Robot arm and methods of use

{
  "publication_number": "US12364562B2",
  "country": "US",
  "kind": "B2",
  "title": "Robot arm and methods of use",
  "abstract": "A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.",
  "claims": [
    "1. A robotic surgical system, comprising: a camera; a plurality of arms and an end effector rotatably coupled to a most distal one of the plurality of arms, the plurality of arms providing four degrees of freedom (DOF) defined by a movement in X, Y, Z and roll directions, the end effector providing an additional DOF defined by a movement in a pitch direction relative to the most distal arm; a passive axis arm configured to be manually rotatable and coupled to the end effector to provide an additional DOF defined by a movement in a yaw direction relative to the most distal arm; the end effector configured to hold a navigated surgical tool having optical markers for tracking by the camera; and a plurality of motors operable to move the arms upon an activation assembly sending a move signal, wherein the activation assembly surrounds the end effector.",
    "2. The system of claim 1, wherein the passive axis arm includes a base and a shaft extending from the base, the base configured to be coupled to a distal end of the plurality of arms.",
    "3. The system of claim 2, wherein the shaft is configured to be rotatable in the same axis as the base of the passive axis arm.",
    "4. The system of claim 1, wherein the passive axis arm includes a locking mechanism having a first position for free manual rotational movement of the passive axis arm and a second position for locking the rotational movement of the passive axis arm.",
    "5. The system of claim 3, the locking mechanism includes a rotatable knob.",
    "6. The system of claim 5, wherein the rotatable knob is a threaded screw.",
    "7. The system of claim 4, wherein the locking mechanism is translatable in an axis perpendicular to a longitudinal axis of the base.",
    "8. The system of claim 1, wherein the end effector includes a guide tube adapted to receive the navigated surgical tool.",
    "9. The system of claim 1, wherein the end effector includes a plurality of optical markers trackable by the camera.",
    "10. The system of claim 1, wherein the passive axis arm is rotationally coupled to the end effector such that a longitudinal axis of the navigated surgical tool remains parallel to the longitudinal axis of any previous position as the passive axis arm is rotated.",
    "11. A robotic surgical system, comprising: a camera; a plurality of arms and an end effector rotatably coupled to a most distal one of the plurality of arms, the plurality of arms providing four degrees of freedom (DOF) defined by a movement in X, Y, Z and roll directions, the end effector providing an additional DOF defined by a movement in a pitch direction relative to the most distal arm; a passive axis arm including a base and a shaft extending from the base, the base configured to be coupled to the end effector to provide an additional DOF defined by a movement in a yaw direction relative to the most distal arm; an end effector coupled to the plurality of arms and configured to hold a navigated surgical tool having optical markers for tracking by the camera; and a plurality of motors operable to move the arms upon an activation assembly sending a move signal, wherein the activation assembly surrounds the end effector.",
    "12. The system of claim 11, wherein the shaft is configured to be rotatable in the same axis as the base of the passive axis arm.",
    "13. The system of claim 11, wherein the passive axis arm includes a locking mechanism having a first position for free manual rotational movement of the passive axis arm and a second position for locking the rotational movement of the passive axis arm.",
    "14. The system of claim 13, the locking mechanism includes a rotatable knob.",
    "15. The system of claim 14, wherein the rotatable knob is a threaded screw.",
    "16. The system of claim 13, wherein the locking mechanism is translatable in an axis perpendicular to a longitudinal axis of the base.",
    "17. The system of claim 11, wherein the end effector includes a guide tube adapted to receive the navigated surgical tool.",
    "18. The system of claim 11, wherein the end effector includes a plurality of optical markers trackable by the camera."
