US 12,458,454 B2
Gravity compensation of end effector arm for robotic surgical system
Olivier Chappuis, Lutry (CH); and Szymon Kostrzewski, Lausanne (CH)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Jun. 14, 2022, as Appl. No. 17/806,745.
Claims priority of provisional application 63/212,949, filed on Jun. 21, 2021.
Prior Publication US 2022/0401161 A1, Dec. 22, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/70 (2016.02); A61B 34/25 (2016.02)] 18 Claims
OG exemplary drawing
 
1. An end effector arm for use with a robotic surgical system comprising:
a base configured to attach to an end effector coupler of a surgical robot arm;
a mechanical linkage including a first end rotatably coupled to the base and a second end opposite the first end, the second end configured to be removably coupled to a handheld surgical tool; and
a spring mechanism configured to impart a variable rotational force on the mechanical linkage based on an angle of rotation of the mechanical linkage, the spring mechanism comprising:
a spring including a first end and a second end, the first end of the spring coupled to one of the base and the first end of the mechanical linkage;
a cable including a first end and a second end, the first end of the cable coupled to the first end of the spring; and
a cam coupled to the other of the base and the first end of the mechanical linkage, the second end of the cable coupled to the cam, the cam including a cam guide configured to receive and maintain the second end of the cable within the cam guide during rotation of the mechanical linkage with respect to the base.