Patent Publication Number: US-2023134456-A1

Title: Adaptor for robotically- guided hip cup impaction

Description:
CLAIM OF PRIORITY 
     This application claims the benefit of U.S. Provisional Patent Application Ser. No. 63/274,372, filed on Nov. 1, 2021, the benefit of priority of which is claimed hereby, and which is incorporated by reference herein in its entirety. 
    
    
     BACKGROUND 
     During a hip arthroplasty procedure, an impactor can be used by a surgeon to help prepare the acetabular cup and the femur to receive an implant. For example, an impactor can be used to drive an acetabular implant into the acetabular cup or broach the femur to prepare an osseus envelope for receiving a femoral implant. An incision can be first made in the hip region of the patient, into which the impactor can be inserted to access a bone surface of the acetabulum or the femur. A surgeon can manually position the impactor proximal to such bone surface(s) by hand; or the impactor can be connected to a robotic arm to help the surgeon position and maintain the impactor proximal to the bone surface(s) during the hip arthroplasty procedure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document. 
         FIG.  1    illustrates a perspective view of an adaptor operatively coupling a drill and an impactor. 
         FIG.  2 A  illustrates an isometric view of an adaptor. 
         FIG.  2 B  illustrates a side cross-sectional view of a proximal portion of an adaptor. 
         FIG.  3 A  illustrates an isometric view of a plurality of first projections of an adaptor. 
         FIG.  3 B  illustrates a top view of an adaptor. 
         FIG.  4 A  illustrates an isometric view of a shaft of an adaptor. 
         FIG.  4 B  illustrates an isometric view of driving body of an adaptor. 
         FIG.  5    illustrates an exploded view of an adaptor. 
         FIG.  6    illustrates a cross-sectional side view of an adaptor. 
         FIG.  7    illustrates a method of imparting an axial impaction force to a surgical impactor. 
         FIG.  8    illustrates a perspective view of a robotic surgical system. 
         FIG.  9    illustrates a schematic view of a robotic surgical system for robotically assisted impacting. 
         FIG.  10    illustrates a block diagram of an example machine upon which any one or more of the techniques discussed herein can be performed. 
     
    
    
     DETAILED DESCRIPTION 
     A total hip replacement procedure, or total hip arthroplasty, can involve making an access incision in a hip region of a patient. Various surgical devices configured for intra-procedurally reaming, cutting, broaching, impacting, or otherwise preparing bone surfaces of a patient during total hip arthroplasty can be inserted through the incision, such as to access the proximal femur or the acetabular cup. Preparation of the proximal femur, such as the femoral head, often includes broaching the femur with an impactor, such as to create an osseous envelope for implant insertion by repeatedly striking the impactor with a mallet. Preparation of the acetabular cup often involves impacting the acetabular cup with the impactor, such as to insert or otherwise install an implant by repeatedly striking the impactor with a mallet. 
     However, manual impaction can be a time-consuming, challenging, and potentially hazardous operation for the surgeon. First, precisely positioning and maintaining the impactor in a location with respect to a bone of a patient, such as in accordance with a surgical plan, can be time-consuming. Second, carefully maintaining the impactor in a position aligned with a single axis while repeatedly striking the impactor with consistent force can be challenging and fatiguing. Third, manually striking the impactor by hand can result in repetitive stress injuries for the surgeon over time. Further, the several aspects of manual impaction discussed above can be difficult for a surgeon to learn, and various patient outcomes can be significantly diminished if any aspect of implantation is imprecisely or otherwise inadequately performed. 
     The present disclosure can help to address the above issues, among others, such as by providing an adaptor capable of operatively coupling an impactor to an existing motive source, such as a surgical drill configured to rotate various attachments, to thereby provide a repeating axial impaction force to the impactor. For example, a surgical drill, or other electrically or pneumatically powered surgical devices, are often used in addition to an impactor to cut, mill, or otherwise shape various bone surfaces during an arthroplasty procedure, such as by powering a rotatable cutting head of a reamer. The adaptor can include a portion receivable within the impactor, and a shaft engageable with the surgical drill to receive a rotational force therefrom. In response to rotation of the shaft via the surgical drill, the adaptor can transform the torque into a repeating axial impaction force deliverable to the impactor to help reduce the need for a surgeon to manually strike to the impactor to therefore reducing surgeon fatigue and repetitive stress injuries. The adaptor can thereby help to increase the consistency and predictability of the impaction force applied to a bone surface by an impactor, such as by reducing the variability inherent in manual mallet strikes delivered to the impactor by hand during a total hip arthroplasty procedure and concurrently helping to reduce patient movement, such as caused by an inconsistent impaction force. 
     Additionally, the impactor can be coupled to a robotic arm, such as to help reduce the length, and improve the precision, of a total hip arthroplasty procedure. For example, the robotic arm can help a surgeon improve the speed and accuracy at which the impactor can be positioned with respect to a bone in accordance with a preoperative surgical plan and concurrently reduce the amount of training necessary for a surgeon to adequately perform a total hip arthroplasty. The robotic arm can also help to improve the axial stability of the impactor, such as relative to a human hand, during implant impaction or insertion. The adaptor can also reduce the number of instrument components necessary to perform an arthroplasty procedure, such as by allowing for an increased commonality of parts between reaming and impaction steps of the procedure. For example, reaming heads, femoral broaches, and acetabular cups can attach to a common surgical device or shaft. 
     While the above and following examples are discussed in view of a hip arthroplasty procedure, the described adaptor, drill, impactor, and robotic arm can be utilized in other similar arthroplasty procedures, such as in knee or shoulder arthroplasty procedures. 
       FIG.  1    illustrates a perspective view of an adaptor  100  operably coupling a drill  102  and an impactor  104 , in accordance with at least one example of the present application. Also shown in  FIG.  1    is a longitudinal axis A 1 , and orientation indicators Proximal and Distal relating to relative positions along the adaptor  100 . The drill  102  can be a surgical drill, driver, reamer, or other powered surgical device operable to generate and output a rotational force. For example, the drill  102  can include a chuck  103 , such as configured to engage with and rotate a rod or shaft. In one example, the drill  102  can be the Universal Power System from Zimmer Biomet Holdings, Inc. 
     The impactor  104  can be a manual surgical impactor, or other surgical devices configured to receive an axial impaction force, such via a mallet strike, to shape a surface of a bone. For example, the impactor  104  can include a head  105  configured to translate distally along the longitudinal axis A 1  to impact or cut bone in response to receiving the axial impaction force, such from a rod  107  extending at least partially through the impactor  104  along the longitudinal axis A 1  between the adaptor  100  and the head  105 . The rod  107  can be translatable and rotatable within the impactor  104 ; and can be in contact with, or otherwise connected to, the head  105  to operatively couple the adaptor  100  or the drill  102  to the head  105 . In such examples, the head  105  can be, for example, but not limited to, a femoral broach or a portion thereof, or a replacement implantable acetabular cup configured to be implanted into bone. 
     In some examples, the impactor  104  can be converted from a surgical device configured to receive an axial impaction force to a surgical device configured to receive a rotational force, such as to ream or otherwise shape a surface of a bone. In such examples, the head  105  configured to translate distally along the longitudinal axis A 1  to impact or cut bone in response to receiving an axial impaction force from the rod  107  can be replaced with a head  105  configured to rotate around the longitudinal axis A 1  to ream or cut bone in response to receiving a rotational force from the rod  107 . 
     The impactor  104  can be coupled to a robotic arm  106 . For example, the impactor  104  can be configured to engage with various types or styles of a pre-existing end effector coupler  108  connectable to the robotic arm  106 . For example, the end effector coupler  108  can generally be a solid or a hollow shaft defining a square cross-sectional shape, but the end effector coupler  108  can also define circular, triangular, or rectangular cross-sectional shapes, or the like. In one example, the robotic arm  106  can be a 6 degree-of-freedom (DOF) robot arm, such as the ROSA® robot from Medtech, a Zimmer Biomet Holdings, Inc. company. The robotic arm  106  can adjust and maintain a position of the drill  102  and the impactor  104  before or during a surgical procedure. For example, the robotic arm  106  can be used to position the impactor  104  in a planned position, such as in accordance with a preoperative plan. The robotic arm  106  can help to control the position and movement of the impactor  104  relative to a patient more precisely and steadily than a human hand. 
     As shown in  FIG.  1   , the adaptor  100  can include a proximal portion  110  (shown in shadow in  FIG.  1   ) defining a first end portion  112 , a second end portion  114 , a body bore  116  (shown in shadow in  FIG.  1   ), a plurality of first projections  118  ( FIGS.  2 B &amp;  3 B ), a driving body  120 , a plurality of second projections  122  ( FIGS.  2 B,  3 A , &amp;  4 B), a shaft  124  defining a first portion  126  and a second portion  128 , a protrusion  130 , and a distal portion  132 . The proximal portion  110  can define the longitudinal axis A 1  and the body bore  116 . The body bore  116  can extend longitudinally through the proximal portion  110 , such as between the first end portion  112  and the second end portion  114  along the longitudinal axis A 1 . The body bore  116  can generally be cylindrical in shape. The plurality of first projections  118  can extend proximally from the second end portion  114  into the body bore  116 ; and can form a radial arrangement around the longitudinal axis A 1 . The driving body  120  can be located within the body bore  116 . 
