Methods and systems for robot-assisted total knee arthroplasty

1 . A robotic system for orthopedic surgery comprising:

a first motor comprising a first motor shaft defining a first rotation axis;

a first output drive shaft coupled to the first motor shaft;

a second motor coupled to the first motor and comprising a second motor shaft defining a second rotation axis parallel to the first rotation axis;

a second output drive shaft coupled to the second motor shaft;

a surgical tool or surgical tool guide integral with, coupled to, and/or configured to be coupled to an end of the first output drive shaft; and

a first portion of a ball and socket joint integral with, coupled to, and/or configured to be coupled to an end of the second output drive shaft, and

a bone mount, wherein the bone mount comprises a second portion of the ball and socket joint.

2 . The system of claim 1 , wherein the first portion of the ball and socket joint comprises a socket portion of the ball and socket joint.

3 . The system of claim 2 , wherein the socket portion of the ball and socket joint comprises:

a first locking portion pivotally coupled to a second locking portion via a hinge pin; and

a locking lever configured to clamp the first and second locking portions down on a ball receiving portion.

4 . The system of claim 2 , wherein the second portion of the ball and socket joint comprises a ball portion of the ball and socket joint.

5 . The system of claim 4 , wherein the socket portion of the ball and socket joint comprises:

a first locking portion pivotally coupled to a second locking portion via a hinge pin; and

a locking lever configured to clamp the first and second locking portions down on a ball receiving portion to fix the ball portion of the bone mount inside the ball receiving portion.

6 . The system of claim 5 , wherein the ball portion is configured to extend from a surface of the bone mount opposite a bone-facing surface of the bone mount.

7 . The system of claim 1 , wherein:

rotation of the first output drive shaft causes adjustment of an angular orientation of the surgical tool or surgical tool guide with respect to the first motor; and

rotation of the second output drive shaft causes adjustment of an angular orientation of the first motor with respect to the bone mount.

8 . The system of claim 1 , wherein a ball portion and a socket portion of the ball and socket joint are friction fit stabilized for hand adjustment of the relative orientations of first motor, the second motor, and the bone mount.

9 . A robotic system for orthopedic surgery comprising:

a first motor comprising a first motor shaft defining a first rotation axis;

a first output drive shaft coupled to the first motor shaft;

a second motor coupled to the first motor and comprising a second motor shaft defining a second rotation axis parallel to the first rotation axis;

a second output drive shaft coupled to the second motor shaft;

a surgical tool or surgical tool guide integral with, coupled to, and/or configured to be coupled to an end of the first output drive shaft; and

a first portion of a ball and socket joint integral with, coupled to, and/or configured to be coupled to an end of the second output drive shaft;

a first position encoder configured to monitor a relative angular orientation of the surgical tool or the surgical tool guide with respect to the first motor; and

a second position encoder configured to monitor a relative angular orientation of the first motor with respect to a bone of the patient.

10 . A robotic system for orthopedic surgery comprising:

a first motor comprising a first motor shaft defining a first rotation axis;

a first output drive shaft coupled to the first motor shaft;

a second motor coupled to the first motor and comprising a second motor shaft defining a second rotation axis parallel to the first rotation axis;

a second output drive shaft coupled to the second motor shaft;

a surgical tool or surgical tool guide integral with, coupled to, and/or configured to be coupled to an end of the first output drive shaft; and

a first portion of a ball and socket joint integral with, coupled to, and/or configured to be coupled to an end of the second output drive shaft; and

wherein the surgical tool or surgical tool guide comprises a slot for a saw blade.

11 . The system of claim 10 , wherein the surgical tool or surgical tool guide further comprises a hole for a drill.

12 . A robotic system for orthopedic surgery comprising:

at least one motor;

at least one motor output shaft coupled to the at least one motor, wherein the at least one motor output shaft comprises a non-circular strain wave generator;

a stationary circular ring gear around the at least one motor output shaft;

a deformable gear positioned between the stationary circular ring gear and the non-circular strain wave generator;

an output shaft integral with, coupled to, and/or configured to be coupled to the deformable gear;

a surgical tool integral with, coupled to, and/or configured to be coupled to the deformable gear.

13 . The system of claim 12 , further comprising at least a first position encoder configured to monitor a relative angular orientation of the at least one motor with respect to a bone of a patient.

14 . The system of claim 12 , further comprising a surgical tool or surgical tool guide integral with, coupled to, and/or configured to be coupled to the at least one motor.

15 . The system of claim 14 , wherein the surgical tool or surgical tool guide comprises a slot for a saw blade.

16 . The system of claim 15 , wherein the surgical tool or surgical tool guide further comprises a hole for a drill.

17 . The system of claim 12 , wherein the at least one motor comprises: a first motor comprising a first motor shaft defining a first rotation axis; a second motor coupled to the first motor and comprising a second motor shaft defining a second rotation axis parallel to the first rotation axis.

18 . The system of claim 17 , further comprising:

a first output drive shaft coupled to the first motor shaft;

a second output drive shaft coupled to the second motor shaft;

a surgical tool or surgical tool guide integral with, coupled to, and/or configured to be coupled to an end of the first output drive shaft.

19 . The system of claim 18 , further comprising a first portion of a ball and socket joint integral with, coupled to, and/or configured to be coupled to an end of the second output drive shaft.

20 . A robotic system for orthopedic surgery comprising:

a first motor comprising a first motor shaft defining a first rotation axis;

a first output drive shaft coupled to the first motor shaft;

a second motor coupled to the first motor and comprising a second motor shaft defining a second rotation axis parallel to the first rotation axis;

a second output drive shaft coupled to the second motor shaft;

a surgical tool or surgical tool guide integral with, coupled to, and/or configured to be coupled to an end of the first output drive shaft; and

a first portion of a ball and socket joint integral with, coupled to, and/or configured to be coupled to an end of the second output drive shaft,

wherein the end of each of the first and second output shafts comprises a post configured to engage with a respective aperture in a proximal end of one of the surgical tool or surgical tool guide and the first portion of the ball and socket joint, or wherein the end of each of the first and second output shafts comprises an aperture configured to receive a respective post extending from a proximal end of one of the surgical tool guide and the first portion of the ball and socket joint.