US 12,167,899 B2
Systems, methods, and end effectors for guiding prostheses
Paul Shiels, Albuquerque, NM (US); David Gene Bowling, Los Ranchos De Albuquerque, NM (US); Larry Douglas O'Cull, Westfield, IN (US); Patrick C. Kelly, Portage, MI (US); and Christopher Wayne Jones, Kokomo, IN (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Jan. 4, 2022, as Appl. No. 17/568,188.
Application 17/568,188 is a continuation of application No. 16/257,594, filed on Jan. 25, 2019, granted, now 11,234,775.
Claims priority of provisional application 62/622,303, filed on Jan. 26, 2018.
Prior Publication US 2022/0125531 A1, Apr. 28, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61F 2/46 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/74 (2016.02); A61F 2/4609 (2013.01); A61F 2/4637 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/305 (2016.02); A61B 2034/743 (2016.02); A61B 2034/744 (2016.02); A61B 2090/034 (2016.02); A61B 2090/062 (2016.02); A61B 2090/0808 (2016.02); A61B 2090/0811 (2016.02); A61F 2/4603 (2013.01); A61F 2002/4627 (2013.01); A61F 2002/4632 (2013.01); A61F 2002/4641 (2013.01); A61F 2002/4681 (2013.01); A61F 2002/4687 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An assembly configured to be utilized with a surgical arm formed of a plurality of links and joints, the assembly comprising:
a tool configured to position a prosthesis, the tool comprising a tool shaft having a cylindrical profile and a first diameter and extending along a tool axis and a tool engagement surface having a second diameter that is larger than the first diameter; and
an end effector comprising:
a mount adapted to attach to the surgical arm;
a body portion extending between a proximal end and a distal end, the proximal end being coupled to the mount; and
a guide portion located at the distal end of the body portion and being configured to receive the tool, the guide portion including a pair of arms, each arm extending to an arm end and the arm ends being spaced apart from one another to provide an opening between the arm ends, and wherein a channel is formed between the arms and the channel extends along a guide axis, the guide portion enabling a portion of the tool shaft to move through the opening between the arm ends such that the portion of the tool shaft can enter and exit the channel, the arms defining a guide engagement surface to enable contact with the tool engagement surface for facilitating alignment of the tool axis and the guide axis, and wherein the guide engagement surface is arc-shaped; and
wherein the opening of the guide portion is sized to be equal to or greater than the first diameter of the tool shaft to permit the tool shaft to move through the opening and wherein the opening of the guide portion is sized to be lesser than the second diameter of the tool engagement surface to prohibit the tool engagement surface to move through the opening.