Kinematic coupling
Inventors
Janna, Sied W. • Rudy, David • ASHUCKIAN, Eric • Bell, Brett J. • ROSEN, Jeremy
Assignees
Smith and Nephew Orthopaedics AG • Smith and Nephew Asia Pacific Pte Ltd • Smith and Nephew Inc
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Publication Number
US-12433697-B2
Publication Date
2025-10-07
Expiration Date
Abstract
Kinematic couplings for affixing an end effector to a robotic arm covered in a surgical drape are provided. A kinematic coupling can include one or more attachment mechanisms for affixing the kinematic coupling to the robotic arm with or without piercing the surgical drape positioned thereover. The kinematic coupling can be configured to interchangeably engage with a number of different end effectors, including surgical instruments, cutting guides or jigs, tool holders, and so on.
Core Innovation
The invention relates to a computer-assisted surgical system with a robotic arm and an end effector that are coupled through a kinematic coupling assembly. The kinematic coupling attaches the end effector to the robotic arm while the robotic arm is covered by a surgical drape, using connector interactions that can engage over or through the drape. The coupling includes alignment contacts/recesses and a fastener engagement mechanism configured for coordinated alignment when the drape is present.
The kinematic coupling includes a lever configured to pivot from a first position to a second position to move a fastener into a threaded recess to couple the end effector to the kinematic coupling. In the second position, the fastener is received within the threaded recess, and the fastener is configured to pierce the drape when moved from the first position to the second position. The coupling arrangement uses corresponding connector pairings, including recess/contact and fastener/threaded-recess interactions, to maintain coupling functionality under drape coverage.
Orientation control and coupling stability are addressed by using non-symmetric contact layouts and corresponding contact face seals, including non-axisymmetric seal configurations, to fluidically isolate punctured drape regions. Mechanical interface variations, including groove-shaped recesses and non-symmetric contact/seal arrangements, are described to reduce tilt or misalignment effects and maintain end effector axis alignment for cutting elements.
Claims Coverage
Three independent claims define kinematic couplings that couple an end effector to a robotic arm using coordinated connector alignment with a drape-piercing fastener and a pivotable lever. Across the independent claims, there are 2–3 main inventive features: connector/recess alignment for receiving and aligning components, lever-driven movement of a fastener between disengaged and engaged positions, and drape piercing associated with engaging the fastener into a threaded recess.
Recess/contact connector alignment with threaded fastener engagement
A kinematic coupling having a first connector with a recess or a contact and a second connector on the robotic arm with the corresponding other of the recess or the contact, and a third connector with a fastener or a threaded recess and a fourth connector with the corresponding other, wherein the fastener is received by the threaded recess and aligned with the threaded recess when the contact is received by the recess.
Pivotable lever moving a fastener into threaded recess
A pivotable lever configured to pivot from a first position to a second position, where in the first position the fastener is disengaged from the threaded recess and in the second position the lever moves the fastener into the threaded recess to couple the end effector to the kinematic coupling.
Drape positioned over the robotic arm and pierce during engagement
A drape positioned over the robotic arm, where the fastener is configured to pierce the drape when moved from the first position to the second position.
Contact and recess arrangement for drape-over coupling
A kinematic coupling including a contact configured to be received by a recess disposed on the robotic arm, and a fastener configured to be received by a threaded recess disposed on the robotic arm, wherein the fastener is aligned with the threaded recess when the contact is received by the recess.
Asymmetrically arranged contacts or recesses for particular orientation
A kinematic coupling with multiple contacts configured to be received by multiple recesses disposed on the robotic arm to secure the kinematic coupling in a particular orientation, where the plurality of contacts or the plurality of recesses is arranged asymmetrically.
Non-axisymmetric contact face seal for fluidic isolation
A kinematic coupling including a contact face seal configured to fluidically seal the kinematic coupling from the robotic arm, where the contact face seal is non-axisymmetric.
The independent claims define a kinematic coupling that aligns a contact with a recess and aligns a fastener with a threaded recess, while a pivotable lever moves the fastener between disengaged and engaged positions. In the drape-covered configuration, the fastener is configured to pierce the drape during engagement to couple the end effector to the robotic arm. Dependent claims further emphasize securing orientation using multiple contacts/recesses arranged asymmetrically and, in some embodiments, fluidically isolating punctured drape regions using a non-axisymmetric contact face seal.
Stated Advantages
Documented Applications
No documented applications found
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