1, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 17/14 (2006.01); A61B 34/20 (2016.01); A61B 90/50 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/14 (2013.01); A61B 90/37 (2016.02); A61B 2017/00477 (2013.01); A61B 2017/00991 (2013.01); A61B 2034/2072 (2016.02); A61B 2090/364 (2016.02); A61B 2090/502 (2016.02)] 9 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a passive end effector including,
a base configured to attach to an end effector coupler of a robot arm positioned by a surgical robot,
a first mechanism extending along a first plane, the first mechanism extends between a rotatable connection to the base and a rotatable connection to a second mechanism, and
a second mechanism extending along a second plane, the second mechanism extends between a rotatable connection to the first mechanism and a rotatable connection to a tool attachment mechanism,
wherein the first and second mechanisms pivot about the rotatable connections to constrain movement of the tool attachment mechanism to a range of movement within a working plane, the tool attachment mechanism being configured to connect to a surgical saw having a saw blade configured to oscillate for cutting, the saw blade extending along the working plane, and
wherein the first plane is positioned vertically above the second plane and the second plane is positioned vertically above the working plane.