US 12,409,567 B2
Interchangeable end effector and sterile barrier
Amir Keret, Atlit (IL); Ziv Seemann, Beit Ytzhack (IL); Dvir Kadshai, Tel Aviv (IL); Ori Ben Zeev, Tel Aviv (IL); Itamar Eshel, Tzur Igal (IL); Gal Eshed, Atlit (IL); and Dor Kopito, Kibbutz Parod (IL)
Assigned to Mazor Robotics Ltd., Caesarea (IL)
Filed by Mazor Robotics Ltd., Caesarea (IL)
Filed on Jun. 24, 2021, as Appl. No. 17/357,647.
Prior Publication US 2022/0409304 A1, Dec. 29, 2022
Int. Cl. B25J 15/04 (2006.01); A61B 34/30 (2016.01); A61B 46/10 (2016.01); B25J 19/00 (2006.01); H01R 13/62 (2006.01); H01R 13/627 (2006.01); H01R 33/00 (2006.01)
CPC B25J 15/0416 (2013.01) [A61B 34/30 (2016.02); A61B 46/10 (2016.02); B25J 19/0025 (2013.01); B25J 19/0075 (2013.01); H01R 13/6205 (2013.01); H01R 13/6276 (2013.01); H01R 33/00 (2013.01); H01R 2201/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for changing end effectors comprising:
a flexible connecting plate comprising:
a flexible body including a flexible first surface and a flexible second surface opposite the flexible first surface, wherein the flexible first surface and the flexible second surface are planar; and
a kinematic interface including at least one rigid projection extending from both the flexible first surface and the flexible second surface of the flexible body;
a robot flange having a first kinematic receiver, the first kinematic receiver including at least one recess for receiving a corresponding rigid projection of the at least one rigid projection extending from the flexible first surface of the flexible body;
an end effector having a second kinematic receiver and a locking assembly, the second kinematic receiver including at least one recess for receiving a corresponding rigid projection of the at least one rigid projection on the flexible second surface of the flexible body, the locking assembly configured to releasably secure the end effector to the robot flange; and
a drape connectable to the flexible connecting plate, wherein the locking assembly also secures the drape to the robot flange when the end effector is secured to the robot flange by the locking assembly such that the drape is sandwiched between and contacts the locking assembly and the robot flange.