     The shaft  124  can extend along the longitudinal axis A 1 . The first portion  126  and the second portion  128  can be opposite proximal and distal ends or segments, respectively, of the shaft  124 . The first portion  126  of the shaft  124  can be located proximally to the first end portion  112  of the proximal portion  110 . The first portion  126  of the shaft  124  can be configured to engage, such as by being at least partially receivable within, the drill  102 . For example, the second portion  128  of the shaft  124  can be sized and shaped to be received within a pre-existing chuck  103  of the drill  102 , to thereby receive a rotational force generated by the drill  102  upon activation of the drill  102 . 
     The second portion  128  of the shaft  124  can be located within the body bore  116 , such as in contact with or otherwise connected to, the second end portion  114  of the proximal portion  110 . The shaft  124  can be configured to rotate the driving body  120 , such as in response to activation of the drill  102 . For example, the shaft  124  can include the protrusion  130 . The protrusion  130  can generally be a body extending radially outward from the portion of the shaft  124  translatably received within the driving body  120 . The protrusion  130  can engage the driving body  120  to rotate the driving body  120  in response to rotation of the shaft  124 . The driving body  120  can include the second projections  122 . The second projections  122  can extend distally from the driving body  120  toward the first projections  118 ; and can form a radial arrangement around the longitudinal axis A 1 . 
     The second projections  122  can be configured to translate the driving body  120  proximally and distally within the body bore  116  during rotation of the driving body  120 . For example, the second projections  122  can be sized and shaped to rotatably engage the first projections  118 , such that the driving body  120  repeatedly contacts the second end portion  114  of the proximal portion  110  to impart or transfer an axial impaction force to the impactor  104 . The distal portion  132  can generally be a cylindrically shaped body connected to and extending distally from the proximal portion  110  along the longitudinal axis A 1 . In some examples, the distal portion  132  can be partially or completely recessed into the proximal portion  110 . The distal portion  132  can be configured to engage, such as by being at least partially receivable within, the impactor  104 . 
     For example, the distal portion  132  can be sized and shaped to extend into a channel  134  defined by the impactor  104 . The channel  134  can extend partially or completely through the impactor  104  along the longitudinal axis A 1 . In some examples, the channel  134  can be configured to receive the rod  107 . The channel  134  can be sized and shaped to enable the rod  107  to translate axially along the longitudinal axis A 1 , such in response to receiving an axial impaction force from the distal portion  132  of the adaptor  100 , or rotate around the longitudinal axis A 1 , such as in response to receiving a rotational force from the chuck  103  of the drill  102 . The adaptor  100  can thereby operably couple the drill  102  to the impactor  104  (e.g., convert a rotational force generated by the drill into an axial impaction force usable by the impactor). 
     During an arthroplasty procedure, various aspects of bone preparation or implant insertion, such as reaming, femoral broaching, or acetabular cup impaction can be performed using the adaptor  100 , the drill  102 , the impactor  104 , or the robotic arm  106 . In some examples, at the beginning of an arthroplasty procedure, the impactor  104  can be configured to support reaming operations by including a head  105  configured to receive a rotational force from the drill  102  to ream bone via rotation around the longitudinal axis A 1 . In such examples, a user can first actuate a trigger  109  of the drill  102 , to cause the chuck  103  to rotate the rod  107  engaged thereby to rotate the head  105  connected thereto, to ream bone when the head  105  is positioned proximal to a bone surface of a patient. 
     Subsequently, or in other examples at the beginning of an arthroplasty procedure, a user can convert the impactor  104  from a surgical device configured to support reaming operations to a surgical device configured to support impaction operations by replacing the head  105  configured to receive a rotational force with a head  105  configured to receive an axial impaction force, decoupling or otherwise disengaging the chuck  103  of the drill  102  from the rod  107 , inserting the distal portion  132  of the adaptor  100  into the channel  134  of the impactor  104  until the proximal portion  110  contacts the rod  107  received therein, and inserting the first portion  126  of the shaft  124  into the chuck  103  of the drill  102 . In some procedures, a user can operate the robotic arm  106  to position the impactor  104  proximal to a bone of a patient, such as by placing the head  105  in contact with a surface of an implant to be impacted into the femur or the acetabular cup. In some procedures, the robotic arm  106  can further accurately retain the impactor  104  in such a position for an extended length of time. 
     The user can then activate the drill  102 , such as by actuating the trigger  109  of the drill  102 , to cause the chuck  103  of the drill to rotate the shaft  124 . In turn, the shaft  124  can rotate the driving body  120  to cause the driving body  120  to repeatedly impact the second end portion  114  of the proximal portion  110  by virtue of the second projections  122  rotatably engaging the first projections  118 . The proximal portion  110  and the distal portion  132  can collectively transfer the axial impaction force generated by the driving body  120  to the impactor  104 , such as to cause the head  105  to translate distally to impact an implant. After the arthroplasty procedure, the user can remove the first portion  126  of the shaft  124  from the chuck  103  and the distal portion  132  from the channel  134  of the impactor  104 . The adaptor  100 , or various components thereof, can subsequently be cleaned and sterilized in an autoclave in preparation for a future arthroplasty procedure. The adaptor  100  can thereby help perform one or more operations of an arthroplasty procedure. 
       FIG.  2 A  illustrates an isometric view of an adaptor  100 .  FIG.  2 B  illustrates a side view of a proximal portion of an adaptor  100 . Also shown in  FIGS.  2 A- 2 B  is a longitudinal axis A 1 , and orientation indicators Proximal and Distal relating to relative positions along the adaptor  100 .  FIGS.  2 A- 2 B  are discussed below concurrently with reference to the adaptor  100  shown in and described with regard to  FIG.  1    above. The adaptor  100  can include a first end surface  113 , a second end surface  115 , a proximal inner surface  136  (shown in shadow in  FIG.  2 B ), a proximal outer surface  138  (shown in shadow in  FIG.  2 B ), a distal outer surface  140 , an outer surface  141 , a proximal surface  142 , a distal surface  144 , a first taper  146 , a second taper  148 , a biasing element  150 , an aperture  152 , a proximal bearing  154 , a cap  156 , a plurality of apertures  158  (shown in  FIG.  3 A ), a plurality of fasteners  160 , a plurality of bores  162  (shown in shadow in  FIG.  2 A ), first contacting surfaces  164 , first angled surfaces  166 , second contacting surfaces  168 , second angled surfaces  170 , a first radial extension  172 , and a second radial extension  174 . 
     The first end portion  112  ( FIG.  2 A ) can define the first end surface  113  ( FIG.  2 B ) and the second end portion  114  ( FIG.  2 A ) can define the second end surface  115  ( FIG.  2 B ). The first end surface  113  and the second end surface  115  can generally be opposite proximal and distal ends, respectively, of the body bore  116 . For example, the first end surface  113  can extend transversely across the first end portion  112  orthogonally or the longitudinal axis A 1  to partially enclose the body bore  116 . The second end surface  115  can extend transversely across the second end portion  114  orthogonally or the longitudinal axis A 1  to partially enclose the body bore  116 . 
     The proximal portion  110  can include the proximal inner surface  136  and the proximal outer surface  138 . The proximal inner surface  136  can be an inner surface of the proximal portion  110 , such as a surface defined by the body bore  116 . In some examples, the first projections  118  can extend radially from the proximal inner surface  136  into the body bore  116 , such as toward the longitudinal axis A 1 . The proximal outer surface  138  can be an outer surface of the proximal portion  110 . The distal portion  132  can include the distal outer surface  140 . The distal outer surface  140  can be an outer surface of the distal portion  132 . The proximal inner surface  136 , the proximal outer surface  138 , or the distal outer surface  140  can each generally form a cylindrical shape. In some examples, the proximal inner surface  136 , the proximal outer surface  138 , or the distal outer surface  140  can form various three-dimensional shapes, such as including, but not limited to, cuboids, triangular prisms, rectangular prisms, hexagonal prisms, octagonal prisms, or the like. 
     The proximal outer surface  138  can define a diameter greater than a diameter defined by the distal outer surface  140 , such as to allow the proximal portion  110  to contact the impactor  104  to limit distal translation of the distal portion  132  within the channel  134  ( FIG.  1   ) of the impactor  104  ( FIG.  1   ). For example, the proximal outer surface  138  can define a diameter of about, but not limited to, 65-70 millimeters, 71-75 millimeters, 76-80 millimeters, or 81-85 millimeters, and the distal outer surface  140  can define a diameter of about, but not limited to, 10-12 millimeters, 13-15 millimeters, or 15-17 millimeters. The proximal inner surface  136  can guide proximal and distal translation of the driving body  120  within the proximal portion  110 . For example, the driving body  120  can include the outer surface  141 . The outer surface  141  can be an outer surface of the driving body  120 . The outer surface  141  can be sized and shaped to contact the proximal inner surface  136  defined by the body bore  116 , such as to guide the driving body  120  during proximal and distal translation of the driving body  120  within the body bore  116 . 
     The driving body  120  can include the proximal surface  142  and the distal surface  144 . The proximal surface  142  and the distal surface  144  can be opposite proximal and distal ends or segments of the driving body  120 , such as relative to the longitudinal axis A 1 . The proximal surface  142  of the driving body  120  can define or otherwise include the first taper  146 . The first end portion  112  of the proximal portion  110  can define or otherwise include the second taper  148 . For example, the second taper  148  can extend distally into the body bore  116  from the first end surface  113 . The first taper  146  and the second taper  148  can form, for example, but not limited to, a generally conical, trapezoidal, or triangular shape. The biasing element  150  can be, for example, but not limited to, a coil spring, a wave spring, or the like. The biasing element  150  can be configured, such as by being sized and shaped, to extend axially within the body bore  116 . 