  ],
  "description_excerpt": "Embodiments are directed to a robot arm and, more particularly, a robot arm that may assist surgeons with medical tools in an operation.\n\nVarious medical procedures require the precise localization of a three-dimensional position of a surgical instrument within the body in order to effect optimized treatment. For example, some surgical procedures to fuse vertebrae require that a surgeon drill multiple holes into the bone structure at specific locations. To achieve high levels of mechanical integrity in the fusing system, and to balance the forces created in the bone structure, it is necessary that the holes are drilled at the correct location. Vertebrae, like most bone structures, have complex shapes made up of non-planar curved surfaces making precise and perpendicular drilling difficult. Conventionally, a surgeon manually holds and positions a drill guide tube by using a guidance system to overlay the drill tube's position onto a three dimensional image of the bone structure. This manual process is both tedious and time consuming. The success of the surgery is largely dependent upon the dexterity of the surgeon who performs it.\n\nRobotic systems have been employed to help reduce tedious and time consuming processes. Many of the current robots used in surgical applications are specifically intended for magnifying/steadying surgical movements or providing a template for milling the bone surface. However, these robots are suboptimal for drilling holes and other related tasks.\n\nConsequently, there is a need for a robot system that minimizes human and robotic error while allowing fast and efficient surgical access.",
  "cpc": [
    "A61B 34/74",
    "A61B 2034/2055",
    "A61B 2034/2057",
    "A61B 2034/305",
    "A61B 2090/064",
    "A61B 2090/376",
    "A61B 2090/3762",
    "A61B 2090/3983",
    "A61B 2090/508",
    "A61B 34/30",
    "A61B 90/50",
    "B25J 13/06",
    "B25J 9/0009",
    "B25J 9/10",
    "Y10S 901/09",
    "Y10S 901/23"
  ],
  "ipc": [
    "A61B 34/00",
    "A61B 34/20",
    "A61B 34/30",
    "A61B 90/00",
    "A61B 90/50",
    "B25J 13/06",
    "B25J 9/00",
    "B25J 9/10"
  ],
  "assignees": [
    "Globus Medical Inc"
  ],
  "inventors": [
    "Norbert Johnson"
  ],
  "filing_date": "2023-06-13",
  "publication_date": "2025-07-22",
  "grant_date": "2025-07-22",
  "priority_date": "2015-07-31",
  "application_number": "US-202318333631-A",
  "family_id": "60661497",
  "cited_by_count": 0,
  "citations": [
    "US1068626A",
    "US4150293A",
    "US4737038A",
    "US4757710A",
    "US5354314A",
    "US6490467B1",
    "US5246010A",
    "US6201984B1",
    "US7333642B2",
    "US6999852B2",
    "US8123675B2",
    "US6804581B2",
    "US5397323A",
    "US20020035321A1",
    "US7139601B2",
    "US6106511A",
    "US5598453A",
    "US6978166B2",
    "US6236875B1",
    "US5791908A",
    "US5887121A",
    "US6122541A",
    "US6246900B1",
    "US6080181A",
    "US5825982A",
    "US5772594A",
    "US20080228196A1",
    "US6701173B2",
    "US20040068172A1",
    "US6167145A",
    "US6991627B2",
    "US7097640B2",
    "US7844320B2",
    "US7302288B1",
    "US20130331858A1",
    "US6205411B1",
    "US5820559A",
    "US6012216A",
    "US5911449A",
    "US8512318B2",
    "US6231565B1",
    "US6786896B1",
    "USRE42226E1",
    "USRE42194E1",
    "USRE44305E1",
    "US5951475A",
