Power tools or instruments with integrated haptic actuator for vibration reduction
Aspects of the present disclosure relate to systems for performing a surgical procedure using a power tool or power instrument with systems, devices and/or control units for reducing vibration of the power tool or power instrument.
1. A system to perform a bone resection in a patient, the system comprising:
a power tool or power instrument;
a computer processor;
a vibration sensor; and
a haptic actuator,
wherein the computer processor, the vibration sensor and the haptic actuator are integrated into the power tool or power instrument,
wherein the computer processor is configured to receive data obtained by the vibration sensor,
wherein the data obtained by the vibration sensor comprise at least one of an amplitude, frequency, phase, wave shape or combination thereof of a vibration wave generated by a motor of the power tool or power instrument,
wherein the computer processor is configured to compute an interference wave,
wherein the interference wave comprises a phase different from the vibration wave,
wherein the computer processor is configured to send one or more commands to the haptic actuator to generate the interference wave,
wherein the interference wave is configured to reduce the amplitude of the vibration wave generated by the motor of the power tool or power instrument.
2. The system of claim 1 , wherein the power tool or power instrument is a bone saw, a drill, a burr, or a reamer.
3. The system of claim 1 , wherein the power tool or power instrument is configured to receive a tissue cutter, wherein the tissue cutter is a saw blade, a drill bit, a burr, or a reamer.
4. The system of claim 1 , wherein the motor of the power tool or power instrument comprises an electric or electromagnetic motor.
5. The system of claim 1 , wherein the haptic actuator comprises an eccentric rotating mass actuator, a linear resonant actuator, a piezoelectric actuator, a voice coil actuator, a motor, a shape memory alloy based actuator, a hydraulic actuator, a microfluidic actuator, an ultrasonic actuator, an electromagnetic actuator, an electric actuator, a mechanical actuator or a combination thereof.
6. The system of claim 1 , wherein the vibration wave, the interference wave or the vibration wave and the interference wave are rhythmic.
7. The system of claim 1 , wherein the vibration wave, the interference wave or the vibration wave and the interference wave are sinusoidal.
8. The system of claim 1 , wherein the vibration wave, the interference wave or the vibration wave and the interference wave are non-sinusoidal.
9. The system of claim 1 , wherein the phase of the interference wave is offset from the phase of the vibration wave by from about 160 to about 180 degrees.
10. The system of claim 1 , wherein the interference wave is out of phase relative to the vibration wave.
11. The system of claim 1 , wherein the interference wave has substantially the same amplitude, frequency or amplitude and frequency as the vibration wave.
12. The system of claim 1 , wherein the interference wave has a different amplitude, frequency or amplitude and frequency than the vibration wave.
13. The system of claim 11 , wherein the interference wave has an amplitude that is from about 50% to about 195% of the amplitude of the vibration wave.
14. The system of claim 1 , wherein the interference wave is configured to reduce the amplitude of the vibration wave by from about 5% to about 100%.
15. The system of claim 1 , wherein the power tool or power instrument is integrated into or attached to a robot.
16. The system of claim 15 , wherein the robot comprises a robotic arm.
17. The system of claim 1 , wherein the vibration sensor comprises at least one of an accelerometer, gyroscope, magnetometer, inertial measurement unit, piezoelectric sensor, proximity probe, structured light sensor, time of flight sensor, or infrared sensor or a combination thereof.
18. The system of claim 1 , wherein the system comprises a tracking system, wherein the tracking system comprises an outside in tracking system, an inside out tracking system, or a combination thereof.
19. The system of claim 18 , wherein the tracking system comprises a video camera, an infrared camera, a 3D scanner, a laser scanner, a depth sensor, a structured light sensor, a time of flight sensor, an infrared sensor, an inertial measurement unit or a combination thereof.
20. The system of claim 18 , wherein the tracking system is configured to track the power tool or power instrument, a tissue cutter attached to the power tool or power instrument or a combination thereof.