     The first taper  146  and the second taper  148  can be configured to support the biasing element  150  to axially align the biasing element  150  with the longitudinal axis A 1  within the body bore  116 . For example, the first taper  146  and the second taper  148  can concurrently contact and engage the biasing element  150 , such as by extending longitudinally into at least a portion or length of the biasing element  150 , relative to the longitudinal axis A 1 , to center the biasing element  150  within the body bore  116 . The biasing element  150  can be configured to bias the driving body  120  distally within the body bore  116 , such toward or against the second end surface  115  of the second end portion  114 . For example, when the driving body  120  translates proximally within the body bore  116 , the biasing element  150  can be compressed between the proximal surface  142  or the first taper  146  and the first end surface  113  of the first end portion  112  or the second taper  148 . The spring tension of the biasing element  150  can then drive the driving body  120  distally within the body bore  116  to contact and deliver an axial impaction force to the second end surface  115  of the second end portion  114 . 
     The first end portion  112  of the proximal portion  110  can define the aperture  152  and the inner surface  153 . The aperture  152  can be a bore or opening extending transversely through the first end surface  113  of the first end portion  112  along the longitudinal axis A 1 . The inner surface  153  can be a surface defined by the aperture  152 . The aperture  152  can be configured to receive at least a portion of the shaft  124 . For example, the aperture  152  can be sized and shaped to allow the inner surface  153  to contact and maintain the shaft  124  in a position axially aligned with the longitudinal axis A 1 . In some examples, such as shown in  FIG.  2 A , the first end portion  112  can include the proximal bearing  154 . The proximal bearing  154  can be a ball bearing, a needle bearing, a plain bearing, a bushing, or other friction reducing devices, such as surfaces configured to promote rotation. As such, the inner surface  153  can be configured to engage with various three-dimensional shapes defined by the shaft  124 , such as a cylinder, or a cuboid, a triangular prism, rectangular prism, hexagonal prism, octagonal prism, or the like. The proximal bearing  154  can thereby reduce friction between the first end portion  112  of the proximal portion  110  and the shaft  124 . 
     In some examples, the first end portion  112  of the proximal portion  110  can define or otherwise include the cap  156 . The cap  156  can include the first end surface  113 , the aperture  152 , the inner surface  153 , or the proximal bearing  154 . The cap  156  can include a plurality of apertures  158  ( FIG.  3 A ) extending transversely therethrough, such as parallel to and laterally offset from the longitudinal axis A 1 . Each of the plurality of apertures  158  can be configured to receive at least a portion of one of the plurality of fasteners  160 . The proximal portion  110  can define a plurality of bores  162 . The plurality of bores  162  can extend transversely and distally into the first end portion  112 , such as parallel to and laterally offset from the longitudinal axis A 1 . Each of the plurality of bores  162  can be configured to receive at least a portion of one of the plurality of fasteners  160 . 
     The apertures  158  and the bores  162  can be formed in complementary radial locations or orientations in the cap  156  and the proximal portion  110  respectively, such that the apertures  158  and the bores  162  are aligned when the cap  156  is positioned on first end portion  112  of the proximal portion  110 . The fasteners  160  can thereby be inserted through the apertures  158  to engage the bores  162  to secure the cap  156  to the proximal portion  110 . The adaptor  100  can be configured to define various numbers of the apertures  158  and the bores  162 , such as based on the number of fasteners  160  the adaptor  100  includes. In one example, the adaptor  100  can include four of the apertures  158 , four of the fasteners  160 , and four of the bores  162 . In other examples, the adaptor  100  can define or otherwise include, for example, but not limited to, two, three, five, or six of the apertures  158 , the fasteners  160 , and the bores  162 . 
     The cap  156  can be configured to be removably secured to the first end portion  112  of the proximal portion  110 . For example, each of the fasteners  160  and the bores  162  can define corresponding threads, such as to allow each of the fasteners  160  to threadably engage each of the bores  162  to removably couple the cap  156  to the proximal portion  110 . In other examples, the cap  156  can be removably secured to the first end portion  112  with other types of fasteners  160 . In some examples, the cap  156  can be fixedly secured to the proximal portion  110 . For example, the fasteners  160  can be rivets, or the cap  156  can alternatively be secured to the proximal portion  110  by welding, adhesives, or the like. The first projections  118  can include the first contacting surfaces  164  and the first angled surfaces  166 . Each of the first contacting surfaces  164  can be a proximal surface defined by each of the first projections  118 . Each of the first angled surfaces  166  can be a surface extending between each of the first contacting surfaces  164  and the second end portion  114  of the proximal portion  110 . The second projections  122  can include the second contacting surfaces  168  and the second angled surfaces  170 . Each of the second contacting surfaces  168  can be a surface defined by each of the second projections  122 . Each of the second angled surfaces  170  can be a surface extending between each of the second contacting surfaces  168  and the distal surface  144  of the driving body  120 . The first angled surfaces  166  and the second angled surfaces  170  can be configured to correspond to one another to enable the driving body  120  to translate proximally and distally within the body bore  116  via rotational engagement between each projection of the first projections  118  and each projection of the second projections  122 . 
     For example, during rotation of the driving body  120  in response to rotation of the shaft  124 , the second angled surfaces  170  can contact and engage, such as by translating or sliding vertically and laterally along, the first angled surfaces  166  to cause the driving body  120  to translate proximally until the second contacting surfaces  168  engage, such as by translating or sliding laterally along, the first contacting surfaces  164 . The second angled surfaces  170  can then contact and engage, such as by vertically and laterally along, the first contacting surfaces  164 , to cause the driving body  120  to translate distally until the distal surface  144  of the driving body  120  contacts the second end surface  115  of the second end portion  114 . In one example, such as shown in  FIG.  2 B , each the first projections  118  can define one of the first angled surfaces  166  and each of the second projections  122  can define two of the second angled surfaces  170 . In other examples, each the first projections  118  can define two of the second angled surfaces  170  and each of the second projections  122  can define two of the second angled surfaces  170 . The driving body  120  can thereby translate proximally and distally within the body bore  116  in response to rotation of the shaft  124 , to impart or deliver an axial impaction force to the second end surface  115  of the second end portion  114  upon contact with the second end surface  115 . 
     As shown in  FIG.  2 B , the first contacting surfaces  164  can define the first radial extension  172 . The first radial extension  172  can be a linear distance, such as measured parallel to the longitudinal axis A 1  between the second end surface  115  of the proximal portion  110  and each of the first contacting surfaces  164 . For example, the first radial extension  172  can be the distance the first projections  118  extend proximally into the body bore  116  from the second end surface  115 . The second contacting surfaces  168  can define a second radial extension  174 . The second radial extension  174  can be a linear distance, such as measured parallel to the longitudinal axis A 1  between the distal surface  144  of the driving body  120  and the second contacting surfaces  168 . For example, the second radial extension  174  can be the distance the second projections  122  extend distally into the body bore  116  from the driving body  120  from the distal surface  144 . 
     The first radial extension  172  and the second radial extension can be, for example, but not limited to, 6-7 millimeters or 8-9 millimeters. The first radial extension  172  can be sufficient to ensure that the second contacting surfaces  168  can impact or otherwise contact the second end surface  115  of the second end portion  114  during rotation of the driving body  120 . The first radial extension  172  can be configured to be similar or different relative to the second radial extension  174 . In some examples, the first radial extension  172  can be less than the second radial extension  174 , such as to help ensure the second contacting surfaces  168  impact the second end surface  115  of the second end portion  114  before the first contacting surfaces  164  limit further distal translation of the driving body  120  within the body bore  116 . 
       FIG.  3 A  illustrates a side view of a plurality of first projections  118  of an adaptor  100 , in accordance with at least one example of the present application.  FIG.  3 B  illustrates a top view of a plurality of second projections  122  of an adaptor  100 , in accordance with at least one example of the present application. Also shown in  FIG.  3 A  is a longitudinal axis A 1 , and orientation indicators Proximal and Distal relating to relative positions along the adaptor  100 .  FIGS.  3 A- 3 B  are discussed below concurrently with reference to the adaptor  100  shown in and described with regard to  FIGS.  1 - 2 B  above. 
     The first contacting surfaces  164  of the first projections  118  can extend parallel to the second end portion  114  of the proximal portion  110  and orthogonally to the longitudinal axis A 1 . The second contacting surfaces  168  of the second projections  122  can extend parallel to the distal surface  144  of the driving body  120  and orthogonally to the longitudinal axis A 1 . In some examples, the first contacting surfaces  164  and the second contacting surfaces  168  can extend at various other angles relative to the longitudinal axis A 1 , such as about, but not limited, to 10-30 degrees, 31-50 degrees, or 51-70 degrees relative to the longitudinal axis A 1 . The first contacting surfaces  164  and the second contacting surfaces  168  can extend at complementary substantially identical or angles relative to one another or to the longitudinal axis A 1 , such as to help facilitate rotational engagement (e.g., vertical or lateral translation along) therebetween. 
     The first projections  118  and the second projections  122  can each include various numbers of individual projections. In one example, such as shown in  FIGS.  3 A- 3 B , the first projections  118  and the second projections  122  can each include four projections. In other examples, the first projections  118  and the second projections  122  can also include three, five, or six projections. Each of the first contacting surfaces  164  of the first projections  118  and the second contacting surfaces  168  of the second projections  122  can be radially spaced depending on the specific number of individual projections each of the first projections  118  and the second projections  122  include. The angle α can represent the radial spacing of the first projections  118  and the second projections  122 . 
