Tracker and related accessories for a surgical navigation system
An adapter for removably coupling a tracker to a surgical handpiece includes a proximal member having an interface configured to engage and prevent rotation of the proximal member relative to the surgical handpiece, a distal member slidably and rotatably coupled to the proximal member, a biasing member disposed between the proximal distal members and configured to urge the proximal and distal members in opposing directions, and a tracking array mount coupled to the distal member. The biasing member is configured to be compressed by a reference feature of the end effector and the surgical handpiece when the distal member is disposed on the end effector and the end effector is coupled to the surgical handpiece, the compressed biasing member creating a frictional force between the distal and proximal members that resists rotation of the distal member relative to the proximal member.
1 . A surgical instrument assembly for removably coupling a tracker to a surgical handpiece, the surgical instrument assembly comprising:
an end effector comprising:
a shaft comprising a distal portion and opposing proximal portion, the distal portion for manipulating biological tissue and the proximal portion defining a coupling feature for removably attaching the end effector to the surgical handpiece; and
a reference feature disposed on the shaft between the proximal portion and the distal portion, the reference feature spaced a defined distance from the coupling feature; and
an adapter removably couplable to the end effector, the adapter comprising:
a proximal member comprising a surgical handpiece interface configured to engage the surgical handpiece and prevent rotation of the proximal member relative to the surgical handpiece;
a distal member rotatably and slidably coupled to the proximal member, wherein the distal member further comprises a tracking array mount for coupling a tracker to the adapter; and
a biasing member positioned to urge the proximal member and the distal member in opposing directions,
wherein the proximal member and the distal member define an aperture through the adapter that is configured to receive the shaft of the end effector, and
wherein the coupling feature and the reference feature of the end effector are spaced along the shaft of the end effector such that the surgical handpiece will engage the proximal member of the adapter and the reference feature will engage the distal member of the adapter when the end effector is coupled to the surgical handpiece causing the biasing member to create a frictional force between the proximal member and the distal member that resists rotation of the distal member relative to the proximal member.
2 . The surgical instrument assembly of claim 1 , wherein the frictional force inhibits rotation of the distal member relative to the proximal member absent an external force being applied to the distal member.
3 . The surgical instrument assembly of claim 1 , wherein the distal member further comprises a fastening member configured to removably secure the adapter to the shaft of the end effector when the end effector is decoupled from the surgical handpiece.
4 . The surgical instrument assembly of claim 3 , wherein the fastening member comprises a detent configured to selectively engage an annular recess defined in an outer surface of the shaft of the end effector to removably secure the adapter to the end effector.
5 . The surgical instrument assembly of claim 3 , wherein the fastening member for removably securing the adapter to the shaft of the end effector is configured to allow rotation of the end effector relative to the distal member.
6 . The surgical instrument assembly of claim 3 , further comprising a calibration body having a known length and configured to be identifiable by a surgical navigation system, the calibration body further including an adapter interface comprising a retention feature configured to matingly engage the fastening member of the adapter to removably attach the adapter to the calibration body at a known position relative to a distal end of the calibration body.
7 . The surgical instrument assembly of claim 6 , wherein the retention feature of the calibration body is configured to position the adapter a first distance from the distal end of the calibration body,
wherein the reference feature of the end effector is configured to position the adapter a second distance from a distal end of the end effector, and
wherein the first distance is equal to the second distance.
8 . The surgical instrument assembly of claim 1 , wherein the biasing member is disposed between the proximal member and the distal member.
9 . The surgical instrument assembly of claim 1 , wherein the proximal member and the distal member of the adapter are configured to generate a compressive force on the biasing member when the adapter is coupled to the end effector and the surgical handpiece interface of the proximal member is engaged with the surgical handpiece.
10 . The surgical instrument assembly of claim 1 , wherein the surgical handpiece interface comprises one or more protrusions configured to mate with a reciprocal feature on the surgical handpiece when the adapter is coupled to the end effector and the surgical handpiece interface is engaged with the surgical handpiece.
11 . The surgical instrument assembly of claim 1 , wherein the biasing member is configured to urge the proximal member toward the surgical handpiece when the adapter is coupled to the end effector and the surgical handpiece interface is engaged with the surgical handpiece.