    "US5987960A",
    "US6212419B1",
    "US6507751B2",
    "US6157853A",
    "US8202278B2",
    "US6031888A",
    "US6447503B1",
    "US7169141B2",
    "US6167292A",
    "US6477400B1",
    "US7130676B2",
    "US6203196B1",
    "US6033415A",
    "US6306126B1",
    "US6340363B1",
    "US8489235B2",
    "US8527094B2",
    "US8504201B2",
    "US8666544B2",
    "US8551116B2",
    "US8182476B2",
    "US6325808B1",
    "US6322567B1",
    "US6451027B1",
    "US7016457B1",
    "US6320929B1",
    "US6560354B1",
    "US8086299B2",
    "US6144875A",
    "US7318805B2",
    "US6501981B1",
    "US7606613B2",
    "US6614871B1",
    "US6565554B1",
    "US6879880B2",
    "US6424885B1",
    "US6301495B1",
    "US6487267B1",
    "US6314311B1",
    "US6788018B1",
    "US9757203B2",
    "US9107683B2",
    "US9492235B2",
    "US6312435B1",
    "US6669635B2",
    "US6499488B1",
    "US6379302B1",
    "US8644907B2",
    "US6402762B2",
    "US20140148692A1",
    "US7007699B2",
    "US6968224B2",
    "US8057407B2",
    "US20010036302A1",
    "US8133229B1",
    "US6377011B1",
    "US7301648B2",
    "US6757068B2",
    "US7881770B2",
    "US6996487B2",
    "US6920347B2",
    "US20140135796A1",
    "US8634897B2",
    "US7853305B2",
    "US6535756B1",
    "US6856827B2",
    "US6484049B1",
    "US6856826B2",
    "US6490475B1",
    "US6614453B1",
    "US6645196B1",
    "US6782287B2",
    "US8571638B2",
    "US6837892B2",
    "US8528440B2",
    "US7167738B2",
    "US6823207B1",
    "US20040076259A1",
    "US7139418B2",
    "US7953470B2",
    "US8332012B2",
    "US6666579B2",
    "US7422592B2",
    "US7043961B2",
    "USRE44392E1",
    "US7172627B2",
    "US8046057B2",
    "US6783524B2",
    "US20130158542A1",
    "US6636757B1",
    "US8571710B2",
    "US7607440B2",
    "US7493153B2",
    "US7072707B2",
    "US7691098B2",
    "US7063705B2",
    "US7996110B2",
    "US8515576B2",
    "US6827351B2",
    "US8834490B2",
    "US8641726B2",
    "US7239940B2",
    "US6587750B2",
    "US6619840B2",
    "US6839612B2",
    "US7630753B2",
    "US9398886B2",
    "US8678647B2",
    "US7661881B2",
    "US20160331335A1",
    "US7108421B2",
    "US7164968B2",
    "US8105320B2",
    "US8398634B2",
    "US8827996B2",
    "US7460637B2",
    "US7099428B2",
    "US7248914B2",
    "US7630752B2",
    "US6922632B2",
    "US7725253B2",
    "US7231063B2",
    "US7155316B2",
    "US6892090B2",
    "US20050143651A1",
    "US7331967B2",
    "US20070015987A1",
    "US20060173329A1",
    "US7319897B2",
    "US7318827B2",
    "US8147494B2",
    "US8814793B2",
    "US7945021B2",
    "US8867703B2",
    "US8116430B1",
    "US7881767B2",
    "US7660623B2",
    "US7974677B2",
    "US7542791B2",
    "US6988009B2",
    "US20060241416A1",
    "US7083615B2",
    "US7197107B2",
    "US7194120B2",
    "US7853313B2",
    "US20080046122A1",
    "US8179073B2",
    "US7339341B2",
    "US7324623B2",
    "US7313430B2",
    "US8706185B2",
    "US7835778B2",
    "US8549732B2",
    "US8239001B2",
    "US7971341B2",
    "US7818044B2",
    "US7751865B2",
    "US7840253B2",
    "US20050171558A1",
    "US8271069B2",
    "US8359730B2",
    "US7366562B2",
    "US20050096502A1",
    "US9393039B2",
    "US7466303B2",
    "US20080287781A1",
    "US20060100610A1",
    "US7974681B2",
    "US20080269596A1",
    "US8109877B2",
    "US8894691B2",
    "US8860753B2",
    "US7435216B2",
    "US7567834B2",
    "US7379790B2",