     For example, the first projections  118  and the second projections  122  each include three projections, the angle α between each of the first contacting surfaces  164  or the second contacting surfaces  168  can be about 97.38 degrees. If the first projections  118  and the second projections  122  include four projections, the angle α between each of the first contacting surfaces  164  or the second contacting surfaces  168  can about 67.38 degrees. If the first projections  118  and the second projections  122  each include five projections, the angle α between each of the first contacting surfaces  164  or the second contacting surfaces  168  can about 49.37 degrees. If the first projections  118  and the second projections  122  each include six projections, the angle α between each of the first contacting surfaces  164  or the second contacting surfaces  168  can about 37.3 degrees. 
     Each of the first angled surfaces  166  can form an angled, beveled, chamfered, concave, convex, or the like, shape between the first contacting surfaces  164  and the second end portion  114  of the proximal portion  110 . Each of the second angled surfaces  170  can form angled, beveled, chamfered, concave, convex, or the like, shapes between the second contacting surfaces  168  and the distal surface  144  of the driving body  120 . In one example, each of the first angled surfaces  166  can form a concave shape and each the second angled surfaces  170  can form a chamfered shape. In another example, each of the first angled surfaces  166  and each of the second angled surfaces  170  can form a beveled or chamfered shape. 
     The adaptor  100  can include the gaps  176 . The gaps  176  can radially or laterally space the first projections  118  and the second projections  122 . For example, the gaps  176  can be defined as the circumferential or angular space between each of the first angled surfaces  166  and an adjacent one of the first contacting surfaces  164  or an adjacent one of the second contacting surfaces  168 . Angle β can represent the radial spacing of the gaps  176 . The gaps  176  can form a variety of different spacings depending on the dimensions of the first angled surfaces  166  or the second angled surfaces  170 . As such, the angle β can generally be less than the angle α. 
     The gaps  176  can also form a variety of different spacings depending on the number of projections the first projections  118  and the second projections  122  include. For example, if the first projections  118  and the second projections  122  of projections each include three projections, the angle β can be about 80 degrees. If the first projections  118  and the second projections  122  each include four projections, the angle β can be about 50 degrees. If the first projections  118  and the second projections  122  each include five projections, the angle β can be about 32 degrees. If the first projections  118  and the second projections  122  each include six projections, the angle β can be about 20 degrees. 
     In some examples, the angle β formed by the first angled surfaces  166  can be less than the angle β formed by the second angled surfaces  170 , such as to help improve the rotational force required to cause proximal and distal translation of the driving body  120 . For example, if the angle β is decreased, the driving body  120  can travel the linear distance defined by the first radial extension  172  over a longer period of time or a greater circumferential rotation, such as to thereby reduce the rotation force required to cause the driving body  120  to translate proximally or distally between the second end surface  115  of the second end portion  114  of the proximal portion  110  and the first contacting surfaces  164  of the first projections  118 . 
       FIG.  4 A  illustrates an isometric view of a shaft  124  of an adaptor  100 , in accordance with at least one example of the present application. Also shown in  FIG.  4 A  is a longitudinal axis A 1 , and orientation indications Proximal and Distal relating to relative positions along the shaft  124 . The shaft  124  can include a body portion  178 , a body surface  180 , a first protrusion  182 , a second protrusion  184 , and a facet  186  (and the first portion  126 , the second portion  128 , and the protrusion  130 ). The body portion  178  can be a length or segment of the shaft  124  extending between the first portion  126  and the second portion  128 . The body surface  180  can be an outer surface of the shaft  124 . The body surface  180  of the shaft  124  can form a generally cylindrical shape. In some examples, the body surface  180  can form other three-dimensional shapes, such as, but not limited to, a triangular prism, a rectangular prism, a hexagonal prism, an octagonal prism, or the like. 
     The protrusion  130  can extend radially outwardly from the body surface  180  of the shaft  124 . The protrusion  130  can form a generally ellipsoidal shape. In some examples, the protrusion  130  can form other three-dimensional shapes such as, but not limited to, a triangular prism, a rectangular prism, a hexagonal prism, octagonal prism, or the like. The protrusion  130  can include various numbers of individual protrusions, such as, but not limited to, one, two three, four, five, or six protrusions extending outwardly from the shaft  124 . In one example, such as shown in  FIG.  4 A , the protrusion  130  can include a first protrusion  182  and a second protrusion  184 . The first protrusion  182  and the second protrusion  184  can be extend outwardly from the body surface  180  in various circumferentially offset positions relative to each other, such at 90 degrees, 180 degrees, or 270 degrees offset relative to each other. The first protrusion  182  and the second protrusion  184  can alternatively extend outwardly from the body surface  180  at other circumferentially offset positions relative to each other, such as at about, but not limited to, 20-60 degrees, 61-100 degrees, 101-140 degrees, or 141-180 degrees. 
     The first portion  126  of the shaft  124  can define or otherwise include the facet  186 . The facet  186  can be a flattened or planer surface of the first portion  126 . The facet  186  can be configured to help prevent relative rotation between the shaft  124  and the drill  102  ( FIG.  1   ). For example, the facet  186  can be configured to engage a portion of the chuck  103  ( FIG.  1   ) of the drill  102  to prevent relative rotation therebetween. The second portion  128  of the shaft  124  can define or otherwise include various three-dimensional shapes. In one example, such as shown in  FIG.  4 A , the second portion  128  can form a hemispherical or semi-hemispherical shape. In other examples, the second portion  128  can form a flattened or planer two-dimensional shape, or other three-dimensional shapes such as, but not limited to, a triangular prism, a cuboid, a rectangular prism, a hexagonal prism, an octagonal prism, or the like. 
       FIG.  4 B  illustrates an isometric view of driving body  120  of an adaptor  100 , in accordance with at least one example of the present application. Also shown in  FIG.  4 B  is a longitudinal axis A 1 , and orientation indicators Proximal and Distal relating to relative positions along the driving body  120 . As shown in  FIG.  4 B , the driving body  120  can define a shaft bore  188 , a bore surface  190 , a slot  192 , and a slot surface  194 . The shaft bore  188  can extend through the driving body  120  between the proximal surface  142  and the distal surface  144  along the longitudinal axis A 1 . The shaft bore  188  can define the bore surface  190 . 
     The bore surface  190  can be configured to contact and receive at least a portion or segment of the body surface  180  ( FIG.  4 A ) of the shaft  124  ( FIG.  4 A ). For example, the shaft bore  188  can be sized and shaped such that the bore surface  190  can translatably engage (e.g., can translate vertically and laterally along) the body surface  180  of the shaft  124  when the shaft  124  is positioned within the shaft bore  188 . The slot  192  can extend through the proximal surface  142  of the driving body  120 . The slot  192  can extend within the driving body  120  at least partially between the proximal surface  142  and the distal surface  144 . The slot  192  can intersect the shaft bore  188 . For example, the slot  192  can extend generally orthogonally to the longitudinal axis A 1  and transversely through the shaft bore  188 . 
     The slot  192  can define the slot surface  194 . The slot surface  194  can be configured to contact and receive the protrusion  130  ( FIG.  4 A ), such as including the first protrusion  182  ( FIG.  4 A ) and the second protrusion  184  ( FIG.  4 A ). For example, the slot  192  can be sized and shaped such that the slot surface  194  can translatably engage (e.g., can translate vertically and laterally along) the first protrusion  182  and the second protrusion  184  when protrusion  130  is positioned within the slot  192 . When the shaft  124  is positioned within the shaft bore  188  of the driving body  120 , the second portion  128  of the shaft  124  can extend distally beyond the distal surface  144  of the driving body  120 , such as shown in  FIGS.  2 B and  3 A . In some examples, the second portion  128  can contact the second end surface  115  of the second end portion  114  of the proximal portion  110  when the shaft  124  is positioned within the shaft bore  188 . 
     In view of the above, when the shaft  124  receives a rotational force, the first protrusion  182  and the second protrusion  184  can engage the slot surface  194  to rotate the driving body  120 . In turn, the second projections  122  of the driving body  120  can engage the first projections  118  to cause proximal and distal translation of the driving body  120 . During proximal and distal translation of the driving body  120 , the bore surface  190  can translate vertically and laterally along the body surface  180  of the shaft  124 , and the slot surface  194  can concurrently translate vertically and laterally along first protrusion  182  and the second protrusion  184 . The shaft bore  188  and the slot  192  can thereby enable the shaft  124  to rotate the driving body  120  while concurrently allowing the driving body  120  to translate proximally and distally relative to the shaft  124 . 
     The adaptor  100 , including any of various components thereof shown in and described above with regard to  FIGS.  1 - 4 B , such as the proximal portion  110 , the distal portion  132 , the driving body  120 , the shaft  124 , or the biasing element  150 , can be made from, but not limited to, plastics, composites, rubber, or ceramics. For example, the components listed above can be molded, printed, or otherwise made from, ABS plastic. In other examples, the adaptor  100 , including any of various components thereof shown in and described above with regard to  FIGS.  1 - 4 B , such as the proximal portion  110 , the distal portion  132 , the driving body  120 , the shaft  124 , or the biasing element  150 , can be made from, but not limited to, can also each be made from stainless steel, aluminum, or other metals via machining or metallic molding. 
