Robotic handheld surgical instrument systems and methods

Abstract

To provide a system including a robotic instrument for use with a tool.SOLUTION: The robotic instrument comprises a hand-held portion 16 for being held by a user and a tool support 18 movably coupled to the hand-held portion for supporting a tool. The robotic instrument further includes an actuator assembly 400 operatively attached to the tool support and the hand-held portion and configured to move the tool support relative to the hand-held portion in a plurality of degrees of freedom. The robotic instrument can include a handle alignment member 904 extending from the hand-held portion. When the tool support has an optimal range of motion relative to the hand-held portion, at least a portion of the handle alignment member and a tool plane BP defined by the tool are aligned.SELECTED DRAWING: Figure 74

Description

[Technical Field]

[0001] The present disclosure relates generally to robotic handheld surgical instrument systems and methods of use. [Background technology]

[0002] A physical cutting guide is used to constrain surgical tools when removing tissue from a patient. In some cases, a physical cutting guide is used to prepare the joint to accept the replacement implant. Constraining such surgical tools for preparation purposes. Positioning a physical cutting guide in the patient. and the time required for immobilization is less than the total time required to perform the surgical procedure. It may represent a significant portion.

[0003] The surgical tool used to properly align and secure the jig and remove tissue from the patient. Navigation systems (tracking systems) to track the location and / or orientation of the vehicle. A tracking system can be used. One or more trackers associated with the tissue to be ablated are then used. The display allows the user to determine the current position of the tool relative to the desired cutting path of the fabric. The display can be viewed by the user to visualize the progress of the tool. The device may be placed in a manner that requires the user to keep an eye on the tissue and the surgical site. It may distract the user from concentrating on the surgical site. It can be difficult to arrange in a format.

[0004] Robotic-assisted surgery typically involves the use of a robot capable of moving in six degrees of freedom (DOF). These large robots are operated in the operating room. It can be cumbersome to rotate and operate.

[0005] Additionally, robotics uses actuators to align the tool with a desired target object. Handheld surgical instruments have a limited range of adjustability. The controller adjusts the instrument to a predetermined distance and / or distance from the desired target object in order to align the instrument with the desired target object. However, the operator must maintain these instruments within the specified angle. It is difficult to realize how much adjustability an instrument has at any given moment during do.

[0006] Therefore, systems and methods for solving one or more of these problems are provided. Law is needed. Summary of the Invention

[0007] One aspect of the present disclosure includes a handheld surgical robotic system. The robotic system includes a handheld portion and a movable, swingable, and movably coupled to the handheld portion. a blade support including a blade mount defining a blade plane; and a saw blade operably coupled to and disposed in a blade plane. , a longitudinal axis, and a lateral axis. an actuator assembly operably attached to the blade support and the handheld portion; The actuator assembly also includes a handheld portion. The handheld surgical robot is configured to move the blade support relative to the The system further includes a handle alignment member extending from the handheld portion. The row member includes a handle alignment protrusion extending toward the blade mount, At least a portion of the protrusion is oblique to the longitudinal and lateral axes of the saw blade. and the blade support has an optimal range of motion relative to the handheld portion. A portion of the dollar alignment protrusion and the blade plane are aligned.

[0008] The actuator assembly includes a plurality of actuators, and Each of the blade supports has a first position and a second position for moving the blade support relative to the handheld portion. The home position is configured to move between two positions. The rotors may be at a midpoint between the first and second positions of the rotors, and the rotors may be at a midpoint between the first and second positions of the rotors. The body moves best when at least two of the actuators are in their home positions. Has a good range of motion.

[0009] When the handheld portion is in a pose that does not provide an optimal range of motion, the blade plane and The handle alignment protrusion may not be aligned with the handheld portion, and the blade support It provides a visual cue that you are in a pose that does not provide your body with an optimal range of motion.

[0010] The actuator assembly adjusts the pitch, height, and The blade is configured to adjust at least one of the length and the roll. The first spatial arrangement of the handle alignment protrusion relative to the blade relative to the handheld portion. At least one of a first pitch relationship, a first height relationship, and a first roll relationship of the supports Thus, the first spatial arrangement may provide a visual indication of the handle alignment protrusion. The blade support is optimally aligned with the handheld portion. Provides a visual indication of the range of motion. Handle alignment projection relative to the blade plane The second spatial arrangement of the blade support relative to the handheld portion defines a second pitch relationship of the blade support relative to the handheld portion. providing a visual indication of at least one of a second height relationship and a second roll relationship; Therefore, the second spatial arrangement is such that the handheld portion is in a position relative to the blade support. Provides visual indication that the blade support is in a pose that does not provide optimal range of motion .

[0011] The first spatial arrangement is a first pitch relationship of the blade support to the handheld portion. A visual indication may be provided, and the second spatial arrangement may indicate the blade support relative to the handheld portion. The actuator may provide a visual indication of the second pitch relationship of the handheld portion. Pitching the blade support relative to the handheld portion creates a second pitch relationship. a first portion of the handle alignment protrusion that provides a visual indication of the pitch of the blade support; The handle alignment protrusion is located closer to the handle than the second portion of the handle alignment protrusion along the longitudinal axis in the direction of pitch. away from the radar plane.

[0012] The first spatial arrangement is a first height relationship of the blade support relative to the handheld portion. The second spatial arrangement may also provide a visual cue to the blade support relative to the handheld portion. A visual indication of the second height relationship of the body may also be provided. Provides a visual indication of the height of the blade support relative to the handheld portion and includes a handle alignment protrusion is at least partially above or below the blade plane in the elevation direction.

[0013] The first spatial arrangement is a first roll relationship of the blade support relative to the handheld portion. A visual cue may also be provided, and the second spatial arrangement may be a blur relative to the handheld portion. A visual indication of the second roll relationship of the card support may also be provided. The roll relationship provides a visual indication of the roll of the blade support relative to the handheld portion. The lateral portion of the handle alignment protrusion is located at the center of the handle alignment protrusion in the direction of the roll. further from the blade plane than the part.

[0014] The handheld surgical robot system is located at a position separate from the first handle alignment member. The handheld portion may include a second handle alignment member extending from the handheld portion, the second handle alignment member The row member includes a second handle alignment protrusion extending toward the blade mount, and the second At least a portion of the handle alignment protrusion is aligned with the longitudinal and lateral axes of the saw blade. As above, the blade support is optimal for the handheld portion. When the first handle alignment protrusion and the second handle alignment protrusion have a range of motion, The beam is aligned with the beam plane.

[0015] The handheld surgical robotic system also includes a tool alignment member extending from the blade support. The tool alignment member may further include a tool alignment protrusion extending toward the blade mount. At least a portion of the tool alignment protrusion is aligned with the longitudinal axis and lateral axis of the saw blade. The tool alignment protrusion may define a tool alignment edge, and the tool alignment protrusion may be oblique to the direction axis. The handle alignment member is arranged to align the handle obliquely with respect to the longitudinal and lateral axes of the saw blade. The tool alignment edge defines a tool alignment edge where the blade support is aligned with the handheld portion. When aligned with the handle, is the tool alignment edge misaligned with the handle alignment edge? The handheld portion may be defined to be parallel to the handle alignment edge. Tool alignment protrusions and handle alignment protrusions when in poses that do not provide optimal range of motion The handheld portion does not need to be aligned with the blade support, providing an optimal range of motion for the blade support. Provide a visual cue that the patient is in a non-performing pose.

[0016] The handle alignment protrusion and the tool alignment protrusion have a first visual indicia and a second visual indicia. wherein the first visual indicia is visually distinguishable from the second visual indicia. The first visual indicia of the tool alignment protrusion and the first visual indicia of the tool alignment protrusion are The protrusion and the handle alignment protrusion may be aligned when they are aligned, providing a visual indication that the hand support has an optimal range of motion for the handheld portion; The first visual indicia of the handle alignment protrusion and the first visual indicia of the tool alignment protrusion are When the tool alignment protrusion and the handle alignment protrusion are not aligned, The handheld portion may be in a position that does not provide an optimal range of motion for the blade support. The first visual indicia may be a first color and the second visual indicia may be a It is the second color.

[0017] Another aspect of the present disclosure is a handheld surgical robotic system for supporting a saw blade. The handheld surgical robot system includes a handheld portion and a a tool support movably coupled to the tool support and defining a tool support plane; and an actuator assembly operably attached to the handheld portion. The actuator assembly moves the tool support relative to the handheld portion in multiple degrees of freedom. The handheld surgical robotic system is configured to move the handheld surgical robot. The handle alignment member further includes a handle hook-shaped member extending from the handle portion. The handle hook-shaped portion and the tool support surface are The alignment occurs when the arm has an optimal range of motion relative to the arm portion.

[0018] Yet another aspect of the present disclosure includes a handheld surgical robotic system. The surgical robotic system includes a handheld portion and a surgical instrument movably coupled to the handheld portion. a tool support defining a tool support plane; and a tool support removably coupled to the tool support. The tool defines a longitudinal axis and a lateral axis. The surgical robotic system is operably attached to the tool support and the handheld portion. The actuator assembly also includes an actuator assembly that operates in multiple degrees of freedom. The handheld portion is configured to move the tool support relative to the handheld portion. The handheld surgical robotic system further includes a handle alignment member extending from the handheld portion. The handle alignment member includes a handle alignment protrusion extending toward the tool support. At least a portion of the rod alignment protrusion is oriented at an angle greater than 0 degrees and greater than 90 degrees relative to the longitudinal axis. The tool support is positioned at a smaller angle than the handheld part. When having a range of motion, a portion of the handle alignment protrusion and the tool support plane are aligned.

[0019] Yet another aspect of the present disclosure is a handheld surgical robotic system for supporting a tool. The handheld surgical robot system includes a handheld portion and a and a tool support movably coupled to the tool component. The tool support defines a tool plane. The handheld surgical robotic system is configured to support a tool. and an actuator assembly operably attached to the handheld portion. The actuator assembly provides tool movement relative to the handheld portion in multiple degrees of freedom. The handheld surgical robot system is configured to move the handheld support. The handle further includes a handle alignment member extending from the handheld portion. The handle alignment member includes a first A handle support arm extending between the handle support arm end and the second handle support arm end. A handle support arm is coupled to the first handle support arm end and includes a handle support arm. The handle alignment member includes a handle coupling portion removably coupled to the handheld portion. a handle alignment member mount and a handle alignment member coupled to the second handle support arm end; The handle coupling portion also includes a handle alignment indicator coupled to the alignment member mount. To couple the guide alignment member to the handheld portion, a corresponding guide member disposed on the handheld portion is provided. The handle may include a handle coupling member configured to be coupled to a coupling member.

[0020] Another aspect of the present disclosure is a handheld surgical robotic system for attaching a handle to a tool support. to provide visual indication of the pose of the handheld portion of a handheld surgical robotic system. A mechanical alignment device configured for use with a handheld surgical robotic system. The mechanical alignment device extends between the first support arm end and the second support arm end. The support arm is coupled to the first support arm end and supports the handheld Detachable into one of the handheld portion and tool support of the surgical robotic system The mechanical alignment device includes a coupling portion configured to be coupled to the second support arm. An alignment member mount coupled to the end and an alignment indicator coupled to the alignment member mount are also provided. include.

[0021] An additional aspect of the present disclosure is a handheld surgical robotic system for supporting a saw blade. The handheld surgical robotic system also includes a handheld portion. The system also includes a blade support movably coupled to the handheld portion. The system is configured to support a saw blade. It also includes an actuator assembly operably attached to the handheld portion. The motor assembly moves the blade support relative to the handheld portion in multiple degrees of freedom. The system is configured to couple to the blade support and to move the blade support. a tool alignment member extending from the holder and coupled to the handheld portion; The handle alignment member extends from the handle, and the blade support is aligned with the desired position relative to the handheld portion. When the tool alignment member has a range of motion, at least a portion of the tool alignment member and at least a portion of the handle alignment member It can also be aligned with some other parts.

[0022] Another aspect of the present disclosure is a handheld robotic system for supporting a saw blade. The handheld robotic system also includes a handheld portion. It also includes a blade support movably coupled to the handheld portion for supporting the blade. The stem includes an actuator operably attached to the blade support and the handheld portion. The actuator assembly also includes a handheld controller. The system is configured to move the blade support relative to the blade portion. a first tool alignment member coupled to the blade support and extending from the blade support on opposite sides; and The system also includes a second tool alignment member. The system is coupled to the handheld portion and includes a second tool alignment member. The blade also includes a first handle alignment member and a second handle alignment member extending from the blade portion. When the tool support has a desired range of motion relative to the handheld portion, the first tool alignment portion The first handle alignment member and the second tool alignment member are respectively a first handle alignment member and a second handle alignment member. The guide is aligned with the guide alignment member.

[0023] Yet another aspect of the present disclosure is a visual aid for use with a handheld robotic system. The visual indicator system includes a blade support and a handheld portion. a shroud coupled to the blade support and extending between the blade support and the handheld portion; The shroud surrounds at least one of the plurality of actuators. , to provide a visual indication of the pose of the blade support relative to the handheld portion. The blade support and handheld portion are designed to move relative to each other when not aligned with each other. The present invention provides at least two shroud landmarks configured as follows:

[0024] Another aspect of the present disclosure is a handheld robotic system for supporting a saw blade. The handheld robotic system includes a handheld portion and a saw blade support. and a blade support movably coupled to the handheld portion for cutting the blade. The handheld portion is operably interconnected with the support and the handheld portion to move the handheld portion in multiple degrees of freedom. a plurality of actuators configured to move the blade support relative to the heald portion; The system also includes a light source on the blade support. a first tool alignment member and a second tool alignment member coupled together and extending on opposite sides from the blade support; The system also includes an alignment member. The alignment member is coupled to the handheld portion and extends from the handheld portion. The blade support also includes a first handle alignment member and a second handle alignment member. When the first tool alignment member and the second tool alignment member have a desired range of motion relative to the handheld portion, The tool alignment members are respectively a first handle alignment member and a second handle alignment member. The blade support and handheld portion are aligned with the cutting plane. To indicate that the blade support is within the desired range of motion, a light source is illuminated. It will be lit.

[0025] Another further aspect of the present disclosure is a handheld surgical robot for supporting a saw blade. The handheld surgical robotic system includes a handheld portion. The stem also includes a blade support movably coupled to the handheld portion. The saw blade support is configured to support the saw blade. and a plurality of actuators operatively interconnected with the handheld portion, The actuator moves the blade support relative to the handheld portion in multiple degrees of freedom. The system is configured to couple to the blade support and to move from the blade support. a tool alignment member coupled to and extending from the handheld portion; The handle alignment member may be removably attached to the handheld portion. is connected.

[0026] An additional aspect of the present disclosure is a surgical procedure for treating an anatomical structure according to multiple target planes. The surgical system includes an instrument including a saw blade, a handheld portion, and a plurality of an actuator system which may include several actuators, and a mechanism for supporting and moving the saw; and a blade support for moving the blade support. The blade support extends between the handheld portion and the saw mount. The system may include a navigation system and a blade support. The method also includes a tracker for coupling to the tool plane, the tracker configured to determine a current tool plane. and includes a tracker frame, and at least six optical markers are attached to the tracker frame. The tracker frame includes at least two faces and is connected to at least two The surfaces are non-planar relative to each other, and at least three to six optical markers are At least three are connected to each of at least two surfaces. The control system also includes a control system in communication with the current tool system and the tracker. an actuator system to align the actuator plane with at least one of a plurality of target planes; The system is configured to control the

[0027] Another additional aspect of the present disclosure is a handheld robotic tool, a saw blade, and a handheld robotic tool. a heald portion, an actuator system including a plurality of actuators, and a saw support; and a blade support for moving the saw. The surgical method is now more advanced than ever with the tool tracker and navigation system. determining the plane and selecting one of multiple target planes by an input device on the tracker; and using multiple actuators to align the current plane with the selected target plane. and adjusting the tool support by means of an input device. The method also includes selecting a different one of a plurality of target planes by using the target plane.

[0028] A final aspect of the present disclosure includes a surgical instrument tracker for tracking a surgical saw. The tracker includes a tracker frame defining an instrument engagement opening for receiving a proximal portion of the saw. The tracker frame includes a mount. The tracker is coupled to the tracker frame. The tracker frame also includes at least six optical markers positioned on the surface of the tracker frame, and the tracker frame includes at least two surfaces. At least two surfaces are non-planar relative to each other and there are at least three to six optical marks. At least three of the faces are connected to each of at least two faces. When the tracker mount is mated to the accessory mount, the tracker frame At least partially surrounds the accessory mount.

[0029] The advantages of this disclosure will be readily appreciated, as will be apparent from the accompanying drawings. This will be better understood by reference to the following detailed description when considered in conjunction with the That's why. [Brief explanation of the drawings]

[0030] [Figure 1] FIG. 1 is a perspective view of a robot system. [Figure 2] FIG. 1 is a perspective view of a robotic instrument used to cut five planes in the femur to receive the prosthetic knee implants. [Figure 3A] 1A-1C are diagrams of various pitch orientations of a robotic instrument. [Figure 3B] 1A-1C are diagrams of various pitch orientations of a robotic instrument. [Figure 3C] 1A-1C are diagrams of various pitch orientations of a robotic instrument. [Figure 4A] 1A-1C are diagrams of various roll orientations of a robotic instrument. [Figure 4B] 1A-1C are diagrams of various roll orientations of a robotic instrument. [Figure 4C] 1A-1C are diagrams of various roll orientations of a robotic instrument. [Figure 5A] FIG. 10 illustrates various z-axis translation positions of the robotic instrument. [Figure 5B] FIG. 10 illustrates various z-axis translation positions of the robotic instrument. [Figure 5C] FIG. 10 illustrates various z-axis translation positions of the robotic instrument. [Figure 6] FIG. 10 is a front perspective view of the robotic instrument showing one particular pose of the tool support relative to the handheld portion. [Figure 7] 1 is a block diagram of the control system, also showing the various software modules. [Figure 8] FIG. 1 is a rear perspective view of the robotic instrument. [Figure 9] FIG. 1 is a side view of a robotic instrument. [Figure 10] 1A-1D are schematic diagrams of various transformations of a handheld robotic surgical system. [Figure 11] FIG. 1 is a partial cross-sectional view of a robotic instrument. [Figure 12] FIG. 12 is a rear perspective view of a robotic instrument including a guide array. [Figure 13]FIG. 13 is a side view of a robotic instrument including the guide array of FIG. 12. [Figure 14] FIG. 13 is a top view of a robotic instrument including the guide array of FIG. 12. [Figure 15] FIG. 13 is another rear perspective view of the robotic instrument including the guide array of FIG. 12. [Figure 16] FIG. 13 is an exploded rear perspective view of a robotic instrument including the guide array of FIG. 12. [Figure 17] FIG. 13 is a rear perspective view of a robotic instrument including the guide array of FIG. 12 arranged in a first spatial configuration. [Figure 18] FIG. 12 is a rear perspective view of a robotic instrument including guide arrays arranged in a predetermined pitch relationship. [Figure 19] FIG. 19 is another rear perspective view of the robotic instrument including guide arrays arranged in the pitch relationship of FIG. 18. [Figure 20] FIG. 19 is a side view of a robotic instrument including a first guide array arranged in the pitch relationship of FIG. 18. [Figure 21] FIG. 19 is a rear view of a robotic instrument including guide arrays arranged in the pitch relationship of FIG. 18. [Figure 22] FIG. 12 is a rear perspective view of a robotic instrument including guide arrays arranged in a predetermined roll relationship. [Figure 23] FIG. 23 is another rear perspective view of the robotic instrument including the guide arrays arranged in the roll relationship of FIG. 22. [Figure 24] FIG. 23 is a rear view of the robotic instrument including the guide arrays arranged in the roll relationship of FIG. 22. [Figure 25] FIG. 12 is a rear perspective view of a robotic instrument including guide arrays arranged in a predetermined height relationship. [Figure 26] FIG. 26 is another rear perspective view of the robotic instrument including the guide arrays arranged in the height relationship of FIG. 25. [Figure 27] FIG. 26 is a side view of a robotic instrument including a guide array arranged in the height relationship of FIG. 25. [Figure 28] FIG. 26 is a rear view of a robotic instrument including guide arrays arranged in the height relationship of FIG. 25. [Figure 29]FIG. 10 is a rear perspective view of a robotic instrument including an alternative configuration of a guide array. [Figure 30] FIG. 30 is a front perspective view of a robotic instrument including the guide array of FIG. 29, with the handle alignment member removed from the robotic instrument. [Figure 31] FIG. 30 is a front perspective view of a robotic instrument including the guide array of FIG. 29 with a handle alignment member attached to the robotic instrument. [Figure 32] FIG. 30 is a rear perspective view of a robotic instrument including the guide array of FIG. 29 arranged in a first spatial configuration. [Figure 33] FIG. 10 is a rear perspective view of a robotic instrument including yet another configuration of a guide array. [Figure 34] FIG. 34 is a rear perspective view of yet another configuration of a robotic instrument including the guide array of FIG. 33 arranged in a first spatial configuration. [Figure 35] FIG. 10 is a rear perspective view of a robotic instrument including a further configuration of a guide array. [Figure 36] FIG. 36 is a side view of a further configuration of a robotic instrument including the guide array of FIG. 35. [Figure 37] FIG. 36 is a rear perspective view of yet another configuration of a robotic instrument including the guide array of FIG. 35 arranged in a first spatial configuration. [Figure 38] FIG. 10 is a rear perspective view of a robotic instrument including an additional configuration of a guide array. [Figure 39] FIG. 39 is a rear perspective view of an additional configuration of the robotic instrument including the guide array of FIG. 38 arranged in a first spatial configuration. [Figure 40] FIG. 12 is a rear perspective view of a configuration of the robotic instrument including a first visual indicia. [Figure 41] FIG. 41 is another rear perspective view of the robotic instrument configuration of FIG. 40 in a different spatial orientation. [Figure 42] FIG. 12 is a rear perspective view of a configuration of a robotic instrument including a light emitter. [Figure 43] FIG. 43 is another rear perspective view of the configuration of the robotic instrument of FIG. 42 in a different spatial configuration. [Figure 44] FIG. 12 is a front perspective view of a configuration of a robotic instrument including a shroud. [Figure 45] FIG. 10 is a partial front perspective view of a robotic instrument configuration including a shroud and a shroud alignment member spaced apart from the robotic instrument. [Figure 46] FIG. 12 is a rear perspective view of a configuration of a robotic instrument including a shroud. [Figure 47] FIG. 12 is a rear perspective view of a configuration of a robotic instrument including a shroud disposed in a first position. [Figure 48] FIG. 10 is a rear perspective view of a configuration of a robotic instrument including a shroud disposed in a second position. [Figure 49] FIG. 10 is a rear perspective view of a configuration of a robotic instrument including a shroud disposed in an alternative second position. [Figure 50] FIG. 10 is a rear perspective view of a configuration of a robotic instrument including a shroud disposed in an alternative second position. [Figure 51] FIG. 10 is a rear perspective view of a tool tracker of the robotic instrument. [Figure 52] FIG. 10 is a side view of the robotic instrument showing the potential range of motion of the tool support relative to the handheld portion. [Figure 53] FIG. 10 is a front view of the robotic instrument showing the potential range of motion of the tool support relative to the handheld portion. [Figure 54] FIG. 10 is a rear perspective view of a robotic instrument including yet another embodiment of a guide array. [Figure 55] FIG. 55 is a side view of a robotic instrument including the guide array of FIG. 54. [Figure 56] FIG. 55 is a top view of a robotic instrument including the guide array of FIG. 54. [Figure 57] FIG. 55 is a rear perspective view of a robotic instrument including the guide array of FIG. 54 arranged in a first spatial configuration. [Figure 58] FIG. 55 is an exploded rear perspective view of a robotic instrument including the guide array of FIG. 54. [Figure 59] FIG. 55 is a rear perspective view of a robotic instrument including the guide arrays of FIG. 54 arranged in a predetermined pitch relationship. [Figure 60]FIG. 59 is another rear perspective view of a robotic instrument including the guide arrays of FIG. 54 arranged in the pitch relationship of FIG. [Figure 61] FIG. 59 is a side view of a robotic instrument including the guide array of FIG. 54 arranged in the pitch relationship of FIG. [Figure 62] FIG. 59 is a rear view of a robotic instrument including the guide array of FIG. 54 arranged in the pitch relationship of FIG. 59. [Figure 63] FIG. 55 is a rear perspective view of a robotic instrument including the guide array of FIG. 54 arranged in a predetermined roll relationship. [Figure 64] FIG. 64 is another rear perspective view of a robotic instrument including the guide array of FIG. 54 positioned in the roll relationship of FIG. 63. [Figure 65] FIG. 64 is a side view of a robotic instrument including the guide array of FIG. 54 arranged in the roll relationship of FIG. 63. [Figure 66] FIG. 64 is a rear view of a robotic instrument including the guide array of FIG. 54 positioned in the roll relationship of FIG. 63. [Figure 67] FIG. 55 is a rear perspective view of a robotic instrument including the guide arrays of FIG. 54 arranged in a predetermined height relationship. [Figure 68] FIG. 68 is another rear perspective view of a robotic instrument including the guide array of FIG. 54 arranged in the height relationship of FIG. 67. [Figure 69] FIG. 68 is a side view of a robotic instrument including the guide array of FIG. 54 arranged in the height relationship of FIG. 67. [Figure 70] 68 is a rear view of a robotic instrument including the guide array of FIG. 54 arranged in the height relationship of FIG. 67. FIG. [Figure 71] FIG. 55 is a side view of a robotic instrument including the guide arrays of FIG. 54 arranged in another spatial relationship. [Figure 72] FIG. 72 is a rear view of a robotic instrument including the guide array of FIG. 54 arranged in the configuration of FIG. 71. [Figure 73] FIG. 72 is a first perspective rear view of a robotic instrument including the guide array of FIG. 54 arranged in the configuration of FIG. 71. [Figure 74] FIG. 72 is a front perspective view of a robotic instrument including the guide array of FIG. 54 arranged in the configuration of FIG. 71. [Figure 75] FIG. 72 is a second rear perspective view of a robotic instrument including the guide array of FIG. 54 arranged in the configuration of FIG. 71. [Figure 76] FIG. 55 is a rear perspective view of a robotic instrument including the guide array of FIG. 54 arranged in a first spatial relationship and including visual indicia. [Figure 77] FIG. 55 is a rear perspective view of a robotic instrument including the guide array of FIG. 54 arranged in a second spatial relationship and including visual indicia. [Figure 78] FIG. 10 is a front perspective view of another configuration of a robotic instrument including one configuration of guide arrays and trackers. [Figure 79] FIG. 79 is a rear perspective view of the robotic instrument of FIG. 78. [Figure 80] FIG. 10 is an exploded view of one configuration of the guide array. [Figure 81] FIG. 10 is an exploded view of one configuration of the handle alignment member. [Figure 82] 82 is a partial perspective cross-sectional view of the handle alignment member of FIG. 81. FIG. [Figure 83] 82 is another partial perspective cross-sectional view of the handle alignment member of FIG. 81. [Figure 84] FIG. 10 is a rear perspective view of yet another configuration of a robotic instrument including another configuration of a guide array. [Figure 85] FIG. 10 is a rear perspective view of a further configuration of a robotic instrument including yet another configuration of a guide array. [Figure 86] FIG. 1 is a schematic diagram of a tracker in communication with a control system. DETAILED DESCRIPTION OF THE INVENTION

[0031] 〔overview〕 Referring to FIG. 1, a robotic system 10 is shown in which a patient 12 is undergoing knee replacement surgery. Sections of the femur F and tibia T of patient 12 were cut to accommodate the implant IM. 1 shows a robotic system 10 for performing a total knee replacement on a patient 12 to remove the The robotic system 10 may be used for procedures requiring hard / soft tissue removal or other forms of It may also be used to perform other types of surgical procedures, including treatment. For example, treatment may include: Cutting tissue, coagulating tissue, cauterizing tissue, stapling tissue, In some instances, the surgical procedure may include knee surgery, hip surgery, Includes shoulder surgery, spine surgery and / or ankle surgery, knee implants, hip implants Runts, shoulder implants, spinal implants and / or ankle implants etc. The method may include removing tissue to be replaced by the surgical implant. The robotic system 10 and techniques described may be used to perform other procedures, surgical or non-surgical. and industrial or other applications where robotic systems are utilized. It may be used in

[0032] 1 and 2, a robotic system 10 includes an instrument 14. In some examples, In this case, the user holds and supports the device 14 in their hand (as shown in FIG. 1). In examples, the user may wish to have the instrument at least partially or completely operate the passive arm (e.g. , link arms with locking joints, weight-balanced arms), active arms and The instrument 14 is held by hand while being supported by an auxiliary device such as a stylus and / or the like. As best shown in Figures 1 and 2, the device 14 may be A handheld portion 16 is provided for being manually grasped and / or supported by an auxiliary device. can.

[0033] The instrument 14 is configured, e.g., with a flexing mechanism, such that the weight of the tool is supported only by the user's hands during the procedure. For example, a device configured to be held by a human user while performing the physical removal of material. It may be freely moved and supported by the user without the use of a guide arm. In other words, the device 14 is held in a position such that the user's hand supports the device 14 against gravity. The device 14 may be configured to support up to 8 lbs., up to 6 lbs., up to 5 lbs. The instrument 14 may weigh less than 3 lbs. or less. The instrument 14 is compliant with ANSI / AAMI HE75: The instrument 14 may have a weight corresponding to 2009. Also included is a support 18. In some examples, when the tool 20 is a saw blade 380 The tool support 18 may be referred to as a blade support. The user lifts the weight of the device 14 without any assistance from a passive or robotic arm. Alternatively, the device may include: The weight of the instrument 14 may be a counterbalanced passive arm, an auxiliary device, or an active robotic arm. In such cases, the user may interact with and / or use the device 14. The handheld portion 16 may still be grasped to guide the instrument 14. The contents of U.S. Patent No. 9,060,794 to Arm and Kang et al. are incorporated herein by reference. Further, the robotic system 10 may, in some instances, be configured with two It is not necessary to have a robotic arm with more than two joints.

