Articulated rotary cutting tool

Abstract

A rotary cutting tool comprises an elongated housing having a proximal end and a distal end, and the elongated housing extends circumferentially around a first axis. A drive shaft is disposed within the elongated housing, extends between the proximal end and the distal end, and is rotatable around the first axis. A cutting bit housing is coupled to the distal end of the elongated housing and is rotatable about the drive shaft around an articulation axis between a non-articulation position and one or more articulation positions. A rotary cutting bit is coupled to the cutting bit housing and the drive shaft and is rotatable about an articulation axis together with the cutting bit housing, the rotary cutting bit, and the drive shaft forming a constant velocity joint.

Description

Technology Field

[0001] The present invention generally relates to surgical cutting tools, and in particular to a surgical rotary cutting tool having an articulable head. Background Technology

[0002] Bone spurs typically grow on human joints, the spine, and the skull and can often cause pain due to impingement or nerve compression. Spurs can also lead to loss of joint movement and degenerative wear and tear on the affected joint or adjacent tissues. When surgical intervention is required, these bone spurs are typically removed via direct arthroscope or endoscopic visualization using conventional rotary cutting tools, such as arthroscopic or open surgical burrs, which can be positioned in a straight line or at an angle from a fixed location. The fixed position of the bur often limits the reach of conventional surgical burs. For this reason, removing bone spures using these types of burs—arthroscopically, endoscopically, openly, or particularly from hard-to-reach areas, in confined spaces, or via a cannula—is often difficult or nearly impossible in a robotic manner. In addition, due to the curvature of the bone where the bony protrusion is located, reaching the bony protrusion during surgery may be difficult or even impossible with conventional arthroscopes or open surgical burs because of its fixed position.

[0003] Conventional arthroscopic or open surgery burs often exhibit low stability, wear or deteriorate rapidly, or generate excessive vibration and noise during use, negatively impacting their use in surgical procedures such as arthroscopic surgery, endoscopic spinal surgery, open surgery, and robotic surgery applications, to the extent not limited thereto. Arthroscopic burs comprise a cutting or perforating head designed to rotate around an axis, allowing the cutting or perforating head to cut or remove bone spurs. The rotational speed of the cutting or perforating head directly affects the arthroscopic bur's ability to effectively cut or remove bone spurs. Therefore, a specific rotational speed or range of rotational speeds may be required to ensure the safety and efficiency of surgery during arthroscopic procedures. In conventional arthroscopic burs, the rotational speed of the perforating head is negatively affected when the head moves articulated, thereby limiting the desired rotational speed during the use of the bur. Additionally, the size of arthroscopic burs is relatively small due to anatomical constraints and their use in minimally invasive surgery. For this reason, the difficulty of manufacturing the components of the above burr is increased due to their relatively small size.

[0004] Accordingly, there is a need in the field for rotary cutting or perforating tools for use in arthroscopic surgery, endoscopic surgery, open surgery, and robotic surgery, having an articulated cutting or perforating head capable of reliably operating at a constant desired rotational speed when articulated. Furthermore, there is a demand in the field for rotary cutting or perforating tools that possess high stability, do not deteriorate or wear out rapidly, do not generate excessive vibration and / or noise, and can be easily manufactured. The technology forming the background of the present invention is disclosed in Korean Patent Publication No. 10-2016-0003220 (January 8, 2016).

[0005] In one embodiment, there is a rotary cutting tool comprising an elongated housing having a proximal end and a distal end, wherein the elongated housing extends circumferentially around a first axis. The rotary cutting tool further comprises a drive shaft disposed within the elongated housing, extending between the proximal end and the distal end, and rotatable around the first axis. The rotary cutting tool further comprises a cutting bit housing coupled to the distal end of the elongated housing and rotatable about the drive shaft around an articulating axis between a non-articulated position and one or more articulated positions. The rotary cutting tool further comprises a rotary cutting bit comprising a multi-faceted ball, wherein the rotary cutting bit is coupled to the cutting bit housing and the drive shaft and is rotatable about an articulating axis together with the cutting bit housing, the multi-faceted ball of the rotary cutting bit, and the drive shaft forming a constant velocity joint.

[0006] In some embodiments, the rotary cutting tool further comprises a controller assembly coupled to the proximal end of the slender housing and configured to allow the rotary cutting bit and the cutting bit housing to selectively rotate about the slender housing between a non-articulated position and one or more articulated positions. In some embodiments, the rotary cutting tool further comprises an articulated shaft comprising an engagement member disposed between the slender housing and a drive shaft and configured to engage with a groove of the cutting bit housing. The controller assembly may be coupled to the articulated shaft and configured to allow the articulated shaft to translate about the slender housing, and the translation of the articulated shaft about the slender housing may cause the rotary cutting bit and the cutting bit housing to rotate about the articulated axis relative to the slender housing.

[0007] In some embodiments, the controller assembly comprises a first trigger and a second trigger, wherein the second trigger is configured to cause the articulating shaft to translate relative to the slender housing, and the first trigger is configured to unlockably lock the position of the articulating shaft relative to the slender housing. In some embodiments, the first trigger comprises an arm configured to contact a stepped structure of the second trigger such that rotation of the second trigger in at least one direction is prevented by the arm of the first trigger. In some embodiments, the stepped structure comprises one or more stepped surfaces corresponding to different articulating positions among one or more articulating positions. In some embodiments, the articulating shaft and the engagement member are coupled to each other by an slender arm formed integrally with the articulating shaft and the engagement member, and the articulating shaft, the engagement member, and the slender arm are generally made of a rigid material.

[0008] In some embodiments, the drive shaft comprises a rotary socket configured to receive a multi-faceted ball of a rotary cutting bit, a multi-faceted ball, and a rotary socket forming a constant velocity joint. In some embodiments, the rotary socket is rotatably fixed to the drive shaft so that the rotary socket rotates around the first axis as the drive shaft rotates around the first axis, and the rotary socket defines a receiving area for receiving the multi-faceted ball, the receiving area generally has a hexagonal shape, and the multi-faceted ball is a hexagonal ball. In some embodiments, the rotary socket includes a groove extending circumferentially around the rotary socket, and the elongated housing is configured to receive two fasteners so that two fasteners are at least partially received within the groove to prevent translational movement of the rotary socket around the first axis.

[0009] In some embodiments, the rotary cutting tool further comprises a connecting member coupled to the distal end of the slender housing, the connecting member rotatably limiting the joint axis and connecting the cutting bit housing to the slender housing. In some embodiments, the cutting bit housing is snap-fitted to the connecting member. In some embodiments, the rotary cutting bit comprises a groove extending circumferentially around the central shaft of the rotary cutting bit, the groove being configured to receive a fastener to prevent the rotary cutting bit from translating about the intended cutting axis.

[0010] In another embodiment, there is an arthroscopic rotary cutting tool comprising an elongated housing having a proximal end and a distal end and extending circumferentially around a first axis, and a drive shaft disposed within the elongated housing and extending between the proximal end and the distal end and rotatable around the first axis. The arthroscopic rotary cutting tool comprises a cutting bit housing coupled to the distal end of the elongated housing and a multi-faceted ball rotatable about the drive shaft around an articulating axis between a non-articular position and one or more articular positions, and further comprises a rotary cutting bit coupled to the cutting bit housing and rotatable about an articulating axis together with the cutting bit housing, the multi-faceted ball of the rotary cutting bit, and a drive shaft forming a constant velocity joint. The arthroscopic rotary cutting tool further comprises a controller assembly coupled to the proximal end of an elongated housing and configured to selectively rotate the rotary cutting bit and the cutting bit housing relative to the elongated housing between a non-articulated position and one or more articulated positions, and an articulated shaft comprising an engaging member disposed between the elongated housing and a drive shaft and configured to engage with a groove of the cutting bit housing. The controller assembly is coupled to the articulated shaft and configured to cause the articulated shaft to translate relative to the elongated housing, and the translational movement of the articulated shaft relative to the elongated housing causes the rotary cutting bit and the cutting bit housing to rotate relative to the elongated housing around an articulated axis.

[0011] In some embodiments, the controller assembly includes a first trigger and a second trigger, wherein the second trigger is configured to cause the joint shaft to translate relative to the slender housing, and the first trigger is configured to unlockably lock the position of the joint shaft relative to the slender housing. In some embodiments, the first trigger includes an arm configured to contact a stepped structure of the second trigger such that rotation of the second trigger in at least one direction is prevented by the arm of the first trigger. In some embodiments, the stepped structure includes one or more stepped surfaces corresponding to different joint positions among one or more joint positions. In some embodiments, the drive shaft includes a rotary socket configured to receive a multi-faceted ball of a rotary cutting bit, and the multi-faceted ball and the rotary socket form a constant velocity joint.

