Patent Description:
The present document relates to robotic surgery techniques, and more particularly, to techniques for connecting equipment to a surgical robot.

The use of robotics in surgery is on the rise. Total and partial knee arthroplasty surgeries are performed over half a million times a year in the United States. In some cases, the surgeries are performed with assistance from a surgical robot. During robotically assisted surgeries, instruments are installed on the robot to perform various functions. In some surgeries, an instrument installed on an arm of a surgical robot may be replaced with a different instrument. Such replacements are often planned to allow the robot to continue with a new functionality or to replace a component, such as a reamer in hip or shoulder arthroplasty, with a fresher component, such as similar reamer with a sharper blade. In general, efficient use of time during surgery can avoid complications, therefore, quick, accurate, and repeatable replacement of a robotic instrument can avoid surgical delays.

<CIT> discloses a method of bailing out a surgical instrument assembly attached to a control interface. The method comprises the steps of actuating an operating system of the surgical instrument assembly through an operating stroke, actuating a manually-driven bailout system to at least partially retract the operating system, and activating the manually-driven bailout system to at least partially advance the operating system through the operating stroke.

<CIT> discloses interposing a releasable interconnect between distal and proximal cable portions of a cable within a cable-driven surgical tool may facilitate cable replacement. Cable-driven surgical tools may comprise: an elongate shaft defining a lumen that extends between a proximal end and a distal end of the elongate shaft, an end effector operably coupled to the distal end of the elongate shaft, and a plurality of cable systems extending within the lumen and operably engaging the end effector. Each cable system comprises a distal cable portion and a proximal cable portion that are adjoined by a releasable interconnect.

<CIT> discloses a sterile interface module that includes a body member for coupling a surgical instrument to a robotic surgical assembly, a decoupling collar supported on the body member and movable relative to the body member from a first position to a second position, and a drive transfer assembly supported by the body member. The drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler engages the robotic surgical assembly and the transfer shaft engages the surgical instrument. The drive coupler engages the robotic surgical assembly while the decoupling collar is in the first position to enable the robotic surgical assembly to robotically control the surgical instrument. The drive coupler is retracted within the body member while the decoupling collar is in the second position to prevent the drive coupler from engaging the robotic surgical assembly.

Techniques for securing an instrument to a surgical robot are provided. In an example, an apparatus can include a first portion, a second portion and a collar. The first portion can attach to an end of an arm of the surgical robot and can include a first rod extending away from the arm. The second portion can hold the surgical instrument and can include a second rod extending away from the surgical instrument. The collar can slidably adjust along an aligned axis of the first and second portions secure interfaces of the portions and to allow engagement and disengagement of the interfaces with each other.

This section is intended to provide an overview of subject matter of the present patent application.

Examples of the present disclosure provide techniques for quick, accurate, and repeatable installation of a surgical instrument to an arm of a surgical robot. As mentioned above, time is of the essence during any surgical procedure and anything that slows down a procedure can cause adverse outcomes as well as delaying the surgeon in getting to the next patient. Robotic assistance is, at least in part, intended to shorten procedure times as well as improving accuracy and repeatability. If not developed and refined, robotic surgical assistance can lengthen procedure times. One area of particular difficulty identified by the inventors is the time it can take to change surgical instruments affixed to a robotic arm. As surgical robots need to maintain precise control of instruments, the interface between the robotic arm and any surgical instrument must also maintain a high degree of precision. Maintaining precise positioning and enabling quick instrument changes is one of the problems solved by the instrument interface, or quick connect, discuss herein.

<FIG> illustrates surgical system <NUM> for operation on surgical area <NUM> of patient <NUM> in accordance with at least one example of the present disclosure. Surgical area <NUM> in one example can include a joint and, in another example, can be a bone. Surgical area <NUM> can include any surgical area of patient <NUM>, including but not limited to the shoulder, knee, head, elbow, thumb, spine, foot, ankle, and the like. Surgical system <NUM> can also include robotic system <NUM> with one or more robotic arms, such as robotic arm <NUM>. As illustrated, robotic system <NUM> can utilize only a single robotic arm. Robotic arm <NUM> can be a <NUM> degree-of-freedom (DOF) robot arm, such as the ROSA® robot from Medtech, a Zimmer Biomet Holdings, Inc. In some examples, robotic arm <NUM> is cooperatively controlled with surgeon input on the end effector or surgical instrument, such as surgical instrument <NUM>. In other examples, robotic arm <NUM> can operate autonomously. While not illustrated in <FIG>, one or more positionable surgical support arms can be incorporated into surgical system <NUM> to assist in positioning and stabilizing instruments or anatomy during various procedures.

Each robotic arm <NUM> can rotate axially and radially and can receive a surgical instrument, or end effector, <NUM> at distal end <NUM>. Surgical instrument <NUM> can be any surgical instrument adapted for use by the robotic system <NUM>, including, for example, a guide tube, a holder device, a gripping device such as a pincer grip, a burring device, a reaming device, an impactor device such as a femoral or humeral head impactor, a pointer, a probe, a cutting guide, an instrument guide, an instrument holder or a universal instrument adapter device as described herein or the like. Surgical instrument <NUM> can be positionable by robotic arm <NUM>, which can include multiple robotic joints, such as joints <NUM>, that allow surgical instrument <NUM> to be positioned at any desired location adjacent or within a given surgical area <NUM>. The surgical instrument <NUM> can be positioned directly by the robotic arm <NUM>, or indirectly through positioning of a collar affixed to a quick connect as described herein, in which case the surgical instrument is directly manipulated in some other fashion, i.e. handheld.

