Surgical robot for orthopaedic interventions

Surgical robot for tracking and compensating bone movement, the robot comprising a robot arm (3) comprising an end-effector with a tool guide (5), and a tracker that comprises a base fixed to the end-effector of the robot arm (3), a distal end adapted to be coupled with a clamp (6), an assembly of articulated segments (1a-1d) configuring a kinematic chain that connects the base (3) with the distal end, and encoders (2) associated to the articulated segments (1a-1d) for tracking the movement of such articulated segments (1a-1d). The movement of the tracker is allowed and monitored in at least six degrees of freedom. The articulated segments (1a-1d) are made of light paramagnetic material. The surgical robot is further provided with a clamp (6) wherein the clamp (6) is removably attached to an articulated segment (1a-1d) of the distal end of the tracker (1) meant to be closer to the patient by means of a kinematic coupling mechanism. The kinematic coupling mechanism comprises a base portion located at the clamp (6) and provided with a first magnet, and a top portion located at the tracker and fixed to the last articulated segment of the tracker at the distal end, the top portion being provided with a second magnet of opposite polarity to the first magnet. The tracker base and the tool guide share the same frame, i.e. the tracker base and tool guide are in the same plane, so that the system can directly determine the exact position of the tool guide with respect to the tracked bone without any intermediate device. In this way, an optical tracker and the associated cameras are not necessary. The removeable clamp allows for flexibility and adaptability to various surgical scenarios since the clamp can be attached or detached based on the specific needs of the procedure.