[0012] In some embodiments, the rotary socket is rotatably fixed to the drive shaft such that the rotary socket rotates around the first axis by the rotation of the drive shaft around the first axis, and the rotary socket defines a receiving area for receiving a multifaceted ball, the receiving area generally having a hexagonal shape and the multifaceted ball is a hexagonal ball. In some embodiments, the rotary socket includes a groove extending circumferentially around the rotary socket, and the slender housing is configured to receive two fasteners such that two fasteners are at least partially received within the groove to prevent translational movement of the rotary socket around the first axis. In some embodiments, the arthroscopic rotary cutting tool further includes a connecting member coupled to the distal end of the slender housing, the connecting member rotatably defines the articular axis and connects the cutting bit housing to the slender housing.

[0013] In another embodiment, there is a rotary cutting bit comprising a cutting head, a central shaft coupled to the cutting head that defines a groove extending circumferentially around the central shaft, and a multifaceted ball coupled to the central shaft opposite the cutting head, wherein the multifaceted ball comprising one or more multifaceted surfaces is generally bent axially and is generally flat along the outer edge of each cross section taken perpendicular to the axial direction. Brief explanation of the drawing

[0014] The following detailed description of embodiments of an articulated rotary cutting tool, in addition to the summary foregoing, will be better understood when read together with the accompanying drawings of exemplary embodiments. However, it should be understood that the present invention is not limited to the exact arrangements and means depicted. In the drawing: FIG. 1 is a perspective view of an articulated rotary cutting tool according to an exemplary embodiment of the present disclosure. Figure 2 is a partially exploded view of the distal end of the articulated rotary cutting tool shown in Figure 1. Fig. 3a is a side perspective view of the rotary cutting bit of Fig. 1. Fig. 3b is an enlarged side view of the multi-faceted ball of the rotary cutting bit of Fig. 1. Fig. 3c is a rear elevation view of the rotary cutting bit of Fig. 1. Figure 4 is an enlarged perspective view of the distal end of the articulated rotary cutting tool of Figure 1 in which the rotary cutting bit is in an articulated position. FIG. 5 is an enlarged perspective view of the distal end of the articulated rotary cutting tool of FIG. 1 in which the rotary cutting bit is in a non-articulated position. FIG. 6 is an enlarged bottom perspective view of the distal end of the articulated rotary cutting tool of FIG. 1. FIG. 7a is an enlarged side view of the distal end of the articulated rotary cutting tool of FIG. 1 in which the slender housing is removed and the articulated head assembly is in a non-articulated position. FIG. 7b is an enlarged side view of the distal end of the articulated rotary cutting tool of FIG. 1 in which the slender housing is removed and the articulated head assembly is in the articulated position. Figure 8 is a partially exploded view of the controller assembly and the proximal end of the articulated rotary cutting tool of Figure 1. FIG. 9 is a perspective view of the controller assembly of FIG. 1 with half of the controller housing omitted. FIG. 10 is a perspective view of the second trigger of the controller assembly of FIG. 1. FIG. 11 is a side cross-sectional elevation view of the articulated rotary cutting tool of FIG. 1. FIG. 12 is a perspective view of another rotary cutting bit that can be coupled to the articulated rotary cutting tool of FIG. 1. FIG. 13 is a front cross-sectional view of the distal end of the articulated rotary cutting tool of FIG. 1. Specific details for implementing the invention

[0015] Referring closely to the drawings, the same reference numerals represent the same elements throughout, and FIGS. 1 to 13 illustrate an articulated rotary cutting tool collectively designated as reference numeral 100 according to an exemplary embodiment of the present invention.

[0016] Referring to FIG. 1, the articulated rotary cutting tool (100) may comprise an elongated housing (102), an articulated head assembly (104), and a controller assembly (106). The articulated head assembly (104) may comprise a cutting and / or perforating means (e.g., rotary cutting bit (112)) that can be articulated to allow the articulated rotary cutting tool (100) to perform resection (e.g., perforation, cutting, or cutting) at one or more preferred angles, as discussed in detail below. The controller assembly (106) may be configured to selectively control the articulated connection of the articulated head assembly (104) between an articulated position and a non-articulated position, as discussed in more detail below. In some embodiments, the articulated rotary cutting tool (100) may be an arthroscopic articulated rotary tool configured for use in arthroscopic surgery. For example, the articulated rotary cutting tool (100) may be configured for use in arthroscopic surgery involving the removal of a bony protrusion from the body. The articulated head assembly (104) may be configured to effectively cut, puncture, or cut away the bone protrusion from the body. In some embodiments, the articulated rotary cutting tool (100) may be configured to be used in a robotic surgical environment. For example, the articulated rotary cutting tool (100) may be configured to be used by a robotic device to perform arthroscopic surgery.

[0017] An articulated head assembly (104) and / or a controller assembly (106) may be coupled to an elongated housing (102). For example, the controller assembly (106) and the articulated head assembly (104) may be coupled to the elongated housing (102) at different locations. The controller assembly (106) may be coupled to a proximal end (108) of the elongated housing (102). The articulated head assembly (104) may be coupled to a distal end (110) of the elongated housing (102) opposite the proximal end (108). The elongated housing (102) may extend along a first axis (A). In some embodiments, the elongated housing (102) extends circumferentially around the first axis (A) so that the elongated housing (102) has a generally circular cross-sectional shape. The elongated housing (102) may be hollow so that one or more components can be located within the elongated housing (102), as discussed in more detail below. In some embodiments, the elongated housing (102) is made of metal, metal alloy, plastic material, and / or composite material. In some embodiments, the elongated housing (102) is made of stainless steel (e.g., 316 stainless steel).

[0018] The articulated head assembly (104) may include a rotary cutting bit (112) configured to cut a desired surface (e.g., tissue, bone, or cartilage) when the rotary cutting bit (112) rotates at a desired rotational speed around a cutting axis (C). The rotary cutting bit (112) may include a cutting head (123) that defines one or more surfaces (e.g., flutes) for cutting. In some embodiments, the cutting head (123) is formed integrally with the rotary cutting bit (112). Although a single type of cutting head (123) is illustrated in the drawings, it will be understood that any type of cutting head (e.g., a cutting head having a different flute pattern) may be used. For example, as illustrated in FIG. 12, there is a rotary cutting bit (212) that is generally identical to the rotary cutting bit (112), except that it includes a cutting head (223) having a double cut burr pattern. The rotary cutting bit (212) is interchangeable with the rotary cutting bit (112) and can generally function in the same way as the rotary cutting bit (112). In some embodiments, the rotary cutting bit (112) is made of metal, metal alloy, plastic material and / or composite material. In some embodiments, the rotary cutting bit (112) is made of a combination of carbide and carbon steel. Referring again to FIG. 1, the articulated head assembly (104) may include a cutting bit housing (114) that covers at least partially the rotary cutting bit (112). The cutting bit housing (114) may serve as a guard or shield for the rotary cutting bit (112) to prevent a portion of the rotary cutting bit (112) from coming into contact with an unwanted surface and / or to block debris during use. The rotary cutting bit (112) and / or the cutting bit housing (114) may each be rotatably coupled to an elongated housing (102) so as to be rotatable around an articulation axis (B).For example, the rotary cutting bit (112) and / or the cutting bit housing (114) may articulate around an articulating axis (B) between one or more articulating positions and non-articulating positions. The articulation of the articulating head assembly (104) may refer to the rotation of the rotary cutting bit (112) around the articulating axis (B). In some embodiments, the cutting bit housing (114) is made of metal, metal alloy, plastic material, and / or composite material. In some embodiments, the cutting bit housing (114) is made of polyetheretherketone ("PEEK"). In other embodiments, the cutting bit housing (114) is made of stainless steel.

[0019] In some embodiments, the rotary cutting bit (112) and the cutting bit housing (114) are fixedly coupled to each other for rotation around the joint axis (B). For example, the rotary cutting bit (112) and the cutting bit housing (114) may be coupled such that the rotary cutting bit (112) rotates around the joint axis (B) in the same direction as the cutting bit housing (114) rotates around the joint axis (B) in one direction. In some embodiments, the rotary cutting bit (112) is rotatably coupled to the cutting bit housing (114) for rotation around the cutting axis (C). For example, the rotary cutting bit (112) may rotate around the cutting axis (C) while the cutting bit housing (114) remains fixed to the cutting axis (C). In this way, the articulated head assembly (104) can be rotated around the articulation axis (B) between different positions, and the rotary cutting bit (112) can be rotated around the cutting axis (C) for cutting and / or drilling.