Robotic system <NUM> can also include computing system <NUM> that can operate robotic arm <NUM> and surgical instrument <NUM>. Computing system <NUM> can include at least memory, a processing unit, and user input devices, as will be described herein. Computing system <NUM> and tracking system <NUM> can also include human interface devices <NUM> for providing images for a surgeon to be used during surgery. Computing system <NUM> is illustrated as a separate standalone system, but in some examples computing system <NUM> can be integrated into robotic system <NUM>. Human interface devices <NUM> can provide images, including but not limited to three-dimensional images of bones, glenoids, knees, joints, and the like. Human interface devices <NUM> can include associated input mechanisms, such as a touch screen, foot pedals, or other input devices compatible with a surgical environment.

Computing system <NUM> can receive pre-operative, intra-operative and postoperative medical images. These images can be received in any manner and the images can include, but are not limited to, computed tomography (CT) scans, magnetic resonance imaging (MRI), two-dimensional x-rays, three-dimensional x-rays, ultrasound, and the like. These images in one example can be sent via a server as files attached to an email. In another example the images can be stored on an external memory device such as a memory stick and coupled to a USB port of the robotic system to be uploaded into the processing unit. In yet other examples, the images can be accessed over a network by computing system <NUM> from a remote storage device or service.

After receiving one or more images, computing system <NUM> can generate one or more virtual models related to surgical area <NUM>. Alternatively, computer system <NUM> can receive virtual models of the anatomy of the patient prepared remotely. Specifically, a virtual model of the anatomy of patient <NUM> can be created by defining anatomical points within the image(s) and/or by fitting a statistical anatomical model to the image data. The virtual model, along with virtual representations of implants, can be used for calculations related to the desired location, height, depth, inclination angle, or version angle of an implant, stem, acetabular cup, glenoid cup, total ankle prosthetic, total and partial knee prosthetics, surgical instrument, or the like to be utilized in surgical area <NUM>. In another procedure type, the virtual model can be utilized to determine resection locations on femur and tibia bones for a partial knee arthroplasty. In a specific example, the virtual model can be used to determine a gap height for a posterior femoral resection relative to a proximally resected tibia. In another procedure type, the virtual model can be utilized to determine resection locations on a femoral head for a total hip arthroplasty. In another procedure type, the virtual model can be utilized to determine reaming and impaction locations on an acetabulum for a total hip arthroplasty. In another procedure type, the virtual model can be utilized to determine resection locations on a humeral head for a total shoulder arthroplasty. In another procedure type, the virtual model can be utilized to determine reaming and impaction locations on a glenoid or humerus for a total or reverse shoulder arthroplasty. The virtual model can also be used to determine bone dimensions, implant dimensions, bone fragment dimensions, bone fragment arrangements, and the like. Any model generated, including three-dimensional models, can be displayed on human interface devices <NUM> for reference during a surgery or used by robotic system <NUM> to determine motions, actions, and operations of robotic arm <NUM> or surgical instrument <NUM>. Known techniques for creating virtual bone models can be utilized, such as those discussed in <CIT>, titled "Deformable articulating templates" or <CIT>, as well as other techniques known in the art.

Computing system <NUM> can also communicate with tracking system <NUM> that can be operated by computing system <NUM> as a stand-alone unit. Surgical system <NUM> can utilize the Polaris optical tracking system from Northern Digital, Inc. of Waterloo, Ontario, Canada. Additionally, tracking system <NUM> can comprise the tracking system shown and described in Pub. Tracking system <NUM> can monitor a plurality of tracking elements, such as tracking elements <NUM>, affixed to objects of interest to track locations of multiple objects within the surgical field. Tracking system <NUM> can function to create a virtual three-dimensional coordinate system within the surgical field for tracking patient anatomy, surgical instruments, or portions of robotic system <NUM>. Tracking elements <NUM> can be tracking frames including multiple IR reflective tracking spheres, or similar optically tracked marker devices, such as the NavitrackER® reference markers from Orthosoft ULC, a Zimmer Biomet Holdings, Inc. In one example, tracking elements <NUM> can be placed on or adjacent one or more bones of patient <NUM>. In other examples, tracking elements <NUM> can be placed on robot robotic arm <NUM>, surgical instrument <NUM>, and/or an implant to accurately track positions within the virtual coordinate system associated with surgical system <NUM>. In each instance tracking elements <NUM> can provide position data, such as patient position, bone position, joint position, robotic arm position, implant position, or the like.

Robotic system <NUM> can include various additional sensors and guide devices. For example, robotic system <NUM> can include one or more force sensors, such as force sensor <NUM>. Force sensor <NUM> can provide additional force data or information to computing system <NUM> of robotic system <NUM>. Force sensor <NUM> can be used by a surgeon to cooperatively move robotic arm <NUM>. For example, force sensor <NUM> can be used to monitor impact or implantation forces during certain operations, such as insertion of an implant stem into a humeral or femoral canal. Monitoring forces can assist in preventing negative outcomes through force fitting components. In other examples, force sensor <NUM> can provide information on soft-tissue tension in the tissues surrounding a target joint. In certain examples, robotic system <NUM> can also include laser pointer <NUM> that can generate a laser beam or array that is used for alignment of implants during surgical procedures.

