Universal adapter for handheld surgical systems
Adapters for surgical drilling systems, and methods of use, are provided for performing surgical procedures, such as surgical drilling into bony structures, while guided by a conductivity sensing system. The adapters may be configured to be coupled to a surgical drilling tool such as a conventional surgical drill and a drill bit having conductivity sensing capabilities, or a surgical hand tool having conductivity sensing capabilities. The adapters further include a controller configured to receive one or more signal indicative of measured electrical conductivity and/or penetration depth measurement, detect a condition associated with a change of measured electrical conductivity based on the signal, and arrest advancement of the surgical drilling tool responsive to detection of the condition.
1 . An adapter for use with a surgical tool comprising an elongated drilling portion, the adapter comprising:
a sleeve comprising a lumen sized and shaped to receive the elongated drilling portion of the surgical tool therethrough, and a stationary component comprising a spring and a contact sensor;
a plunger coupled to the spring and configured to be slidably movable within the stationary component responsive to a force applied by the surgical tool, the plunger comprising a screw configured to engage with the contact sensor as the plunger moves relative to the stationary component, and wherein the lumen extends through the plunger and the stationary component;
a brake mechanism configured to be actuated to arrest advancement of the elongated drilling portion relative to the sleeve; and
a controller configured to:
receive a signal indicative of an electrical conductivity sensed by the elongated drilling portion;
responsive to the signal, cause the brake mechanism to arrest advancement of the elongated drilling portion relative to the sleeve; and
determine penetration depth of the elongated drilling portion based on electrical impedance responsive to engagement between the screw and the contact sensor.
2 . The adapter of claim 1 , wherein the controller is further configured to:
receive a signal indicative of penetration depth of the elongated drilling portion; and
cause the brake mechanism to arrest advancement of the elongated drilling portion when changes in electrical conductivity as a function of the depth of penetration of the elongated drilling portion satisfy one or more predetermined conditions.
3 . The adapter of claim 1 , wherein the elongated drilling portion is configured to penetrate bone, and wherein the controller is configured to sense changes in electrical conductivity caused by the elongated drilling portion transitioning from bone to tissue.
4 . The adapter of claim 1 , wherein the controller is configured to sense changes in electrical conductivity during penetration by the elongated drilling portion, such that the controller causes the brake mechanism to arrest advancement of the elongated drilling portion when the changes in electrical conductivity satisfy one or more predetermined conditions.
5 . The adapter of claim 1 , further comprising:
an external computing device operatively coupled to the adapter,
wherein the controller is disposed within the external computing device via a wired or wireless connection.
6 . The adapter of claim 1 , wherein the controller is further configured to generate an alarm upon detection of the signal satisfying a predetermined condition.
7 . The adapter of claim 1 , wherein the controller is further configured to:
monitor penetration of the elongated drilling portion into a bony structure based on the signal;
detect a condition associated with a change of measured electrical conductivity; and
cause the brake mechanism to arrest advancement of the elongated drilling portion responsive to detection of the condition.
8 . The adapter of claim 1 , wherein the surgical tool comprises a drill bit, and wherein the sleeve comprises a chuck configured to receive the drill bit, the adapter further comprising:
a proximal end configured to be coupled to a surgical drill to selectively transmit rotary motion from the surgical drill to the drill bit,
wherein the controller is configured to, responsive to the signal, cease transmission of the rotary motion from the surgical drill to the drill bit to arrest advancement of the drill bit.
9 . The adapter of claim 8 , wherein the proximal end of the adapter comprises a first rotor configured to be coupled to the surgical drill and a second rotor coupled to the chuck, wherein the first and second rotors are configured to engage each other to transmit rotary motion, and responsive to the signal, the controller decouples the second rotor from the first rotor to cease transmission of the rotary motion from the surgical drill to the drill bit.
10 . The adapter of claim 9 , wherein the brake mechanism is configured to be actuated by the controller to lock the drill bit relative to the adapter to stop rotary motion of the drill bit following the decoupling of the second rotor from the first rotor.
11 . The adapter of claim 9 , wherein the second rotor is selectively coupled to the first rotor via mechanical force or electromagnetic force.
12 . The adapter of claim 11 , wherein the mechanical force is achieved via at least one of interlocking teeth or friction.
13 . The adapter of claim 9 , wherein, in a default condition, the second rotor is decoupled from the first rotor, and the controller is configured to cause the second rotor to couple to the first rotor upon actuation of the surgical drill.
14 . The adapter of claim 8 , wherein, in a default condition, the brake mechanism is configured to lock the drill bit relative to the adapter, and the controller is configured to actuate the brake mechanism to unlock the drill bit relative to the adapter upon actuation of the surgical drill.
15 . The adapter of claim 8 , wherein the braking mechanism is configured to lock the drill bit relative to the adapter via at least one of a friction plate and pads, clamping jaws, or biting teeth.
16 . The adapter of claim 8 , wherein the chuck comprises a telescoping channel configured to measure a depth of penetration of the drill bit.
17 . The adapter of claim 1 , further comprising a handle.
18 . A system comprising the adapter of claim 1 , further comprising the surgical tool.
19 . The system of claim 18 , wherein the surgical tool comprises at least two electrodes configured to measure electrical conductivity and to generate the signal indicative of the electrical conductivity sensed by the elongated drilling portion.
