# US 12,178,526 B2 · Attachment for robotic medical system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,178,526 B2 - Document ID: US12178526B2 - Status: Granted - Kind: B2 - Application number: 18/499,315 - Filed: 2023-11-01 - Published: 2024-02-22 - Granted: 2024-12-31 - Earliest claimed: 2021-07-30 - Assignees: Siemens Healthineers Endovascular Robotics, Inc. - Applicants: Corindus, Inc. - Inventors: Kyle McKenney; Eric Klem; Christopher O. Evans; Anthony Clegg Parker; Gordon Row - Web page: https://patentgrep.com/patent/US12178526B2 ## CPC - A61B 34/30: Surgical robots - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - F16B 21/00: Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it (riveted or deformable spigots F16B19/04; for gudgeon pins F16J1/18); Stud-and-socket releasable fastenings - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - F16B: DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING (couplings for transmitting rotation F16D) ## Abstract A robotic medical system includes a post being substantially vertical and coupled to a base; a robotic drive having a socket for receiving the post; and at least one tapered interface shaped and oriented to engage the socket to prevent rotation of the robotic drive about at least one axis. ## Claims ### Claim 1 A robotic medical system, comprising: a post being substantially vertical and coupled to a base; a robotic drive having a socket for receiving the post; a first tapered key fixed to the post to engage the socket wherein the first tapered key comprises a first surface substantially parallel to the vertical axis of the post and a first sloped surface opposing the first surface in a first rotational direction about the vertical axis of the post, and a second tapered key fixed to the post to engage the socket, wherein the second tapered key comprises a second surface substantially parallel to the vertical axis of the post and a second sloped surface opposing the second surface in a second rotational direction opposite the first rotational direction about the vertical axis of the post. ### Claim 2 (depends on 1) The robotic medical system of claim 1, wherein the post is substantially cylindrical and the first and second tapered keys are positioned about 180 degrees apart along a circumference of the post. ### Claim 3 (depends on 1) The robotic medical system of claim 1, wherein the socket includes tapered cavities shaped and positioned to receive the first tapered key and the second tapered key and cause physical engagement of the post and the robotic drive. ### Claim 4 (depends on 1) The robotic medical system of claim 1, wherein the post includes at least one insertion interface to facilitate insertion of the post into the socket. ### Claim 5 (depends on 4) The robotic medical system of claim 4, wherein the post is a cylinder and the insertion interface includes at least one cylindrical portion along a length of the post, the cylindrical portion being configured to engage an internal bushing of the socket. ### Claim 6 (depends on 5) The robotic medical system of claim 5, wherein the at least one cylindrical portion includes multiple cylindrical portions spaced along the length of the post. ### Claim 7 (depends on 6) The robotic medical system of claim 6, wherein the multiple cylindrical portions have progressively smaller diameters along the length of the post. ### Claim 8 (depends on 4) The robotic medical system of claim 4, wherein the insertion interface includes a convex tip at a termination of the post. ### Claim 9 (depends on 1) The robotic medical system of claim 1, wherein the first tapered key extends from a conical portion of the post to an outer periphery of the base of the post. ### Claim 10 (depends on 1) The robotic medical system of claim 1, wherein the post has a cross-sectional shape selected from one of circular, oval, or polygonal. ### Claim 11 (depends on 1) The robotic medical system of claim 1, wherein each of the first tapered key and the second tapered key extend from a conical portion of the post to an outer periphery of the base of the post. ### Claim 12 A robotic medical system, comprising: a positioning system coupled to a base, the positioning system including a substantially vertical post; and a robotic drive having a socket for receiving the post, wherein the post includes a first tapered key to engage the socket, the first tapered key positioned at a bottom end of the post and comprising a substantially vertical surface and a sloped surface opposing the substantially vertical surface in a first rotational direction about a vertical axis of the post, and wherein the post includes a second tapered key to engage the socket, the second tapered key positioned at the bottom end of the post and comprising a second substantially vertical surface and a second sloped surface opposing the second substantially vertical surface in a second rotational direction opposite the first rotational direction about the vertical axis of the post. ### Claim 13 (depends on 12) The robotic medical system of claim 12, wherein the socket includes a tapered cavity for receiving the first tapered key to cause physical engagement of the post and the socket. ### Claim 14 (depends on 12) The robotic medical system of claim 12, wherein the post includes at least one insertion interface to facilitate insertion of the post into the socket. ### Claim 15 (depends on 14) The robotic medical system of claim 14, wherein the insertion interface includes at least one cylindrical portion along a length of the post, the cylindrical portion being configured to engage an internal bushing provided in the socket. ### Claim 16 (depends on 14) The robotic medical system of claim 14, wherein the insertion interface includes a convex tip at a termination of the post. ### Claim 17 (depends on 12) The robotic medical system of claim 12, wherein the second substantially vertical surface is oriented to resist rotation of the robotic drive about at least the vertical axis. ### Claim 18 (depends on 17) The robotic medical system of claim 17, wherein the socket includes a first tapered cavity for receiving the first tapered key to cause physical engagement of the post and the socket and a second tapered cavity for receiving the second tapered key to cause physical engagement of the post and the socket. ### Claim 19 (depends on 12) The robotic medical system of claim 12, wherein the substantially vertical surface is oriented to resist rotation of the robotic drive in the first rotational direction about at least the vertical axis and the second substantially vertical surface is oriented to resist rotation of the robotic drive in the second rotational direction about at least the vertical axis.