[0034] The tool 20 may be used to anatomize the object in certain operations of the robotic system 10, which are described further below. The tool 20 is attached to a tool support 18 for interaction with the biological structure. It may also be called a vector. New / different tools 20 can be attached when needed. The tool 20 may be removable from the tool support 18 so that it can be The tool 20 may be permanently fixed to the tool support 18. The tool 20 is in contact with the tissue of the patient 12. In some instances, the tool may include an energy applicator designed to 2. The saw blade 20 may be a saw blade such as that shown in FIGS. 1 and 2, or any other type of cutting implement. In such an example, the tool support 18 may be a blade support. In all instances where a blade support is mentioned, the term "tool support" may also be used. It should be recognized that such terms may be substituted and vice versa. However, U.S. Patent No. 9,700,700 to Bozung, which is incorporated herein by reference. Other tools may be considered, such as those in Issue 7,043. Tool 20 may be a drill bit, an ultrasonically vibrated tip, a bur, a stapler, etc. Rule 20 is disclosed in U.S. Pat. No. 9,820,820 to Walen et al., which is incorporated herein by reference. 753 or U.S. Pat. No. 10,687,823. Such drive components may include a blade assembly and a drive motor for driving the blade assembly. is connected to the drive motor M to convert the rotational motion from the drive motor M into vibration of the tool 20. It may be equipped with a combined transmission TM.

[0035] The patent application, filed on July 15, 2020, entitled "Robotic Handheld Surgical Device "ical Instrument Systems and Methods" The systems and methods described in PCT / US2020 / 042128, entitled "Comparative Application of the Invention to a Computer-Aided Approach to the Prevention of Discrimination Against Computer-Aided ... and is incorporated herein by reference.

[0036] While holding the handheld portion 16, the user moves the tool 20 to a desired position and / or Orientation (e.g., desired pose for femur F and / or tibia T during resection) one or more actuators 2 to provide robotic motion to assist in An actuator assembly 400 including actuators 1, 22, and 23 drives the tool support 18 into the handheld Actuator assembly 40 moves the handle portion 16 in three degrees of freedom. 0 represents actuators 21, 22, 2 arranged in parallel, series, or a combination thereof. In some examples, the actuators 21, 22, and 23 may include a handheld The tool support 18 moves in three or more degrees of freedom relative to the tool portion 16. In an example, the actuator assembly 400 may be configured to provide at least one of the following motions: pitch and z-axis translation. The tool support 18 is adapted to move relative to the handheld portion 16 in two more degrees of freedom. In some examples, as shown herein, actuator 2 1, 22, and 23 represent the tool support 18 and the associated tool support coordinate system TCS in the hand. in three degrees of freedom relative to the handheld portion 16 and its associated base coordinate system BCS. For example, the tool support 18 and its tool support coordinate system TCS are moved by the It rotates around its y-axis to provide pitch motion and x-axis to provide roll motion. Axis Z, which rotates around the center and coincides with the z-axis of the base coordinate system BCS to provide z-axis translation. The allowed motions in pitch, roll and z-axis translation are shown in Figure 2. 3A to 3C, 4A to 4C, and 5A to 5C. 6 shows the position of the tool support 18 within the range of motion of the instrument 14. pose of the lens and handheld portion 16. In some examples, Although not shown, the actuator rotates the tool support 18 relative to the handheld portion 16 by 40°. The object may be moved in more than one degree of freedom.

[0037] Referring again to FIG. 2, the constraint assembly 24 with passive link 26 is to constrain movement of the tool support 18 relative to the handheld portion 16 in degrees of freedom. The constraint assembly 24 may be used to constrain movement as described herein. Any suitable link (e.g., one having any suitable shape or configuration) may be used to In the example shown in FIG. 2, the constraint assembly 24 To constrain the yaw motion, constrain the rotation about the z-axis of the base coordinate system BCS, and the x-axis To constrain the translation, we constrain the translation in the x-axis direction of the base coordinate system BCS, and the y-axis translation To constrain the translation in the y-axis direction of the base coordinate system BCS, Actuators 21, 22, operate to limit the motion of the support frame TCS. 23 and constraint assembly 24 may, in certain circumstances described further below, be used as physical solutions. - controlled to effectively mimic the function of a physical cutting guide, such as a cutting guide.

[0038] Referring to FIG. 7, an appliance controller 28 or other type of control unit controls appliance 1. 4. An implement controller 28 controls the operation and handling of the implement 14. One or more controls that direct the movement of the tool support 18 (and tool 20) relative to the heald portion 16. The device may include one or more computers or any other suitable type of control device. The tool controller 28 may include a central processing unit (CPU) and / or other processor, memory, or The tool controller 28 may include a memory, and storage (not shown). The processor is configured to control the operation of the instrument 14. A processor may include one or more processors. microprocessor, multiprocessor and / or multicore processing systems The tool controller 28 may additionally or alternatively include one or more microcomputers. controllers, field programmable gate arrays, systems on chips, discrete and / or other suitable hardware, software, or other components described herein. The processor may include firmware capable of performing the described functions. The term is not intended to limit any embodiment to one processor. 14 includes one or more displays and / or input devices (e.g., triggers, pushbuttons, etc.). Buttons, foot switches, keyboards, mice, microphones (voice activated), This includes user interfaces (UIs) with controllers, touch screens, etc. good.

[0039] The control system 60 includes one or more software programs and software models. The software modules assist in controlling the robotic system 10. The navigation controller 36, the instrument controller 28, or It may be part of one or more programs that operate on the The software programs and / or modules may be configured to operate one or more of the controllers 28, 36. a navigation controller, an instrument controller, and a navigation control device for execution by a processor; 28 or both. The memory 64 may be any suitable configuration of memory, such as RAM, non-volatile memory, etc. It may be implemented locally or from a remote database. A software module for instructing and / or communicating with a user may include one or It may form part of multiple programs, including the navigation controller 36, the instrument controller 2 8, or both. To communicate with the software module, a navigation user interface (UI) or The user may interact with any of the other input devices of the user interface UI. The interface software may be connected to the navigation controller 36 and / or the instrument controller. It may operate in a device separate from device 28.

[0040] The tool controller 28 controls the drive motor of the tool 20 (e.g., the cutting motion). By controlling the amount of power to the power supply (for example, by controlling the actuators 21, 22, and 23), (e.g., by controlling the movement of the tool support 18 relative to the handheld portion 16) The tool controller 28 controls the operation of the tool 20. Control the state (e.g., position and / or orientation) of the tool support 18 and tool 20 The tool control device 28 controls the hand movements caused by the actuators 21, 22, and 23. The speed of movement of the tool 20 relative to the handheld portion 16 and / or anatomical structure (linear velocity) degrees or angular velocity), acceleration or other derivatives can be controlled.

[0041] As shown in FIG. 2, the tool controller 28 controls the tool support 18 and / or the hand It may include a control housing 29 attached to the heald portion 16 or a combination thereof. , one or more control boards 31 (e.g., one or more printed circuit boards and related The control board 31 is a control board for the actuators. Controlling the motors 21, 22, and 23 and the drive motor M (e.g., via a motor controller) Microcontrollers and field programmable gate arrays (FPGAs) for , drivers, memory, sensors or other electronic components. , may also include an off-board control console 33 in data and power communication with the control board 31. The sensors S, actuators 21, 22, 23, and / or drives described herein The motor M may provide a signal to the control board 31, which may then be connected to the computer for processing. The console 33 transmits a data signal to the actuators 21, 22, and 23. and / or a control board 3 again for supplying power to and controlling the drive motor M. 1. Enter the control command (e.g., current command, torque command, speed command, angle command) command, position command, or a combination thereof, as well as various control and configuration parameters) It is contemplated that processing may be performed on a control board in the control housing. In some instances, the processing of the control algorithm is performed by the console and the control housing. In one example, the position control and velocity control calculations are performed at the console. The current control may be performed by a field programmable gate located in the control house. Of course, a separate control housing is not required, and and / or processing may be performed in any number of different locations. It is possible that:

[0042] In some versions, the console 33 controls the actuators 21, 22, 23 and and a console for powering and controlling the drive motor M. In some versions, the console 33 controls the actuators 21, 22, and 23. one console for supplying power to and controlling the three, and one for powering the drive motor M. and a separate console for supplying and controlling the drive motor M. One such console for supplying and controlling power is incorporated herein by reference. "Control Console to which Power ed Surgical Handpieces are Connected, the Console Configured to Simultaneously En ergize more than one and less than all o The patent application was filed on September 30, 2004, entitled "F the Handpieces" Flex circuits may be similar to those described in U.S. Patent No. 7,422,582. The flexible circuit FC, also known as the actuator 21, 22, 23 and / or or other components may be interconnected to the tool controller 28. For example, a flexible circuit Road FC may be provided between the actuators 21, 22, 23 and the control board 31. Other forms of connection, wired or wireless, may additionally or alternatively exist between the components. That's fine.

[0043] Referring briefly again to FIG. 1, the robotic system 10 includes a navigation system 32. An example of a navigation system 32 is incorporated herein by reference. "Navigation System Including Optical a nd Non-Optical Sensors" on September 24, 2013. The navigation system is described in U.S. Patent No. 9,008,757 filed on The system 32 tracks the movement of various objects. Such objects include, for example, instruments 14, tools, and the like. 20, anatomical structures, such as the femur F and tibia T. Navigation System 3 2 collects the state information of each object relative to the (navigation) localizer coordinate system LCLZ. As used herein, the state of an object is The position and / or orientation (e.g., its coordinate system) or position and orientation of the tracked object This includes, but is not limited to, data that defines equivalents / derivatives of the It may be a body pose and / or may include linear velocity data, angular velocity data, etc.

[0044] The navigation system 32 includes a navigation controller 36 and / or other The navigation unit may include a cart assembly 34 that houses a control unit of the type. The user interface UI is in operative communication with the navigation controller 36. The application user interface UI includes one or more displays 38. The gaming system 32 provides a user with one or more displays 38. , a graphical representation of the relative state of the tracked object can be displayed. The application user interface UI is used to input information into the navigation control device 36. to select / control certain aspects of the navigation control device 36. The input device may further include one or more input devices, such as an interactive touch screen. However, input devices include push buttons, pointers, and , foot switch, keyboard, mouse, microphone (voice activated), gesture control In some examples, the user may include any one or more of the following: A button placed on the pointer may be used, which allows the user interface UI Navigate through the icons and menus and make selections to operate the robotic surgical system. 0 to configure and / or progress through the workflow.

[0045] The navigation system 32 includes a local light coupled to a navigation controller 36. In one example, the localizer 44 is an optical localizer. The camera unit 46 contains one or more optical sensors 50. The localizer 44 has an outer casing 48 that houses its own localizer control unit 49. and may further include a video camera VC.

[0046] The navigation system 32 includes one or more trackers. The trackers are a pointer tracker PT, a tool tracker 52, and a first patient tracker 54. , and a second patient tracker 56. In the illustrated example of FIG. 52 is securely attached to the instrument 14, and the first patient tracker 54 is attached to the patient 1. The second patient tracker 56 is securely attached to the femur F of the patient 12. The patient trackers 54, 56 are rigidly attached to the tibia T. In this example, the patient trackers 54, 56 are The trackers 52, 54, 56 and the point are firmly attached to the bone section. The object tracker is a computer program that detects each object (e.g., bone, tool) and the navigation system. 32 manually, automatically, or a combination thereof. The Tatrakka PT is firmly fixed to the pointer 57 and allows the anatomical structures to be visualized in a localized manner. Used to register to one or more coordinate systems including the riser coordinate system LCLZ and / or or other calibration and / or registration functions. The tracker 57 attaches the patient trackers 54 and 56 to the bones to which the trackers 54 and 56 are attached. and registers the tool tracker 52 (and optionally 53) with the tool support 18, the tool 20 , handheld portion 16, or a combination thereof. In this example, the pointer tracker PT points the instrument 1 to the tracker 52 relative to the tracker coordinate system. 4. In this way, the localizer 44 can change its location. When moved, the registration of the instrument 14 is positioned relative to the tool tracker 52. However, other means of registering the trackers 52, 54, 56 are contemplated, and the pointer tracker It may be implemented together with or separately from the CAPT. Other tracker locations are also possible. do.

[0047] Throughout this specification, terms such as "bone to tracker" or "instrument TCP to tracker" are used. various transformations, i.e., not to the LCTZ coordinate system but to the "tracker coordinate system" The localizer coordinate system is used as an intermediate coordinate system during registration and bone preparation. This is because all tracked objects are measured relative to the LCTZ. During registration, the various localizer reference poses are mathematically combined to finally produce the registration result is stored "with respect to the tracker" so that when the camera (i.e., LCTZ) moves, However, the registration remains valid.

[0048] The tool tracker 52 may be attached to any suitable component of the instrument 14, In some versions, the handheld portion 16, the tool support 18, and the tool 20 The trackers 52, 54, 56, and PT may be attached directly to the trackers 52, 54, 56, or a combination thereof. may be secured to their respective components in any suitable manner, such as by fasteners, clamps, etc. For example, trackers 52, 54, 56, and PT are used to calculate their respective track values ​​for the associated object. As long as there are suitable (auxiliary) methods for determining the relationship (measurement) of the lacquer, may be fixed to the ground, flexibly connected (fiber optics), or not physically connected. Any one or more of the trackers 52, 54, 56, and PT may be The active marker 58 may include a light emitting diode (LED). Alternatively, the trackers 52, 54, 56, and PT may be emitted from the camera unit 46. The device may have passive markers, such as reflectors, that reflect the emitted light. Unprinted printed markers or other suitable markers may be utilized.

[0049] Various coordinate systems may be used to track objects. For example, the coordinate system may be a local coordinate system. The coordinate system LCLZ, the tool support coordinate system TCS, the base coordinate system BCS, each tracker 52, 54,56,A coordinate system related to the PT, one or more coordinate systems related to an anatomical structure, Pre- and / or intra-operative images of the anatomy (e.g., CT images, MRI images, etc.) and / or one or more coordinate systems associated with the model (e.g., a 2D or 3D model), e.g. For example, this may include an implant coordinate system, and a TCP (Tool Center Point) coordinate system. In this example, the robotic system 10 is configured to generate a 2D or 3D model of the target bone. It does not rely on pre- and / or intra-operative imaging. Rather, the robotic system It may be used in an imageless system, where the imageless system is A pointer tracker PT was used to register various anatomical landmarks. The various anatomical landmarks are then processed by the control system 60 and captured. Morphing the nominal bone model to match the acquired data. The target area of ​​the patient is imaged and the 2D and / or 3D images are then converted into a 3D model of the target bone. Pre- and intraoperative imaging is used to convert the robotic surgical system into a 0 combines imaging and imageless procedures to generate a 3D model of the target surgical area It is also contemplated that a system such as the one described herein may be used. Coordinates in various coordinate systems are described in U.S. Patent No. 8,617,174, which is incorporated herein by reference. The target is used when establishing relationships between coordinate systems, e.g., registration, calibration, geometric relationships, measurement, etc. may be transformed to other coordinate systems using a transformation via

[0050] As shown in FIG. 2, in some instances, the TCP is defined at the distal end of the tool 20. The geometric structure of the tool 20 is the predetermined reference point or origin of the TCP coordinate system. The tool 20 may be defined with respect to the P coordinate system and / or the tool support coordinate system TCS. is defined relative to the TCP coordinate system and / or the tool support coordinate system TCS, and the tool 14 , navigation system 32, instrument control device 28, or a combination thereof. One or more geometrical data stored in the non-volatile memory of the control board 31 in the circuit 29. characteristics, such as perimeter, circumference, radius, diameter, width, length, height, volume, area, surface / plane, May include range of motion envelope (along any one or more axes), etc. For example, tool 20 may have a longitudinal axis 910 (see FIG. 68) extending the length of the tool. , and may define a lateral axis 912 extending across the width of the tool. The center point (TCP) may be, in another example, a predetermined reference point and a predetermined reference point defined in the tool 20. and the corresponding coordinate system. The TCP is a known or calculated coordinate system relative to other coordinate systems. The TCP coordinate system has a pose that can be changed (i.e., is not necessarily static). TCP includes an origin and a set of axes (e.g., x-axis, y-axis, z-axis) that define the pose of the By tracking (or knowing the TCP pauses), the system 10 can The position and location of the instrument 14 are determined based on the size and known positional relationships between the TCP and the features of the instrument 14. In some examples, the tool 20 may be positioned in a tool plane (e.g., sawtooth plane). for the blade), this tool plane is illustrated for convenience and ease of illustration. However, it is not intended to limit the tool 20 to any particular format. For example, , the tool support 18 may include a tool mount 18a that defines a blade plane BP. . Use points, primitives, meshes, and other 3D objects to virtually represent the tool 20. The origin of the TCP coordinate system is the center of the sphere of the bar of the tool 20. or at the distal end of the saw blade 27, whereby the TCP coordinate system is Alternatively, the TCP may be tracked relative to an origin at the distal tip of the oscillating septum 20. The TCP may be specified in various formats depending on the configuration of the tool 20. The instrument may use joint / motor encoders or any other non-encoder A position detection method may be used so that the control system 60 can and the pose and / or position of the TCP relative to the BCS. 8 may use joint measurements to determine the TCP pose and / or Techniques can be used to directly measure the height of the tool 20. For example, but not limited to, any suitable primitive, mesh, or other suitable object may be used to represent the tool 20. As opposed to a coordinate system, TCP is alternatively defined as a point It should be recognized that the TCP coordinate system may be used for the saw blade or other Once the pose of the tool is determined, calculating the required reference points or geometric aspects of the tool. This makes it possible.

[0051] The TCP coordinate system, the tool support coordinate system TCS, and the coordinate system of the tool tracker 52 are The pointer 57 may be defined in various ways depending on the configuration of the rule 20. For example, the pointer 57 may be defined in the following ways: Used with calibration divot CD in tool support 18 and / or tool 20 for The pose of the tool support coordinate system TCS relative to the coordinate system of the tool tracker 52 may be calculated as follows: To register (calibrate); to determine the pose of the TCP coordinate system relative to the tool tracker 52 coordinate system. and / or determine the pose of the TCP coordinate system relative to the tool support coordinate system TCS Attaching and securing one or more additional trackers / markers directly to the tool 20 Use other techniques to directly measure the pose in the TCP coordinate system, such as by In some versions, the tracker / marker can be mounted in the handheld portion 1. 6, tool support 18, or both. In the example where the handheld part includes a tracker, the handheld coordinate system relative to the localizer coordinate system LCLZ is The pause of the part may be measured directly. In yet another alternative, the TCP may A tool support coordinate system TCS may be used to define relative to the tool tracker.

[0052] The tool support 18 is connected to the handheld portion 16 via actuators 21, 22, and 23. Since the instrument 14 is movable in multiple degrees of freedom relative to the base coordinate system BCS, To measure the pose of the TCP coordinate system and / or the tool support coordinate system TCS, encoders, Hall effect sensors (with analog or digital outputs), and / or Any other location detection method may be used. In one example, the method described further below Thus, the instrument 14 may use a TCP coordinate system and / or tool coordinate system relative to the base coordinate system BCS. The actuators 21, 22, and 23 are actuated to determine the pose of the support coordinate system TCS. Measurements from a measuring sensor may be used.

[0053] The localizers 44 each correspond to the state of the object attached thereto. To determine the state of each tracker 52, 54, 56, PT, The localizer 44 monitors the coordinate system of the trackers 52, 54, and 55. 6. PT and related objects (tools, patients, tool supports and handheld parts, etc.) The localizer 44 may implement known techniques to determine the state of the navigation system. The application controller 36 is provided with the status of the trackers 52, 54, 56, and PT. The navigation controller 36 determines the status of the trackers 52, 54, 56, and PT. , which is communicated to the appliance controller 28.

[0054] The navigation controller 36 may be implemented by one or more computers or any other The navigation controller 36 may include a central processing unit ( CPU) and / or other processors, memory and storage (not shown) The processor may be any type of processor, microprocessor or multiprocessor. The navigation controller 36 may be a software-based processor system. The software may, for example, add signals received from the localizer 44. converting the position and / or orientation of the object being tracked into data representing the position and / or orientation of the object being tracked. The device 36 may additionally or alternatively include one or more microcontrollers, field Programmable gate arrays, systems on chips, discrete circuits, and / or or any other suitable hardware, software, or other device capable of performing the functions described herein. The term processor may include all of the hardware and software in a processor. It is not intended to limit any embodiment.

[0055] An example of a navigation system 32 is shown for determining object states, The navigation system 32 tracks the instrument 14, the tool 20, and / or the patient 12. In another example, the navigation system The system 32 and / or the localizer 44 may be ultrasound-based. The navigation system 32 includes an ultrasound imaging device coupled to a navigation controller 36. The ultrasound imaging device may be configured to image the object, e.g., the instrument 14, the tool 20, and / or the patient. 12 and sends the ultrasound image to the navigation control device 36 based on the ultrasound image. Generates a status signal. The ultrasound images may be 2D, 3D or a combination of both. The navigation controller 36 processes the images in near real time to determine the state of the object. The ultrasound imaging device may have any suitable configuration, including the camera shown in FIG. It may be different from unit 46.

[0056] In another example, the navigation system 32 and / or the localizer 44 may For example, the navigation system 32 may be The instrument 14, tool 20 and and / or patient 12 may contain RF emitters or transponders attached to them. An RF emitter or transponder may be either passive or active. The RF transceiver transmits and receives RF tracking signals from the RF emitter. A status signal is generated for the navigation control device 36 based on the received RF signal. The gating controller 36 analyzes the received RF signal and associates a relative state therewith. The RF signal may be of any suitable frequency. can be positioned at any suitable location to effectively use RF signals to track objects. Additionally, the RF emitter or transponder may be a tracker 52, as shown in FIG. 54, 56, and may have any suitable structural configuration that may differ significantly from PT.

[0057] In yet another example, the navigation system 32 and / or the localizer 44 For example, the navigation system 32 may be configured to The instrument 14, the tool 20, and the and / or the patient 12 may be tracked using any suitable magnetic tracker, electromagnetic tracker, inductive tracker, etc. The trackers may be passive or may include EM components attached to them. The EM transceiver generates an EM field and may be actively energized. , a status signal to the navigation controller 36 based on the EM signal received from the tracker. The navigation controller 36 analyzes the received EM signals and generates relative Again, an example of such a navigation system 32 is shown in FIG. The navigation system 32 may have a different structural configuration than that shown.

[0058] The navigation system 32 may include any other navigation system not specifically listed herein. Further, the navigation system 3 shown may have any suitable components or configuration. Any of the techniques, methods and / or components described above with respect to 2 may be used in conjunction with the present specification. Implemented or provided for any of the other examples of navigation system 32 described in this document. For example, the navigation system 32 may use inertial tracking only or Any combination of bonding techniques may be utilized, additionally or alternatively using fiber optic based This may include tracking, machine vision tracking, etc.

[0059] Referring to FIG. 7, the robotic system 10 includes, among other components, an implement controller. 28 and the navigation control device 36. 0 further includes one or more software programs and software modules The software modules may include software that processes data to assist in the control of the robotic system 10. To process the data, the instrument controller 28, the navigation controller 36, or a combination thereof It may be part of one or more programs operating in conjunction with the software program. The programs and / or modules may be implemented by one or more processors 70 of the controller 28. To be executed by the instrument controller 28, the navigation controller 36 or The memory 64 includes computer readable instructions stored in the memory 64 in a combination of the above. Any suitable configuration of memory, such as non-transitory memory, RAM, non-volatile memory, etc. It may be implemented locally or from a remote database. The software modules for displaying and / or communicating with the user may consist of one or more may form part of several programs, such as the instrument controller 28, the navigation controller 36, or a combination thereof. To communicate with the software modules, a navigation user interface (UI) or or other input devices of the user interface UI. The user interface software may be used to interface with the instrument controller 28 and / or navigation system. The device 14 may operate in a separate device from the controller 36. The power / data connection may be shown as a BUS / COMM connection in FIG. As shown as sequence 37, the navigation system 32 generates and controls the instrument. used to control the appliance 14 based on the position and orientation data transmitted to the control device 28. The network may provide paths for inputs and outputs to be transmitted.

[0060] The control system 60 includes inputs, outputs, and other components suitable for carrying out the functions and methods described herein. The control system 60 may include any suitable configuration of power and processing equipment. and / or The system may include only one of these controllers or additional controllers. , a wired bus or communication, shown in one example as BUS / COMM connection 37 in FIG. The communication may be via a network, via wireless communication, or in other ways. The system 60 may also be referred to as a controller. The control system 60 may include one or more Microcontrollers, Field Programmable Gate Arrays, System-on-Chip , discrete circuits, sensors, displays, user interfaces, indicators and / or other suitable hardware capable of performing the functions described herein. The term may include hardware, software, or firmware.

[0061] [Instruments] In one exemplary configuration, the instrument 14 is best shown in FIGS. The instrument 14 includes a handheld portion 16 that is held by a user and supports a tool 20. a tool support 18 movably coupled to the handheld portion 16 for The tool is adapted to move the handheld portion 16 in at least three degrees of freedom. A plurality of actuators 2 operatively interconnecting the support 18 and the handheld portion 16. 1, 22, and 23, an actuator assembly 400, a tool support 18, and a hand a constraint assembly (24) having a passive link (26) operatively interconnecting the heald portion (16) and,

[0062] The handheld portion 16 allows the user to manipulate, guide, and / or grasp the instrument 14. The handheld portion 1 includes a grip 72 for being grasped by a user so that the handheld portion 1 can be 6. Grip for user's hand to hold, wet and / or bloody Textured or blended materials to prevent users' hands from slipping while using the device The handheld portion 16 may be configured with ergonomic features, such as a coating of paint. The device may be configured to fit the user's hand and / or to accommodate users with a variety of different hand sizes. The handheld portion 16 may include a taper having a contour that matches the contour of a finger. , a base having a grip 72 attached thereto by one or more fasteners, adhesive, welding, or the like. In the version shown, the base 74 has a generally hollow cylindrical shape. The joint supports 77, 78, and 79 extend from the sleeve 76. The actuators 21, 22, and 23 are connected to the joints via joints that will be further described below. The support members 77, 78, and 79 may be movably coupled to the base 74.

[0063] The tool support 18 is secured to the tool support 18 at one or more mounting locations 82. The tool tracker 52 is fixed via one or more tracker mounts attached to the includes a tool support body 80 that can be removably attached. In another example, the tool tracker 52 is integrated with the tool support 18. The ball tracker 52 is removably mounted at one or more mounting locations 82. The tool 20 is removably connected to the tool support 18 in the version shown. In particular, the tool support 18 is a A tool 20 is attached, such as that described in U.S. Patent No. 9,820,753 to En et al. The head 84 includes a tool coupler, such as a head 84 that is connected to the saw blade oscillating style. The tool 20 may be configured to utilize a sagittal style saw blade. A drive motor M drives the saw blade (e.g., in some versions, The tool 20 is disposed in a tool support body 80 (for driving). No. 9,820,753 to Walen et al., which is incorporated herein by reference. 9. The head 84 may be attached to and released from the head 84 in the form of a As such, the tool support 18 is coupled to an actuator 21, as further described below. , 22, 23 are movably connected to the tool support 18 via joints. Also included are actuator mounts 86, 88, and 90. The tool support 18 moves in at least three degrees of freedom relative to the handheld portion 16. a bracket suitable for mounting the actuators 21, 22, 23 so that etc.

[0064] The actuators 21, 22, 23 are connected in the version shown to the base 74 and the tool. The actuator includes an electric linear actuator extending between the support body 80 and the , the effective lengths of the actuators 21, 22, and 23 are the corresponding lengths of the actuators 21, 22, and 23. to vary the distance between the tool support body 80 and the base 74 along the axis Therefore, the control system 60 controls the effective length and the tool support 18 to Move the handheld portion 16 to a target pose in at least three degrees of freedom. To achieve this, the control system 60 controls the actuators 21, 22, and 23. The actuators 21, 22, and 2 are configured to act in a coordinated manner in response to the individual inputs provided. In the version shown, three actuators 21, 22, 23 The first, second and third actuators 21, 22, 23 or the front actuator They may be called first, second and third actuators 21, 22 and rear actuator 23. The third actuators 21, 22, and 23 have a first actuation axis AA1, a second actuation axis A The effective length is adjustable along the first, second and third actuation axes AA2 and AA3 (see FIG. 9). The second and third actuators 21, 22, 23 are, as previously explained, of pitch orientation, roll orientation, and z-axis translation of tool support 18 relative to tool portion 16 The effective length can be adjusted independently to adjust one or more. An actuator may be provided in some examples. The actuators 21, 22, 23 may include any suitable actuator. The actuator may include a linkage having one or more links of various sizes or shapes. The actuators 21, 22, 23 are attached to the handheld portion 16 in at least three degrees of freedom. The tool support 18 may have any suitable configuration to allow movement relative to the tool support 18. For example, For example, in some versions, there is one forward actuator and two rearward actuators. There may be other arrangements of actuators.

[0065] In this version, the actuators 21, 22, and 23 are multiple active joints. The active joint is coupled to the base 74 and the tool support body 80 via Actuators 21, 22, and 23 are mounted on actuator mounts 86, 88, and 90. The first set of active joints 92 connects to the support body 80. In this case, as shown in FIG. 9, the first active joint 92 is an active U-joint. The U-joint includes a first pivot pin 94 and a joint block 96. The first pivot pin 94 is connected to the joint block 96 via a through hole 98. The actuator block 96 is rotatably connected to the actuator mounts 86, 88, and 90. A set screw 100 secures the first pivot pin 94 to the actuator mounts 86, 88, 9 The U-joint may also include a second pivot pin 104. The pivot block 96 has a cross bore 102 for receiving a second pivot pin 104. The second pivot pin 104 has a through hole 102 for receiving the first pivot pin 94. 3, which includes a first pivot pin 94, a joint block 96, and a second Pivot pins 104 form the cross of the U-joints. The first pivot of each U-joint The pivot pin 94 and the second pivot pin 104 define an intersecting axis of rotation PA. The pivot pins 104 of the actuators 21, 22, and 23 are connected to the pivot yokes 106 of the actuators 21, 22, and 23. The actuators 21, 22, and 23 are rotatably connected to the joint block 96. 3 can move in two degrees of freedom relative to the tool support body 80. Other types of joints, such as active spherical joints, include a ball with a slot to accommodate a Active joints are also contemplated.