       FIG.  5    illustrates an exploded view of an adaptor  200 .  FIG.  6    illustrates a cross-section of an adaptor  200 .  FIG.  6    illustrates a cross-sectional side view of an adaptor  200 . Also shown in  FIG.  6    is a longitudinal axis A 1 , and orientation indicators Proximal and Distal relating to relative positions along the adaptor  200 .  FIGS.  5 - 6    are discussed below concurrently with reference to the adaptor  100  shown in and described with regard to  FIGS.  1 - 4 B  above. The adaptor  200  can be similar to the adaptor  100 , at least in that the adaptor  200  can include any elements or components of the adaptor  100 . As shown in  FIGS.  5 - 6   , the adaptor  200  can include grip features  202  ( FIG.  5   ), a top plate  204 , a plurality of second apertures  205 , a first shaft bore  206 , a collar recess  207  ( FIG.  6   ), a first collar  208 , a first collar surface  210 , a first retainer  212  ( FIG.  5   ), a bearing  214 , a top surface  216 , a first surface  218 , a second shaft bore  219 , a second aperture  220 , a second surface  221  ( FIG.  6   ), a first bushing  222 , a first bushing surface  224 , a second collar  226 , a second collar surface  228 , a second retainer  230 , a second bushing  232 , a second bushing surface  234 , an outer surface  236 , a flange  238 , a shaft recess  240  ( FIG.  6   ), a distal surface  242  ( FIG.  6   ), a first portion  244  ( FIG.  6   ), a second portion  246  ( FIG.  6   ), an extension  248 , and a bit portion  250 . 
     The grip features  202  can be protrusions or projections extending radially outwardly from the proximal outer surface  138  of the proximal portion  110 . The grip features  202  can form various three-dimensional shapes such as, but not limited to, an ellipsoid, a triangular prism, a rectangular prism, a hexagonal prism, octagonal prism, or the like. In one example, such as shown in  FIG.  5   , the grip features  202  can collectively include six of the grip features  202 . In other examples, the grip features  202  can collectively include other numbers of individual grip features, such as, but not limited to, one, two, three, four, five, seven, eight, nine, or ten of the grip features  202 . Each of the grip features  202  can extend outwardly from the proximal outer surface  138  in various parallel, non-parallel, or circumferentially offset positions relative to one another, such at 90 degrees, 180 degrees, or 270 degrees offset relative to one another. The grip features  202  can help a user hold or otherwise engage the proximal outer surface  138  of the adaptor  200 , such as to limit relative rotation of the proximal portion relative to the shaft  124  during rotation of the shaft  124 . 
     The first end portion  112  ( FIG.  6   ) of the proximal portion  110  can include the cap  156  and the top plate  204 . The top plate  204  can define the second apertures  205 . The second apertures  205  can extend transversely through the top plate  204 , such as parallel to and laterally offset from the longitudinal axis A 1 . Each of the second apertures  205  can be configured to receive at least a portion of one of the fasteners  160 . The second apertures  205 , the apertures  158 , and the bores  162  can be formed in complementary radial locations or orientations in the top plate  204 , the cap  156 , and the proximal portion  110  respectively, such that the second apertures  205 , the apertures  158 , and the bores  162  can be aligned when the top plate  204  and the cap  156  are positioned on the proximal portion  110 . The fasteners  160  can thereby be inserted through the second apertures  205  and the apertures  158  to engage the bores  162  to secure the top plate  204  and the cap  156  to the proximal portion  110 . 
     The top plate  204  can define the first shaft bore  206 . The first shaft bore  206  can be a bore or opening extending transversely through the top plate  204 , such as along the longitudinal axis A 1  ( FIG.  6   ). The first shaft bore  206  can be configured to receive a portion of the shaft  124 . For example, the first shaft bore  206  can be sized and shaped such that the body surface  180  of the shaft  124  can engage the first shaft bore  206  when a portion of the shaft  124  is positioned within the first shaft bore  206 . The collar recess  207  can be a bore or opening extending transversely into and partially through the top plate  204 . The collar recess  207  can be sized and shaped to receive at least a portion of the first collar  208 . The first collar  208  can include the first collar surface  210  and the first retainer  212 . The first collar surface  210  can be configured to contact and receive the shaft  124 . For example, the first collar surface  210  can be sized and shaped to engage the body surface  180  of the shaft  124  when a portion of the shaft  124  is positioned within the first collar  208 . The first retainer  212  can be a screw, a pin, a detent, a lock, or other devices or fixation methods. 
     The first retainer  212  can be configured to engage the body surface  180  of the shaft  124  when the shaft  124  is positioned at least partially within the first collar  208 . For example, the first retainer  212  can extend transversely through the first collar  208  and inwardly beyond the first collar surface  210 , such as by threadably engaging a portion of the first collar  208 , to contact the body surface  180  of the shaft  124 . The first retainer  212  can thereby prevent relative rotation between the first collar  208  and the shaft  124  and help to locate the shaft  124  within the body bore  116 , such as by limiting vertical translation of the shaft  124  relative to the top plate  204 . The bearing  214  can be a ball bearing, a needle bearing, a plain bearing, a bushing, or other friction reducing devices, such as surfaces configured to promote rotation. 
     The cap  156  can define the aperture  152 , the inner surface  153 , the top surface  216 , the first surface  218 , the second shaft bore  219 , the second aperture  220 , and the second surface  221 . The top surface  216  can be configured to contact or otherwise interface with the top plate  204  when the top plate  204  is secured to the cap  156  and the proximal portion  110 . The first surface  218  can be a distal end surface of the aperture  152 , such as distally offset from the top surface  216  of the cap  156 . The aperture  152  can be configured to at least partially receive the first collar  208  and the bearing  214 . The first surface  218  can be configured to contact and support the bearing  214 . As such, the bearing  214  can be positioned within the aperture  152  between the first collar  208  and the first surface  218 . The bearing  214  can thereby promote rotation and reduce friction between the first collar  208  and the cap  156 . 
     The second shaft bore  219  can be a bore or opening extending transversely through the cap  156 , such as along the longitudinal axis A 1  and concentrically with the aperture  152 . The second shaft bore  219  can define a smaller or reduced diameter relative to the aperture  152 . The second shaft bore  219  can be configured to receive a portion of the shaft  124 . For example, the second shaft bore  219  can be sized and shaped such that the body surface  180  of the shaft  124  can engage the second shaft bore  219  when a portion of the shaft  124  is positioned within the second shaft bore  219 , such as to promote rotation therebetween and reduce friction between the body surface  180  and second shaft bore  219 . The second aperture  220  can be a bore or opening extending transversely into and partially through the cap  156 , such as proximally into the second taper  148  ( FIG.  6   ) along the longitudinal axis A 1 . The second surface  221  can be a proximal end surface of the second aperture  220 , such as proximally offset from the second taper  148  of the cap  156 . 
     The second aperture  220  can be configured to at least partially receive the first bushing  222 . The second surface  221  can be configured to contact the first bushing  222  to help position the first bushing  222  along the shaft  124 , such as by limiting vertical translation of the first bushing  222  relative to the cap  156 . The first bushing  222  can define the first bushing surface  224 . The first bushing surface  224  can be configured to contact and receive the shaft  124 . For example, the first bushing surface  224  can be sized and shaped to engage the body surface  180  of the shaft  124  when a portion of the shaft  124  is positioned within the first bushing  222 . The second collar  226  can include the second collar surface  228  and the second retainer  230 . The second collar surface  228  can be configured to contact and receive the shaft  124 . For example, the second collar surface  228  can be sized and shaped to engage the body surface  180  of the shaft  124  when a portion of the shaft  124  is positioned within the second collar  226 . The second retainer  230  can be a screw, a pin, a detent, a lock, or other devices or fixation methods. The second retainer  230  can be configured to engage the body surface  180  of the shaft  124  when the shaft  124  is positioned at least partially within the second collar  226 . For example, the second retainer  230  can extend transversely through the second collar  226  and inwardly beyond the second collar surface  228 , such as by threadably engaging a portion of the second collar  226 , to contact the body surface  180  of the shaft  124 . The second retainer  230  can thereby prevent relative rotation between the second collar  226  and the shaft  124  and help to locate the shaft  124  within the body bore  116 , such as by limiting vertical translation of the shaft  124  relative to the second taper  148  of the cap  156 . 
     The second bushing  232  can include the second bushing surface  234 , the outer surface  236 , and the flange  238 . The second bushing surface  234  can be configured to contact and receive the shaft  124 . For example, the second bushing surface  234  can be sized and shaped to engage the body surface  180  of the shaft  124  when a portion of the shaft  124  is positioned within the second bushing  232 , such as to promote rotation therebetween. The flange  238  can be a protrusion or projection extending circumferentially outwardly beyond the outer surface  236 , such as orthogonally to the longitudinal axis A 1 . The proximal portion  110  can define the shaft recess  240 . The shaft recess  240  can extend transversely through the second end surface  115  along the longitudinal axis A 1 . 
     The shaft recess  240  can define the distal surface  242 , the first portion  244 , and the second portion  246 . The distal surface  242  can be a distal end surface of the shaft recess  240 , such as distally offset from the second end surface  115 . The first portion  244  can define a smaller diameter relative to the second portion  246 . The first portion  244  and the second portion  246  of the shaft recess  240  can be configured to contact and receive the second bushing  232 . For example, the first portion  244  can be sized and shaped to engage the outer surface  236  of the second bushing  232  and, such as to prevent relative rotation therebetween. The second portion can be sized and shaped to engage the flange of the second bushing  232 . As such, the second bushing  232  can be positioned within the shaft recess  240  between the second end surface  115  and the distal surface  242  of the proximal portion  110 . The second bushing  232  and the shaft recess  240  can thereby help to position the shaft  124  during rotation of the shaft  124 , such as by limiting lateral translation relative to the proximal portion  110 . 
