Manual six-foot locking mechanism

Abstract

A surgical alignment device includes a base, a guide, and a plurality of linear actuators, each linear actuator extending between the base and the guide. The plurality of linear actuators includes a first end connected to the base at a base junction and a second end connected to the guide at a guide junction. The locking arrangement is configured to simultaneously lock all of the base engagement portions or to simultaneously lock all of the guide engagement portions.

Description

Technical Field

[0001] The present disclosure relates to an alignment guide, such as an alignment guide including a manual hexapod locking mechanism. Background Art

[0002] This section provides background information related to the present disclosure which is not necessarily prior art.

[0003] Surgical procedures are performed on various parts of anatomical structures, such as human anatomy. Surgical procedures can have varying degrees of invasiveness, such as by performing open surgery or by performing less invasive surgery. Surgery can be performed in a less invasive manner by minimizing or attempting to minimize incisions or portals made in anatomical tissue, through bone openings, and other minimization techniques.

[0004] However, less invasive procedures may also reduce visibility of a portion of the anatomy while the procedure is taking place, reduce access of various instruments to a portion of the anatomy, etc. Less invasive procedures may also require specialized and specific instruments to perform the procedure in an appropriate and beneficial manner. Therefore, it is desirable to provide instruments, procedures, etc. to achieve optimal results while maintaining less invasive procedures.

[0005] Although current surgical alignment devices are suitable for their intended uses, there is still room for improvement. The present disclosure advantageously includes an improved alignment device that addresses various needs in the art. For example, the alignment device of the present disclosure facilitates freehand alignment of surgical instruments, such as aligning a biopsy plan and target. Summary of the invention

[0006] This section provides a general summary of the disclosure, and is not a comprehensive disclosure of the full scope of the disclosure or all of its features.

[0007] The present disclosure provides a surgical alignment device, the surgical alignment device comprising a base, a guide and a plurality of linear actuators, each linear actuator extending between the base and the guide. The plurality of linear actuators comprises a first end connected to the base at a base joint and a second end connected to the guide at a guide joint. The locking arrangement is configured to simultaneously lock all base joints in the base joint or simultaneously lock all guide joints in the guide joint.

[0008] The present disclosure also provides a surgical alignment device, which includes a base, a guide and a plurality of linear actuators, each of which extends between the base and the guide. The plurality of linear actuators include a first end connected to the base at a base joint and a second end connected to the guide at a guide joint. A base brake is at each base joint in the base joint. A guide brake is at each guide joint in the guide joint. A base locking ring is provided with the base and cooperates with the base brake so that rotation of the base locking ring in a first direction causes the base brake to engage with the plurality of linear actuators to lock the base joint. Rotation of the base locking ring in a second direction opposite to the first direction releases the base brake from engagement with the plurality of linear actuators to unlock the base joint. A guide locking ring is provided with the guide and cooperates with the guide brake, so that rotation of the guide locking ring in a first direction causes the guide brake to engage with the plurality of linear actuators to lock the guide engagement portion. Rotation of the guide locking ring in a second direction opposite to the first direction releases the guide brake from engagement with the plurality of linear actuators to unlock the guide engagement portion.

[0009] Further areas of applicability will become apparent from the description provided herein.The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0011] Figure 1A is a side view of a surgical alignment device according to the present disclosure installed at an exemplary surgical site;

[0012] Figure 1B yes Figure 1A A perspective view of an alignment device;

[0013] Figure 2 yes Figure 1A A side view of an alignment device;

[0014] Figure 3 yes Figure 1A Another perspective view of the alignment device;

[0015] Figure 4 yes Figure 1A Additional perspective views of the alignment device;

[0016] Figure 5 yes Figure 1A An exploded view of an alignment device;

[0017] Figure 6 yes Figure 1A A cross-sectional view of an alignment device;

[0018] Fig. 7A The unlocked configuration is shown Figure 1A An exemplary locking arrangement of an alignment device; and

[0019] Figure 7B Illustrated in a locked configuration Fig. 7A The locking arrangement.

[0020] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings. DETAILED DESCRIPTION

[0021] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0022] Initial reference Figures 1A to 6 , an exemplary surgical alignment device according to the present disclosure is illustrated by reference numeral 10. The surgical alignment device 10 may be used for any suitable surgical or non-surgical procedure. With respect to surgical procedures, the device 10 may be used with any navigational procedure requiring alignment of an instrument to a trajectory, or for holding an instrument in a fixed position. Exemplary surgical procedures include, but are not limited to, biopsy procedures, spinal procedures, cranial procedures, and the like.