    "US8452447B2",
    "US8761930B2",
    "US8634957B2",
    "US7386365B2",
    "US7974674B2",
    "US20130325035A1",
    "US20070156157A1",
    "US7327865B2",
    "US7505617B2",
    "US20080033283A1",
    "US7440793B2",
    "US7979157B2",
    "US7796728B2",
    "US20070055291A1",
    "US7702379B2",
    "US7555331B2",
    "US7813838B2",
    "US7726171B2",
    "US8562594B2",
    "US8062288B2",
    "US7594912B2",
    "US8256319B2",
    "US20090185655A1",
    "US7831294B2",
    "US7824401B2",
    "US7983733B2",
    "US7062006B1",
    "US8348931B2",
    "US8500722B2",
    "US8834489B2",
    "US7763015B2",
    "US20060184396A1",
    "US7231014B2",
    "US7623902B2",
    "US8465771B2",
    "US7720523B2",
    "US8208988B2",
    "US8004229B2",
    "US8624537B2",
    "US8541970B2",
    "US8749189B2",
    "US8823308B2",
    "US8816628B2",
    "US8786241B2",
    "US8749190B2",
    "US20130245375A1",
    "US20070021738A1",
    "US20060291612A1",
    "US7840256B2",
    "US20070156121A1",
    "US8241271B2",
    "US8273076B2",
    "US20120197182A1",
    "US20070038059A1",
    "US20080302950A1",
    "US7787699B2",
    "US8800838B2",
    "US20070073133A1",
    "US7643862B2",
    "US7835784B2",
    "US8467851B2",
    "US8079950B2",
    "US8224024B2",
    "US20090216113A1",
    "US7711406B2",
    "US20070167712A1",
    "US7762825B2",
    "US8066524B2",
    "US8864751B2",
    "US7865269B2",
    "US7689320B2",
    "US20140171965A1",
    "US8585420B2",
    "US20140163581A1",
    "US7819859B2",
    "US8469947B2",
    "US20130274761A1",
    "US8054752B2",
    "US8838270B2",
    "US8450694B2",
    "US7907166B2",
    "US20110224685A1",
    "US20110224825A1",
    "US20110224686A1",
    "US20110224688A1",
    "US8613230B2",
    "US8281670B2",
    "US20110224684A1",
    "US7930065B2",
    "US20110224687A1",
    "US20110224689A1",
    "US7909122B2",
    "US7533892B2",
    "US8046054B2",
    "US8506556B2",
    "US8142420B2",
    "US8844789B2",
    "US8820605B2",
    "US8506555B2",
    "US8219177B2",
    "US20090259412A1",
    "US20070236081A1",
    "US8526688B2",
    "US8208708B2",
    "US20070233238A1",
    "US7760849B2",
    "US8112292B2",
    "US8021310B2",
    "US8597198B2",
    "US7940999B2",
    "US20090259123A1",
    "US20080004523A1",
    "US7702477B2",
    "US20080013809A1",
    "US7742801B2",
    "US7945012B2",
    "US7711083B2",
    "US8231610B2",
    "US8150498B2",
    "US8532741B2",
    "US8150497B2",
    "US20140012131A1",
    "US20080082109A1",
    "US8248413B2",
    "US9044190B2",
    "US8660635B2",
    "US20140299648A1",
    "US8052688B2",
    "US20080144906A1",
    "US20080109012A1",
    "US8551114B2",
    "US20080108912A1",
    "US20080108991A1",
    "US8682413B2",
    "US8358818B2",
    "US7935130B2",
    "US8727618B2",
    "US7835557B2",
    "US8170313B2",
    "US8320991B2",
    "US7683332B2",
    "US7683331B2",
    "US9565997B2",
    "US20180228351A1",
    "US9962069B2",
    "US9271633B2",
    "US9005113B2",
    "US8556807B2",
    "US20080177203A1",
    "US8335557B2",
    "US20080161680A1",
    "US20080161682A1",
    "US8684253B2",
    "US8374673B2",
    "US20130165937A1",
    "US8394099B2",
    "US20120253332A1",
    "US8219178B2",
    "US8600478B2",
    "US20120296203A1",
    "US20140081128A1",
    "US8386019B2",
    "US20080214922A1",
    "US8098914B2",
    "US20080228068A1",
    "US8821511B2",
    "US20120283797A1",
