US 12,226,173 B2
Systems and tools for positioning workpieces with surgical robots
David Gene Bowling, Los Ranchos de Albuquerque, NM (US); Paul Shiels, Albuquerque, NM (US); Jevin Scrivens, Weston, FL (US); and Greg Starr, Albuquerque, NM (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Oct. 25, 2021, as Appl. No. 17/509,369.
Application 17/509,369 is a continuation of application No. 16/003,685, filed on Jun. 8, 2018, granted, now 11,185,377.
Claims priority of provisional application 62/517,465, filed on Jun. 9, 2017.
Prior Publication US 2022/0039888 A1, Feb. 10, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 17/92 (2006.01); A61B 34/20 (2016.01); A61F 2/46 (2006.01); B25J 17/02 (2006.01); A61B 17/00 (2006.01); A61F 2/30 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/92 (2013.01); A61B 34/20 (2016.02); A61F 2/4609 (2013.01); B25J 17/0208 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/925 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/305 (2016.02); A61F 2002/30538 (2013.01); A61F 2002/4627 (2013.01); A61F 2002/4632 (2013.01); A61F 2002/4681 (2013.01); A61F 2002/4687 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A tool for impacting a prosthesis into a surgical site, the tool comprising:
an impactor head comprising a surface configured to receive an impact force that is manually imparted by a user;
a tool shaft including a proximal portion and a distal portion, the proximal portion of the tool shaft being fixed to the impactor head; and
a compliance mechanism comprising:
a proximal body coupled to the distal portion of the tool shaft and comprising a first surface; and
a distal body supported by the proximal body and comprising an interface adapted to releasably attach directly to the prosthesis, wherein the distal body is moveable relative to the proximal body for providing compliant motion of the distal body relative to the tool shaft in response to the impact force that is manually imparted by the user, and a second surface shaped to slidably engage the first surface; and
wherein one of the first surface or the second surface is convex and the other one of the first surface or the second surface is concave.