[0023] Depending on the application, instruments can be guided to selected portions of the anatomical structure with the device 10 so as to perform surgery in a less invasive manner. For example, an endoscope can be guided along a selected portion of the anatomical structure to observe internal structures within the anatomical structure. Various other instruments can also be guided into the anatomical structure by the guide 10 for various surgeries. For example, in microelectrode recording (MER), a microelectrode (ME) can be guided into a portion of the anatomical structure (such as the brain) to record electrical activity therein. The recording of electrical activity can be used for various diagnostic surgeries and identification surgeries. A probe or deep brain stimulation (DBS) electrode or macrostimulation probe or wire can be guided in an area relative to the ME.

[0024] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application or use. In addition, although the following description is related to surgery performed in a patient's brain, surgery in the brain is merely exemplary. In addition, the use of microelectrodes for recording, deep brain stimulation probes (also referred to as leads or electrodes), biopsy needles, etc. in the brain is also merely exemplary. It should be understood that the disclosure herein can be used in any appropriate part of the anatomical structure and can be used during any appropriate surgery using any appropriate instrument.

[0025] The navigation system generally allows the position (e.g., posture) of the instrument relative to the object in the object space to be determined. This is done using a tracking system. In various embodiments, an EM tracking system may be used and may include the EM tracking system sold by Medtronic Navigation, Inc., with a place of business in Louisville, Colorado. AXIEM TM Navigation System. Exemplary tracking systems are disclosed in U.S. Patent No. 8,644,907, entitled “Method and Apparatus For Surgical Navigation,” issued on February 4, 2012; U.S. Patent No. 7,751,865, entitled “Method and Apparatus For Surgical Navigation,” issued on July 6, 2010; U.S. Patent No. 5,913,820, entitled “Position Location System,” issued on June 22, 1999, and U.S. Patent No. 5,592,939, entitled “Method and System for Navigating a Catheter Probe,” issued on January 14, 1997, all of which are hereby incorporated by reference herein.

[0026] The tracking system may also or alternatively include any suitable tracking system including a tracking system having an optical locator (such as any optical locator) sold by Medtronic Navigation, Inc. having a place of business in Louisville, Colorado. and / or S7 TMNavigation system. Optical tracking systems may also include those disclosed in U.S. Patent 8,010,177, “Intraoperative Image Registration,” dated August 30, 2011. U.S. Patent 6,235,038, entitled “System For Translation of Electromagnetic and Optical Localization Systems,” issued May 22, 2001, all of which are hereby incorporated by reference herein. Additional alternative tracking systems are disclosed in U.S. Patent No. 5,983,126, entitled “Catheter Location System and Method,” issued November 9, 1999 to Wittkampf et al., which is hereby incorporated by reference. Other tracking systems include acoustic, radiation, radar, and other tracking or navigation systems.

[0027] Registration of object (e.g., navigation or surgery) space with image space may allow for tracked instrument poses to be illustrated relative to the image. According to various embodiments, registration may occur by determining substantially equivalent points in image space and patient space. Equivalent points may include anatomical fiducials or implant fiducials. Exemplary registration techniques are disclosed in U.S. Patent Application No. 9,737,235, issued on August 22, 2017, which are hereby incorporated by reference herein.

[0028] Figure 1A A surgical alignment device 10 is illustrated installed at an exemplary surgical site 210, including a human skull and brain. The device 10 is configured to guide any suitable surgical instrument or implant 310, for example, at any suitable angle to any suitable location of the skull and brain. The surgical instrument 310 can be, for example, any suitable probe, electrode, etc., including, for example, those listed above, and, for example, those described in U.S. Pat. No. 7,803,164, assigned to Medtronic, Inc. of Minneapolis, Minnesota, entitled "Method for Guiding Instruments Having Different Sizes," the entire contents of which are hereby incorporated herein by reference. Exemplary surgical procedures including the device 10 are further described herein.

[0029] The surgical alignment device 10 generally includes a base 12, a guide 14, and a plurality of linear actuators 16 extending between the base 12 and the guide 14. The device 10 also includes a joint 18 for mounting the device 10 at any suitable surgical site or any other location where instrument alignment is desired. The joint 18 includes a bracket 20 that supports any suitable fastener 22. The fastener 22 can be any fastener suitable for securing the surgical alignment device 10 to any suitable clamp or other mounting member.