    "US20080235052A1",
    "US8548563B2",
    "US8150494B2",
    "US7879045B2",
    "US8560118B2",
    "US8738181B2",
    "US9131986B2",
    "US8010177B2",
    "US8467852B2",
    "US8311611B2",
    "US8108025B2",
    "US8301226B2",
    "US20090012509A1",
    "US8574303B2",
    "US7988215B2",
    "US8057397B2",
    "US20080287771A1",
    "US20080306490A1",
    "US20080300477A1",
    "US20080300478A1",
    "US20080319311A1",
    "US8828024B2",
    "US7834484B2",
    "US8004121B2",
    "US20090030428A1",
    "US8100950B2",
    "US8035685B2",
    "US8092370B2",
    "US20090080737A1",
    "US8224484B2",
    "US8462911B2",
    "US8392022B2",
    "US8621939B2",
    "US8561473B2",
    "US20130178870A1",
    "US20100274120A1",
    "US8400094B2",
    "US8864798B2",
    "US20100331858A1",
    "US20090198121A1",
    "US8573465B2",
    "US8696458B2",
    "US7925653B2",
    "US20090228019A1",
    "US8282653B2",
    "US20140323803A1",
    "US8706086B2",
    "US8808164B2",
    "US7886743B2",
    "US8395342B2",
    "US8220468B2",
    "US8333755B2",
    "US7843158B2",
    "US20090259230A1",
    "US9002076B2",
    "US20090264899A1",
    "US8228368B2",
    "US8414957B2",
    "US8486532B2",
    "US20090281417A1",
    "US20110022229A1",
    "US20100022874A1",
    "US8054184B2",
    "US8771170B2",
    "US8019045B2",
    "US8630389B2",
    "US20100039506A1",
    "US8500728B2",
    "US8894652B2",
    "US8263933B2",
    "US7900524B2",
    "US8165658B2",
    "US8073335B2",
    "US8379791B2",
    "US7954397B2",
    "US8781630B2",
    "US8700123B2",
    "US20130218142A1",
    "US8734432B2",
    "US8784385B2",
    "US20110213384A1",
    "US20100130986A1",
    "US20100125286A1",
    "US8787520B2",
    "US8483800B2",
    "US9814535B2",
    "US8992580B2",
    "US20110295062A1",
    "US8858598B2",
    "US8594841B2",
    "US8706301B2",
    "US8374723B2",
    "US8639000B2",
    "US8184880B2",
    "US8830224B2",
    "US20110286573A1",
    "US20160005194A1",
    "US8611985B2",
    "US20140073914A1",
    "US20110276058A1",
    "US20100228117A1",
    "US8508173B2",
    "US8638057B2",
    "US8638056B2",
    "US8271130B2",
    "US20100228265A1",
    "US8418073B2",
    "US8120301B2",
    "US20120053597A1",
    "US8335552B2",
    "US20110306986A1",
    "US20100249571A1",
    "US8882803B2",
    "US20100280363A1",
    "US8225798B2",
    "US20120136372A1",
    "US9380984B2",
    "US8121249B2",
    "US8798231B2",
    "US9001963B2",
    "US20120143084A1",
    "US20110077504A1",
    "US8483434B2",
    "US8465476B2",
    "US20120184839A1",
    "US20120245596A1",
    "US8518120B2",
    "US8888854B2",
    "US8062375B2",
    "US8556979B2",
    "US8888853B2",
    "US20110098553A1",
    "USD631966S1",
    "US8521331B2",
    "JP2013510632A",
    "WO2011058530A1",
    "US20110137152A1",
    "US8906069B2",
    "US9750465B2",
    "US8694075B2",
    "US8353963B2",
    "US9820783B2",
    "US9833265B2",
    "US20120294498A1",
    "US20120235909A1",
    "US20110230967A1",
    "US20140330288A1",
    "US20110238080A1",
    "US20130030571A1",
    "US8870880B2",
    "US8717430B2",
    "US20130131695A1",
    "US20130060146A1",
    "US8781186B2",
    "US8738115B2",
    "US20110282189A1",
    "US8603077B2",
    "US8883210B1",
    "US8746252B2",
    "US20130144307A1",
    "US20110295370A1",
    "US8685098B2",
    "US8679183B2",
    "US9420975B2",
    "US8675939B2",