     The distal portion  132  can include the extension  248 . The extension  248  can extend distally from the proximal portion  110 , such as parallel to the longitudinal axis A 1  and the distal portion  132  ( FIG.  6   ). For example, the extension  248  can extend distally beyond the distal portion  132 , or the extension  248  can end at a location proximal to a distal-most or end surface of the distal portion  132 . The extension  248  can define various three-dimensional shapes, such as circumferentially or otherwise laterally encompassing the distal portion  132 . In some examples, such as shown in  FIGS.  5 - 6   , the first portion  126  ( FIG.  6   ) of the shaft  124  can define or otherwise include the bit portion  250 . The bit portion  250  can include the facet  186  ( FIG.  5   ). The bit portion  250  can be configured to help prevent relative rotation between the shaft  124  and the drill  102  ( FIG.  1   ). For example, the bit portion  250  can be configured, such as by being sized and shaped, to engage a portion of the chuck  103  ( FIG.  1   ) of the drill  102  to help prevent relative rotation therebetween. 
       FIG.  7    illustrates a method  300  of imparting an axial impaction force to a surgical impactor, in accordance with one example of the present application. The steps or operations of the method  300  are illustrated in a particular order for convenience and clarity; many of the discussed operations can be performed by multiple different actors, devices, or systems. It is understood that subsets of the operations discussed in the method  300  can be attributable to a single actor, device, or system and can be considered a separate standalone process or method. 
     The method  300  can optionally begin with operation  302 . The operation  302  can include coupling the surgical impactor to a surgical robotic arm. For example, a portion of the surgical impactor can be configured to be engageable with an end effector coupler extending from the surgical robotic arm. A user can thereby connect the end effector coupler of the surgical robotic arm to the portion of the surgical impactor configured to engage therewith, such as to allow a user to selectively or otherwise removably couple the surgical impactor to the robotic arm in preparation for, or after, an arthroplasty procedure. 
     The method  300  can include operation  304 . The operation  304  can include inserting a distal portion of an adaptor into a surgical impactor coupled to a surgical robotic arm. For example, the surgical impactor can define a channel extending at least partially therethrough along a longitudinal axis. The distal portion of the adaptor can be configured to be insertable into the channel defined by the surgical impactor, such as to allow the adaptor to be at least partially received therein. A proximal portion of the adaptor can define a diameter greater than a diameter defined by the distal portion of the adaptor to limit distal translation of the adaptor within the channel of the surgical impactor, such as to locate the adaptor with respect to the surgical impactor. 
     The method  300  can include operation  306 . The operation  306  can include coupling a first portion of a shaft of the adaptor to a surgical drill. For example, the adaptor can include a proximal portion including a shaft extending proximally therefrom along a longitudinal axis. A first portion of the shaft can be configured to be receivable within, or otherwise engage with, a portion of the surgical drill, such as via insertion thereinto by the user, to allow the shaft to receive a rotational force from the surgical drill. In some examples, the surgical drill can include a chuck configured engage the first portion of the shaft to prevent relative rotation between the chuck and the first portion of the shaft of the adaptor during rotation of the chuck. 
     The method  300  can optionally include operation  308 . The operation  308  can include controlling movement of the robotic arm to position the surgical impactor proximal and the surgical drill. For example, the user can, such as via one or more user inputs to a user interface, cause the robotic arm to position at least a portion of the surgical impactor within an incision made in a hip region of a patient, such as to engage the surgical impactor with an acetabular implant during a hip arthroplasty procedure. 
     The method  300  can optionally include operation  310 . The operation  310  can include activating the surgical drill to cause the adaptor to impart an axial impaction force to the surgical impactor. For example, the user can engage a trigger of the surgical drill, or can otherwise cause the surgical drill, to rotate the shaft of the adaptor engaged therewith around a longitudinal axis to cause the adaptor to impart a repetitive axial impaction force to the surgical impactor along the longitudinal axis. In turn, the axial impaction force imparted to the surgical impactor be transferred to an implant, such as to be inserted into the acetabular cup or the femur. In some examples, the trajectory can be based on a preoperative plan, such as based on a diagnostic image of the bone to determine the trajectory for implant insertion. 
       FIG.  8    illustrates a robotic surgical system  400 , in accordance with at least one example of the present application.  FIG.  6    is discussed with reference to the adaptor  100 , the drill  102 , and the impactor  104  shown in and described with regard to  FIG.  1    above. The robotic surgical system  400  can include the robotic arm  402 . The robotic arm  402  can be similar to the robotic arm  106  shown in and discussed with regard to  FIG.  1    above. The robotic arm  402  can be controlled by a surgeon with various control devices or systems. For example, a surgeon can use a control system (e.g., a controller that is processor-implemented based on machine-readable instructions, which when implemented cause the robotic arm to move automatically or to provide force assistance to surgeon-guided movement) to guide the robotic arm  402 . A surgeon can use anatomical imaging, such as displayed on display screens  404 , to guide and position the robotic arm  402 . 
     Anatomical imaging can be provided to the display screens  404  with various imaging sources, such as one or more cameras positioned on the robotic arm  402 , or intraoperative fluoroscopy, such as a C-arm. The robotic arm  402  can include two or more articulating joints  406  capable of pivoting, rotating, or both, to provide a surgeon with wide range of adjustment options. The anatomical imaging, for example, can be imaging of internal patient anatomy within an incision. Such an incision can be made in a variety of positions on a patient. For example, in a hip arthroplasty procedure, the incision can be made in a hip region of a patient, such as to allow the impactor  104  (FIG.  1 ), when coupled to the robotic arm  402  to access a bone surface, or other anatomy of the patient. 
     The robotic arm  402  can include a computing system  408 , which can also communicate with the display screens  404  and a tracking system  410 . The tracking system  410  can be operated by the computing system  408  as a stand-alone unit. The computing system  408  can utilize the Polaris optical tracking system from Northern Digital, Inc. of Waterloo, Ontario, Canada. Additionally, the tracking system  410  can comprise the tracking system shown and described in Pub. No. US 2017/0312035, titled “Surgical System Having Assisted Navigation” to Brian M. May, which is hereby incorporated by this reference in its entirety. The tracking system  410  can monitor a plurality of tracking elements, such as tracking elements  412  and  414 . The tracking elements  412  and  414  can be affixed to objects of interest, to track locations of multiple objects within a surgical field. 
     The tracking system  410  can function to create a virtual three-dimensional coordinate system within the surgical field for tracking patient anatomy, surgical instruments, or portions of the robotic arm  402  such as including the adaptor  100 , the drill  102 , or the impactor  104  when coupled thereto. One or more of the tracking elements  412  and  414  can be tracking frames including multiple IR reflective tracking spheres, or similar optically tracked marker devices. In an example, one or more of the tracking elements  412  and  414  can be placed on or adjacent one or more bones of patient. In other examples, one or more of the tracking elements  412  and  414  can be placed on the impactor  104  or on an implant to accurately track positions within the virtual coordinate system. In each instance, the tracking elements  412  and  414  can provide position data, such as a patient position, a bone position, a joint position, an implant position, a position of the robotic arm  402 , or the like. 
     In the operation of some examples, the adaptor  100  can operatively couple the impactor  104  to the robotic arm  402 , such as in preparation for a surgical arthroplasty procedure. The surgical procedure can be a hip arthroplasty; but can also be other types of joint replacement procedures. A surgeon can make an incision in a hip region of a patient. The robotic arm  402  can guide and position the impactor  104  to or within the incision. The impactor  104  can be guided to a bone surface of a patient using the robotic arm  402  in a cooperatively controlled mode utilizing robotic guidance, such as to position the head  105  ( FIG.  1   ) of the impactor  104  at a surface of an implant positioned proximal to a bone surface. The drill  102  can then be selectively controlled to rotate the shaft  124  ( FIG.  1   ) of the adaptor  100 , such as to cause the adaptor  100  to impart an axial impaction force to the head  105 . 
     The impactor  104  can thereby improve impaction of an implant into anatomy of a patient. In contrast to traditional methods using a manual impactor, the positioning and operation of the impactor  104 , such as including striking the impactor with a mallet or setting an angle or trajectory of the impactor  104 , can be easily and precisely carried out intra-procedurally with the adaptor  100  and the robotic arm  402 . Further, the ability of the robotic arm  402  to be adjustably pivoted, rotated, or otherwise articulated intra-procedurally, either autonomously or cooperatively with the operator can help to increase the precision of implant positioning and impaction during an arthroplasty procedure. 
     For example, the robotic arm  402  can help to control the position and movement more precisely and steadily than a human hand and the adaptor  100  can impart a repetitive axial impaction force to the impactor  104  that is more consistent and predictable than a human hand. These benefits can enable a surgeon to complete a hip joint replacement procedure with improved accuracy and less fatigue; and provide a patient with shorter hospital stay and a reduced recovery time. 
       FIG.  9    illustrates a schematic view of a robotic surgical system  500  for robotically assisted impaction, in accordance with at least one example of the present application. The robotic surgical system  500  includes a robotic surgical device  502 , which can include a robotic arm  504 , and a drill  506 . The drill  506  can be coupled to an adaptor  508  and an impactor  510 . The robotic arm  504  can be similar to the robotic arm  106  discussed above with respect to  FIG.  1   , in that robotic arm  504  can be a movable and articulatable robotic arm. The drill  506 , the adaptor  508 , and the impactor  510  can be similar to the drill  102 , the adaptor  100 , and the impactor  104  shown in and discussed with respect to  FIG.  1    above. 