12 . The surgical instrument assembly of claim 1 , wherein the proximal member is axially movable relative to the distal member between an engaged position when the surgical handpiece interface is engaged with the surgical handpiece and a free position when the surgical handpiece interface is separated from the surgical handpiece, such that:
the biasing member is compressed when the proximal member is in the engaged position creating a frictional force between the proximal and distal members of the adapter that inhibits rotation of the distal member relative to the proximal member absent an external force being applied to the distal member; and
the biasing member is decompressed when the proximal member is in the free position allowing the distal member to rotate freely relative to the proximal member.
13 . The surgical instrument assembly of claim 1 , wherein the biasing member is a wave spring.
14 . The surgical instrument assembly of claim 1 , wherein the end effector is a first end effector and comprises a twist drill, and the surgical instrument assembly further comprising a second end effector, the second end effector being a screwdriver.
15 . The surgical instrument assembly of claim 1 , wherein the biasing member is disposed between the proximal member and the distal member, and further comprising a tapered washer disposed between the biasing member and the proximal member and including a beveled surface configured to contact a reciprocal surface of the proximal member to create a sliding friction that resists rotation of the distal member relative to the proximal member when the adapter is disposed on the end effector and the surgical handpiece interface of the proximal member is engaged with the surgical handpiece.
16 . The surgical instrument assembly of claim 15 , wherein the tapered washer is configured to wedge between the distal member and the proximal member to create the sliding friction that resists rotation of the distal member relative to the proximal member when the adapter is disposed on the end effector and the surgical handpiece interface of the proximal member is engaged with the surgical handpiece.
17 . A surgical instrument adapter for use with a calibration body including a stop and a retention feature, the surgical instrument adapter comprising:
a proximal member comprising a surgical handpiece interface configured to engage a surgical handpiece and prevent rotation of the proximal member relative to the surgical handpiece;
a distal member slidably and rotatably coupled to the proximal member;
a biasing member disposed between the proximal member and the distal member and configured to urge the proximal member and distal member in opposing directions;
a tracking array mount coupled to the distal member; and
a fastening member disposed on the distal member and configured to removably secure the adapter to the calibration body, the fastening member shaped to matingly engage the retention feature of the calibration body such that the distal member abuts the stop of the calibration body to position the adapter at a known distance from a distal end of the calibration body.
18 . The surgical instrument adapter of claim 17 , wherein the fastening member comprises a protrusion and the retention feature of the calibration body comprises an annular recess defined in a shaft of the calibration body, and
wherein the protrusion and the annular recess are reciprocally shaped to prevent lateral movement of the distal member of the adapter along the shaft of the calibration body while allowing rotation of the distal member of the adapter about the shaft of the calibration body.
19 . A surgical instrument adapter for use with an end effector including a reference feature and an attachment feature for coupling the end effector to a surgical handpiece, the surgical instrument adapter comprising:
a proximal member comprising a surgical handpiece interface configured to engage the surgical handpiece and prevent rotation of the proximal member relative to the surgical handpiece;
a distal member slidably and rotatably coupled to the proximal member;
a biasing member disposed between the proximal member and the distal member and configured to urge the proximal member and distal member in opposing directions;
a tracking array mount coupled to the distal member; and
a fastening member disposed on the distal member and configured to removably secure the adapter to the end effector such that the end effector can rotate freely relative to the distal and proximal members,
wherein the biasing member is configured to be compressed by the reference feature and the surgical handpiece acting upon the distal member and the proximal member when the end effector is coupled to the surgical handpiece, the biasing member creating a friction force between the distal member and the proximal member that resists rotation of the distal member relative to the proximal member, and
wherein the biasing member is configured to be decompressed when the end effector is decoupled from the surgical handpiece allowing the distal member to rotate freely relative to the proximal member.
20 . The surgical instrument adapter of claim 19 , wherein the proximal member is axially movable relative to the distal member between an engaged position when the surgical handpiece interface is engaged with the surgical handpiece and a free position when the surgical handpiece interface is separated from the surgical handpiece, such that:
when the proximal member is in the engaged position the biasing member is compressed creating a friction force between the proximal member and the distal member that inhibits rotation of the distal member relative to the proximal member absent application of an external force to the adapter; and
when the proximal member is in the free position the biasing member is decompressed allowing the distal member to rotate freely relative to the proximal member.