Modular wrist guide for surgical instruments
A modular wrist guide is provided that aids a user in operating a hand-held surgical instrument to accurately perform surgical procedures including but not limited to joint arthroplasty. The modular wrist guide acts to constrain the orientation of a hand-held surgical instrument, or a user's wrist relative to the user's forearm to perform a procedure according to a surgical plan. A forearm embracing member is designed to secure the user's forearm to the modular wrist guide.
1. A modular wrist guide system for manipulating a surgical instrument comprising:
a support body;
an instrument attachment member at a first end of said support body;
a member adapted to embrace a user forearm at a second end of said support body; and
at least one orienting mechanism incorporated with said support body, where said at least one orienting mechanism is used to adjust and lock at least one degree of freedom of the surgical instrument relative to the user forearm; and
a feedback mechanism configured to determine the at least one degree of freedom using at least one of a visual signal, an audible signal, semi-automatic control, or automatic control.
2. The modular wrist guide system of claim 1 wherein said at least one orienting mechanism rotates in at least one of pitch, roll, yaw, or a combination thereof.
3. The modular wrist guide system of claim 1 wherein said instrument attachment member further comprises a fastening element configured to receive a variety of surgical instrument types.
4. The modular wrist guide system of claim 1 further comprising a power supply; and
wherein said forearm embracing member is configured to removably attach the power supply to provide power for the surgical instrument.
5. The modular wrist guide system of claim 1 wherein said at least one orienting mechanism is one of a ratchet, rotary joint, motor, step motor, revolute joint, prismatic joint, or spherical joint.
6. The modular wrist guide system of claim 1 further comprising a haptic device, where said haptic device is attached to the second end of said support body and provides haptic feedback to the user in positioning and orienting the surgical instrument.
7. The modular wrist guide system of claim 1 wherein said at least one orienting mechanism is electrically controlled.
8. The modular wrist guide system of claim 1 further comprising at least one fiducial marker that is attached to said modular wrist guide system, said at least one fiducial marker in communication with a tracking system.
9. The modular wrist guide system of claim 1 further comprising a user interface incorporated with said forearm embracing member and in communication with at least one of the surgical instrument or a tracking system.
10. A modular wrist guide system for manipulating a surgical instrument comprising:
a support body;
an instrument attachment member at a first end of said support body;
a member adapted to embrace a user forearm at a second end of said support body;
at least one orienting mechanism incorporated with said support body, where said at least one orienting mechanism is used to adjust and lock at least one degree of freedom of the surgical instrument relative to the user forearm; and
a haptic device, where said haptic device is attached to the second end of said support body and provides haptic feedback to the user in positioning and orienting the surgical instrument.
11. The modular wrist guide system of claim 10 wherein said instrument attachment member further comprises a fastening element configured to receive a variety of surgical instrument types.
12. The modular wrist guide system of claim 10 wherein said forearm embracing member is configured to removably attach a power supply for the surgical instrument.
13. The modular wrist guide system of claim 10 wherein said at least one orienting mechanism is electrically controlled.
14. The modular wrist guide system of claim 10 further comprising at least one fiducial marker that is attached to said modular wrist guide system, said at least one fiducial marker in communication with a tracking system.
15. The modular wrist guide system of claim 10 further comprising a user interface incorporated with said forearm embracing member and in communication with at least one of the surgical instrument or a tracking system.
16. A modular wrist guide system for manipulating a surgical instrument comprising:
a support body;
an instrument attachment member at a first end of said support body;
a member adapted to embrace a user forearm at a second end of said support body;
at least one orienting mechanism incorporated with said support body, where said at least one orienting mechanism is used to adjust and lock at least one degree of freedom of the surgical instrument relative to the user forearm; and
wherein said at least one orienting mechanism is electrically controlled.
17. The modular wrist guide system of claim 16 wherein the at least one degree of freedom is determined by a feedback mechanism.
18. The modular wrist guide system of claim 16 wherein said instrument attachment member further comprises a fastening element configured to receive a variety of surgical instrument types.
19. The modular wrist guide system of claim 16 wherein said forearm embracing member is configured to removably attach a power supply for the surgical instrument.
20. The modular wrist guide system of claim 16 further comprising at least one fiducial marker that is attached to said modular wrist guide system, said at least one fiducial marker in communication with a tracking system.