[0030] The linear actuators 16 advantageously provide six degrees of freedom of movement of the guide 14 relative to the base 12, as further described herein. The device 10 may be equipped with any suitable number of linear actuators 16. For example and as illustrated in the figures, the device 10 includes six linear actuators 16. Each of the linear actuators 16 is identical or substantially similar.

[0031] Each linear actuator in the linear actuator 16 is typically a slidable connecting rod that includes a barrel 30 in which a piston rod 32 is located. The piston rod 32 can be slidably moved in and out of the barrel 30 to change the distance that the piston rod 32 extends out of the barrel 30. Depending on the application, the piston rod 32 can be biased inwardly or outwardly in any suitable manner, such as using a spring or any other suitable biasing member. The actuation of the piston rod 32 is not controlled in any way except by manual manipulation of the guide 14 relative to the base 12 by the user. Each linear actuator of the linear actuator 16 includes a first end 34 and a second end 36, which is opposite the first end 34. At the first end 34 is a base ball 38 (e.g., see Figures 1, Figure 4 , Figure 5 , Fig. 7A and Figure 7B ), which is adjacent to the barrel 30. At the second end 36 is a guide ball 40 (see, for example, Figure 2 , Figure 3 , Figure 5 and Figure 6 ). The guide ball 40 is at the distal end of the piston rod 32. The base ball 38 mates with the base 12 at the base engagement portion 50. The guide ball 40 mates with the guide 14 at the guide engagement portion 52.

[0032] Base locking ring 60 surrounds base 12. Base locking ring 60 and base 12 are both circular or substantially circular. Similarly, guide locking ring 62 surrounds guide 14. Guide locking ring 62 and guide 14 are both circular or substantially circular. At the center of guide 14 is an aperture 64. Aperture 64 is configured to accommodate any suitable instrument guide, such as Figures 2 to 6The instrument guide 66 is configured to direct any suitable instrument or implant to a desired surgical site.

[0033] The base locking ring 60 is rotatably coupled to the base 12. The base locking ring 60 is rotatable about the base 12 in both a first direction and a second direction opposite to the first direction. The base locking ring 60 includes a plurality of base tabs 70 that can be pushed by a user to rotate the base locking ring 60. Spaced around the base 12 are fixed base stops 72. The base locking ring 60 can be rotated in the first direction until at least one of the base tabs 70 contacts an adjacent base stop 72. The base stops 72 are positioned so that when one (or more) of the base tabs 70 contacts the base stop 72, there is always another base tab 70 spaced from a different base stop 72. The base tab 70 spaced from a different base stop 72 can be pushed to rotate the base locking ring 60 in a second (opposite) direction.

[0034] The guide locking ring 62 is substantially similar to the base locking ring 60. The guide locking ring 62 is rotatable about the guide 14 in both a first direction and a second direction opposite the first direction. The guide locking ring 62 includes a plurality of guide tabs 74 that can be pushed by a user to rotate the guide locking ring 62. Spaced around the guide 14 are fixed guide stops 76. The guide locking ring 62 is able to rotate in the first direction until at least one of the guide tabs 74 contacts an adjacent guide stop 76. The guide stops 76 are positioned so that when one (or more) of the guide tabs 74 contacts the guide stop 76, there is always another guide tab 74 spaced from a different guide stop 76. The guide tabs 74 spaced from a different guide stop 76 can be pushed to rotate the guide locking ring 62 in a second (opposite) direction. More specifically and as illustrated in FIG. 1 , the guide stops 76 and the guide protrusions 74 are positioned such that when a first guide protrusion 74' of the guide protrusions contacts a first guide stop 76' of the guide stops, another guide protrusion 74" of the guide protrusions is spaced apart from another guide stop 76' of the guide stop to facilitate rotation in the opposite direction.

[0035] Each of the base balls 38 of the linear actuator 16 is received by the base 12 at the base joint 50 and cooperates with the base, which includes a base locking arrangement 80A. Similarly, each of the guide balls 40 is received by the guide 14 at the guide joint 52 and cooperates with the guide, which includes a guide locking arrangement 80B. The base locking arrangement 80A is the same as or substantially similar to the guide locking arrangement 80B. Therefore, the following description of the base locking arrangement 80A also applies to the guide locking arrangement 80B.

