US 12,440,281 B2
Robotic surgical system with end effector marker diffusers
Edward Daley, Maynard, MA (US); Paul Sebring, Townsend, MA (US); and Gordon Row, Groton, MA (US)
Assigned to Mobius Imaging, LLC, Shirley, MA (US)
Filed by Mobius Imaging, LLC, Shirley, MA (US)
Filed on Jun. 1, 2023, as Appl. No. 18/204,477.
Claims priority of provisional application 63/348,115, filed on Jun. 2, 2022.
Prior Publication US 2023/0389992 A1, Dec. 7, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 90/39 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/3937 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a tool for engaging a target site;
a navigation system including a localizer to track states of trackers within a field of view;
a patient tracker adapted for attachment relative to the target site;
a robotic arm configured to maintain alignment of the tool relative to the target site, the robotic arm extending between a base end and a mount end arranged for movement relative to the base end; and
an end effector attached to the mount end of the robotic arm and configured to support the tool, the end effector including an end effector tracker having a plurality of markers each including:
a body having an inner bore surface defining a bore extending between an inlet and an outlet,
a light module supported adjacent to the inlet and arranged to emit light into reflection with the inner bore surface, and
a diffuser supported adjacent to the outlet to diffuse light reflected by the inner bore surface emitted by the light module, the diffuser having an output surface arranged to present diffused light across the output surface detectable by the localizer of the navigation system to enable tracking states of the end effector.