     The robotic arm  504  can move autonomously in an example. In another example, the robotic arm  504  can provide a force assist to surgeon or user guided movements. In yet another example, a combination of autonomous movement and force assist movement can be performed by the robotic arm  504  (e.g., force assist for an initial movement, and autonomously moving a later movement). In an example, the robotic arm  504  can resist an applied force. For example, the robotic arm  504  can be programmed to stay within a particular range of locations or a particular position, move at a particular speed (e.g., resist a higher speed by resisting force), or the like. 
     The robotic surgical device  502  can output or receive data from a controller  512 . The controller  512  can be implemented in processing circuitry (e.g., hardwired or a processor), a programmable controller, such as a single or multi-board computer, a direct digital controller (DDC), a programmable logic controller (PLC), a system on a chip, a mobile device (e.g., cell phone or tablet), a computer, or the like. In one example, the controller  512  can output information to a display screen  514 . The display screen  514  can retrieve and display information from an imaging camera. The imaging camera can be physically positioned on the robotic surgical device  502 , such as on the robotic arm  504 , or on the drill  506 , or alternatively, on the adaptor  508  or on impactor  510  coupled to the drill  506 . 
     In an example, the display screen  514  can be used to display a user interface  516 . In an example, the display screen  514  can be a touch screen display. In another example, the user interface  516  on the display screen  514  can provide lights, buttons, or switches. A user can thereby interact with the display screen  514  and the user interface  516  to input control commands, which can be relayed to the robotic surgical device  502  through the controller  512  to control the robotic surgical device  502 . The robotic surgical system  500  can be used to perform all, or a portion of, a surgical procedure on a patient. 
     In the operation of some examples, a user can interact with the user interface  516  on the display screen  514  to power on the robotic surgical device  502 . Power can be indicated by a light, for example, on the user interface  516 , or on the robotic arm  504 . When the robotic surgical device  502  is powered on, the user can operate the robotic arm  504  or the drill  506  by interacting with the display screen  514  and the user interface  516 . In other examples, the drill  506  can be operated separately from the robotic surgical device  502  or the robotic arm  504 , such as by operating a trigger of the drill  506 . 
     The robotic surgical system  500  can be used to cut, impact, or otherwise shape a target bone surface of a patient, such as to prepare the bone surface to receive an implant by operating the drill  506  to cause the adaptor  508  to transmit an axial impaction force to the impactor  510 . In an example, a cutting angle or trajectory of the impactor  510  can be changed intra-operatively, for example using the controller  512 . The robotic arm  504  can thereby allow a user to respond to specific bone conditions of a patient, such as to improve an amount of a patient&#39;s bone that can be preserved during an arthroplasty procedure by increasing the consistency and precision of impaction of the bone surface. The bone penetration depth of the impactor can further be precisely controlled or otherwise limited using the robotic arm  504 , in contrast to traditional manual or otherwise hand-held reamers. 
       FIG.  10    illustrates a block diagram of an example machine upon which any one or more of the techniques discussed herein can be performed. In alternative embodiments, the machine  600  can operate as a standalone device or can be connected (e.g., networked) to other machines. In a networked deployment, the machine  600  can operate in the capacity of a server machine, a client machine, or both in server-client network environments. In an example, the machine  600  can act as a peer machine in peer-to-peer (P2P) (or other distributed) network environment. 
     The machine  600  can be a personal computer (PC), a tablet PC, a set-top box (STB), a personal digital assistant (PDA), a mobile telephone, a web appliance, a network router, switch or bridge, or any machine capable of executing instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), other computer cluster configurations. 
     Machine (e.g., computer system)  600  can include a hardware processor  602  (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), a main memory  604  and a static memory  606 , some or all of which can communicate with each other via an interlink  608  (e.g., bus) 8 . The machine  600  can further include a display unit  610 , an alphanumeric input device  612  (e.g., a keyboard), and a user interface (UI) navigation device  614  (e.g., a mouse). In an example, the display unit  610 , alphanumeric input device  612  and user interface (UI) navigation device  614  can be a touch screen display. The machine  600  can additionally include a storage device (e.g., drive unit)  616 , a signal generation device  618  (e.g., a speaker), a network interface device  620 , and one or more sensors  621 , such as a global positioning system (GPS) sensor, compass, accelerometer, or other sensors. The machine  600  can include an output controller  628 , such as a serial (e.g., Universal Serial Bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection to communicate or control one or more peripheral devices (e.g., a printer, card reader, etc.). 
     The storage device  616  can include a machine readable medium  622  on which is stored one or more sets of data structures or instructions  624  (e.g., software) embodying or utilized by any one or more of the techniques or functions described herein. The instructions  624  can also reside, completely or at least partially, within the main memory  604 , within static memory  606 , or within the hardware processor  602  during execution thereof by the machine  600 . In an example, one or any combination of the hardware processor  602 , the main memory  604 , the static memory  606 , or the storage device  616  can constitute machine readable media. 
     While the machine readable medium  622  is illustrated as a single medium, the term “machine readable medium” can include a single medium or multiple media (e.g., a centralized or distributed database, or associated caches and servers) configured to store the one or more instructions  624 . The term “machine readable medium” can include any medium that is capable of storing, encoding, or carrying instructions for execution by the machine  600  and that cause the machine  600  to perform any one or more of the techniques of the present disclosure, or that is capable of storing, encoding or carrying data structures used by or associated with such instructions. Non-limiting machine-readable medium examples can include solid-state memories, and optical and magnetic media. 
     The instructions  624  can further be transmitted or received over a communications network  626  using a transmission medium via the network interface device  620  utilizing any one of a number of transfer protocols (e.g., frame relay, internet protocol (IP), transmission control protocol (TCP), user datagram protocol (UDP), hypertext transfer protocol (HTTP), etc.). Example communication networks can include a local area network (LAN), a wide area network (WAN), a packet data network (e.g., the Internet), mobile telephone networks (e.g., cellular networks), Plain Old Telephone (POTS) networks, and wireless data networks (e.g., Institute of Electrical and Electronics Engineers (IEEE) 802.11 family of standards known as Wi-Fi®, IEEE 802.16 family of standards known as WiMax®), IEEE 802.15.4 family of standards, peer-to-peer (P2P) networks, among others. 
     In an example, the network interface device  620  can include one or more physical jacks (e.g., Ethernet, coaxial, or phone jacks) or one or more antennas to connect to the communications network  626 . In an example, the network interface device  620  can include a plurality of antennas to wirelessly communicate using at least one of single-input multiple-output (SIMO), multiple-input multiple-output (MIMO), multiple-input single-output (MISO) techniques. The term “transmission medium” shall be taken to include any intangible medium that is capable of storing, encoding or carrying instructions for execution by the machine  600 , and includes digital or analog communications signals or other intangible medium to facilitate communication of such software. 
     The foregoing systems and devices, etc. are merely illustrative of the components, interconnections, communications, functions, etc. that can be employed in carrying out examples in accordance with this disclosure. Different types and combinations of sensor or other portable electronics devices, computers including clients and servers, implants, and other systems and devices can be employed in examples according to this disclosure. 
     The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only those elements shown or described are provided. 
     Moreover, the present inventors also contemplate examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein. In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls. 
     In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects. 
     The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to comply with 37 C.F.R. § 1.72(b), to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features may be grouped together to streamline the disclosure. 
     This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. 
     Notes and Examples 
     The above description and the drawings sufficiently illustrate specific examples to enable those skilled in the art to practice them. Other examples may incorporate structural, process, or other changes. Portions and features of some examples may be included in, or substituted for, those of other examples. Examples set forth in the claims encompass all available equivalents of those claims. The following, non-limiting examples, detail certain aspects of the present subject matter to solve the challenges and provide the benefits discussed herein, among others. 
     Example 1 is an adaptor configured to receive a rotational force from a surgical drill to impart an axial impaction force to a surgical impactor connectable to a robotic arm, the adaptor comprising: a proximal portion defining a longitudinal axis and including a first end portion and a second end portion, the proximal portion defining a body bore extending between the first end portion and the second end portion along the longitudinal axis, the second end portion including a plurality of first projections extending proximally therefrom into the body bore; a distal portion connected to the proximal portion and insertable into the surgical impactor to locate the distal portion with respect to the surgical impactor; a shaft extending into the body bore, the shaft engageable with the surgical drill to receive the rotational force; a driving body translatable within the body bore along the longitudinal axis and connected to the shaft, the driving body including a plurality of second projections extending distally therefrom, the second projections engageable with the first projections to translate the driving body distally relative to the shaft in response to rotation of the shaft; and a biasing element located within the body bore engaged with the proximal portion and the driving body to bias the driving body distally. 
     In Example 2, the subject matter of Example 1 includes, wherein the proximal portion defines an outer surface having a diameter greater than a diameter of an outer surface of the distal portion. 
     In Example 3, the subject matter of Examples 1-2 includes, wherein the second end portion of the proximal portion is engageable with the surgical impactor to limit distal translation of the adaptor within the surgical impactor. 
     In Example 4, the subject matter of Examples 1-3 includes, wherein the first end portion defines a proximal bearing for the shaft. 
     In Example 5, the subject matter of Examples 1-4 includes, a pair of opposing protrusions extending radially outward from a body surface of the shaft. 