[0036] Specific reference Fig. 7A and Figure 7B , one exemplary base locking arrangement of the base locking arrangement 80A will now be described in detail. Fig. 7A and Figure 7B The description of the base locking arrangement 80A also applies to all other base locking arrangements in the other base locking arrangements 80A and all guide locking arrangements in the guide locking arrangements 80B.

[0037] Each of the base locking arrangements 80A includes a base brake 90. Similarly, each of the guide locking arrangements 80B includes a guide brake. The following description of the base brake 90 also applies to all of the guide brakes. The base brake 90 defines a receptacle 92 configured to accommodate the base ball 38. The receptacle 92 may be covered with any suitable friction promoting insert or friction promoting surface treatment 94 to enhance the friction between the base brake 90 and the ball 38.

[0038] Opposite the receptacle 92, the base brake 90 includes a curved surface 96. The curved surface 96 is opposite the base locking ring 60. Fig. 7A In the unlocked position, the curved surface 96 is opposite to the base ramp 98 of the base locking ring 60. The base ramp 98 is angled so that the lower end is adjacent to the flange 110 and the upper end is opposite to the lower end and the flange 110. Fig. 7A In the unlocked position, the base brake 90 does not contact the base ball 38 (or only lightly contacts the base ball 38) to allow the base ball 38 to rotate freely within the base joint 50. When all of the base locking arrangement 80A and the guide locking arrangement 80B are in the unlocked position, the base ball 38 and the guide ball 40 are free to pivot within the base joint 50 and the guide joint 52, respectively, to allow the guide 14 to move relative to the base 12 in six degrees of freedom, which allows the guide 14 to be positioned in any suitable orientation.

[0039] After the guide 14 has been moved to the desired orientation, the base locking ring 60 and the guide locking ring 62 are rotated to lock the base engagement portion 50 and the guide engagement portion 52, respectively. Figure 7B As illustrated, rotation of the base locking ring 60 in the first direction moves the inclined surface 98 to the right in the illustrated orientation, so that the relatively higher end of the base ramp 98 contacts the curved surface 96. The upper end of the base ramp 98 forces the base detent 90 to engage the ball 38. The friction between the ball 38 and the base detent 90 promotes the engagement between the insert or surface treatment 94 to prevent the ball 38 from rotating and, thus, lock the linear actuator 16. Similarly, rotation of the guide locking ring 62 in the first direction locks each of the guide engagement portions 52, thereby further limiting the movement of the linear actuator 16 and locking the surgical alignment device 10 in a desired position for guiding any suitable instrument to a surgical site.

[0040] To unlock the device 10 and allow readjustment of the position of the guide 14, the base locking ring 60 and the guide locking ring 62 are rotated in a second direction, which is opposite to the first direction. Rotation of the base locking ring 60 in the second direction moves the base locking ring 60 back to the guide 14 position. Fig. 7A The guide engaging portion 52 is rotated in the second direction to unlock the guide engaging portion 52, which results in the base brake 90 no longer applying a friction lock to the ball 38. Similarly, rotation of the guide locking ring 62 in the second direction unlocks the guide engaging portion 52. Thus, all of the base engaging portions 50 can be locked and unlocked simultaneously using a single hand, and all of the guide engaging portions 52 can be locked and unlocked simultaneously using a single hand.

[0041] The base locking arrangement 80A and the guide locking arrangement 80B are merely exemplary locking arrangements. Those skilled in the art will appreciate that any other suitable locking arrangements may be implemented. For example, electromagnets may be included to move the base brake 90 and the guide brake to a locked position and an unlocked position. Those skilled in the art will appreciate that any other suitable locking mechanism that provides a one-handed locking operation may be used. Thus, the present disclosure advantageously provides a surgical alignment device 10 that can be locked and unlocked using only one hand.

[0042] For example, now refer to Figure 1A1 and 2 to describe an exemplary surgery using the device 10 at an exemplary surgical site 210 including a skull and a brain. The surgical site 210 is prepared and mapped to determine where to position the instrument 310, and therefore where to position the device 10. The device 10 is anchored in any suitable manner, such as by a joint 18 or any other suitable mounting device / assembly. In some applications, the device 10 may be anchored directly to the skull or other bones. For example, the base 12 may be anchored directly to the skull using any suitable screws, pins, etc. Before and / or after the device 10 is mounted at the skull 210, the guide 14 is positioned relative to the base 12 to determine the orientation of the guide 14, thereby directing the instrument 310 to the surgical site 210 at a desired angle or trajectory. Once the orientation or trajectory is set, the device 10 is locked by rotating the base locking ring 60 and / or the guide locking ring 62 as described above to lock the guide 14 relative to the base 12. As described above, the base locking ring 60 and the guide locking ring 62 can be advantageously locked using only one hand. The instrument or implant 310 is then directed to the surgical site 210 via the instrument guide 66 to perform the desired procedure.