In order to ensure that computing system <NUM> is moving robotic arm <NUM> in a known and fixed relationship to surgical area <NUM> and patient <NUM>, the space of surgical area <NUM> and patient <NUM> can be registered to computing system <NUM> via a registration process involving registering fiducial markers attached to patient <NUM> with corresponding images of the markers in patient <NUM> recorded preoperatively or just prior to a surgical procedure. For example, a plurality of fiducial markers can be attached to patient <NUM>, images of patient <NUM> with the fiducial markers can be taken or obtained and stored within a memory device of computing system <NUM>. Subsequently, patient <NUM> with the fiducial markers can be moved into, if not already there because of the imaging, surgical area <NUM> and robotic arm <NUM> can touch each of the fiducial markers. Engagement of each of the fiducial markers can be cross-referenced with, or registered to, the location of the same fiducial marker in the images. In additional examples, patient <NUM> and medical images of the patient can be registered in real space using contactless methods, such as by using a laser rangefinder held by robotic arm <NUM> and a surface matching algorithm that can match the surface of the patient from scanning of the laser rangefinder and the surface of the patient in the medical images. As such, the real-world, three-dimensional geometry of the anatomy attached to the fiducial markers can be correlated to the anatomy in the images and movements of instruments <NUM> attached to robotic arm <NUM> based on the images will correspondingly occur in surgical area <NUM>.

<FIG> is a schematic view of robotic arm <NUM> of <FIG> including an example quick connect for quickly, accurately, and repeatably connecting and disconnecting a surgical instrument (not shown) with the robotic arm. In certain examples, the quick connect <NUM> can include a first portion <NUM>, a second portion <NUM>, and a collar <NUM>. The surgical instrument can be coupled to the quick connect via a holder <NUM> of the second portion <NUM>.

Robotic arm <NUM> can include joint 135A that permits rotation about axis 216A, joint 135B that can permit rotation about axis 216B, joint 135C that can permit rotation about axis 216C and joint 135D that can permit rotation about axis 216D. To position the surgical instrument relative to anatomy of patient <NUM> (<FIG>), surgical system <NUM> (<FIG>) can manipulate robotic arm <NUM> automatically by computing system <NUM>, or a surgeon manually operating computing system <NUM> to move the surgical instrument to the desired location, e.g., a location called for by a surgical plan to align an instrument relative to the anatomy. For example, robotic arm <NUM> can be manipulated along axes 216A - 216D to position the surgical instrument to a desired location relative to the anatomy. Subsequent steps of the surgical procedure can be performed with other instruments by replacing the second portion <NUM> of the quick connect <NUM> with a new instrument assembled to a holder <NUM> of a different second portion.

<FIG> illustrates generally an example quick connect <NUM> for a surgical robot according to the present disclosure. The quick connect <NUM> includes a first portion <NUM>, a second portion <NUM>, and a collar <NUM>. The first portion <NUM> of the quick connect <NUM> receives the second portion <NUM>. The second portion <NUM> is locked into position on the first portion <NUM> through a camming action between a collar <NUM> and interface features on the distal end of the first portion <NUM>. The first portion <NUM> can be attached to the end of an arm of the surgical robot. The illustrated example includes bolts <NUM> for fastening the first portion <NUM> to the arm of the surgical robot. The second portion <NUM> can include a holder <NUM> for holding a surgical instrument (not shown) that the surgical robot can manipulate to perform or assist a surgical procedure. The illustrated holder <NUM> is in a tubular form but may have other forms without departing from the scope of the present subject matter. The collar <NUM> can secure an interface of each of the first portion <NUM> and second portion <NUM> and may provide a connecting force that also assists in providing rigidity to the connection between the first portion <NUM> and the second portion <NUM>.

<FIG> and <FIG> illustrate generally isolated views of the first portion <NUM> of the example quick connect <NUM> of <FIG>. In certain examples, the first portion <NUM> can include a base <NUM>, a rod <NUM>, and an interface <NUM>. The first portion <NUM> is intended to remain fixed to the surgical robot for an extended portion of a surgical procedure such that multiple instruments can be quickly connected and disconnected from the surgical robot as the procedure progresses. The base <NUM> supports the rod <NUM> and connects with the arm of the surgical robot using multiple fasteners <NUM>. The rod <NUM> extends the arm of the surgical robot and connects the interface <NUM> with the base <NUM>.

The interface <NUM> of the first portion <NUM> can be integrated with the rod <NUM> and can include a second collar <NUM>, a first alignment feature <NUM> and a second alignment feature <NUM>. In certain examples, the first alignment feature <NUM> can be on outward conical surface. Operation features of the first alignment feature <NUM> are discussed below with regard to the second portion <NUM> of the quick connect <NUM>.

The second alignment <NUM> feature can include one or more inward notches positioned along a perimeter of the second collar <NUM> and extending parallel to a central axis of the interface <NUM> or the aligned axis <NUM> of the quick connect <NUM>. The notches are designed to receive outward notches of the interface of the second portion <NUM> of the quick connect <NUM> such that the rotation orientation of the holder <NUM> with respect to the quick connect <NUM> is repeatable and accurate. Other alignment features are possible without departing for the scope of the present subject matter.