     In Example 6, the subject matter of Example 5 includes, wherein the driving body includes a proximal surface and a distal surface, the driving body defining a shaft bore extending longitudinally therebetween and configured to receive a portion of the shaft. 
     In Example 7, the subject matter of Example 6 includes, wherein the driving body defines a slot extending longitudinally through the proximal surface of the driving body and intersecting the shaft bore, the slot configured to translatably receive the pair of protrusions to transfer torque from the shaft to the driving body. 
     In Example 8, the subject matter of Examples 1-7 includes, wherein the first end portion of the proximal portion includes a taper extending distally into the body bore to support the biasing element. 
     In Example 9, the subject matter of Examples 1-8 includes, wherein each of the first projections includes an angled surface rotatably engageable angled surfaces of one the second plurality of projections to cause proximal translation of the driving body within the body bore, and wherein each angled surface of the second projections is complementary to each angled surface of each of the first projections. 
     Example 10 is an adaptor configured to receive a rotational force from a surgical drill to impart an axial impaction force to a surgical impactor connectable to a robotic arm, the adaptor comprising: a proximal portion defining a longitudinal axis and including a first end portion and a second end portion, the proximal portion defining a body bore extending longitudinally between the first end portion and the second end portion, the second end including a plurality of first projections extending proximally therefrom into the body bore, and a distal portion connected to the proximal portion and insertable in the surgical impactor to locate the distal portion with respect to the surgical impactor; a shaft extending into the body bore and engageable with the surgical drill to receive the rotational force; a driving body translatable within the body bore along the longitudinal axis and connected to the shaft, the driving body including a plurality of second projections extending distally therefrom, the second projections rotatably engageable with the first projections to translate the driving body distally relative to the shaft in response to rotation of the shaft to deliver the axial impaction force to the surgical impactor in response to rotation of the shaft, and wherein the driving body defines a shaft bore extending longitudinally axially between a proximal surface and a distal surface thereof, the shaft bore configured to translatably receive a portion of the shaft to allow proximal and distal translation of the driving body relative to the shaft; and a biasing element located within the body bore engaged with the proximal portion and the driving body to bias the driving body distally. 
     In Example 11, the subject matter of Example 10 includes, wherein a first portion of the shaft includes a facet engageable with the surgical drill to prevent relative rotation between the shaft and the surgical drill. 
     In Example 12, the subject matter of Example 11 includes, wherein a second portion of the shaft is hemispherically shaped. 
     In Example 13, the subject matter of Example 12 includes, wherein the first end portion of the proximal portion comprises a removable cap defining an aperture extending therethrough. 
     In Example 14, the subject matter of Example 13 includes, wherein the removable cap includes a proximal bearing located within the aperture of the removable cap, the bearing configured to reduce rotational friction between the shaft and the removable cap. 
     In Example 15, the subject matter of Example 14 includes, wherein the first end of the proximal portion defines a plurality of threaded bores and the removable cap defines a plurality of apertures, wherein the plurality of threaded bores and the plurality of apertures are configured to concurrently receive a plurality of fasteners to secure the removable cap to the proximal portion. 
     In Example 16, the subject matter of Examples 10-15 includes, wherein the shaft includes a protrusion extending radially outward beyond an outer surface of the shaft, and wherein the driving body defines a slot extending longitudinally through the proximal surface of the driving body and intersecting the shaft bore, the slot configured to translatably receive the protrusion to allow proximal and distal translation of the driving body relative to the shaft. 
     In Example 17, the subject matter of Examples 10-16 includes, wherein the first projections and the second projections each include three projections, wherein a radial surface of each of the first projections and the second projections is spaced apart from a radial surface of each adjacent projection of the first projections and the second projections by about 80 degrees. 
     In Example 18, the subject matter of Examples 10-17 includes, wherein the first projections and the second projections each include four projections, wherein a radial surface of each of the first projections and the second projections is spaced apart from a radial surface of each adjacent projection of the first projections and the second projections by about 50 degrees. 
     Example 19 is an impaction adaptor connectable to a surgical drill and a surgical impactor, the impaction adaptor comprising: a body comprising: a proximal portion defining a body bore and including a first plurality of projections; and a distal portion connected to the proximal portion and insertable into the surgical impactor; a shaft located at least partially within the body bore and engageable with the surgical drill to be driven to rotate within the body bore; a biasing element located within the body bore and engaged with the proximal portion of the body; and a driving body located at least partially within the body bore, the driving body secured to the shaft and engaged with the biasing element, the driving body including a plurality of second projections rotatably engageable with the first projections to cause translation of the driving body relative to the body to deliver an impaction force to the surgical impactor in response to rotation of the shaft. 
     In Example 20, the subject matter of Example 19 includes, wherein the body defines a longitudinal axis, and the body bore extends longitudinally axially between a first end portion and a second end portion of the proximal portion. 
     In Example 21, the subject matter of Example 20 includes, wherein the second end portion of the proximal portion is engageable with the surgical impactor to limit distal translation of the impaction adaptor with respect to the surgical impactor. 
     In Example 22, the subject matter of Examples 20-21 includes, wherein the first end portion of the proximal portion defines an aperture extending through the first end portion of the proximal portion, the shaft extending through the aperture into the body bore. 
     In Example 23, the subject matter of Example 22 includes, wherein the first end portion of the proximal portion comprises a removable cap defining a plurality of apertures and the proximal portion defines a plurality of threaded bores, and wherein the plurality of threaded bores and the plurality of apertures are configured to concurrently receive a plurality of fasteners to secure the removable cap to the proximal portion. 
     In Example 24, the subject matter of Examples 20-23 includes, wherein a first end portion defines a proximal bearing for the shaft. 
     In Example 25, the subject matter of Examples 19-24 includes, wherein the proximal portion defines an outer surface having a diameter greater than a diameter of an outer surface of the distal portion. 
     In Example 26, the subject matter of Examples 19-25 includes, wherein the driving body includes a proximal surface, a distal surface, and defines a shaft bore extending longitudinally axially therebetween, the shaft bore configured to translatably receive a portion the shaft, and a slot extending longitudinally through the proximal surface of the driving body and intersecting the shaft bore, the slot configured to translatably receive a pair of protrusion extending radially outward from the shaft to allow proximal and distal translation of the driving body relative to the shaft. 
     In Example 27, the subject matter of Examples 19-26 includes, wherein each of the first projections includes an angled surface rotatably engageable with angled surfaces of one the second plurality of projections to cause proximal translation of the driving body within the body bore, and wherein each angled surface of the second projections is complementary to each angled surface of each of the first projections. 
     In Example 28, the subject matter of Example 27 includes, wherein the first projections and the second projections each include three projections, wherein a radial surface of each of the first projections and the second projections is spaced apart from a radial surface of each adjacent projection of the first projections and the second projections by about 97 degrees. 
     In Example 29, the subject matter of Examples 27-28 includes, wherein the first projections and the second projections each include four projections, wherein a radial surface of each of the first projections and the second projections is spaced apart from a radial surface of each adjacent projection of the first projections and the second projections by about 67 degrees. 
     Example 30 is at least one machine-readable medium including instructions that, when executed by processing circuitry, cause the processing circuitry to perform operations to implement of any of Examples 1-29. 
     Example 31 is an apparatus comprising means to implement of any of Examples 1-29. 
     Example 32 is a system to implement of any of Examples 1-29. 
     Example 33 is a method to implement of any of Examples 1-29. 
     Example 34 is a method of imparting an axial impaction force to a surgical impactor, the method comprising: inserting a distal portion of an adaptor into the surgical impactor coupled to the surgical robotic arm; coupling a first portion of a shaft of the adaptor to the surgical drill; and activating the surgical drill to cause the adaptor to impact an axial impaction force to the surgical impactor. 
     In Example 35, the subject matter of Example 34 includes, wherein the method first comprises coupling the surgical impactor to a surgical robotic arm. 
     In Example 36, the subject matter of Examples 34-35 includes, wherein activating the surgical drill includes controlling movement of the surgical robotic arm to position the surgical impactor and the surgical drill. 
     Example 37 is a method of converting a surgical system configured to ream bone with a rotatable cutting head to a surgical system configured to impact bone with a translatable cutting head or implant, the method comprising: replacing the rotatable cutting head of a surgical device connected to a robotic arm with the axially translatable cutting head or implant; decoupling a surgical drill from the surgical device; inserting a distal portion of an adaptor into a channel of the surgical device, the adaptor configured to transform a rotational force generated by the surgical drill into an axial impaction force transmittable to the surgical device; and coupling a first portion of a shaft of the adaptor to the surgical drill. 
     In Example 38, the method of Example 37 further comprises wherein replacing the rotatable cutting head of a surgical device connected to a robotic arm with the axially translatable cutting head or implant includes disconnecting the rotatable cutting head from a rod translatably and rotatably received within the channel and connecting the translatable cutting head or implant to the rod; wherein decoupling the surgical drill from the surgical device includes decoupling a chuck of the surgical drill from the rod; and wherein inserting the distal portion of the adaptor into the channel of the surgical device includes positioning the distal portion of the adaptor in contact with the rod. 
     In Example 39, the method of Example 38 includes, wherein the implant is a replacement acetabular cup. 
     Example 40 is at least one machine-readable medium including instructions that, when executed by processing circuitry, cause the processing circuitry to perform operations to implement of any of Examples 1-39. 
     Example 41 is an apparatus comprising means to implement of any of Examples 1-39. 
     Example 42 is a system to implement of any of Examples 1-39.