[0043] For the purpose of illustration and description, the foregoing description of the embodiments has been provided. The foregoing description is not intended to be exhaustive or to limit the present disclosure. The individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable and may also be used in selected embodiments, where applicable, even if not specifically shown or described. The same element or feature may vary in a variety of ways. Such variations should not be considered to be out of the present disclosure, and all such modifications are intended to be included within the scope of the present disclosure.

[0044] Example embodiments are provided so that the present disclosure will be thorough and will fully convey the scope of the present disclosure to those skilled in the art. Many specific details, such as examples of specific components, devices, and methods, are set forth to provide a thorough understanding of the embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that the example embodiments may be embodied in many different forms, and should not be construed as limiting the scope of the present disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

[0045] The terms used herein are only for the purpose of describing specific example embodiments, and are not intended to be restrictive. As used herein, the singular forms "one", "an", and "said" are intended to also include plural forms, unless the context clearly indicates otherwise. The terms "including" and "having" are inclusive, and therefore specify the presence of the described features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or their groups. The method steps, processes and operations described herein should not be interpreted as requiring their execution in the specific order discussed or illustrated, unless clearly determined as an execution order. It should also be understood that additional or alternative steps can be adopted.

[0046] When an element or layer is referred to as being "on," "engaged to," or "connected to," or "coupled to" another element or layer, it may be directly on, directly engaged to, connected to, or coupled to another element or layer, or there may be intervening elements or layers. Conversely, when an element is referred to as being "directly on," "directly engaged to," "directly connected to," or "directly coupled to" another element or layer, there may be no intervening elements or layers. Other words used to describe the relationship between elements (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.) should be interpreted in a similar manner. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0047] Although the term first, second, third etc. can be used in the text to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or part from another region, layer or part. Unless the context clearly indicates, the terms used herein such as "first", "second" and other numerical terms do not imply order or sequence. Therefore, without departing from the teaching of the exemplary embodiment, the first element, component, region, layer or part discussed below may be referred to as the second element, component, region, layer or part.

[0048] Spatially relative terms such as "inside", "outside", "below", "beneath", "lower", "above", "upper", etc. may be used herein for ease of description to describe the relationship of one element or feature illustrated in the figure to another element or feature. Spatially relative terms may also be intended to cover different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawings is turned over, the elements described as being "below" or "beneath" other elements or features will then be oriented "above" the other elements or features. Therefore, the example term "below" may cover both the above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein may be interpreted accordingly.

Claims

1. A surgical alignment device, comprising: base; guides; a plurality of linear actuators, each linear actuator extending between the base and the guide, the plurality of linear actuators including a first end connected to the base at a base joint and a second end connected to the guide at a guide joint; and A locking arrangement is configured to simultaneously lock all of the base engaging portions or simultaneously lock all of the guide engaging portions.

2. A surgical alignment device according to claim 1, wherein the locking arrangement includes a base locking arrangement and a guide locking arrangement, the base locking arrangement being constructed to simultaneously lock all base joints in the base joints, and the guide locking arrangement being constructed to simultaneously lock all guide joints in the guide joints.

3. A surgical alignment device according to claim 1, wherein the locking arrangement includes a base locking arrangement at the base, the base locking arrangement includes a base brake at each base joint in the base joint, and the base brake is capable of moving simultaneously to simultaneously lock each base joint in the base joint.

4. The surgical alignment device according to claim 3, further comprising a base locking ring, wherein rotation of the base locking ring in a first direction simultaneously causes the base brake to cooperate with the base ball of the base joint to simultaneously lock the base joint, and rotation of the base locking ring in a second direction opposite to the first direction simultaneously releases the cooperation between the base brake and the base ball to simultaneously unlock the base joint.

5. A surgical alignment device according to claim 1, wherein the locking arrangement includes a guide locking arrangement at the guide, the guide locking arrangement includes a guide brake at each guide joint in the guide joints, and the guide brakes can be moved simultaneously to simultaneously lock each guide joint in the guide joints.