[0066] Referring to FIG. 9, the active joint is a handle that controls the two front actuators 21 and 22. It also includes a second set of active joints 108 that couple to the base 74 of the handheld portion 16 . In the version shown, the second active joint 108 is connected to the joint support 77, Each of the second active joints 108 is supported at a swivel axis S A swivel arranged to pivot about A relative to the base 74 of the handheld portion 16 Each swivel yoke 110 includes a swivel head 112 and a joint 78. The base 74 is swivelable to rotatably engage the base 74 at one of the supports 77, 78. The swivel head 112 has a post 114 extending from it. The yoke 110 is free to rotate relative to the respective joint supports 77, 78. one end of the post 114 to capture the post 114 in the base 74 while allowing The screw is threadably connected to the

[0067] Each of the second active joints 108 is rotatable about one of the swivel yokes 110. The carrier 116 includes a carrier 116 operably coupled thereto, as further described below. and a female screw to receive the lead screws 150 of the two front actuators 21, 22. Each carrier 116 also includes an opposing trunnion 118. The trunnion 118 is attached to the carrier 116 in a pocket in the swivel yoke 110. By being fixed, the swivel yoke 110 rotates about the rotation axis PA (see FIG. 9). In some versions, the second active joint 108 For each of the swivel axes SA and PA, the swivel axis SA intersects with the rotation axis PA to define one vertex. The actuators 21 and 22 move with two degrees of freedom around the vertex.

[0068] A cover is secured to the swivel head 112 and defines one of the pockets. During assembly, the carrier is first positioned on the tranio The swivel head 112 is positioned so that one of the swivels is located in a pocket in the swivel head 112. Then the cover is fixed onto the other trunnion, so that the carrier The bar is captured between the swivel head 112 and swivels through the trunnion and pocket. The swivel yoke 110 and associated The carrier is configured to rotate about a swivel axis SA and a pivot axis PA. The second active joint 108 is connected to the base 74 by the carrier's ability to rotate freely. The two front actuators 21, 22 allow two degrees of freedom of movement relative to the front. Other joint arrangements between the two actuators 21, 22 and the base 74 are also possible. is.

[0069] The active joint connects the rear (third) actuator 23 to the base of the handheld portion 16. It also includes a third active joint 124 that couples to the base 74. The third active joint 124 is supported on the joint support 79. The movable joint 124 is a pivot housing fixed to the joint support 79 of the base 74. Includes 126 rings.

[0070] The third active joint 124 is rotated via a trunnion to a pivot housing 126. The fastener includes a pocket that engages the trunnion. The pivot housing 126 is attached to each side of the pivot housing 126 via through holes for The carrier can rotate via a trunnion that is placed in the pocket after assembly. The carrier is positioned so that it can be moved by the rear actuator, as further described below. The pivot handle has an internally threaded through hole to receive the lead screw 150 of the pivot handle 23. The housing 126 and associated carrier configuration, i.e., the housing 126 rotates about the pivot axis PA. The ability of the associated carrier to only rotate (e.g., not pivot) allows the third active joint 124 allows only one degree of freedom of movement of the rear actuator 23 relative to the base 74. Other joint arrangements between the rear actuator 23 and the base 74 are also possible. be.

[0071] Each of the actuators 21, 22, and 23 includes a housing. and a cap that is threadably connected to the canister. The pivot yoke 106 forming part of the housing is 18 via the active joint 92. The cap secures the pivot yoke 106 to the canister. 106. The pivot yoke 106 captures the annular shoulder of the pivot yoke 106 to secure the pivot yoke 106 in place.

[0072] In some versions, the pivot yoke 106 and the canister are spaced apart relative to one another. one for aligning each pivot yoke 106 with its respective canister in the target orientation; or a plurality of alignment features. Such alignment features may include coupling portions, keys / keyways, etc. During assembly, the pivot yoke 106 is first positioned relative to the can in a predetermined orientation. The cap may then be secured to the star, and the cap may then be pivoted to a predetermined relative orientation. To capture the hose 106 in the canister (e.g., via mating male and female threads), This predetermined relationship may be achieved by threading the flex circuit F C Route This may be useful when mounting and / or aligning the canister. To prevent the Toyoke 106 from rolling and / or for other purposes There is.

[0073] Each of the actuators 21, 22, 23 also includes a motor disposed in the respective housing. The motor consists of a casing placed in the housing and a motor winder placed in the casing. The motor winding assembly is also as described above. a predetermined relative position to the canister, such as via a set screw or other alignment feature. Each motor also has a rotor secured to a lead screw 150. The lead screw 150 is supported by one or more bushings and / or bearings. The rotor and associated lead screw 15 are supported for rotation in a housing. The motor is configured to rotate relative to the housing upon selective energization of the motor. The lead screw 150 has precision pitch and lead to prevent backdriving. The lead screw has a locking angle (i.e., the lead screw is self-locking). As a result, Tool 2 A load placed at 0 will not easily backdrive the motor. The 150 threads are 8 to 36 class threads which produce a lead of 0.02 to 0.03 inches per turn. Has 3 threads. Other thread types / sizes may be used.

[0074] Each actuator 21, 22, 23 may be controlled by a separate motor controller. The motor controller individually controls each actuator 21, 22, 23 to a given target position. Each of the actuators 21, 22, 23 may be separately wired for orientation. In some examples, the motor controller is a proportional-integral-derivative (PID) controller. In some examples, the motor controller generates a cascade of related position, velocity and torque (current). Additionally and / or alternatively, the motor controller may include a In another example, the position control loop may include only a torque (current) control loop. Each of these control stages may be fed directly into the torque (current) control loop. controller, may be implemented as a state space controller, and / or alternatively or additionally Using control techniques (e.g., velocity feedforward, torque feedforward, etc.) In some cases, the torque (current) control loop is controlled by field-oriented control and space vector The control loop stages are distributed among the various components of the system. In some examples, the position loop and velocity loop can be controlled by the instrument control. The torque control loop is implemented in the control housing 29 of the instrument 14. Implemented directly on the control board 31 as part of the instrument through connection to the console 33 This reduces the impact of data communication latency from the controller 14 because the current control loop This is because it does not require any data feedback via source 33. The loop and speed control loop are insensitive to communication latency and are In some examples, the motor controller may be implemented in an implement controller. 28 or may form part of the appliance control device 28 For ease of illustration, the motor controller is referred to herein as part of the implement controller 28. It is explained as follows.

[0075] The power supply provides a 32VDC power signal to the motor via, for example, console 33. A 2VDC signal is applied to the motor through the implement controller 28. The implement controller 28 A power signal is selectively provided to each motor to selectively operate the motor. Selective actuation of the motors positions the tool 20. The motor may be of any type, such as a brushless DC servo motor, a permanent magnet synchronous motor, or other The power supply provides energy to the internal components of the tool controller 28. It also provides power to the instrument controller 28 to power the actuator. The actuator motor may be a three-phase brushless motor. The actuator motor may be a DC motor. The actuator motor may be a permanent magnet synchronous motor. The motor may be configured with a sinusoidal back EMF and is designed to achieve limited mechanical cogging. This allows for smooth, specific motion and limits torque ripple. However, other motor types are possible. Power supplies include, for example, 12VDC, 24VDC It is recognized that other types of power signals, such as 40VDC, may be provided. The device should use electronic switches, e.g., MOSFETs or GaN FETs. Then, the voltage signal is PWMed to produce a high frequency, e.g., typically at least 16 kHz, Turns a three-phase motor on and off at rates up to 256kHz.

[0076] In one possible implementation, one or more sensors S (see also FIG. 7) remeasure the signal. The tool controller 28 then transmits the associated actuator 2 Determine the current position and / or angle (i.e., measured position) of 1, 22, 23 The levels of these signals vary with respect to the rotational position of the associated rotor. In one implementation, the sensor S is localized within a given rotation at high resolution. These sensors S may resolve the rotational position of the rotor or lead screw 15. The analyzer is based on the detected magnetic field from other magnets (e.g., two-pole magnets) placed at 0. It may be a Hall effect sensor that outputs a log and / or digital signal. A low voltage signal, e.g., 5VDC, is required to energize the Hall effect sensor. may be provided by a motor controller associated with the associated motor. Two Hall effect sensors are located in the housing to detect the joint position. are spaced 90 degrees apart from each other around the rotor to allow for The controller 28 is able to determine the position and count incremental rotations of the rotor. In this version, the Hall effect sensor output digital signal represents an incremental count. Various types of motor and sensor arrangements are possible. In the present invention, the motor is a brushless DC servo motor with two or more internal Hall effect sensors. The sensors are spaced 90 degrees, 120 degrees, or any other suitable distance from each other around the rotor. The sensor S may also include an absolute or incremental encoder. This can be used to detect the rotor's rotational position and count rotor revolutions. Other types of encoders may be used as one or more sensors. The sensor may be attached to the housing, nut, screw, etc. of each actuator when it is adjusted. Any suitable actuator and surrounding components for determining the position of In yet another configuration, sensorless motor control is utilized. In such an implementation, the position of each rotor may be determined by the motor back-EMF and / or may be determined by measuring the inductance. One suitable example is Such may be found in U.S. Pat. No. 7,422,582, which is incorporated herein in its entirety. be.

[0077] In some examples, sensors and / or encoders are used for joint position control. and / or the handheld portion when used in conjunction with the kinematic model of the instrument 14 Measure the position feedback to determine the position of the tool support 18 relative to the tool support 16. In some instances, sensors and / or encoders rely on multi-turn measurements. This accumulates with each rotation and determines the absolute position of the actuators 21, 22, 23 along the axis. is used to determine the position of the lead screw with a known pitch (i.e., turns per inch) Additionally or alternatively, the sensor and / or encoder may be , to determine the "rotor electrical angle" for use in electronic commutation of the motor. For example, sensors and / or encoders may be used to determine the rotor position and To apply the appropriate energy supply signal to achieve optimal (efficient) torque generation In this example, a sensor and / or encoder may be used to measure the electrical Using a single turn or subturn (within one electrical revolution) that rotates over The number of electrical revolutions is determined by the number of mechanical revolutions, which is determined by the number of magnetic poles (e.g., number of pole pairs) of the motor. However, it is conceivable that a sensorless method could be implemented. .

[0078] In some examples, the output signal from the Hall effect sensor is sent to the implement controller 28. The appliance controller 28 monitors the received signals for changes in their levels. Based on these signals, the tool controller 28 determines the joint positions. The position may be considered to be the degree of rotation of the rotor from an initial or home position. It can rotate 360° multiple times. Therefore, the joint position can be adjusted by A scalar value called count is the distance from the home position of the joint. The rotor rotates clockwise and counterclockwise. Multiple signals (analog or Whenever the signal level of the instrument controller 28 (either digital or digital) undergoes a defined change of state, The count increases or decreases, indicating a change in joint position. For every 0° of rotation, the instrument controller 28 increments the count by a fixed number of counts. In some examples, the count is increased or decreased by 1 for every 360° of rotor rotation. In some cases, the joint position can be increased or decreased by 0.00 to 3000. When an incremental encoder is used to monitor the rotation of the rotor over 360°, There are 1024 positions (counts) per rotation. There are counters associated with the actuators 21, 22, and 23. The counters are incremented. The count value can be positive, zero, or In some versions, the count value is the rotor increment. Therefore, the rotors of the actuators 21, 22, and 23 first The sensor may be moved to a known position, called the "home position" (discussed further below), and then The count value is used to define the current position of the rotor.

[0079] As previously described, the carrier has a female thread for threadably receiving the lead screw 150. The actuators 21, 22, and 23 have corresponding through holes with threads. The corresponding effective length is adjusted, thereby reducing the counter measured by the tool controller 28. Each lead screw 150 rotates relative to a corresponding one of the carriers to change the Each housing and corresponding carrier can rotate. Relative movement in at least one degree of freedom is constrained to rotate relative to the carrier. More specifically, they rotate about the associated active axes AA1, AA2, and AA3. The pivot yoke 106 is not movable (i.e., the pivot yoke 106 is the first active (The configuration of the Point 92 limits such rotational movement) and the associated active shaft. Carriers that cannot rotate around lines AA1, AA2, and AA3 (i.e., carriers A is achieved by the configuration of the second active joint 108 and the third active joint 124. The lead screw 150 is rotated relative to the carrier by the rotational movement of the lead screw 150 being restricted. It is possible.

[0080] A stop 152, such as a threaded fastener and shoulder, formed on the lead screw 150 , are fixed to the lead screws 150. The stoppers 152 are used to stop the movement of each lead screw 150. It is sized to abut the carrier 116 at its end.

[0081] As previously explained, the actuators 21, 22, and 23 are connected to the handheld portion 16. The effective length is actively adjustable to allow movement of the tool support 18. An example of an effective length is shown by "EL" on the third actuator 23. The effective length EL is measured from the pivot axis PA to the center of the associated first active joint 92. Each actuator 21, 22, 23 is adjusted so that the lead screw 150 whether it is screwed into or out of the associated carrier Shifting the center of the associated carrier to the associated first active joint 92 The effective length EL is changed by changing the distance to the center of the actuator 2. The actuators 1, 22, and 23 are adjustable between the minimum and maximum effective lengths EL. The effective length EL of the tools 21, 22, and 23 is the tool support 18 relative to the handheld portion 16. The tool along the active axes AA1, AA2, AA3 changes to cause various movements of the The distance between the support 18 and the handheld portion 16 may be expressed in any suitable format. It can be measured.

[0082] The constraint assembly 24 constrains the movement provided by the actuators 21, 22, and 23. Actuators 21, 22, and 23 cooperate to reduce the 2, 23 provide movement in three degrees of freedom, while the constraint assembly 24 provides movement in three degrees of freedom. In the version shown, the constraint assembly 24 a passive linkage 26 and a passive linkage connecting the passive linkage 26 to the tool support 18; and a structural joint 156.

[0083] In one version, as shown in FIG. 9, the passive linkage joint 156 is , a passive linkage U-joint. The U-joint has a first pivot pin 158 and and a joint block 160. The first pivot pin 158 is 160 is connected to the tool support body 8 through a through hole 164 in the joint block 160. 0 passive linkage mount 162. Set screw 166 The bolt pin 158 may be secured to a passive linkage mount 162. The joint block 160 also includes a second pivot pin 170. The second pivot pin 170 has a cross bore 168 for receiving the passive ring. The passive link mechanism pivot yoke 172 of the link mechanism 26 is rotatably connected to the joint block 160. The second pivot pin 170 is adapted to receive the first pivot pin 158. The first pivot pin 158 and the joint block 1 60 and the second pivot pin 170 form the cross of the U-joint. The pivot pin 158 and the second pivot pin 170 define an intersecting pivot axis PA. As a result, the passive link mechanism 26 has two freedoms relative to the tool support body 80. A passive link includes a ball with a slot that receives a pin. Other types of passive linkage joints are also possible, such as passive linkage spherical joints. .

[0084] The passive linkage 26 is connected to a shaft 172 fixed to a passive linkage pivot yoke 172. 74. Passive linkage 26 is configured to receive shaft 174 along constraint axis CA. The passive link mechanism 26 also includes a sleeve 76 of the base 74 configured as follows: 74 is allowed to slide axially along a restraining axis CA relative to a sleeve 76, and the actuator During operation of one or more of the actuators 21, 22, 23, the actuators 21, 22, 23 are rotated in a direction parallel to the axis CA. It is configured to restrict movement of the shaft 174 in the radial direction.

[0085] The passive linkage 26 is configured to rotate the shaft 17 relative to the sleeve 76 about the constraint axis CA. The key further includes a key to constrain the rotation of the shaft 174 and sleeve 7. 6 to lock the shaft 174 to the sleeve 76 in the rotational direction. Relative rotation of the shaft 174 and sleeve 76, such as by a combined key / slot arrangement, Other arrangements for preventing this are also contemplated. 1, 22, 23 to operate the tool support 18 and handheld portion 16 independently The passive link mechanism is such that one of the actuators 21, 22, and 23 is connected to a plurality of During operation, the effective length EL can be passively adjusted along the constraint axis CA. The shaft 174 and key 176 form one set of links for the passive linkage 26. Other sizes, shapes and numbers of links connected in any suitable manner may be used to represent passive It may be used for the linkage 26.

[0086] In the version shown, the passive linkage joint 156 is connected to the tool support 18 It can rotate about two pivot axes PA relative to the do.

[0087] Also, in the version shown, the first active joint 92 and the passive linkage The joints 156 define pivot axes PA disposed in a common plane. pivot axes PA, parallel pivot axes PA located in different planes, combinations thereof and / or Other configurations are also possible.

[0088] In some versions, the head 84 of the tool support 18 is When coupled to the support 18, the tool 20 has a tool plane BP parallel to the common plane. (e.g., in the plane of the blade). The plane BP may be located 2.0 inches, 1.0 inches, or 0.8 inches from the common plane CP. below, or spaced apart by no more than 0.5 inches.

[0089] In the version shown, the actuators 21, 22, 23 are in their home position. The active axes AA1, A1 are aligned at all positions of the actuators 21, 22, 23, including the A2 and AA3 are arranged so as to be inclined with respect to the constraint axis CA. Tilting the A1, AA2 and AA3 allows for a slimmer and more compact base 74 and and the actuator array is generally tapered in a manner that allows for an associated grip 72. The active axes AA1, AA2, and AA3 are not inclined relative to the constraint axis CA. Other configurations are possible, including those in which the actuator is in the home position. The motor axes AA1, AA2, and AA3 may be configured to be parallel to one another.

[0090] Further configurations of actuators, active joints and constraint assemblies are possible. The control technique described may affect other mechanical configurations not mentioned, especially one or more free A configuration for controlling a tool or saw blade relative to a handheld portion at a In some versions, the constraint assembly is absent. The tool support 18 of the instrument 14 may provide additional freedom of movement relative to the handheld portion 16. For example, the instrument may be a linear actuator, a rotor, or a The device may include a parallel or serial arrangement of actuators. It may include 2, 3, 4, 5, 6 or more different actuators.

[0091] [Virtual Boundary] The software used by the control system 60 to control the operation of the instrument 14 is , and boundary generator 182 (see FIG. 7). Boundary generator 182 may be implemented on a separate controller, Implemented on the instrument controller 28, navigation controller 36 and / or other components The boundary generator 182 may be part of a separate system that operates remotely from the instrument 14. Referring to Figure 7, the boundary generator 182 may be configured to control the movement and / or is a software program that generates one or more virtual boundaries 184 to constrain motion. In some examples, the boundary generator 182 may be a virtual cutting guide. provides a virtual boundary 184 that defines a guide (e.g., a virtual saw cutting guide). 4 may be provided to delineate various action / control areas as described below. The boundary 184 may be one-dimensional (1D), two-dimensional (2D), or three-dimensional (3D), and may be a point, a line, or a , axes, orbits, planes (infinite planes or planar segments bounded by anatomical structures or may include other boundaries), volumes or other shapes, including complex geometric shapes. The virtual boundary 184 can be a set of points, point clouds, voxels, triangle meshes, or other 2D or 3D models. It may be expressed by a combination thereof, etc. No. 8,898,043 are incorporated by reference, and any of their features may be incorporated herein by reference. Either may be used to facilitate the planning or execution of a surgical procedure.

[0092] The virtual boundary 184 may be used in a variety of ways. For example, the control system 60 may Some movement of the tool 20 may be controlled to stay within the boundary; may control certain movements of the rule 20; stay on boundaries (e.g., points, trajectories and / or Some movement of the tool 20 may be controlled so that the tool 20 remains on the plane; A certain movement of the tool 20 is either (attractive boundary) or repelled by the boundary (repulsive boundary). and / or the relationship of the instrument 14 to the boundary (e.g., spatial, velocity, etc.) ) may control certain operations / functions of the instrument 14 based on the boundary 184. Other uses of the boundary 184 are also contemplated. can be obtained.

[0093] In some instances, one of the virtual boundaries 184 may be located at the desired cutoff point, as shown in FIG. The control system 60 ultimately controls the tool 20 in some versions. The virtual boundary that controls the positioning of the tool 20 functions to keep the tool 20 on the desired cutting plane. The field 184 is then sorbed to stay within the boundaries and on the desired cutting plane as shown in FIG. A volume boundary, such as one with a thickness slightly greater than the blade thickness, is used to constrain the blade. Therefore, the desired cutting plane may be a virtual planar boundary, a virtual volume boundary, or Other types of virtual boundaries may be used. The virtual boundary 184 may be referred to as a 3D bone model or an anatomical model AM. (Their registration allows them to be virtually superimposed on the actual femur F.) (See Figure 2, which shows the anatomical model AM). In other words, the points relative to the virtual boundary 184 , lines, axes, trajectories, planes, volumes, etc. are fixed relative to the coordinate system of the anatomical model AM. The system may be defined to allow for the identification of (e.g., registered) relevant anatomical structures. Tracking of the anatomical model AM (via tracking) also enables tracking of the virtual boundary 184.

[0094] The anatomical model AM is configured such that the virtual boundary 184 is connected to the anatomical model AM and the associated coordinate system. The virtual boundary 184 is registered in the first patient tracker 54 so as to be associated with the first patient tracker 54. For implants, e.g., based on the size, shape, volume, etc. of the implant and / or may be patient specific, for example, defined based on the patient's anatomy. The virtual boundary 184 may be a boundary generated pre-operatively, intra-operatively, or a combination thereof. In other words, the virtual boundary 184 is configured before the surgical procedure begins, during the surgical procedure (during tissue removal), The virtual boundary 184 may be defined as a Control systems 60, which generate data, receive data from other sources / systems, etc. The virtual boundary 184 may be provided in many ways, such as by searching and / or updating may be stored in memory for

[0095] Some procedures, such as preparing the femur F to receive the knee prosthesis IM (see Figure 1), In this case, the virtual boundary 184 includes a plurality of flat boundaries, which define the prosthetic knee joint. Can be used to draw multiple cutting planes (e.g., five cutting planes) for section IM. These multiple virtual boundaries 184 are related to the 3D model of the distal end of the femur F. are calculated one at a time by the control system 60 to constrain the cut to one plane at a time. can be activated.

[0096] The instrument controller 28 and / or navigation controller 36 may be configured to In one example, the tool 20 remains in a desired state. To determine the target positions for the actuators 21, 22, and 23, the TCP coordinates are The state of the reference frame (e.g., the pose of the saw blade) is measured with respect to the virtual boundary 184. In some cases, the control system 60 may be configured to control the physical handpiece in the presence of a physical boundary / barrier. The device controls / positions the instrument 14 in a manner that emulates the manner in which the device responds.

[0097] Referring again to FIG. 7, two additional software programs or modules are: It runs on the instrument controller 28 and / or the navigation controller 36. The software module performs behavior control 186. The behavior control 186 is Data indicating the next commanded / desired position and / or orientation (e.g., desired pose) In some cases, only the desired position of the TCP is calculated from the behavioral control 186. In some cases, the commanded pose of the tool 20 is output. The output from the field generator 182 (e.g., a virtual boundary 1 in one or more of the coordinate systems) 84) is the next command of the actuators 21, 22, 23. to the behavior control 186 to determine the determined position and / or orientation for the tool 20 The behavior control 186 uses the following to determine the commanded pose: This input may be processed along with one or more other inputs, as further described below.

[0098] The tool controller 28 controls each actuator to adjust the tool 20 towards the desired pose. One or more actuators are controlled by sending command signals to the actuators 21, 22, and 23. The tool controller 28 may control the actuators 21, 22, and 23. , 23 knows the overall length to which the tool support 18 may be adjusted relative to the handheld portion 16. In some examples, the tool controller 28 may Knowing the total length that can be adjusted, to move the measured distance from position to position Command signals may be sent to the actuators 21, 22, 23. The measured position may be calculated based on a known Position or current position and actuator limits of actuators 21, 22, 23 The positions to which the actuators 21, 22, and 23 move may be the distance between the actuators 21, 22, and 23. The measured distance from the positive and negative limits of actuator travel (i.e., the lead screw The instrument controller 28 may measure the distance between the two ends of the instrument, as described below. Command the actuators 21, 22, 23 to and from the measured positions. stomach.

[0099] The tool controller 28 controls the actuators 21, 22, 23 to move the tool 20 from the first position. Each actuator 21, 22 moves to a commanded position to place the actuator in a desired pose. , 23. In some examples, the commanded position may be may be determined by the implement controller 28 in conjunction with the application system 32, thereby Virtual objects such as the handheld portion 16, patient trackers PT, 54, 56, and desired cutting planes are displayed. determining the position of the tool 20 and tool support 18 relative to the object, or a combination thereof; and adjust a distance or commanded position to place the tool 20 in the desired pose. The tool controller sends signals to the actuators 21, 22, and 23 to Command the actuators 21, 22, 23 to a predetermined position to reach the desired adjustment of 0. The tool controller 28 may use calculations to adjust the tool 20 towards the desired pose. The actuators 21, 22, and 23 may be controlled to move linearly a specified distance. In other instances, such as when absolute encoders are used, the implement controller may: Tool support 1 for handheld part determined by absolute encoder 8, each actuator 21, 22, 23 is placed in a commanded position based on the known position of the A signal may be sent to the actuators 21, 22, 23 to

[0100] The tool controller 28 controls the actuators 21, 22, and 23 relative to the handheld portion 16. In some instances, the overall length to which the tool support 18 can be adjusted may be known. The device 28 knows the total length that the actuators 21, 22, 23 can adjust. , measured (e.g., by commanding a desired amount of linear movement via a commanded rotation) A command signal is sent to the actuators 21, 22, and 23 to move the specified distance for each position. The measured position may be a known position or may be transmitted to the actuator 21,2. Actuator 2 may be the distance between the current position of 2, 23 and the actuator limit. Each position that 1, 22, and 23 move to is determined by the positive and negative limits of the actuator travel. The distance measured between the two ends of the lead screw may be the distance between the two ends of the lead screw. The controller 28 controls the actuators 21, 22 to and from positions as described below. , 23. The implement controller may command the actuators to reach the desired adjustment of the tool 20. The implement controller 28 may command the tools 21, 22, 23 to a predetermined position. 0 to move the calculated distance linearly to adjust it towards the desired pose. Actuators 21, 22, and 23 may be controlled. An absolute encoder is used. In other instances, such as when the implement controller is The actuators 21, 22, and 23 between the determined actuator travel limits To place each actuator 21, 22, 23 at a commanded position based on the known position, Alternatively, in one example, No. 2017 / 0156799, which is incorporated herein by reference. As described in the previous section, the interface is used in conjunction with the homing procedure that occurs during system setup. A homing procedure may be used, and the actuator Place the actuators 21, 22, 23 and the joints in a centered position, then Determine the absolute offset of the incremental encoder. By determining the offset, the incremental encoder can generate absolute forward motion. It may function as a meter encoder.

[0101] In some instances, if a homing position is used, the homing process may Establish the initial rotor position (zero position) of the actuators 21, 22, and 23. The home position is Effectively provides the maximum possible movement in each direction along active axes AA1, AA2, and AA3 In some examples, the home position is generally the position of the rotor 148 at which the stopper The home point HP of the lead screw 150, which is located midway between the associated The actuator is positioned so that it is centrally located on the carrier 116 that is being used (the actuator in the home position). (See Figure 12, which shows two of the encoders 22 and 23.) Other modes (explained further below) may also be used even if no homing procedure is used, such as Before or after executing the approach mode, the actuators 21, 22, and 23 are held This may include setting the home point HP. 21, 22, 23. Actuator 2 is placed at the home position between the minimum and maximum values ​​of the effective length EL. 1, 22, and 23.

[0102] When in the home position, actuator 2 is used to maintain tool 20 in a desired pose. The amount of adjustability of the devices 14, 22, and 23 is maximized. Various levels of adjustment are possible depending on the configuration. In some instances, all actuators When the sensors 21, 22, and 23 are in their home positions, there is zero change in roll orientation and z-axis Assuming no translation, the tool 20 is adjusted with a pitch orientation of approximately ±18° relative to the home position. In some examples, all of the actuators 21, 22, and 23 may be in the home position. , assuming zero change in pitch orientation and no z-axis translation, the tool 20 , may be adjusted with a roll orientation of about ±33° relative to the home position. When all the actuators 21, 22, 23 are in the home position, the pitch orientation and roll Assuming zero change in tool orientation, the tool 20 will rotate approximately ±0.37 degrees relative to the home position. The tool 20 may, of course, be adjusted in z-axis translation by 1 / 2 inch. Combinations thereof may be adjusted in pitch, roll and z-axis translation.

[0103] In some examples, one or more of the actuators 21, 22, 23 When these limits are reached, the implement controller 28 determines whether the actuator will move the tool 20 to the desired position. 1 to bring the handheld portion 1 back into the range where the tool 20 can be adjusted toward the 6 may require adjustments to be made. In such cases, How to return the handheld unit to the control panel 20 and the actuators 21, 22, and 23 To show the user how to move 16 minutes, a simulated commanded position is displayed. The simulated commanded positions may be used to , 23 to adjust the tool 20 toward the desired pose. Navigation information from the navigation system 32 to which the road portion 16 must be moved. The location may be determined by the tool controller 28 in conjunction with the location data. The simulated commanded positions are then handled to place the tool 20 in the desired pose. Signaling to the user that handheld portion 16 needs to be moved in a particular manner. In some instances, the actuators work in conjunction with one or more displays 38 to The handheld portion 16 is adjusted as if the eters 21, 22, and 23 were adjusting the tool 20. a guidance array 500 for transmitting signals to the user to move in the same manner; However, by manipulating the handheld portion 16 while the actuator remains in place, Thus, it relies on the user to correct the pose of the tool 20.

[0104] The second software module performs motion control 188. One state of motion control 188 is The first mode is the control of the instrument 14. The movement control 188 executes the next commanded position from the behavior control 186. Based on this data, the motion control 188 (e.g., For example, via inverse kinematics, the next rotor of the rotor 148 of each actuator 21, 22, 23 The controller 14 determines the position of the robot, so that the robot can control the robot's behavior, for example, in a commanded pose. The tool 20 can be positioned as commanded by the control 186. For example, motion control 188 may control the instrument 1 to execute a commanded pose, which may be defined in Cartesian space. 4 actuator position (e.g., rotor position), so that the tool controller 28 , the motors 142 can be commanded accordingly, and the motors 142 can be commanded accordingly to the commanded pose of the tool 20. The actuators 21, 22 of the instrument 14 are moved to a commanded position, such as a commanded rotor position. In one version, the motion control 188 controls the rotation of each motor 142. The motor position is adjusted so that the motor 142 commands the associated actuators 21, 22, 23. To ensure that the rotor position is driven as precisely as possible, each motor 142 The torque is continuously adjusted.

