Anti-skid surgical instrument for use in preparing holes in bone tissue
Described herein is an anti-skid surgical instrument for use in preparing holes in bone tissue. The disclosed surgical instrument provides the ability to prepare a precise hole in bone tissue during surgery (e.g., spinal surgeries and pedicle screw placement, intramedullary screw placement). The disclosed surgical instrument accomplishes precise hole placement regardless of whether the angle between the drill axis and surface of the bone tissue is perpendicular. The disclosed technology includes a flat drilling surface which is perpendicular to the surface of the body of the surgical instrument. This reduces the likelihood of the surgical instrument skidding on the surface of the bone tissue and thereby increases the precision of the hole.
1. A robotic surgical system for preparing a hole in bone tissue of a patient during surgery, comprising:
a robotic arm having an end effector with a surgical instrument guide attached thereto, the surgical instrument guide arranged to hold and/or restrict movement of an anti-skid surgical instrument therethrough; and
the anti-skid surgical instrument having an elongate structure comprising:
a mill head at the end of the elongate structure for removing bone tissue with reduced skidding of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue;
a spike extending from the mill head;
a shank for connection to a drill; and
a shaft disposed between the mill head and the shank, the shaft having one or more drill flutes for evacuating removed bone tissue.
2. The robotic surgical system of claim 1 , wherein the mill head comprises a concave face from which the spike extends.
3. The robotic surgical system of claim 1 , wherein the mill head includes a concave distal face and the spike extends from the concave distal face.
4. A robotic surgical system for preparing a hole in bone tissue of a patient during surgery, comprising:
a robotic arm having an end effector with a surgical instrument guide attached thereto, the surgical instrument guide arranged to hold and/or restrict movement of an anti-skid surgical instrument therethrough; and
the anti-skid surgical instrument having an elongate structure comprising:
a mill head at the end of the elongate structure for removing bone tissue with reduced skidding of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue;
a shank for connection to a drill;
a shaft disposed between the mill head and the shank, the shaft having one or more drill flutes for evacuating removed bone tissue; and
a compliant part that absorbs energy from the mill head.
5. The robotic surgical system of claim 4 , wherein the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.
6. The robotic surgical system of claim 4 , wherein the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.
7. The robotic surgical system of claim 4 , wherein the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.
8. The robotic surgical system of claim 4 , wherein the compliant part covers at least a portion of the shank.
9. The robotic surgical system of claim 4 , wherein the compliant part covers at least part of the shaft.
10. The robotic surgical system of claim 4 , wherein the compliant part covers at least part of the shaft and the shank.
11. A robotic surgical system for preparing a hole in bone tissue of a patient during surgery, comprising:
a robotic arm having an end effector with a surgical instrument guide attached thereto, the surgical instrument guide arranged to hold and/or restrict movement of an anti-skid surgical instrument therethrough; and
the anti-skid surgical instrument having an elongate structure comprising:
a mill head at the end of the elongate structure for removing bone tissue with reduced skidding of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue;
a shank for connection to a drill;
a shaft disposed between the mill head and the shank, the shaft having one or more drill flutes for evacuating removed bone tissue; and
a depth control adapted to be attached to the shaft, wherein the shaft comprises one or more notches and the depth control is adapted to engage at least one of the one or more notches when attached to the anti-skid surgical instrument.
12. The robotic surgical system of claim 11 , wherein the depth control comprises one or more markings.
13. The robotic surgical system of claim 11 , wherein the depth control comprises one or more colors for depicting depth of insertion.
14. The robotic surgical system of claim 11 , wherein the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.
15. The robotic surgical system of claim 11 , comprising: a spike extending from the mill head.