6. The surgical alignment device according to claim 5, further comprising a guide locking ring, wherein rotation of the guide locking ring in a first direction simultaneously causes the guide brake to cooperate with the guide ball of the guide engaging portion to simultaneously lock the guide engaging portion, and rotation of the guide locking ring in a second direction opposite to the first direction simultaneously releases the cooperation between the guide brake and the guide ball to simultaneously unlock the guide engaging portion.

7. The surgical alignment device of claim 1, wherein each of the plurality of linear actuators is configured to extend and retract.

8. The surgical alignment device of claim 7, wherein the plurality of linear actuators, the base engagement portion, and the guide engagement portion are configured to together provide six degrees of freedom of movement of the guide relative to the base.

9. The surgical alignment device of claim 1, wherein the plurality of linear actuators comprises six linear actuators.

10. The surgical alignment device of claim 1, wherein the guide defines an aperture at a center thereof, the aperture being configured to receive a surgical instrument for guiding the surgical instrument to a surgical site.

11. A surgical alignment device, comprising: base; guides; a plurality of linear actuators, each linear actuator extending between the base and the guide, the plurality of linear actuators including a first end connected to the base at a base joint and a second end connected to the guide at a guide joint; a base brake located at each of the base engagement portions; a guide stopper located at each of the guide engagement portions; a base locking ring provided with the base and cooperating with the base brake such that rotation of the base locking ring in a first direction engages the base brake with the plurality of linear actuators to lock the base engaging portion, and rotation of the base locking ring in a second direction opposite to the first direction disengages the base brake from the plurality of linear actuators to unlock the base engaging portion; and a guide locking ring equipped with the guide and cooperating with the guide brake, so that rotation of the guide locking ring in a first direction causes the guide brake to engage with the plurality of linear actuators to lock the guide engaging portion, and rotation of the guide locking ring in a second direction opposite to the first direction releases the guide brake from engagement with the plurality of linear actuators to unlock the guide engaging portion.

12. The surgical alignment device of claim 11, wherein each linear actuator of the plurality of linear actuators is configured to extend and retract.

13. The surgical alignment device of claim 12, wherein the plurality of linear actuators, the base engagement portion, and the guide engagement portion are configured to together provide six degrees of freedom of movement of the guide relative to the base.

14. The surgical alignment device of claim 11, wherein the plurality of linear actuators comprises six linear actuators.

15. The surgical alignment device of claim 11, wherein the guide defines an aperture at a center thereof, the aperture being configured to receive a surgical instrument for guiding the surgical instrument to a surgical site.

16. The surgical alignment device of claim 11, wherein each of the base brakes and each of the guide brakes comprises: a receptacle configured to receive a ball of each of the base engagement portions and each of the guide engagement portions, respectively, the receptacle including a friction promoting insert or surface treatment; and A curved surface is provided, the curved surface being opposite to the receptacle.

17. The surgical alignment device of claim 16, wherein: The base locking ring includes a plurality of base ramps, each of the plurality of base ramps cooperating with one of the curved surfaces of one of the base brakes; and The guide locking ring includes a plurality of guide ramps, each of the plurality of guide ramps cooperating with one of the curved surfaces of one of the guide stoppers.

18. The surgical alignment device of claim 17, wherein: Rotation of the base locking ring in the first direction moves the plurality of base ramps relative to the curved surface of the base detent such that relatively tall ends of the base ramps contact the curved surface to force the base detent to engage the ball of each of the base engaging portions, thereby locking the base engaging portions; and Rotation of the guide locking ring in the first direction moves the plurality of guide ramps relative to the curved surface of the guide stopper so that relatively high ends of the guide ramps contact the curved surface to force the guide stopper to engage the ball of each of the guide engagement portions, thereby locking the guide engagement portions.

19. The surgical alignment device of claim 18, wherein: Rotation of the base locking ring in the second direction moves the plurality of base ramps relative to the curved surface of the base detent such that relatively lower ends of the base ramps contact the curved surface to release the base detent from engagement with the ball of each of the base engaging portions, thereby unlocking the base engaging portions; and Rotation of the guide locking ring in the second direction moves the plurality of guide ramps relative to the curved surface of the guide stopper so that relatively lower ends of the guide ramps contact the curved surface to release the guide stopper from engaging the ball of each of the guide engaging portions, thereby locking the guide engaging portions.

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