End effectors and methods for driving tools guided by surgical robotic systems

US11160620B2 · kind B2 · utility

Assignee

• MAKO Surgical Corp. · US

Inventors

• Peter Ebbitt · Boca Raton, US
• Oscar Williams · Burlingame, US
• Victor Soto · Vanderbilt Park, US
• Hyosig Kang · Weston, US
• Xiao Hui Gao · Plantation Gardens, US
• Kana Nishimura · Tokyo, JP
• Ezra Johnson · Reeds Spring, US

Key dates

• Filing date: Jan 25, 2019
• Grant date: Nov 2, 2021
• Expiry date: Jan 8, 2040

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61F2002/4641
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

End effectors for driving tools at surgical sites along trajectories maintained by surgical robots. A tool has interface and working ends. An end effector has a mount to attach to the surgical robot, and an actuator configured to generate torque. A drive assembly with a geartrain translates rotation from the actuator into rotation of a drive conduit supported about an axis. A rotational lock operatively attached to the drive conduit releasably secures the tool for concurrent rotation about the axis, and an axial lock releasably secures the tool for concurrent translation with the drive conduit along the trajectory maintained by the surgical robot. The axial lock is operable between a release configuration where relative movement between the drive assembly and the tool is permitted along the axis, and a lock configuration where relative movement between the drive assembly and the tool is restricted along the axis.