Rotary motion passive end effector for surgical robots in orthopedic surgeries

A surgical system comprising:

• a tracking system configured to determine a pose of an anatomical structure to be cut by a saw blade and to determine a range of movement of the saw blade along arcuate paths within a cutting plane;
• a surgical robot including:
• a robot base,
• a robot arm rotatably connected to the robot base;
• at least one motor operatively connected to move the robot arm relative to the robot base, and
• at least one controller connected to the at least one motor and configured to perform operations;
• and
• an end effector including:
• a base including a base arm,
• a rotational disk rotatably connected to the base arm, the rotational disk rotating about a first location on the rotational disk relative to the base arm, and
• a saw attachment rotatably connected to the rotational disk, the saw attachment rotating about a second location on the rotational disk, the first location on the rotational disk being spaced apart from the second location on the rotational disk, the saw attachment being configured to connect to a surgical saw having a saw blade, wherein the at least one controller is configured to determine a pose of a target plane based on a surgical plan defining where the anatomical structure is to be cut and based on the pose of the anatomical structure, and generate steering information based on comparison of the pose of the target plane and the determined range of movement of the saw blade along arcuate paths within the cutting plane, the steering information indicating where the passive end effector needs to be moved to position the cutting plane of the saw blade to be aligned with the target plane and so the saw blade is within the range of movement from the anatomical structure to be cut;
• the rotational disk includes a first sector portion and a second sector portion, the first sector portion having a first radius between the first location and an edge surface of the first section portion, the second sector portion having a second radius between the first location and an edge surface of the second sector portion, the second radius being larger than the first radius;
• and
• the saw attachment is rotatably connected to the second portion of the rotational disk with the second location on the rotational disk being closer to the edge surface of the second portion than to the edge surface of the first portion.