US 12,082,895 B2
Robotic surgical system with a mounting assembly for attaching an end effector to a robotic arm
James E. Flatt, Kalamazoo, MI (US); Robert Dodde, Portage, MI (US); Jonathan Boyer, Galesburg, MI (US); Larry Douglas O'Cull, Westfield, IN (US); and Victor Soto, Coral Gables, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Sep. 26, 2023, as Appl. No. 18/372,721.
Application 18/372,721 is a continuation of application No. 16/703,033, filed on Dec. 4, 2019, granted, now 11,806,096.
Claims priority of provisional application 62/937,529, filed on Nov. 19, 2019.
Claims priority of provisional application 62/934,771, filed on Nov. 13, 2019.
Claims priority of provisional application 62/775,126, filed on Dec. 4, 2018.
Prior Publication US 2024/0008940 A1, Jan. 11, 2024
Int. Cl. A61B 46/00 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 46/10 (2016.01); A61B 46/23 (2016.01); A61B 90/50 (2016.01); B25J 17/00 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/70 (2016.02); A61B 46/00 (2016.02); A61B 46/10 (2016.02); A61B 46/23 (2016.02); A61B 90/50 (2016.02); B25J 17/00 (2013.01); A61B 2017/00477 (2013.01); A61B 2560/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
a robotic arm comprising a plurality of links and joints;
an end effector; and
a mounting assembly for coupling the end effector and the robotic arm, the mounting assembly comprising:
a robot mount associated with the robotic arm;
an end effector mount associated with the end effector;
a sterile barrier assembly comprising an interface and a drape secured to the interface, and wherein the interface includes a coupling and kinematic couplers;
a first lock assembly to releasably secure the coupling of the sterile barrier assembly to the robot mount;
a second lock assembly to releasably secure the end effector mount to the coupling of the sterile barrier assembly; and
a tensioner associated with either the robot mount or the end effector mount, wherein the tensioner is movable between a first position and a second position, and in response to movement of tensioner from the first position to the second position the kinematic couplers are configured to engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.