[0020] Referring to FIGS. 1 and 2, an articulated rotary cutting tool (100) may include a drive shaft (116) configured to rotate a rotary cutting bit (112) around a cutting axis (C). The drive shaft (116) may extend along a first axis (A) and may be located at least partially within an elongated housing (102). For example, a portion of the drive shaft (116) extends outward from the proximal end (108) of the elongated housing (102) along the first axis (A) as shown in FIG. 1. The remainder of the drive shaft (116) extends along the first axis (A) from the proximal end (108) of the elongated housing (102) to the distal end (110). Figure 2 is a partially exploded view of the distal end (110) of the elongated housing (102) and the articulated head assembly (104), and it will be understood that when assembled, the drive shaft (116) cannot extend beyond the distal end (110) of the elongated housing (102). The drive shaft (116) may extend circumferentially around a first axis (A) and may have a diameter smaller than that of the elongated housing (102) to allow the drive shaft (116) to be positioned within the elongated housing (102). In some embodiments, the drive shaft (116) is made of metal, metal alloy, plastic and / or composite material. In some embodiments, the drive shaft (116) is made of stainless steel (e.g., 304 stainless steel).

[0021] The drive shaft (116) may be configured to transmit rotational motion from an external drive means (e.g., a motor) to the rotary cutting bit (112) so that the rotary cutting bit (112) is driven to rotate around the cutting axis (C). In some embodiments, the drive shaft (116) is rotatable around the first axis (A) so that the rotary cutting bit (112) rotates around the cutting axis (C) by the rotation of the drive shaft (116) around the first axis (A). In some embodiments, there is a drive interface (109) fixedly coupled to the drive shaft (116) and configured to couple an external drive means to the articulated rotary cutting tool (100). The drive interface (109) may be rotatably fixed to the drive shaft (116) so that the drive shaft (116) rotates by the rotation of the drive interface (109). In this way, the drive shaft (116) can transmit rotational motion from the external drive means to the rotary cutting bit (112) through the drive interface (109). In some embodiments, the drive interface (109) may be detachably coupled to the drive shaft (116) so that different drive interfaces can be coupled to the drive shaft (116). In some embodiments, the drive interface (109) is composed of metal, metal alloy, plastic material, and / or composite material. In some embodiments, the drive interface (109) is composed of a synthetic polymer (e.g., nylon 6 / 6, nylon 12). In some embodiments, the drive interface (109) is composed of stainless steel.

[0022] The rotary cutting bit (112) may be rotatably coupled to a drive shaft (116) by a rotary socket (118). The rotary socket (118) may be fixedly coupled to the drive shaft (116) so that the rotary socket (118) rotates together with the drive shaft (116). The rotary socket (118) may include a receiving area (120) configured to couple the rotary cutting bit (112) to the rotary socket (118). The receiving area (120) may define one or more generally flat inner surfaces (120i) configured to engage with a corresponding faceted surface of the rotary cutting bit (112) so that the rotary cutting bit (112) can rotate around an articulation axis (B) without being separated from the receiving area (120). In some embodiments, the rotary cutting bit (112) includes a faceted ball (122) positioned at the proximal end of the rotary cutting bit (112). The facet-ball (122) defines one or more faceted surfaces configured to engage with the inner surface (120i) of the receiving area (120). In some embodiments, the number of faceted surfaces on the facet-ball (122) corresponds to the number of inner surfaces (120i) of the receiving area (120). For example, the facet-ball (122) may be a hexagonal ball having a hexagonal cross-sectional shape, and the receiving area (120) may define six inner surfaces (120i) forming a hexagonal shape. In this way, one or more faceted surfaces of the facet-ball (122) may engage with the inner surface (120i) of the receiving area (120). For this reason, when the multi-faceted ball (122) is received within the receiving area (120), it is rotatably fixed to the rotating socket (118) around the first axis (A) and / or the cutting axis (C), while being rotatable around the joint axis (B). In this way, the multi-faceted ball (122) is rotatably coupled to the drive shaft (116) by the rotating socket (118), so that the rotation of the drive shaft (116) causes the rotary cutting bit (112) to rotate.In some embodiments, the rotating socket (118) is made of metal, metal alloy, plastic material, and / or composite material. In some embodiments, the rotating socket (118) is made of stainless steel (e.g., 440 stainless steel).

[0023] The facet-ball (122) may be better understood by referring to FIGS. 3a through 3c. As illustrated in FIG. 3b, the facet-ball (122) may include facet-treated surfaces (122a through 122f). In FIG. 3b, the facet-ball (122) is shown in a top elevation view, and it will be understood that the opposite side of the facet-ball (122) may generally include the same surface as the opposite facet-treated surfaces (122a through 122f) in the same configuration. In some embodiments, the facet-treated surfaces (122a through 122f) are curved in the axial direction (M) and are generally flat along the outer edge of each cross section taken perpendicular to the axial direction (M). For example, each facet-treated surface (122a through 122f) is curved in the axial direction as best illustrated in FIG. 3b. In some embodiments, each face-treated surface (122a to 122f) may have a corresponding radius of curvature measured from the axial direction (M) to the outer edge of each face-treated surface (122a to 122f).

[0024] In some embodiments, each faceted surface (122a to 122c) may generally have the same radius of curvature and each faceted surface (122d to 122f) may generally have the same radius of curvature. In some embodiments, the radius of curvature of the faceted surfaces (122a to 122c) may differ from the radius of curvature of the faceted surfaces (122d to 122f). In other embodiments, the radius of curvature may generally be the same for each faceted surface (122a to 122f). Because of this, the curved shape of the faceted surfaces (122a to 122f) may allow the faceted ball (122) to rotate around the joint axis (B) when placed within the receiving area (120) and engaged with the corresponding inner surface (120i) of the receiving area. As mentioned, the faceted surfaces (122a to 122f) may generally be flat along the outer edge of each cross section taken perpendicular to the axial direction (M), as best illustrated in FIG. 3b. Because of this, the generally flat side of the faceted surfaces (122a to 122f) may engage with the inner surface (120i) of the receiving area (120) so that the faceted ball (122) is rotatably secured in the rotating socket (118) for rotation around the first axis (A) and / or the cutting axis (C). In some embodiments, the faceted surfaces (122a to 122f) may be machined to have a smooth finish. In some embodiments, the faceted surfaces (122a to 122f) may be lubricated during machining to reduce the accumulation of excessive heat, thereby reducing unintended warping of the faceted surfaces (122a to 122f) during machining. In some embodiments, the surface-treated surfaces (122a to 122f) may be coated with a material and / or a composite material to increase the lubricity of the surface-treated surfaces (122a to 122f).

[0025] Referring to FIG. 3c and FIG. 4, in some embodiments, the facet-ball (122) has a width (W1) measured in a direction perpendicular to the two opposing side edges of the facet-ball (122). The side edges may refer to the edges of the facet-ball (122) where the upper facet-surfaces (122a to 122c) and the lower facet-surface meet. In other words, the side edges of the facet-ball form the periphery of the hexagonal shape illustrated in FIG. 3c. In some embodiments, the receiving area (120) has a width (W2) measured in a direction perpendicular to the two opposing sides of the receiving area (120). For example, the width (W2) may be measured between the two opposing inner surfaces (120i) of the receiving area (120). In some embodiments, the width (W1) of the facet-ball (122) is generally the same as the width (W2) of the receiving area (120). In some embodiments, the width (W1) of the facet-ball (122) is slightly smaller than the width (W2) of the receiving area (120). For example, the width (W1) of the facet-ball (122) may be about 0.091 inches to about 0.092 inches. The width (W2) of the receiving area (120) may be about 0.093 inches to about 0.096 inches.

