Incision Tools And Methods Of Use
A tool for creating an incision at a surgical site includes a body for use with a robotic end effector having a proximal end and a distal end, and a blade positioned at the distal end of the body, the blade having a proximal end and a distal end, the blade having a cutting edge defining a first portion extending outwardly from or adjacent to the proximal end to a maximum width and a second portion extending inwardly from the maximum width to a sharp distal tip.
1 . A system comprising:
a surgical robot including a robotic arm for maintaining a trajectory relative to a surgical site;
a tool for creating an incision at the surgical site, the tool including:
a body having a proximal body end, a distal body end, and a central portion between the proximal body end and the distal body end; and
a blade positioned at the distal body end of the body, the blade having a proximal blade end, a distal blade end, and a cutting edge defining:
a first portion extending outwardly from or adjacent to the proximal blade end to a maximum width, and
a second portion extending inwardly from the maximum width to a sharp distal tip; and
a guide tube operatively attached to the robotic arm and defining:
a bore for supporting the central portion of the body of the tool along an axis, and
a longitudinal slot formed in communication with the bore and shaped for receiving the blade of the tool as the blade passes through the guide tube to bring the central portion of the body into engagement with the bore.
2 . The system of claim 1 , wherein the bore of the guide tube defines a bore diameter; and
wherein the maximum width of the first portion of the blade is larger than the bore diameter.
3 . The system of claim 2 , wherein the longitudinal slot of the guide tube defines a slot width; and
wherein the slot width is larger than the maximum width of the first portion of the blade.
4 . The system of claim 1 , wherein the central portion of the body of the tool defines a central diameter; and
wherein the maximum width of the first portion of the blade is larger than the central diameter.
5 . The system of claim 1 , wherein the guide tube defines a proximal tube end and a distal tube end; and
wherein the bore and the longitudinal slot are each formed extending through the proximal tube end and the distal tube end.
6 . The system of claim 1 , wherein the longitudinal slot is further defined as a plurality of longitudinal slots each formed in communication with the bore and shaped for receiving the blade of the tool as the blade passes through the guide tube to bring the central portion of the body into engagement with the bore.
7 . The system of claim 6 , wherein the plurality of longitudinal slots includes a pair of longitudinal slots arranged about the axis at an angle of 180-degrees.
8 . The system of claim 1 , wherein the body of the tool includes a blade attachment portion arranged at the distal body end.
9 . The system of claim 8 , wherein the body of the tool includes and a handle arranged at the proximal body end.
10 . The system of claim 8 , wherein the blade attachment portion of the body includes an elongated projection; and
wherein the blade includes an elongated recess for receiving the elongated projection of the body to attach the blade to the body.
11 . The system of claim 1 , wherein the blade has a longitudinal blade axis extending along a direction between the proximal blade end and the distal blade end; and
wherein the cutting edge is symmetric about the longitudinal blade axis.
12 . The system of claim 11 , wherein the first portion of the cutting edge of the blade includes a pair of linear rear cutting edges extending outwardly from or adjacent to the proximal blade end.
13 . The system of claim 12 , wherein the second portion of the cutting edge of the blade includes a pair of linear front cutting edges extending inwardly to the sharp distal tip.
14 . The system of claim 13 , wherein the second portion of the cutting edge of the blade includes a pair of curved hips transitioning between the linear rear cutting edges and the linear front cutting edges and defining the maximum width of the blade.
15 . The system of claim 1 , wherein the blade has a longitudinal blade axis extending along a direction between the proximal blade end and the distal blade end; and
wherein the cutting edge is asymmetric about the longitudinal blade axis.
16 . The system of claim 1 , wherein the first portion is convex.
17 . The system of claim 1 , wherein the second portion is convex.
18 . The system of claim 1 , wherein the second portion has a first side having a convex curve and a second side having a concave curve.
19 . The tool of claim 1 , wherein the blade is detachable from the body.