21. The modular wrist guide system of claim 16 further comprising a user interface incorporated with said forearm embracing member and in communication with at least one of the surgical instrument or a tracking system.
22. A modular wrist guide system for manipulating a surgical instrument comprising:
a support body;
an instrument attachment member at a first end of said support body;
a member adapted to embrace a user forearm at a second end of said support body;
at least one orienting mechanism incorporated with said support body, where said at least one orienting mechanism is used to adjust and lock at least one degree of freedom of the surgical instrument relative to the user forearm; and
at least one fiducial marker that is attached to said modular wrist guide system, said at least one fiducial marker in communication with a tracking system.
23. The modular wrist guide system of claim 22 wherein at least one of a position or orientation of a modular wrist guide is displayed on a monitor in relation to a working end of said surgical instrument along a planar cut or in an operable workspace as determined by the tracking system.
24. The modular wrist guide system of claim 22 wherein the at least one orienting mechanism is actively controlled by a controller and the at least one degree of freedom is adjusted and locked in an orientation based on at least one of 1) the execution of at least a portion of a surgical plan or 2) the position and orientation of a modular wrist guide as determined by the tracking system.
25. The modular wrist guide system of claim 22 wherein the at least one degree of freedom is determined by a feedback mechanism.
26. The modular wrist guide system of claim 22 wherein said instrument attachment member further comprises a fastening element configured to receive a variety of surgical instrument types.
27. The modular wrist guide system of claim 22 wherein said forearm embracing member is configured to removably attach a power supply for the surgical instrument.
28. The modular wrist guide system of claim 22 wherein said at least one orienting mechanism is electrically controlled.
29. The modular wrist guide system of claim 22 further comprising a user interface incorporated with said forearm embracing member and in communication with at least one of the surgical instrument or the tracking system.
30. A modular wrist guide system for manipulating a surgical instrument comprising:
a support body;
an instrument attachment member at a first end of said support body;
a member adapted to embrace a user forearm at a second end of said support body;
at least one orienting mechanism incorporated with said support body, where said at least one orienting mechanism is used to adjust and lock at least one degree of freedom of the surgical instrument relative to the user forearm; and
a user interface incorporated with said forearm embracing member and in communication with at least one of the surgical instrument or a tracking system.
31. The modular wrist guide system of claim 30 wherein said user interface has an input parameter to adjust the at least one degree of freedom of the surgical instrument.
32. The modular wrist guide system of claim 30 wherein the at least one degree of freedom is determined by a feedback mechanism.
33. The modular wrist guide system of claim 30 wherein said instrument attachment member further comprises a fastening element configured to receive a variety of surgical instrument types.
34. The modular wrist guide system of claim 30 wherein said forearm embracing member is configured to removably attach a power supply for the surgical instrument.
35. The modular wrist guide system of claim 30 wherein said at least one orienting mechanism is electrically controlled.
36. The modular wrist guide system of claim 30 further comprising at least one fiducial marker that is attached to said modular wrist guide system, said at least one fiducial marker in communication with the tracking system.
37. A modular wrist guide system for a surgical instrument comprising:
a support body;
a hand embracing member attached to a first end of said support body;
a forearm embracing member attached to a second end of said support body; and
at least one orienting mechanism incorporated with said support body to adjust and lock at least one degree of freedom of a user's hand relative to the user's forearm; and
a feedback mechanism configured to determine the at least one degree of freedom using at least one of a visual signal, an audible signal, semi-automatic control, or automatic control.
38. The modular wrist guide system of claim 37 further comprising an instrument attachment member incorporated with said hand embracing member.
39. The modular wrist guide system of claim 38 wherein said instrument attachment member is configured to receive a plurality of surgical instruments.
40. The modular wrist guide system of claim 37 further comprising a power supply; and
wherein said forearm embracing member is configured to removably attach the power supply to provide power for the surgical instrument.
41. The modular wrist guide system of claim 37 wherein said at least one orienting mechanism is electrically controlled.
42. The modular wrist guide system of claim 37 further comprising at least one fiducial marker that is attached to said modular wrist guide system, said at least one fiducial marker in communication with a tracking system.
43. The modular wrist guide system of claim 37 further comprising a user interface incorporated with said forearm embracing member and in communication with at least one of the surgical instrument or a tracking system.