[0026] Referring to FIG. 4, in some embodiments, the drive shaft (116) and the rotary cutting bit (112) form a constant velocity joint so that the drive shaft (116) can transmit power to the rotary cutting bit (112) at a constant rotational speed regardless of the angle of the rotary cutting bit (112). In other words, the rotational speed of the drive shaft (116) may generally be the same as the rotational speed of the rotary cutting bit (112) regardless of the angle of the rotary cutting bit (112). For example, the rotary cutting bit (112) is illustrated in a joint position where the cutting axis (C) is offset from the first axis (A) by an angle (θ). In some embodiments, the angle (θ) may be about 0 degrees to about 30 degrees. The drive shaft (116) may rotate around the first axis (A) at a first rotational speed, and accordingly, the rotary socket (118) rotates around the first axis at the same rotational speed. As the rotating socket (118) rotates at a first rotational speed, the receiving area (120) also rotates at the same speed. The engagement between the multi-faceted ball (122) and the inner surface of the receiving area (120) causes the multi-faceted ball (122) and the corresponding rotary cutting bit (112) to rotate around the cutting axis (C) at a second rotational speed, where the second rotational speed is generally the same as the first rotational speed.

[0027] Although the rotary cutting bit (112) is shown in FIG. 4 at an offset angle relative to the drive shaft (116), it will be understood that the rotational speed of the rotary cutting bit (112) can generally be the same as that of the drive shaft (116) when the rotary cutting bit (112) and the drive shaft (116) are aligned. For example, as shown in FIG. 5, the rotary cutting bit (112) is shown aligned with the drive shaft (116) (e.g., in a non-articulated position). In the non-articulated position, the cutting axis (C) and the first axis (A) can be aligned such that the cutting axis (C) is not offset from the first axis (A). In other words, the cutting axis (C) is parallel to the first axis (A) and is positioned along it, and vice versa. For this reason, the drive shaft (116), the rotary socket (118), and the rotary cutting bit (112) can rotate around the first axis (A) and / or the cutting axis (C) at the same speed when the rotary cutting bit (112) is in a non-articulated position.

[0028] By forming a constant velocity joint between the drive shaft (116) and the rotary cutting bit (112) (e.g., via a rotary socket (118) and a multi-faceted ball (122)), the articulated rotary cutting tool (100) can cut and / or pierce at a desirable constant speed regardless of the angle of the rotary cutting bit (112). For example, in minimally invasive surgery, safe operation of the articulated rotary cutting tool (100) requires that the minimum rotational speed of the rotary cutting bit (112) be maintained. By providing a constant velocity joint as discussed above, the rotary cutting bit (112) can be driven to rotate at a constant speed by the drive shaft (116) regardless of the angle of the rotary cutting bit (112).

[0029] In FIG. 4, a constant velocity joint is formed between the multi-faceted ball (122) and the rotary socket (118) to allow the rotary cutting bit (112) to be driven rotatably at a constant speed when the rotary cutting bit (112) is at an angle (θ) of up to 30 degrees. However, it will be understood that one or more additional constant velocity joints (e.g., two or more total constant velocity joints) may be provided in series so that the rotary cutting bit (112) may be driven rotatably around the cutting axis (C) at an angle (θ) greater than 30 degrees. For example, another rotary socket (not shown) may be provided that includes a multi-faceted ball, generally identical to the multi-faceted ball (122), located at the end of the additional rotary socket opposite the receiving area, and generally identical to the multi-faceted ball (122). The multi-faceted ball of the additional rotary socket may be received within the receiving area (120) of the rotary socket (118) such that a first constant velocity joint is formed between the rotary socket (118) and the additional rotary socket. Furthermore, the multi-faceted ball (122) of the rotary cutting bit (112) can be received within the receiving area of ​​an additional rotary socket, which is generally the same way that the multi-faceted ball (122) is received within the receiving area (120) of the rotary socket (118) to form a second constant velocity joint. In this way, the additional rotary socket can rotate relative to the rotary socket (118), and the rotary cutting bit (112) can rotate relative to the additional rotary socket so that a larger joint angle (θ) can be achieved. For example, by providing an additional constant velocity joint, the articulated head assembly (104) can be rotated up to 35 degrees, 40 degrees, or 45 degrees.

[0030] For this reason, each constant velocity joint can be used in series to selectively rotate the rotary cutting bit (112). As discussed above, the constant velocity joints coupled in series with each other can be characterized as distal and proximal constant velocity joints, wherein the distal constant velocity joint is a multi-faceted ball joint formed integrally with the rotary cutting bit (112). Similarly, the proximal constant velocity joint will be a multi-faceted ball joint directly coupled to the rotary socket (118). The proximal and distal constant velocity joints can be rotated independently about a first axis (A) so that different joint angles can be achieved. For example, the proximal constant velocity joint can be rotated about the rotary socket (118), while the distal constant velocity joint can be maintained aligned with the proximal constant velocity joint to achieve the first joint angle of the rotary cutting bit (112). For this reason, the distal constant velocity joint can be rotated relative to the proximal constant velocity joint to achieve a second joint angle of the rotary cutting bit (112) greater than the first joint angle. However, it will be understood that while the distal constant velocity joint can be rotated relative to the proximal constant velocity joint to achieve the first joint angle, the proximal constant velocity joint remains aligned with the rotary socket (118).

[0031] As described above, the articulated head assembly (104) can be selectively rotated relative to the elongated housing (102) so that a user (e.g., a doctor, a surgeon, a robotic surgical device) can select an adjustable cutting and / or perforation angle. Referring again to FIG. 2, there may be a connecting member (124) coupled to the distal end (110) of the elongated housing (102) and configured to rotatably couple the articulated head assembly (104) to the elongated housing (102). The connecting member (124) may include a main body (126) configured to be positioned within the elongated housing (102) and a lip (128) fixedly coupled to the main body (126) and configured to contact the distal end (110) of the elongated housing (102). For example, the main body (126) of the connecting member (124) may have a diameter smaller than the diameter of the inner surface of the elongated housing (102) so that the main body (126) can be placed within the elongated housing (102). A lip (128) may protrude from the main body (126) to contact the distal end (110) of the elongated housing (102), thereby preventing the main body (126) from being displaced toward the proximal end (108) of the elongated housing (102). In some embodiments, the connecting member (124) is composed of metal, metal alloy, plastic material, and / or composite material. In some embodiments, the connecting member (124) is composed of polyetheretherketone. In some embodiments, the connecting member (124) is composed of stainless steel.

[0032] In some embodiments, the connecting member (124) is configured to create a seal to prevent fluid, tissue, and / or other debris from coming into contact with the constant velocity joint formed between the multifaceted ball (122) and the rotating socket (118). For example, the connecting member (124) may be configured to prevent fluid, tissue, and / or other debris from entering the elongated housing (102) through an opening in the distal end (110) of the elongated housing in which the connecting member (124) is located. In some embodiments, the receiving area (120) of the rotating socket (118) may also prevent fluid, tissue, and / or other debris from coming into contact with a portion of the multifaceted ball (122) engaged with the inner surface (120i) of the receiving area. For example, the receiving area (120) encapsulates a portion of the multifaceted ball (122) to prevent fluid, tissue, and / or debris from coming into contact with these portions of the multifaceted ball (122). In this way, the connecting member (124) and / or the rotating socket (118) can prevent unintended detachment or separation of the rotary cutting bit (112) from the rotating socket (118) that could be caused by fluid, tissue, and / or debris entering at a constant speed and forming a bond between the two.

[0033] Referring still to FIG. 2, in some embodiments, the main body (126) is configured to accommodate one or more fasteners (e.g., pins, screws, bolts) for fixedly coupling the main body (126) to the elongated housing (102). For example, the main body (126) may include one or more holes (130) configured to align with one or more corresponding apertures (132) of the elongated housing (102) when the lip (128) contacts the distal end (110) of the elongated housing (102). When the holes (130, 132) are aligned, a pin may be inserted through each of the holes (132) of the elongated housing (102) and may extend through the holes (130) on the main body (126) of the connecting member (124). For example, as illustrated in FIG. 13, holes (132 and 130) are aligned with each other so that a pin is inserted through hole (132) and extends through hole (130) to fixedly couple the main body (126) to the elongated housing (102). Referring again to FIG. 2, the pin may come into contact with the side walls of holes (130 and 132) when inserted, thereby preventing movement of the connecting member (124) relative to the elongated housing (102). In this way, the connecting member (124) may be fixed to the elongated housing (102) so as to be translationally and rotatably fixed. Although not illustrated, the pin may have a size and / or shape such that it does not protrude outward from the elongated housing (102). In other words, the pin may have a size and / or shape such that when the pin is received within the holes (130, 132), the pin is at the same height as the outer surface of the elongated housing (102). In some embodiments, the elongated housing (102) includes two holes (132) located opposite each other and close to the distal end (110) of the elongated housing (102). Similarly, the main body (126) of the connecting member (124) may include two holes (130).In some embodiments, at least one of the hole (130) and the hole (132) may generally have a circular cross-sectional shape or be an elongated slit.