[0105] In some versions, the tool controller 28 controls each of the actuators 21, 22, 2 3, determine the difference between the measured position and the commanded position of the rotor 148. The tool controller 28 outputs a target current (proportional to the torque of the rotor) to the actuator. The voltage is changed to adjust the current in the electrode from an initial current to a target current. The actuators 21, 22, and 23 are moved to move the tool 20 from the measured pose. Move to the commanded pose. This is the result of converting the commanded pose into joint positions. In one example, the measured position of each rotor 148 may be measured using a signal such as an encoder. For example, it may be derived from the sensor S described above.

[0106] The boundary generator 182, the behavior control 186, and the movement control 188 are software programs Alternatively, each may be a subset of the other in any combination thereof. The software may be software programs that operate individually and / or independently. The term "software program" refers to the software that implements the various capabilities of the described technical solution. As used herein to describe computer-executable instructions configured to For simplicity, the term "software program" is used to refer to at least Any one of the field generator 182, behavior control 186 and / or movement control 188 The software program is intended to include one or more of the following: 8, navigation control device 36, or any combination thereof. may be implemented in any suitable manner by control system 60.

[0107] A clinical application 190 may be provided to handle user interactions. The floor application 190 handles many aspects of user interaction, including pre-operative planning, External assessment including implant placement, registration, bone preparation visualization and postoperative evaluation of implant fit Coordinates clinical workflow. Clinical application 190 outputs to display 38 The clinical application 190 is configured to run on its own separate processor. or may operate in the appliance controller 28 and / or the navigation controller 3 6. In one example, the clinical application 190 may operate in parallel with the After the runt placement is set by the user, it interfaces with the boundary generator 182. The virtual boundary 184 returned by the boundary generator 182 is then passed to the instrument control device for execution. The data is transmitted to device 28.

[0108] The initial position of the base coordinate system BCS is determined by the actuators 21, 22, and 23 being at their home positions or is the coordinate system of the tool support coordinate system TCS and the base coordinate system BCS when the tool is in a predetermined position. The actuators 21, 22 can be determined based on the known geometric relationship between them. This relationship changes as the coordinates are adjusted (e.g., establishing a dynamic transformation between these coordinate systems). Based on the motion of the robotic system 10, the associated changes can be determined. Alternatively or additionally, the position of the base coordinate system BCS relative to the tool support coordinate system TCS A separate tracker is mounted and fixed with respect to the base coordinate system BCS to track the object directly. Therefore, the robot system 10 can The position of the controller 20 and its relationship to the pose of the handheld portion 16 are known. The tool 20 is moved by the user and its pose is recorded using the tool tracker 52. Once tracked, the robotic system 10 calculates the coordinate system of the handheld portion 16 and its base coordinate system. The pose of the BCS is also tracked. In some instances, the tool support is determined as a result of a previous calibration process. The position of the tool 20 relative to the body 18 is assumed to be known.

[0109] In some versions, the home position is a separate device fixed to the handheld portion 16. tracker to the tool support 18 in a common coordinate system (e.g. the handheld portion 16 (e.g., relative to the base coordinate system TCS) The handheld part 16 and the tool are then connected to the robot. This spatial relationship with the handheld support 18 allows the pointer 57 and by registration using known calibration divots or other navigation methods. Then, the current load of each of the actuators 21, 22, and 23 can be determined. The position of the current sensor can be derived from this spatial relationship based on the movement of the instrument 14. The rotor position is known and the encoder (and corresponding encoder signal) is used to measure the current The implement controller 28 then measures the change in rotor position from the home position. The home position is the position where the actuators 21, 22, and 23 are operated. It can be stored in the memory of the controller 28.

[0110] Essentially, the tool controller 28 uses a A track coupled to the tool support 18 and handheld portion 16 of the instrument 14 is provided. using tracking data acquired by the navigation system 32 from the vehicle 52, Therefore, the incremental encoder then acts as an absolute encoder. It is possible.

[0111] From the console 33 or another component of the tool controller 28, e.g., the motor control Instruction data packets are sent to the device. The data packets are used to determine the target position (or actuator position) for the rotor 148 of the motor 142. where each target position is a target cumulative position for the associated rotor 148. It can be a positive or negative number representing the count. Other components generate these instruction data packets and It sends one packet every 4 milliseconds to each motor controller. Therefore, each motor controller receives instruction data at least once every 0.125 milliseconds. Receive the data packet.

[0112] In use, the robotic system 10 determines the pose (current pose) of the tool 20 using the navigation system 32 by means of a tracker 52 disposed on the tool support 18. The instrument control device 28 may determine the current position of each of the actuators 21, 22, 23 based on output encoder signals from one or more encoders disposed on each of the actuators 21, 22, 23. Upon receiving the current position of each of the actuators 21, 22, 23, the instrument control device 28 may calculate the current pose of the handheld portion 16 (e.g., using a TCP coordinate system that uses forward kinematics to convert from actuator positions to poses, such as the current pose of the base coordinate system BCS with respect to a desired coordinate system (TCP with respect to BCS)). If the instrument control device 28 has the current relative poses of the tool support 18 and the handheld portion 16 in a desired coordinate system, the instrument control device 28 may then determine the commanded pose of the tool 20 based on the current pose of the tool 20 determined by the navigation system 32, the current pose of the handheld portion 16 calculated based on the current positions of each of the actuators 21, 22, 23, and the position and / or orientation of a planned virtual object that is the subject as a desired cutting plane. The instrument calculates the pose (commanded pose) of the TCP with respect to the BCS that results in a TCP aligned with the desired or planned virtual object in a plane. The instrument control device 28 may send command instructions to the actuators 21, 22, 23 to move to the commanded position, thereby changing the poses of the tool support 18 and the tool 20. In one example, the commanded pose of the tool 20 is further based on a target cutting plane and thus, the instrument control device 28 may adjust the commanded pose of the tool 20 based on the target cutting plane. The instrument control device 28 may send command instructions to the actuators 21, 22, 23 to move to the commanded position, thereby changing the poses of the tool support 18 and the tool 20. In one example, the commanded pose of the tool 20 is further based on a target cutting plane and thus, the instrument control device 28 may adjust the commanded pose of the tool 20 based on the target cutting plane. The instrument calculates the pose (commanded pose) of the TCP with respect to the BCS that results in a TCP aligned with the desired or planned virtual object in a plane. The instrument control device 28 may send command instructions to the actuators 21, 22, 23 to move to the commanded position, thereby changing the poses of the tool support 18 and the tool 20. In one example, the commanded pose of the tool 20 is further based on a target cutting plane and thus, the instrument control device 28 may adjust the commanded pose of the tool 20 based on the target cutting plane. The tool controller 28 controls the tool support 16 to determine the current pose of the handheld portion 16. Calculate the current pose of the robot 18 and the current positions of the actuators 21, 22, and 23. The current pose of the support 18, the current positions of the actuators 21, 22, and 23, and the hand Knowing the current pose of the heald portion 16, the implement controller 28 determines the desired plane based on Actuators 21, 22, and 23 for adjusting the tool support 18 and the tool 20 The control unit can send a command signal to the hand momentarily (for one repetition). Assuming the hemispheric pose (BCS) is static relative to the patient anatomy, By updating the corresponding pose every time, the actual BCS The movement is adjusted.

[0113] An exemplary control is described with respect to various transformations with reference to FIG. The tool 20 is tracked by the tracker 52 at Z (LCLZ-TT) and the registration data is 20, such as a saw, to perform a conversion (TT- Similarly, patients in LCLZ are It is tracked using a tracker PT (shown as 54) (LCLZ-PT). The Patient Tracker-TP exchange (PT-TP) uses registration data and plan information to The planned virtual object 184 (TP) is determined between the two. The conversion between CS and TCP (BCS-TCP) is performed by calculating the current position of each actuator (see above). The conversion between BCS and TCP is done by re-handling the various coordinate systems. This is used to associate the commanded pose with the handheld portion 16. Conceptually, the commanded pause can be determined from the BCS to the TC. P, so that TCP can The object 184 (target plane TP) is aligned with the object 184.

[0114] The phrase "TCP of the fixture" is used interchangeably with the phrase "saw blade location." Therefore, the TCP of the instrument / tool ​​is used. In all instances, the position of the saw blade may be substituted, or vice versa. Of course, the "saw blade" position can alternatively be replaced by a drill, burr, guide tube, etc. The tool may be a location for any suitable configuration, such as a screwdriver, tap, pin, etc.

[0115] Throughout this description, unless otherwise specified, all examples of poses are the poses commanded. These poses may be the current pose, a past pose, or a past commanded pose. The pauses may differ from each other depending on the frequency of the control, but the positions between these pauses The difference in position and / or orientation may be minimal in each control iteration.

[0116] It should be understood that the combination of an object's position and orientation is called the object's pose. Throughout this disclosure, the term pause achieves a suitable alternative to the concepts described herein. may be replaced by position and / or orientation, or vice versa, to In other words, any use of the term pose can be interchanged with position, Any use of the term position may be replaced with pose.

[0117] 〔operation〕 During operation, the robotic system 10 is first powered up and configured to A software application is started to operate the trackers 52, 54, and 56. , PT is initialized and the trackers 52, 54, 56 are synchronized with the instrument 14 and the target anatomical structure ( For example, the trackers 54, 56 are placed on the femur F and tibia T. Once attached, the anatomy and / or associated images / models are aligned with known registered The location is registered in the trackers 54, 56 using a registration technique. This may require touching an anatomical surface or landmark. For example, this can occur when the user presses the select button on the pointer 57 or navigates While pressing the foot switch of the motion system 32, place multiple points on the surface of the anatomy. This may require palpation of the anatomy. Surface points in the navigation system 32 for matching with intraoperative images / models Pre-operative and / or intra-operative images / models of the anatomy are The portion of the anatomy to be tracked is loaded into the navigation system 32. By extension, this allows the robotic system 10 to A graphical representation of the actual position and orientation of anatomical structures as they are moved This allows it to be displayed on the display 38.

[0118] During the calibration / registration procedure, the orientation and position of the tracker 52 is determined by the calibration divot CD or tool support by referencing fixed, known positions of other reference points. 18. In some examples, one or more trackers 52 , may be located on the tool support 18, the handheld portion 16, or both, thereby The position of the tool support 18 and / or handheld portion 16 is determined by the navigation system. In the example where the tracker 52 is integrated into the instrument 14, Since the relative position of the tracker 52 with respect to the tool support 18 is known, such calibration is It is unnecessary.

[0119] Virtual objects (e.g., virtual boundaries 18) used to control the movement of the instrument 14 4) is also defined / obtained. The software that creates / obtains the initial definition of the virtual object. If so, have the ability and options to adjust the nature / placement of virtual objects. stomach.

[0120] In one exemplary configuration, the control system 60 controls the target site and / or anatomical Various regions are defined at predetermined distances and / or locations from the structure. It is defined in a coordinate system relative to anatomy and / or a virtual boundary 184. In some cases, these regions may be spherical regions around the target site and / or anatomical structure. or other geometric primitives. and others described below) comprise the instrument 14, tool support 18, handheld portion 16, , tool 20, target site / anatomy, or a combination thereof. The handheld portion 16, tool support 18, tool 20, target site / anatomy, or The area defined by the combination of these is connected to a specific virtual boundary / virtual cutting guide feature. When the control system 60 approaches, the control system 60 may control the instrument 14 .

[0121] In particular, the instrument controller 28 generates a set of target rotor positions and controls the motor 142. The rotor 148 is configured to set a target rotor position to maintain the tool 20 at a desired pose. In other words, the user must rotate the tool away from the desired pose. When the handheld portion 16 is moved in the manner of moving the wheel 20, this The movement is detected by the navigation system 32. In response to this movement, the implement controller 28 Based on data from the navigation system 32, the tool 20 moves away from the desired pose. Determine how far the tool has moved and adjust as needed to return the tool 20 to the desired pose. Such movement is compensated for by driving the actuators 21, 22, and 23 with the To continuously counter such deviations in substantially real time, the implement controller 28 is Since the frame rate is high, this deviation from the desired pose is It should be recognized that deviations will usually be small.

[0122] The target rotor position is determined by the actuation of the actuators 21, 22, and 23 and the resulting movement For example, the desired pose is determined based on the relationship between the handheld If z-axis translation is required for the tool portion 16, the tool 20 must be moved in the z-axis. degrees and the amount of rotation of each rotor 148 (e.g., how many counts such z-axis movement There is a linear relationship between the tool 20 and the first and second In combination with one or both of the first and second actuators 21, 22, a third actuator There is also a relationship between the degree to which the pitch orientation changes in response to actuation of actuator 23. Later, with or without the operation of the third actuator 23 The tool 20 is driven by one or both of the first and second actuators 21 and 22. There exists a relationship between the degree to which the roll direction changes in response to the actuation of either the Based on this, the instrument controller 28 may determine the required position to maintain the desired pose of the tool 20. The instrument controller 28 determines a target rotor position for each rotor 148. The motor 142 is actuated based on the target rotor position. For example, the console 33 may , and each motor controller may send a packet to the motor controllers containing the target rotor position of , appropriate energy supply signals may be applied to the associated motors 142. The feed signal causes the rotor 148 to rotate, thereby maintaining the tool 20 at the desired pose. Repositioning the lead screw 150 to move the tool support 18 / tool ​​20 as needed to A placement occurs.

[0123] As previously mentioned, the user is guided by the alignment members 502 and 504 while holding the handheld When positioning the head portion 16 toward a desired plane, the actuators 21, 22, and 23 The actuators 21, 22, and 23 are held at the home position or other predetermined positions. By maintaining the tool 20 in the home position or other predetermined location, the user Adjusting the tool 20 to better align the instrument pose with the desired plane and target. However, when the tool is in the desired pose, the visual The dynamic guidance moves the actuators 21, 22, 23 to a home position or other predetermined position. The handheld device is designed to provide sufficient adjustability for the instrument 14 by keeping it close to the handheld device. It is intended to guide the user as to how to move the hand portion 16. For example, the user may move all actuators while maintaining the tool 20 in a desired pose. The handheld portion 16 is used to move the controllers 21, 22, and 23 closer to the home position. In other words, the actuator may need to be moved upward in the z-axis direction. The guides 21, 22, 23 may be nearly fully extended. The direction indicated by the guidance array 500 is upward. In this case, the guidance array 500 , which actually guides the user to move the handheld portion 16 upward. Therefore, the actuators 21, 22, and 23 are adjustable. The handheld portion 16 operates towards a home position to maximize the user's When the tool 20 is moved upward, the actuators 21, 22, and 23 move the tool 20 to the desired position. The actuator continues to operate to maintain the position (e.g., on the virtual boundary 184). The Eta 21, 22, 23 move backward, such as moving backward towards the home position. , when the user starts cutting the bone, otherwise, the actuators 21, 22 ,23, one or more of which have nearly reached the available travel in each direction. If so, slight movement of the handheld portion 16 will result in the implement controller 28 moving the tool 20. It may not be possible to maintain the desired pose, which may result in inaccurate cutting. There is.

[0124] Additionally and / or alternatively, in some versions, tool 20 may be pose, and the user can then The handheld portion 16 can be moved to the actuators 21, 22, and 23 to perform the cutting operation. The user may then adjust the position to a more comfortable position within the threshold of acceptable movement. and / or actuate an input device such as a foot switch or touch screen By selecting Choose to go to freehand mode, which will be kept or frozen in its current spatial relationship. The held pose of the handheld portion 16 relative to the pose of the tool 20 may be selected as follows: The virtual thresholds of the actuators 21, 22, and 23 are changed, and the user selects the operation mode. This is thought to restrict the movement of the actuator to maintain the held pose. do.

[0125] [Visual Guidance] As shown in Figures 12-28, the instrument 14 also includes a guidance array 500. The sensor array 500 provides blade support for the handheld portion 16 during operation of the instrument 14. 18 poses. Thus, the guidance array 50 0 includes a plurality of actuators 21, 22, 23 for maintaining the tool 20 at the target plane TP. 3. Provides maximum adjustability while hand-holding to achieve the desired pose of the tool 20 Provides visual indication of desired changes in pitch orientation, roll orientation and z-axis translation of heald portion 16. The guidance array 500 provides the actuators 21, 22, and 23 with 1. Maintaining the instrument 14 near a room or other predetermined position allows for sufficient adjustment. The user has the ability to: A tool alignment member 502 and a handle coupled to the blade support 18 are provided to guide the The handle includes a handle alignment member 504 coupled to the handheld portion 16. In some configurations, At least a portion of the tool alignment member 502 and at least a portion of the handle alignment member 504 are aligned when the actuators 21, 22, and 23 are in their home positions. For example, in the configurations shown in FIGS. 12 to 17, the actuators 21, 22, and 2 When the tool alignment member 502 and the hand 3 are in their home positions, the upper surface 503 of the tool alignment member 502 and the hand 3 are in their home positions. The top surfaces 505 of the alignment members 504 are aligned.

[0126] In one configuration, the term "aligned" refers to at least one of the tool alignment members 502. At least a portion of the handle alignment member 504 is substantially coplanar. or intersects within an appropriate tolerance range. At least a portion of the handle alignment member 504 is aligned. The tool alignment member 502 and the handle alignment member 504 are aligned so that the blade support 18 is aligned with the handle. The operator of the instrument 14 is provided with a visual indication that the handheld portion 16 has a desired range of motion. In particular, in the home position, the actuators 21, 22, and 23 are adjustable. The amount of potential is maximized to maintain the tool 20 in a desired pose. The alignment of the tool alignment member and the handle alignment member is 99 percent or more. may be aligned to 90 percent or more; may be aligned to 70 percent or more In other examples, the alignment may be 60 percent or more. Proper alignment is within 1 percent of the target pose in each individual degree of freedom. deviation, 5 percent deviation from the target pose, 10 percent deviation from the target pose, or further specification of the target pose, such as deviation of 20 percent or more from the target pose. Similarly, proper alignment may be achieved for each individual degree of freedom. Within 1mm of the target pose, within 2mm of the target pose, or even 5 mm or more. Additionally, proper alignment may be achieved by adjusting the roll and / or pitch. deviation from the target pose by more than 1 degree, deviation from the target pose by more than 5 degrees, ... The deviation may be 15 degrees or more from the target pose, or even 30 degrees or more from the target pose.

[0127] In one configuration, referring to FIGS. 12-28, the tool alignment member 502 is It may be a member that extends away from the tool support 18. For example, the tool alignment member 502 17. The tool alignment portion 510 defines a tool alignment plane 512 (shown in FIG. 17). The tool alignment plane 512 may be parallel to the blade plane BP or may even be The blade plane BP is coplanar and the operator of the instrument 14 is instructed to pose the blade plane BP. The terms tool plane and blade plane BP are used interchangeably. The tool alignment member 502 may be aligned with the blade plane B relative to the handle alignment member 504. It may have any shape or structure that can provide a visual indication of P's pose. In one example, as shown in FIGS. 12-28, the tool alignment member 502 Portion 510 may define a "U" shape. In this example, tool alignment portion 510 defines an elongated body and two protrusions, which allow the actuators 21, 2 When the tool alignment member 502 and the handle alignment member 23 are in their home positions, When member 504 is aligned, the tool alignment portion surrounds handle alignment portion 524. Each part of the tool alignment portion 510 can be aligned with the handle alignment member and having a length, width and height that define a three-dimensional shape for providing a visual indication of misalignment; The "U" shaped profile of the tool alignment member 502 allows the operator the controller can see the pose of the handle alignment portion relative to the elongated member and the protrusion, Providing a visual indication of the pose of the blade support 18 relative to the handheld portion 16 Further assist.

[0128] 15 and 16, for example, tool alignment member 502 may be a blade support. 18. Mounting portion 50 6 may be any suitable position to facilitate the function of tool alignment member 502. Attach the blade support 18 using any suitable means (e.g., fasteners, magnets, adhesive, etc.) The tool alignment member 502 may be attached to a support (described in more detail below). The support portion 508 may further include a tool alignment portion 510. In some examples, the tool alignment member 502 may extend from the mounting portion 506. , rigid relative to the blade support 18 to facilitate the function of the tool alignment member 502. The tool alignment member 502 may be made of plastic, aluminum, steel, composites, etc. The tool alignment member may be formed from any suitable material, including combinations of these. , 3D printing, casting, machining, injection molding, stamping, etc. or a combination thereof The tool alignment portion 510 may be formed using any suitable manufacturing method, including: It is also possible to form it in other shapes (discussed in more detail below). In other configurations, the tool alignment member 502 may be the tool 20 itself. For example, When the actuators 21, 22, 23 are in their home positions, the tool 20 and The handle alignment member 504 may be aligned.

[0129] In one example, as shown in FIGS. 12-28, the handle alignment member 504 The handle alignment member 504 may extend from the handheld portion 16. A handle alignment plane 526 (see FIG. 1) provides the user with a visual indication of the pose of the handheld portion 16. 17). When the eters 21, 22, and 23 are in their home positions, the handle alignment plane 526 is The handle alignment member 504 is aligned with the tool alignment plane 512. Visual indication that one or more of 1, 22, and 23 have moved from their respective home positions The display may be of any suitable shape or configuration to provide visual instructions to the user. 12 to 28, the handle alignment portion 52 of the handle alignment member 504 4 defines a planar rectangular member having a length, height, and width that define a three-dimensional shape By exposing certain features of the handle alignment member to the tool alignment member 502, When the actuators 21, 22, and 23 are moved from their home positions, The relative shape and size of the handle alignment members 504 provide a visual cue.

[0130] 15 and 16, the handle alignment member 504 includes a first portion 518 and a The mounting collar 516 may also include a first and second portion 520. Collectively, the first and second The portions 518, 520 form the mounting collar 516 and secure the handle alignment member 504 to the handle. The handles are configured to be joined together for attachment to the grip 72 of the handheld portion 16. The first and second portions 518, 520 are joined together using any suitable means. In some examples, screws, bolts, clamps, etc., or combinations thereof may be used. A fastener may be used. The mounting collar 516 facilitates the function of the handle alignment member 504. The handheld portion 16 may be attached to the handheld portion 16 in any suitable position for (This will be explained in more detail below.) Also, as best shown in FIG. 16, the handle alignment The material 504 may be removably coupled to a mounting collar 516 of the handheld portion 16. For example, if desired, a tool alignment member 502 and a handle alignment member 504 may be provided. The handle alignment member 504 is configured to separate if the operator's hand is pinched. Handle alignment member 504 may be magnetically coupled to handheld portion 16. Any suitable means (e.g., magnets, latches, clips, fasteners, hook and loops, etc., and combinations thereof) are considered. do.

[0131] The handle alignment member 504 may also include a support arm 522. The support arm 522 A rod 524 may extend from the mounting collar 516 to support the rod alignment portion 524. In particular, As best shown in FIGS. 12 to 17, the actuators 21, 22, and 23 are When in the home position, the handle alignment portion 524 of the handle alignment member 504 The support arm 522 is aligned with the tool alignment portion 510 of the member 502. Extending upward from the grip 72 of the heald portion 16. In some instances, the handle adjustment The alignment member 504 is attached to the handheld portion 16 to facilitate the function of the handle alignment member 504. The handle alignment member 504 is made of plastic, aluminum, steel, or composite. It may be formed from any suitable material, such as a composite material, or a combination thereof. The handle alignment member 504 can be manufactured by 3D printing, casting, machining, injection molding, stamping, etc. The substrate may be formed using any suitable manufacturing method, including welding, etc., or a combination thereof.

[0132] In some configurations, the guidance array 500 comprises two or more tool alignment members and In some examples, the guidance array 50 may include two or more handle alignment members. 0 may include a first tool alignment member 502 and a second tool alignment member 528. Similarly, in some examples, the guidance array 500 may be aligned with the first handle alignment member 504. and second handle alignment member 530. In some examples, four or more, six There are one or more or even more tool alignment members and handle alignment members, respectively. For example, referring to FIGS. 12 to 28, in some configurations, the first The first alignment members 502, 504 and the second alignment members 528, 530 are aligned with the handheld portion 1. 6 and have a mirror image arrangement. When the eters 21, 22, and 23 are in their home positions, the first tool alignment member 50 The second and first handle alignment members 504, and the second tool alignment member 528 and The two handle alignment members 530 are aligned with each other and support the blade. 1. Provide a visual indication that the carrier 18 has a desired range of motion relative to the handheld portion 16. In particular, the alignment members 502, 504, 528, and 530 are handle alignment members. to provide an indication of the alignment of tool alignment members 502, 528 relative to tool alignment members 504, 530. For example, alignment members 502, 504, 528, and 530 may be: Generally, flat, rectangular, or protruding portions are defined to aid in visual reference (e.g., defining an "X" cross section). The shape may be cylindrical, spherical, etc., or a combination thereof. stomach.

[0133] Additionally, throughout the range of motion of the blade support 18 relative to the handheld portion 16 First and second tool alignment members 502, 528 and first and second handle alignment members The first and second members 504, 530 are visible from the proximal end 560 of the blade support 18. and second tool alignment members 502, 528 and first and second handle alignment members 50 4, 530 (which may be collectively referred to as guidance array 500) are attached to blade support 18 and are arranged around the handheld portion 16. In other words, The operator controls the first and second blade supports 18 through a range of motion relative to 16. Tool alignment members 502, 528 and first and second handle alignment members 504, 53 0, the first and second tool alignment members 502, 528 and the The first and second handle alignment members 504, 530 are visible to an operator holding the instrument 14. Additionally, the guidance array 500 is configured to guide all cutting of the instrument 14. In a position (e.g., during a distal femoral resection or a posterior femoral resection), the guidance array 500 to provide a visual indication of the pose of the blade support 18 relative to the handheld portion 16. may be placed.

[0134] During operation of the tool 14, the tool 14, at least one of the tool alignment members 502, 528 and the target plane TP of at least one of the handle alignment members 504, 530 is The actuator 20 is in the target plane TP and the actuators 21, 22, and 23 are in their home positions. The electrodes may be arranged to be aligned in a first spatial relationship when in a fixed position. As shown in the configuration, for example, tool alignment plane 512, handle alignment plane 526, and When the target plane TP is coplanar, the target plane TP, the tool alignment members 502, 528 and The handle alignment members 504, 530 are arranged in a first spatial relationship. Referring to FIG. 1, tool alignment members 502, 528 and handle alignment members 504, 530 are When arranged in one spatial relationship, the "U" shaped tool alignment portion 510 The handle alignment member 524 surrounds the tool alignment member 510 and the handle alignment member 526, respectively. Both upper surfaces 503, 505 of the portion 524 are coplanar, and the actuators 21, 22 , 23 are in their home positions. Maintain the tool 20 in the desired pose. Therefore, the first air is adjusted so that the actuators 21, 22, and 23 have the maximum amount of adjustability. The relationship is such that the tool 20 is aligned with the target plane TP and the actuators 21, 22, 23 are in their respective home positions, and the tool 20 is aligned with the target plane T Pitch, roll and z-axis parallelization on the handheld surgical robot system to keep it on the Provides maximum adjustment in radians (i.e., height).

[0135] In particular, to facilitate visual indication throughout the range of motion of the actuators 21, 22, and 23, To this end, the first and second positions of the plurality of actuators 21, 22, and 23 are At any point between the tool alignment members 502, 528 and the handle alignment members 504, 530 to prevent collision between the tool alignment members 502, 528 and the handle alignment member 50 4,530 are positioned and sized relative to each other. Collectively, the multiple actuators The first and second positions of the eters 21, 22, and 23 are located on the handheld portion 16. The potential range of motion defines the range of potential motion of the blade support 18 relative to the blade. The handheld portion 16 may define a space within which the handheld support 18 can move relative to the handheld portion 16. For example, 52 and 53 show blade supports for handheld portions stacked on top of each other. 18. In one configuration, for example, the blade support 18 is positioned approximately 1 For handheld portion 16 within a space having a height of 50 mm and a width of approximately 115 mm The geometry of the instrument 14 and the limits of the actuators 21, 22, 23 may Based on this, it is believed that the height and width of the space may vary.

[0136] Also, during operation of the instrument 14, the blade support 18 is attached to the handheld portion 16 (FIGS. 18-19). 28) is in a pose that does not provide the desired range of motion. At least one of the row members 502, 528 and at least one of the handle alignment members 504, 530 and may be arranged so as not to be aligned with each other in a second spatial relationship. The second spatial relationship is when the blade support 18 does not provide the desired range of motion for the instrument 14. Provides a visual indication of the pose to the handheld portion 16, thus The tool alignment members 502, 528 and the hand The operating members 504, 530 are aligned in a first spatial relationship. indicates that the user must adjust the pose of the handheld portion 16. In particular, The addition of tool alignment member 528 and second handle alignment member 530 allows for the handheld portion This further aids in providing a visual indication of the pose of the blade support 18 relative to the It functions to:

[0137] In a second spatial relationship, the tool alignment members 502, 528 are aligned with the handle alignment members 504, There are various scenarios where the blade support 18 may not be aligned with 530. For example, It may pitch relative to the handheld portion 16 about a lateral axis 558 (FIG. 18 21), the blade support 18 is rotated about a longitudinal axis 552. It may be rolled against the heald portion 16 (as shown in Figures 22 to 24), and and / or blade support 18 along a vertical axis 554 relative to handheld portion 16. It may move (i.e., rise) by (as shown in Figures 25 to 28). The resulting movement of the blade support 18 relative to the handheld portion 16 in the degrees of freedom. It should be appreciated that other misalignments are possible. Combinations of the above misalignments may be simultaneously For example, the blade support 18 may be attached to the handheld device at the same time. The tool alignment member 502 can be pitched and rolled relative to the hand portion 16. When not aligned with respect to the alignment member 504, the resulting second spatial relationship is The blade relative to the handheld portion 16 may be misaligned in multiple degrees of freedom. Provides a visual indication of the pose of the support 18.