The second collar <NUM> includes one or more grooves <NUM>. The one or more grooves <NUM> can guide a corresponding cam follow of the first collar (<FIG>, <NUM>) to allow the first collar to securely hold the interface of the first portion <NUM> with the interface of the second portion (<FIG>, <NUM>). For example, the grooves <NUM> of the second collar can allow the first collar to rotate about the central axis, or of the first alignment feature <NUM>, or the aligned axis <NUM>, while also allowing the first collar to pull or apply force to the second portion <NUM> toward the first portion <NUM>. In certain examples, the first alignment feature <NUM> can be spring-loaded to allow an alignment surface of the first alignment feature <NUM> of the first portion <NUM> to maintain pressure against an alignment surface of the second portion <NUM> while also providing some "give" to allow the first collar <NUM> to fully rotate to the end of travel provided by the multiple grooves <NUM>. In certain examples, the end of travel of the multiple grooves <NUM> may include a "detent" position that provides a tactile sensation to the user rotating the first collar <NUM>. The tactile sensation may be provided by having a small relief at the end of the multiple grooves <NUM> that accepts the corresponding cam follower of the first collar <NUM>. As the cam follower rotates into the relief, the end user may sense a "click" from the cam follower settling into the relief.

<FIG> illustrates generally an isolated view of the second portion <NUM> of the quick connect <NUM> of <FIG>. The second portion <NUM> can include the holder <NUM>, a rod <NUM>, and an interface <NUM>. As discussed above, the holder <NUM> secures a surgical instrument to the quick connect <NUM> that, in turn, allows the instrument to become an extension of the arm of the surgical robot. The interface <NUM> of the second portion aligns the second portion <NUM> with the first portion <NUM> for connection with the surgical robot and the rod <NUM> of the second portion couples the holder <NUM> with the interface <NUM> of the second portion. The interface <NUM> of the second portion includes a first alignment feature <NUM>, a second alignment feature <NUM>, multiple groves <NUM>, and a thrust surface <NUM>.

In the illustrated example, the first alignment feature <NUM> is an inward conical surface intended to receive and mate with the outward conical surface (<FIG>, <NUM>) of the first portion (<FIG> and <FIG>, <NUM>). The mated conical surfaces <NUM>, <NUM> of the first portion <NUM> and the second portion <NUM> of the quick connect can repeatedly and accurately align the rods <NUM>, <NUM> of the first portion <NUM> and the second portion <NUM> along an aligned axis <NUM>.

The second alignment feature <NUM> can include one or more outward notches positioned along a perimeter of the interface <NUM> and extending parallel to the central axis of the interface, or the aligned axis <NUM>. The notches (e.g., <NUM>) are designed to be received by inward notches of the interface of the first portion of the quick connect such that the rotational orientation of the holder <NUM> with respect to the quick connect is repeatable and accurate.

The multiple groves <NUM> of the interface of the second portion <NUM> allow the first collar (<FIG>, <NUM>) to be assembled with the second portion <NUM> prior to coupling the second portion <NUM> with the first portion. Upon assembly of the first portion with the second portion <NUM>, the multiple grooves <NUM> of the second portion <NUM> can guide the cam followers of the first collar to the multiple grooves of the first portion <NUM> as the first collar is slid toward the first portion.

As the first collar <NUM> is rotated and the cam followers follow the groves of the first portion, the first collar <NUM> can be further displaced in the direction of the base of the first portion and a thrust surface of the first collar <NUM> can apply force to the thrust surface <NUM> of the interface <NUM> of the second portion <NUM> to draw the interface of the first portion together with the interface <NUM> of the second portion <NUM> and tightly secure the first portion with the second portion <NUM>. The securing of the first and second portions of the quick connect via the rotation of the first collar provides rigidity of the assembled quick connect such that forces exerted at an angle to the aligned axis <NUM> of the quick connect, for example, via the surgical instrument, do not deflect the aligned axis <NUM> of the assembled quick connect, or are absorbed by or reflected back to the arm of the surgical robot.

<FIG> illustrates generally the first collar <NUM> of the example quick connect <NUM> of <FIG>. The first collar <NUM> can include one or more cam followers <NUM> and a thrust surface <NUM>. The first collar <NUM> can be ring shaped and is intended to be assembled to the second portion (<FIG>, <NUM>) of the quick connect before the second portion <NUM> is interfaced with the first portion (<FIG> <NUM>) of the quick connect. The one or more cam followers <NUM> are intended to be placed within and be guided by the grooves <NUM>, <NUM> in each of the first portion <NUM> of the quick connect and the second portion <NUM> of the quick connect. When the interfaces of the first portion and the second portion are effectively engaged, the cam followers <NUM>, when the first collar <NUM> is rotated, follow a ramped groove in the second collar of the first portion to pull the first and second portions together. The thrust surface <NUM> of the first collar <NUM> can be located on an inside wall of the first collar <NUM> and can engage the thrust surface (<FIG>, <NUM>) of the interface of the second portion of the quick connect to pull the first and second portions together when the first collar <NUM> is rotated. In certain examples, an exterior surface <NUM> of the first collar <NUM> can optionally include indentations <NUM> or knurling to provide a grip for a user to slide and rotate the first collar <NUM> of the quick connect.

<FIG> illustrates generally an example quick connect <NUM> for a surgical robot according to the present disclosure. The quick connect <NUM> can include a first portion <NUM>, a second portion <NUM>, and a collar <NUM>. The quick connect <NUM> operates by having the second portion <NUM> pivot into reception by the first portion <NUM> and the collar <NUM> is slid to secure the connection. For example, the collar <NUM> can be slid from an idle position about the first portion <NUM> to engage a thrust surface of the second potion <NUM> and cover the interface between the first and second portions <NUM>, <NUM>. The first portion <NUM> can be attached to the end of an arm of the surgical robot. The illustrated quick connect <NUM> includes bolts <NUM> for fastening the first portion <NUM> to the arm of the surgical robot. The second portion <NUM> can include a holder <NUM> for holding a surgical instrument that the surgical robot can manipulate to perform or assist a surgical procedure. The illustrated holder <NUM> is in a tubular form but may have other forms without departing from the scope of the present subject matter. The collar <NUM> can secure an interface of each of the first portion <NUM> and second portion <NUM> and may provide a connecting force that also assists in providing rigidity to the connection between the first portion <NUM> and the second portion <NUM>.