[0034] In some embodiments, the rotating socket (118) may be fixed to the elongated housing (102) so as to be translationally movable. For example, the rotating socket (118) may be kept fixed to the elongated housing (102) and may be rotated around a first axis (A). The rotating socket (118) may include a recess (119) extending circumferentially around the rotating socket (118). When assembled, the recess (119) may be aligned with holes (130, 132) so that pin(s) used to fixedly couple the connecting member (124) to the elongated housing (102) may extend through it. The pin may be at least partially received within the recess (119) so that the rotating socket (118) may be prevented from translationally moving (e.g., translational along the first axis (A)) to the elongated housing (102). For example, the pin may be fixedly coupled to the elongated housing (102), extend through the holes (130, 132), and be at least partially recessed within the concave groove (119). Because of this, the rotary socket (118) can rotate around the first axis (A) with little or no interference from the pin, but is prevented from translational motion along the first axis (A) in the same direction (but not limited thereto) by the pin. In this way, the position of the rotary socket (118) is fixed when the rotary socket (118) rotates around the first axis (A), thereby preventing or at least minimizing unintended movement or slippage of the rotary cutting bit (112) when driven by the drive shaft (116).

[0035] As described above, the connecting member (124) may be configured to rotatably couple the articulated head assembly (104) to the elongated housing (102). The connecting member (124) may include two arms (134) protruding from the lip (128) in the opposite direction to the main body (126). Each arm (134) may include a protrusion (136) configured to couple the cutting bit housing (114) to the connecting member (124). In some embodiments, the protrusion (136) is formed integrally with the arm (134). The protrusion (136) may extend circumferentially around the joint axis (B) so that it can rotate around the joint axis (B) when the cutting bit housing (114) is coupled to the connecting member (124) through the protrusion (136). For example, the cutting bit housing (114) may have two holes (138) configured to accommodate a protrusion (136) inside, one on each side of the cutting bit housing (114). In this way, the cutting bit housing (114) may be rotatably coupled to the connecting member (124). In some embodiments, the arm (134) may be elastically deformable so that the cutting bit housing (114) can snap-fit ​​to engage with the connecting member (124). For example, the arm (134) may be elastically deformed inward toward each other as the cutting bit housing (114) slides over the arm (134) until the hole (138) aligns with the protrusion (136) and the arm (134) can return to an undeformed state (as shown in FIG. 2). In this way, assembly of the connecting member (124) and the cutting bit housing (114) may be easier than when the protrusion (136) is replaced with a detachable pin.

[0036] Referring to FIGS. 2 and FIGS. 6, the cutting bit housing (114) may be configured to rotate the rotary cutting bit (112) around the joint axis (B). The cutting bit housing (114) may include a hole (115) sized to accommodate at least a portion of the rotary cutting bit (112) so that the rotary cutting bit (112) can rotate around the joint axis (B) together with the cutting bit housing (114). For example, the central shaft (113) of the rotary cutting bit (112) extends through the hole (115). In this way, the rotary cutting bit (112) is rotatably fixed to the cutting bit housing (114) for rotation around the joint axis (B), while simultaneously allowing the rotary cutting bit (112) to rotate relative to the cutting bit housing (114) around the cutting axis (C). In some embodiments, the rotary cutting bit (112) is detachable from the cutting bit housing (114) and the rotary socket (118) so that the rotary cutting bit (112) can be replaced with another rotary cutting bit similar to the rotary cutting bit (112) or a different rotary cutting bit.

[0037] In some embodiments, the cutting bit housing (114) includes a shield (111) formed integrally with the cutting bit housing (114) and configured to cover at least partially the rotary cutting bit (112). The shield may serve as a guard or shield for the rotary cutting bit (112) to prevent a portion of the rotary cutting bit (112) from coming into contact with an unwanted surface during use and / or to block debris. In some embodiments, the rotary cutting bit (112) may include a groove (121) that extends circumferentially around a central shaft (113) and is configured to prevent unintended translational movement of the rotary cutting bit (112) along the cutting axis (C). For example, the cutting bit housing (114) defines two holes (117) for receiving fasteners (e.g., screws, bolts, pins) not illustrated. When the rotary cutting bit (112) engages with the rotary socket (118) and extends through the hole (115), the hole (117) can generally be aligned with the groove (121) of the rotary cutting bit (112). In this way, the fastener can extend through the hole (117) and be positioned at least partially within the groove (121) so that the fastener prevents the rotary cutting bit (112) from translational along the cutting axis (C) while allowing the rotary cutting bit (112) to rotate around the cutting axis (C).

[0038] Referring again to FIG. 2, there may be an articulating shaft (140) positioned within the elongated housing (102) and configured to selectively rotate the articulated head assembly (104) around an articulating axis (B). The articulating shaft (140) may include a main shaft (142), an elongated arm (144), and an engaging member (146). In some embodiments, the main shaft (142), the elongated arm (144), and the engaging member (146) are formed integrally. The main shaft (142) may be positioned between the drive shaft (116) and the elongated housing (102). In some embodiments, the main shaft (142) extends substantially along the length of the elongated housing (102) between the proximal end (108) and the distal end (110). The main shaft (142) may extend circumferentially around a first axis (A). The slender arm (144) may protrude from the main shaft (142) to couple the interlocking member (146) to the main shaft (142). In some embodiments, the slender arm (144) has a size that extends across the connecting member (124) such that a portion of the slender arm (144) extends past the lip (128) of the connecting member (124). The connecting member (124) may define a track (148) positioned along the upper surface of the connecting member (124) and having a size that accommodates at least a portion of the slender arm (144). In some embodiments, the articulating shaft (140) is made of metal, metal alloy, plastic material, and / or composite material. In some embodiments, the articulating shaft (140) is made of stainless steel 9 (e.g., 316 stainless steel).

[0039] In some embodiments, the joint shaft (140) is configured to translate about the slender housing (102) in a direction parallel to the first axis (A) so that the articulated head assembly (104) can rotate around the joint axis (B). For example, the engaging member (146) may be configured to engage with the cutting bit housing (114) to selectively articulate the cutting bit housing (114) around the joint axis (B). The cutting bit housing (114) may include a groove (150) located along the upper surface of the cutting bit housing (114) and configured to receive the engaging member (146). Because of this, when the joint shaft (140) translates in a direction parallel to the first axis (A), the engaging member (146) also translates in the same direction. For this reason, the engagement of the groove (150) of the cutting bit housing (114) and the engaging member (146) can cause the cutting bit housing (114) to rotate about the joint axis (B) when the engaging member (146) translates about the elongated housing (102). As described above, the rotation of the cutting bit housing (114) can be rotatably fixed to the rotary cutting bit (112) in relation to the rotation around the joint axis (B). In this way, the translational movement of the joint shaft (140) in a direction generally parallel to the first axis (A) can cause the rotary cutting bit (112) to rotate around the joint axis (B).

[0040] In some embodiments, the joint shaft (140) is configured to prevent unintended movement of the rotary cutting bit (112) when the rotary cutting bit (112) is in use (e.g., when rotatably driven around the cutting axis (C)). For example, during use (e.g. during minimally invasive arthroscopic surgery), the rotary cutting bit (112) may be positioned within the patient's body and rotatably driven around the cutting axis (C) to cut or cut away bone protrusions. During such use, the rotary cutting bit (112) may be positioned at an articular angle selected by the user (e.g., surgeon) (e.g., as shown in FIG. 4), which may be undesirable and / or dangerous if the angle of the rotary cutting bit (112) is unintendedly changed. For this reason, the joint shaft (140) may generally be constructed of a hard material (e.g., metal, hard plastic, metal alloy) to resist unintended movement of the rotary cutting bit (112). In some embodiments, the main shaft (142), the elongated arm (144), and the engaging member (146) are made of the same material. For example, the main shaft (142), the elongated arm (144), and the engaging member (146) may be made of stainless steel (e.g., 316 stainless steel). In some embodiments, at least one of the main shaft (142), the elongated arm (144), and the engaging member (146) is made of a different material.

