US 11,672,622 B2
Robot arm and methods of use
Norbert Johnson, North Andover, MA (US)
Assigned to GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Apr. 21, 2022, as Appl. No. 17/726,030.
Application 17/726,030 is a continuation of application No. 16/775,884, filed on Jan. 29, 2020, granted, now 11,337,769.
Application 16/775,884 is a continuation of application No. 15/692,533, filed on Aug. 31, 2017, granted, now 10,646,298, issued on May 12, 2020.
Application 15/692,533 is a continuation in part of application No. 14/815,198, filed on Jul. 31, 2015, granted, now 10,058,394, issued on Aug. 28, 2018.
Prior Publication US 2022/0241043 A1, Aug. 4, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); B25J 9/10 (2006.01); B25J 9/00 (2006.01); B25J 13/06 (2006.01); A61B 34/30 (2016.01); A61B 90/50 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/74 (2016.02) [A61B 34/30 (2016.02); A61B 90/50 (2016.02); B25J 9/0009 (2013.01); B25J 9/10 (2013.01); B25J 13/06 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/305 (2016.02); A61B 2090/064 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3983 (2016.02); A61B 2090/508 (2016.02); Y10S 901/09 (2013.01); Y10S 901/23 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of moving a robot arm comprising:
receiving an activation indication of an activation switch, wherein the activation switch is positioned circumferentially on the end effector;
receiving a direction of force to the activation switch through a force sensor;
moving, with motors, the robot arm in the direction of the force based on the received direction of force and activation indication;
moving, with the motors, an end effector attached to the robot arm toward a target trajectory of the virtual gravity well once the end effector is moved within the virtual gravity well by an operator; and
stopping the robot arm in the virtual gravity well once the end effector is at the target trajectory.