[0138] In some configurations, the first spatial relationship is such that the blade support 18 is aligned with the lateral axis 558 The pitch degree of freedom is aligned with respect to the handheld portion 16 at the center. However, as mentioned above, multiple actuators 21, 22, 23 are attached to the handheld portion 16 to maintain the tool 20 on the target plane TP. The pitch of at least the blade support 18 may be adjusted by, for example, 18 to 21 show that the actuators 21, 22, 23 no longer have maximum adjustability. The blade support 18 is pitched a predetermined amount relative to the handheld portion 16 so as not to The actuators 21, 22, and 23 are no longer at their maximum adjustment. The blade support 18 is pitched relative to the handheld portion 16 so that it is not adjustable. When the tool alignment members 502, 528 are engaged, at least one of the tool alignment members 502, 528 is engaged with the second cavity. In the interposed arrangement, at least one of the handle alignment members 504, 530 and The second spatial arrangement may include a pitch relationship. is the pitch of the blade support 18 relative to the handheld portion 16 about the lateral axis A visual indication of the size of the

[0139] For example, as shown in FIGS. 18-21, the distal portion 542 of the handle alignment member 504 , along the longitudinal axis 552 of the handle alignment member 504 in the direction of pitch. The proximal portion 544 of the alignment member 504 (shown as distance D2) is closer to the blade plane B. Further from P (shown as distance D1), the tool alignment member 502 and the handle The dollar alignment members 504 may be arranged in pitch relationship, for example, as best shown in FIG. As a result, the actuators 21, 22, 23 no longer have maximum adjustability. The second tool alignment member 528 is pitched relative to the second handle alignment member 530 so that When engaged, the longitudinally distal portion 542 of the second handle alignment member 530 rotates in the pitch direction. The second handle is aligned along the longitudinal axis 552 of the second handle alignment member 530 in the The alignment member 530 is positioned at a distance D4 from the longitudinally proximal portion 544 of the alignment member 530. the distance from the ground plane BP (shown as distance D3). The blade support is so adjusted that the actuators 21, 22, 23 no longer have maximum adjustability. When the handle aligning members 504, 505 are pitched relative to the handheld portion 16, One end of 28 is further along the longitudinal axis of tool 20 in the direction of movement than the other end. Therefore, the alignment members 502, 504, 528, and 530 are arranged such that the blade support 18 is aligned with the handheld portion 16. The tool alignment members 502, 528 and handle alignment member 504 do not have the desired range of motion. , 530 are aligned in a first spatial relationship. A visual cue may be provided that the pose must be adjusted, allowing the apparatus 14 to adjust to its maximum Offer possibilities.

[0140] In other configurations, the first spatial relationship is such that the blade support 18 is aligned with the longitudinal axis 55 2 is aligned in the roll degree of freedom relative to the handheld portion 16. The plurality of actuators 21, 22, 23 may provide a visual indication of the tool 20. At least blade support for handheld portion 16 to maintain it over target plane TP For example, FIGS. 22 to 24 show a plurality of arms. The actuators 21, 22, 23 are then lowered by a predetermined amount so that they no longer have maximum adjustability. The blade support 18 is shown rolled relative to the handheld portion 16. The blade support 18 is then rotated so that the actuators 21, 22, 23 no longer have maximum adjustability. When the tool alignment members 502, 505 are rolled relative to the handheld portion 16, At least one of the handle alignment members 5 and 28 is arranged in the second spatial arrangement. The second spatial arrangement includes the role relationship. The roll relationship is the roll of the brake relative to the handheld portion 16 about the longitudinal axis 552. A visual indication of the size of the roll of braid support 18 may be provided.

[0141] For example, as shown in FIGS. 22-24, the distal portion 546 of the handle alignment member 504 The handle alignment member 504 is aligned along a lateral axis 558 of the handle alignment member 504 in the direction of roll. The blade plane BP is closer to the proximal portion 548 of the row member 504 (shown as distance D2). When the distance from the tool alignment member 502 is greater than the distance from the tool alignment member 502 (shown as distance D1), the tool alignment member 502 and the hand The roll alignment members 504 may be arranged in a roll relationship. a laterally proximal portion of the second handle alignment member 530 along a lateral axis 558 in the The second hand is farther from the blade plane BP than min 548 (shown as distance D4). 10 shows the laterally distal portion 546 (shown as distance D3) of the alignment member 530. Still referring to FIG. 24, the first handle alignment member 504 is a second spatial relationship of the handle alignment member 502 to the second handle alignment member 530; The combination of the first tool alignment member 528 with the second spatial relationship is merely The first tool alignment member 502 is aligned with the handheld portion 1 rather than the first tool alignment member 504. 6. In particular, the first The first handle alignment member 504 and the second handle alignment member 530 are aligned with the handle alignment plane 5 26 (shown in FIG. 24) may be cumulatively defined, and the handle alignment plane 526 may be The tool adjustment is performed so that the number of actuators 21, 22, 23 no longer has maximum adjustability. The blade support for the handheld portion may be rolled relative to the row plane 512. 18. Thus, the operator can easily see the position of the blade support 18. Another visual indication is provided that the handheld portion 16 does not have an optimal range of motion. In other words, the actuators 21, 22, 23 are no longer at their maximum adjustable position. The blade support 18 is rolled relative to the handheld portion 16 so as to have no In this case, one side of the handle alignment members 504, 528 is in the direction of deviation. 04,528 is moved further from the blade plane BP than the other side. The arrangement of alignment members 502, 504, 528, 530 in a roll relationship provides a blade support If the body 18 does not have the desired range of motion relative to the handheld portion 16, the tool alignment member 502 and the operator aligns the handle alignment member 504 in a first spatial relationship. Provide visual indication that the pose of the handheld part 16 should be adjusted. This provides maximum adjustability for the instrument 14.

[0142] In an additional configuration, the first spatial relationship is such that the blade support 18 is aligned with the vertical axis 554. The center does not have any vertical displacement (i.e., height) relative to the handheld portion 16. The plurality of actuators 21, 22, 23 may provide a visual indication that the tool The blade support 1 is attached to the handheld portion 16 to maintain the blade 20 on the target plane TP. 25 to 28 show a plurality of The handheld device is then rotated so that the actuators 21, 22, 23 no longer have maximum adjustability. 1 shows the blade support 18 raised a predetermined amount relative to the blade portion 16. The blade supports are then moved so that the actuators 21, 22, 23 no longer have maximum adjustability. When the carrier 18 is raised relative to the handheld portion 16, the tool alignment members 502, At least one of the handle alignment members 528 is arranged in the second spatial arrangement. 504, 530. The rows may include a height relationship, which may include a blade support relative to the handheld portion 16. A visual indication of the height of the body 18 may be provided. For example, as shown in FIGS. As shown, the tool alignment member 502 and the handle alignment member 504 are The height when the handle is moved above the handle alignment member 504 in the height direction at a distance D1. 26 and 28 show a second example of the arrangement of the first and second electrodes at a distance D3. 10 shows a second handle alignment member 530 moved above the tool alignment member 528. Therefore, the arrangement of the alignment members 502, 504, 528, and 530 in terms of height is , the blade support 18 does not have the desired range of motion relative to the handheld portion 16, and the tool The alignment members 502, 528 and the handle alignment members 504, 530 are in a first spatial relationship. The operator must adjust the pose of the handheld portion 16 so that it is aligned with the This may provide a visual indication that the instrument 14 is in a fully adjusted position, providing maximum adjustability for the instrument 14.

[0143] In view of the above discussion, the guidance array 500 provides many benefits to the operation of the instrument 14. For example, the guidance array 500 may be required to ascertain the pose of the blade support 18 relative to the handheld portion 16 In other words, the blade support relative to the handheld portion 16 is reduced. The operator essentially shifts their focus to receive visual instructions for the posture of the body 18. guidance array so that there is no need to adjust (e.g., rotate) their heads. The guidance array 500 is positioned so that the tool is substantially within the operator's line of sight. 20. At the same time, the guidance array 500 is positioned substantially in the line of sight of the operator. While the guidance array 500 is located within the Towards the proximal portion 560 of the tool support so that the distal tip of tool 20 is visible. This allows the user to concentrate on cutting and aligning at the same time. In other words, the guidance array 500 allows the user to have an unobstructed view of the surgical site and the tool 20. The device is positioned a specific distance from the distal tip of the tool 20 to have a good view. Additionally, the guidance array 500 is configured to position the blade support 18 relative to the handheld portion 16. and providing the operator with an easily identifiable visual indication of the speed of the Reduces the need for auxiliary components (e.g., auxiliary navigation displays). Additionally, guidance array 500 has minimal parallax. 00 provides visual instructions primarily through mechanical structures, making it less appealing than electronic navigation. In comparison, there is no delay in providing visual indication of movement.

[0144] 29 to 32, alternative configurations of the guidance array 600 are shown. In the illustrated configuration of the tool alignment array 600, the tool alignment member 602 defines a cylindrical shape. Similarly, the handle alignment member 604 may include a tool alignment portion 610 having a cylindrical shape. 32, the handle may include a handle alignment portion 624 defining the For example, the tool alignment portion 610, the handle alignment portion 624, and the target plane TP intersect. When the target plane TP is in the first space, the tool alignment member 602 and the handle alignment member 604 are aligned. 2. The tool 20 is aligned with the target plane TP and is actuated. Provides a visual indication that the eters 21, 22, and 23 are in their home positions. In this configuration, the term "intersects" refers to the ability of the handheld surgical system to operate within appropriate tolerances. When viewed from the proximal end 560 of the system 10, at least a portion of the tool alignment member 602 and At least a portion of the handle alignment member 604 is substantially aligned (as described above). Referring to FIG. 32, the tool alignment portion 610 and the handle The alignment portions 624 include markings in the form of a first color 666 and a second color 668, respectively. The marks (666, 667) on the tool alignment portion 610 and the handle alignment portion 624 may be used. 668) provides a visual indication of the alignment of the blade support 18 relative to the handheld portion 16. For example, the handheld device (as shown in Figure 32) is used by an operator. When viewed from the proximal end 560 of the device 14, the marks (666, 668) overlap. When the marks (666, 668) are aligned, the operator can 8 has the greatest range of adjustability relative to the handheld portion 16. In particular, marks (666, 668) indicate that the blade support 18 is a handheld portion. 16 each having a length that defines the appropriate overlap tolerance with an optimum range of motion. The tool alignment member 602 and handle alignment member 604 are aligned with the blade (as described above). If the support 18 is in a pose that does not provide the desired range of motion for the handheld portion 16, 30 and 31. The second spatial relationship may be such that the first and second electrodes are not aligned. 31, the handle alignment member 604 is attached to the handheld portion 16. For example, the handle alignment member 604 may be removably coupled to the handle alignment member 604 may be magnetically coupled to handheld portion 16 so that it can be separated as needed. However, the handle alignment member 604 may be removably coupled to the handheld portion. Any suitable means is contemplated (e.g., latches, clips, fasteners, hooks and loops, etc., and combinations thereof).

[0145] In particular, the guidance array 600 is configured to support the blade support 18 relative to the handheld portion 16. To provide further instruction of the pose, a second tool alignment member 628 and a second hand For example, the plurality of actuators 21, 22, and 23 may include a cylinder alignment member 630. The blade support 18 is now in the configuration shown in FIG. 32 so as to no longer have maximum adjustability. The handheld portion 16 is rolled a predetermined amount in a predetermined direction so as to move away from the When the handle alignment members 604, 628 are pulled out, one side of the handle alignment members 604, 628 is pulled out in the direction of the deflection. 604, 628 are displaced further from the blade plane BP than the other side. If so, the mark 668 on the handle alignment portion 624 will be aligned with the tool alignment portion 624 in the direction of deviation. 10 away from the mark 666 on the handle 610 and The alignment portion 624 is not aligned and the blade support 18 is positioned relative to the handheld portion 16 as desired. and the tool alignment members 602, 628 and handle alignment members 604, 6 The operator positions the pointers of the handheld portion 16 so that the pointers 30 are aligned in a first spatial relationship. provides a visual indication that the scale must be adjusted, allowing the instrument 14 to have maximum adjustability. Similarly, the second tool alignment member 628 and the second handle alignment member 630 , pitch and height degrees of freedom of the blade support 18 relative to the handheld portion 16. Provide further instructions for the pose.

[0146] 33 and 34 show yet another configuration of the guidance array 600'. In the illustrated configuration of tool array 600', tool alignment member 602' defines a spherical shape. Similarly, the handle alignment member 604' may include a tool alignment portion 610' that is spherical. 34. The handle may include a shape-defining handle alignment portion 624'. In either configuration, the tool alignment portion 610' is located in the blade plane BP. 4, for example, the tool alignment portion 610′, the handle alignment portion When the target plane TP, tool alignment member 602′ and target plane TP intersect, and handle alignment member 604' are disposed in a first spatial relationship such that tool 20 is aligned with target plane T P and the actuators 21, 22, 23 are in their home positions. With particular reference to FIG. 34, the tool alignment portion 610′ and The bundle alignment portion 624' guides the guidance array 600' from the proximal end 560 of the instrument 14. The size should be such that the operator can easily identify that they are aligned when looking at them. The blade support 18 may be dimensioned to allow optimal movement relative to the handheld portion 16. Also, the tool alignment member 602' and handle The alignment member 604' aligns the blade support 18 relative to the handheld portion 16 (as described above). If they are in a pose that does not provide the desired range of motion, In particular, the guidance array 600' may be positioned so that it is not aligned with the handheld device. To provide further indication of the pose of the blade support 18 relative to the handle portion 16, It may include two tool alignment members 628' and a second handle alignment member 630'.

[0147] In particular, the guidance array 600' provides a blade support 16 for the handheld portion 16. To provide further instruction for the eight poses, a second tool alignment member 628' and a second For example, the handle alignment member 630' may include a plurality of actuators 21, 22, 34 so that the blade support 18 no longer has maximum adjustability. When the handheld portion 16 is rolled a predetermined amount away from the One side of the handle alignment members 604', 628' is in the direction of deviation. 604', 628' are moved further from the blade plane BP than the other side. In other words, the spherical handle alignment portion 624' is aligned with the spherical tool alignment portion 61 in the direction of deviation. 0' and moves the spherical handle alignment portion 610' away from the spherical tool alignment portion 610'. The row portion 624' is not aligned and the blade support 18 is positioned relative to the handheld portion 16 as desired. , and the tool alignment members 602', 628' and the handle alignment member 604 The operator positions the handheld portion so that the ',630' are aligned in a first spatial relationship. Provides visual cues for the poses that must be adjusted, and allows maximum adjustment to the apparatus. Similarly, the second tool alignment member 628' and the second handle alignment member Member 630' provides a brake relative to handheld portion 16 in pitch and height degrees of freedom. provides further instructions for the pose of the support 18.

[0148] 35 to 37 show another example of a guidance array 600''. In the illustrated example of 00'', tool alignment member 602'' has tool alignment portion 610'' and the handle alignment member 604'' includes a handle alignment portion 624''. 36, the tool alignment member 602'' and the handle The dollar alignment member 604'' (as described below) guides the user to any tracking marks 584. The tool alignment member 602'' and the When the tool alignment portion 604 and the handle alignment member 604'' are disposed in a first spatial relationship, 10'' and handle alignment portion 624'' may be offset from the blade plane BP. For example, as shown in FIG. 36, tool alignment portion 610'' and handle alignment portion 624 '' is the plane defined between the blade plane BP and the grip 72 of the handheld portion 16. In other words, in the configurations shown in FIGS. tool alignment member 602'' and so that they are aligned (i.e., substantially parallel). When the handle alignment member 604'' is disposed in the first spatial relationship, the tool alignment portion 61 0'' and handle alignment portion 624'' are not coplanar with the blade plane BP. While the tool alignment member 602'' and the handle alignment member 604'' are in a first spatial relationship, When placed in engagement, the tool alignment portion 610'' and the handle alignment portion 624'' are BP, and the tool 20 is aligned with the target plane TP and is actuated. The controllers 21, 22, and 23 provide a visual indication that they are in their home positions. Also, the blade support 18 (as described above) provides the desired movement relative to the handheld portion 16. When in a pose that does not provide a range of motion, the tool alignment member 602'' and the handle alignment member The materials 604'' may be arranged so as not to be aligned in a second spatial relationship. The guidance array 600 ″ is attached to the blade support 18 relative to the handheld portion 16 . To provide further guidance for the pose of the second tool alignment member 628'' and the second The handle alignment member 630'' may include a handle alignment member 630''.

[0149] In particular, the guidance array 600'' provides blade support for the handheld portion 16. To provide further instruction for the 18 poses, a second tool alignment member 628'' and For example, the plurality of actuators 21, The blade support 18 is shown in FIG. 37 so that 22, 23 no longer have maximum adjustability. The handheld portion 16 is rolled a predetermined amount away from the attached configuration. One side of the handle alignment member 604'', 628'' is provided for aligning the handle in the direction of deviation. Move the members 604'', 628'' further from the tool alignment plane 512 than the other side. In other words, the handle alignment portion 624'' is aligned with the tool alignment portion 624 in the direction of deviation. 10'' away from the tool alignment portion 610'' and the handle alignment portion 624'' is not aligned so that the blade support 18 does not move as desired relative to the handheld portion 16. The tool alignment members 602'', 628'' and the handle alignment members 6 The operator places the handheld device so that the 04'', 630'' are aligned in a first spatial relationship. and provides visual indication that the pose of the hand portion 16 must be adjusted, and the device 14 Similarly, the second tool alignment member 628'' and the second handle The handheld alignment member 630'' is oriented relative to the handheld portion 16 in pitch and height freedom. 1 provides further guidance on the pose of the blade support 18.

[0150] 38 and 39 show further configurations of the guidance array 600'''. In the illustrated configuration of the tool alignment array 600''', the tool alignment members 602''' The handle alignment member 604''' includes the alignment portion 610''', and the handle alignment member 604''' includes the handle alignment portion 624 In particular, however, the structures shown in Figures 12 to 28 and Figures 35 to 37 Unlike the handle alignment member 604''', the tool alignment member 602''' is attached to one side of the handle alignment member 604'''. In contrast to the configurations shown in Figures 12 to 28 and Figures 39 to 42, the tool alignment Member 502 aligns with both the distal and proximal ends of handle alignment member 504. As shown in the configuration shown in FIG. 1, for example, the tool alignment portion 610′″, the handle alignment portion Once the target plane TP and the tool alignment member 624''' are aligned, the target plane TP and the tool alignment member 602''' and handle alignment member 604''' are disposed in a first spatial relationship, The actuator 20 is aligned with the target plane TP and the actuators 21, 22, and 23 are It also provides a visual indication that the blade 18 is in the home position (as described above). 2) when in a pose that does not provide the desired range of motion for the handheld portion 16; tool alignment member 602''' and tool alignment member 602''' such that they are not aligned in the second spatial relationship. and handle alignment member 604'''. In particular, guidance array 600' '' provides further indication of the pose of the blade support 18 relative to the handheld portion 16. To this end, a second tool alignment member 628''' and a second handle alignment member 630 May contain '''.

[0151] In particular, the guidance array 600''' provides blade support for the handheld portion 16. To provide further indication of the pose of the body 18, a second tool alignment member 628''' and and a second handle alignment member 630'''. For example, multiple actuators 39 so that 21, 22, 23 no longer have maximum adjustability. The blade support 18 is rolled a predetermined amount relative to the handheld portion 16 so that the blade support 18 is separated from the handheld portion 16. When the handle alignment member 604''', 628''' is rotated, one side of the handle alignment member 604''', 628''' is rotated in the direction of deviation. The handle alignment members 604''', 628''' are positioned further from the blade plane BP than the other side of the handle alignment members 604''', 628'''. In other words, the handle alignment portion 624''' is moved in the direction of deviation. Moves away from tool alignment portion 610''' and moves toward tool alignment portion 610''' and the handle alignment portion 624''' is not aligned, and the blade support 18 is in the handheld portion. 16 and tool alignment members 602''', 628''' and the handle alignment members 604''', 630''' are aligned in a first spatial relationship. The operator must adjust the pose of the handheld portion 16 to It provides a visual cue and provides maximum adjustability for the instrument 14. Similarly, the second tool alignment portion The first handle alignment member 628''' and the second handle alignment member 630''' have pitch and height degrees of freedom. provides further indication of the pose of the blade support 18 relative to the handheld portion 16. Provide.

[0152] In particular, as shown in the configurations shown in FIGS. 29 to 39 and 51, the tool alignment member 6 02, 602', 602'', 602''' are removably coupled to the blade support 18 The tool tracker 574 may be integrally formed with the surgical navigation system. The tool alignment members 602, 602', 602'', 602''' are aligned with the tool tracker 574. Forming the blade support 18 integrally with the blade 18 reduces the mounting space required. This allows the tool tracker to be closer to the tip of the tool 20, resulting in more accurate surgical navigation. The tool tracker 574 is attached to the cross member 582. The wall 580 may include walls 580, each side wall 580 having one or more of a plurality of markers 584. In some configurations, the markers are arranged in a mirror image configuration on each sidewall 580. The sidewall 580 may be formed to match the profile of the blade support 18. Additionally, in some configurations, the markers 584 may be active, passive, or a combination thereof. In other configurations, the marker 584 may be 2 to improve line of sight with tool alignment members 602, 602', 602'', 602'' '. To attach the tool tracker 574 to the blade support 18, The tool tracker 574 may include a guide slot 576, and the blade support 18 may include The distal end of the blade support 18 may include a guide rail 578 (shown in FIG. 35). The guide slots 576 of the tool tracker 574 are guided by the guides of the blade support 18. It is sized to accept the guide rail 578 and the tool tracker 574 18. The connector 14 is connected to the distal end of the card support 18.

[0153] Additionally, the tool alignment member 602 and / or the handle alignment member 604 may be one or more may include multiple visual indicia. For example, as shown in Figures 32 and 34, In this configuration, the tool alignment member 602 includes at least a first visual indicia 562, The guide alignment member 604 includes at least a second visual indicia 564. In particular, the first visual indicia 56 2 is visually distinguishable from the second visual indicia 564. For example, see FIGS. In the version shown in FIG. 1, the first visual indicia 562 is located on the tool alignment member 602 and The handle alignment member 604 is not aligned (i.e., in the second spatial arrangement) ) may be positioned so as to be visible from the proximal end 560 of the handheld portion 16. Second visual indicia 564 indicates that tool alignment member 602 and handle alignment member 604 are aligned. When aligned (i.e., in a first spatial arrangement), the proximity of the handheld portion 16 Therefore, the first visual indicator 562 is positioned so that it is visible from the distal end. and a second visual indicator 564 indicates tool alignment relative to the handle alignment member 604. Provides the operator with an easily identifiable visual indication of the alignment of member 602. In John, visual cues can be one or more visual cues (e.g., patterns, lights, For example, referring to FIG. 32, the visual indicia may include colored It may include marks 666 and 668.

[0154] For example, in another configuration as shown in FIGS. 47-48, tool alignment member 502 and The handle alignment member 504 includes a first visual indicia 562 and a second visual indicia 566, respectively. For example, the first visual indicia 562 may be a first color 566 and the second visual indicia The target 564 may be a second color 568. In this configuration, the first color 566 is When the screw alignment member and the handle alignment member are aligned (FIGS. 35, 37 and 38), 40) and a tool alignment member 504 and a handle alignment member 504 are adjacent to each other. At least one of the second visual indicia 564 is visible along the bordering edge of the tool. When alignment member 502 and handle alignment member 504 are misaligned (as best seen in FIG. 40), tool alignment member 504 and handle alignment member 504 (shown) at adjacent edges To facilitate this configuration, the upper surface 503 of the tool alignment member 502 and The top surface 505 of the handle alignment member 504 may include a first visual indicia 562. The side 570 of the tool alignment member 502 and the side 572 of the handle alignment member 504 are The second view is taken when the wheel alignment member 502 and the handle alignment member 504 are not aligned with each other. The actuator may include a second visual indicia 564 so that the first visual indicia 564 appears. 21, 22, 23 to provide an indication that one or more of the The visual indicia 562, 564 indicate that the tool alignment member 502 and the handle alignment member 504 are aligned. To quickly identify if the tool is out of alignment, the operator must first This allows for quick differentiation of the surface of the handle alignment member 504. For example, as shown in FIG. As such, when the tool alignment member 502 and the handle alignment member 504 are not aligned, A second visual indicia 564 (in the form of a second color 568 and located on side 572) At least one of the actuators 21, 22, 23 is visible. provides an indication that the plurality has moved from the home position.

[0155] 42 and 43, the instrument 14 includes a tool alignment member 502, a handle alignment member 504, and a Any suitable location within the operator's line of sight, such as member 504 or blade support 18 The light source 586 may include a light emitter 586 such as an LED. may be configured to be illuminated when the blade support 18 has a desired range of motion. and visual confirmation that the handheld portion 16 is within a specified alignment range with the target plane TP. For example, light 586 may indicate that actuators 21, 22, and 23 are in the first configured to indicate that the sensor is in a spatial arrangement (i.e., has a desired range of motion) Alternatively, the light emitters 586 may be illuminating when the blade supports 18 are in the second spatial arrangement. For example, the handheld portion 16 may be configured to illuminate when movement of the handheld portion 16 is required. When the first visual indicator 201 is activated to indicate that The indicator 201 indicates that one or more of the actuators 21, 22, and 23 are home. Too far away from the position and not aligning the tool alignment member with the handle alignment member , indicating that the handheld portion 16 needs to be moved.

[0156] In some examples, the controller may determine the commanded positions of the actuators 21, 22, 23. and controlling the light emitter 586 based on the available movement of the actuators 21, 22, and 23. For example, the first color may be a first color within the actuation range of the actuators 21, 22, and 23. The second may be based on the range of travel and the commanded position of the actuators 21, 22, 23. The color of the second range of movement of the actuators 21, 22, 23 is different from the first range of movement. 2 and the commanded position of the actuators 21, 22, 23. A third color may also be included to represent a third range of movement of the actuators 21, 22, 23 within their available travel. The third range of movement may be different from the second range of movement. For example, the first color may be red. This allows the commanded actuator 21, 22, 23 closest to the outer limit of available travel to be The second color, yellow, correlates to the position of the target and indicates movement further away from the outer limits of the available movement. The third color is green, which correlates to the commanded positions of the actuators 21, 22, 23. The commanded position of the actuators 21, 22, 23 is far from the limits of the available range of movement. This indicates that

[0157] In a further example, the color associated with the light emitter 586 is determined by a plurality of actuator parameters. , whereby the light 586 may indicate to the user that at least one actuator The first represents the amount of movement required to bring the sensors 21, 22, and 23 to the commanded position. and a handheld portion 16 for bringing the tool 20 into the working range of the actuator. and a second color representing the direction required to move the The color of the arrow may correspond to the outermost range of available movement (i.e., relative to the commanded position). the fewest remaining moves available), the second color corresponds to the middle range of available moves The first color may correspond to the innermost range of available moves (i.e., (Most remaining movement available relative to the commanded position). In some instances, the light source 5 86 is configured to be divided into two or more parts. Each part is It may be illuminated in different states to indicate the desired direction of movement of the handheld portion 16. In some versions, the illumination of the upper and lower portions of the light source 586 is controlled by the handheld. The same is operated based on the commanded position and available movement of the hand portion 16. It is okay to do so.

[0158] Alternatively, the light 586 or other indicia may indicate one or more configurations of the commanded pose. The system may be controlled based on one or more ranges of motion in a particular degree of freedom. More specifically, the light 586 or other indicia may indicate the pitch configuration of the commanded pause. Alternatively, or in combination, the pitch range of the element and the motion may be controlled. , the light emitter 586 is based on the roll component of the commanded pose and the roll range of the movement. The pitch and roll ranges of motion may be controlled by a series of superimposed ranges. The control system 60 determines whether the pitch component of the commanded pose is equal to the pitch of the movement. The roll component of the commanded pose is within the innermost range of the movement roll. When the light source is within the innermost range of the color range, the light emitter may be controlled to emit a first color. Alternatively, the control system 60 may control the light emitter to emit light of a second color or to emit light of a second color. The pitch component of the commanded pose is in a range relatively outside the pitch range of the movement, or When the roll component of the commanded pose is in a range relatively outside the roll range of the movement, By controlling the light 586 in this manner, the light signature , the user is in a good pose in terms of pitch and roll or the user is in a good pose in terms of pitch and roll It can also indicate that one of the roles needs to be adjusted. The stem 60 also determines whether the height component of the commanded pose is within the innermost range of the height range of the movement. The first color may be further emitted only if a further condition exists, such as when the first color is within a predetermined range. Additionally, the control system 60 may be configured to control one of the pitch, roll, or height components. If either of the is outside its respective innermost range of motion, it emits a second color of light. Alternatively, the light emitters 586 may be controlled to block power to the light emitters 586. Although roll and roll are mentioned here, the light emitter 586 may have other degrees of freedom relative to one another. Control based on the components of the commanded pose and their respective ranges of motion can be done.

[0159] 44-50, in another configuration, the instrument 14 includes a blade support 18 and The handheld portion 16 may include a shroud 700 coupled to and extending between the handheld portion 16. In particular, as shown in FIGS. 29 to 39, the shroud 700 is and handle alignment member 504. The shroud 700 may be included in the instrument 14 simultaneously. Compatible with sterilization processes such as autoclave or hydrogen peroxide sterilization processes Any suitable material, such as plastic, rubber, composites, or a combination thereof, may be used. The shroud 700 may be formed from a material such as a clamp, fastener, adhesive, or the like. The blade support 18 and handheld device may be attached using any suitable means, such as a combination of these. In some configurations, the shroud 700 may be coupled to the shroud portion 16. The shroud 70 may surround at least one of the actuators 21, 22, and 23. 0 extends and retracts when the blade support 18 moves relative to the handheld portion 16. It may also include accordion-like folds that allow it to bend. , the shroud 700 includes at least two shroud landmarks 702 (further described below). In some configurations, the number of the nuclei is 2 or more, 5 or more, 10 or more, Or even multiple shroud landmarks 702 may be provided. As the handheld portion 16 moves relative to the shroud landmarks 18, the shroud landmarks move relative to each other. The movement of 702 provides a visual indication of the pose of the blade support 18 relative to the handheld portion 16. 45, the instrument 14 is detachably mounted in a handheld portion 16. The shroud may include one or more shroud alignment members 706 operably coupled thereto. In some configurations, the instrument 14 includes at least two shroud alignment members 706. The shroud alignment member 706 may be transparent and may have a shroud alignment mark 708. For example, referring to FIG. 47, shroud alignment marks 708 may be included when multiple The actuators 21, 22, 23 are in their home positions and therefore the instrument 1 In some configurations, 2 or more, 4 or more may indicate whether the patient has an optimal range of motion. Alternatively, multiple shroud alignment members 706 may be provided. For example, see FIGS. 50 provides a further visual indication of the pose of the blade support 18 relative to the handheld portion 16. A handheld surgical robot system including a second shroud alignment member 714 for providing Shows the stem.