[0041] The translational motion of the joint shaft (140) and the corresponding rotation of the joint head assembly (104) can be better understood by referring to FIGS. 7a and 7b. FIGS. 7a and 7b show side views of the joint head assembly (104) in a non-joint position (e.g., as shown in FIG. 7a) and a joint position (e.g., as shown in FIG. 7b). Although the elongated housing (102) is not shown to better illustrate the translational motion of the joint shaft (140), it will be understood that the elongated housing (102) can substantially surround the joint shaft (140) and that the distal end (110) of the elongated housing (110) can be positioned to contact the lip (128) of the connecting member (124). As illustrated in FIG. 7a, the engaging member (146) of the joint shaft (140) engages with the groove (150) of the cutting bit housing (114), and the jointed head assembly (104) is in a non-jointed position so that the first axis (A) and the cutting axis (C) are generally aligned.

[0042] In the non-articulated position, the main shaft (142) of the articulated shaft (140) is at a distance (d1) from the connecting member (124). The articulated shaft (140) can be translated in a direction parallel to the first axis (A) toward the connecting member (124) so ​​that the articulated head assembly (104) is in the articulated position, as shown in FIG. 7b. In the articulated position, the main shaft (142) is at a distance (d2) from the connecting member (124), where the distance (d2) is smaller than the distance (d1). In FIG. 7b, the articulated head assembly (104) is articulated so as to be at an angle (θ) with respect to the first axis (A). In other words, the cutting axis (C) is at an angle (θ) with respect to the first axis (A), which may be about 15 degrees or about 30 degrees. In some embodiments, the angle (θ) is from about 0 degrees to about 15 degrees. In some embodiments, the angle (θ) is about 15 degrees to about 30 degrees. In some embodiments, the angle (θ) is less than 30 degrees.

[0043] In some embodiments, the angle (θ) of the articulated head assembly (104) may be selectively controlled by the controller assembly (106). Referring to FIGS. 1 and FIGS. 8, the controller assembly (106) may include a controller housing (152) formed by two housing sections (152a, 152b), a first trigger (154), and a second trigger (156) that is separate and distinct from the first trigger (154). The housing sections (152a and 152b) may be coupled to the elongated housing (102) adjacent to the proximal end (108) of the elongated housing (102). In some embodiments, the housing sections (152a and 152b) are fixedly coupled to the elongated housing (102) and fixed to the elongated housing (102). In some embodiments, the housing section (152a, 152b) is composed of metal, metal alloy, plastic material and / or composite material. In some embodiments, the housing section (152a, 152b) is composed of a synthetic polymer (e.g., nylon 6 / 6, nylon 12). In some embodiments, the housing section (152a, 152b) is composed of stainless steel. In some embodiments, the first trigger (154) and / or the second trigger (156) is composed of metal, metal alloy, plastic material and / or composite material. In some embodiments, the first trigger (154) and / or the second trigger (156) is composed of a synthetic polymer (e.g., nylon 6 / 6, nylon 12). In some embodiments, the first trigger (154) and / or the second trigger (156) is composed of stainless steel.

[0044] The first trigger (154) and the second trigger (156) may be rotatably coupled to at least one of the housing sections (152a, 152b). For example, the housing section (152b) may include a first protrusion (158) configured to rotatably couple the first trigger (154) to the housing section (152b), and a second protrusion (160) configured to rotatably couple the second trigger (156) to the housing section (152b). In some embodiments, the housing section (152a) may include a protrusion similar to the first and second protrusions (158, 160) and positioned on the housing section (152a) to be aligned with the first and second protrusions (158, 160). For example, the first protrusion (158) may extend along the first trigger axis (T1) and the second protrusion (160) may extend along the second trigger axis (T2), and corresponding protrusions (not shown) extending from the housing section (152a) may each extend along these same axes (T1, T2). The first and second protrusions (158, 160) may be configured to rotatably couple the first and second triggers (154, 156), respectively, to the housing section (152b). It will be understood, and will not be described for brevity, that the housing section (152a) having the same protrusions is similarly configured to rotatably couple the first and second triggers (154, 156) to the housing section (152a). In other words, it will be understood that the description of the coupling of the first and second triggers (154, 156) to the housing section (152b) is generally the same as the description of the housing section (152a).

[0045] In some embodiments, the first trigger (154) may include a hole (162) configured to accommodate at least a portion of the first protrusion (158), so that the first trigger (154) is coupled to the housing section (152b) and can be rotated around the first trigger axis (T1). Similarly, the second trigger (156) may include a hole (164) configured to accommodate at least a portion of the second protrusion (160), so that the second trigger (156) is coupled to the housing section (152b) and can be rotated around the second trigger axis (T2). The first trigger (154) may include a user-engageable portion (166) configured to extend at least partially from the controller housing (152). For example, the controller housing (152) includes an opening (168) adjacent to the first protrusion (158), through which the user-engageable portion (166) extends. Similarly, the second trigger (156) may include a user-engageable portion (170) configured to extend at least partially from the controller housing (152), and the controller housing (152) may include an opening (172) adjacent to the second protrusion (160). Accordingly, the user-engageable portion (170) of the second trigger (156) may extend through the opening (172).

[0046] In this way, the user can selectively rotate the first and second triggers (154, 156) around the first and second trigger axes (T1, and T2) respectively by applying force to the user-engageable portions (166, 170) of the first and second triggers (154, 156). In some embodiments, the rotation of the second trigger (156) is configured to rotate the articulated head assembly (104) to an articulated position, and the rotation of the first trigger (154) is configured to rotate the articulated head assembly (104) toward a non-articulated position.

[0047] Referring to FIGS. 8 and 9, the second trigger (156) may include at least one drive hole (174) extending circumferentially around an axis (D) that is generally parallel to and spaced apart from the second trigger axis (T2). In some embodiments, the second trigger (156) includes two drive holes (174), each extending circumferentially around the axis (D) and each generally having the same diameter. Each drive hole (174) may be configured to receive a fastener (e.g., a screw, bolt, or pin) for coupling the second trigger (156) to the joint shaft (140). For example, each drive hole (174) is positioned on the second trigger (156) such that when the second trigger (156) is coupled to the second protrusion (160), each drive hole (174) is aligned with a corresponding shaft hole (176) extending through the joint shaft (140). In this way, the fastener can be extended through each driving hole (174) and the corresponding shaft hole (176) so that the second trigger (156) is coupled to the joint shaft (140).

[0048] In some embodiments, rotating the second trigger (156) around the second trigger axis (T2) in a first direction (e.g., clockwise) causes the articulated head assembly (104) (shown in FIG. 7b) to rotate toward the articulated position. For example, as the second trigger (156) rotates clockwise, the engagement between the second trigger (156) and the articulated shaft (140) through the drive hole (174) and the corresponding shaft hole (176) causes the second trigger (156) to rotate relative to the articulated shaft (140), thereby causing the articulated shaft (140) to translate away from the proximal end (108) of the elongated housing (102). Because of this, the engagement between the articulated shaft (140) and the articulated head assembly (104) can cause the articulated head assembly (104) to rotate toward the articulated position, as discussed with reference to FIG. 2 and FIG. 7b. In this way, the second trigger (156) can be configured to cause the articulated head assembly (104) to rotate to an articulated position, for example, as shown in FIG. 7b.

[0049] Similarly, rotating the second trigger (156) in a second direction opposite to the first direction (e.g., counterclockwise) around the second trigger axis (T2) can cause the articulated head assembly (104) (shown in FIG. 7a) to rotate to a non-articulated position. For example, as the second trigger (156) rotates counterclockwise, the engagement of the second trigger (156) and the articulated shaft (140) through the drive hole (174) and the corresponding shaft hole (176) causes the second trigger (156) to rotate relative to the articulated shaft (140), thereby causing the articulated shaft (140) to translate toward the proximal end (108) of the elongated housing (102). For this reason, the engagement between the joint shaft (140) and the articulated head assembly (104) can cause the articulated head assembly (104) to rotate to a non-articulated position, as discussed with reference to FIG. 2 and FIG. 7a. In this way, the second trigger (156) can be configured to cause the articulated head assembly (104) to rotate to a non-articulated position, for example, as shown in FIG. 7a.

