Robot arm and methods of use

• US 10,646,298 B2
• Filed: 08/31/2017
• Issued: 05/12/2020
• Est. Priority Date: 07/31/2015
• Status: Active Grant

• Current Assignee: Globus Medical, Inc.
• Original Assignee: Globus Medical, Inc.
• Inventors: Johnson, Norbert
• Primary Examiner(s): Waggoner, Timothy R
• Application Number:
  US15/692,533
• Publication Number:
  US 20170360521A1
• Time in Patent Office: 985 Days
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/508 with releasable brake mechanisms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• CPC Class Codes: B25J 9/10 characterised by positioning means for manipulator elements
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/23 Electric motor

Abstract

A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.

Claims

1. A robotic surgical system, comprising:

a robot arm;

a passive axis arm having a base and a shaft extending from the base, the base configured to be coupled to a distal end of the robot arm;

an end effector coupled to a first end of the shaft and configured to hold a surgical tool having optical markers;

a plurality of motors operable to move the robot arm; and

an activation assembly operable to send a move signal allowing an operator to move the robot arm,

wherein the base of the passive axis arm is coupled to a second end of the shaft, wherein the shaft is rotatable when a locking mechanism is in a first position and not moveable when the locking mechanism is in a second position,

wherein the activation assembly is in the form of a bracelet on the end effector.

2. The system of claim 1, wherein the locking mechanism is a rotatable knob theadedly fixed to the base.

3. The system of claim 2, wherein the rotatable knob is a threaded screw.

4. The system of claim 2, wherein the locking mechanism is translatable in an axis perpendicular to a longitudinal axis of the base.

5. The system of claim 2, wherein the shaft is rotatable in the same axis as the base of the passive axis arm.

6. The system of claim 1, wherein the end effector is guide tube.

7. The system of claim 1, wherein the end effector includes a plurality of optical markers.

8. The system of claim 1, wherein the passive axis arm is manually moved to a first desired trajectory.

9. The system of claim 8, wherein the robotic surgical system moves the end effector to a second position on the desired trajectory.

10. A robotic surgical system, comprising:

a robot arm;

a passive axis arm having a base and a shaft extending from the base, the base configured to be coupled to a distal end of the robot arm;

an end effector coupled to a first end of the shaft and configured to hold a surgical tool having optical markers;

a plurality of motors operable to move the robot arm; and

an activation assembly operable to send a move signal allowing an operator to move the robot arm,

wherein the base of the passive axis arm is coupled to a second end of the shaft, wherein the shaft is rotatable with respect to the base of the passive axis arm

wherein the activation assembly is in the form of a bracelet on the end effector.

11. The surgical system of claim 10, wherein the surgical system further includes a locking mechanism to lock the position of the shaft to the base.

12. The system of claim 11, wherein the locking mechanism is a rotatable knob theadedly fixed to the base.

13. The system of claim 12, wherein the rotatable knob is a threaded screw.

14. The system of claim 11, wherein the locking mechanism is translatable in an axis perpendicular to a longitudinal axis of the base.

15. The system of claim 10, wherein the shaft is rotatable in the same axis as the base of the passive axis arm.

16. The system of claim 10, wherein the end effector is guide tube.

17. The system of claim 10, wherein the end effector includes a plurality of optical markers.

18. The system of claim 10, wherein the passive axis arm is manually moved to a first desired trajectory.

19. The system of claim 18, wherein the robotic surgical system moves the end effector to a second position on the desired trajectory.