[0160] In some configurations, the at least two shroud landmarks 702 are at least The folds 704 also include two folds 704. In some configurations, the folds 704 are accordion shaped. The fold 704 may be defined by a crease in the shape of a bracket relative to the handheld portion 16. A plane 716 (shown in FIG. 46) that provides a visual indication of the pose of the blade support 18 The folds 704, e.g., planes 716, may be substantially parallel, At position 710, plane 716 is aligned with shroud alignment mark 708. The shroud alignment marks 708 may be offset by a distance corresponding to the shroud alignment marks 708, and the actuators may be The actuators 21, 22, and 23 are in their home positions, so that the apparatus 14 can perform optimal exercise. However, the blade support 18 and When the handheld portion 16 is moved to the second position 712, the plane 716 is aligned vertically. The blade support 18 may move in a direction and an angle relative to the handheld portion 16. Provides a visual indication that the user does not have optimal range of motion.

[0161] 47 to 50 show the tool alignment member 502 and the handle alignment member 504 as well as the The enclosure 700 provides a visual indication of the pose of the blade support 18 relative to the handheld portion 16. For example, FIG. 48 shows that the brake The shroud 70 when the handheld support 18 is pitched relative to the handheld portion. 49 shows the blade support 18 being rolled relative to the handheld portion 16. FIG. 50 shows the shroud 700 when the blade support 18 is handheld. 48-50 show the shroud 700 when it is being raised relative to the In each case, the pose of the fold 704 relative to the shroud alignment mark 708 is providing the operator with a visual indication of the pose of the blade support 18 relative to the handle portion 16; .

[0162] In some configurations, tool alignment member 502 and handle alignment member 504, as well as At least two shroud landmarks 702 are a first visual indicia 562 and a second visual indicia 562. Also, similarly, the blade support relative to the handheld portion may include a visual indicator 564. The first visual field is adjusted to provide the operator with a readily identifiable visual indication of the pose of the body 18. The visual indicia 562 may be visually distinguishable from the second visual indicia 564. For example, The first visual indicia 562 may be a first color and the second visual indicia 564 may be a second color. In this configuration, the first color is displayed when the blade support 18 is in the first position (all That is, when the actuators 21, 22, and 23 are in their home positions. and the second color is visible when the blade support 18 is in a second position (i.e., the blade When the support 18 does not have an optimal range of motion relative to the handheld portion 16, this is visible.

[0163] In another configuration shown in Figures 54-77, the instrument 14 also includes a guidance array 900. The guidance array 900 controls the tool relative to the handheld portion 16 during operation of the instrument 14. The tool 20 is aligned with the target plane TP, providing the operator with a visual indication of the pose of the tool support 18. provides maximum adjustability for the actuator assembly 400 (described above) to maintain While adjusting the pitch of the handheld portion 16 to achieve the desired pose of the tool 20, Provides the operator with a visual indication of the required changes in direction, roll orientation, and z-axis translation. The dance array 900 includes the actuators 21, 22, 23 near the home position or other predetermined position. Regarding how the handheld portion 16 is moved to provide sufficient adjustability, A handheld is used to provide visual instructions to guide the operator through the It includes a handle alignment member 904 extending from portion 16 .

[0164] The handle alignment member 904 is connected to the actuator 21 of the actuator assembly 400. A visual indication that one or more of 22, 23 have moved from their respective home positions. The indicator may be of any suitable shape or configuration that provides an indication to an operator user. For example: 54 to 77, the handle alignment member 904 has a handle alignment protrusion 906. The handle alignment protrusion 906 extends toward the tool mount 18a. 54 to 77, the handle alignment protrusion 906 is At least a portion 908 of the protrusion 906 is aligned with the longitudinal axis 9 of the tool 20 / tool ​​support 18. 10 and shaped to be disposed at an oblique angle relative to the lateral axis 912. For example, the handle alignment protrusion 906 is aligned with the longitudinal axis 91 of the tool 20 / tool ​​support 18. 0 and a handle alignment edge 914 disposed at an oblique angle relative to the lateral axis 912. Handle alignment protrusions relative to the longitudinal axis 910 and the lateral axis 912 The "oblique" angle of 906 may be, for example, a slant angle between both the longitudinal axis 910 and the lateral axis 912. The alignment of the handle alignment protrusion 906 at an angle greater than 0 degrees and less than 90 degrees relative to the For example, the tool alignment protrusion 906 may include a longitudinal and lateral axis 910 , 912. A tool alignment edge 914 may be defined that is at a 45 degree angle relative to the edge 912.

[0165] In one configuration, for example, as shown in FIGS. 54-77, a handle alignment member 90 4 may define a hook-shaped handle alignment protrusion 906. The projection 906 swivels inwardly toward the tool support 18 to define the oblique angle. The handle may define a curved handle alignment edge 914 that loops over the handle. The configuration shows a hook-shaped handle alignment protrusion 906, but polygonal edges, stepped edges, etc. Any suitable edge that defines an oblique angle is contemplated, including but not limited to: In particular, as will be explained in more detail below, the longitudinal direction of the tool 20 / tool ​​support 18 The oblique angle of the handle alignment protrusion 906 relative to the axis 910 and the lateral axis 912 is: Simultaneously, the pose of the tool support 18 relative to the handheld portion 16 in multiple degrees of freedom is calculated. This may provide the user with a more accurate identification.

[0166] In some configurations, such as those shown in Figures 54-57, the actuator assembly When the actuators 21, 22, and 23 of the hand 400 are at their home positions, At least a portion of the tool alignment protrusion 906 and the tool plane BP may be aligned, Provide a visual indication that the support 18 has an optimal range of motion for the handheld portion 16. In some configurations, the term "aligned" refers to the handle At least a portion of the alignment protrusion 906 is substantially aligned with the tool plane BP within an appropriate tolerance. In particular, in the home position, the actuator The amount of adjustability of the actuators 21, 22, 23 of the eter assembly 400 is determined by the tool 20 is maximized to maintain the desired pose. In some cases, the handle alignment The alignment of at least a portion of the protrusion 906 with the tool plane BP is greater than 99 percent. may be aligned to 90 percent or more; may be aligned to 70 percent or more In other examples, the alignment may be more than 60 percent. Alignment is achieved by 1 percent deviation from the target pose in each individual degree of freedom, 5 percent deviation from the target pose, 10 percent deviation from the target pose, or is a specified deviation from the target pose, such as within 20 percent or more of the target pose. Similarly, proper alignment may be achieved in each individual degree of freedom. Within 1mm of the target pose, within 2mm of the target pose, or even 5mm of the target pose In addition, proper alignment may be achieved by adjusting the target position in roll and / or pitch. deviation of more than 1 degree from the target pose, deviation of more than 5 degrees from the target pose, deviation of more than 15 degrees from the target pose or even a deviation of 30 degrees or more from the target pose.

[0167] Conversely, when the handheld portion 16 is in a pose that does not provide an optimal range of motion, the tool The handle plane BP and the handle alignment protrusion 906 are configured not to be aligned, and the handle the handheld portion 16 is in a pose that does not provide an optimal range of motion for the tool support 18; Therefore, it provides a visual indication that adjustments need to be made by the operator (see below). (This is described in more detail below.) In some configurations, the guidance array 900 54-77. The tool alignment member 902 may then extend from the tool support 18. 902 provides a visual indication of the pose of the tool plane BP relative to the handle alignment member 904. For example, the tool alignment member 902 may have any shape or configuration that allows for , may include a tool alignment protrusion 916 extending toward the tool mount 18a. 54-77, similar to the handle alignment protrusion 906, the tool alignment protrusion 916 is the longitudinal axis 910 and the lateral axis 912 of the tool 20 / tool ​​support 18. In some configurations, the periphery of ... For example, the tool alignment protrusion 916 is aligned with the longitudinal axis 910 and lateral axis 912 of the tool 20. A tool alignment edge 918 may be defined that is oblique to the adaxial line 912 .

[0168] The optimal range of motion may be the maximum range of motion in one, two, three or more degrees of freedom. The optimum range of motion does not necessarily have to be the maximum range of motion, but rather the maximum The desired range of motion for the preferred pose of the tool support for a particular cut, or other pre-planned virtual objects such as drawn sections or planned axes. The optimal range of motion is the center of the range of motion in one or more degrees of freedom. It need not be the center of the range of motion in one, two or three degrees of freedom in a given configuration. That's fine.

[0169] For example, in one configuration as shown in Figures 54-77, tool alignment member 902 , may define a hook-shaped tool alignment protrusion 916. Hook-shaped tool alignment protrusion 91 6 sweeps inwardly toward the tool support 18 to define the oblique angle described above. The configurations in Figures 54-77 may define a curved tool alignment edge 918. Although a square-shaped tool alignment protrusion 916 is shown, it is also possible to use a polygonal edge, a stepped edge, etc. Any suitable edge defining an oblique angle is contemplated, including but not limited to: The hook-shaped tool alignment protrusion 916 and the hook-shaped handle alignment protrusion 906 The alignment occurs when the support 18 has an optimal range of motion relative to the handheld portion 16. Further, the handheld portion 16 may be configured to be suitable for a tool support 18. and configured to be disaligned when in a pose that does not provide a sufficient range of motion; The handheld portion 16 is in a pose that does not provide the tool support 18 with an optimal range of motion. Provide a visual cue.

[0170] In some examples, the actuators 21, 22, When the 23 are in their home positions, the tool alignment edge is The tool support 18 may be offset and parallel to the handle alignment edge. Provides a visual indication to the operator that the handheld portion 16 has a desired range of motion. Also, in some instances, the tool alignment member 902 may be larger than the handle alignment member 906. 18. It is positioned closer to the tool support 18 than the other.

[0171] In some configurations, the tool alignment protrusion 916 is substantially aligned with the tool plane BP. For example, the tool alignment protrusion 916 may be coplanar with the tool plane BP. In this manner, the tool alignment protrusion 916 facilitates alignment of the handheld portion 11 with the tool support 18. To facilitate providing visual indication of the pose of the six, the view of the orientation of the tool plane BP However, the handle alignment member 904 may act as a visual indicator. 902 without the addition of a visual indication of the pose of the handheld portion 16 relative to the tool support 18. It is important to note that the CSS may function to provide a display of the By examining the relationship between the handle alignment member 904 and the tool 20, the handheld portion 16 One may further appreciate the relationship of the tool support 18 to the

[0172] The handle alignment member 904 may be removably coupled to the handheld portion 16. For example, For example, handle alignment member 904 is configured to be coupled to handheld portion 16. 58, the handle alignment portion 922 may include a handle coupling portion 922. The handle coupling portion 922 of the member 904 is removably coupled to the handheld portion 16. For example, the handle coupling portion 922 may be configured so that the handle alignment member 904 can be Alternatively, the operator's hands may be moved between the handle alignment member 904 and the tool alignment member 902 and / or the tool. The handheld portion 16 is provided with a magnetic field so that it can be separated if it is pinched between the handheld portion 16 and the carrier support 18. The handle alignment member 904 may be removably attached to the handheld portion 16. Any suitable means of attachment (e.g., magnets, latches, clips, fasteners, hook and loop fasteners) Droop, etc., and combinations thereof) are possible.

[0173] The handle alignment member 904 may also include a support arm 924. The support arm 924 A handle coupling portion 922 may extend from the handle coupling portion 922 to support the handle alignment member 904. 54-58, the actuator of the actuator assembly 400 When the controllers 21, 22, and 23 are in their home positions, the handle alignment member 904 The support arm 924 supports the handheld portion 16 so that the tool plane BP is aligned with the tool plane BP. Extending upward from the grip 72. In some examples, the handle alignment member 904 is The handle alignment member 904 is rigid relative to the handheld portion 16 to facilitate its function. The handle alignment member 904 may be made of plastic, aluminum, steel, composite material, or the like. The handle alignment member may be formed from any suitable material, including combinations thereof. 904 is a process that involves 3D printing, casting, machining, injection molding, stamping, etc. It may be formed using any suitable manufacturing method, including combinations of these.

[0174] Similarly, referring to FIG. 58, a tool alignment member 902 is coupled to the tool support 18. The tool may also include a tool coupling portion 926 configured to Any suitable handrail may be used in any suitable location to facilitate the function of the guide rail alignment member 802. The tool is attached to the tool support 18 using a fastener (e.g., fasteners, magnets, adhesive, etc.). For example, the tool support 18 may include a tool mounting bracket extending laterally from the tool support 18. The tool coupling portion 926 of the tool alignment member 902 may include a rail 928. Tool mounting rails 92 for removably securing the row members 902 to the tool support 18 8. The tool mounting channel 930 may define a tool mounting channel 930 configured to be engaged with the tool mounting channel 8.

[0175] The tool alignment member 902 may further include a support portion 932. The support portion 932 includes: A tool coupling portion 926 may extend from the tool coupling portion 926 to support the tool alignment member 902. In some instances, the tool alignment member 902 may be configured with a The tool alignment member 902 may be rigid relative to the tool support 18. , aluminum, steel, composites, etc., or combinations thereof. Additionally, the tool alignment member may be formed by 3D printing, casting, machining, casting, etc. Use any suitable manufacturing method, including molding, stamping, etc., or a combination thereof. The ion implantation may be performed by the following steps.

[0176] In some configurations, the guidance array 900 comprises two or more handle alignment members and and two or more tool alignment members. For example, the guidance array 900 may be a first handle alignment member. The first handle alignment member 904 and the handheld portion 906 are spaced apart from the first handle alignment member 904. and a second handle alignment member 934 extending from the second handle 16. The handle alignment member 934 may include a second handle alignment protrusion 936. The row projections 936 may extend toward the tool mount 18a. 77, the second handle alignment protrusion 936 is 6 is aligned with the longitudinal axis 910 of the tool 20 / tool ​​support 18 and The second ribs 914 may be shaped to be disposed at an oblique angle relative to the lateral axis 912. The handle alignment protrusion 936 is aligned with the longitudinal axis 910 of the tool 20 / tool ​​support 18 and and a second handle alignment edge 940 disposed at an oblique angle relative to the lateral axis 912. may be defined.

[0177] In some examples, the guidance array 900 includes a first tool alignment member 902 and a second tool alignment member 903. A second tool alignment member 902 extends from the handheld portion 16 at a location away from the first tool alignment member 902. For example, referring to FIGS. 54-77, some In this configuration, the first alignment members 902, 904 and the second alignment members 934, 942 are , extend from opposite sides of handheld portion 16 and have mirror image arrangements.

[0178] The second tool alignment member 942 is a second tool alignment member extending toward the tool mount 18. The second tool alignment protrusion 944 may include a row protrusion 944. The second tool alignment protrusion 944 may The support 18 is disposed at an oblique angle to the longitudinal axis 910 and the lateral axis 912. In some configurations, for example, the second tool alignment The protrusion 944 is aligned with the longitudinal axis 910 and the lateral axis 912 of the tool 20 / tool ​​support 18. A second tool alignment edge 948 may be defined that is angled relative to 912. The actuators 21, 22, and 23 of the actuator assembly 400 are When in the arm position, the second tool alignment edge 948 is aligned with the second handle alignment edge 94 0 and parallel to the second handle alignment edge 940, A visual indication that the support 18 has an optimal range of motion for the handheld portion 16. For example, referring to Figures 54 and 56, the actuator actuator When the actuators 21, 22, and 23 of the assembly 400 are in their home positions, The handle alignment edges 914, 940 and the tool alignment edges 918, 948 are not aligned with each other. In particular, the alignment members 902, 904, 934, and 942 are aligned and parallel to each other. Alignment of tool alignment members 902, 934 with handle alignment members 904, 942, respectively The indication may be of any suitable shape. Four or more, six or more, or even more tool alignment members and handle alignment members are provided. It is considered acceptable.

[0179] As shown in FIGS. 54-57, the first tool alignment protrusion 916 and the first handle Alignment protrusion 906 as well as second tool alignment protrusion 942 and second handle alignment protrusion The actuators 21, 22, and 23 of the actuator assembly 400 are When in their respective home positions, they are aligned with each other, and the tool support 18 Provides a visual indication that the handheld portion 16 has an optimal range of motion. Pairs of first tool alignment protrusion 916 and first handle alignment protrusion 906 and second The second tool alignment protrusion 944 and the second handle alignment protrusion 936 are When the 16 are in poses that do not provide optimal range of motion, they are not aligned with each other. The handheld portion 16 is configured to provide an optimal range of motion for the tool support 18. It is in a pose that does not provide a Provide visual cues.

[0180] During operation of the instrument 14, the handle alignment protrusions 906, 936 and the tool plane BP The actuators 21, 22, and 23 of the actuator assembly 400 are positioned at their home positions. The first and second spatial relationships 950 may be arranged such that they are aligned in a first spatial relationship 950 when the first and second spatial relationships 950 are in a first spatial relationship. For example, referring to FIGS. 54-57, the handle alignment protrusions 906, 936 and the tool flat When the surfaces BP are disposed in the first spatial relationship 950, the handle alignment protrusions 906, 907 36 and the tool plane BP are aligned, and the actuator of the actuator assembly 400 Provides a visual indication that the eters 21, 22, and 23 are in their home positions.

[0181] Additionally, referring to FIG. 57, the instrument 14 is configured to hold the tool 20 in the target plane TP. When the tool support 18 is maintained, the target plane TP, the handle alignment protrusions 906, 93 6 and tool plane BP are aligned with handle alignment protrusions 906, 936, tool plane BP and configured to be disposed in a first spatial relationship 950 when the target plane TP is aligned. The tool 20 is aligned with the target plane TP and the tool 20 is set in the desired pose. so that the actuators 21, 22, 23 have the maximum amount of adjustability to maintain Provide a visual indication that the actuators 21, 22, and 23 are in their home positions. , pitch, roll and z-axis translation of the instrument 14 to maintain the tool 20 at the target plane TP. Provides maximum adjustment (i.e., height).

[0182] During operation of the instrument 14, the handle alignment protrusions 906, 936 are aligned with the handheld portion 16 (FIG. 59 to 75) When the body 18 is not aligned from the tool plane BP in the second spatial relationship 952, The second spatial relationship 952 may be such that the tool support 18 is Visual indication that the handheld portion 16 is in a pose that does not provide the desired range of motion. The first spatial relationship is used to provide a sense of position and therefore provide maximum adjustability for the instrument 14. At 950, the handle alignment protrusions 906, 936 are aligned with the tool plane BP. indicates that the operator must adjust the pose of the handheld portion 16. do.

[0183] Similarly, tool alignment members 902, 942 having tool alignment protrusions 916, 944 During operation of the instrument 14, which further includes at least one of the handle alignment protrusions 906, 936 and tool alignment protrusions 916, 944 are When the eters 21, 22, and 23 are in their home positions, they are in a first spatial relationship 950. For example, referring to FIGS. 54 to 57, The handle alignment protrusions 906, 936 and the tool alignment protrusions 916, 944 form a first spatial When positioned in relationship 950, the handle alignment protrusions 906, 936 and the tool alignment protrusions 906, 936 The protrusions 916 and 944 are aligned, respectively, and the actuators 21, 22, and 23 are aligned accordingly. Provides a visual indication that it is in its home position.

[0184] Also, similarly, referring to FIG. 57, the tool 20 may be moved to the target plane TP. 14 maintains the tool support 18, the target plane TP, the handle alignment protrusion 906 , 936 and tool alignment protrusions 916, 944 are aligned with the handle alignment protrusions 906, 936 , when the tool alignment protrusions 916, 944 and the target plane TP are aligned, and the tool 20 is aligned with the target plane TP. and actuators 21, 22, 23 are used to maintain the tool 20 in a desired pose. 3 has the maximum amount of adjustability. to provide a visual indication that the tool 20 is in the target plane TP The instrument 14 is provided with maximum adjustment in pitch, roll and z-axis translation (ie, height).

[0185] Additionally, the instrument 14 further includes at least one of the tool alignment members 902, 942. During actuation, the desired movement of the handheld portion 16 (shown in FIGS. 59-75) In the second spatial relationship 952 when the tool support 18 is in a pose that does not provide a range tool alignment protrusions 916, 944 and handles 916, 944 so that they are not aligned with each other. The second spatial relationship 952 may be such that the needle alignment protrusions 902, 942 are positioned relative to the instrument 14. pose the tool support 18 relative to the handheld portion 16 in a way that does not provide the desired range of motion to provide a visual indication that the instrument 14 is To do this, the tool alignment protrusions 916, 944 and the handle alignment protrusions 906, 936 are aligned with the first The operator positions the pointer of the handheld portion 16 so that they are aligned in spatial relationship 950. In particular, the second tool alignment member 942 and The addition of the second handle alignment member 934 provides tool support for the handheld portion 16. It serves to further assist in providing visual instructions for the 18 poses. To facilitate visual cues throughout the actuator's range of motion, The first position of each of the plurality of actuators 21, 22, 23 of the rotor assembly 400 The tool alignment members 902, 942 and the handle alignment members 904, 906 may be moved at any point between the first and second positions. The tool alignment members 902, 942 and the handles 904, 934 are arranged to prevent collision with each other. Dollar alignment members 904, 934 are positioned and sized relative to each other.

[0186] In a second spatial relationship 952, the handle alignment protrusions 906, 936 are aligned with the tool plane BP and / or various systems that may not be aligned with the tool alignment protrusions 916, 944. For example, the tool support 18 is oriented along a lateral axis 912 (see FIGS. 59-62). 1) may be pitched relative to the handheld portion 16 around the tool support 1 8 is a handheld portion about a longitudinal axis 910 (shown in FIGS. 63-66). 16 and / or the tool support 18 may be 6 along a vertical axis 954 (i.e., height) relative to the In other degrees of freedom, the tool support 16 is It should be recognized that other misalignments resulting from the movement of 8 are possible. It should also be appreciated that combinations of alignments may occur simultaneously. For example, tool support 18 The handle can be simultaneously pitched and rolled relative to the handheld portion 16. The row projections 906, 936 are aligned with the tool plane BP and / or the tool alignment projections 916, 94 4, the resulting second spatial relationship 952 is misaligned. occurs in multiple degrees of freedom, the tool support 1 relative to the handheld portion 16 Provides visual instructions for 8 poses.

[0187] In some configurations, the first spatial relationship 950 is the distance between the hand and the lateral axis 912. The tool support 18 is aligned in the pitch degree of freedom relative to the heald portion 16. However, the above-mentioned pitch relationship may include a first pitch relationship 956 that provides a visual indication that Thus, the actuators 21, 22, and 23 of the actuator assembly 400 are a tool support for the handheld portion 16 to maintain the tool 20 at the target plane TP; 59 to 62. For example, The hand is moved so that the actuators 21, 22, 23 no longer have maximum adjustability. The tool support 18 is shown pitched a predetermined amount relative to the heald portion 16. The tool support is so that the actuators 21, 22, 23 no longer have maximum adjustability. When the handheld portion 16 is pitched relative to the handheld portion 16, the second spatial arrangement 952 The handle alignment protrusions 906 and 936 are aligned with the tool plane BP and / or the tool The second spatial arrangement 952 may not be aligned with the first alignment protrusions 916, 944. The second pitch relationship 958 may include a second pitch relationship 958 centered about the lateral axis 912. The pitch magnitude and direction of the tool support 18 relative to the center handheld portion 16 Visual cues may be provided.

[0188] For example, as shown in FIGS. 59-62, the first of the handle alignment protrusions 906, 936 The portion 960 is aligned with the second portion 96 of the handle alignment protrusion 906, 936 in the pitch direction. 2 further from the tool plane BP and / or the tool alignment protrusion 916, 944 When the handle alignment protrusions 906, 936, the tool plane BP and / or the tool alignment protrusions The projections 916, 944 may be arranged in a second pitch relationship 958. See Figures 59-62 For example, the distal portions 964 of the handle alignment projections 906, 936 are aligned with the longitudinal axis 910 than the proximal portion 966 of the handle alignment member protrusions 906, 936. Away from the surface BP and / or the tool alignment protrusions 916, 944. For example, FIG. As shown in FIG. 62, the distal ends of the handle alignment protrusions 906, 936 are aligned with the tool alignment protrusions. The handle alignment projections 906, 936 are positioned below the distal ends of the projections 916, 944. The tool alignment protrusions 916, 944 are pitched downward to eliminate the pitch requirement. The grip 72 provides a visual indication to the user that it should be rotated.

[0189] In other words, the actuators 21, 22, 23 no longer have maximum adjustability. When the tool support 18 is pitched relative to the handheld portion 16, One end of each of the drum alignment projections 906, 936 is aligned with the longitudinal axis 91 in the direction of pitch. 0 along the tool plane BP and / or the tool alignment protrusion 916,9 44. Therefore, the second pitch relationship 958 is does not have the desired range of motion relative to the handheld portion 16 and is in a first spatial relationship 950 The handle alignment protrusions 906, 936 are aligned with the tool plane BP and / or the tool alignment protrusions The operator poses the handheld part 16 so that it is aligned with parts 916 and 944. A visual indication that adjustments should be made may be provided, allowing the instrument 14 to have maximum adjustability. provide.

[0190] In other configurations, the first spatial relationship 950 is such that the tool support 18 is handheld. Provides a visual indication that the part 16 is aligned in the roll degree of freedom The plurality of actuators 21, 22, 23 may include a first roll relationship 968. axially with respect to the handheld portion 16 to maintain the target plane TP. It may be configured to adjust at least the roll of the tool support 18 around 0. For example, FIGS. 63 to 66 show that the plurality of actuators 21, 22, and 23 are no longer at their maximum adjustable state. The tool support is rolled relative to the handheld portion 16 by a predetermined amount so as to have no The actuators 21, 22, 23 no longer have maximum adjustability. When the tool support 18 is rolled relative to the handheld portion 16, The tool alignment protrusions 906, 936 are aligned with the tool plane in a second spatial arrangement 952. It may not be aligned with the BP and / or tool alignment protrusions 916, 944. The second spatial arrangement 952 may include a second roll relationship 970. 9. 0 is the tool support 18 relative to the handheld portion 16 about the longitudinal axis 910. The roll may provide a visual indication of the size and direction of the roll.

[0191] For example, as shown in FIGS. 63 to 66, the outer portions of the handle alignment protrusions 906 and 936 The portion 972 is located closer to the inner portion 974 of the handle projections 906 and 936 in the direction of roll. When away from the tool plane BP and / or the tool alignment protrusions 916, 944, The handle alignment protrusions 906, 936, the tool plane BP and / or the tool alignment protrusion 91 6,944 may be disposed in a second roll relationship 970. In particular, referring to FIG. First handle alignment relative to tool plane BP and / or first tool alignment protrusion 916 A second spatial relationship 952 of the protrusion 906 and the tool plane BP and / or the second tool a second spatial relationship 952 of the second handle alignment protrusion 936 relative to the alignment protrusion 944; The combination of is simply relative to the tool plane BP and / or the first tool alignment protrusion 916. The second spatial relationship 952 of the first handle alignment protrusion 906 is such that the handheld portion 1 6. A further visual indication of the pose of the tool support 18 relative to the

[0192] In particular, the addition of the second tool alignment member 942 and the second handle alignment member 934 improves the tool alignment. Another point of view is that the support 18 does not have an optimal range of motion relative to the handheld portion 16. In other words, referring to Figures 63 to 66, multiple The tool support is so that the actuators 21, 22, 23 no longer have maximum adjustability. When the handle 18 is rolled relative to the handheld portion 16, the handle alignment protrusions 906, One side of the handle alignment protrusion 936 is opposite to the other of the handle alignment protrusions 906 and 936 in the direction of roll. the tool plane BP and / or the tool alignment protrusions 916, 944. For example, as shown in FIGS. 63 to 66, the first handle alignment protrusion 90 The outer portion 972 of the first handle 970 is below the first tool alignment protrusion 916, while the outer portion 972 of the second handle 970 is below the first tool alignment protrusion 916. an outer portion 972 of the tool alignment protrusion 916 above the second tool alignment protrusion 944; The handheld portion 16 is rolled clockwise relative to the tool support 18. Therefore, the operator can adjust the tool 14 to a position with maximum adjustability. The feeling that the handheld portion 16 should be adjusted clockwise to return Therefore, the second roll relationship 970 is such that the tool support 18 does not have a desired range of motion relative to the handheld portion 16 and is in a first spatial relationship 950 Handle alignment protrusions 906, 936, tool plane BP and / or tool alignment protrusion 9 The operator must adjust the pose of the handheld portion 16 so that the 16,944 is aligned. This may provide a visual cue that the instrument 14 should be adjusted and provides maximum adjustability.

[0193] In an additional configuration, the first spatial relationship 950 is such that the tool support 18 is aligned with the vertical axis 95 Any vertical movement (i.e., height) relative to the handheld portion 16 along the The actuator may include a first height relationship 978 that provides a visual indication that the actuator is not The plurality of actuators 21, 22, 23 of the assembly 400 move the tool 20 to a target plane T At least the height of the tool support 18 relative to the handheld portion 16 is maintained at P For example, FIGS. 67 to 70 show a plurality of actuators 21 , 22, 23 are adjusted relative to the handheld portion 16 so that they no longer have maximum adjustability. 1 shows the tool support 18 raised by a certain amount. The tool support 18 is positioned so that the handheld portion 16 no longer has maximum adjustability. When raised relative to the handle alignment protrusions 906, 936, the handle alignment protrusions 906, 936 are aligned with the second spatial arrangement 9 52 and the tool plane BP and / or tool alignment protrusions 916, 944, respectively. The second spatial arrangement 952 includes a second height relationship 980. The second height relationship 980 is the height of the tool support 18 relative to the handheld portion 16. A visual indication of the size of the

[0194] For example, as shown in FIGS. 67 to 70, the handle alignment protrusions 906 and 936 are 916, 944 downward in the direction of the tool plane BP and / or the tool alignment protrusion 916, 944. When the handle alignment protrusions 906, 936, the tool plane BP and / or the tool The rule alignment protrusions 916, 944 may be disposed at a second height relationship 980. For example, the actuators 21, 22, 23 may be adjusted so that they no longer have maximum adjustability. When the handle support 18 is raised relative to the handheld portion 16, the handle alignment protrusions 906, 936 are aligned along a vertical axis 954 in the height direction to the tool plane BP and / or The tool alignment protrusions 916 and 944 are located above or below the tool alignment protrusions 916 and 944. Therefore, the second height relationship Handle alignment protrusions 906, 908 relative to tool alignment protrusions 916, 944 at 980 The arrangement of 36 allows the tool support 18 to have an optimal range of motion relative to the handheld portion 16. 9. The handle alignment protrusions 906, 936 are aligned with the tool plane in a first spatial relationship 950. The operator must ensure that the handle is aligned with the BP and / or tool alignment protrusions 916, 944. providing visual indication that the pose of the handheld portion 16 should be adjusted; Provides maximum adjustability for the instrument 14. For example, tool alignment protrusions 916, 944 are shown in FIG. 67-70, handle alignment protrusions 906, 903 on each side of the instrument 14 6 and handle to place the instrument 14 in a position with maximum adjustability. The handheld portion 16 is raised to align the handheld portion 16 with the tool support 18. It provides a visual indication to the user that it needs to be moved.