<FIG> and <FIG> illustrate generally the first portion <NUM> of the quick connect <NUM> of <FIG>. The first portion <NUM> can include a base, a rod, and an interface. The first portion <NUM> is intended to remain fixed to the surgical robot for an extended portion of a surgical procedure such that multiple instruments can be quickly connected and disconnected from the surgical robot as the procedure progresses. The base <NUM> supports the rod <NUM> and connects with the arm of the surgical robot using multiple fasteners <NUM>. The rod <NUM> extends the arm of the surgical robot and connects the interface <NUM> with the base <NUM>.

The interface <NUM> can be an extension of the rod <NUM>. The interface can include a dual hook-shaped structure. For example, the interface <NUM> can include a first wall <NUM>, a second wall <NUM>, and a third or base wall <NUM>. The first wall <NUM> and the second wall <NUM> can extend from the rod <NUM> and can be parallel with each other. The base wall <NUM> can extend from the rod <NUM> and can be joined with and between the first wall <NUM> and the second wall <NUM>. The base wall <NUM> can further be joined with each of the first wall <NUM> and the second wall <NUM> along a first edge <NUM>, <NUM> of each of the first wall <NUM> and the second wall <NUM>. Along the second edge <NUM>, <NUM> of each of the first wall <NUM> and the second wall <NUM>, the interface can include a notch <NUM>, <NUM>. The notches <NUM>, <NUM> form the hook ends of the hooks of the dual hook-shaped structure. As can be observed from the end view of <FIG>, the interface <NUM> can have a U-shaped cross-section.

In certain examples, the first portion can include multiple ball-detents <NUM> employed within the walls of the rod <NUM> proximate the interface <NUM>. The ball detents include a spring-loaded ball. When the collar (<FIG>, <NUM>) is positioned to cover the interface <NUM>, the ball detents <NUM> can apply pressure to align the collar <NUM> with the aligned axis <NUM> of the quick connect and to provide a holding force to resist displacing the collar <NUM> from its position.

<FIG> illustrates generally an isolated view of the second portion <NUM> of the quick connect <NUM> of <FIG>. The second portion <NUM> can include the holder <NUM>, a rod <NUM>, and an interface <NUM>. As discussed above, the holder <NUM> secures a surgical instrument to the quick connect <NUM> that, in turn, allows the instrument to become an extension of the arm of the surgical robot. The interface <NUM> of the second portion <NUM> aligns the second portion <NUM> with the first portion <NUM> for connection with the surgical robot and the rod <NUM> of the second portion <NUM> can couple the holder <NUM> with the interface <NUM> of the second portion <NUM>. The interface <NUM> of the second portion includes an alignment and coupling feature <NUM>, and one or more alignment or thrust surfaces or areas <NUM>.

The alignment and coupling feature <NUM> of the second portion <NUM> can include a post <NUM> extending from the end of the rod <NUM>. A cross-section width of the post <NUM> in one direction can be much smaller than the corresponding cross-section width of the rod <NUM>. A pair of nubs <NUM>, <NUM> can extend from the post <NUM> to form a "t" shape. In certain examples, the pair of nubs <NUM>, <NUM> do not extend from the post <NUM> at the distal end <NUM> of the post <NUM>. In certain examples, the pair of nubs <NUM>, <NUM> extend opposite each other from the post <NUM> at a location between the distal end <NUM> of the post <NUM> and the proximal end <NUM> of the post <NUM>. In certain examples, the distal end <NUM> of the post <NUM> can be rounded.

<FIG> illustrates generally the distal ends of the first portion <NUM> of the quick connect and the second portion <NUM> of the quick connect engaged with each other. In certain examples, the post <NUM> of the second portion is positioned between the first and second walls <NUM>, <NUM> of the first portion <NUM> and the nubs <NUM>, <NUM> of the second portion <NUM> rest in the notches <NUM>, <NUM> of the first portion <NUM>. In certain examples, when engaged with the hooks of the first portion, the nubs <NUM>, <NUM> of the second portion <NUM> do not extend past the exterior surfaces of the first and second walls <NUM>, <NUM> of the interface <NUM> of the first portion <NUM>. In certain examples, engagement of the interfaces <NUM>, <NUM> of the first and second portions <NUM>, <NUM> of the quick connect limit the relative motion between the portions <NUM>, <NUM>. To complete the connection between the first portion <NUM> and the second portion <NUM>, the collar (<FIG>, <NUM>) is slid from a position about the rod <NUM> of the first portion <NUM> to a lock position covering the interfaces <NUM>, <NUM> of the first and second portions <NUM>, <NUM>.