[0050] Referring to FIG. 7b and FIG. 9 through 10, the second trigger (156) and the first trigger (154) can hold the articulated head assembly (104) (shown in FIG. 7b) in one or more joint positions in a releaseable manner. In some embodiments, the second trigger (156) includes a stepped structure (178) defining one or more stepped surfaces, each configured to engage with the arm (180) of the first trigger (154). The stepped structure (178) includes two stepped surfaces (179a-179b), each corresponding to a different predetermined joint position of the articulated head assembly (104). In some embodiments, the stepped surface (179a) corresponds to a first joint position where the articulated head assembly (104) is at an angle (θ) of about 30 degrees with respect to the first axis (A) (see FIG. 7b for reference). Similarly, the stepped surface (179b) may correspond to a second joint position where the articulated head assembly (104) is at an angle (θ) of about 15 degrees with respect to the first axis (A) (see FIG. 7b for reference). In some embodiments, when the articulated head assembly (104) is in the first or second joint position, the arm (180) of the first trigger (154) engages with the stepped surface (179a-179b). In some embodiments, when the articulated head assembly (104) is in a non-joint position (e.g., when the angle (θ) is 0 degrees), the arm (180) rests on the flat upper surface (179c) of the stepped structure (178). In some embodiments, the arm (180) is deflected by a deflection member (182) toward engaging with the stepped structure (178). The deflection member (182) may be a compression spring or any other deflection member known to those skilled in the art.

[0051] When the articulated head assembly (104) is in the first or second articulated position, the arm (180) of the first trigger (154) may come into contact with the corresponding stepped surfaces (179a, 179b) so that the second trigger (156) is prevented from rotating in at least one direction (e.g., counterclockwise) around the second trigger axis (T2). For example, when the arm (180) comes into contact with one of the stepped surfaces (179a, 179b), the first trigger (154) prevents or at least resists the rotation of the second trigger (156) in a counterclockwise direction. As discussed above, the second trigger (156) is coupled to an articulating shaft (140) coupled to an articulating head assembly (104), so that the rotation of the second trigger (156), the translational movement of the articulating shaft (140), and the rotation of the articulating head assembly (104) correspond to each other. In other words, the rotation of the second trigger (156) causes the translational movement of the articulating shaft (140), which causes the articulating head assembly (104) to rotate, and vice versa. Accordingly, the first trigger (154) resists or prevents translational movement of the articulating shaft (140) in at least one direction (e.g., toward the proximal end (108) of the elongated housing (102)) when the arm (180) engages with one of the stepped surfaces (179a, 179b), and also prevents rotation of the articulating head assembly (104) in at least one direction. In this way, the first trigger (154) can provide additional stability to the articulating head assembly (104) when the rotary cutting bit (112) is cut or pierced to prevent or at least resist unintended rotation of the rotary cutting bit (112) around the articulating axis (B).

[0052] In some embodiments, the first trigger (154) may be configured to allow rotation of the second trigger (156) in at least one direction (e.g., clockwise) while the arm (180) of the first trigger (154) engages with the stepped structure (178) of the second trigger (156). For example, when the arm (180) comes into contact with the stepped surface (179b), the second trigger (156) may be freely rotated clockwise so that the arm (180) separates from the stepped surface (179b) and engages with the stepped surface (179a). In this way, the first trigger (154) may allow the user to freely rotate the articulated head assembly (104) from the second joint position to the first joint position.

[0053] In some embodiments, the user may manually rotate the first trigger (154) so ​​that the articulated head assembly (104) automatically rotates toward a non-articulated position (shown in FIG. 7a). For example, the user may apply force to the user-engageable portion (166) of the first trigger (154) to cause the first trigger (154) to rotate counterclockwise around the first trigger axis (T1). In this way, the arm (180) is separated from the stepped structure (178) of the second trigger (156), so that the second trigger (156) can be rotated counterclockwise. In some embodiments, there may be a second deflection member (184) disposed within the controller housing (152) and configured to deflect the second trigger (156) toward a first position where the articulated head assembly (104) is in a non-articulated position. Therefore, when the user manually rotates the first trigger (154) counterclockwise so that the arm (180) does not engage with the stepped structure (178), the second deflection member (184) rotates the second trigger (156) to the first position. Consequently, the second deflection member (184) deflects the joint shaft (140) toward the proximal end (108) of the elongated housing (102), and also deflects the articulated head assembly (104) toward the non-articulated position. This allows the user to selectively rotate the articulated head assembly (104) between any one of the articulated positions and the non-articulated position.

[0054] In some embodiments, the articulating rotary cutting tool (100) may be configured to be used in surgical procedures where the articulation of the head assembly (104) is not required or / or beneficial. In other words, in certain surgical work environments, it may be advantageous to provide a rotary cutting tool similar to the articulating rotary cutting tool (100), except that the articulating head assembly (104) cannot rotate around the articulating axis (B). For example, in oral and maxillofacial surgical procedures, the articulation of the articulating head assembly (104) is not required or / or it may be advantageous to provide the articulating head assembly (104) at a fixed angle (θ) to increase the stability of the rotary cutting bit during perforation or cutting. The articulating head assembly (104) may be fixedly oriented in a non-articulated position (e.g., when the angle (θ) is 0 degrees) or any articulated position (e.g., when the angle (θ) is greater than 0 degrees and / or up to about 30 degrees). In such an embodiment, the constant velocity joint formed between the rotary cutting bit (112) and the rotary socket (118) can generally function in the same way as described above. In other words, the cutting bit housing (114) can be fixedly coupled to the connecting member (124) so ​​that the cutting bit housing (114) can be fixed at a predetermined angle (θ). Because of this, the rotary cutting bit (112) can be coupled to the cutting bit housing (114) as described above, and the multi-faceted ball (122) of the rotary cutting bit (112) can be received within the receiving area (120) of the rotary socket (118) so that when the rotary socket (118) rotates at a rotational speed, the rotary cutting bit (112) generally rotates at the same rotational speed.

[0055] In some embodiments, the articulated rotary cutting tool (100) may be configured to be used with an oscillating saw mechanism (not shown). For example, the rotary cutting bit (112) may be replaced with a saw, blade, or rasp that vibrates along the cutting axis (C). The saw may be articulated around the articulated axis (B), and the articulated rotary cutting tool (100) may include an oscillating mechanism (not shown) configured to convert the rotational motion of the drive shaft (116) into oscillating linear motion along the cutting axis (C). In some embodiments, the oscillating mechanism is located within an elongated housing (102) and is positioned close to the distal end (110). In other embodiments, the oscillating mechanism is located within the cutting bit housing (114).

[0056] Referring to FIGS. 2 and FIGS. 11, the articulated rotary cutting tool (100) may include a fluid suction inlet (186) configured to suck fluid near the articulated head assembly (104). In some embodiments, a driving means coupled to the driving interface (109) may include a motor for driving a driving shaft (116) to simultaneously suck fluid through the fluid suction inlet (186). For example, the driving means may include means for generating a vacuum, suction, and / or suction. In some embodiments, the fluid suction inlet (186) is formed on an elongated housing (102) and serves as an opening through which fluid can pass. In some embodiments, a channel (188) is formed between the driving shaft (116), the articulated shaft (140), and the connecting member (124) that fluidly communicate with the fluid suction inlet (186) so that fluid can flow through the fluid suction inlet (186) and through the channel (188). In some embodiments, there is a fluid receiving means fluidly communicating with the channel (188) so that the aspirated fluid can be removed from the channel (188) and the articulated rotary cutting tool (100). In some embodiments, there may be a fluid sealing compartment (not shown) surrounding the drive shaft (116) so that the aspirated fluid does not come into contact with the drive shaft (116). In other embodiments, the drive shaft (116) may include an element that assists in the aspiration of fluid through a fluid suction inlet (186), such as (but not limited to) a groove or protrusion.

[0057] In some embodiments, the fluid sucked through the fluid suction inlet (186) may be prevented from coming into contact with the constant velocity joint formed between the rotary cutting bit (112) and the rotary socket (118) by the receiving area (120) of the connecting member (124) and / or the rotary socket (118) as described above with reference to FIG. 2. In other embodiments, the articulated rotary cutting tool (100) may not include the fluid suction inlet (186). For example, fluid suction may not be required in non-arthroscopic applications (e.g., robotic surgery applications, endoscopic spinal surgery applications). In such applications, the fluid suction inlet (186) may not be included so that the elongated housing (102) does not include an opening for the fluid suction inlet (186).

