US 11,684,437 B2
Systems and methods for automatically changing an end-effector on a surgical robot
Neil R. Crawford, Chandler, AZ (US); and Norbert Johnson, North Andover, MA (US)
Assigned to Globus Medical Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Dec. 27, 2021, as Appl. No. 17/562,320.
Application 17/562,320 is a continuation of application No. 15/938,356, filed on Mar. 28, 2018, granted, now 11,253,327.
Application 15/938,356 is a continuation in part of application No. 15/609,334, filed on May 31, 2017.
Application 15/609,334 is a continuation in part of application No. 15/157,444, filed on May 18, 2016.
Application 15/157,444 is a continuation in part of application No. 15/095,883, filed on Apr. 11, 2016, granted, now 10,893,912, issued on Jan. 19, 2021.
Application 15/095,883 is a continuation in part of application No. 14/062,707, filed on Oct. 24, 2013, granted, now 10,357,184, issued on Jul. 23, 2019.
Application 14/062,707 is a continuation in part of application No. 13/924,505, filed on Jun. 21, 2013, granted, now 9,782,229, issued on Oct. 10, 2017.
Claims priority of provisional application 61/800,527, filed on Mar. 15, 2013.
Claims priority of provisional application 61/662,702, filed on Jun. 21, 2012.
Prior Publication US 2022/0117681 A1, Apr. 21, 2022
Int. Cl. B25J 13/08 (2006.01); A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); A61B 17/17 (2006.01); A61B 17/70 (2006.01); B25J 15/00 (2006.01); B25J 15/04 (2006.01); A61B 34/37 (2016.01); A61F 2/46 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/00 (2013.01); A61B 17/1757 (2013.01); A61B 17/7082 (2013.01); A61B 34/20 (2016.02); A61B 90/39 (2016.02); B25J 13/08 (2013.01); B25J 15/0052 (2013.01); B25J 15/0408 (2013.01); B25J 15/0425 (2013.01); B25J 15/0441 (2013.01); B25J 15/0491 (2013.01); A61B 34/37 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/302 (2016.02); A61B 2090/365 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/397 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3979 (2016.02); A61B 2090/3983 (2016.02); A61F 2/4611 (2013.01); A61F 2002/4632 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of exchanging end-effectors on a robot arm of a surgical robot system, the method comprising:
receiving an indication to detach a first end-effector that is attached to the robot arm and attach a second end-effector to the robot arm, wherein the robot arm comprises a first magnetic coil;
automatically guiding the robot arm to a docking station;
releasing the first end-effector from the robot arm and into the docking station;
automatically moving the robot arm into proximity of a second coil associated with the second end-effector, wherein the first coil is concentric to the second coil;
automatically moving the robot arm through the second coil; and
automatically attaching the robot arm to the second end-effector.