<FIG> illustrates generally an isolated view of the collar <NUM> of the quick connect of <FIG>. The collar <NUM> is tubular shaped with an internal passage <NUM> extending from a first end <NUM> to a second end <NUM>. The end of the passage <NUM> or an opening of at least one of the first and second ends <NUM>, <NUM> have one or more thrust alignment surfaces <NUM> shaped complementary to the shape of the rod (<FIG>, <NUM>) at the one or more alignment or thrust (<FIG>, <NUM>) area of the interface (<FIG>, <NUM>) of the second portion (<FIG>, <NUM>) of the quick connect (e.g., <FIG>, <NUM>). The outer surfaces of the collar <NUM> are generally circular. In certain examples, the outer portions of the collar <NUM> near at least one of the first or second ends <NUM>, <NUM> have a larger diameter than a central portion <NUM> of collar <NUM>. The larger diameters provide a surface for the user to exert pressure on the collar <NUM> to slide the collar <NUM> when assembled as part of the quick connect. In certain examples, the first end <NUM> of the collar <NUM> can be symmetrical or a mirror image with the second end <NUM> of the collar <NUM>. Such a symmetrical configuration can allow the collar <NUM> to be assembled with the other portions without regard to whether the first end <NUM> of the collar <NUM> or the second end <NUM> of the collar <NUM> received the interface of the first end, for example. As such, the collar <NUM> can be assembled with the other portions of the quick connect in either of two ways which can reduce the amount of time compared to a collar that can only be assembled with the other portions with one particular end oriented in one particular direction. That is, the user does not need to observe an end of the collar to determine if that end can be properly assembled to the other portions first. Either end <NUM>, <NUM> of the collar <NUM> can be assembled to the other portions first.

In certain examples, the collar <NUM> can include one or more slots <NUM> oriented in parallel with the aligned axis <NUM>. As can be observed in <FIG>, the slots <NUM> can allow a user to observe the connection of the interfaces of the first portion <NUM> and the second portion <NUM> of the quick connect when the collar <NUM> is in a position to secure the connection of the interfaces of the first and second portions <NUM>, <NUM> as illustrated in <FIG> illustrates generally a close-up view of assembled and securely connected interfaces of a quick connect according to the present subject matter.

<FIG> and <FIG> illustrate generally an alternative first portion <NUM> for a quick connect according to the present subject matter, such as the quick connect <NUM> of <FIG>. The first portion <NUM> can include a base <NUM>, a rod <NUM>, and an interface <NUM>. The first portion <NUM> is intended to remain fixed to the surgical robot for an extended portion of a surgical procedure such that multiple instruments can be quickly connected and disconnected from the surgical robot as the procedure progresses. The base <NUM> supports the rod <NUM> and connects with the arm of the surgical robot using multiple fasteners <NUM>. The rod <NUM> extends the arm of the surgical robot and connects the interface <NUM> with the base <NUM>.

The interface <NUM> can be an extension of the rod <NUM>. The interface <NUM> can include a dual hook-shaped structure. For example, the interface <NUM> can include a first wall <NUM>, a second wall <NUM>, and a third or base wall <NUM>. The first wall <NUM> and the second wall <NUM> can extend from the rod <NUM> and can be parallel with each other. The base wall <NUM> can extend from the rod <NUM> and can be joined with and between the first wall <NUM> and the second wall <NUM>. The base wall <NUM> can further be joined with each of the first wall <NUM> and the second wall <NUM> along a first edge <NUM>, <NUM> of each of the first wall <NUM> and the second wall <NUM>. Along the second edge <NUM>, <NUM> of each of the first wall <NUM> and the second wall <NUM>, the interface can include a notch <NUM>, <NUM>. The notches <NUM>, <NUM> form the hook ends of the hooks of the dual hook-shaped structure. As can be observed from the end view of <FIG>, the interface <NUM> can have a U-shaped cross-section.

In certain examples, the first portion can include a clip assembly <NUM> employed within an opening of the walls of the rod <NUM> proximate the interface <NUM>. The clip assembly can include hooks, a spring, and a hinge pin. When the collar (<FIG>, <NUM>) is positioned to cover the interface <NUM>, the clip assembly <NUM> can apply pressure to align the collar <NUM> with the aligned axis <NUM> of the quick connect, can provide a holding force to resist displacing the collar <NUM> from its position, and can provide a visual indication via the end of the hooks holding the end of the collar <NUM> that the collar is in a proper position to secure the interface of the first and second portions of the quick connect.

<FIG> illustrates generally an example of the clip assembly <NUM>. The clip assembly <NUM> can include a first hook <NUM>, a second hook <NUM>, a spring <NUM>, and a hinge pin <NUM>. Each of the first hook <NUM> and the second hook <NUM> include a pair of hinge pin holes (not individually visible). The hinge pin holes of the second hook <NUM> can fit within the area between the hinge pin holes of the first hook <NUM> and can align such that the hinge pin <NUM> can pass through all the hinge pin holes. When installed in the opening of the rod (<FIG>, <NUM>), the hinge pin <NUM> can pass through a first hinge pin hole (<FIG>, <NUM>) in a first side of the rod, the pin holes of the first and second hooks <NUM>, <NUM>, and a second hinge pin hole on the opposite side of the rod. The spring <NUM> can be compressed and placed in the area between the hooks <NUM>, <NUM> and operates to separate the end of the hooks <NUM>, <NUM> opposite the hinge pin holes.

When the collar (<FIG>, <NUM>) is located in a proper position to secure the interfaces of the first and second portions of the quick connect, as shown in <FIG>, the hook ends of the hooks <NUM>, <NUM> can be pushed by the spring <NUM> to be exposed outside the opening within the rod for the clip assembly <NUM>. The hook ends of the hooks <NUM>, <NUM> can capture an end of the collar <NUM> to maintain the collar in the proper position. To release the collar, a user can pinch the hook end of the hooks <NUM>, <NUM> of the clip assembly <NUM> together and slide the collar over the opening in the rod for the clip assembly <NUM>. In certain examples, the first and second hooks <NUM>, <NUM> can include a ramped surface <NUM> that allows the thrust surface (<FIG>, <NUM>) or an edge of the thrust surface of the collar <NUM> to pinch the hooks <NUM>, <NUM> together when the collar <NUM> is moved from a position about the rod of the first portion toward the position to properly secure the interfaces of the first and second portions of the quick connect.