[0195] It will be appreciated from the above discussion that the guidance array 900 provides many benefits to the operation of the instrument 14. For example, the handle alignment protrusions 906, 936 (and therefor) The handle alignment edges 914, 940 defined by this are used to at an oblique angle relative to the longitudinal axis 910 and the lateral axis 912 defined by the body 18. At an oblique angle relative to the longitudinal axis 910 and the lateral axis 912. The arrangement of the portions 908, 938 of the handle alignment protrusions 906, 936 allows for multiple free The handle angle is relative to the tool plane BP and / or the tool alignment protrusions 916, 944. The benefit of this is that it allows the operator to recognize the alignment of the dollar alignment protrusions 906, 936. Provide points.

[0196] For example, as shown in Figures 71-75, in some configurations, the actuator assembly The assembly 400 is configured to have at least the pitch and For example, the tool support 18 is configured to adjust the pitch and roll simultaneously. 71-75, which are simultaneously moved in both the and roll degrees of freedom. The handle alignment projections relative to the tool plane BP and / or the tool alignment projections 916, 944 The placement of the angled portions 908, 938 of the projections 906, 936 is such that the projections 906, 936 are spaced apart in at least two degrees of freedom. provides a visual indication of the pose of the handheld portion 16 relative to the tool support. , respectively, relative to the tool plane BP and / or the tool alignment protrusions 916, 944 The second spatial arrangement 952 of the hand-aligned protrusions 906, 936 is At least a second pitch relationship 958 and a second roll relationship 97 of the tool support BP 0, providing a visual indication that the handheld portion 16 has an optimal range of motion for the tool support 18. provides a visual indication that the tool is in a pose relative to the tool support 18. Therefore, the operator must align the handle alignment protrusions 906, 936, the tool plane BP, and / or or so that the tool alignment protrusions 916, 944 are aligned in a first spatial relationship 944. The operator must adjust the pose of the handheld portion 16. and provides maximum adjustability for the instrument 14.

[0197] As an example of this feedback in multiple degrees of freedom, Figures 71-75 show the steering One end of the alignment protrusions 906, 936 is aligned with the longitudinal axis 910 in the pitch direction. Along the other end of the tool plane BP and / or the tool alignment protrusions 916, 944 and one side of the handle alignment protrusions 906, 936 is further away from the roll direction. the tool plane BP and / or the other side of the handle alignment protrusion 906, 936. 9B, or is further moved away from tool alignment protrusions 916, 944. Thus, the handle alignment protrusions 906, 936 (and in some configurations the tool The diagonal placement of the alignment protrusions 916, 944 provides a visual indication of the roll degree of freedom. A first visual reference is directed toward the outer portion 972 of the handle alignment protrusion 906, 936. A first portion of the handle alignment protrusions 906, 936 provides a visual indication of the degree of freedom of the handle. By providing a second visual reference towards minute 960, the handheld portion 16 This facilitates visual indication of the pose of the tool support 18 relative to the The portions 908, 938 and the handle alignment protrusions 906, 936 are handle alignment protrusions. provides increased functionality for visual indication compared to an orthogonal array of.

[0198] Additionally, as shown in FIGS. 76-77, the tool alignment member 902 and / or the hand The handle alignment member 904 is configured to align the handle alignment protrusions 904 with the tool alignment protrusions 916, 944. Include one or more visual indicia to facilitate the user's visual recognition of the 6,936 alignment. For example, the handle alignment protrusions 906, 936 and / or the tool alignment protrusions 916 and 944 are the first visual mark 986 and the second visual mark 988, respectively. The first visual indicia 986 may include at least one visual indicia from the second visual indicia 988. The first visual indicia 986 and / or the second visual indicia 988 may be On the handle alignment protrusions 906, 936 and / or the tool alignment protrusions 916, 944, e.g. For example, handle alignment protrusions 906, 936 and / or tool alignment protrusions 916, 94 4 may be disposed on the beveled surface 990 and / or the side surface 992. Any of the dollar alignment protrusions 906, 936 and / or tool alignment protrusions 916, 944 Suitable surfaces for alignment are the handle alignment protrusions 906, 908 relative to the tool alignment protrusions 916, 944. It is believed that this will facilitate the operator's visual recognition of the alignment of 936. The visual indicia 986 and / or the second visual indicia 988 may be aligned with the handle alignment protrusion 906. providing the operator with an easily identifiable visual indication of the alignment of the tool alignment protrusion 916 In some versions, the visual indication is one or more overt visual cues (e.g., For example, patterns, lights, colors, and combinations thereof. For example, see Figures 76 to 77. In this case, the visual indicia may include a colored mark.

[0199] In the version shown in FIGS. 76-77, for example, the visual indicia may be a tool alignment protrusion. When the handle alignment protrusion 906 is aligned with the handle alignment protrusion 916, the handle alignment protrusion 90 6 and the first visual indicia 986 of the tool alignment protrusion 916 are aligned. The tool support 18 may be positioned so that it is tilted relative to the handheld portion 16. Conversely, the handle alignment protrusion 906 The first visual indicia 986 of the tool alignment protrusion and the first visual indicia 986 of the tool alignment protrusion are When the protrusion 916 and the handle alignment protrusion 906 are not aligned, 18. The handheld portion 16 may be configured to have an optimal range of motion for the tool support 18. Provide a visual cue that the robot is in a pose that does not provide a boundary.

[0200] 78-85 show guides for use with the handheld surgical robot system 10. 10 shows yet another configuration of the dance array 1000. Similar to the configuration described above, the guidance array 1000 indicates the position of the tool support 18 relative to the handheld portion 16 during operation of the instrument 14. The actuator provides a visual indication of the tool's position to the operator and maintains the tool 20 at the target plane TP. of the tool 20 while providing maximum adjustability to the actuator assembly 400 (described above). Adjust the pitch orientation, roll orientation, and z-axis orientation of the handheld portion 16 to achieve the desired pose. Provides a visual indication to the operator of the desired change in axis translation. Guidance Array 10 00 moves the actuators 21, 22, and 23 of the actuator assembly 400 to the home position. or other predetermined position to provide sufficient adjustability for the instrument 14. the operator as to how to move the handheld portion 16 to provide Extending from the handheld portion 16 to provide visual indication to the operator for guidance. The handle includes a curved handle alignment member 1004.

[0201] 80 to 83, for example, the handle alignment member 1004 is a handle support arm. The handle support arm 1106 includes a first handle support arm end 11 08 and the second handle support arm end 1110. 1106 is a handle coupling portion 11 coupled to a first handle support arm end 1108. 12 (best shown in Figures 81 and 82). The handheld alignment member 1004 is configured to couple to the handheld portion 16 of the device 14. For example, in some configurations, the handle coupling portion 1112 is 6. A handle coupling member configured to couple to a corresponding coupling member 1116 disposed at Including 1114.

[0202] 80-82, in some configurations, the handle alignment member 1004 The handle coupling portion 1112 is magnetically coupled to the handheld portion 16 of the device 14. Thus, the handle alignment member 1004 can be quickly and magnetically attached to the handheld portion 16. The magnetic connection can be easily attached to and detached from the handheld portion 16. For ease of use, the handle coupling member 1114 and coupling member 1116 are located on the handheld portion 16. One of the composite members may include one or more magnets 1118, while the other The other of the handle coupling member 1114 and the coupling member disposed in the handle portion 16 is It may include one or more magnets 1118 and / or ferromagnetic material 1120, The handle coupling member 1114 and coupling member disposed on the handheld portion 16 are The handle alignment member 1004 is magnetically coupled to one another for coupling to the handheld portion 16. It is configured to do so.

[0203] Referring to Figures 81 and 83, the handle alignment member 1004 is a second handle support. It further includes a handle alignment member mount 1122 coupled to the arm end 1110. 81 and 83, the handle alignment member 1004 further includes: , and also includes a handle alignment indicator 1124 coupled to the handle alignment indicator mount 1122. The handle alignment indicator 1124 is attached to the actuator of the actuator assembly 400. One or more of 21, 22, and 23 have moved from their home positions. The indicator may be of any suitable shape or configuration that provides a visual cue to an operator user. For example, in one configuration, similar to the other configurations described above, the handle alignment member 1004 is , may define a hook-like protrusion. Also, similar to that described above, the actuator assembly When the actuators 21, 22, and 23 of the actuator 400 are at their home positions, the handle The alignment indicator 1124 and at least a portion of the tool plane BP may be aligned, and the tool A visual indication that the handle support 18 has an optimal range of motion for the handheld portion 16. Conversely, the handheld portion 16 provides an optimal range of motion. When in the non-aligned pose, the tool plane BP and the handle alignment indicator 1124 are aligned. The handheld portion 16 is configured to provide optimal movement of the tool support 18. It is in a pose that does not provide a range of motion and therefore needs to be adjusted by the operator. Provide a visual cue that

[0204] With further reference to Figures 81 and 83, the handle alignment indicator 1124 may include one or more is removably attached to the handle alignment member mount 1122 using a plurality of fasteners 1128 Additionally, the handle alignment indicator 1124 may be suitable for autoclave sterilization. Suitable materials include stainless steel and polyphenylsulfone. Autoclavable polymers include, but are not limited to, the following: An example of a method for manufacturing material 1124 is by stamping a sheet of stainless steel. and forming a handle alignment indicator member 1124 using an autoclave such as polyphenylsulfone. Machining the handle alignment indicator 1124 from a block of abradable polymer and handle alignment instructions from autoclavable polymers such as polyphenylsulfone and forming the member 1124.

[0205] In some configurations, referring to FIGS. 78-86, the guidance array 1000 may include: Also included is a tool alignment member 1126. In one configuration, for example, tool alignment member 1126 may extend from the tool support 18. As with the other configurations described above, When the tool support 18 has an optimal range of motion relative to the handheld portion 16, the handheld portion The tool alignment member 1004 and the tool alignment member 1126 are aligned. Similar to the handle alignment member 1004, the tool alignment member 1126 is a first tool support arm. a tool support arm extending between a tool support arm end 1132 and a second tool support arm end 1134; 1130. The tool support arm 1130 may include a first tool support arm end 11 32 (best shown in FIG. 81). The tool coupling portion 1136 couples the tool alignment member 1026 to the tool support 18 of the instrument 14. For example, in some configurations, the tool coupling portion 1136 is configured to , configured to couple to a corresponding coupling member 1138 disposed on the tool support 18 Also, similar to the above, the tool alignment member 112 6 may be magnetically coupled to the tool support 18 .

[0206] The tool alignment member 1126 includes a tool alignment section coupled to a second support arm end 1134. The tool alignment member 1126 also includes a tool alignment support member 1142. The tool alignment support member 1142 may be attached to the tool alignment portion using, for example, a fastener. The tool alignment indicator 1142 may be coupled to the handle alignment indicator. It may be made of the same material and manufactured by the same method as the display member 1124. In this configuration, the handle alignment indicator 1124 and the tool alignment indicator 1142 are They may have the same shape and size to improve manufacturing efficiency and cost.

[0207] Additionally, referring to FIGS. 80 and 85, the handle alignment indicator 1124 and / or The tool alignment indicator 1142 and / or the tool To facilitate visual indication of the pose of the handle alignment indicator member 1124 relative to the plane BP 1144. Therefore, the tool support 18 may be When the laser mark 1144 does not have an optimal range of motion for 16 minutes, the handheld Enhanced visual indication provided to the operator that adjustments to the part pose are required Laser marks may be made using a laser, but printing, scoring, Handle alignment indicators 1124, such as, but not limited to, and / or other methods of forming marks on the tool alignment indicator 1142 are contemplated. In another configuration, referring to FIG. 85, the handle alignment indicator 1124 and / or The polymer used to form the tool alignment indicator 1142 may be Provide contrasting colors to surrounding elements to enhance the visual cue provided. It may be dyed to provide the desired effect.

[0208] As briefly described above, the instrument 14 is configured such that the pose of the instrument 14 is aligned with the surgical navigation system. The system may include a tracker that allows the system to track the data. For example, see FIGS. Referring to 86, the instrument 14 is coupled to a blade support 18 or other tool support. The tracker 1150 may include a tracker 1150 that is configured to The system 10 is configured such that the tool plane BP is in space or the tool axis is in space. The tracker 1150 allows the current position of the tracker to be determined. 2. The tracker frame 1152 includes at least two faces 1156. The two faces 1156 are non-planar relative to each other. For example, FIG. 78 shows two faces wedged relative to each other. The tracker 1150 is coupled to a tracker frame. The optical markers 1154 may also include at least six optical markers 1154. At least three are attached to each of at least two faces 1156. In this configuration, the plurality of markers 1154 are coupled to at least two surfaces 1156. In some configurations, the markers are arranged as mirror images of each other, whereas in other configurations, multiple markers are arranged as mirror images of each other. 154 are asymmetrically arranged. In other configurations, at least two faces 115 6 may be on either side of a plane that bisects the device 14 .

[0209] Additionally, the tracker frame 1152 includes an instrument engagement ring for receiving a proximal portion of the instrument 14. An opening 1170 may be defined therein. Thus, the instrument 14 may be engaged with the tracker frame 1152. and a mount 1172 for holding the tracker frame 1152 relative to the instrument 14. For example, the tracker frame 1152 may include a tracker 1150 coupled to the instrument 14. In some instances, the mount 1172 may be partially enclosed when in place. The port 1172 may be a slot. The tracker 1150 may be configured to provide power to the tracker 1150. For example, in some configurations, the optical The marker 1154 is an active marker that has a light source that emits light, such as an infrared LED. The battery also powers the antenna 1162, as described in more detail below. For example, one or more of the at least six optical markers 1154 may be LE The LEDs may be LED emitters, and one or more LEDs may be arranged to form two arrays. Each array includes at least one LED emitter.

[0210] As previously described above, the robotic surgical system 10 includes a control system 60. Referring to FIG. 1, the control system 60 includes, among other components, a navigation system. The control system 60 includes the tool plane BP of the tool 14. with at least one target plane 184. Continuing to refer to FIG. 86, the tracker 1150 is configured to control It includes an input device 1160, an antenna 1162, and a tracker control device 1164. The control device 1164 is configured to provide an input signal to the navigation system 32 via an input device. 1160 and antenna 1162. Thus, the control system 60 An input signal from the input device 1160 is detected, and the tool support 18 is moved to one of the plurality of target planes 184. The actuator 21 controls the position change of the tool support 18 to align it with a different one of the , 22, 23. In addition, the navigation system The system 32 is configured to determine the tool plane BP of the saw blade 20 based on the target surface. The target surface may be based on the selected target plane 184. Alternatively, the control system 60 The input signal is detected from the input device, and the tool support is moved in a direction parallel to the axis of the input signal (as opposed to the plane). and / or the navigation system. The system may be configured to determine a pose of the tool support based on the target surface, The plane is based on the selected target axis.

[0211] In another embodiment, the robotic surgical system 10 includes a tool tracker 1150 and a navigation system. The present invention may be configured to determine the current tool plane BP using the navigation system 32. Therefore, the robotic surgery system 10 can input multiple target planes via the input device 1160. Select one of the faces 184 and resize the current plane to align with the selected target plane 184. The tool support 1 is provided by a plurality of actuators 21, 22, 23 for positioning the surface BP. You may adjust 8.

[0212] Additional provisions of the present invention include: I. A handheld surgical robotic system for supporting a saw blade, comprising: Held surgical robot system The handheld part and a blade support movably coupled to the handheld portion for supporting the saw blade; a blade support configured to An actuator assembly operably attached to the blade support and the handheld portion. an assembly for moving the blade support relative to the handheld portion in multiple degrees of freedom; an actuator assembly configured to move the a tool alignment member coupled to and extending from the blade support; a handle alignment member coupled to and extending from the handheld portion; Preparation, Tool alignment when the blade support has a desired range of motion relative to the handheld portion At least a portion of the saw blade and at least a portion of the handle alignment member are aligned. A handheld surgical robotic system for supporting a blade. II. The actuator assembly includes a plurality of actuators, Each of the actuators has a first position for moving the blade support relative to the handheld portion. and a second position, the home position being configured to move between the first and second positions, and a midpoint between the first position and the second position of each of the actuators, When at least two of the rotors are in the home position, the blade support has a desired range of motion. 10. The handheld robotic system of claim I, comprising: III. Tool adjustment when the handheld portion is in a pose that does not provide the desired range of motion. The row member and the handle alignment member are not aligned, and the handheld portion is attached to the blade support. Provide a visual indication that you are in a pose that does not provide the desired range of motion, as described in Clause II. Handheld robotic system. IV. At any point between the first position and the second position of each of the plurality of actuators. In order to prevent the tool alignment member and the handle alignment member from colliding with each other, The handle alignment members are positioned and sized relative to one another to accommodate the plurality of actuators. The respective collective first and second positions of the rotors are such that the blade support relative to the handheld portion is The potential range of movement of the holder is specified, and the potential range of movement is approximately 150 mm in height and and a width of approximately 115 mm, Handheld robotic system. V. A portion of the tool alignment member and a portion of the handle alignment member are attached to the grip of the handheld portion. It is positioned above the handheld, and several actuators control the vibration of the handheld. Tool alignment is visible from the proximal end of the blade support when moving the blade support. The member is disposed on the blade support and the handle alignment member is disposed on the handheld portion. 4. The handheld robotic system of any one of clauses I to IV, VI. A plurality of actuators are provided for controlling at least one of the blade supports for the handheld portion. The pitch of the tool alignment member relative to the handle alignment member is adjusted. 1 spatial arrangement of the first pitch relationship of the blade support relative to the handheld portion. and a second spatial arrangement of the tool alignment member relative to the handle alignment member provides a visual indication of the handle alignment member. providing a second pitch relationship of the blade support relative to the dowel portion; the first spatial arrangement is such that the tool alignment member and the handle alignment member are aligned; A visual indication that the blade support has a desired range of motion relative to the handheld portion. and a second spatial arrangement of the tool alignment member relative to the handle alignment member is provided. a distal portion of the tool alignment member; The tool alignment member has a proximal portion that is closer to the tool than the proximal portion of the tool alignment member along the longitudinal axis in the direction of pitch. a handheld robotic system according to any one of clauses I to V, being away from the control plane; Tem. VII. A plurality of actuators are provided for at least one of the blade supports relative to the handheld portion. The height of the tool alignment member relative to the handle alignment member is also adjustable. 1 spatial arrangement of the first height relationship of the blade support relative to the handheld portion. and a second spatial arrangement of the tool alignment member relative to the handle alignment member provides a providing a second height relationship of the blade support relative to the heald portion; the first spatial arrangement is such that the tool alignment member and the handle alignment member are aligned; A visual indication that the blade support has a desired range of motion relative to the handheld portion. and the second spatial arrangement provides a visual indication of the height of the blade support relative to the handheld portion. and the tool alignment member is at least partially aligned with the handle in the height direction. A handheld device according to any one of clauses I to VI above or below the alignment member. Robot system. VIII. The actuators provide at least one blade support for the handheld portion. The tool alignment member is configured to adjust the roll of the handle alignment member. the first spatial arrangement of the blade support relative to the handheld portion is providing a visual indication, and a second spatial arrangement of the tool alignment member relative to the handle alignment member; providing a second roll relationship of the blade support relative to the handheld portion; The spatial arrangement is such that the tool alignment member and the handle alignment member are aligned and the blade providing a visual indication that the hand support has a desired range of motion for the handheld portion; The second spatial arrangement provides a visual indication of the roll of the blade support relative to the handheld portion. a distal portion of the tool alignment member aligning the tool along a lateral axis in the direction of the roll; any one of clauses I to VII, further from the tool plane than the proximal portion of the tool alignment member; Item 10. A handheld robotic system according to item 10. IX. The tool alignment member includes a first tool alignment member and a second tool alignment member, A first tool alignment member and a second tool alignment member extend from opposite sides of the blade support. And, the handle alignment member includes a first handle alignment member and a second handle alignment member; A first handle alignment member and a second handle alignment member extend from the handheld portion. And, When the blade support has a desired range of motion relative to the handheld portion, the first tool a tool alignment member and a first handle alignment member, and a second tool alignment member and a second handle alignment member. and the cable alignment members intersect with each other, The first and second blade supports are moved through a range of motion relative to the handheld portion. The tool alignment member and the first and second handle alignment members are 8. The handheld robot of any one of clauses I to VIII, as viewed from the proximal end. system. X. A plurality of actuators are provided at least one pin of the blade support relative to the handheld portion. a first position of the tool alignment member relative to the handle alignment member; The spatial arrangement of the first pitch relationship of the blade support relative to the handheld portion is visually and a second spatial arrangement of the tool alignment member relative to the handle alignment member provides a providing a second pitch relationship of the blade support relative to the heald portion; the first spatial arrangement is such that the tool alignment member and the handle alignment member are aligned; A visual indication that the blade support has a desired range of motion relative to the handheld portion. and a second spatial arrangement of the tool alignment member relative to the handle alignment member is provided. Provides a visual indication of the pitch of the blade support relative to the tool alignment member. At least one distal portion is aligned along the longitudinal axis in the direction of the pitch. a handheld robot as described in clause IX further from the tool plane than a proximal portion of the material; system. XI. A plurality of actuators are provided for controlling at least one of the blade support for the handheld portion. a first position of the tool alignment member relative to the handle alignment member; The spatial arrangement of the blade support provides a visual indication of a first height relationship of the blade support relative to the handheld portion. and a second spatial arrangement of the tool alignment member relative to the handle alignment member provides a handheld providing a second height relationship of the blade support relative to the ring portion; the first spatial arrangement is such that the tool alignment member and the handle alignment member are aligned; A visual indication that the blade support has a desired range of motion relative to the handheld portion. and the second spatial arrangement provides a visual indication of the height of the blade support relative to the handheld portion. and the tool alignment member at least partially aligns the handle in the height direction. A handheld device according to any one of clauses IX and X above or below the column member. Robot system. XII. A plurality of actuators are provided for at least one of the blade supports for the handheld portion. The handle alignment member is configured to adjust the roll of the tool alignment member relative to the handle alignment member. The first spatial arrangement defines a first roll relationship of the blade support relative to the handheld portion. a second spatial arrangement of the tool alignment member relative to the handle alignment member; providing a second roll relationship of the blade support relative to the handheld portion; The spatial arrangement is such that the tool alignment member and the handle alignment member are aligned and the blade Provides a visual indication that the hand support has a desired range of motion for the handheld portion. The second spatial arrangement is a visual indication of the roll of the blade support relative to the handheld portion. a distal portion of at least one of the tool alignment members in the direction of the roll; and further from the tool plane along the lateral axis than the proximal portion of the tool alignment member. A handheld robotic system according to any one of claims IX to XI. XIII. When the blade support has a desired range of motion relative to the handheld portion, The first tool alignment member and the second tool alignment member are respectively connected to the first handle alignment member and the second tool alignment member. and a second handle alignment member. 2. A handheld robotic system according to claim 1. XIV. The tool alignment member and the handle alignment member have a first visual indicia and a second visual indicia. providing indicia, the first visual indicia being visually distinguishable from the second visual indicia, and When the row member and the handle alignment member are not aligned, a first visual indicator is displayed on the hand. The tool alignment member and the handle alignment member are aligned. When the second visual indicia is visible from the proximal end of the handheld portion, as described in clause III. Handheld robotic system. XV. The tool alignment member and the handle alignment member each have a first visual indicia and a second visual indicia. 10. The handheld robotic system of claim XIV, having visual indicia. XVI. The first visual indicia is a first color and the second visual indicia is a second color, and the tool alignment When the row member and the handle alignment member are aligned, the first color is visible and the tool alignment member is aligned. When the member and the handle alignment member are not aligned, at least one of the second visual indicia One sees a handheld robotic system as described in clause XV. XVII. The tool alignment member and the handle alignment member further include a top surface and a side surface; The top surface includes a first visual indicia and the side surface includes a second visual indicia, thereby enabling tool alignment. When the member and the handle alignment member are not aligned with one another, a second visual indicia appears. , an indication that one or more of the plurality of actuators has moved from a home position. 10. The handheld robotic system of claim XVI, XVIII. Any one of clauses I to XVII, wherein the tool alignment member is a saw blade. Item 10. A handheld robotic system according to item 10. XIX. A surgical navigation system further comprising a tracker, a tracker for determining the position of the tool alignment member; a tracking element for tracking the alignment of the tool, the tracker being part of the tool alignment member; A handheld robotic system according to any one of paragraphs I to XVIII. XX. A handheld robotic system for supporting a saw blade, comprising: The Ludo Robot System The handheld part and a blade support removably coupled to the handheld portion for supporting the saw blade; With the body, An actuator assembly operably attached to the blade support and the handheld portion. an actuator assembly for moving the handheld portion in multiple degrees of freedom; an actuator assembly configured to move the blade support relative to the Li and a first blade support member coupled to and extending from the blade support member on both sides; a first tool alignment member and a second tool alignment member; a first handle adjustment member coupled to and extending from the handheld portion; a row member and a second handle alignment member; When the blade support has a desired range of motion relative to the handheld portion, the first tool The first handle alignment member and the second tool alignment member are respectively a handheld saw blade supporting member aligned with the handle alignment member; Robot system. XXI. An actuator assembly includes a plurality of actuators, Each of the sensors is configured to move between a first position and a second position, moving the blade support relative to the handheld portion through a range of motion; The home position is between the first position and the second position of each of the plurality of actuators. and when each of the plurality of actuators is in a home position, the blade support and the handheld portion has a desired range of motion. Bot system. XXII. When the blade support and handheld portion are moved to a position other than the home position When the first tool alignment member and the second tool alignment member are The handle alignment member is not aligned with the blade support and handheld portion. The handheld device described in Article XXI provides a visual indication that the device is in a position that does not have the desired range of motion. Handheld robotic system. XXIII. The tool alignment member and the handle alignment member further comprise a top surface and a side surface; The top surface includes a first visual indicia, the side surface includes a second visual indicia, and the first visual indicia is Unlike visual indicia, this ensures that the tool alignment member and handle alignment member are aligned with each other. When the tool alignment member, the handle alignment member, or both, is not engaged, the second visual indicia appears on one of the actuators and one or more of the actuators are moved from their home position. a handheld robotic system as described in clause XXII that provides an indication that the system is operating. . XXIV. A plurality of actuators are provided for at least one of the blade supports relative to the handheld portion. The pitch of the tool alignment member relative to the handle alignment member is adjusted. the first spatial arrangement of the blade support relative to the handheld portion is providing a visual indication, and a second spatial arrangement of the tool alignment member relative to the handle alignment member; providing a second pitch relationship of the blade support relative to the handheld portion; The first spatial arrangement is such that the tool alignment member and the handle alignment member are aligned, and the blade Provide a visual indication that the blade support has the desired range of motion for the handheld portion. and a second spatial arrangement of the tool alignment member relative to the handle alignment member is provided. Provides a visual indication of the pitch of the blade support relative to the tool alignment member. At least one distal portion is aligned with the tool alignment member along the longitudinal axis in the direction of the pitch. a handheld robot as described in clause XXIII, further from the tool plane than the proximal portion of Net system. XXV. A plurality of actuators are provided for controlling at least one of the blade support for the handheld portion. The height of the tool alignment member relative to the handle alignment member is also adjustable. 1 spatial arrangement of the first height relationship of the blade support relative to the handheld portion. and a second spatial arrangement of the tool alignment member relative to the handle alignment member provides a providing a second height relationship of the blade support relative to the heald portion; The first spatial arrangement is such that the tool alignment member and the handle alignment member are aligned and the blade Provide a visual indication that the support has a desired range of motion for the handheld portion. a second spatial arrangement providing a visual indication of the height of the blade support relative to the handheld portion; and the tool alignment member is at least partially in the height direction of the handle alignment member. Handheld devices as described in either Articles XXIII and XXIV above or below Ludo Robot System. XXVI. Multiple actuators provide at least one blade support for the handheld portion. The tool alignment member is configured to adjust the roll of the handle alignment member. the first spatial arrangement of the blade support relative to the handheld portion is providing a visual indication, and a second spatial arrangement of the tool alignment member relative to the handle alignment member; providing a second roll relationship of the blade support relative to the handheld portion; The spatial arrangement is such that the tool alignment member and the handle alignment member are aligned, and the blade Provide a visual indication that the support has a desired range of motion for the handheld portion. , the second spatial arrangement provides a visual indication of the roll of the blade support relative to the handheld portion. and a distal portion of at least one of the tool alignment members is Clause X is further from the tool plane than the proximal portion of the tool alignment member along the lateral axis. A handheld robotic system according to any one of claims XIII to XXV. XXVII. VISUAL INSTRUCTION SYSTEM FOR USE WITH HANDHELD ROBOTIC SYSTEMS The handheld robotic system includes a tool, a handheld portion, and a tool support. a blade support movably coupled to the handheld portion for holding the blade support; a handheld portion operatively interconnected with the handheld portion and adapted to connect the handheld portion in a plurality of degrees of freedom; a plurality of actuators configured to move the blade support relative to ,visual instruction system, a blade support and a blade support member surrounding at least one of the plurality of actuators; A shroud coupled to the handheld portion and extending between the blade support and the handheld portion. Equipped with loud, The shroud provides a visual indication of the pose of the blade support relative to the handheld portion. To achieve this, when the blade support and the handheld portion are not aligned with each other, and defining at least two shroud landmarks configured to move relative to the A visual instruction system for use with a handheld robotic system. XXVIII. At least two shroud landmarks with at least two folds the folds define substantially parallel planes at the first location, and the planes are The blade support and the handheld portion are offset from each other by a first distance, When the support and handheld portion are moved to a second position, at least two predetermined positions are 2. The visual indication system of claim XXVII, wherein the defined planes intersect. XXIX. The blade support defines a blade plane, and the blade support and the handle When the dowel portion is in the first position, at least two folds are aligned with the blade plane. The visual indication system of clause XXVIII, wherein the visual indication system is substantially parallel. XXX. At least two shroud landmarks are identified, a first visual mark and a second visual mark. a first visual indicia visually distinguishable from a second visual indicia, The visual impression is the first color, the second visual impression is the second color, A first color is visible when the blade support is in a first position and a second color is visible when the blade support is in a second position. at least one of the second visual indicia is visible when the visual indicia is Directive system. XXXI. HANDHELD ROBOTIC SYSTEM FOR SUPPORTING A SAW BLADE, Handheld robotic systems The handheld part and a blade support movably coupled to the handheld portion for supporting the saw blade; , The blade support and the handheld portion are operatively interconnected and in multiple degrees of freedom. a plurality of actuators configured to move the blade support relative to the handheld portion; With Chueta, a light source on the blade support; a first tool adjuster coupled to the blade support and extending on both sides from the blade support; a row member and a second tool alignment member; a first handle alignment portion coupled to and extending from the handheld portion; a first handle alignment member and a second handle alignment member, When the blade support has a desired range of motion relative to the handheld portion, the first tool The first handle alignment member and the second tool alignment member are respectively and aligned with the handle alignment member of The blade support and handheld portion are within the specified alignment range with the cutting plane. a light source is illuminated when the blade support has a desired range of motion to indicate A handheld robotic system for supporting a saw blade. XXXII. A handheld surgical robotic system for supporting a saw blade ,Handheld surgical robotic system, The handheld part and a blade movably coupled to the handheld portion and configured to support a saw blade; a card support; a plurality of actuators operatively interacting with the blade support and the handheld portion; moving the blade support relative to the handheld portion in multiple degrees of freedom a plurality of actuators configured as described above; a tool alignment member coupled to and extending from the blade support; a handle alignment member coupled to and extending from the handheld portion; Preparation, A handle alignment member is removably connected to the handheld portion. Handheld surgical robotic system for supporting the patient. XXXIII. A handle alignment member is attached to the handheld portion so as to be removably connected to the handheld portion. The handle alignment member is magnetically connected to the handheld portion. Handheld surgical robotic system. XXXIV. A surgical system for treating anatomical structures according to multiple target planes hand, The device is provided with an instrument, A saw blade and The handheld part and an actuator system including a plurality of actuators; A blade support for supporting and moving the saw, comprising a plurality of actuators; a motor extending between the blade support and the handheld portion, the blade support a blade support including a saw drive motor coupled to a mount; A navigation system, a tool for coupling to a blade support configured to determine a current tool plane; a tracker, a tracker frame; at least six optical markers coupled to the tracker frame, The frame includes at least two surfaces, the at least two surfaces being non-planar relative to one another, and at least At least three of the six optical markers are bonded to each of at least two surfaces. Trackers and A control system in communication with the navigation system and the tracker. an actuator system to align the actuator plane with at least one of a plurality of target planes; and a control system configured to control the system according to a plurality of target planes. A surgical system for treating anatomical structures. XXXV. Input device; The antenna and a control device coupled to the input device and the antenna, and a control device configured to provide a force signal to the device. The surgical system. XXXVI. The control system further comprises: (a) detecting an input signal from an input device of the tracking unit; (b) actuating the tool support to align it with a different one of a plurality of target planes; The Eta system changes the position of the blade support It is structured as follows: The navigation system determines the tool plane of the saw blade based on the target surface. and the target surface is based on a selected target plane, Technique system. XXXVII. The plurality of optical markers is at least six optical markers, and At least three of the four optical markers are located on each of at least two surfaces. The surgical system of any one of clauses XXXIV to XXXVI, . XXXVIII. Multiple trackers coupled to at least two surfaces are mirror images of each other. The surgical system of any one of clauses XXXIV to XXXVII, . XXXIX. Multiple trackers coupled to at least two surfaces are asymmetrically positioned. The surgical system of any one of clauses XXXIV to XXXVIII. XL. A surgical method for controlling a surgical system, the surgical system comprising: a handheld robot; a saw blade, a handheld portion, and an actuator including a plurality of actuators. an eter system; and a blade support for supporting and moving the saw, A plurality of actuators extend between the blade support and the handheld portion to control the blade. a blade support including a saw drive motor coupled to a saw mount; a navigation system; and a tool tracker for coupling to the blade support, a tool tracker configured to determine a current tool plane; a control system in communication with the system and the tracker, the control system an actuator system for aligning the plane with at least one of the plurality of target planes; a control system configured to control the cutting plane, each of a plurality of target planes corresponding to a cutting plane; a stem; and Determining the current tool plane using a tool tracker and navigation system And, selecting one of a plurality of target planes using an input device on the tracker; Use multiple actuators to position the current plane so that it is aligned with the selected target plane. adjusting the tool support by the motor; selecting a different one of the plurality of target planes by an input device. A surgical method for controlling the system. XLI. A surgical instrument tracker for tracking a surgical saw or other tool, Rakka, a tracker frame defining an instrument engagement opening for receiving a proximal portion of a saw, a tracker frame including a mount; At least six optical markers coupled to the tracker frame, The system includes at least two surfaces, the at least two surfaces being non-planar relative to one another, and at least At least three of the six optical markers are bonded to each of at least two surfaces. at least six optical markers; When the tracker mount is mated to the accessory mount, the tracker frame Add a surgical saw or other tool that at least partially encloses the accessory mount. Surgical instrument tracker for tracking. XLII. The instrument tracker according to clause XLI, wherein the mount is a slot. XLIII. The instrument tracker according to any one of clauses XLI and XLII, wherein at least two surfaces are on the opposite side of the plane bisecting the surgical saw or tool. XLIV. The instrument tracker according to any one of clauses XLI to XLIII, further comprising an input device operably coupled to a control system. XLV. The instrument tracker according to clause XLIV, further comprising a battery configured to supply power to one or more of at least six optical markers, an input device, or both, the battery being removably coupled to the tracker frame. 1] XLVI. The instrument tracker according to clause XLV, further comprising an antenna operably coupled to the battery and configured to transmit and receive information with the control system. XLVII. The instrument tracker according to clause XLVI, further comprising a control device coupled to at least one of at least six optical markers, a battery, and an antenna. XLVIII. The instrument tracker according to any one of clauses XLV to LVII, wherein one or more of at least six optical markers are LED emitters, and the one or more LED emitters are arranged to form at least two arrays, each array including at least one LED emitter. XLIX. A mechanical alignment device configured to be used with a handheld surgical robot system to provide a visual indication of the pose of the handheld portion of the handheld surgical robot system relative to the tool support of the handheld surgical robot system, the mechanical alignment device comprising: ​​​​​​​​​​​​​a support arm extending between a first support arm end and a second support arm end, The support arm includes a coupling portion coupled to the first support arm end, and the handheld surgical robot a tool support and a handheld portion of the tool system; a support arm configured to be an alignment member mount coupled to the second support arm end; an alignment indicator coupled to the alignment member mount.