    "US20140094694A1",
    "US20130094742A1",
    "US20120035507A1",
    "US8740882B2",
    "US20120071753A1",
    "US20130303887A1",
    "US20120059248A1",
    "US20120046668A1",
    "US20120051498A1",
    "US8764448B2",
    "US20130237995A1",
    "US20130331686A1",
    "US8679125B2",
    "US8657809B2",
    "US8526700B2",
    "US20130342578A1",
    "US8792704B2",
    "US20120108954A1",
    "US20130307955A1",
    "US8876866B2",
    "US8812077B2",
    "US20130281821A1",
    "US20130184871A1",
    "US20130331861A1",
    "US20120226145A1",
    "US20120253360A1",
    "US9308050B2",
    "US20140121676A1",
    "US20120256092A1",
    "US20150213633A1",
    "US20140049629A1",
    "US20140305995A1",
    "US20140096369A1",
    "US20130006267A1",
    "US20130178867A1",
    "US8818105B2",
    "US20130016889A1",
    "US20130035583A1",
    "JP2013034830A",
    "US20130066333A1",
    "US20170212723A1",
    "US20130060337A1",
    "US8864833B2",
    "US20130113791A1",
    "US20130096574A1",
    "US8894688B2",
    "US9215968B2",
    "US8693730B2",
    "US9592096B2",
    "US20170202629A1",
    "US20140316436A1",
    "US20130116706A1",
    "US8996169B2",
    "US20130211419A1",
    "US20140371577A1",
    "US20130211420A1",
    "US20130178868A1",
    "US20130204271A1",
    "US20130211588A1",
    "US20130223702A1",
    "US20130225942A1",
    "US20130231556A1",
    "US20130225943A1",
    "US20170143426A1",
    "US8855822B2",
    "US20130261640A1",
    "US8888821B2",
    "US20130272488A1",
    "US20130272489A1",
    "US20150335480A1",
    "US20140142591A1",
    "US20130296884A1",
    "US20140234804A1",
    "US9125556B2",
    "US20150150524A1",
    "US20130317521A1",
    "US20130325033A1",
    "US20170296277A1",
    "US20160256225A1",
    "US20150032164A1",
    "US20130345717A1",
    "US20130345757A1",
    "US20140001235A1",
    "US8880223B2",
    "US20140031664A1",
    "US20140046128A1",
    "US20140046340A1",
    "US20140100587A1",
    "US20140046132A1",
    "US20140058406A1",
    "US20140080086A1",
    "US20140088612A1",
    "US20140094851A1",
    "WO2014071184A1",
    "US20140128882A1",
    "US20140130810A1",
    "US20140142592A1",
    "US20140171781A1",
    "US20140171900A1",
    "US20140180308A1",
    "US20150196261A1",
    "US20140180309A1",
    "US20140187915A1",
    "US20140188132A1",
    "US20140194699A1",
    "US9398890B2",
    "US20140221819A1",
    "US20140222023A1",
    "US20140228631A1",
    "US20140257330A1",
    "US20140257328A1",
    "US20140257329A1",
    "US20140275760A1",
    "US20140276931A1",
    "US20140276940A1",
    "US20140276944A1",
    "US20140303434A1",
    "US20140275985A1",
    "US20140288413A1",
    "US20140303643A1",
    "US20140309659A1",
    "US9414859B2",
    "US8964934B2",
    "US20140324070A1",
    "US20140364720A1",
    "US9925011B2",
    "US20150342647A1",
    "US20150039034A1",
    "US20150085970A1",
    "US20150100066A1",
    "WO2015049109A1",
    "US20160249990A1",
    "US9848922B2",
    "US20160235480A1",
    "US9795354B2",
    "US20150146847A1",
    "US10034717B2",
    "US20170135770A1",
    "US20170273748A1",
    "US20170360493A1",
    "US20160166329A1",
    "US20160302871A1",
    "US20160320322A1",
    "US10646298B2",
    "US20170143284A1",
    "US20170156816A1",
    "US20170231710A1",
    "US20170215827A1",
    "US20170215826A1",
    "US20170215825A1",
    "US20170258426A1",
    "US9931025B1"
  ]
}