As discussed above, <FIG> illustrates a first portion <NUM> of a quick connect with the collar <NUM> properly positioned to secure the first portion <NUM> with a second portion (e.g., <FIG>, <NUM>) (not shown in <FIG>) of the quick connect. The proper position of the collar <NUM> to secure the first portion <NUM> with a second portion allows the hook ends of the hooks <NUM>, <NUM> of the clip assembly <NUM> to separate from each other and capture an end of the collar <NUM> to limit motion of the collar <NUM> along the aligned axis <NUM> in a direction that would release the secure connection of the interfaces of the first portion <NUM> and a second portion of a quick connect.

<FIG> illustrates generally an example method of operating a quick connect according to the present subject matter, such as the quick connect of <FIG>. At <NUM>, a first portion of the quick connect can be secured to an arm of a surgical robot. At <NUM>, a surgical instrument can be secured to a second portion of the quick connect. The surgical instrument can include, but is not limited to, a resection guide. a reamer, an impactor, a drill guide, pedicle screw driver, etc. At <NUM>, an outward conical surface of the first portion can be received by an inward conical surface of the second portion. The conical shape of the first and second portion naturally aligns a rod of the first portion with a rod of the second portion along an aligned axis (<FIG>, <NUM>). At <NUM>, a collar can be slid along the aligned axis to span an interface of the conical surfaces of the first portion and the second portion. In certain examples, the collar is assembled to the second portion prior to the output conical portion of the first portion being received by the inward conical portion of the second portion. In certain examples, grooves of the first and second portions can guide cam followers of the collar along the aligned axis. At <NUM>, the collar can be rotated about the aligned axis to secure the first portion with the second portion. In certain examples, the rotation motion of the collar allows the cam followers of the collar to follow a ramped profile of the groves of the first portion that displaces the collar further along the aligned axis towards the base of the first portion. At the same time, a thrust surface of the second portion can be engaged by a thrust surface of the collar to pull the second portion to the first portion to secure the first portion tightly with the second portion.

<FIG> illustrates generally an example method of operating a quick connect according to the present disclosure, such as the quick connect of <FIG>. At <NUM>, a first portion of the quick connect can be secured to an arm of a surgical robot. At <NUM>, a surgical instrument can be secured to a second portion of the quick connect. The surgical instrument can include, but is not limited to, a resection guide. a reamer, an impactor, a drill guide, etc. At <NUM>, a pair of hooks of the first portion can receive a "t"-shaped portion of the second portion. At <NUM>, a collar about a rod of the first portion can be slid toward the second portion to a lock position that spans the interface of the "t"-shaped portion of the second portion and the hooks of the first portion. In certain examples, the collar can be assembled onto the first portion prior to coupling the hooks of the first portion with the "t"-shaped end of the second portion. In certain examples, the lock position of the collar can align the first and second portions of the quick connect an aligned axis to secure the quick connect. In some examples, the locked position of the collar can have one or more thrust or alignment surfaces of an interface of the second portion engage with corresponding thrust or alignment surfaces of the collar. In certain examples, as the collar is slid into the locked position, an opening of the rod of the first portion of the quick connect can be exposed such that hook ends of a clip assembly can extend beyond the exterior surface of the rod. The hook ends of the clip assembly can be spring loaded and can prevent the collar from retracting from the locked position. In addition, the exposed hook ends of the clip assembly can serve as a visual indicator of whether the collar is or is not in the locked position. To remove or replace the instrument from the arm of the surgical robot, the user can pinch the hook ends together and slide an end of the collar toward the base of the first portion of the quick connect until the collar prevents the hook ends from extending past the external surface of the rod of the first portion, and until the collar exposes the interface between the hooks of the first portion and the "t"-shaped end of the second portion. One the interface is exposed, the "t"-shaped end of the second portion can be disengaged from the hooks of the first portion.

<FIG> illustrates system <NUM> for performing techniques described herein, in accordance with some embodiments. System <NUM> is an example of a system that can incorporate surgical system <NUM> of <FIG>. System <NUM> can include robotic surgical device <NUM> (e.g., robotic surgical device <NUM>) coupled to surgical instrument via a quick connect, which may interact with tracking system <NUM>. In other examples, the surgical instruments described herein can be used without tracking system <NUM>. Tracking system <NUM> can include tracking element <NUM>, camera <NUM> and registration device <NUM> (e.g., pointer <NUM>). Resection guide instrument <NUM> (e.g., adapter <NUM>) can include attachment instruments <NUM>. System <NUM> can include display device <NUM>, which can be used to display user interface <NUM>. System <NUM> can include control system <NUM> (e.g., a robotic controller or computing system <NUM> of <FIG>), including processor <NUM> and memory <NUM>. In an example, display device <NUM> can be coupled to one or more of robotic surgical device <NUM>, tracking system <NUM>, or control system <NUM>. As such, data generated by registration device <NUM> can be shared with control system <NUM>, tracking system <NUM> and an operator of system <NUM> via display device <NUM>. In certain examples, instrument adapter <NUM> can be operated without input from tracking system <NUM>, after a registration process, such that robotic surgical device <NUM> can be positioned and tracked by movement of robotic arm <NUM> within the native coordinate system of robotic arm <NUM>. Once in a desired position, a surgical instrument coupled via a quick connect can be freely used by a surgeon without tracking system <NUM> required to reacquire position information for robotic surgical device and without control system <NUM> losing track of the location of robotic surgical device <NUM>.

