End-effectors for surgical robotic systems having sealed optical components

Patent metadata

Field	Value
Publication number	US-11278360-B2
Application number	US-201816193447-A
Country	US
Kind code	B2
Filing date	Nov 16, 2018
Priority date	Nov 16, 2018
Publication date	Mar 22, 2022
Grant date	Mar 22, 2022

Abstract

An end-effector for a surgical robot system may include an end-effector body and an optical sub-assembly. The optical sub-assembly may include a housing coupled to the end-effector body, the housing including a threaded portion. The optical sub-assembly may further include a window that is transparent to a predetermined range of light radiation wavelengths. The optical sub-assembly may further include a gasket disposed between the housing and the window. The optical sub-assembly may further include a threaded ring disposed over the window and threadedly engaging the threaded portion of the housing, the threaded ring compressing the gasket between the window and the housing to form a seal between the window and the housing. The optical sub-assembly may further include a light emitter configured to emit light in the predetermined range of light radiation wavelengths through the window.

First claim

What is claimed is:

1. An end-effector for a surgical robot system, comprising:
an end-effector body configured to guide a surgical instrument and adapted to be attached to a surgical robot arm via a mounting collar;
a plurality of compressible O-rings configured to be seated in corresponding O-ring seats disposed in the end-effector body;
the mounting collar configured to be secured to the end-effector body; and
an optical sub-assembly coupled to the end-effector body, the optical sub-assembly comprising:
a housing coupled to the end-effector body, the housing comprising an engagement portion;
a cover portion engaging the engagement portion of the housing and defining a cover hole therethrough;
a window that is transparent to a predetermined range of light radiation wavelengths and being disposed below the cover portion, the housing and the window forming a cavity below the cover hole;
a gasket disposed between the housing and the window, and below the window, the gasket defining a gasket hole therethrough, the cover portion compressing the window and the gasket to form a seal between the window and the housing; and
a light emitter disposed in the cavity, the light emitter configured to emit light in an upward direction in the predetermined range of light radiation wavelengths through the gasket hole, the window, and the cover hole,

wherein an interior portion of the end-effector body includes electronic components without any potting material, and
wherein the mounting collar, when secured to the end-effector body, is configured to compress the plurality of compressible O-rings into the corresponding O-ring seats to protect the electronic components without any potting material and the optical sub-assembly.

2. The end-effector of claim 1 , wherein the gasket comprises a compressible O-ring.

3. The end-effector of claim 1 , wherein the window is a sapphire window.

4. The end-effector of claim 1 , wherein the light emitter is an infrared (IR) emitter, and wherein the predetermined range of light radiation wavelengths is within a wavelength range of 700 nanometers to 1 millimeter.

5. The end-effector of claim 1 , wherein the optical sub-assembly comprises a plurality of optical sub-assemblies.

6. The end-effector of claim 1 , wherein the seal formed by the cover portion compressing the gasket between the window and the housing is a moisture-proof seal.

7. The end-effector of claim 1 , wherein the seal formed by the cover portion compressing the gasket between the window and the housing forms a cavity seal that atmospherically isolates the cavity from an atmosphere outside the end-effector.

8. The end-effector of claim 1 , wherein the engagement portion of the housing comprises an inwardly facing thread, and
wherein the cover portion comprises an outwardly facing thread that is complementary to the inwardly facing thread of the threaded portion of the housing.

9. The end-effector of claim 1 , wherein the cover portion comprises an inwardly facing thread, and
wherein the engagement portion of the housing comprises an outwardly facing thread that is complementary to the inwardly facing thread of the threaded ring.

10. The end-effector of claim 1 , wherein the housing is integrally formed with the end-effector body.

11. The end-effector of claim 1 , wherein the cavity is devoid of potting material.

12. The end-effector of claim 1 , wherein the optical sub-assembly comprises a plurality of optical sub-assemblies, and wherein, for each optical sub-assembly of the plurality of optical sub-assemblies:
the gasket comprises a compressible O-ring,
the window is a sapphire window.
the light emitter is an infrared (IR) emitter,
the predetermined range of light radiation wavelengths is within a wavelength range of 700 nanometers to 1 millimeter,
the seal formed by the cover portion compressing the gasket between the window and the housing is a moisture-proof seal and forms a cavity seal that atmospherically isolates the cavity from an atmosphere outside the end-effector, and
wherein the engagement portion of the housing comprises an inwardly facing thread, and
wherein the cover portion comprises an outwardly facing thread that is complementary to the inwardly facing thread of the threaded portion of the housing.

13. A surgical robot system, comprising:
a robot base;
an articulable robot arm coupled to the robot base; and
an end-effector coupled to the robot arm, wherein the robot arm is configured to selectively position the end-effector in a plurality of end-effector positions, the end-effector comprising:
an end-effector body configured to guide a surgical instrument;
an optical sub-assembly coupled to the end-effector body, the optical sub-assembly comprising:
a housing coupled to the end-effector body, the housing comprising an internal threading;
a cover portion having an external threading threaded with the internal threading of the housing and defining a cover hole therethrough;
a window that is transparent to a predetermined range of light radiation wavelengths and being disposed below the cover portion, the housing and the window forming a cavity below the cover hole;
a gasket disposed between the housing and the window and below the window, the gasket defining a gasket hole therethrough, the cover portion compressing the window and the gasket between the window and the housing to form a seal between the window and the housing; and
a light emitter disposed in the cavity, the light emitter configured to emit light in an upward direction in the predetermined range of light radiation wavelengths through the gasket hole, the window, and the cover hole; and

a processor circuit configured to determine, based on the light emitted by the light emitter of the optical sub-assembly, the end-effector position.

14. The surgical robot system of claim 13 , further comprising
an end-effector sensor configured to:
detect the light emitted by the light emitter; and
generate a location signal containing location information for the light emitter, wherein the processor circuit is configured to determine the particular one of the plurality of end-effector positions based on the location signal.

15. The surgical robot system of claim 13 , wherein the gasket comprises a compressible O-ring.

16. The surgical robot system of claim 13 , wherein the light emitter is an infrared (IR) emitter, and wherein the predetermined range of light radiation wavelengths is within a wavelength range of 700 nanometers to 1 millimeter.

17. The surgical robot system of claim 13 , wherein the seal formed by the cover portion compressing the gasket between the window and the housing forms a cavity seal that atmospherically isolates the cavity from an atmosphere outside the end-effector.

18. The surgical robot system of claim 13 , wherein the cavity is devoid of potting material.

19. The surgical robot system of claim 13 , wherein the optical sub-assembly comprises a plurality of optical sub-assemblies, and wherein, for each optical sub-assembly of the plurality of optical sub-assemblies:
the gasket comprises a compressible O-ring,
the window is a sapphire window,
the light emitter is an infrared (IR) emitter,
the predetermined range of light radiation wavelengths is within a wavelength range of 700 nanometers to 1 millimeter,
the seal formed by the cover portion compressing the gasket between the window and the housing is a moisture-proof seal and forms a cavity seal that atmospherically isolates the cavity from an atmosphere outsi

Assignees

• Globus Medical Inc

Inventors

• Cascarano James
• Larson Justin
• Olenio Zachary
• Rout Sritam Parashar
• Johnson Norbert

Classifications

• A61B90/11

  with guides for needles or instruments, e.g. arcuate slides or ball joints · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2090/0813

  Accessories designed for easy sterilising, i.e. re-usable · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title