US 12,232,744 B2
Robotic hand-held surgical instrument systems and methods
Timothy J. Bozung, Scotts, MI (US); Stephen J. Reasoner, Kalamazoo, MI (US); and Jeffrey Timmer, Kalamazoo, MI (US)
Assigned to Stryker Corporation, Portage, MI (US)
Appl. No. 17/627,208
Filed by MAKO Surgical Corp., Weston, FL (US)
PCT Filed Jul. 15, 2020, PCT No. PCT/US2020/042128
§ 371(c)(1), (2) Date Jan. 14, 2022,
PCT Pub. No. WO2021/011646, PCT Pub. Date Jan. 21, 2021.
Claims priority of provisional application 63/015,184, filed on Apr. 24, 2020.
Claims priority of provisional application 62/874,107, filed on Jul. 15, 2019.
Prior Publication US 2022/0273396 A1, Sep. 1, 2022
Int. Cl. A61B 17/14 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/57 (2016.01); A61B 17/00 (2006.01)
CPC A61B 17/142 (2016.11) [A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 90/57 (2016.02); A61B 2017/00398 (2013.01); A61B 2017/0046 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A hand-held robotic instrument for use with a tool to perform surgery, the robotic instrument comprising:
a hand-held portion to be held by a user;
a tool support movably coupled to the hand-held portion to support the tool;
a plurality of actuators operatively interconnecting the tool support and the hand-held portion to move the tool support in three degrees of freedom relative to the hand-held portion, each of the plurality of actuators being actively adjustable in effective length; and
a constraint assembly having a passive linkage operatively interconnecting the tool support and the hand-held portion, the passive linkage being coupled to the tool support and the hand-held portion in a manner configured to constrain movement of the tool support relative to the hand-held portion in three degrees of freedom.