20 . An adapter for use with a surgical tool comprising an elongated drilling portion, the adapter comprising:
a sleeve comprising a stationary component and a spring;
a plunger coupled to the spring, the plunger configured to be slidably movable within the stationary component responsive to a force applied by the surgical tool;
a lumen extending through the plunger and the stationary component from a proximal end of the plunger to a distal end of the stationary component, the lumen sized and shaped to receive the elongated drilling portion of the surgical tool therethrough such that the elongated drilling portion is advanceable through the proximal end of the plunger and out the distal end of the stationary component;
a brake mechanism configured to be actuated to lock the plunger relative to the stationary component; and
a controller configured to:
receive a signal indicative of an electrical conductivity sensed by the elongated drilling portion; and
responsive to the signal, cause the brake mechanism to lock the plunger relative to the stationary component to thereby arrest advancement of the elongated drilling portion relative to the adapter.
21 . The adapter of claim 20 , wherein the proximal end of the plunger comprises a flat portion configured to engage with a stopper of the surgical tool, such that the surgical tool applies the force to the plunger via the engagement between the flat portion and the stopper.
22 . The adapter of claim 20 , wherein the stationary component comprises a contact sensor, wherein the plunger comprises a screw configured to engage with the contact sensor as the plunger moves relative to the stationary component, and wherein the controller is configured to determine penetration depth of the elongated drilling portion based on electrical impedance responsive to engagement between the screw and the contact sensor.
23 . The adapter of claim 20 , wherein the stationary component of the adapter is configured to be coupled to a distal end of a robot arm programmed to determine at least one of an entry point or a trajectory of the surgical tool for a predetermined surgical procedure.
24 . An adapter for use with a surgical tool comprising a drill bit, a proximal end of the surgical tool configured to be received by a chuck of a surgical drill to selectively transmit rotary motion from the surgical drill to the drill bit, the adapter comprising:
a sleeve comprising a lumen sized and shaped to receive an elongated drilling portion of the drill bit therethrough;
a linear actuator having a channel that extends therethrough;
a shaft slidably disposed within the channel of the linear actuator;
a brake mechanism disposed in communication with the linear actuator, the brake mechanism configured to be actuated to arrest advancement of the drill bit relative to the sleeve; and
a controller configured to:
receive a signal indicative of an electrical conductivity sensed by the drill bit; and
responsive to the signal, cause the brake mechanism to lock the shaft relative to the linear actuator to arrest advancement of the drill bit relative to the sleeve.
25 . The adapter of claim 24 , wherein, in a default condition, the brake mechanism is configured to lock the shaft relative to the linear actuator, and the controller is configured to actuate the brake mechanism to unlock the shaft relative to the linear actuator upon actuation of the surgical drill.
26 . The adapter of claim 24 , wherein a distal end of the shaft is configured to contact a bony structure, and wherein as the drill bit advances through the bony structure, the shaft remains stationary relative to the bony structure and slides through the channel.
27 . The adapter of claim 24 , wherein a proximal end of the shaft is configured to contact the surgical drill, and wherein as the drill bit advances through a bony structure, a distance between the surgical drill and the adapter decreases as the shaft slides through the channel.
28 . An adapter for use with a surgical tool comprising an elongated drilling portion, the adapter comprising:
a sleeve comprising a lumen sized and shaped to receive the elongated drilling portion of the surgical tool therethrough, and a stationary component comprising a spring;
a plunger coupled to the spring, the plunger configured to be slidably movable within the stationary component responsive to a force applied by the surgical tool, the lumen extending through the plunger and the stationary component from a proximal end of the plunger to a distal end of the stationary component such that the elongated drilling portion is advanceable through the proximal end of the plunger and out the distal end of the stationary component;
a brake mechanism configured to be actuated to lock the plunger relative to the stationary component; and
a controller configured to:
receive a signal indicative of penetration depth of the elongated drilling portion; and
responsive to the signal, cause the brake mechanism to lock the plunger relative to the stationary component to thereby arrest advancement of the elongated drilling portion relative to the adapter.
29 . An adapter for use with a surgical tool comprising an elongated drilling portion, the adapter comprising:
a sleeve comprising a lumen sized and shaped to receive the elongated drilling portion of the surgical tool therethrough, and a stationary component comprising a spring;
a plunger coupled to the spring, the plunger configured to be slidably movable within the stationary component responsive to a force applied by the surgical tool, the lumen extending through the plunger and the stationary component from a proximal end of the plunger to a distal end of the stationary component such that the elongated drilling portion is advanceable through the proximal end of the plunger and out the distal end of the stationary component;
a brake mechanism configured to be actuated to lock the plunger relative to the stationary component; and
a controller configured to:
receive a signal indicative of an electrical conductivity sensed by the elongated drilling portion;
receive a signal indicative of penetration depth of the elongated drilling portion; and
cause the brake mechanism to lock the plunger relative to the stationary component to thereby arrest advancement of the elongated drilling portion relative to the sleeve when changes in electrical conductivity as a function of the depth of penetration of the elongated drilling portion satisfy one or more predetermined conditions.
30 . The adapter of claim 29 , further comprising a depth sensor configured to generate the signal indicative of penetration depth of the elongated drilling portion, the depth sensor comprising at least one of a linear potentiometer, a laser distance sensor, an infrared distance sensor, an ultrasonic distance sensor, a Light Detection and Ranging (LiDAR) sensor, a 3D Time-of-Flight camera, linear magnetic or hall effect encoders, a reversible linear actuator, or an inductive linear position sensor.