ARTICULATING DRILL SYSTEM
An articulating drill system is provided that includes a hand-held portion and a drill portion. At least two actuators are provided for controlling at least two axes of the drill portion. In some embodiments, a tool is provided with the drill portion and adapted to interact with patient tissue. The drill portion can be modified to include at least two rigid objects in communication with the actuators and attached to the drill portion. The system can be used to make any linear cut within a deviation of ±1.0 mm and ±1.0°, or better in patient tissue.
1 . A surgical device, comprising
a hand-held portion having a first longitudinal axis;
a saw portion coupled to the hand-held portion and configured to be coupled to a saw blade having a second longitudinal axis;
an assembly of components configured to control the position and orientation of the saw portion relative to the hand-held portion, wherein the assembly of components comprises:
a plurality of lead screws; and
a plurality of motors coupled to one or more controllers, wherein each motor is coupled to one of the plurality of lead screws and configured to rotate that lead screw in response to control signals received from the one or more controllers, wherein rotation of the plurality of lead screws provides motion between the saw portion and the hand-held portion in at least two degrees-of-freedom to maintain the saw blade in a pre-planned plane in response to movement of the hand-held portion; and
wherein the at least two degrees-of-freedom comprises: (i) rotation between the saw portion and the hand-held portion; and (ii) translation between the saw portion and the hand-held portion in a direction of the first longitudinal axis of the hand-held portion without translation in a direction of the second longitudinal axis of the saw blade coupled to the saw portion.
2 . The surgical device of claim 1 further comprising a tracking array coupled to at least one of the saw portion or the hand-held portion, wherein the tracking array comprises at least three active markers or at least three passive markers.
3 . The surgical device of claim 1 , wherein the saw portion is configured to oscillate the saw blade.
4 . The surgical device of claim 1 , wherein the rotation of the plurality of lead screws provides motion between the saw portion and the hand-held portion in no more than three degrees-of-freedom.
5 . The surgical device of claim 1 , wherein rotation of at least two lead screws from the plurality of lead screws is required to provide translational motion between the saw portion and the hand-held portion.
6 . The surgical device of claim 1 further comprising the one or more controllers.
7 . The surgical device of claim 1 , wherein the assembly of components further comprises a plurality of hinge mechanisms, wherein each hinge mechanism operatively couples one of the plurality of lead screws to the saw portion.
8 . The surgical device of claim 1 , wherein a location of the pre-planned plane is defined with respect to a bone.
9 . The surgical device of claim 1 , wherein the assembly of components further comprises a plurality of nuts, wherein each nut is coupled to one of the plurality of lead screws, and wherein rotation of a lead screw from the plurality of lead screws provides translational motion between the lead screw and a nut coupled thereto.
10 . A surgical system, comprising:
one or more controllers for sending control signals; and
a surgical device, comprising:
a hand-held portion having a first longitudinal axis;
a saw portion coupled to the hand-held portion and configured to be coupled to a saw blade having a second longitudinal axis;
an assembly of components configured to control the position and orientation of the saw portion relative to the hand-held portion, wherein the assembly of components comprises:
a plurality of lead screws; and
a plurality of motors coupled to one or more controllers, wherein each motor is coupled to one of the plurality of lead screws and configured to rotate that lead screw in response to control signals received from the one or more controllers, wherein rotation of the plurality of lead screws provides motion between the saw portion and the hand-held portion in at least two degrees-of-freedom to maintain the saw blade in a pre-planned plane in response to movement of the hand-held portion; and
wherein the at least two degrees-of-freedom comprises: (i) rotation between the saw portion and the hand-held portion; and (ii) translation between the saw portion and the hand-held portion in a direction of the first longitudinal axis of the hand-held portion without translation in a direction of the second longitudinal axis of the saw blade coupled to the saw portion.
11 . The system of claim 10 , wherein the surgical device further comprises a first tracking array coupled to at least one of the saw portion or the hand-held portion, wherein the first tracking array comprises at least three active markers or at least three passive markers.
12 . The system of claim 11 further comprising a tracking system operatively coupled to the one or more controllers, wherein the tracking system is configured to determine: (i) a position and orientation (POSE) of the first tracking array coupled to the saw portion or the hand-held portion; and (ii) a POSE of a second tracking array affixed to a bone, wherein a location of the pre-planned plane is defined with respect to the bone.
13 . The surgical system of claim 10 further comprising a navigation system, the navigation system comprising:
one or more computers, each computer comprising one or more processors;
a tracking system operatively coupled to the one or more computers; and
the one or more controllers operatively coupled to the one or more computers; and
wherein the navigation system is configured to:
determine: (i) a position and orientation (POSE) of a first tracking array coupled to the saw portion or the hand-held portion; and (ii) a POSE of a second tracking array affixed to a bone, wherein a location of the pre-planned plane is defined with respect to the bone; and
based on the determined POSE of the first tracking array and the second tracking array, send control signals to one or more of the plurality of motors to rotate one or more of the plurality of lead screws to provide motion between the saw portion and the hand-held portion to maintain the saw blade in the pre-planned plane.
14 . The system of claim 13 wherein the navigation system only sends control signals to one or more of the plurality of motors when the saw portion is within a pre-defined volume that surrounds a location of the pre-planned plane.
15 . The system of claim 10 , wherein the saw portion is configured to oscillate the saw blade.
16 . The system of claim 10 , wherein the rotation of the plurality of lead screws provides motion between the saw portion and the hand-held portion in no more than three degrees-of-freedom.
17 . The system of claim 10 , wherein rotation of at least two lead screws from the plurality of lead screws is required to provide translational motion between the saw portion and the hand-held portion.
18 . The system of claim 10 , wherein the assembly of components further comprises a plurality of hinge mechanisms, wherein each hinge mechanism operatively couples one of the plurality of lead screws to the saw portion.
19 . The system of claim 10 , wherein a location of the pre-planned plane is defined with respect to a bone.
20 . The system of claim 10 , wherein the assembly of components further comprises a plurality of nuts, wherein each nut is coupled to one of the plurality of lead screws, and wherein rotation of a lead screw from the plurality of lead screws provides translational motion between that lead screw and a nut coupled thereto.