[0213] Several embodiments are described in the above description. The illustrated embodiments are not intended to be exhaustive or to limit the invention to any particular form. The terminology used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations are possible in light of the above teachings and the invention may be practiced in accordance with specific It may be embodied in forms other than those specifically described.

Claims

1. 1. A handheld surgical robotic system, comprising: The handheld part and a blade support movably coupled to the handheld portion and defining a blade plane; a blade support including a blade mount for securing the blade; a sorbent removably coupled to the blade support and disposed in the blade plane; a blade defining a longitudinal axis and a lateral axis perpendicular to the longitudinal axis; There is a saw blade, An actuator operably attached to the blade support and the handheld portion. an actuator assembly for moving the brake relative to the handheld portion in multiple degrees of freedom; an actuator assembly configured to move the blade support; a handle alignment member extending from the handheld portion and attached to the blade mount; and a handle alignment protrusion extending toward the handle, wherein at least a portion of the handle alignment protrusion is , the saw blade is oblique to the longitudinal axis and the lateral axis, a dollar alignment member; Equipped with When the blade support has an optimal range of motion relative to the handheld portion, A handheld hand is provided in which a portion of the handle alignment protrusion and the blade plane are aligned. Surgical robot system.

2. The actuator assembly includes a plurality of actuators, Each of the rotors moves the blade support relative to the handheld portion. a plurality of actuators configured to move between a first position and a second position for Each of the computers has a home position at the midpoint between the first position and the second position. and when at least two of the plurality of actuators are in the home position, 10. The handheld surgical robot of claim 1, wherein the blade support has an optimal range of motion. Net system.

3. When the handheld portion is in a pose that does not provide the optimal range of motion, the brake The blade plane and the handle alignment protrusion are not aligned, and the handheld portion is providing a visual indication that the blade support is in a pose that does not provide the optimal range of motion; 3. The handheld surgical robot system of claim 2.

4. The first position of each of the plurality of actuators of the actuator assembly The handle alignment member is attached to the blade support at any point between the first position and the second position. The handle alignment member is positioned and secured to the blade support so as not to collide with the blade support.

4. The handheld surgical robotic system of claim 2 or 3, Hmm.

5. The first and second positions of the plurality of actuators are a range of motion of the distal end of the saw blade relative to the end portion, the range of motion being , defining a space having a maximum height of about 150 mm and a maximum width of about 115 mm.

5. The handheld surgical robot system of claim 4.

6. The actuator assembly supports the blade relative to the handheld portion. configured to adjust at least one of the pitch, height, and roll of the A first spatial arrangement of the handle alignment protrusions relative to the blade plane a first pitch relationship, a first height relationship and a first providing a visual indication of at least one of the role relationships of The first spatial arrangement is such that the handle alignment protrusion and the blade plane are aligned. and the blade support has an optimal range of motion for the handheld portion. providing a visual cue that A second spatial arrangement of the handle alignment protrusions relative to the blade plane a second pitch relationship, a second height relationship and a second pitch relationship of the blade support relative to the heald portion; providing a visual indication of at least one of the role relationships of The second spatial arrangement is such that the handheld portion is in the optimal position relative to the blade support. Provides a visual indication of a pose for the blade support that does not provide a range of motion The handheld surgical robot system according to claim 1 .

7. The actuator assembly supports the blade relative to the handheld portion. and the first spatial arrangement is configured to adjust at least the pitch of the providing a visual indication of the first pitch relationship of the blade support relative to the handheld portion; and the second spatial arrangement of the blade support relative to the handheld portion. providing a visual indication of the second pitch relationship; The second pitch relationship is the pitch of the blade support relative to the handheld portion. a first portion of the handle alignment protrusion providing a visual indication of the direction of the pitch; the second portion of the handle alignment protrusion is closer to the first portion of the handle alignment protrusion than the second portion of the handle alignment protrusion along the longitudinal axis. The handheld surgical robotic system of claim 6, wherein the robotic arm is spaced from the board plane.

8. The actuator assembly supports the blade relative to the handheld portion. and the first spatial arrangement is configured to adjust at least the height of the providing a visual indication of the first height relationship of the blade support relative to a handheld portion; and the second spatial arrangement of the blade support relative to the handheld portion. providing a second visual indication of the elevation relationship; The second height relationship is the height of the blade support relative to the handheld portion. and the handle alignment protrusion is at least 8. A handheld device according to claim 6 or 7, partially above or below the blade plane. rd surgical robotic system.

9. The actuator assembly supports the blade relative to the handheld portion. and the first spatial arrangement is configured to adjust at least the roll of the providing a visual indication of the first roll relationship of the blade support relative to the handheld portion; and the second spatial arrangement of the blade support relative to the handheld portion. providing a visual indication of the second role relationship; The second roll relationship is the roll of the blade support relative to the handheld portion. and an outer portion of the handle alignment protrusion is in the direction of the roll. and wherein the handle alignment protrusion is further from the blade plane than an inner portion of the handle alignment protrusion. Item 9. A handheld surgical robot system according to any one of items 6 to 8.

10. The actuator assembly supports the blade relative to the handheld portion. and configured to adjust at least the pitch and the roll of the The portion of the angled handle alignment protrusion is adapted to move the brake in at least two degrees of freedom. providing a visual indication of the pose of the handheld portion relative to the blade support, thereby The second spatial arrangement of the handle alignment protrusions relative to the blade plane is At least the second pitch relationship and forward pitch relationship of the blade support relative to the handheld portion. a handheld portion for providing a visual indication of the second roll relationship; The perspective is that the body is in a pose relative to the blade support that does not provide the optimal range of motion.

10. The handheld surgical robot of claim 6, wherein the handheld surgical robot provides visual cues. system.

11. The handle alignment member is a first handle alignment member, and the handle alignment protrusion is , a first handle alignment protrusion, and the handheld surgical robot system further 、 extending from the handheld portion at a location spaced from the first handle alignment member; a second handle alignment member, the second handle alignment member being adapted to align with the blade mount; a second handle alignment protrusion extending toward the At least a portion of the saw blade is oblique to the longitudinal axis and the lateral axis of the saw blade. It is When the blade support has the optimal range of motion relative to the handheld portion The first handle alignment protrusion and the second handle alignment protrusion are aligned with the blade flat. The handheld surgical robot of any one of claims 6 to 10, which is aligned with a surface. system.

12. The actuator assembly moves the blade support relative to the handheld portion. and the first spatial arrangement is configured to adjust at least the pitch of the providing a visual indication of the first pitch relationship of the blade support relative to the handheld portion; and the second spatial arrangement of the blade support relative to the handheld portion. providing a visual indication of the second pitch relationship; The second pitch relationship is the pitch of the blade support relative to the handheld portion. and providing a visual indication of the position of the first handle alignment protrusion and the second handle alignment protrusion. The first portion of each of the row projections extends along the longitudinal axis in the direction of the pitch. and the second handle alignment protrusions of the first and second handle alignment protrusions.

12. The handheld surgical robot of claim 11, further from the blade plane than Bot system.

13. The actuator assembly supports the blade relative to the handheld portion. and the first spatial arrangement is configured to adjust at least the height of the providing a visual indication of the first height relationship of the blade support relative to a handheld portion; and the second spatial arrangement of the blade support relative to the handheld portion. providing a second visual indication of the elevation relationship; The second height relationship is the height of the blade support relative to the handheld portion. and providing a visual indication of the first and second handle alignment protrusions. The protrusion is at least partially above or below the blade plane in the height direction.

13. The handheld surgical robot system of claim 11 or 12.

14. The actuator assembly supports the blade relative to the handheld portion. and the first spatial arrangement is configured to adjust at least the roll of the providing a visual indication of the first roll relationship of the blade support relative to the handheld portion; and the second spatial arrangement of the blade support relative to the handheld portion. providing a visual indication of the second role relationship; The second roll relationship is the roll of the blade support relative to the handheld portion. a first handle alignment protrusion and a second handle alignment protrusion, The outer portion of each row projection is aligned with the first handle alignment projection in the direction of the roll. the blade plane is closer to the inner portion of the handle extension and the second handle alignment protrusion, 14. The handheld surgical robot of claim 11, wherein the handheld surgical robot is spaced apart from the surgical instrument. system.

15. The actuator assembly supports the blade relative to the handheld portion. and configured to adjust at least the pitch and the roll of the The portions of the first and second handle alignment protrusions that are oblique are at least The position of the handheld portion relative to the blade support in at least two degrees of freedom. provides a visual indication of the position of the first handle relative to the blade plane. A second spatial arrangement of the alignment protrusion and the second handle alignment protrusion is At least the second pitch relationship of the blade support to the blade portion and the second a handheld portion for providing a visual indication of roll relationship to the blade support; A visual indication that the blade support is in a pose that does not provide an optimal range of motion.

15. The handheld surgical robotic system of claim 11, Tem.

16. a blade support coupled to the handheld portion and a shroud extending between the handheld portion and the The shroud is configured to align the blade support and the handheld portion with each other. At least two shroud landmasses configured to move relative to each other when not in use The handheld portion defines a key whereby the handheld portion is and providing a visual indication of the pose of the blade support to provide the optimal range of motion.

16. The handheld surgical robot according to claim 1, in a non-operating pose. Net system.

17. The at least two shroud landmarks include at least two folds, the folds define planes that are substantially parallel and offset from one another by a first distance; the blade support has an optimal range of motion relative to the handheld portion; When the blade support and the handheld portion are not aligned with each other, the at least two folds move a second distance from each other, and the handheld portion the handheld unit to provide a visual indication of the pose of the blade support relative to the 17. The handheld of claim 16, wherein the handheld is in a pose that does not provide the optimal range of motion. Surgical robot system.

18. When the blade support and the handheld portion are aligned with each other wherein the at least two folds are substantially parallel to the blade plane. Item 18. A handheld surgical robot system according to item 17.

19. the handle alignment member includes at least two shroud alignment members; The at least two shroud alignment members are configured to support the blade support. and when aligned with the at least two shroud landmarks, It is designed to be When the blade support and the handheld portion are not aligned with each other, The at least two shroud alignment members are The handheld portion is not aligned with the and providing a visual indication of the pose of the blade support to provide the optimal range of motion.

19. The handheld surgical robot of claim 16, in a non-operating pose. Bot system.

20. a tool alignment member extending from the blade support, the tool alignment member comprising: a tool alignment protrusion extending toward the blade mount, At least a portion of the saw blade is oriented in a direction perpendicular to the longitudinal axis and the lateral axis of the saw blade.

20. The handheld surgical robotic system of claim 2, wherein the Tem.

21. At least a portion of the tool alignment protrusion is aligned with the longitudinal axis of the saw blade and and oblique to the lateral axis. Stem.

22. The tool alignment protrusion defines a tool alignment edge, and the handle alignment member a handle alignment angled relative to the longitudinal and lateral axes of the saw blade; defining a column edge; The tool alignment edge aligns the blade support with the handheld portion. When the tool alignment edge is offset from the handle alignment edge, 22. The handheld device of claim 21, wherein the axial direction of the handheld device is defined to be parallel to the alignment edge. Robotic surgical system.

23. When the handheld portion is in a pose that does not provide the optimal range of motion, the tool The wheel alignment protrusion and the handle alignment protrusion are not aligned, and the handheld portion , a visual indication that the blade support is in a pose that does not provide the optimal range of motion.

23. The handheld surgical robotic system of claim 21 or 22, wherein:

24. The actuator assembly includes a plurality of actuators, the tool alignment at any point between the first position and the second position of each of the eters; The tool alignment member and the handle alignment member are aligned so as not to collide with each other. and a plurality of actuators, each of which includes a pair of actuator alignment members positioned and sized relative to one another, the respective collective first and second positions of the sensors relative to the handheld portion. and defining a potential range of motion for the blade support, said potential range of motion being about 150 m.

24. Any of claims 21 to 23, defining a space having a height of about 1.5 m and a width of about 115 mm.

10. A handheld surgical robot system according to claim 1.

25. The actuator assembly supports the blade relative to the handheld portion. configured to adjust at least one of the pitch, height, or roll of the A first spatial arrangement of the handle alignment protrusions relative to the tool alignment protrusions is a first pitch relationship, a first height relationship of the blade support relative to the handheld portion; and providing at least one visual indication of the first role relationship; The first spatial arrangement is such that the handle alignment protrusion and the tool alignment protrusion are aligned. and the blade support has an optimal range of motion relative to the handheld portion. providing a visual indication that the A second spatial arrangement of the handle alignment protrusions relative to the tool alignment protrusions is a second pitch relationship, a second height relationship of the blade support relative to the handheld portion, or providing a visual indication of at least one of the second role relationships; The second spatial arrangement allows the handheld portion to be in the optimal position relative to the blade support.

25. The method of claim 21, wherein the method provides a visual indication that the user is in a pose that does not provide range of motion.

10. A handheld surgical robot system according to claim 1.

26. The actuator assembly supports the blade relative to the handheld portion. and the first spatial arrangement is configured to adjust at least the pitch of the providing a visual indication of the first pitch relationship of the blade support relative to the handheld portion; and the second spatial arrangement of the blade support relative to the handheld portion. providing a visual indication of the second pitch relationship; The second pitch relationship is the pitch of the blade support relative to the handheld portion. a first portion of the handle alignment protrusion providing a visual indication of the direction of the pitch; the tool is positioned closer to the handle alignment protrusion than the second portion of the handle alignment protrusion along the longitudinal axis.

26. The handheld surgical robotic system of claim 25, wherein the robotic arm is spaced from the alignment protrusion.

27. The actuator assembly supports the blade relative to the handheld portion. and the first spatial arrangement is configured to adjust at least the height of the handle. providing a visual indication of the first height relationship of the blade support relative to a dowel portion; The second spatial arrangement of the blade support relative to the handheld portion Provides a visual indication of the height relationship of The second height relationship is the height of the blade support relative to the handheld portion. and wherein the tool alignment protrusion is at least partially aligned in the height direction.

27. The method of claim 25 or 26, wherein the handle alignment protrusion is partially above or below the handle alignment protrusion. Handheld surgical robotic system.

28. The actuator assembly supports the blade relative to the handheld portion. and the first spatial arrangement is configured to adjust at least the roll of the providing a visual indication of the first roll relationship of the blade support relative to the handheld portion; and the second spatial arrangement of the blade support relative to the handheld portion. providing a visual indication of the second role relationship; The second roll relationship is the roll of the blade support relative to the handheld portion. and an outer portion of the handle alignment protrusion is in the direction of the roll. the outer portion of the handle alignment protrusion is farther from the tool alignment protrusion than the outer portion of the handle alignment protrusion.

28. A handheld surgical robotic system according to any one of claims 25 to 27.

29. The actuator assembly supports the blade relative to the handheld portion. and configured to adjust at least the pitch and the roll of the The angled portion of the handle alignment protrusion is adapted to support the tool in at least two degrees of freedom. providing a visual indication of the pose of the handheld portion relative to a rule alignment protrusion, the second spatial arrangement of the handle alignment protrusions relative to the tool alignment protrusions. at least the second pitch relationship of the blade support relative to the handheld portion and wherein the handheld portion provides a visual indication of the role relationship and the second role relationship. A pose relative to the blade support that does not provide the blade support with the optimal range of motion.

29. A handheld device according to any one of claims 25 to 28, wherein the device provides a visual indication that Robotic surgical system.

30. The handle alignment protrusion and the tool alignment protrusion have a first visual indicia and a second visual indicia. and a first visual indicia that is visually distinguishable from the second visual indicia.

30. The handheld surgical robotic system of claim 21,

31. When the tool alignment protrusion and the handle alignment protrusion are aligned, the handle the first visual indicia of the handle alignment protrusion and the first visual indicia of the tool alignment protrusion; is aligned so that the blade support is within the optimal range of motion relative to the handheld portion. providing a visual indication that the device has an enclosure; When the tool alignment protrusion and the handle alignment protrusion are not aligned, the first visual indicia of the handle alignment protrusion and the first visual indicia of the tool alignment protrusion and the handheld portion is not aligned with the blade support, and the handheld portion is not within the optimal range of motion.

31. The handheld device of claim 30, wherein the handheld device provides a visual indication that the handheld device is in a pose that does not provide a surround effect. rd surgical robotic system.

32. 10. The method of claim 9, wherein the first visual indicia is a first color and the second visual indicia is a second color.

32. A handheld surgical robot system according to claim 30 or 31.

33. The handle alignment protrusion and the tool alignment protrusion each have a beveled surface and a side surface.

33. The handheld surgical robot system of any one of claims 30 to 32, further comprising: Stem.

34. the beveled surface includes the first visual indicia and the side surface includes the second visual indicia.

34. The handheld surgical robotic system of claim 33.

35. The handle alignment member is configured to be removably coupled to the handheld portion.

35. The handheld surgical robotic system of claim 1, Hmm.

36. The tool alignment member is configured to be removably coupled to the blade support.

21. The handheld surgical robotic system of claim 20.

37. a portion of the handle alignment projection oblique to the longitudinal axis and the lateral axis 37. The handheld surgical robot of claim 1, wherein Bot system.

38. the tool alignment member is closer to the blade support than the handle alignment member; Item 21. A handheld surgical robot system according to item 20.

39. 1. A handheld surgical robotic system for supporting a saw blade, comprising: The handheld part and a tool support movably coupled to the handheld portion and defining a tool support plane; 、 an actuator operably attached to the tool support and the handheld portion; a motor assembly, the actuator assembly being configured to move the an actuator configured to move the tool support relative to the handheld portion; a computer assembly; a handle alignment member extending from the handheld portion, the handle alignment member a handle alignment member including a handle hook-shaped portion; Equipped with When the tool support has an optimal range of motion relative to the handheld portion, The handle hook-shaped portion and the tool support plane are aligned. Net system.

40. 40. The method of claim 39, wherein the handle hook-shaped portion extends toward the tool support.

1. A handheld surgical robotic system as described.

41. 41. The handle of claim 39 or 40, wherein the handle hook-shaped portion defines a curve. Handheld surgical robotic system.

42. The tool support further includes a tool alignment member extending from the tool support, the tool alignment member 43. The handheld surgical instrument of any one of claims 39 to 42, comprising a hook-like portion. Robot system.

43. When the tool support has an optimal range of motion relative to the handheld portion, 43. The method of claim 42, wherein the handle hook-shaped portion and the tool hook-shaped portion are aligned.

1. A handheld surgical robotic system as described.

44. the handheld portion is attached to the tool support in a manner that does not provide the optimum range of motion; When in a pose, the tool hook-shaped portion and the handle hook-shaped portion are aligned. and the handheld portion does not provide the optimum range of motion for the tool support.

44. The handheld device of claim 42 or 43, wherein the handheld device provides a visual indication that the device is in a locked state. Surgical robot system.

45. At least one of the handle hook-shaped portion and the tool hook-shaped portion is a first visual indicia and a second visual indicia, the first visual indicia being in agreement with the second visual indicia; 45. A handheld device according to any one of claims 42 to 44, visually distinguishable from indicia. Robotic surgical system.

46. 1. A handheld surgical robotic system, comprising: The handheld part and a tool support movably coupled to the handheld portion and defining a tool support plane; 、 A tool removably coupled to the tool support, the tool having a longitudinal axis extending in a direction a tool defining an axial axis and a lateral axis; an actuator operably attached to the tool support and the handheld portion; a motor assembly, the actuator assembly being configured to move the an actuator configured to move the tool support relative to the handheld portion; a computer assembly; a handle alignment member extending from the handheld portion, the handle alignment member a handle alignment protrusion extending toward the tool support, the handle alignment protrusion At least a portion of the portion is oriented at an angle greater than 0 degrees and less than 90 degrees relative to the longitudinal axis. a handle alignment member disposed at a small angle; Equipped with When the tool support has an optimal range of motion relative to the handheld portion, a portion of the handle alignment protrusion and the tool support plane are aligned; Robot system.

47. 1. A handheld surgical robotic system for supporting a tool, comprising: The handheld part and a tool support movably coupled to the handheld portion, the tool support comprising: a tool support configured to support a tool defining a tool plane; an actuator operably attached to the tool support and the handheld portion; a motor assembly, the actuator assembly being configured to move the an actuator configured to move the tool support relative to the handheld portion; a computer assembly; a handle alignment member extending from the handheld portion; Equipped with The handle alignment member A handle extending between the first and second handle support arm ends. a handle support arm, the handle support arm being attached to the first handle support arm end; a handle coupling portion coupled to said handheld portion and removably coupled to said handheld portion. , a handle support arm, a handle alignment member mount coupled to the second handle support arm end; a handle alignment member coupled to the handle alignment member mount; A handheld surgical robotic system.

48. When the tool support has an optimal range of motion relative to the handheld portion, 48. The method of claim 47, wherein a portion of the handle alignment indicator member and the tool plane are aligned. Handheld surgical robotic system.

49. The handle coupling portion is adapted to couple the handle alignment member to the handheld portion. a handheld device configured to couple to a corresponding coupling member disposed on the handheld portion for 49. The handheld surgical robotic system of claim 47 or 48, including a handle coupling member. Hmm.

50. the handle coupling member and the coupling member disposed on the handheld portion; One of the handles includes a magnet and is disposed on the handle coupling member and the handheld portion. The other of the coupling members includes one of a magnet and a ferromagnetic material, thereby The handle coupling member and the handle alignment member are provided to couple the handle alignment member to the handheld portion. and the coupling member disposed on the handheld portion are configured to be magnetically coupled to each other.

50. The handheld surgical robotic system of claim 49, wherein

51. The handle alignment member is attached to the handle alignment member mount using a fastener.

51. A handheld device according to any one of claims 47 to 50, which is releasably coupled. Surgical robot system.

52. The handle alignment indicator member is configured to adjust the position of the handle alignment indicator member relative to the tool plane.

52. The method of claim 47, further comprising: providing a laser mark to facilitate visual indication of the size of the device.

10. A handheld surgical robot system according to claim 1.

53. The handle alignment indicator is machined to define the handle alignment indicator.

53. The handheld surgical robot of any one of claims 47 to 52, comprising a polymer Bot system.

54. 54. The handheld surgical instrument of claim 53, wherein the polymer is polyphenylsulfone. Robot system.

55. The handle alignment indicator is shaped to define the handle alignment indicator.

55. The handheld surgical robot of any one of claims 47 to 54, made of a polymer. system.

56. 56. The handheld surgical instrument of claim 55, wherein the polymer is polyphenylsulfone. Robot system.

57. Facilitating visual indication of the pose of the handle alignment indicator relative to the tool plane To achieve this, the polymer is colored a different color from the color of the handle support arm.

57. The handheld surgical robotic system of claim 55 or 56.

58. The handle alignment indicator is formed by stamping to define the handle alignment indicator.

58. A handheld device according to any one of claims 47 to 57, made of reinforced stainless steel. Robotic surgical system.

59. a tool alignment member extending from the tool support, the tool support being adapted to support the hand When the handle has an optimal range of motion for the handheld portion, a portion of the handle alignment member and the front 59. The hand tool of any one of claims 47 to 58, wherein the tool alignment member is aligned with the hand tool. Handheld surgical robotic system.

60. The tool alignment member a tool support extending between the first tool support arm end and the second tool support arm end; an arm, the tool support arm being coupled to the first tool support arm end; and defining a tool coupling portion configured to be removably coupled to the tool support. a tool support arm; a tool alignment member mount coupled to the second tool support arm end; a tool alignment indicator removably coupled to the tool alignment indicator mount.

60. The handheld surgical robotic system of claim 59.

61. When the tool support has an optimal range of motion relative to the handheld portion, 61. A portion of the handle alignment indicator and the tool alignment indicator are aligned.

2. A handheld surgical robotic system as described in claim 1.

62. The tool alignment member and the handle alignment member have the same shape and size.

62. A handheld surgical robotic system as described in claim 60 or 61.

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