# US 12,594,130 B2 · Robot array > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,130 B2 - Document ID: US12594130B2 - Status: Granted - Kind: B2 - Application number: 18/361,265 - Filed: 2023-07-28 - Published: 2024-02-29 - Granted: 2026-04-07 - Earliest claimed: 2022-08-26 - Assignees: Depuy Ireland Unlimited Company - Applicants: Depuy Ireland Unlimited Company - Inventors: Nicolas Demanget; Alasdair Mercer - Web page: https://patentgrep.com/patent/US12594130B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers} - A61B 34/30: Surgical robots - B25J 9/1697: {Vision controlled systems} - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/2055: {Optical tracking systems} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A surgical system, including: surgical robot; a connection member connected to the surgical robot; a drape; a plurality of tracking array assemblies configured to engage the connection member wherein the plurality of tracking array assemblies provide different fields of view for a tracking system and wherein the drape is configured to be placed between the connection member and the plurality of tracking array assemblies. ## Claims ### Claim 1 A surgical system, comprising: a surgical robot; a connector coupled to the surgical robot, the connector configured and adapted to mate with tracking array assemblies; a line-of-sight spatial camera; a first tracking array assembly having a plurality of first trackers, the first tracking array assembly configured to mate with the connector wherein when the first tracking array assembly is mated to the connector the plurality of first trackers are located in first spatial positions relative to the surgical robot, the plurality of first trackers configured to be visible to the line-of-sight spatial camera; and a second tracking array assembly having a plurality of second trackers, the second tracking array assembly configured to mate with the connector wherein when the second tracking array assembly is mated to the connector the plurality of second trackers are located in second spatial positions relative to the surgical robot, the plurality of second trackers configured to be visible to the line-of-sight spatial camera, wherein the first spatial positions relative to the surgical robot are different from the second spatial positions relative to the surgical robot, wherein the first tracking array assembly is configured and adapted for use in a first clinical application and the second tracking array assembly is configured and adapted for use in a second clinical application, wherein the first clinical application is different than the second clinical application, and wherein the first tracking array assembly comprises: a body with a window configured to view the connector when the first tracking array assembly is connected to the connector. ### Claim 2 (depends on 1) The surgical system of claim 1, wherein a first tracking array assembly of the plurality of tracking array assemblies is configured to be used for a knee surgery. ### Claim 3 (depends on 2) The surgical system of claim 2, wherein a second tracking array assembly of the plurality of tracking array assemblies is configured to be used for a shoulder surgery. ### Claim 4 (depends on 1) The surgical system of claim 1, further comprising a drape between the connector and one of the first tracking array assembly and the second tracking array assembly. ### Claim 5 A tracking array assembly for use with a surgical system, comprising: a body with a window configured to view a connection member when the tracking array assembly is connected to the connection member; a locking mechanism on the body including locking handles configured to engage the connection member and to securely fasten the tracking array assembly to the connection member; a first tracking element on the body; a frame extending from the body; and a second tracking element and a third tracking element on the frame. ### Claim 6 (depends on 5) The tracking array assembly of claim 5, wherein the body includes an attachment opening formed by the locking handles and body extensions. ### Claim 7 (depends on 5) The tracking array assembly of claim 5, wherein locking handles include a locking edge configured to grip an engagement surface of the connection member. ### Claim 8 (depends on 5) The tracking array assembly of claim 5, wherein locking handles are rotatably connected to the body and configured to actuated to disconnect the tracking array assembly from the connection member. ### Claim 9 A tracking array assembly for use with a surgical system, comprising: a body with a window configured to view a connection member when the tracking array assembly is connected to the connection member; a locking mechanism on the body including locking handles configured to engage the connection member and to securely fasten the tracking array assembly to the connection member; three tracking elements on the body; and an attachment opening on the body. ### Claim 10 (depends on 9) The tracking array assembly of claim 9, wherein locking handles include a locking edge configured to grip an engagement surface of the connection member. ### Claim 11 (depends on 9) The tracking array assembly of claim 9, wherein locking handles are rotatably connected to the body and configured to actuated to disconnect the tracking array assembly from the connection member. ### Claim 12 (depends on 9) The tracking array assembly of claim 9, wherein ends of the locking handles that engage the connection member are rotatably connected to the body and configured to actuated to disconnect the tracking array assembly from the connection member. ### Claim 13 (depends on 9) The tracking array assembly of claim 9, wherein the attachment opening lies within a triangle formed by the three tracking elements. ### Claim 14 (depends on 9) The tracking array assembly of claim 9, wherein the attachment opening is substantially centered on the body. ### Claim 15 (depends on 9) The tracking array assembly of claim 9, wherein the attachment opening is substantially centered among the three tracking elements. ### Claim 16 A method of using a surgical system including a surgical robot; a connection member connected to the surgical robot; a first and second tracking array assemblies configured to engage the connection member wherein the first and second tracking array assemblies provide different fields of view for a tracking system, comprising: determining that a surgery to be performed by the surgical system requires the use of the second tracking array assembly; removing the first tracking array assembly from the surgical robot; attaching the second tracking array assembly to the surgical robot; and calibrating the surgical system using the second tracking array assembly, wherein the first tracking array assembly comprises: a body with a window configured to view a connection member when the first tracking array assembly is connected to the connection member. ### Claim 17 (depends on 16) The method of claim 16, comprising performing the surgery using the second tracking array assembly. ### Claim 18 (depends on 16) The method of claim 16, wherein the first tracking array assembly is used for knee surgery and the second tracking array assembly is used for a different surgery. ### Claim 19 (depends on 18) The method of claim 18, wherein the different surgery is shoulder surgery. ### Claim 20 (depends on 18) The method of claim 18, wherein the different surgery is knee surgery. ### Claim 21 (depends on 16) The method of claim 16, wherein the first tracking array assembly is used for shoulder surgery and the second tracking array assembly is used for a different surgery.