[0058] In some embodiments, the articulated rotary cutting tool (100) has a length (L1) measured from the distal end of the controller assembly (106) to the distal end (110) of the elongated housing (102), and the elongated housing (102) has a diameter (D3). In some embodiments, the length (L1) is about 200 mm to about 250 mm. In some embodiments, the length (L1) is at least 200 mm. In some embodiments, the length (L1) is 250 mm or less. In some embodiments, the length (L1) is at least 200 mm. In some embodiments, the length (L1) is 225 mm or less. In some embodiments, the length (L1) is about 212 mm. The diameter (D3) of the elongated housing (102) may be about 5 mm to about 10 mm. In some embodiments, the diameter (D3) of the elongated housing (102) is greater than 5 mm. In some embodiments, the diameter (D3) is about 10 mm or less. In some embodiments, the diameter (D3) is about 8 mm or less. In some embodiments, the diameter (D3) is about 7 mm. It will be understood that the length (L1) and diameter (D3) may be changed depending on the intended surgical use, as they may correspond to the intended surgical use. For example, the articulated rotary cutting tool (100) illustrated in FIG. 11 configured for spinal surgery may have a different length and / or diameter than that illustrated in FIG. 11.

[0059] Those skilled in the art will understand that modifications may be made to the exemplary embodiments illustrated and described above without departing from the broad concept of the invention. Accordingly, it is understood that the invention is not limited to the exemplary embodiments illustrated and described, but is intended to include variations within the spirit and scope of the invention as defined by the claims. For example, specific features of the exemplary embodiments may or may not be part of the claimed invention, and various features of the disclosed embodiments may be combined. Unless specifically stated herein, the terms "a," "an," and "the" should be read as meaning "at least one" and are not limited to a single element.

[0060] At least some parts of the drawings and description of the present invention have been simplified to focus on elements relevant to a clear understanding of the invention, and for clarity, other elements that a person skilled in the art may understand as comprising parts of the invention have been omitted. However, since such elements are well known in the art and do not necessarily facilitate a better understanding of the invention, descriptions of such elements are not provided herein.

[0061] Furthermore, unless the method of the present invention relies on a specific order of steps described herein, the specific order of steps should not be interpreted as limiting the claims. Any claim relating to the method of the present invention should not be limited to the performance of steps in the order recorded, and those skilled in the art will readily understand that the steps may vary and remain within the spirit and scope of the present invention.

Claims

Claim 1 A rotary cutting tool comprising: an elongated housing having a proximal end and a distal end and extending circumferentially around a first axis; a drive shaft disposed within the elongated housing and extending between the proximal end and the distal end and rotatable around the first axis; and a cutting bit housing coupled to the distal end of the elongated housing and rotatable about the drive shaft around an articulating axis between a non-articulating position and one or more articulating positions;The device further comprises a rotary cutting bit comprising a multi-faceted ball, coupled to a cutting bit housing and a drive shaft, and rotatably about an articulating axis together with the cutting bit housing, the multi-faceted ball of the rotary cutting bit, and the drive shaft forming a constant velocity joint, and further comprises a controller assembly coupled to a proximal end of an elongated housing and configured to selectively rotate the rotary cutting bit and the cutting bit housing relative to the elongated housing between a non-articulated position and one or more articulated positions, and further comprises an articulating shaft comprising an engagement member disposed between the elongated housing and the drive shaft and configured to engage with a groove of the cutting bit housing, wherein the controller assembly is coupled to the articulating shaft and configured to cause the articulating shaft to translate relative to the elongated housing, and the translation of the articulating shaft relative to the elongated housing causes the rotary cutting bit and the cutting bit housing to rotate relative to the elongated housing around an articulating axis, and the controller assembly comprises a first A rotary cutting tool comprising a trigger and a second trigger, wherein the second trigger is configured to cause the joint shaft to translate relative to an elongated housing, and the first trigger is configured to unlockably lock the position of the joint shaft relative to the elongated housing. Claim 2 A rotary cutting tool according to claim 1, wherein the first trigger comprises an arm configured to contact a stepped structure of the second trigger such that rotation of the second trigger in at least one direction is prevented by the arm of the first trigger. Claim 3 In claim 2, the stepped structure comprises one or more stepped surfaces corresponding to different joint positions among one or more joint positions, for a rotary cutting tool. Claim 4 A rotary cutting tool according to claim 1, wherein the joint shaft and the engaging member are coupled to each other by an elongated arm formed integrally with the joint shaft and the engaging member, and the joint shaft, the engaging member and the elongated arm are generally made of a rigid material. Claim 5 A rotary cutting tool according to claim 1, wherein the drive shaft comprises a rotary socket configured to receive a multi-faceted ball of a rotary cutting bit, a multi-faceted ball, and a rotary socket forming a constant velocity joint. Claim 6 In claim 5, the rotary socket is rotatably fixed to a drive shaft such that the rotary socket rotates around a first axis by the rotation of the drive shaft around a first axis, the rotary socket defines a receiving area for receiving a multi-faceted ball, the receiving area generally has a hexagonal shape and the multi-faceted ball is a hexagonal ball, a rotary cutting tool. Claim 7 A rotary cutting tool according to claim 5, wherein the rotary socket includes a groove extending circumferentially around the rotary socket, and the slender housing is configured to accommodate two fasteners so as to prevent translational movement of the rotary socket around a first axis, at least partially accommodated within the groove. Claim 8 A rotary cutting tool according to claim 1, further comprising a connecting member coupled to the distal end of an elongated housing, wherein the connecting member rotatably limits the joint axis and connects the cutting bit housing to the elongated housing. Claim 9 In claim 8, the cutting bit housing is a rotary cutting tool that snap-fits to a connecting member. Claim 10 A rotary cutting tool according to claim 1, wherein the rotary cutting bit comprises a groove extending circumferentially around the central shaft of the rotary cutting bit, the groove being configured to accommodate a fastener to prevent the rotary cutting bit from translational about the intended cutting axis. Claim 11 An arthroscopic rotary cutting tool comprising: an elongated housing having a proximal end and a distal end and extending circumferentially around a first axis; a drive shaft disposed within the elongated housing and extending between the proximal end and the distal end and rotatable around the first axis; a cutting bit housing coupled to the distal end of the elongated housing and rotatable about the drive shaft around an articulating axis between a non-articular position and one or more articular positions; a rotary cutting bit comprising a multi-faceted ball coupled to the cutting bit housing and the drive shaft and rotatable about an articulating axis together with the cutting bit housing, the multi-faceted ball of the rotary cutting bit, and the drive shaft forming a constant velocity joint; and a controller assembly coupled to the proximal end of the elongated housing and configured to allow the rotary cutting bit and the cutting bit housing to selectively rotate about the elongated housing between a non-articular position and one or more articular positions. An arthroscopic rotary cutting tool comprising: an articulated shaft including an engaging member disposed between an elongated housing and a drive shaft and configured to engage with a groove of a cutting bit housing; a controller assembly coupled to the articulated shaft and configured to cause the articulated shaft to translate about the elongated housing, and the translational movement of the articulated shaft about the elongated housing causes the rotary cutting bit and the cutting bit housing to rotate about the articulated housing around an articulated axis, and the controller assembly includes a first trigger and a second trigger, the second trigger configured to cause the articulated shaft to translate about the elongated housing, and the first trigger configured to unlockably lock the position of the articulated shaft about the elongated housing. Claim 12 An arthroscopic rotary cutting tool according to claim 11, wherein the first trigger comprises an arm configured to contact a stepped structure of the second trigger such that rotation of the second trigger in at least one direction is prevented by the arm of the first trigger. Claim 13 In claim 12, the stepped structure comprises one or more stepped surfaces corresponding to different joint positions among one or more joint positions, an arthroscopic rotary cutting tool. Claim 14 In claim 11, the drive shaft comprises a rotary socket configured to receive a multi-faceted ball of a rotary cutting bit, a multi-faceted ball, and a rotary socket forming a constant velocity joint, an arthroscopic rotary cutting tool. Claim 15 In claim 14, the rotary socket is rotatably fixed to a drive shaft such that the rotary socket rotates around a first axis by the rotation of the drive shaft around a first axis, the rotary socket defines a receiving area for receiving a multifaceted ball, the receiving area generally has a hexagonal shape and the multifaceted ball is a hexagonal ball, an arthroscopic rotary cutting tool. Claim 16 In claim 14, the rotary socket comprises a groove extending circumferentially around the rotary socket, and the slender housing is configured to accommodate two fasteners so as to prevent translational movement of the rotary socket around a first axis, wherein the rotary socket comprises a groove extending circumferentially around the rotary socket. Claim 17 An arthroscopic rotary cutting tool according to claim 11, further comprising a connecting member coupled to the distal end of an elongated housing, wherein the connecting member rotatably limits the articular axis and connects the cutting bit housing to the elongated housing. Claim 18 delete Claim 19 delete Claim 20 delete Claim 21 delete Claim 22 delete

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