<FIG> illustrates a block diagram of an example machine <NUM> upon which any one or more of the techniques discussed herein may be performed in accordance with some embodiments. For example, machine <NUM> can comprise computing system <NUM> of <FIG>. Machine <NUM> can comprise an example of a controller for robotic system <NUM> and sensors <NUM> can include tracking elements <NUM>. As such instructions <NUM> can be executed by processor <NUM> to generate and correlate position and orientation information to determine the position and orientation of a surgical instrument coupled to the robotic arm via a quick connect and relative to robotic arm <NUM>.

In alternative embodiments, machine <NUM> may operate as a standalone device or may be connected (e.g., networked) to other machines. In a networked deployment, machine <NUM> may operate in the capacity of a server machine, a client machine, or both in server-client network environments. In an example, machine <NUM> may act as a peer machine in peer-to-peer (P2P) (or other distributed) network environment. Machine <NUM> may 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.

Machine (e.g., computer system) <NUM> may include hardware processor <NUM> (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), main memory <NUM> and static memory <NUM>, some or all of which may communicate with each other via interlink (e.g., bus) <NUM>. Machine <NUM> may further include display unit <NUM>, alphanumeric input device <NUM> (e.g., a keyboard), and user interface (UI) navigation device <NUM> (e.g., a mouse). In an example, display unit <NUM>, input device <NUM> and UI navigation device <NUM> may be a touch screen display. Machine <NUM> may additionally include storage device (e.g., drive unit) <NUM>, signal generation device <NUM> (e.g., a speaker), network interface device <NUM>, and one or more sensors <NUM>, such as a global positioning system (GPS) sensor, compass, accelerometer, or other sensor. Machine <NUM> may include output controller <NUM>, 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.).

Storage device <NUM> may include machine readable medium <NUM> on which is stored one or more sets of data structures or instructions <NUM> (e.g., software) embodying or utilized by any one or more of the techniques or functions described herein. Instructions <NUM> may also reside, completely or at least partially, within main memory <NUM>, within static memory <NUM>, or within hardware processor <NUM> during execution thereof by machine <NUM>. In an example, one or any combination of hardware processor <NUM>, main memory <NUM>, static memory <NUM>, or storage device <NUM> may constitute machine readable media.

While machine readable medium <NUM> is illustrated as a single medium, the term "machine readable medium" may include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) configured to store the one or more instructions <NUM>. The term "machine readable medium" may include any medium that is capable of storing, encoding, or carrying instructions for execution by machine <NUM> and that cause machine <NUM> 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 may include solid-state memories, and optical and magnetic media.

Instructions <NUM> may further be transmitted or received over communications network <NUM> using a transmission medium via network interface device <NUM> 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 may 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) <NUM> family of standards known as Wi-Fi®, IEEE <NUM> family of standards known as WiMax®), IEEE <NUM>. <NUM> family of standards, peer-to-peer (P2P) networks, among others. In an example, network interface device <NUM> may include one or more physical jacks (e.g., Ethernet, coaxial, or phone jacks) or one or more antennas to connect to communications network <NUM>. In an example, network interface device <NUM> may include a plurality of antennas to wirelessly communicate using at least one of single-input multiple-output (SIMO), multiple-input multiple-output (MIMO), or 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 machine <NUM>, and includes digital or analog communications signals or other intangible medium to facilitate communication of such software.

The systems, devices and methods discussed in the present application can be useful in performing robotic-assisted surgical procedures that utilize robotic surgical arms that can be used to position devices relative to a patient to perform arthroplasty procedures, such as partial knee arthroplasties. In particular the systems, devices and methods disclosed herein are useful in improving the accuracy with which posterior cuts and other finishing cuts on a femur are performed. The systems, devices and methods disclosed herein can reduce or eliminate the need for reliance on manually positioning of cutting guides by utilizing surgical guidance systems to orient finishing guides either directly with navigation or through positioning with a robotic surgical arm.

Claim 1:
An apparatus for coupling a surgical instrument to a surgical robot; the apparatus comprising:
a first portion (<NUM>) configured to attach to an end of an arm of the surgical robot, the first portion (<NUM>) including a first rod (<NUM>) extending away from the arm to provide a distal end of the first portion (<NUM>);
a second portion (<NUM>) configured to hold the surgical instrument, the second portion (<NUM>) including a second rod (<NUM>) extending away from the surgical instrument to provide a distal end of the second portion (<NUM>);
a first interface (<NUM>) located at the distal end of the first portion (<NUM>), the first interface (<NUM>) including an outward, conically shaped alignment surface and a second collar (<NUM>) located between first rod (<NUM>) and the conically shaped alignment surface;
a second interface (<NUM>) located at the distal end of the second portion (<NUM>), the second interface (<NUM>) configured to join with the first interface (<NUM>) and to align the second rod (<NUM>) with the first rod (<NUM>) to form an aligned axis (<NUM>), and
a first collar (<NUM>) configured to surround the first interface (<NUM>) and the second interface (<NUM>) to secure the first portion (<NUM>) with the second portion (<NUM>), and to slidably adjust along the aligned axis (<NUM>) to allow engagement and disengagement of the first interface (<NUM>) from the second interface (<NUM>),
wherein the second collar (<NUM>) includes a first cam groove configured to receive a cam follower (<NUM>) of the first collar (<NUM>).